CN106289324B - Calibration device for inertial measurement unit - Google Patents
Calibration device for inertial measurement unit Download PDFInfo
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- CN106289324B CN106289324B CN201610842772.9A CN201610842772A CN106289324B CN 106289324 B CN106289324 B CN 106289324B CN 201610842772 A CN201610842772 A CN 201610842772A CN 106289324 B CN106289324 B CN 106289324B
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- mounting frame
- measurement unit
- inertial measurement
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Gyroscopes (AREA)
Abstract
The application discloses a calibration device for an inertial measurement unit, which comprises: a mounting frame having a pair of oppositely disposed first walls and a pair of oppositely disposed second walls, each of the first walls being perpendicular to each of the second walls such that a quadrangle formed by outermost contour lines of the mounting frame projected in a direction of any one of six faces thereof is a square of equal size, the inside of the mounting frame being provided with a fixing portion for fixing an inertial measurement unit; the adapter rack is arranged as a plate with a square hole inside, and the adapter rack is detachably accommodated in the square hole along the direction of any one of six surfaces of the adapter rack; and the rotary table is provided with a transfer frame fixed on the upper surface, and the lower part of the rotary table is connected with a rotary motor, so that the inertial measurement unit is driven to rotate around the central axis of the rotary table. The calibration device adopts a quick plug-in detachable structure, can calibrate a plurality of inertial measurement units simultaneously, and has low cost.
Description
Technical Field
The application belongs to the technical field of calibration of inertial measurement units, and particularly relates to a calibration device for an inertial measurement unit.
Background
The inertial measurement unit is a device for measuring angular velocity and acceleration of an object in a three-dimensional space, and calculating the attitude of the object therefrom. Inertial measurement units are used in most devices requiring motion control, such as automobiles and robots, and in applications requiring precise displacement estimation from gestures, such as inertial navigation devices for submarines, airplanes, missiles, and spacecraft. The inertial measurement unit is directly and fixedly installed in the equipment, and the parameter of the whole inertial measurement unit is continuously changed along with time due to the change of the parameter of an internal device and the stress release, so that the use precision of the inertial measurement unit is ensured, and the calibration is required to be carried out regularly.
At present, most of existing calibration equipment and calibration devices are large-scale automatic equipment, accurate angular position rotary feeding is realized by using a servo motor, but the price is very expensive, the operation is complex, the maintenance is inconvenient, and the use of enterprises or small laboratories is not facilitated.
Therefore, a calibration device for an inertial measurement unit, which has the advantages of higher precision, convenient operation, convenient maintenance and low cost, needs to be designed.
Disclosure of Invention
In view of the above-mentioned drawbacks or shortcomings of the prior art, the present application provides a calibration device for an inertial measurement unit, which is at least capable of achieving calibration of the inertial measurement unit in a cost-effective and easy-to-operate manner.
According to an aspect of the application, there is provided a calibration device for an inertial measurement unit, the calibration device may comprise: a mounting frame having a pair of oppositely disposed first walls and a pair of oppositely disposed second walls, each of the first walls being perpendicular to each of the second walls such that a quadrangle formed by outermost contour lines of the mounting frame projected in a direction of any one of six faces thereof is a square of equal size, the inside of the mounting frame being provided with a fixing portion for fixing an inertial measurement unit; a transfer frame which is a plate with a square hole inside, wherein the mounting frame is detachably accommodated in the square hole along the direction of any one of six surfaces of the mounting frame; and the upper surface of the rotary table is used for fixing the transfer frame, and the lower part of the rotary table is connected with the rotating motor, so that the inertial measurement unit is driven to rotate around the central axis of the rotary table.
Preferably, the fixing portion of the fixed inertial measurement unit is a guide groove, which is disposed on an inner side surface of the oppositely disposed first pair of walls of the mounting frame, one end of the guide groove is a through groove, and the other end is a blind groove.
Preferably, the inertial measurement unit may be connected to a circuit board inserted and fixed into the guide groove of the mounting frame through a pair of first and second sliders symmetrically arranged at both sides thereof.
Preferably, the second sliding blocks on two sides of the circuit board correspond to one end of the blind groove, the first sliding blocks correspond to one end of the through groove, bolts are arranged at the end portions of the first sliding blocks, rotatable locking plates are further arranged at one end of the through groove of the guide groove of the mounting frame, the locking plates compress the first sliding blocks, and the locking plates are screwed with the bolts at the end portions of the first sliding blocks through nuts, so that the circuit board connected with the inertia unit is fixed in the guide groove of the mounting frame.
Alternatively, a pair of first sliders and a pair of second sliders symmetrically arranged at both sides of the circuit board may be fixed to the circuit board by screws.
