CN109405825B - High-precision dismounting method for laser inertial measurement unit inertial body - Google Patents
High-precision dismounting method for laser inertial measurement unit inertial body Download PDFInfo
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- CN109405825B CN109405825B CN201811333708.3A CN201811333708A CN109405825B CN 109405825 B CN109405825 B CN 109405825B CN 201811333708 A CN201811333708 A CN 201811333708A CN 109405825 B CN109405825 B CN 109405825B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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Abstract
A high-precision laser inertial body dismounting method belongs to the technical field of inertial navigation. The method of the invention uses a specially designed technical device to detect the information of azimuth angle, pitch angle and the like when the body is installed through the electronic theodolite and the electronic level gauge, and the body is assembled into the inertial set box body almost as it is before being disassembled, thereby achieving the purpose of ensuring that the installation error of the inertial instrument is kept unchanged and the output of the inertial set is kept stable.
Description
Technical Field
The invention relates to a high-precision dismounting method for an inertia body of a laser inertial measurement unit, and belongs to the technical field of inertial navigation.
Background
The laser inertial navigation is successfully applied to the fields of carrier rockets, missiles, satellites, airplanes, ships and other civilian use, provides angular velocity and apparent acceleration information for the carrier rockets, the missiles, the satellites, the airplanes, the ships and the like, and is key equipment of the laser inertial navigation. The inertial measurement unit comprises important instruments (a gyroscope and an additional meter), a body, a box body, a shock absorber, an electronic box, a prism and the like, wherein the important instruments (the gyroscope and the additional meter) of the inertial measurement unit are arranged on the body, the body is arranged on the box body through the shock absorber, and the prism is generally arranged on the box body (as shown in figure 1).
The installation error stability of the inertial measurement unit and the prism is strict, and the alignment precision and the flight precision of the aircraft are influenced by the change of the inertial measurement unit and the prism. The stability of the installation error generally requires that the installation error of the test instrument and the prism is calibrated and aimed for multiple times within 2-3 months, and then the variance of the installation error is counted to obtain the installation error; the stability of the inertial measurement unit before and after various environmental tests is obtained by comparing the mounting error results of calibration and aiming before and after the tests.
The laser inertial measurement unit is generally applied to the fields of navigation, aviation, aerospace, remote weapon missiles and the like, and bears severe, random broadband and multidirectional vibration environments in the stages of carrying, launching, flying and the like. When the inertial measurement unit fails due to internal devices caused by some reasons, the body cannot be detached inevitably when the internal devices are replaced, and the difference between the output value and the previous value of the instrument is larger after the body is installed again.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method overcomes the defects of the prior art, provides a high-precision dismounting method for the laser inertial unit inertial body, and achieves the purpose of ensuring that the repeated installation error of the body is not changed through measuring equipment such as an electronic theodolite, an electronic level meter and the like.
The technical solution of the invention is as follows: a high-precision dismounting method for an inertia body of a laser inertial measurement unit comprises the following steps:
s1, before disassembly and assembly, calibrating a group of data D1 of the laser inertial measurement unit; the laser inertial measurement unit comprises a box body, a shock absorber and a body, wherein the box body is of a cubic structure with an opening on one surface, the body is positioned in the box body and is elastically connected with the box body through the shock absorber, a laser gyroscope and an accelerometer are fixedly installed on the body, and the shock absorber is fixedly connected with the box body through a fixing screw; the data includes position errors between laser gyroscopes and between accelerometers;
s2, mounting a regulating tool for regulating the body on the body; the adjusting and measuring tool comprises a connecting plate, a front support and a rear support, the connecting plate is fixedly connected to the upper surface of the body, threaded through holes are formed in the front support and the rear support, and adjusting and measuring screws penetrate through the threaded through holes to be in contact with the opening surface of the box body in a butting mode; loosening the adjusting and measuring screw to ensure that the adjusting and measuring screw is not in contact with the opening surface of the box body in a butting way, simultaneously tightening the shock absorber, measuring the initial non-levelness of the body in the long axis direction and the initial non-levelness of the body in the short axis direction, and respectively marking the measured values as A1 and A2;
s3, screwing in a regulating screw to enable the regulating screw to be in contact with the opening surface of the box body in an abutting mode, then loosening the shock absorber, measuring the non-levelness of the body in the long axis direction and the non-levelness of the body in the short axis direction, and respectively marking the non-levelness as A3 and A4;
s4, detaching the adjusting and measuring tool and the fixing screw, and detaching the body; when the body needs to be reinstalled, the body is placed into the box body, the adjusting and measuring tool is reinstalled on the body, the adjusting and measuring screw is screwed in to enable the adjusting and measuring screw to be in contact with the opening surface of the box body in a butting mode, and the adjusting and measuring screw is adjusted to enable the non-horizontality of the body in the long axis direction and the non-horizontality of the body in the short axis direction to be A3 and A4 respectively;
s5, mounting a fixing screw, tightening a shock absorber, then loosening an adjusting screw to ensure that the adjusting screw does not contact with the opening surface of the box body in a butting way, and observing whether the non-horizontality of the body in the major axis direction and the non-horizontality of the body in the minor axis direction are A1 and A2; if so, completing high-precision disassembly and assembly; if not, steps S4-S5 are repeated.
