CN108387245B - Installation polarity measurement method for rate gyroscope and meter adding device for carrying - Google Patents
Installation polarity measurement method for rate gyroscope and meter adding device for carrying Download PDFInfo
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- CN108387245B CN108387245B CN201711448892.1A CN201711448892A CN108387245B CN 108387245 B CN108387245 B CN 108387245B CN 201711448892 A CN201711448892 A CN 201711448892A CN 108387245 B CN108387245 B CN 108387245B
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- 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
Abstract
A method for measuring the installation polarity of a rate gyro and a meter adding device for carrying relates to the field of measurement and inspection of the installation polarity after installing an arrow; the method comprises the following steps: measuring the installation polarity of a stage section pitching rate gyro and a yawing rate gyro; step two, measuring the installation polarity of a horizontal adding meter and a normal adding meter in the stage section; step three, measuring the installation polarity of the rolling gyro in the I-stage box interval section; step four, installing a polarity measurement for a booster rate gyro; the invention provides a technology for measuring arrow-level installation polarity of a rate gyroscope and a meter adding device for carrying.
Description
Technical Field
The invention relates to the field of measurement and inspection of installation polarity after arrows are installed, in particular to a method for measuring installation polarity of a rate gyro and a meter adding device for carrying.
Background
At present, arrow-level installation polarities of a rate gyro and a meter adding device are judged by comparing an installation operator and a designer with actual installation through using a design drawing, whether the installation polarities are correct or not is completely guaranteed by personnel, and great risks exist.
The large carrier rocket and strategic weapon in China widely use a rate gyro and a meter adding device for attitude and unloading control, and because the gyro and the meter adding device are installed at multiple positions, a cable network on the rocket is complex and intricate and is in multi-channel butt joint with the gyro and the meter adding device, the first moment of installing the rate gyro and the meter adding device, namely the first moment of installing the arrow on the rate gyro and the meter adding device, is particularly important for checking the installation polarity of the rate gyro and the meter adding device. At present, the polar check of the rate gyro and the tabulation installation of the carrier rocket and the strategic weapon is usually realized by comparing the actual installation with a design drawing by installation and designers, and the wrong judgment brought by human factors cannot be eliminated. In 2013, the Russian 'proton number-M' rocket soon declared a launch failure after launching, and the final reason was that the pitch and yaw rate gyros for attitude control were installed with wrong polarity.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides a method for installing the polarity measurement of the carrier rate gyroscope and the meter adding device, reduces the dependence on personnel, improves the reliability of the polarity measurement result, and has the advantages of intuition, reliability, representation of flight state and the like.
The above purpose of the invention is realized by the following technical scheme:
a method for measuring the installation polarity of a rate gyro and a meter adding device for carrying comprises the following steps:
measuring the installation polarity of a stage section pitching rate gyro and a yawing rate gyro;
s1: fixedly mounting a pitching rate gyroscope and a yawing rate gyroscope on the inner wall of the upper end of the stage section; the pitching rate gyroscope points to the axis of the stage section, and the angle between the pointing direction of the pitching rate gyroscope and the bottom surface is 45 degrees; the yaw rate gyro points to the axis of the stage section, and the angle between the direction of the yaw rate gyro and the bottom surface is 45 degrees; the pitching rate gyroscope and the yawing rate gyroscope are symmetrically arranged on two sides of a vertical plane of the axis of the transition section, and the directions of the pitching rate gyroscope and the yawing rate gyroscope are opposite;
s2: the front hoisting point of the stage section is stably hoisted, and the rear hoisting point is kept still; measuring the hoisting output values of the pitching rate gyroscope and the yawing rate gyroscope; the front lifting point of the stage section stably descends, and the rear lifting point is kept still; measuring the descending output values of the pitching rate gyro and the yawing rate gyro;