Optionally, a pair of first sliders and a pair of second sliders symmetrically arranged on two sides of the circuit board may be fixed on the circuit board by an adhesive.
Preferably, the number of the guide grooves is a plurality of pairs, and each pair of guide grooves is spaced apart from each other by a predetermined distance.
Preferably, the mounting frame is composed of a first plate corresponding to the first wall and a second plate corresponding to the second wall, one end face of the first plate and one side of the second plate close to the end face are limited by two pins to rotate relatively, and relative movement of the first plate and the second plate is limited by a plurality of screws, and a fixing part for fixing the inertial measurement unit is arranged inside the mounting frame.
Preferably, the fixing portion of the fixed inertial measurement unit is a guide groove provided inside a pair of first plates oppositely disposed.
The calibration device in the embodiment of the application adopts a quick plug-in detachable structure, can calibrate a plurality of inertial measurement units simultaneously, is simple and convenient to operate, has low cost, and is suitable for enterprises and small laboratories.
The features and feature combinations mentioned in the above description and the features and feature combinations mentioned in the description of the figures below and/or shown in the figures alone are usable not only in the respectively specified combinations but also in other combinations or in the individual features without departing from the scope of the application.
Drawings
Other features, objects and advantages of the present application will become more apparent from the detailed description of non-limiting embodiments, which proceeds with reference to the accompanying drawings. Wherein the following are displayed:
FIG. 1 is an exploded view of a calibration device according to an embodiment of the present application;
FIG. 2 is a schematic structural view of a mounting frame of a calibration device according to an embodiment of the present application;
FIG. 3 is a schematic diagram illustrating assembly of an inertial measurement unit and a mounting frame of a calibration device according to an embodiment of the present application.
Detailed Description
The application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be noted that, for convenience of description, only the portions related to the application are shown in the drawings.
FIG. 1 is an exploded view of a calibration device according to an embodiment of the present application. As shown in fig. 1, a calibration device 10 for an inertial measurement unit comprises a mounting frame 1, a transfer frame 2, and a rotary table 3.
The mounting frame 1 has a pair of oppositely disposed first walls and a pair of oppositely disposed second walls, and each first wall is perpendicular to each second wall, so that the quadrangle formed by the outermost contour lines of the mounting frame 1 projected in the direction of any one of the six faces thereof is a square of equal size, and the inside of the mounting frame 1 is provided with a fixing portion for fixing the inertial measurement unit 20.
The adapter bracket 2 is provided as a plate member having a square-shaped hole 2a therein, and the mounting bracket 1 is detachably accommodated in the square-shaped hole 2a in the direction of any one of six faces thereof.
The upper surface of the rotary table 3 is used for fixing the transfer frame 2, and the lower part of the transfer frame is connected with a rotating motor (not shown in the figure), so that the inertial measurement unit 20 is driven to rotate around the central axis of the rotary table 3.
In this way, when the calibration device 10 in the embodiment of the application is used for calibration, firstly, the mounting frame 1 fixed with the inertial measurement unit 20 is placed into the square hole 2a of the adapter frame 2 along one surface, the adapter frame 2 is fixed on the rotary table 3, the rotary motor below the rotary table 3 is started to drive the inertial measurement unit 20 to rotate, when the rotating speed of the inertial measurement unit 20 reaches a designated stable speed, for example, 100r/min, calibration is started to be carried out on one direction of the inertial measurement unit 20, for example, the X+ direction, related data is read, then the mounting frame 1 is taken out, and is replaced by being placed into the square hole 2a of the adapter frame 2 along the other surface for calibration, thus, 6 surfaces of the mounting frame are sequentially placed into the square hole 2a of the adapter frame 2 respectively, so that the reference positive directions of the inertial measurement unit face the X+, Y+, Z+, Z-six directions respectively, and calibration is carried out 6 times when the rotating speed reaches the stable speed around the central axis, and then data such as zero bias, the scale factor and the zero bias of the accelerometer are calculated by using an error compensation algorithm, so that the calibration of the inertial measurement unit can be completed in six directions.
FIG. 2 is a schematic structural view of a mounting frame of a calibration device according to an embodiment of the present application. The mounting 1 may be a single component having a pair of oppositely disposed first walls and a pair of oppositely disposed second walls. Preferably, as shown in fig. 2, the mounting bracket 1 may also be formed of a first plate member 1c corresponding to the first wall and a second plate member 1d corresponding to the second wall, so as to facilitate manufacturing, and each first plate member 1c and each second plate member 1d are perpendicular to each other, so that the quadrangle formed by the outermost contour line of the mounting bracket 1 after projection in the direction of any one of its six faces is a square of equal size, which is also equal to the square-shaped hole 2a of the adapter bracket 2, so that it is ensured that the mounting bracket 1 is detachably accommodated in the square-shaped hole 2a in the direction of any one of its six faces. Therefore, the relative positions of the first plate member 1c and the second plate member 1d need to be fixed and the dimensions remain unchanged all the time, which can be achieved by the following method: one end face of the first plate member 1c and one side of the second plate member 1d close to the end face are restrained from relative rotation by two pins, and are restrained from relative movement by a plurality of screws.