Further, the step S4 of detaching the body further includes adjusting and measuring the accelerometer or the laser gyro.
Further, the method for adjusting and measuring the accelerometer comprises the following steps:
s31, mounting a prism on the upper surface of the accelerometer body, mounting a plane mirror on the side surface of the accelerometer body, and measuring the azimuth angle difference alpha 3 between the prism and the plane mirror; the prism is a hexahedron;
s32, after the accelerometer body is detached, measuring the pitch angles of the front face and the side face of the prism body, and recording the pitch angles as beta 3 and beta 4 respectively; the front surface is a surface of the prism body facing the plane mirror;
s33, after the accelerometer is replaced, the pitch angles of the front face and the side face of the prism are measured again and are recorded as beta 5 and beta 6 respectively;
s34, adjusting the accelerometer body to enable beta 5 to be consistent with beta 6 and enable beta 3 to be consistent with beta 4;
and S35, mounting the adjusted accelerometer body on the accelerometer body, rotating the accelerometer body until the azimuth angle difference between the prism and the plane mirror is changed into alpha 3 again, and completing the adjustment and measurement of the accelerometer.
Further, in S4, the method for adjusting the accelerometer body to make β 5 and β 6 consistent and β 3 and β 4 consistent is: and grinding the bottom mounting surface of the accelerometer body.
Further, the method for adjusting and measuring the gyroscope comprises the following steps:
s51, obtaining a pitch angle difference value and a roll angle difference value between the gyroscope needing to be replaced and the other two gyroscopes through D1, and respectively recording the pitch angle difference value and the roll angle difference value as alpha 1 and alpha 2;
s52, detaching the spinning top to be replaced, and installing a new spinning top at the original position; calibrating a group of data D3, and obtaining a pitch angle difference value and a roll angle difference value of the new gyroscope and the other two gyroscopes through D3, wherein the pitch angle difference value and the roll angle difference value are respectively marked as alpha 3 and alpha 4;
s53, detaching the new gyroscope, mounting prisms on the upper surface of the new gyroscope, and measuring the pitch angles of the front and side surfaces of the prisms; the prism is a hexahedron;
s54, adjusting the new gyroscope to enable the pitch angles of the front and the side of the prism to rotate to alpha 3-alpha 1 and alpha 4-alpha 2 in corresponding directions respectively;
s55, reinstalling the new gyro after adjustment on the main body, and calibrating a group of data D4; if D4 is consistent with D1, the adjustment and the measurement of the gyroscope are finished; if D4 does not match D1, S52-S55 are repeated.
Further, the method for adjusting the new gyro in S54 is as follows: and placing a gasket with corresponding thickness at the bottom of the new gyroscope, and enabling the pitch angles of the front surface and the side surface of the prism body to rotate to alpha 3-alpha 1 and alpha 4-alpha 2 in corresponding directions respectively.
Further, the adjusting and measuring screws are three socket head cap screws.
Further, the number of the vibration dampers is 8.
Compared with the prior art, the invention has the advantages that:
(1) the laser inertial unit body has poor repeatability of assembling and disassembling installation errors, so that the output consistency of the inertial unit before and after assembling and disassembling is poor; the invention realizes the high-precision disassembly and assembly of the accelerometer, the gyroscope and the body, and realizes the data consistency of the front calibration and the rear calibration of the inertial measurement unit.
(2) The adjusting and measuring tool disclosed by the invention has a simple structure, ensures small self-installation error and high reliability, and meanwhile, adopts three-point contact with the laser inertial measurement unit body, realizes the adjustment of pitching, rolling and rotating directions, and is convenient for manual aiming and measurement.
