CN110608755B - Heave measurement performance detection device and method for inertial navigation equipment - Google Patents
Heave measurement performance detection device and method for inertial navigation equipment Download PDFInfo
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- CN110608755B CN110608755B CN201910900668.4A CN201910900668A CN110608755B CN 110608755 B CN110608755 B CN 110608755B CN 201910900668 A CN201910900668 A CN 201910900668A CN 110608755 B CN110608755 B CN 110608755B
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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
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Abstract
The invention discloses a heave measurement performance detection device for inertial navigation equipment, which comprises a base, wherein a swing table is arranged on the base, the swing table swings by taking a rotating shaft on the base as a circle center, the swing table comprises a swing plate, one end of the swing plate is provided with a hinged seat, and the inertial navigation equipment to be tested corresponds to the hinged seat and is fixed on the swing plate; the base is provided with a supporting rod which extends upwards along the vertical central line of the rotating shaft, the top of the supporting rod is hinged with a stay wire sensor, a steel wire rope of the stay wire sensor is hinged with a hinged seat, and the base further comprises a data acquisition and processing module which is electrically connected with the stay wire sensor. And acquiring output data of the inertial navigation equipment, and comparing the output data with the heave displacement H obtained in the actual environment.
Description
Technical Field
The invention relates to the technical field of the heave speed of an inertial navigation system, in particular to a heave measurement performance detection device and method for inertial navigation equipment.
Background
The heave test is an important link of the general adjustment test of the inertial navigation equipment, and the link is the only scientific basis for judging the heave calculation performance of the inertial navigation equipment and improving and optimizing the later period. However, verification of the accuracy of dynamic measurements of heave velocity has been a challenge. In the past, the accuracy can only be verified through a static test, or the index cannot be quantitatively tested through observing the positive and negative of the inertial navigation output heave speed when a test vehicle climbs a slope.
In order to solve the technical problems, the Chinese patent (with the application number of CN 200910228874.1) discloses a measuring device for the precision of the heave velocity output by an inertial navigation system, which comprises a high-precision grating ruler and a swing platform, wherein the high-precision grating ruler is vertically arranged on a bracket, a vertical ejector rod is arranged on a supporting plate at the lower part of the bracket in a guiding way, the ejector rod is connected with a grating reading head of the high-precision grating ruler through a connecting wire, and a vertical double-guide rail carrying high-precision grating ruler is integrally formed; the ejector rod is connected with the swing platform through a connecting frame, one end of the connecting frame is fixedly installed on the table surface of the swing platform, the other end of the connecting frame is provided with a rolling body, and the rolling body is installed in an installation groove at the lower end of the ejector rod to form the six-degree-of-freedom motion platform.
However, when the design range of the above scheme exceeds 1 meter, the difficulty in designing and installing the measuring device is increased sharply; and the transmission links of the measuring part are more, the weight of the moving end of the guide rail is larger, and the cantilever beam between the swing table and the moving end of the guide rail is too long, so that the factors tend to cause error accumulation and measured data distortion. The six-degree-of-freedom motion platform structure has high measurement precision, but has high control difficulty and high manufacturing cost. Meanwhile, the measuring range of the six-degree-of-freedom motion platform is limited by the stroke of the telescopic cylinder, and the measuring range is very limited.
Disclosure of Invention
In view of the above-mentioned deficiencies in the prior art, the present invention aims to solve the problems of low measurement accuracy, small measurement range, high manufacturing cost, etc. of the heave measurement system of the inertial navigation device, and provides a heave measurement performance detection apparatus and method for an inertial navigation device, which have high measurement accuracy, low manufacturing cost and are applicable to a large measurement range.
In order to solve the technical problem, the invention adopts the following technical scheme:
the device for detecting the heave measurement performance of the inertial navigation equipment is characterized by comprising a base, wherein a swing table is arranged on the base, the swing table swings by taking a rotating shaft on the base as a circle center, the swing table comprises a swing plate, one end of the swing plate is provided with a hinged seat, and the inertial navigation equipment to be tested corresponds to the hinged seat and is fixed on the swing plate; the base is provided with a supporting rod which extends upwards along the vertical central line of the rotating shaft, the top of the supporting rod is hinged with a stay wire sensor, a steel wire rope of the stay wire sensor is hinged with a hinged seat, and the base further comprises a data acquisition and processing module which is electrically connected with the stay wire sensor.
