CN110726420A - Strapdown inertial navigation attitude adjusting device and adjusting method thereof - Google Patents
Strapdown inertial navigation attitude adjusting device and adjusting method thereof Download PDFInfo
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- CN110726420A CN110726420A CN201910855982.5A CN201910855982A CN110726420A CN 110726420 A CN110726420 A CN 110726420A CN 201910855982 A CN201910855982 A CN 201910855982A CN 110726420 A CN110726420 A CN 110726420A
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- 230000007246 mechanism Effects 0.000 claims abstract description 46
- 230000036544 posture Effects 0.000 claims description 35
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 239000011295 pitch Substances 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 239000000969 carrier Substances 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
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Abstract
The invention discloses a strapdown inertial navigation attitude adjusting device and an adjusting method thereof, and the strapdown inertial navigation attitude adjusting device comprises three horizontal attitude adjusting mechanisms and a course adjusting mechanism, wherein a strapdown inertial navigation mounting plate is arranged on the bottom surface of the strapdown inertial navigation mounting plate and is positioned at three openings, and the course adjusting mechanism is arranged on the side wall of one side of the strapdown inertial navigation mounting plate; the attitude adjusting method comprises the steps of fixing a strapdown inertial navigation mounting plate and a course adjusting mechanism bracket on a vehicle-mounted test mounting plate in sequence; fixing the strapdown inertial navigation system on a strapdown inertial navigation mounting plate; simultaneously aligning the strapdown inertial navigation system and the reference inertial navigation system; respectively adjusting the horizontal attitude adjusting mechanism and the course adjusting mechanism to enable the strapdown inertial navigation system and the reference inertial navigation system to have the same horizontal attitude and the same course; six steps of solidifying the attitude of the strapdown inertial navigation are realized; the strapdown inertial navigation attitude adjusting device and the adjusting method thereof adopt the mechanical attitude adjusting device to realize high-precision adjustment, can realize quick adjustment of the attitude, and are reliable and high in efficiency.
Description
Technical Field
The invention relates to the technical field of strapdown inertial navigation vehicle-mounted tests, in particular to a strapdown inertial navigation attitude adjusting device and a strapdown inertial navigation attitude adjusting method.
Background
The strapdown inertial navigation system is mainly applied to motion carriers such as surface naval vessels, ground vehicles, aviation airplanes and spacecrafts, and provides all-directional motion information including position, attitude, speed and angular speed for the motion carriers. As a navigation device, the strapdown inertial navigation has the function that navigation devices such as a satellite navigation system, a milemeter, an altimeter and the like cannot replace because the strapdown inertial navigation can provide accurate and real-time three-dimensional attitude angle information including a horizontal attitude and a course angle.
The vehicle-mounted test is a key test for evaluating the navigation precision of the strapdown inertial navigation when a manufacturer carries out debugging and acceptance. In a vehicle-mounted test, a strapdown inertial navigation and a reference inertial navigation with navigation precision 1 order of magnitude higher than that of the strapdown inertial navigation are simultaneously installed on a vehicle-mounted test installation plate of a vehicle, the strapdown inertial navigation and the reference inertial navigation are simultaneously initially aligned and enter a navigation state, and the motion excitation of a motion carrier received by the strapdown inertial navigation in an actual working environment is simulated through the motion of the vehicle, so that the output in the actual using environment of the strapdown inertial navigation is approximately obtained. The output value of the reference inertial navigation is taken as a reference, the difference value of the output value of the strapdown inertial navigation and the output value of the reference inertial navigation is taken as the navigation precision of the strapdown inertial navigation in principle, and in an actual test, the evaluation position, speed and angular speed precision can be directly taken as the difference value of the output of the strapdown inertial navigation and the output of the reference inertial navigation. However, for the attitude accuracy, due to the deviation of the installation attitude of the strapdown inertial navigation and the reference inertial navigation, there is a deviation of the three attitude angles after the two are aligned, and since this deviation angle is realized by three-dimensional rotation, it is not possible to compensate and offset simply by subtracting the respective algebraic differences of the horizontal attitude and heading angle of the two. Therefore, in order to obtain convincing strapdown inertial navigation attitude accuracy, after the strapdown inertial navigation and the reference inertial navigation are aligned, the attitude output of the strapdown inertial navigation is consistent with the attitude output of the reference inertial navigation through a physical attitude adjusting means, and then the simulated motion of the vehicle carrier is started.