s3: judging whether the installation polarities of the pitch rate gyro and the yaw rate gyro are correct or not according to the lifting output values of the pitch rate gyro and the yaw rate gyro and the descending output values of the pitch rate gyro and the yaw rate gyro;
step (II), measuring the installation polarity of the horizontal adding meter and the normal adding meter in the stage section
S1: fixedly mounting a transverse adding meter and a normal adding meter on the inner wall of the upper end of the stage section; the included angle between the horizontal direction of the adding meter and the bottom surface is 45 degrees; the included angle between the normal direction of the adding table and the bottom surface is 45 degrees; the transverse adding table and the normal adding table are symmetrically arranged on two sides of a vertical plane of the axis of the stage section, and the directions of the transverse adding table and the normal adding table are opposite;
s2: initially electrifying the transverse adding meter and the normal adding meter for 1min, and measuring the output average value of the transverse adding meter as a; the output average value of the normal adding table is b; after power failure, rotating the stage section by 3-5 degrees in the clockwise direction, and electrifying the transverse meter adding table and the normal meter adding table after the stage section rotates and stands still; measuring a clockwise instantaneous value a 'of the transverse adding table and a clockwise instantaneous value b' of the normal adding table; powering off, namely rotating the stage section by 3-5 degrees along the anticlockwise direction, and electrifying the transverse meter adding table and the normal meter adding table after the stage section rotates and stands still; measuring the anticlockwise instantaneous value of the transverse adding table as a 'and the clockwise instantaneous value of the normal adding table as b';
s3: judging whether the installation polarities of the transverse adding table and the normal adding table are correct or not according to the output mean value a of the transverse adding table, the output mean value b of the normal adding table, the clockwise instantaneous value a 'of the transverse adding table, the clockwise instantaneous value b' of the normal adding table, the anticlockwise instantaneous value a 'of the transverse adding table and the anticlockwise instantaneous value b' of the normal adding table;
step three, measuring the installation polarity of the rolling gyro in the I-stage box interval section
S1: horizontally and fixedly mounting the rolling gyro on the top wall of the I-stage box section along the axial direction; the sensitive axis of the rolling gyro is parallel to the ground;
s2: clockwise rotating the stage I box interval for 1min at a constant speed, wherein the rotating angle is 2 degrees; testing the clockwise rotation output of the rolling gyro in the rotation process; rotating the stage I box interval section at a constant speed for 1min in an anticlockwise mode, wherein the rotating angle is 2 degrees; testing the anticlockwise rotation output of the rolling gyroscope in the rotation process;
s3: judging whether the installation polarity of the rolling gyroscope is correct or not according to the clockwise rotation output and the anticlockwise rotation output of the rolling gyroscope;
step four, installing a polarity measurement for a booster rate gyro;
s1: fixedly mounting the rate gyroscope on the top end of the inner wall of the booster; and the sensitive shaft of the rate gyroscope points to the axis of the booster along the radial direction;
s2: clockwise rotating the booster along the horizontal plane, uniformly rotating for 1 degree, and continuously rotating for 30 s; measuring a clockwise output value of the rate gyro; rotating the booster anticlockwise along the horizontal plane, rotating at a constant speed for 1 degree, and rotating for 30 s; measuring a counter-clockwise output value of the rate gyro;
s3: and judging the correctness of the installation polarity of the rate gyro according to the clockwise output value and the anticlockwise output value of the rate gyro.
In the method for measuring the installation polarity of the carrier rate gyro and the accelerometer device, in step (i) S2, the method for stably hoisting the front hoisting point of the stage section includes: the hoisting speed of the front hoisting point of the stage section is 1 cm/s; the hoisting time is 30 s; the method for stably descending the front hoisting point of the stage section comprises the following steps: the descending speed of the lifting point in the front of the stage section is 1 cm/s; the fall time was 30 s.
