CN106840204A - Inertial Measurement Unit scaling method based on test platform - Google Patents
Inertial Measurement Unit scaling method based on test platform Download PDFInfo
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- CN106840204A CN106840204A CN201710033626.6A CN201710033626A CN106840204A CN 106840204 A CN106840204 A CN 106840204A CN 201710033626 A CN201710033626 A CN 201710033626A CN 106840204 A CN106840204 A CN 106840204A
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- 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)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
The present invention proposes a kind of Inertial Measurement Unit scaling method based on test platform, test platform is made up of housing, frock clamp, turntable, Inertial Measurement Unit to be measured and data acquistion and control system, Inertial Measurement Unit fixed shell to be measured is simultaneously arranged on frock clamp, frock clamp is arranged on turntable, data acquistion and control system is arranged on PC ends, turntable and Inertial Measurement Unit to be measured are connected to data acquistion and control system, including：Electricity on Inertial Measurement Unit to be measured is entered into calibrating procedure；Change position of the housing on frock clamp according to 6 attitudes respectively, control turntable is rotated with friction speed, gathers the output data of Inertial Measurement Unit to be measured；Peg model is set up according to output data, the error parameter for calculating acquisition Inertial Measurement Unit writes into process of measurement completion demarcation.Inertial Measurement Unit scaling method based on test platform of the invention has very strong adaptability and scalability.
Description
Technical field
The present invention relates to field of inertia measurement, especially a kind of Inertial Measurement Unit scaling method based on test platform.
Background technology
Recently as the development of MEMS (Micro-Electro Mechanical Systems, MEMS) technology
And the MEMS IMU (Inertial Measurement Unit) for producing, MEMS IMU have low cost, size is small, lightweight, low in energy consumption, reliability
High the advantages of, it is widely used in the every aspect in people's life.Increasing consumer product is as played, virtual reality
Technology, navigation etc., while using various different types of Inertial Measurement Units, to meet the application demand of users.
But, MEMS sensor performance (especially zero partially and scale factor) with use environment (especially temperature) no
With and change, can by Inertial Measurement Unit demarcation come suppress circumstances on sexual energy influence, i.e., determined by demarcating
The error parameter of sensor, and compensated during IMU uses.The demarcation that traditional scaling method relies on specialty mostly sets
It is standby and time-consuming more long.
The content of the invention
It is contemplated that at least solving one of above-mentioned technical problem to a certain extent or providing at a kind of useful business
Industry is selected.
Therefore, it is an object of the present invention to propose a kind of Inertial Measurement Unit scaling method based on test platform,
Improve the demarcation efficiency of Inertial Measurement Unit.
To achieve these goals, the first aspect of the present invention discloses a kind of Inertial Measurement Unit based on test platform
Scaling method, the test platform is by housing, frock clamp, turntable, Inertial Measurement Unit to be measured and data acquisition and control system
System composition, wherein, the Inertial Measurement Unit to be measured is fixed on housing and is arranged on frock clamp, and frock clamp is arranged on
On turntable, data acquistion and control system is arranged on PC ends, and turntable and the Inertial Measurement Unit to be measured are by electrical equipment or wireless
Data transmission set is connected to the data acquistion and control system, comprises the following steps：By the Inertial Measurement Unit to be measured
Upper electricity enters calibrating procedure；Change position of the housings on the frock clamp according to 6 attitudes respectively, control turntable with
Friction speed rotates, and gathers the output data of the Inertial Measurement Unit to be measured；Peg model is set up according to the output data,
The error parameter for calculating acquisition Inertial Measurement Unit writes into process of measurement completion demarcation.
Inertial Measurement Unit scaling method based on test platform of the invention, with demarcate flow operations it is simple,
The advantage that efficiency high and precision are greatly improved is demarcated, with very strong adaptability and scalability.
In addition, can also be had according to the above-mentioned Inertial Measurement Unit scaling method based on test platform of the present invention as follows
Additional technical characteristic：
Further, the Inertial Measurement Unit to be measured is Simulated inertia to-be-measured cell or digital inertia measuring list
Unit, wherein, the Inertial Measurement Unit to be measured reads the inertia to be measured and surveys by the single-chip microcomputer or other processing units on plate
Measure the state and measurement data of unit.
Further, also include：The output data of the Inertial Measurement Unit to be measured is gathered, and life is sent to the turntable
Order is turned to and rotating speed with controlling turntable.
Further, also include：Self-inspection after electricity on the Inertial Measurement Unit to be measured, by the Inertial Measurement Unit to be measured
The status information of output is displayed in the data acquistion and control system, and fortune is shut down procedure if the status information is abnormal
OK, as without exception, instruction is provided in the data acquistion and control system, into calibrating procedure.