Specifically, two opposite end surfaces of the first plate 1c are respectively provided with two blind holes and a plurality of threaded holes, two sides of each second plate 1d, which are close to the end surfaces, are respectively provided with two corresponding through holes and a plurality of countersunk holes, two pins are respectively in interference fit with the two through holes on one side of the second plate 1d and the two blind holes on one end surface of the first plate 1c, so that the relative positions of the first plate 1c and the second plate 1d which are perpendicular to each other are limited, and the two opposite end surfaces are assembled into a right angle, the pair of first plates 1c and the pair of second plates 1d are sequentially assembled into 4 right angles in an end-to-end manner by adopting the same method, and then a plurality of screws penetrate through the corresponding countersunk holes and the threaded holes so as to fix the pair of first plates 1c and the pair of second plates 1d into a whole, and the square formed by the outermost contour lines of the mounting frame 1 after being projected along any one of the six faces of the mounting frame 1 is a square with the same size, and the square formed by the square is accommodated in the square hole 2a shape inside the adapter frame 2. The mounting frame 1 and the adapter frame 2 are in small clearance fit, and the error influence of the clearance on the calibration result can be eliminated through a compensation algorithm commonly used in the prior art, so that the details are not repeated here.
For ease of processing and assembly, the four corners of the square-shaped hole 2a inside the adapter bracket 2 are provided with rounded corners. The transfer frame 2 is further provided with a plurality of positioning holes so as to correspond to the threaded holes provided on the rotary table 3, and the transfer frame 2 can be fixed on the rotary table 3 by bolts, as shown in fig. 1.
The fixing portion of the inside of the mounting frame 1, where the inertial measurement unit 20 is fixed, may be a guide groove provided on the inner side surfaces of the oppositely disposed first pair of walls of the mounting frame 1. It should be noted that the fixing portion is not limited to the guide groove, and may be other fixing structures, such as fixing the inertial measurement unit 20 by using a magnetic pole, and the like, which is not particularly limited herein.
As shown in fig. 2, the fixing portion is a guide groove 1a provided inside a pair of first plates 1c disposed opposite to each other of the mounting frame 1, and the inertial measurement unit 20 may be fixed to the circuit board for electrical connection and then inserted into the guide groove 1a to be fixed.
The number of the guide grooves 1a may be plural, and each pair of the guide grooves 1a is spaced apart from each other by a predetermined distance. The preset distance ensures that a plurality of inertial measurement units are inserted into the guide grooves simultaneously for calibration, and enough space is reserved without interference, so that the calibration work of the plurality of inertial measurement units can be completed simultaneously, and the calibration work efficiency is improved.
As shown in fig. 2, one end of each guide groove 1a is provided as a blind groove a, and the other end is provided as a through groove B. The end of the through groove B of the guide groove 1a is also provided with a rotatable locking plate 1B. The locking piece 1B may be provided in a crescent shape which is rotatable about a pin fixed at one end of the through slot B.
FIG. 3 is a schematic diagram illustrating assembly of an inertial measurement unit and a mounting frame of a calibration device according to an embodiment of the present application. As shown in fig. 3, the inertial measurement unit 20 is connected with the circuit board 21 to constitute an inertial measurement unit assembly 20a, and a pair of first sliders 21a and a pair of second sliders 21b are symmetrically arranged on both sides of the circuit board 21, inserted into and fixed to a pair of guide grooves 1a of the mounting frame 1. A pair of first sliders 21a and a pair of second sliders 21b, which are symmetrically arranged at both sides of the circuit board 21, may be fixed to the circuit board 21 by screws. A pair of first sliders 21a and a pair of second sliders 21b symmetrically arranged on both sides of the circuit board 21 may also be fixed to the circuit board 21 by an adhesive.
The second sliders 21B on both sides of the circuit board 21 are placed corresponding to one end of the blind groove a, the first slider 21a is placed corresponding to one end of the through groove B and the end is provided with a bolt 21c, and when the inertial measurement unit assembly 20a is inserted into the guide groove 1a, the locking piece 1B is rotated to press the first slider 21a, and the bolt 21c at the end of the first slider 21a is screwed by the nut 21d, thereby fixing the circuit board 21 connected with the inertial unit 20 in the guide groove 1a of the mounting frame 1. The nut 21d may preferably be a wing nut to facilitate manual tightening of threads, but is not limited to a wing nut.