However, at present, there is no attitude adjusting device for a strapdown inertial navigation vehicle test, and a common method is to loosen an installation screw of the strapdown inertial navigation after the strapdown inertial navigation and the reference inertial navigation are aligned, adjust a horizontal attitude by padding a small thin iron sheet between an installation plate and the strapdown inertial navigation, and slowly change a swing direction of the strapdown inertial navigation to adjust a course angle through a gap between the installation screw and an installation through hole on an installation supporting leg of the strapdown inertial navigation. The method is low in efficiency, and the final attitude cannot meet the requirements for evaluating the attitude accuracy of the strapdown inertial navigation vehicle-mounted test.
Disclosure of Invention
The invention aims to provide a strapdown inertial navigation attitude adjusting device which solves the problems that the efficiency is low and the attitude adjustment cannot meet the requirements of estimating the attitude accuracy of a strapdown inertial navigation vehicle-mounted test in the prior art.
The invention also aims to provide a strapdown inertial navigation attitude adjusting method realized by utilizing the strapdown inertial navigation attitude adjusting device
Therefore, the technical scheme of the invention is as follows:
a strapdown inertial navigation attitude adjusting device comprises a strapdown inertial navigation mounting plate, three horizontal attitude adjusting mechanisms and a course adjusting mechanism, wherein the three horizontal attitude adjusting mechanisms and the course adjusting mechanism are arranged on the strapdown inertial navigation mounting plate; wherein,
the strapdown inertial navigation mounting plate is provided with a first screw hole, a second screw hole and a third screw hole, wherein the first screw hole and the second screw hole are symmetrically formed in one end of the strapdown inertial navigation mounting plate, the third screw hole is formed in the middle of the other end of the strapdown inertial navigation mounting plate, and a fastening screw is arranged in each screw hole;
an annular groove is formed in the bottom surface of the strapdown inertial navigation mounting plate and at the position surrounding each screw hole, so that the three horizontal posture adjusting mechanisms are arranged in the three annular grooves respectively; each horizontal posture adjusting mechanism comprises a threaded sleeve arranged in the annular groove and an adjusting bolt arranged in the threaded sleeve, the adjusting bolt is in threaded connection with the threaded sleeve, and the lower part of the fastening bolt is arranged in a central through hole of the adjusting bolt in a form of a gap;
the course adjusting mechanism comprises a course adjusting bracket, a course adjusting block and two adjusting screws; the course adjusting bracket is a bracket body which is provided with a through groove downwards from the top surface along the axial direction, and the size of the through groove is larger than that of the course adjusting block; threaded holes meshed with the two adjusting screws are symmetrically formed in the two side groove walls of the through groove, so that the two adjusting screws can be respectively inserted into the threaded holes from outside to inside, and two ends of each adjusting screw are respectively abutted against the side walls on the opposite sides of the course adjusting block arranged in the through groove; and the other side wall of the course adjusting block is fixed on the side edge of the strapdown inertial navigation mounting plate close to the third screw hole, so that the axial directions of the two adjusting screws are parallel to the direction of the connecting line of the first screw hole and the second screw hole.
Furthermore, the adjacent four corners of the strapdown inertial navigation mounting plate are respectively provided with a mounting hole matched with the bottom mounting hole of the strapdown inertial navigation, so that the strapdown inertial navigation is fixed on the strapdown inertial navigation mounting plate in a manner that the axis direction of the strapdown inertial navigation is perpendicular to the direction of the connecting line of the first screw hole and the second screw hole.
Further, the size of the strapdown inertial navigation mounting plate is slightly larger than that of the strapdown inertial navigation system, the screw pitch of the adjusting bolt is 0.75mm, and the screw pitch of the adjusting screw is 0.75 mm.