Further, the frock clamp is hexahedron frock clamp, and change housing according to 6 attitudes respectively presss from both sides in frock
Installation site on tool, the orthogonal upset on the basis of frock coordinate system OXYZ；
Further, when carrying out angular speed test to 6 different attitudes, controlled by the data acquistion and control system
Turntable respectively with ± 10 °/s, ± 30 °/s, ± 60 °/s, ± 90 °/s, ± 150 °/s, ± 210 °/s, ± 270 °/s, ± 300 °/
Totally 18 speed shelves carry out test sample for s, ± 360 °/s, and each rotating speed gathers 2 minute datas, and the data for completing 6 attitudes are adopted
Collection.
Additional aspect of the invention and advantage will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by practice of the invention.
Brief description of the drawings
Of the invention above-mentioned and/or additional aspect and advantage will become from description of the accompanying drawings below to embodiment is combined
Substantially and be readily appreciated that, wherein：
Fig. 1 is the flow of the Inertial Measurement Unit scaling method based on test platform according to an embodiment of the invention
Figure；
Fig. 2 is the frock clamp and body diagram in test platform according to an embodiment of the invention；
Fig. 3 is the schematic diagram of test platform according to an embodiment of the invention；And
Fig. 4 is 6 schematic diagrames of different attitudes of Inertial Measurement Unit to be measured according to an embodiment of the invention.
Specific embodiment
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", D score, "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outward ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise " are, based on orientation shown in the drawings or position relationship, to be for only for ease of
The description present invention is described with simplified, must have specific orientation, Yi Te rather than the device or element for indicating or imply meaning
Fixed azimuth configuration and operation, therefore be not considered as limiting the invention.
Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include one or more this feature.In the description of the invention, " multiple " is meant that two or more,
Unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or be integrally connected；It can be machine
Tool is connected, or electrically connected；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, can be two units
Connection inside part.For the ordinary skill in the art, can as the case may be understand above-mentioned term in this hair
Concrete meaning in bright.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or D score
The first and second feature directly contacts can be included, it is also possible to including the first and second features be not directly contact but by it
Between other characterisation contact.And, fisrt feature second feature " on ", " top " and " above " include that first is special
Levy directly over second feature and oblique upper, or be merely representative of fisrt feature level height higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " below " include fisrt feature immediately below second feature and obliquely downward, or be merely representative of
Fisrt feature level height is less than second feature.
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from start to finish
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
It is exemplary to scheme the embodiment of description, is only used for explaining the present invention, and is not construed as limiting the claims.
Below in conjunction with the Description of Drawings Inertial Measurement Unit scaling method based on test platform according to embodiments of the present invention.
Before scaling method is introduced, test platform is described first, as shown in figure 3, test platform 10 is by housing 11, frock
Fixture 12, turntable 13, Inertial Measurement Unit to be measured 14 and data acquistion and control system 15 are constituted, wherein, inertia measurement to be measured
Unit 14 be fixed on housing 11 and be arranged on frock clamp 12 on, by frock clamp 12 be arranged on turntable 13 on, data acquisition and
Control system 15 is arranged on PC ends, carries the minimum system plate and turntable 13 of Inertial Measurement Unit 14 to be measured by electrical equipment or wireless
Data transmission set is connected to the data acquistion and control system 15 installed in PC end, so far completes building for test platform.
Wherein, Inertial Measurement Unit to be measured 14 can be polytype Inertial Measurement Unit, and can be concentrated in installation process
Onto a system board for minimum.
With reference to shown in Fig. 2, left figure is frock clamp 12, and right figure is housing 11.When building test platform 10, will be comprising various
The minimum system plate of the Inertial Measurement Unit 14 of type is installed on housing 11, and housing 11 is fixed on frock clamp by housing flange
On 12, it is ensured that the system board of Inertial Measurement Unit to be measured 14 overlaps with hexahedron frock coordinate system, frock clamp 12 passes through flange
It is installed in the plane of turntable 13, turntable 13 is placed on the measuring table of horizontal stable.
Fig. 1 is the flow of the Inertial Measurement Unit scaling method based on test platform according to an embodiment of the invention
Figure.
As shown in figure 1, the Inertial Measurement Unit scaling method based on test platform according to an embodiment of the invention, bag
Include following steps：
S110：Electricity on Inertial Measurement Unit to be measured is entered into calibrating procedure.
Wherein, Inertial Measurement Unit to be measured is Simulated inertia to-be-measured cell or digital inertia measuring unit, to be measured
Inertial Measurement Unit reads the state and measurement number of Inertial Measurement Unit to be measured by the single-chip microcomputer or other processing units on plate
According to, can simultaneously calibration mold fit digital inertia measuring unit.