(3) The method is simple to operate, releases people from the existing complicated adjustment work, only needs a few operations, greatly shortens the high-precision repeated assembly time of the inertial unit body, and improves the productivity of the laser inertial unit.
Drawings
FIG. 1 is a flow chart of a method embodying the present invention;
FIG. 2 is a diagram of a configuration of a tuning tool according to the present invention;
FIG. 3 is a top view of a laser inertial measurement unit;
FIG. 4 is a schematic view of the main structure of the present invention;
FIG. 5 is a schematic diagram of the present invention illustrating the error measurement of the added table;
FIG. 6 is a schematic diagram of a gyro error tuning system of the present invention.
Detailed Description
The technical solution of the method of the present invention is described in detail by the following specific examples, as shown in FIGS. 1, 3 and 4.
1) And (3) adjusting and testing a body:
before the test, the inertial measurement unit firstly calibrates a group of data, and the test is carried out after the inertial measurement unit is fully cooled. And then wiping the installation surface of the inertial unit and the marble plane clean by dipping cotton in alcohol, flatly placing the inertial unit on the marble plane, and removing the upper cover of the inertial unit. The body consistency adjustment and measurement tool (shown in figure 2) is assembled on the body, and the three inner hexagon screws for adjustment are in a loose state. After the electronic level meter is started stably, the electronic level meter is placed on the upper surface of a tool, and the initial non-levelness A1 in the long axis direction and the initial non-levelness A2 in the short axis direction of the body are measured.
Three screws of the screwing assembly tool just prop against the box body, the screws are kept still, 8 screws of the shock absorber are loosened, and the major axis direction non-horizontality A3 and the minor axis direction non-horizontality A4 of the body are measured by an electronic level meter.
After the relevant work of the body is completed, assembling the inertia assembly, assembling the adjusting and measuring tool on the body, adjusting screws to the non-horizontality A3 in the long axis direction and the non-horizontality A4 in the short axis direction of the body, screwing down the shock absorber screws, loosening the three adjusting screws, seeing whether the two axial non-horizontalities return to A1 and A2, and adjusting until the two axial non-horizontalities return to A1 and A2.
And (4) calibrating, namely comparing the position of the body according to the installation error, correspondingly adjusting, and re-calibrating until the position is qualified.
2) Adding a meter and adjusting and measuring:
if need not pull down when changing to add the table and add the table body, then can directly change and add the table, need not adjust the mounted position who adds the table body.
If need pull down when changing and add the table body, need confirm in advance before pulling down and adding the table body and add the positional relationship of table body for the body, concrete operation is as follows: adhering a prism on the watch body, adhering a plane mirror on the watch body (as shown in figure 5),
ensuring that the plane mirror and the prism can be simultaneously aimed and measured by using a theodolite; aiming a difference value alpha 3 of azimuth angles of the prism and the plane mirror by using a theodolite; the adding meter body is disassembled, the adding meter body is flatly placed on the marble platform (fixed at a position), the front and the side are aimed and measured by a theodolite, and pitch angles beta 3 and beta 4 are recorded; after the adding table is replaced, the adding table body is horizontally placed on the marble platform (the position is consistent with the previous position), the front face and the side face of the prism are aimed and measured by a theodolite, and pitch angles beta 5 and beta 6 are recorded; if the deviation between beta 5 and beta 6 and beta 3 and beta 4 is larger, grinding the ceramic gasket under the surface body until the deviation between beta 5 and beta 6 and the deviation between beta 3 and beta 4 reach the ideal value; and (3) mounting the ground accelerometer body on the body, aiming the prism and the plane mirror by using a theodolite, and rotating the accelerometer body until the azimuth angle difference value between the prism and the plane mirror is alpha 3 (or close to alpha 3), namely screwing down the mounting nail. (the reading change of the theodolite is observed at any time in the installation process, if the reading change, the direction of the meter adding body needs to be adjusted again).
If the replaced meter is the other two additional meters, the error between the adjusting meters is similar to the process.
3) And (3) gyro adjustment and measurement:
if the replaced instrument is a gyroscope X, comparing the front and back position changes of the gyroscope X relative to the other two gyroscopes Y, Z, namely comparing the front and back changes of Dxy and Dxz respectively, and converting the variable quantity into angles alpha 1 and alpha 2; the body is detached and placed on a clean marble plane, the X-shaped gyroscope is installed on the gyroscope test bottom plate, and the prism is adhered to the proper position of the X-shaped gyroscope in two directions of the gyroscope (as shown in figure 6).
