CN107091651B - Navigation module calibration auxiliary device and calibration method - Google Patents
Navigation module calibration auxiliary device and calibration method Download PDFInfo
- Publication number
- CN107091651B CN107091651B CN201710516389.9A CN201710516389A CN107091651B CN 107091651 B CN107091651 B CN 107091651B CN 201710516389 A CN201710516389 A CN 201710516389A CN 107091651 B CN107091651 B CN 107091651B
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- navigation module
- positioning block
- positioning
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- calibration
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 7
- 239000004677 Nylon Substances 0.000 claims description 3
- 229920001778 nylon Polymers 0.000 claims description 3
- 238000003780 insertion Methods 0.000 claims 1
- 230000037431 insertion Effects 0.000 claims 1
- 238000012360 testing method Methods 0.000 abstract description 9
- 230000008859 change Effects 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- 239000000463 material Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
Classifications
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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
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a navigation module calibration auxiliary device, which comprises an upper positioning block and a lower positioning block which are buckled and connected to form a regular hexahedron, wherein a positioning cavity for positioning a navigation module is formed in the regular hexahedron, a wire slot for communicating the positioning cavity with the outside is formed on the regular hexahedron, and a connecting mechanism is formed between the upper positioning block and the lower positioning block in a matched manner. The invention has simple structure, light weight, stability and reliability, is biased to operation, the internal positioning cavity can be changed along with the change of the module structure and can be repeatedly used, and the appearance of the navigation module with the same model can be checked in the testing process, so that the uniformity of the appearance quality of the product is improved, and the testing is rapid and stable.
Description
Technical Field
The invention relates to the technical field of electromechanical technology, in particular to a navigation module calibration auxiliary device and a calibration method.
Background
Along with the development of unmanned aerial vehicle navigation technology, the unmanned aerial vehicle navigation system is increasingly popular in the fields of advertising, aerial photography, line inspection, forest fire prevention reconnaissance, plant protection and the like. In order to improve navigation positioning accuracy, zero offset of navigation needs to be calibrated.
The zero offset calibration mode of the original navigation module is as follows: the six directions of the X, Y and Z axes of the navigation module are manually adjusted, so that the six directions of the X, Y and Z axes cannot be completely parallel to a test desktop, and the calibration accuracy is low.
Disclosure of Invention
The invention aims at overcoming the technical defects in the prior art and provides a navigation module calibration auxiliary device.
The technical scheme adopted for realizing the purpose of the invention is as follows:
the utility model provides a navigation module calibration auxiliary device, includes the lock and connects last locating piece and the lower locating piece that constitutes the regular hexahedron after, forms the regular hexahedron inside be used for the location navigation module's location chamber, the regular hexahedron on be formed with the intercommunication location chamber and outside wire casing the last locating piece and lower locating piece between form coupling mechanism with matcing.
The positioning cavity comprises a lower concave cavity which is formed on the upper surface of the lower positioning block in a matching manner, and an upper concave cavity which is formed on the lower surface of the upper positioning block.
The connecting mechanism comprises a positioning groove and a positioning beam which are correspondingly integrated with the upper positioning block and the lower positioning block, and the positioning beam is in clearance fit with the positioning groove.
The positioning beam is a plurality of straight line segments or arc segments which are distributed at intervals.
The lower positioning block and the lower positioning block are made of nylon materials.
And positioning columns corresponding to the positioning holes of the navigation module are formed in the lower concave cavity.
The side wall of the lower positioning block and/or the side wall of the upper positioning block are/is provided with a buckling groove.
A calibration method for calibrating an auxiliary device by using the navigation module is characterized by comprising the following steps,
1) The upper positioning block and the lower positioning block are buckled, and the navigation module is positioned in the positioning cavity;
2) The hexahedron is turned over to enable different sides to be sequentially contacted with a horizontal plane and calibrated,
3) And after the calibration is finished, the upper positioning block and the lower positioning block are separated to take out the navigation module.
The step 1) comprises the substep of matching and inserting the positioning column into the positioning hole of the navigation module.
Compared with the prior art, the invention has the beneficial effects that:
the invention has simple structure, light weight, stability and reliability, is biased to operation, the internal positioning cavity can be changed along with the change of the module structure and can be repeatedly used, and the appearance of the navigation module with the same model can be checked in the testing process, so that the uniformity of the appearance quality of the product is improved, and the testing is rapid and stable.