Further, self-inspection after electricity on Inertial Measurement Unit to be measured, the status information that Inertial Measurement Unit to be measured is exported
It is displayed in data acquistion and control system, operation is shut down procedure if status information is abnormal, as without exception, is adopted in data
Instruction is provided in collection and control system, into calibrating procedure.
S120：Change position of the housing on frock clamp according to 6 attitudes respectively, control turntable is revolved with friction speed
Turn, gather the output data of Inertial Measurement Unit to be measured.
Frock clamp is hexahedron frock clamp, changes installation position of the housing on frock clamp according to 6 attitudes respectively
Put, the orthogonal upset on the basis of frock coordinate system OXYZ.Further, also include：Gather the output of Inertial Measurement Unit to be measured
Data, and send order to turntable to control turntable to turn to and rotating speed.When carrying out angular speed test to 6 different attitudes, pass through
Data acquistion and control system control turntable respectively with ± 10 °/s, ± 30 °/s, ± 60 °/s, ± 90 °/s, ± 150 °/s, ±
210 °/s, ± 270 °/s, ± 300 °/s, totally 18 speed shelves carry out test sample to ± 360 °/s, each rotating speed gathers 2 the number of minutes
According to 6 data acquisitions of attitude of completion.
Specifically, into after calibration mode, the minimum system plate of Inertial Measurement Unit to be measured changes according to 6 attitudes respectively
Become installation site of the housing on frock clamp, the orthogonal upset on the basis of frock coordinate system OXYZ, it is ensured that inertia measurement to be measured
Unit overlaps with hexahedron frock coordinate system and has an axle perpendicular to turntable table top, as shown in figure 4, in a and b figures, being hung down with x-axis
Directly in turntable table top, and x-axis by being turned to vertically downward vertically upward, i.e., with two attitudes of x-axis, in c and d figures, with y-axis
Perpendicular to turntable table top, and y-axis by being turned to vertically downward vertically upward, i.e., with two attitudes of y-axis, in e and f figures, with z
Axle is perpendicular to turntable table top, and z-axis by being turned to vertically downward vertically upward, i.e., with two attitudes of z-axis.Inertia to be measured is surveyed
Amount unit is in 6 different attitudes when carrying out angular speed and testing, by data acquistion and control system control turntable respectively with ±
10 °/s, ± 30 °/s, ± 60 °/s, ± 90 °/s, ± 150 °/s, ± 210 °/s, ± 270 °/s, ± 300 °/s, ± 360 °/s it is common
18 speed shelves carry out test sample, and each rotating speed gathers 2 minute datas, completes 6 data acquisitions of attitude.Data acquisition is complete
Cheng Hou, into data processing mode.
S130：Peg model is set up according to output data, the error parameter for calculating acquisition Inertial Measurement Unit writes into measurement
Program completes to demarcate.
In one embodiment of the invention, multiple error parameters can be calculated after being demarcated, after calculating automatically
Parameter write into process of measurement, the Inertial Measurement Unit after the completion of demarcation, without carrying out other program changes, you can carry out inertia
Measurement.
It is worth noting that, digital inertia measuring unit can be fitted calibration mold simultaneously, make that demarcation flow operations are simple, mark
Determine efficiency and precision is greatly improved, with very strong adaptability and scalability.
Inertial Measurement Unit scaling method based on test platform according to embodiments of the present invention, with demarcation flow operations
Simply, the advantage that efficiency high and precision are greatly improved is demarcated, with very strong adaptability and scalability.
Any process described otherwise above or method description in flow chart or herein is construed as, and expression includes
It is one or more for realizing specific logical function or process the step of the module of code of executable instruction, fragment or portion
Point, and the scope of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussion suitable
Sequence, including function involved by basis by it is basic simultaneously in the way of or in the opposite order, carry out perform function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or spy that the embodiment or example are described
Point is contained at least one embodiment of the invention or example.In this manual, to the schematic representation of above-mentioned term not
Necessarily refer to identical embodiment or example.And, the specific features of description, structure, material or feature can be any
One or more embodiments or example in combine in an appropriate manner.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art is not departing from principle of the invention and objective
In the case of above-described embodiment can be changed within the scope of the invention, change, replace and modification.