A strapdown inertial navigation attitude adjusting method realized by adopting the strapdown inertial navigation attitude adjusting device comprises the following steps:
s1, mounting the strapdown inertial navigation mounting plate on a vehicle-mounted test mounting plate through three tightening screws respectively penetrating and mounted in the first screw hole, the second screw hole and the third screw hole, and simultaneously keeping the tightening screws in a non-tightening state to reserve adjustment amount; meanwhile, fixing a course adjusting bracket of the course adjusting mechanism on a corresponding position of the vehicle-mounted test mounting plate;
s2, fixing the strapdown inertial navigation system on the strapdown inertial navigation mounting plate through mounting holes which are in one-to-one correspondence with the strapdown inertial navigation mounting plate on the strapdown inertial navigation system in a threaded connection mode;
s3, simultaneously aligning the strapdown inertial navigation system and the reference inertial navigation system to obtain initial postures of the strapdown inertial navigation system and the reference inertial navigation system;
s4, respectively screwing three adjusting bolts in the horizontal posture adjusting mechanisms through a wrench, and adjusting the horizontal posture of the strapdown inertial navigation system to be the same as the horizontal posture of the reference inertial navigation system by changing the relative height between a thread sleeve and the adjusting bolts in each horizontal posture adjusting mechanism;
s5, simultaneously screwing two adjusting screws in the rotary heading adjusting mechanism through a wrench, and gradually pushing the heading adjusting block to move to one side to adjust the heading of the strapdown inertial navigation system to be the same as the heading of the reference inertial navigation system;
and S6, sequentially screwing the three fastening screws, solidifying the posture of the strapdown inertial navigation and finishing adjustment.
Compared with the prior art, the strapdown inertial navigation attitude adjusting device designs a mechanical attitude adjusting device combining a horizontal attitude adjusting mechanism and a course adjusting mechanism, the horizontal attitude and the course are adjusted essentially by screw thread motion, and the adjusting precision is high; and the method matched with the posture adjusting device can meet the precision requirement of the quick inertial navigation posture adjustment in the vehicle-mounted test, can realize the quick adjustment of the posture, and is reliable and high in efficiency.
Drawings
FIG. 1(a) is a schematic overall structural diagram in a front view direction of a strapdown inertial navigation attitude adjusting apparatus according to the present invention;
fig. 1(b) is a schematic view of an overall structure of the strapdown inertial navigation attitude adjusting apparatus according to the present invention;
FIG. 2(a) is a schematic structural diagram of a side view of a strap-down inertial navigation mounting plate in the strap-down inertial navigation attitude adjusting apparatus according to the present invention;
fig. 2(B) is a schematic structural diagram of a strap-down inertial navigation mounting plate side in a B-direction view in fig. 2(a) in the strap-down inertial navigation attitude adjusting device according to the present invention;
fig. 2(C) is a schematic structural diagram of a strap-down inertial navigation mounting plate side in a C-direction view in fig. 2(a) in the strap-down inertial navigation attitude adjusting device according to the present invention;
FIG. 3 is a schematic structural diagram of a horizontal attitude adjustment mechanism in the strapdown inertial navigation attitude adjustment apparatus according to the present invention;
FIG. 4 is a schematic structural diagram of a course adjustment mechanism in the strapdown inertial navigation attitude adjustment apparatus according to the present invention;
FIG. 5 is a flow chart of a method for adjusting attitude of the present invention;
FIG. 6 is a schematic view of the strapdown inertial navigation attitude adjusting device of the present invention installed in a strapdown inertial navigation vehicle-mounted test;
FIG. 7 is a side view of a heading adjustment mechanism of the strapdown inertial navigation attitude adjustment apparatus of the present invention;
wherein: 1. the device comprises a strapdown inertial navigation mounting plate, 2, a tightening screw, 3, a horizontal posture adjusting mechanism, 301, a threaded sleeve, 302, an adjusting bolt, 4, a course adjusting mechanism, 401, a support, 402, a course adjusting block, 403, a course adjusting screw, 5, a vehicle-mounted test mounting plate, 6, strapdown inertial navigation and 7, and reference inertial navigation.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, which are not intended to limit the invention in any way.