The installed gyroscope is placed on a marble platform (fixed at a position), the theodolite is used for aiming and measuring the pitch angles beta 1 and beta 2 of the prism in two directions, and the theodolite is kept still; and (3) detaching the X gyroscope, filling a gasket with the thickness of h at the corresponding position of the installation surface of the X gyroscope (if the deviation angle is not large, the gyroscope installation base can be directly ground), and reinstalling the X gyroscope until the beta 1 rotates by the angle alpha 1 and the beta 2 rotates by the angle alpha 2. The pad is padded under the top and mounted on the body.
If the replaced meters are Y and Z gyros, adjusting the error between the meters is similar to the process described above.
Example (b):
1) and (3) adjusting and testing a body:
before the test, the inertial measurement unit firstly calibrates a group of data D1, and the test is carried out after the inertial measurement unit is fully cooled. And then wiping the installation surface of the inertial unit and the marble plane clean by dipping cotton in alcohol, flatly placing the inertial unit on the marble plane, and removing the upper cover of the inertial unit. The adjusting and measuring tool is assembled on the body, and the three adjusting hexagon socket head cap screws are in a loosening state. After the electronic level meter is started stably, the electronic level meter is placed on the upper surface of a tool, and the initial non-levelness A1(324) in the long axis direction and the initial non-levelness A2(156) in the short axis direction of the body are measured.
Three screws of the assembly tool are screwed up to just prop against the box body, the screws are kept still, 8 screws of the shock absorber are loosened, and the major axis direction non-horizontality A3(300) and the minor axis direction non-horizontality A4(180) of the body are measured by an electronic level meter.
After the relevant work of the body is completed, the inertia assembly is assembled, the adjustment and measurement tool is assembled on the body, the adjustment screws are screwed to the non-horizontality A3(300) in the long axis direction and the non-horizontality A4(180) in the short axis direction of the body, the shock absorber screws are screwed, the three adjustment screws are loosened, whether the two axial non-horizontalities return to A1(324) and A2(156) is seen, the adjustment is carried out until the two axial non-horizontalities return to A1(324) and A2(156), and the error can be accepted.
The inertial measurement unit calibrates a group of data D2, compares the installation error of the body position according to the data of D2 and D1, and finishes the debugging and testing if the installation error of the body before and after the disassembly is consistent. If the installation error is larger, the process is repeated, and the calibration is carried out again until the comparison with the data D1 is qualified.
2) Adding a meter and adjusting and measuring:
if need not pull down when changing to add the table and add the table body, then can directly change and add the table, need not adjust the mounted position who adds the table body.
If need pull down when changing and add the table body, need confirm in advance before pulling down and adding the table body and add the positional relationship of table body for the body, concrete operation is as follows: adhering a prism on the watch body, adhering a plane mirror on the watch body (as shown in figure 3),
ensuring that the plane mirror and the prism can be simultaneously aimed and measured by using a theodolite; aiming and measuring the azimuth angle difference alpha 3 (256') between the prism and the plane mirror by using a theodolite; the adding watch body is detached and is horizontally placed on the marble platform (fixed at a position), the front and the side are aimed and measured by a theodolite, and the pitching angles beta 3(89.5625 ℃) and beta 4(89.6854 ℃) are recorded; after the additional meter is replaced, the additional meter body is horizontally placed on the marble platform (the position is consistent with the previous position), the front face and the side face of the prism are aimed and measured by a theodolite, and the pitching angles beta 5(88.2357 ℃) and beta 6(88.6583 ℃) are recorded; grinding the ceramic gasket under the surface body until the deviation of the beta 5 and the beta 6 from the beta 3 and the beta 4 is less than 0.001 degrees if the deviation of the beta 5 and the beta 6 from the beta 3 and the beta 4 is larger; and (3) mounting the ground watch adding body on the body, aiming the prism and the plane mirror by using a theodolite, and rotating the watch adding body until the azimuth angle difference between the prism and the plane mirror is alpha 3(256 ") (or the difference between the azimuth angle difference and the alpha 3 is less than 10"), namely screwing the mounting nail. (the reading change of the theodolite is observed at any time in the installation process, if the reading change, the direction of the meter adding body needs to be adjusted again).
If the replaced meter is the other two additional meters, the error between the adjusting meters is similar to the process.