Description of the nouns: the pull wire sensor is also called a pull wire displacement sensor, the pull wire displacement sensor is formed by winding a stretchable steel wire rope on a threaded hub, the hub is connected with a precise rotary inductor, the inductor can be an incremental encoder, an absolute (independent) encoder, a mixed or conductive plastic rotary potentiometer, a synchronizer or a resolver and the like, and in operation, the linear motion of the steel wire rope is aligned with the motion axis of a moving object. As movement occurs, the drawstring expands and contracts. An internal spring ensures that the tension of the pull cord is constant. The hub with the thread drives the precise rotary inductor to rotate, and an electric signal proportional to the moving distance of the pull rope is output. The displacement, direction or speed of the moving object can be obtained by measuring the output signal.
The detection device is placed in an actual environment, tested inertial navigation equipment is started, output data of the inertial navigation equipment are collected, meanwhile, a data collecting and processing module collects data obtained by the stay wire sensor, and h = L is obtained according to a similar triangle principle 2 And (2R), obtaining H = R-a-H according to the relation between the support rod and the swing platform, and finally obtaining the heave displacement H of the inertial navigation equipment according to the two formulas, wherein the calculation formula of the H is R-a-L 2 And (2R), comparing the heave displacement H with data obtained by the inertial navigation equipment, and making a test result clear.
Further, be provided with the tripod that supports and sway along with the swinging plate on the base, the tripod includes the pole setting of vertical setting and two down tube that are the symmetry and set up, and the lower part of two down tube all with pole setting fixed connection, the pole setting is connected with the pivot to the pivot is swayd as the swing point, the down tube slope upwards with swinging plate bottom fixed connection. According to the triangle stability principle, two down tubes and the swing plate form a triangle, so that the down tubes can stabilize the swing plate and keep the balance of the swing plate.
Further, a frame is arranged on the base, the frame is sleeved on the outer side of the tripod, and the frame swings along with the tripod. The support of the tripod is realized through the frame, the swinging fixed point of the tripod is supplied, and meanwhile, the position of the supporting rod is limited.
Further, be provided with the support on the base and follow the frame that the wobble plate swayd, the pivot is passed the frame, frame fixedly connected with tripod, the tripod includes the pole setting of vertical setting and two down tube that are the symmetry setting, and the lower part of two down tube all with pole setting fixed connection, the down tube slope upwards with wobble plate bottom fixed connection. The mode is that the frame drives the tripod to rotate, so that the swinging plate swings.
Furthermore, a through hole is formed in the base, a balancing weight is arranged on the vertical rod, and the balancing weight is located at the through hole. Make support frame overall structure simple through setting up the through-hole, and can save material, realize reducing the focus of tripod through the balancing weight, keep the stability of tripod.
Further, a mounting seat is arranged on the supporting rod, a first bearing is arranged in the mounting seat, and the mounting seat is hinged to the stay wire sensor through the first bearing. By the design, the flexible rotation of the stay wire sensor can be realized, and accurate data can be obtained more favorably.
Furthermore, a second bearing is arranged on the hinging seat, and the hinging seat is hinged with the steel wire rope of the stay wire sensor through the second bearing. Due to the design, the flexibility between the hinged seat and the steel wire rope of the stay wire sensor is realized, and the heave data of the inertial navigation equipment can be acquired.
The heave measurement performance detection method for the inertial navigation equipment is characterized by comprising the following steps of:
1) Assembling a heave measuring device, wherein the heave measuring device comprises a base, a swing table swinging by taking a rotating shaft as a circle center is arranged on the base, a supporting rod extending upwards along the vertical central line of the rotating shaft is arranged on the base, a pull wire sensor is arranged at the top of the supporting rod, and a steel wire rope of the pull wire sensor is hinged with a hinge seat arranged at one end of the swing table, so that the length of the steel wire rope is the output L of the pull wire sensor;
2) Installing the tested inertial navigation equipment at one end of the swing platform corresponding to the hinged seat, so that the vertical distance between the zero position of the inertial navigation equipment and the bottom of the supporting rod is a fixed value a;
3) Starting inertial navigation equipment, driving a swing table to swing up and down in an actual environment, wherein the vertical distance between a stay wire sensor and the lowest swing position of the swing table is a swing radius R;
4) Under the condition of fixing the circle center and the radius, the inertia guide is obtained according to the uniqueness of the swinging arc length of the swinging platform and the corresponding height of the supporting rodThe calculation formula of the heave displacement H of the navigation equipment is R-a-L 2 /(2R)；
5) And acquiring output data of the inertial navigation equipment, and comparing the output data with the heave displacement H obtained in the actual environment.