As shown in fig. 1 to 7, the strapdown inertial navigation attitude adjusting device includes a strapdown inertial navigation mounting plate 1, a fastening screw 2, a horizontal attitude adjusting mechanism 3 and a course adjusting mechanism 4; in particular, the amount of the solvent to be used,
as shown in fig. 1(a) and 1(b), the strapdown inertial navigation mounting plate 1 is a rectangular plate, on which a first screw hole, a second screw hole and a third screw hole are formed, wherein, along the long side direction of the strapdown inertial navigation mounting plate 1, the first screw hole and the second screw hole are symmetrically formed at one end of the strapdown inertial navigation mounting plate 1, the third screw hole is formed at the middle position of the other end of the strapdown inertial navigation mounting plate 1, so that the connecting lines of the three screw holes are in an isosceles triangle shape, and the connecting lines of the first screw hole and the second screw hole are parallel to the short side of the strapdown inertial navigation mounting plate 1; in addition, a plurality of rectangular grooves for reducing weight are symmetrically and uniformly distributed on the bottom surface of the strapdown inertial navigation mounting plate 1 and at positions where screw holes are not formed;
as shown in fig. 2(b), a fastening screw 2 is arranged in each of the first screw hole, the second screw hole and the third screw hole, and the fastening screws 2 are used for fixing the strapdown inertial navigation mounting plate 1 on the vehicle-mounted test mounting plate 5;
as shown in fig. 1(a) and fig. 3, an annular groove is respectively formed in the bottom surface of the strapdown inertial navigation mounting plate 1 and at the opening position surrounding each screw hole, and each annular groove is used for arranging a horizontal posture adjusting mechanism 3; specifically, each horizontal attitude adjusting mechanism 3 comprises a threaded sleeve 301 arranged in the annular groove and an adjusting bolt 302 arranged in the threaded sleeve 301, and the adjusting bolt 302 is in threaded connection with the threaded sleeve 301, so that the adjusting bolt 302 is screwed by a wrench subsequently, the relative height between the threaded sleeve 301 and the adjusting bolt 302 is changed, and the horizontal attitude of the strapdown inertial navigation system 6 is adjusted; a through hole is formed in the center of the adjusting bolt 302, and the inner diameter of the through hole is larger than the outer diameter of the fastening bolt 2, so that the lower part of the fastening bolt 2 is arranged in the central through hole of the adjusting bolt 302 in a form of a gap; in addition, the center of the screw hole is coincident with the center of the threaded sleeve 301, and the screw hole is a long waist-shaped through hole so as to facilitate subsequent course adjustment.
In this embodiment, since the length of the long side of the strapdown inertial navigation mounting plate 1 is 435mm, it can be seen that the horizontal attitude adjustment accuracy of the inertial navigation attitude adjustment apparatus is: phi is 0.75mm/435mm is 5.9';
as shown in fig. 1, 4 and 7, the heading adjusting mechanism 4 includes a heading adjusting bracket 401, a heading adjusting block 402 and two adjusting screws 403; the course adjusting bracket 401 is a bracket body which is provided with a through groove downwards from the top surface along the axial direction, and the size of the through groove is larger than that of the course adjusting block 402; threaded holes meshed with the two adjusting screws 403 are symmetrically formed in the two side groove walls of the through groove, so that the two adjusting screws 403 can be respectively inserted into the threaded holes from outside to inside, and two ends of each adjusting screw 403 are respectively abutted against the side walls on the opposite sides of the course adjusting block 402 arranged in the through groove; the other side wall of the course adjusting block 402 is fixed on the side edge of the strapdown inertial navigation mounting plate 1 close to the third screw hole, so that the axial directions of the two adjusting screws 403 are parallel to the direction of the connecting line of the first screw hole and the second screw hole; during subsequent use, the two course adjusting screws 403 are screwed to push the course adjusting block 402, so that the swinging direction of the strapdown inertial navigation unit 6 is changed, and the course of the strapdown inertial navigation unit 6 is adjusted;
the thread pitches of the two adjusting screws 403 are both 0.75mm, and since the length of the long edge of the strapdown inertial navigation mounting plate 1 is 435mm in this embodiment, it can be known that the heading adjusting precision of the inertial navigation attitude adjusting device is as follows: θ is 0.75mm/(435mm/2) 11.8';
as shown in fig. 1(b), fig. 2(b) and fig. 2(c), a mounting hole 8 which is matched with the bottom mounting hole of the strapdown inertial navigation is respectively formed at the adjacent four corners of the strapdown inertial navigation mounting plate 1, so that the strapdown inertial navigation is fixed on the strapdown inertial navigation mounting plate 1 in a manner that the axial direction of the strapdown inertial navigation is perpendicular to the direction of the connecting line of the first screw hole and the second screw hole.