In the method for measuring the installation polarity of the carrier rate gyro and the adding table device, in S3 of the step (i), the method for determining whether the installation polarities of the pitch rate gyro and the yaw rate gyro are correct includes:
in the lifting process of the current lifting point, the yaw rate gyroscope outputs a positive value, and in the descending process of the front lifting point, the yaw rate gyroscope outputs a negative value, so that the yaw rate gyroscope is correctly installed; otherwise, it is incorrect;
in the lifting process of the current lifting point, the pitching rate gyroscope outputs a negative value, and in the descending process of the front lifting point, the pitching rate gyroscope outputs a positive value, so that the yaw rate gyroscope is correctly installed; otherwise it is not correct.
In the method for measuring the installation polarity of the vehicular rate gyro and the adding device, in S2 of the step (ii), the clockwise direction means: pointing to the head direction of the stage section, and determining the head direction as the clockwise direction by using a right hand; the counterclockwise direction means: pointing in the direction of the head of the stage section, and determining the direction to be anticlockwise by a left hand.
In the method for measuring the installation polarity of the vehicular rate gyro and the meter adding device, in S3 of the step (ii), the method for determining whether the installation polarity of the transverse meter adding device is correct is as follows: taking the output average value a of the transverse adding table as a reference; when the absolute value of the clockwise instantaneous value a 'of the transverse adding table is smaller than the absolute value of a, and the absolute value of the anticlockwise instantaneous value a' of the transverse adding table is larger than the absolute value of a, the installation polarity of the transverse adding table is correct, otherwise, the installation polarity is incorrect;
the method for judging whether the installation polarity of the normal adding table is correct comprises the following steps: taking the output average value b of the normal addition table as a reference; and when the absolute value of the clockwise instantaneous value b 'of the normal addition table is greater than the absolute value of b and the absolute value of the anticlockwise instantaneous value b' of the normal addition table is less than the absolute value of b, the installation polarity of the normal addition table is correct, otherwise, the installation polarity of the normal addition table is incorrect.
In the method for measuring the installation polarity of the vehicular rate gyro and the adding device, in step (three), in S2, the clockwise direction means: pointing to the head direction of the I-level box section, and determining the head direction as the clockwise direction by right-hand determination; the counterclockwise direction means: pointing in the direction of the head of the stage I block section, and determining the direction to be anticlockwise by a left hand.
In the method for measuring the installation polarity of the carrier rate gyro and the adding table device, in step (three), in S3, the method for determining whether the installation polarity of the rolling gyro is correct is as follows: when the I-stage tank interval rotates clockwise, the output of the rolling gyro is positive, and when the I-stage tank interval rotates anticlockwise and the output of the rolling gyro is negative, the installation polarity of the rolling gyro is correct, otherwise, the installation polarity is wrong.
In the method for measuring the installation polarity of the vehicular rate gyro and the adding device, in S2 of the step (iv), the clockwise direction means: in a vertically downward direction, clockwise when determined with a right hand; the counterclockwise direction means: in the vertically upward direction, the counterclockwise direction is determined in the right-hand rule.
In the method for measuring the installation polarity of the carrier rate gyro and the adding table device, in S3 of the step (iv), the method for determining whether the installation polarity of the rate gyro is correct is as follows: when the booster rotates clockwise, the output of the rate gyro is positive, and when the booster rotates anticlockwise, the output of the rate gyro is negative, the installation polarity of the rate gyro is correct, otherwise, the installation polarity is wrong.
Compared with the prior art, the invention has the following advantages:
(1) according to the essential characteristics of the rate gyroscope and the meter adding device, parameters such as hoisting/transferring speed, direction, duration and the like of different sections in the installation polarity measurement process are formulated, and the working characteristics of the rate gyroscope and the meter adding device can be adapted without additionally increasing the final assembly process;
(2) according to the invention, through the miniaturized and integrated section model, simulation support is provided for the verification of the installation polarity measurement technology;
(3) the invention needs to carry out real-time data acquisition on the rate gyro and the meter adding device based on the installation polarity measurement, and simultaneously realizes the judgment on the installation polarities of the gyro and the meter adding device through built-in criteria after the data acquisition.