3) And (3) gyro adjustment and measurement:
if the replaced instrument is a gyro X, the positions of the original gyro X relative to the other two gyros Y, Z are respectively alpha 1(50 ') and alpha 2 (60'); after the new gyro X replaces the original gyro X, the positions of the body relative to the other two gyros Y, Z are respectively alpha 3(153 '), alpha 4 (175'), the body is detached and placed on a clean marble plane, the new gyro X is detached and installed on a gyro test bottom plate, and prisms are adhered to the proper positions of the new gyro X according to two directions of the gyro.
Placing a new gyroscope X arranged on a gyroscope test base plate on a marble platform (fixing a position), aiming and measuring the pitch angles beta 1(89.7568 degrees) and beta 2(89.8534 degrees) of the prism in two directions by a theodolite, and keeping the theodolite still; the new gyro X is detached, a gasket with a proper height is padded at a corresponding position on the installation surface of the new gyro X (if the deviation angle is not large, the gyro installation base can be directly ground), and the X gyro is reinstalled until the beta 1 (89.7568) rotates by an angle alpha 3-alpha 1(103 ') and the beta 2 (89.8534) rotates by an angle alpha 4-alpha 2 (115'). The pad is padded under the top and mounted on the body.
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 (8)
1. A high-precision dismounting method for an inertia body of a laser inertial measurement unit is characterized by comprising the following steps:
s1, before disassembly and assembly, calibrating a group of data D1 of the laser inertial measurement unit; the laser inertial measurement unit comprises a box body, a shock absorber and a body, wherein the box body is of a cubic structure with an opening on one surface, the body is positioned in the box body and is elastically connected with the box body through the shock absorber, a laser gyroscope and an accelerometer are fixedly installed on the body, and the shock absorber is fixedly connected with the box body through a fixing screw; the data includes position errors between laser gyroscopes and between accelerometers;
s2, mounting a regulating tool for regulating the body on the body; the adjusting and measuring tool comprises a connecting plate, a front support and a rear support, the connecting plate is fixedly connected to the upper surface of the body, threaded through holes are formed in the front support and the rear support, and adjusting and measuring screws penetrate through the threaded through holes to be in contact with the opening surface of the box body in a butting mode; loosening the adjusting and measuring screw to ensure that the adjusting and measuring screw is not in contact with the opening surface of the box body in a butting way, simultaneously tightening the shock absorber, measuring the initial non-levelness of the body in the long axis direction and the initial non-levelness of the body in the short axis direction, and respectively marking the measured values as A1 and A2;
s3, screwing in a regulating screw to enable the regulating screw to be in contact with the opening surface of the box body in an abutting mode, then loosening the shock absorber, measuring the non-levelness of the body in the long axis direction and the non-levelness of the body in the short axis direction, and respectively marking the non-levelness as A3 and A4;
s4, detaching the adjusting and measuring tool and the fixing screw, and detaching the body; when the body needs to be reinstalled, the body is placed into the box body, the adjusting and measuring tool is reinstalled on the body, the adjusting and measuring screw is screwed in to enable the adjusting and measuring screw to be in contact with the opening surface of the box body in a butting mode, and the adjusting and measuring screw is adjusted to enable the non-horizontality of the body in the long axis direction and the non-horizontality of the body in the short axis direction to be A3 and A4 respectively;
s5, mounting a fixing screw, tightening a shock absorber, then loosening an adjusting screw to ensure that the adjusting screw does not contact with the opening surface of the box body in a butting way, and observing whether the non-horizontality of the body in the major axis direction and the non-horizontality of the body in the minor axis direction are A1 and A2; if so, completing high-precision disassembly and assembly; if not, steps S4-S5 are repeated.
2. The method for assembling and disassembling the laser inertial mass of claim 1, wherein the step of disassembling the mass in S4 further includes adjusting and measuring the accelerometer or the laser gyroscope.