Referring to fig. 5, the adjusting method of the strapdown inertial navigation attitude adjusting device based on the invention comprises the following steps:
s1, mounting the strapdown inertial navigation mounting plate 1 on a vehicle-mounted test mounting plate 5 through three tightening screws 4 respectively penetrating and mounted in a first screw hole, a second screw hole and a third screw hole, and simultaneously keeping the tightening screws 2 in a non-tightening state to reserve adjustment amount; meanwhile, fixing a course adjusting bracket 401 of the course adjusting mechanism 4 on a corresponding position of the vehicle-mounted test mounting plate 5;
s2, the strapdown inertial navigation system 6 is fixedly connected to the strapdown inertial navigation mounting plate 1 through mounting holes which are in one-to-one correspondence with the strapdown inertial navigation mounting plate 1;
s3, simultaneously aligning the strapdown inertial navigation system 6 and the reference inertial navigation system 7 to obtain initial postures of the strapdown inertial navigation system and the reference inertial navigation system;
s4, respectively screwing three adjusting bolts 302 in the horizontal posture adjusting mechanism 3 through a wrench, and adjusting the horizontal posture of the strapdown inertial navigation system 6 to be the same as the horizontal posture of the reference inertial navigation system 7 by changing the relative height between the thread bush 301 and the adjusting bolt 302 in each horizontal posture adjusting mechanism 3;
s6, simultaneously screwing two adjusting screws 403 in the rotary heading adjusting mechanism 4 through a wrench, and gradually pushing the heading adjusting block 402 to move to one side to adjust the heading of the strapdown inertial navigation system 6 to be the same as the heading of the reference inertial navigation system 7;
and S7, sequentially screwing the three fastening screws 2, solidifying the posture of the strapdown inertial navigation and finishing adjustment.
Referring to fig. 6, the layout of the various sections of the entire on-board test is: the strapdown inertial navigation attitude adjusting device and the reference inertial navigation 7 are installed on the vehicle-mounted test installation plate 5, and the strapdown inertial navigation 6 is installed on the strapdown inertial navigation attitude adjusting device. First, the bracket 401 in the course adjustment mechanism 4 is mounted on the vehicle-mounted test mounting plate 5 by screwing. The attitude adjusting device is mounted on the vehicle-mounted test mounting plate 5 by screwing the screw 2, and the screw 2 is not screwed to reserve an adjustment amount. And installing the strapdown inertial navigation unit 6 on the strapdown inertial navigation installation plate 1 in the posture adjusting device through threaded connection. Then, the strapdown inertial navigation unit 6 and the reference inertial navigation unit 7 are simultaneously aligned to obtain initial postures of the two units. Then, the adjusting bolt 302 in the horizontal posture adjusting mechanism 3 is screwed by a wrench, the relative height between the threaded sleeve 301 and the adjusting bolt 302 is changed, and the horizontal posture is adjusted to make the horizontal posture of the strapdown inertial navigation unit 6 and the horizontal posture of the reference inertial navigation unit 7 identical. Two heading adjusting screws 403 in the heading adjusting mechanism 4 are screwed to push against the heading adjusting block 402, so that the swinging direction of the strapdown inertial navigation unit 6 is changed, the heading of the strapdown inertial navigation unit 6 is adjusted, and finally the heading of the strapdown inertial navigation unit 6 is the same as that of the reference inertial navigation unit 7. And finally, tightening the fastening screw 2 to solidify the posture of the strapdown inertial navigation unit 6, and finishing the posture adjustment of the strapdown inertial navigation unit 6.
Claims (4)
1. A strapdown inertial navigation attitude adjusting device is characterized by comprising a strapdown inertial navigation mounting plate (1), three horizontal attitude adjusting mechanisms (3) and a course adjusting mechanism (4), wherein the three horizontal attitude adjusting mechanisms are arranged on the strapdown inertial navigation mounting plate (1); wherein,
a first screw hole, a second screw hole and a third screw hole are formed in the strapdown inertial navigation mounting plate (1), wherein the first screw hole and the second screw hole are symmetrically formed in one end of the strapdown inertial navigation mounting plate (1), the third screw hole is formed in the middle of the other end of the strapdown inertial navigation mounting plate (1), and a fastening screw (2) is arranged in each screw hole;
an annular groove is formed in the bottom surface of the strapdown inertial navigation mounting plate (1) and at the position surrounding each screw hole, so that the three horizontal posture adjusting mechanisms (3) are arranged in the three annular grooves respectively; each horizontal posture adjusting mechanism (3) comprises a threaded sleeve (301) arranged in the annular groove and an adjusting bolt (302) arranged in the threaded sleeve (301), the adjusting bolt (302) is in threaded connection in the threaded sleeve (301), and the lower part of the fastening screw (2) is arranged in a central through hole of the adjusting bolt (302) in a form of a gap;
the course adjusting mechanism (4) comprises a course adjusting bracket (401), a course adjusting block (402) and two adjusting screws (403); the course adjusting bracket (401) is a bracket body which is provided with a through groove downwards from the top surface along the axial direction, and the size of the through groove is larger than that of the course adjusting block (402); threaded holes meshed with the two adjusting screws (403) are symmetrically formed in the groove walls on the two sides of the through groove, so that the two adjusting screws (403) can be respectively inserted into the threaded holes from outside to inside, and the two ends of each adjusting screw are respectively abutted against the side walls on the opposite sides of the course adjusting block (402) arranged in the through groove; the other side wall of the course adjusting block (402) is fixed on the side edge of the strapdown inertial navigation mounting plate (1) close to the third screw hole, so that the axial directions of the two adjusting screws (403) are parallel to the direction of the connecting line of the first screw hole and the second screw hole.