Drawings
FIG. 1 is a schematic view of a stage rate gyro installation of the present invention;
FIG. 2 is a schematic view of the front suspension point elevation of the stage section according to the present invention;
FIG. 3 is a schematic view of the installation of the stage bay adding device of the present invention;
FIG. 4 is a schematic view of the rotation of the stage section according to the present invention;
fig. 5 is a top view of the booster of the present invention rotated counterclockwise.
Detailed Description
The invention is described in further detail below with reference to the following figures and specific examples:
the invention provides a rocket-level installation polarity measurement technology for a rate gyro and a meter adding device for a carrier rocket, which aims to solve the problem that after the existing rate gyro and the meter adding device for the carrier rocket are installed on a rocket, the installation polarity correctness can only be judged by comparing installation polarity photographing with a design drawing through an installation operator, and artificial misjudgment exists.
The main invention content is as follows:
1) a simple and feasible rocket-level installation polarity test method is provided, and a hoisting and rotating mode of the rocket section is formulated according to the parking position of the rocket section;
2) a CZ-5 carrier rocket is used as a carrier, and a set of rate gyro and meter adding device installation polarity test equipment is developed and comprises a rocket integrated cabin section and installation polarity measurement intelligent software.
A method for measuring the installation polarity of a rate gyro and a meter adding device for carrying is characterized in that: the method comprises the following steps:
measuring the installation polarity of a stage section pitching rate gyro 1 and a yawing rate gyro 2;
s1: as shown in fig. 1, which is a schematic view of installing a rate gyro in a stage, it can be known that a pitch rate gyro 1 and a yaw rate gyro 2 are fixedly installed on the inner wall of the upper end of the stage; the pitching rate gyroscope 1 points to the axis of the stage section, and the angle between the pointing direction of the pitching rate gyroscope 1 and the bottom surface is 45 degrees; the yaw rate gyro 2 points to the axis of the stage section, and the angle between the pointing direction of the yaw rate gyro 2 and the bottom surface is 45 degrees; the pitching rate gyroscope 1 and the yawing rate gyroscope 2 are symmetrically arranged on two sides of a vertical plane of the axis of the transition section, and the directions of the pitching rate gyroscope 1 and the yawing rate gyroscope 2 are opposite;
s2: as shown in fig. 2, which is a schematic view of the front lifting point of the stage section, it can be known that the front lifting point 3 of the stage section is lifted stably, and the rear lifting point 4 remains stationary; measuring the hoisting output values of the pitching rate gyro 1 and the yawing rate gyro 2; the front lifting point 3 of the stage section stably descends, and the rear lifting point 4 keeps still; measuring the descending output values of the pitching rate gyro 1 and the yawing rate gyro 2; the method for stably hoisting the front hoisting point 3 in the stage section comprises the following steps: the hoisting speed of the front hoisting point 3 of the stage section is 1 cm/s; the hoisting time is 30 s; the method for stably descending the front lifting point 3 of the stage section comprises the following steps: the descending speed of the front lifting point 3 of the stage section is 1 cm/s; the fall time was 30 s.
S3: judging whether the installation polarities of the pitch rate gyro 1 and the yaw rate gyro 2 are correct or not according to the lifting output values of the pitch rate gyro 1 and the yaw rate gyro 2 and the descending output values of the pitch rate gyro 1 and the yaw rate gyro 2; the method for judging whether the installation polarities of the pitch rate gyro 1 and the yaw rate gyro 2 are correct is as follows:
in the hoisting process of the current hoisting point 3, the yaw rate gyro 2 outputs a positive value, and in the descending process of the front hoisting point 3, the yaw rate gyro 2 outputs a negative value, so that the yaw rate gyro 2 is installed correctly; otherwise, it is incorrect;
in the lifting process of the current lifting point 3, the pitching rate gyroscope 1 outputs a negative value, and in the descending process of the front lifting point 3, the pitching rate gyroscope 1 outputs a positive value, so that the yaw rate gyroscope 2 is installed correctly; otherwise it is not correct.