3. The method for assembling and disassembling the laser inertial mass of the claim 2 is characterized in that the method for adjusting and measuring the accelerometer comprises the following steps:
s31, mounting a prism on the upper surface of the accelerometer body, mounting a plane mirror on the side surface of the accelerometer body, and measuring the azimuth angle difference alpha 3 between the prism and the plane mirror; the prism is a hexahedron;
s32, after the accelerometer body is detached, measuring the pitch angles of the front face and the side face of the prism body, and recording the pitch angles as beta 3 and beta 4 respectively; the front surface is a surface of the prism body facing the plane mirror;
s33, after the accelerometer is replaced, the pitch angles of the front face and the side face of the prism are measured again and are recorded as beta 5 and beta 6 respectively;
s34, adjusting the accelerometer body to enable beta 5 to be consistent with beta 6 and enable beta 3 to be consistent with beta 4;
and S35, mounting the adjusted accelerometer body on the accelerometer body, rotating the accelerometer body until the azimuth angle difference between the prism and the plane mirror is changed into alpha 3 again, and completing the adjustment and measurement of the accelerometer.
4. The method for assembling and disassembling the laser inertial mass of claim 3, wherein in S4, the method for adjusting the accelerometer body to make β 5 and β 6 consistent and β 3 and β 4 consistent comprises: and grinding the bottom mounting surface of the accelerometer body.
5. The method for assembling and disassembling the laser inertial mass of the laser inertial mass of claim 2 is characterized in that the method for adjusting and measuring the gyroscope comprises the following steps:
s51, obtaining a pitch angle difference value and a roll angle difference value between the gyroscope needing to be replaced and the other two gyroscopes through D1, and respectively recording the pitch angle difference value and the roll angle difference value as alpha 1 and alpha 2;
s52, detaching the spinning top to be replaced, and installing a new spinning top at the original position; calibrating a group of data D3, and obtaining a pitch angle difference value and a roll angle difference value of the new gyroscope and the other two gyroscopes through D3, wherein the pitch angle difference value and the roll angle difference value are respectively marked as alpha 3 and alpha 4;
s53, detaching the new gyroscope, mounting prisms on the upper surface of the new gyroscope, and measuring the pitch angles of the front and side surfaces of the prisms; the prism is a hexahedron;
s54, adjusting the new gyroscope to enable the pitch angles of the front and the side of the prism to rotate to alpha 3-alpha 1 and alpha 4-alpha 2 in corresponding directions respectively;
s55, reinstalling the new gyro after adjustment on the main body, and calibrating a group of data D4; if D4 is consistent with D1, the adjustment and the measurement of the gyroscope are finished; if D4 does not match D1, S52-S55 are repeated.
6. The method for assembling and disassembling the laser inertial mass of claim 5, wherein the method for adjusting the new gyroscope in S54 includes: and placing a gasket with corresponding thickness at the bottom of the new gyroscope, and enabling the pitch angles of the front surface and the side surface of the prism body to rotate to alpha 3-alpha 1 and alpha 4-alpha 2 in corresponding directions respectively.
7. The high-precision dismounting method for the laser inertial mass unit according to any one of claims 1 to 6, characterized in that: the adjusting and measuring screws are three inner hexagon screws.
8. The high-precision dismounting method for the laser inertial mass unit according to any one of claims 1 to 6, characterized in that: the number of the vibration dampers is 8.
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| CN111664868A (en) * | 2020-05-28 | 2020-09-15 | 北京航天时代光电科技有限公司 | Method for calibrating and compensating installation error of single-axis gyroscope |
| CN112461071B (en) * | 2020-11-20 | 2023-12-01 | 中国人民解放军63698部队 | Method for measuring repeated installation errors of inertial navigation equipment |
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| JP2893073B1 (en) * | 1998-03-31 | 1999-05-17 | 防衛庁技術研究本部長 | Inertial navigation system |
| CN201903349U (en) * | 2010-08-06 | 2011-07-20 | 重庆仙通智能仪表有限公司 | Laser gyro inertia combination with triaxial uniform damping function |
| CN103433721B (en) * | 2013-08-27 | 2015-07-01 | 淮安信息职业技术学院 | Demounting, mounting and maintenance tool for flotation machine |
| CN105973271B (en) * | 2016-07-25 | 2019-10-11 | 北京航空航天大学 | A kind of hybrid inertial navigation system self-calibration method |
| CN106767900B (en) * | 2016-11-23 | 2020-01-03 | 东南大学 | Online calibration method of marine optical fiber strapdown inertial navigation system based on integrated navigation technology |
| CN108387244B (en) * | 2017-12-21 | 2020-11-10 | 北京航天时代激光导航技术有限责任公司 | Inertial measurement unit and prism installation error stability determination method |
| CN108318054B (en) * | 2018-02-01 | 2020-05-29 | 中国人民解放军国防科技大学 | Reloading calibration device and method for shipborne inertial navigation system |
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