Further, in the step 4), the horizontal line where the inertial navigation device is located intersects with the support rod to form an intersection point, and the vertical distance h between the intersection point and the stay wire sensor is obtained.
Furthermore, the swing platform swings for a circle with a fixed circle center to form a circle, the lowest part of the circle forms a right triangle with the stay wire sensor and the inertial navigation equipment, the intersection point forms a right triangle with the stay wire sensor and the inertial navigation equipment, and the right triangle is formed according to h = L 2 And (2R), calculating the vertical distance h between the intersection point and the stay wire sensor.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention realizes the uniqueness of the arc length of the swing platform and the corresponding height of the supporting rod under the conditions of fixed circle center and fixed radius through the swing platform, the stay wire sensor and the data acquisition processing module, and separates the actual heave displacement of the inertial navigation equipment to be measured from the circular compound motion of the equipment. And comparing the actual heave displacement with the output displacement of the inertial navigation equipment, thereby evaluating the heave measurement performance of the inertial navigation equipment.
2. In order to realize the real-time follow-up of the measuring direction of the stay wire sensor and the inertial navigation equipment, the hinge joint of the mounting seat and the stay wire sensor is realized through the first bearing, and meanwhile, the hinge joint of the hinge joint seat and the stay wire sensor is realized through the second bearing, so that the flexible design of a measuring medium is realized, and the influence of the movement of the inertial navigation equipment on the measuring precision is effectively avoided.
3. The invention can carry out heave test on all models of inertial navigation equipment and has strong universality; the invention has low cost, high precision and simple installation and adjustment, and has higher popularization value compared with domestic similar heave measurement equipment.
Drawings
Fig. 1 is a schematic structural diagram of a heave measurement performance detection apparatus for an inertial navigation device according to the present invention.
Fig. 2 is a schematic structural view of the pull wire sensor at B in fig. 1.
Fig. 3 is a schematic structural view of the steel cable hinge installation at a in fig. 1.
Fig. 4 is a motion diagram of a heave measurement performance detection apparatus for an inertial navigation device.
In the figure: the device comprises a steel wire rope 1, a supporting rod 2, a swinging plate 3, an inclined rod 4, a frame 5, a balancing weight 6, a base 7, a rotating shaft 8, a stay wire sensor 9, a mounting seat 10, a screw 11, a second bearing 12, a hinged seat 13, inertial navigation equipment 14 and a vertical rod 15.
Detailed Description
The invention will be further explained with reference to the drawings and the embodiments.
In this embodiment: referring to fig. 1-3, the heave measurement performance detection device for the inertial navigation equipment comprises a base 7, wherein a swing table is arranged on the base 7, the swing table swings around a rotating shaft on the base 7, the swing table comprises a tripod and a swing plate 3, one end of the swing plate 3 is provided with a hinged seat 13, and the inertial navigation equipment to be tested corresponds to the hinged seat 13 and is fixed on the swing plate 3.
The tripod is by the pole setting 15 and two down tube 4 that are the symmetry and set up of vertical setting, the lower extreme of two down tube 4 all with pole setting 15 fixed connection, the pole setting is connected with the pivot, use the pivot to sway for the swing point, be provided with balancing weight 6 on the pole setting 15, balancing weight 6 is located through-hole department, realize reducing the focus of tripod through balancing weight 6, the stability of tripod is kept, 4 slopes of down tube upwards and be close to 3 tip of wobble plate, and with 3 bottom fixed connection of wobble plate, according to triangle-shaped steadiness principle, form triangle-shaped with two down tube 4 and wobble plate 3, make down tube 4 can stabilize wobble plate 3, keep the balance of wobble plate 3.
The base 7 is provided with a frame 5, the frame 5 is sleeved outside the tripod, and the frame 5 swings along with the tripod. The support of the tripod is realized by the frame 5 and the fixed point of the swinging of the tripod is supplied, and the position of the strut 2 is limited at the same time.