Step (II), transversely adding table 5 in the stage section and measuring the installation polarity of the normal adding table 6
S1: as shown in fig. 3, which is a schematic view of the installation of the device for adding meters in the stage section, it can be seen that a transverse adding meter 5 and a normal adding meter 6 are fixedly installed on the inner wall of the upper end of the stage section; the included angle between the direction of the meter 5 and the bottom surface is 45 degrees in the transverse direction; the angle between the normal direction and the direction of the meter 6 and the bottom surface is 45 degrees; the transverse adding table 5 and the normal adding table 6 are symmetrically arranged on two sides of a vertical plane of the axis of the stage section, and the directions of the transverse adding table 5 and the normal adding table 6 are opposite;
s2: initially electrifying the transverse adder table 5 and the normal adder table 6 for 1min, and measuring the output average value of the transverse adder table 5 as a; the normal plus table 6 output mean value is b; as shown in fig. 4, which is a schematic diagram of the rotation of the stage section, it can be seen that after power is cut off, the stage section is rotated 3-5 ° clockwise, and after the rotation is stopped, the transverse adding table 5 and the normal adding table 6 are powered on; measuring a clockwise instantaneous value a 'of the transverse plus table 5 and a clockwise instantaneous value b' of the normal plus table 6; powering off, namely rotating the stage section by 3-5 degrees in the counterclockwise direction, and then powering on a transverse meter 5 and a normal meter 6 after the stage section rotates and stands still; measuring the anticlockwise instantaneous value of the transverse plus table 5 as a 'and the clockwise instantaneous value of the normal plus table 6 as b'; clockwise means that: pointing to the head direction of the stage section, and determining the head direction as the clockwise direction by using a right hand; the counterclockwise direction means: pointing in the direction of the head of the stage section, and determining the direction to be anticlockwise by a left hand.
S3: judging whether the installation polarities of the transverse adding table 5 and the normal adding table 6 are correct or not according to the output mean value a of the transverse adding table 5, the output mean value b of the normal adding table 6, the clockwise instantaneous value a 'of the transverse adding table 5, the clockwise instantaneous value b' of the normal adding table 6, the anticlockwise instantaneous value a 'of the transverse adding table 5 and the anticlockwise instantaneous value b' of the transverse adding table 6;
the method for judging whether the installation polarity of the horizontal addition table 5 is correct is as follows: taking the output average value a of the transverse addition table 5 as a reference; when the absolute value of the clockwise instantaneous value a 'of the transverse addition table 5 is smaller than the absolute value of a, and the absolute value of the counterclockwise instantaneous value a' of the transverse addition table 5 is larger than the absolute value of a, the installation polarity of the transverse addition table 5 is correct, otherwise, the installation polarity is incorrect;
the method for judging whether the installation polarity of the normal addition table 6 is correct is as follows: taking the normal plus the output average value b of the table 6 as a reference; when the absolute value of the clockwise instantaneous value b 'of the normal addition table 6 is greater than the absolute value of b, and the absolute value of the counterclockwise instantaneous value b' of the normal addition table 6 is less than the absolute value of b, the installation polarity of the normal addition table 6 is correct, otherwise, the installation polarity is incorrect.
Step three, measuring the installation polarity of the rolling gyro in the I-stage box interval section
S1: horizontally and fixedly mounting a rolling gyro 7 on the top wall of the stage I tank interval section along the axial direction; the sensitive axis of the rolling gyro 7 is parallel to the ground;
s2: clockwise rotating the stage I box interval for 1min at a constant speed, wherein the rotating angle is 2 degrees; clockwise rotation output of the rolling gyro 7 in the rotation process is tested; rotating the stage I box interval section at a constant speed for 1min in an anticlockwise mode, wherein the rotating angle is 2 degrees; testing the anticlockwise rotation output of the rolling gyro 7 in the rotation process; clockwise means that: pointing to the head direction of the I-level box section, and determining the head direction as the clockwise direction by right-hand determination; the counterclockwise direction means: pointing in the direction of the head of the stage I block section, and determining the direction to be anticlockwise by a left hand.