The calibration device in the embodiment of the application adopts a quick plug-in detachable structure, can calibrate a plurality of inertial measurement units simultaneously, is simple and convenient to operate, has low cost, and is suitable for enterprises and small laboratories.
The above description is only illustrative of the preferred embodiments of the present application and of the principles of the technology employed. It will be appreciated by persons skilled in the art that the scope of the application referred to in the present application is not limited to the specific combinations of the technical features described above, but also covers other technical features formed by any combination of the technical features described above or their equivalents without departing from the inventive concept. Such as the above-mentioned features and the technical features disclosed in the present application (but not limited to) having similar functions are replaced with each other.
Claims (8)
1. A calibration device for an inertial measurement unit, the calibration device comprising:
a mounting frame having a pair of oppositely disposed first walls and a pair of oppositely disposed second walls, each of the first walls being perpendicular to each of the second walls such that a quadrangle formed by outermost contour lines of the mounting frame projected in a direction of any one of six faces thereof is a square of equal size, the inside of the mounting frame being provided with a fixing portion for fixing an inertial measurement unit; the fixed part of the fixed inertia measurement unit is a guide groove which is arranged on the inner side surfaces of the first pair of oppositely arranged walls of the mounting frame, one end of the guide groove is a through groove, and the other end of the guide groove is a blind groove; the inertial measurement unit is connected with a circuit board, and the circuit board is inserted into and fixed in the guide groove of the mounting frame through a pair of first sliding blocks and a pair of second sliding blocks which are symmetrically arranged on two sides of the circuit board;
a transfer frame which is a plate with a square hole inside, wherein the mounting frame is detachably accommodated in the square hole along the direction of any one of six surfaces of the mounting frame; and
the rotary table, its upper surface is used for fixing the switching frame, and the below is connected with the rotating electrical machines to drive inertial measurement unit and rotate around the central axis of rotary table.
2. The calibration device according to claim 1, wherein the second sliding blocks on two sides of the circuit board correspond to one end of the blind groove, the first sliding block corresponds to one end of the through groove, a bolt is arranged at the end of the first sliding block, a rotatable locking plate is further arranged at one end of the through groove of the guide groove of the mounting frame, the locking plate presses the first sliding block, and the locking plate is screwed with the bolt at the end of the first sliding block through a nut, so that the circuit board connected with the inertial unit is fixed in the guide groove of the mounting frame.
3. The calibration device according to claim 2, wherein the pair of first sliders and the pair of second sliders, which are symmetrically arranged at both sides of the circuit board, are fixed to the circuit board by screws.
4. The calibration device according to claim 2, wherein the pair of first sliders and the pair of second sliders symmetrically arranged on both sides of the circuit board are fixed to the circuit board by an adhesive.
5. A calibration device according to claim 1 or 2, wherein the number of guide grooves is a plurality of pairs, each pair being spaced apart by a predetermined distance.
6. The calibration device according to any one of claims 1 to 4, wherein the mounting frame is constituted by a first plate member corresponding to the first wall and a second plate member corresponding to the second wall, one end face of the first plate member and one side of the second plate member close to the end face are restrained from relative rotation by two pins, and are restrained from relative movement by a plurality of screws, and a fixing portion for fixing the inertial measurement unit is provided inside the mounting frame.
7. The calibration device according to claim 6, wherein the fixing portion of the fixed inertial measurement unit is a guide groove provided inside a pair of first plates arranged oppositely.
8. The calibration device according to claim 7, wherein the number of guide grooves is a plurality of pairs, each pair of guide grooves being spaced apart by a predetermined distance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610842772.9A CN106289324B (en) | 2016-09-22 | 2016-09-22 | Calibration device for inertial measurement unit |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610842772.9A CN106289324B (en) | 2016-09-22 | 2016-09-22 | Calibration device for inertial measurement unit |
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| CN106289324A CN106289324A (en) | 2017-01-04 |
| CN106289324B true CN106289324B (en) | 2023-08-29 |
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| CN201610842772.9A Active CN106289324B (en) | 2016-09-22 | 2016-09-22 | Calibration device for inertial measurement unit |
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| CN111857056B (en) * | 2020-07-31 | 2021-06-25 | 东莞市中泰模具股份有限公司 | Method for generating feeding inclination of lifting plate in progressive die, storage medium and CNC (computer numerical control) machine tool |
| CN112362087B (en) * | 2021-01-13 | 2021-08-10 | 北京诺亦腾科技有限公司 | Industrial measurement structure and industrial measurement system |
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| CN106289324A (en) | 2017-01-04 |
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