Drawings
FIG. 1 is a schematic view of a lower positioning block of a navigation module calibration assistance device according to the present invention;
FIG. 2 is a schematic cross-sectional view of the structure shown in FIG. 1;
fig. 3 is a schematic structural view of the upper positioning block.
Detailed Description
The invention is described in further detail below with reference to the drawings and the specific examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in the figure, the navigation module calibration auxiliary device comprises an upper positioning block 2 and a lower positioning block 1 which are buckled and connected to form a regular hexahedron, a positioning cavity is formed in the regular hexahedron and used for positioning the navigation module, a wire slot 3 which is communicated with the positioning cavity and the outside is formed on the regular hexahedron, and a connecting mechanism is formed between the upper positioning block and the lower positioning block in a matched manner.
Specifically, the positioning cavity includes a lower concave cavity 11 formed on the upper surface of the lower positioning block 1 in a matching manner, and an upper concave cavity 21 formed on the lower surface of the upper positioning block 2. The size of the lower concave cavity and the size of the upper concave cavity and the size of the dividing line are set by taking the shape of the navigation module as a reference, so that the navigation module is convenient to clamp, fix and separate, the navigation module is positioned in the positioning cavity and is not excessively extruded, and the horizontal plane and the vertical plane of the navigation module are parallel to the corresponding plane of the regular hexahedron after the navigation module is positioned in the positioning cavity.
The auxiliary device adopts a regular hexahedron after the upper plate and the lower plate are installed, and the opposite surface of the regular hexahedron is parallel to the adjacent surface and vertical to the adjacent surface. The navigation module can be effectively ensured to be positioned at a determined preset position, and the navigation module can be ensured to be parallel or perpendicular to the horizon when in calibration, so that the calibration precision is improved.
Further, the connecting mechanism comprises a positioning groove 22 and a positioning beam 12 which are correspondingly formed with the upper positioning block and the lower positioning block in an integrated mode, and the positioning beam and the positioning groove are in clearance fit, and the clearance precision is 0.05mm. The device ensures good matching after installation, and can not separate an upper positioning block from a lower positioning block during use, so that the device can not be separated during test overturning, and the test precision can be ensured.
The lower positioning block and the lower positioning block are made of nylon or other nonmetallic materials. The specific material selection is comprehensively considered according to the factors such as the strength requirement, the weight requirement, the cost, the magnetic interference requirement and the like of the use environment.
Wherein, the lower concave cavity is internally provided with a positioning column 13 corresponding to the positioning hole of the navigation module. The positioning beam 12 is a plurality of straight line segments or arc segments which are distributed at intervals, such as four arc segments distributed at four corners, and adopts arc positioning, thereby ensuring positioning accuracy and being not easy to separate. In addition, in order to facilitate buckling, buckling grooves are formed on the side walls of the lower positioning block and/or the upper positioning block.
The invention also discloses a calibration method for calibrating the auxiliary device by using the navigation module, which comprises the following steps,
1) The upper positioning block and the lower positioning block are buckled, and the navigation module is positioned in the positioning cavity; specifically, the positioning column is matched and inserted into the positioning hole of the navigation module to realize preliminary positioning, then the upper positioning block and the lower positioning block are correspondingly buckled and pressed, and meanwhile, the data line is arranged in the wire slot, so that the stability of side contact can be ensured;
2) The hexahedron is turned over to enable different sides to be sequentially contacted with a horizontal plane and calibrated,
3) And after the calibration is finished, the upper positioning block and the lower positioning block are separated to take out the navigation module.
The invention has simple structure, light weight, stability and reliability, is biased to operation, the internal positioning cavity can be changed along with the change of the module structure and can be repeatedly used, and the appearance of the navigation module with the same model can be checked in the testing process, so that the uniformity of the appearance quality of the product is improved, and the testing is rapid and stable.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (9)
1. The navigation module calibration auxiliary device is characterized by comprising an upper positioning block and a lower positioning block which are buckled and connected to form a regular hexahedron, a positioning cavity used for positioning the navigation module is formed in the regular hexahedron, a wire slot communicated with the positioning cavity and the outside is formed on the regular hexahedron, and a connecting mechanism is formed between the upper positioning block and the lower positioning block in a matched mode.
2. The navigation module calibration aid of claim 1, wherein the positioning cavity includes a lower cavity matingly formed in an upper surface of the lower positioning block and an upper cavity matingly formed in a lower surface of the upper positioning block.