S3: judging whether the installation polarity of the rolling gyroscope 7 is correct or not according to the clockwise rotation output and the anticlockwise rotation output of the rolling gyroscope 7; the method for judging whether the installation polarity of the rolling gyro 7 is correct is as follows: when the I-stage interval box rotates clockwise, the output of the rolling gyro 7 is positive, and when the I-stage interval box rotates counterclockwise, the output of the rolling gyro 7 is negative, the installation polarity of the rolling gyro 7 is correct, otherwise, the installation polarity is wrong.
Step four, installing a polarity measurement for a booster rate gyro;
s1: fixedly mounting a rate gyro 8 on the top end of the inner wall of the booster; and the sensitive shaft of the rate gyro 8 points to the axle center of the booster along the radial direction;
s2: as shown in fig. 5, which is a top view of the counterclockwise rotation of the booster, the booster is rotated clockwise along the horizontal plane, the booster rotates at a uniform speed of 1 degree, and the rotation lasts for 30 s; measuring a clockwise output value of the rate gyro 8; rotating the booster anticlockwise along the horizontal plane, rotating at a constant speed for 1 degree, and rotating for 30 s; measuring the counterclockwise output value of the rate gyro 8; clockwise means that: in a vertically downward direction, clockwise when determined with a right hand; the counterclockwise direction means: in the vertically upward direction, the counterclockwise direction is determined in the right-hand rule.
S3: the correctness of the installation polarity of rate gyro 8 is judged according to the clockwise output value and the counterclockwise output value of rate gyro 8. The method for judging whether the installation polarity of the rate gyro 8 is correct is as follows: when the output of rate gyro 8 is positive when the booster rotates clockwise and the output of rate gyro 8 is negative when the booster rotates counterclockwise, the installation polarity of rate gyro 8 is correct, otherwise, it is wrong.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (1)
1. A method for measuring the installation polarity of a rate gyro and a meter adding device for carrying is characterized in that: the method comprises the following steps:
measuring the installation polarity of a stage section pitching rate gyro (1) and a yawing rate gyro (2);
s1: fixedly mounting a pitching rate gyroscope (1) and a yawing rate gyroscope (2) on the inner wall of the upper end of the stage section; the pitching rate gyroscope (1) points to the axis of the stage section, and the angle between the pointing direction of the pitching rate gyroscope (1) and the bottom surface is 45 degrees; the yaw rate gyro (2) points to the axis of the stage section, and the angle between the pointing direction of the yaw rate gyro (2) and the bottom surface is 45 degrees; the pitching rate gyroscope (1) and the yawing rate gyroscope (2) are symmetrically arranged on two sides of a vertical plane passing through the axis of the stage section, and the directions of the pitching rate gyroscope (1) and the yawing rate gyroscope (2) are opposite;
s2: the front lifting point (3) of the stage section is stably lifted, and the rear lifting point (4) is kept still; measuring the hoisting output values of the pitching rate gyroscope (1) and the yawing rate gyroscope (2); the front lifting point (3) of the stage section stably descends, and the rear lifting point (4) is kept still; measuring the descending output values of the pitching rate gyro (1) and the yawing rate gyro (2);
s3: judging whether the installation polarities of the pitch rate gyro (1) and the yaw rate gyro (2) are correct or not according to the hoisting output values of the pitch rate gyro (1) and the yaw rate gyro (2) and the descending output values of the pitch rate gyro (1) and the yaw rate gyro (2);
step (II), transversely adding a meter (5) in a stage section and measuring the installation polarity of a normal adding meter (6)
S1: fixedly mounting a transverse adder (5) and a normal adder (6) on the inner wall of the upper end of the stage section; the included angle between the direction of the transverse meter (5) and the bottom surface is 45 degrees; the included angle between the normal direction of the adder (6) and the bottom surface is 45 degrees; the transverse adding meter (5) and the normal adding meter (6) are symmetrically arranged on two sides of a vertical plane of the axis of the stage section, and the directions of the transverse adding meter (5) and the normal adding meter (6) are opposite;