Or, be provided with the support on the base 7 and along with the frame 5 that sways of board 3, the pivot passes frame 5, and frame 5 fixedly connected with tripod, tripod include vertical setting 159 and two down tube 4 that are the symmetry setting of vertical setting, and the lower extreme of two down tube 4 all with pole setting 15 fixed connection, the up just near board 3 tip of swaying of down tube 4 slope to with board 3 bottom fixed connection sways. In the mode, the frame 5 drives the tripod to rotate, so that the swinging plate 3 swings.
The frame 5 supports the tripod, the tripod can swing to fix a point, the position of the supporting rod 2 is limited, and when the swinging plate 3 swings, the inclined rod 4, the frame 5, the vertical rod 15 and the counterweight 6 swing along with the swinging.
The base 7 is provided with a supporting rod 2 which extends upwards along the vertical central line of the rotating shaft, the vertical central line of the supporting rod 2 is coincided with the vertical central line of the rotating shaft, the supporting rod 2 is fixedly provided with an installation seat 10 through a screw 11, a first bearing is arranged in the installation seat 10, the installation seat 10 is hinged with the stay wire sensor 9 through the first bearing, and the stay wire sensor 9 is electrically connected with a data acquisition and processing module; the second bearing 12 is arranged on the hinged seat 13, and the hinged seat 13 is hinged to the steel wire rope of the stay wire sensor 9 through the second bearing 12, so that the flexibility between the hinged seat 13 and the steel wire rope of the stay wire sensor 9 is realized, and the heave data of the inertial navigation equipment 14 can be acquired.
In order to realize that the measuring direction of the stay wire sensor 9 is constantly followed up by the inertial navigation device 14, the first bearing is used for realizing the hinging between the mounting seat 10 and the stay wire sensor 9, and meanwhile, the second bearing 12 is used for realizing the hinging between the hinging seat 13 and a steel wire rope of the stay wire sensor 9, so that the flexible design of a measuring medium is realized, the influence of the movement of the inertial navigation device 14 on the measuring precision is effectively avoided, and in addition, the device also has a data storage function and provides accurate original data for the later improvement and optimization of the inertial navigation device 14.
As shown in fig. 4, the heave measurement performance detection method for the inertial navigation device includes the following steps:
1) Assembling a heave measuring device, wherein the heave measuring device comprises a base, a swing table swinging by taking a rotating shaft as a circle center is arranged on the base, a supporting rod extending upwards along the vertical central line of the rotating shaft is arranged on the base, a stay wire sensor 9 is arranged at the top of the supporting rod, and a steel wire rope of the stay wire sensor 9 is hinged with a hinge seat arranged at one end of the swing table, so that the length of the steel wire rope is the output L of the stay wire sensor 9;
2) Installing the tested inertial navigation equipment at one end of the swing platform corresponding to the hinged seat, so that the vertical distance between the zero position of the inertial navigation equipment and the bottom of the supporting rod is a fixed value a;
3) Starting inertial navigation equipment, driving the swing platform to swing up and down in an actual environment, wherein the vertical distance between the stay wire sensor 9 and the lowest swing position of the swing platform is a swing radius R;
4) Under the condition of fixing the center of a circle and fixing the radius, obtaining the heave displacement H of the inertial navigation equipment according to the uniqueness of the swinging arc length of the swinging table and the corresponding height of the supporting rod, wherein the calculation formula of the H is R-a-L 2 /(2R)；
5) And acquiring output data of the inertial navigation equipment, and comparing the output data with the heave displacement H obtained in the actual environment.
The horizontal line where the inertial navigation device 14 is located intersects with the support rod 2 to form an intersection point, and a vertical distance h between the intersection point and the pull line sensor 9 is obtained, the swing table swings by one circle at a fixed circle center 8 to form a circle, the lowest position of the circle forms a right triangle with the pull line sensor 9 and the inertial navigation device 14, the intersection point forms a right triangle with the pull line sensor 9 and the inertial navigation device 14, and the vertical distance h between the intersection point and the pull line sensor 9 is obtained through calculation according to h = L2/(2R).
5) The output data of the inertial navigation device 14 is collected and compared with the heave displacement H obtained in the actual environment.