Claims (6)
1. a kind of Inertial Measurement Unit scaling method based on test platform, the test platform by housing, frock clamp, turn
Platform, Inertial Measurement Unit to be measured and data acquistion and control system composition, wherein, the Inertial Measurement Unit to be measured is fixed on shell
Body is simultaneously arranged on frock clamp, and frock clamp is arranged on turntable, and data acquistion and control system is arranged on PC ends, turntable
The data acquistion and control system is connected to by electrical equipment or radio data-transmission equipment with the Inertial Measurement Unit to be measured,
Comprise the following steps：
Electricity on the Inertial Measurement Unit to be measured is entered into calibrating procedure；
Change position of the housing on the frock clamp according to 6 attitudes respectively, control turntable is rotated with friction speed,
Gather the output data of the Inertial Measurement Unit to be measured；
Peg model is set up according to the output data, is calculated and is obtained the error parameter of Inertial Measurement Unit to write into process of measurement complete
Into demarcation.
2. the Inertial Measurement Unit scaling method of test platform is based on as claimed in claim 1, it is characterised in that described to be measured
Inertial Measurement Unit is Simulated inertia to-be-measured cell or digital inertia measuring unit, wherein, the inertia measurement to be measured
Unit reads the state and measurement data of the Inertial Measurement Unit to be measured by the single-chip microcomputer or other processing units on plate.
3. the Inertial Measurement Unit scaling method of test platform is based on as claimed in claim 1, it is characterised in that also included：
The output data of the Inertial Measurement Unit to be measured is gathered, and sends order to the turntable to control turntable to turn to and turn
Speed.
4. the Inertial Measurement Unit scaling method of test platform is based on as claimed in claim 1, it is characterised in that also included：
Self-inspection after electricity on the Inertial Measurement Unit to be measured, the status information of the Inertial Measurement Unit output to be measured is included
In the data acquistion and control system, operation is shut down procedure if the status information is abnormal, described if without exception
Instruction is provided in data acquistion and control system, into calibrating procedure.
5. the Inertial Measurement Unit scaling method of test platform is based on as claimed in claim 1, it is characterised in that the frock
Fixture is hexahedron frock clamp, changes installation site of the housing on frock clamp according to 6 attitudes respectively, with frock coordinate
It is orthogonal upset on the basis of OXYZ.
6. the Inertial Measurement Unit scaling method of test platform is based on as claimed in claim 5, it is characterised in that to 6 not
With attitude carry out angular speed test when, by the data acquistion and control system control turntable respectively with ± 10 °/s, ± 30 °/
S, ± 60 °/s, ± 90 °/s, ± 150 °/s, ± 210 °/s, ± 270 °/s, ± 300 °/s, totally 18 speed shelves enter ± 360 °/s
Row test sample, each rotating speed gathers 2 minute datas, completes 6 data acquisitions of attitude.
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| CN201710033626.6A CN106840204A (en) | 2017-01-18 | 2017-01-18 | Inertial Measurement Unit scaling method based on test platform |
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| CN107806875A (en) * | 2017-10-26 | 2018-03-16 | 深圳多哚新技术有限责任公司 | Helmet deficient levels detection means and system |
| CN108036800A (en) * | 2017-12-27 | 2018-05-15 | 广州安云电子科技有限公司 | A kind of IMU demarcates fixture |
| CN108398576A (en) * | 2018-03-06 | 2018-08-14 | 中国人民解放军火箭军工程大学 | A kind of static error calibration system and method |
| CN109186636A (en) * | 2018-09-11 | 2019-01-11 | 北京机械设备研究所 | A kind of test method and system of IMU automatic Calibration |
| CN109387219A (en) * | 2017-08-02 | 2019-02-26 | 珊口（上海）智能科技有限公司 | Error calibration system |
| CN109813336A (en) * | 2017-11-22 | 2019-05-28 | 广东虚拟现实科技有限公司 | Inertial Measurement Unit scaling method |
| CN110186481A (en) * | 2019-06-10 | 2019-08-30 | 西安航天三沃机电设备有限责任公司 | Calibration system and calibration method suitable for inertia component on small-sized seeker bullet |
| CN111207777A (en) * | 2020-03-13 | 2020-05-29 | 北京星际荣耀空间科技有限公司 | Calibration test platform |
| CN112304333A (en) * | 2020-09-10 | 2021-02-02 | 北京无线电测量研究所 | Inertia subassembly testing system and testing method thereof |
| CN114923505A (en) * | 2022-07-15 | 2022-08-19 | 河北美泰电子科技有限公司 | Testing device, method and system for inertial sensor |
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| CN112304333A (en) * | 2020-09-10 | 2021-02-02 | 北京无线电测量研究所 | Inertia subassembly testing system and testing method thereof |
| CN114923505A (en) * | 2022-07-15 | 2022-08-19 | 河北美泰电子科技有限公司 | Testing device, method and system for inertial sensor |
| CN114923505B (en) * | 2022-07-15 | 2022-11-15 | 河北美泰电子科技有限公司 | Testing device, method and system for inertial sensor |
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Application publication date: 20170613 |
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