s2: initially electrifying the transverse adder table (5) and the normal adder table (6) for 1min, and measuring the output average value of the transverse adder table (5) as a; the output average value of the normal addition table (6) is b; after power failure, the stage section rotates by 3-5 degrees in the clockwise direction, and after the stage section rotates and stands still, the transverse adding meter (5) and the normal adding meter (6) are electrified; measuring a clockwise instantaneous value a 'of the transverse adder table (5) and a clockwise instantaneous value b' of the normal adder table (6); powering off, namely rotating the stage section by 3-5 degrees along the counterclockwise direction, and then powering on a transverse meter adding (5) and a normal meter adding (6) after the stage section rotates and stands still; measuring the anticlockwise instantaneous value of the transverse adder table (5) as a 'and the clockwise instantaneous value of the normal adder table (6) as b';
s3: judging whether the installation polarities of the transverse adding table (5) and the normal adding table (6) are correct or not according to an output average value a of the transverse adding table (5), an output average value b of the normal adding table (6), a clockwise instantaneous value a 'of the transverse adding table (5), a clockwise instantaneous value b' of the normal adding table (6), a counterclockwise instantaneous value a 'of the transverse adding table (5) and a counterclockwise instantaneous value b' of the normal adding table (6);
step three, measuring the installation polarity of the rolling gyro in the I-stage box interval section
S1: horizontally and fixedly mounting a rolling gyro (7) on the top wall of the I-stage tank section along the axial direction; the sensitive axis of the rolling gyro (7) is parallel to the ground;
s2: clockwise rotating the stage I box interval for 1min at a constant speed, wherein the rotating angle is 2 degrees; clockwise rotation output of the rolling gyro (7) in the rotation process is tested; rotating the stage I box interval section at a constant speed for 1min in an anticlockwise mode, wherein the rotating angle is 2 degrees; testing the anticlockwise rotation output of the rolling gyro (7) in the rotation process;
s3: judging whether the installation polarity of the rolling gyroscope (7) is correct or not according to the clockwise rotation output and the anticlockwise rotation output of the rolling gyroscope (7);
step four, installing a polarity measurement for a booster rate gyro;
s1: fixedly mounting a rate gyro (8) at the top end of the inner wall of the booster; and the sensitive shaft of the rate gyro (8) points to the axle center of the booster along the radial direction;
s2: clockwise rotating the booster along the horizontal plane, uniformly rotating for 1 degree, and continuously rotating for 30 s; measuring a clockwise output value of the rate gyro (8); rotating the booster anticlockwise along the horizontal plane, rotating at a constant speed for 1 degree, and rotating for 30 s; measuring a counter-clockwise output value of the rate gyro (8);
s3: judging the correctness of the installation polarity of the rate gyro (8) according to the clockwise output value and the anticlockwise output value of the rate gyro (8);
in the step (i) S2, the method for stably hoisting the front hoisting point (3) of the stage section comprises the following steps: the hoisting speed of the front hoisting point (3) of the stage section is 1 cm/s; the hoisting time is 30 s; the method for stably descending the front lifting point (3) of the stage section comprises the following steps: the descending speed of the front lifting point (3) of the stage section is 1 cm/s; the fall time was 30 s;
in S3 of the step (i), the method of determining whether the installation polarities of the pitch rate gyro (1) and the yaw rate gyro (2) are correct is:
in the hoisting process of the current hoisting point (3), the yaw rate gyro (2) outputs a positive value, and in the descending process of the front hoisting point (3), the yaw rate gyro (2) outputs a negative value, so that the yaw rate gyro (2) is installed correctly; otherwise, it is incorrect;