3. The navigation module calibration assistance device of claim 1, wherein the attachment mechanism includes a detent and a detent beam integrally formed with the upper and lower locating blocks, the detent beam and detent beam being in clearance fit.
4. A navigation module calibration assistance apparatus as claimed in claim 3 wherein said positioning beams are in the form of spaced apart linear or arcuate segments.
5. The navigation module calibration assistance device of claim 1, wherein the lower positioning block and the lower positioning block are made of nylon.
6. The alignment aid of claim 2, wherein the lower cavity has a locating post formed therein corresponding to the locating hole of the navigation module.
7. The navigation module calibration assistance device according to claim 1, wherein a fastening groove is formed on a side wall of the lower positioning block and/or the upper positioning block.
8. A calibration method using the navigation module calibration assistance device according to any one of claims 1 to 7, comprising the steps of,
1) The upper positioning block and the lower positioning block are buckled, and the navigation module is positioned in the positioning cavity;
2) The hexahedron is turned over to enable different sides to be sequentially contacted with a horizontal plane and calibrated,
3) And after the calibration is finished, the upper positioning block and the lower positioning block are separated to take out the navigation module.
9. The method of calibrating according to claim 8, characterized in that in said step 1) it comprises the sub-step of matching the insertion of the positioning posts into the positioning holes of the navigation module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710516389.9A CN107091651B (en) | 2017-06-29 | 2017-06-29 | Navigation module calibration auxiliary device and calibration method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710516389.9A CN107091651B (en) | 2017-06-29 | 2017-06-29 | Navigation module calibration auxiliary device and calibration method |
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| Publication Number | Publication Date |
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| CN107091651A CN107091651A (en) | 2017-08-25 |
| CN107091651B true CN107091651B (en) | 2023-12-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710516389.9A Active CN107091651B (en) | 2017-06-29 | 2017-06-29 | Navigation module calibration auxiliary device and calibration method |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114166252B (en) * | 2022-02-10 | 2022-05-10 | 成都飞机工业（集团）有限责任公司 | Comprehensive positioning precision testing method for industrial robot integrated system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1995010051A1 (en) * | 1993-10-07 | 1995-04-13 | Scan-Tech A/S | Equipment for calibration of navigation aids |
| CN105509747A (en) * | 2015-12-30 | 2016-04-20 | 桂林众捷新能源科技有限公司 | Unmanned automatic navigation system and unmanned automatic navigation method |
| CN105738924A (en) * | 2016-03-03 | 2016-07-06 | 上海市计量测试技术研究院 | Calibration system and calibration method for satellite navigation signal simulator pseudo range control precision |
| CN206249099U (en) * | 2016-12-19 | 2017-06-13 | 郑州大河智信科技股份公司 | A kind of new laser navigation AGV cart transport line auxiliary locators |
| CN206905775U (en) * | 2017-06-29 | 2018-01-19 | 一飞智控(天津)科技有限公司 | Navigation module alignment aid |
-
2017
- 2017-06-29 CN CN201710516389.9A patent/CN107091651B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1995010051A1 (en) * | 1993-10-07 | 1995-04-13 | Scan-Tech A/S | Equipment for calibration of navigation aids |
| CN105509747A (en) * | 2015-12-30 | 2016-04-20 | 桂林众捷新能源科技有限公司 | Unmanned automatic navigation system and unmanned automatic navigation method |
| CN105738924A (en) * | 2016-03-03 | 2016-07-06 | 上海市计量测试技术研究院 | Calibration system and calibration method for satellite navigation signal simulator pseudo range control precision |
| CN206249099U (en) * | 2016-12-19 | 2017-06-13 | 郑州大河智信科技股份公司 | A kind of new laser navigation AGV cart transport line auxiliary locators |
| CN206905775U (en) * | 2017-06-29 | 2018-01-19 | 一飞智控(天津)科技有限公司 | Navigation module alignment aid |
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| Publication number | Publication date |
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| CN107091651A (en) | 2017-08-25 |
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Effective date of registration: 20191223 Address after: 572000 zone C276, third floor, phase II standard workshop, Yazhou Bay, Yazhou District, Sanya City, Hainan Province Applicant after: Yifei (Hainan) Technology Co.,Ltd. Address before: 300457 No. 156, No. 29, Nanhai Road, Binhai Economic and Technological Development Zone, Tianjin, A Applicant before: EFY INTELLIGENT CONTROL (TIANJIN) TECH Co.,Ltd. |
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