This is obtained by means of fig. 4: Δ ABC is similar to Δ ADB, so:
obtaining: h = L 2 /(2R) (1)
And: h = R-a-H (2)
Combining the formula (1) and the formula (2) to obtain:
H＝R-a-L 2 /(2R) (3)
in the formula (3), R is a swing radius, a is a vertical distance between a zero position of the inertial navigation equipment and a swing shaft after the swing platform is leveled, the vertical distance and the zero position of the inertial navigation equipment and the swing shaft are all known fixed values, and H is the heave displacement of the equipment.
By applying the principle, the circular compound motion of the inertial navigation equipment can be decomposed and extracted in the heave direction, and the measurement precision is not influenced.
In addition, in the research and development process of the detection device, the existing YB-S200 type swing test bed is used as a power foundation, so that the number of self-made parts is greatly reduced. This detection device adopts the modularized design for measuring module total weight does not exceed 12.5Kg, and the dress is transferred conveniently, so detection device can be according to the difference on test site, can have enough to meet the need fast between the platform that sways equally.
The detailed design parameters of the detection device are shown in a table 1:
TABLE 1 test parameters and comparison
| Technical parameters | The invention provides a detection device | Comparison file measuring device |
| Measuring range | 1000mm～3000mm | 0～1000mm |
| Accuracy of | +0.5mm | Is unknown |
| Number of self-made |
14 | 30 |
| Measuring sensor, type price | The pull sensor 9:400 yuan | High-precision grating ruler: 5000 yuan |
Therefore, the invention can carry out heave test on all models of inertial navigation equipment, and has strong universality; the invention has low cost, high precision and simple installation and adjustment, and has higher popularization value compared with domestic similar heave measurement equipment.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the technical solutions, and those skilled in the art should understand that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all that should be covered by the claims of the present invention.
Claims (3)
1. The method for detecting the heave measurement performance of the inertial navigation equipment is characterized by comprising the following steps of:
1) Assembling a heave measuring device, wherein the heave measuring device comprises a base, a swing table swinging by taking a rotating shaft as a circle center is arranged on the base, a supporting rod extending upwards along the vertical central line of the rotating shaft is arranged on the base, a pull wire sensor is arranged at the top of the supporting rod, and a steel wire rope of the pull wire sensor is hinged with a hinge seat arranged at one end of the swing table, so that the length of the steel wire rope is the output L of the pull wire sensor;
2) Installing the inertial navigation equipment to be tested on a swing table corresponding to the hinged seat, and enabling the vertical distance between the zero position of the inertial navigation equipment and the bottom of the supporting rod to be a fixed value a;
3) Starting inertial navigation equipment, driving a swing table to swing up and down in an actual environment, wherein the vertical distance between a stay wire sensor and the lowest swing position of the swing table is a swing radius R;
4) Under the condition of fixing the center of a circle and fixing the radius, obtaining the heave displacement H of the inertial navigation equipment according to the uniqueness of the swinging arc length of the swinging table and the corresponding height of the supporting rod, wherein the calculation formula of the H is R-a-L2/(2R);
5) And acquiring output data of the inertial navigation equipment, and comparing the output data with the heave displacement H obtained in the actual environment.
2. The method for detecting heave measurement performance for inertial navigation equipment according to claim 1, wherein in step 4), the horizontal line where the inertial navigation equipment is located intersects with the strut to form an intersection point, and the vertical distance h between the intersection point and the pull-line sensor is obtained.
3. The method as claimed in claim 2, wherein the swing platform swings around a fixed center to form a circle, the lowest part of the circle forms a right triangle with the cable sensor and the inertial navigation device, the intersection point forms a right triangle with the cable sensor and the inertial navigation device, and the vertical distance h between the intersection point and the cable sensor is calculated according to h = L2/(2R).
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| CN111174974B (en) * | 2020-02-17 | 2021-07-30 | 燕山大学 | Vehicle suspension heave measurement method and system |
| CN112083731B (en) * | 2020-10-27 | 2021-03-12 | 北京晶品特装科技有限责任公司 | Automatic navigation method and device for vehicle and vehicle |
| CN113444535A (en) * | 2021-07-15 | 2021-09-28 | 邯郸钢铁集团有限责任公司 | Novel coke pot deflection early warning device |
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