in the hoisting process of the current hoisting point (3), the pitching rate gyroscope (1) outputs a negative value, and in the descending process of the front hoisting point (3), the pitching rate gyroscope (1) outputs a positive value, so that the yaw rate gyroscope (2) is installed correctly; otherwise, it is incorrect;
in S2 of the above step (ii), the clockwise direction means: pointing to the head direction of the stage section, and determining the head direction as the clockwise direction by using a right hand; the counterclockwise direction means: pointing to the head direction of the stage section, and determining the direction to be anticlockwise according to left-hand determination;
in S3 of the step (ii), the method for determining whether the mounting polarity of the horizontal addition table (5) is correct is: taking the output average value a of the transverse addition table (5) as a reference; when the absolute value of the clockwise instantaneous value a 'of the transverse addition table (5) is smaller than the absolute value of a, and the absolute value of the anticlockwise instantaneous value a' of the transverse addition table (5) is larger than the absolute value of a, the installation polarity of the transverse addition table (5) is correct, otherwise, the installation polarity is incorrect;
the method for judging whether the installation polarity of the normal addition table (6) is correct is as follows: taking the output average value b of the normal addition table (6) as a reference; when the absolute value of the clockwise instantaneous value b 'of the normal addition table (6) is greater than the absolute value of b and the absolute value of the anticlockwise instantaneous value b' of the normal addition table (6) is less than the absolute value of b, the installation polarity of the normal addition table (6) is correct, otherwise, the installation polarity is incorrect;
in S2 of the step (iii), the clockwise direction means: pointing to the head direction of the I-level box section, and determining the head direction as the clockwise direction by right-hand determination; the counterclockwise direction means: pointing to the head direction of the I-level box section, and determining the direction to be anticlockwise by a left-hand rule;
in S3 of the above step (three), the method for determining whether the installation polarity of the scroll gyro (7) is correct is: when the I-stage tank interval rotates clockwise, the output of the rolling gyroscope (7) is positive, and when the I-stage tank interval rotates anticlockwise, the output of the rolling gyroscope (7) is negative, the installation polarity of the rolling gyroscope (7) is correct, otherwise, the installation polarity is wrong;
in S2 of the above step (iv), the clockwise direction means: in a vertically downward direction, clockwise when determined with a right hand; the counterclockwise direction means: in the vertical upward direction, the counterclockwise direction is determined by the right hand rule;
in S3 of the step (iv), the method for determining whether the installation polarity of the rate gyro (8) is correct is: when the booster rotates clockwise, the output of the rate gyro (8) is positive, and when the booster rotates anticlockwise, the output of the rate gyro (8) is negative, the installation polarity of the rate gyro (8) is correct, otherwise, the installation polarity is wrong.
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| CN105737848A (en) * | 2014-12-10 | 2016-07-06 | 上海新跃仪表厂 | System-level star sensor star observation system and star observation method thereof |
| CN106153072A (en) * | 2016-06-17 | 2016-11-23 | 北京航天时代激光导航技术有限责任公司 | The method of testing of a kind of used group of body response frequency and test system |
| CN106573151A (en) * | 2014-08-27 | 2017-04-19 | 斯堪迪多斯公司 | A position detector |
| CN106643709A (en) * | 2016-10-10 | 2017-05-10 | 东南大学 | Combined navigation method and device for offshore carrier |
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| CN106573151A (en) * | 2014-08-27 | 2017-04-19 | 斯堪迪多斯公司 | A position detector |
| CN105737848A (en) * | 2014-12-10 | 2016-07-06 | 上海新跃仪表厂 | System-level star sensor star observation system and star observation method thereof |
| CN106153072A (en) * | 2016-06-17 | 2016-11-23 | 北京航天时代激光导航技术有限责任公司 | The method of testing of a kind of used group of body response frequency and test system |
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