2. The strapdown inertial navigation attitude adjusting apparatus according to claim 1, wherein a mounting hole (8) is formed in each of adjacent four corners of the strapdown inertial navigation mounting plate (1) to be matched with the bottom mounting hole of the strapdown inertial navigation, so that the strapdown inertial navigation is fixed on the strapdown inertial navigation mounting plate (1) in a manner that an axial direction of the strapdown inertial navigation is perpendicular to a direction of a connecting line of the first screw hole and the second screw hole.
3. The strapdown inertial navigation attitude adjusting apparatus according to claim 1 or 2, wherein the size of the strapdown inertial navigation mounting plate (1) is slightly larger than that of a strapdown inertial navigation system, the pitch of the adjusting bolt (302) is 0.75mm, and the pitch of the adjusting screw (403) is 0.75 mm.
4. A strapdown inertial navigation attitude adjustment method implemented by using the strapdown inertial navigation attitude adjustment device according to any one of claims 1 to 3, comprising the steps of:
s1, mounting the strapdown inertial navigation mounting plate (1) on a vehicle-mounted test mounting plate (5) through three tightening screws (4) respectively penetrating and mounted in a first screw hole, a second screw hole and a third screw hole, and simultaneously keeping a tightening screw (2) in a non-tightening state to reserve adjustment amount; meanwhile, fixing a course adjusting bracket (401) of the course adjusting mechanism (4) on a corresponding position of the vehicle-mounted test mounting plate (5);
s2, the strapdown inertial navigation system (6) is fixedly connected to the strapdown inertial navigation mounting plate (1) through mounting holes which are in one-to-one correspondence with the strapdown inertial navigation mounting plate (1) in a threaded manner;
s3, simultaneously aligning the strapdown inertial navigation system (6) and the reference inertial navigation system (7) to obtain initial postures of the strapdown inertial navigation system and the reference inertial navigation system;
s4, respectively screwing three adjusting bolts (302) in the horizontal posture adjusting mechanism (3) through a wrench, and adjusting the horizontal posture of the strapdown inertial navigation system (6) to be the same as the horizontal posture of the reference inertial navigation system (7) by changing the relative height between a thread sleeve (301) and the adjusting bolts (302) in each horizontal posture adjusting mechanism;
s6, simultaneously screwing two adjusting screws (403) in the rotary heading adjusting mechanism (4) through a wrench, and gradually pushing the heading adjusting block (402) to move to one side to adjust the heading of the strapdown inertial navigation system (6) to be the same as the heading of the reference inertial navigation system (7);
and S7, sequentially screwing the three fastening screws (2), solidifying the posture of the strapdown inertial navigation and finishing adjustment.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910855982.5A CN110726420A (en) | 2019-09-11 | 2019-09-11 | Strapdown inertial navigation attitude adjusting device and adjusting method thereof |
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| CN201910855982.5A CN110726420A (en) | 2019-09-11 | 2019-09-11 | Strapdown inertial navigation attitude adjusting device and adjusting method thereof |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111207746A (en) * | 2020-03-03 | 2020-05-29 | 北京航空航天大学 | Azimuth leading-out device of inertial positioning and orienting equipment and calibration method thereof |
| CN112683306A (en) * | 2020-12-04 | 2021-04-20 | 西安爱生技术集团公司 | Be used for unmanned aerial vehicle to be used to lead position appearance precision adjustment installation device |
| CN116225040A (en) * | 2023-03-27 | 2023-06-06 | 成都飞机工业（集团）有限责任公司 | Automatic attitude adjustment method for aircraft based on inertial navigation system |
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