CN110763230A - A table body structure and inertial measurement device for installing inertial instruments - Google Patents

Abstract

The invention discloses a platform body structure for installing an inertial instrument and an inertial measurement unit, wherein the platform body structure comprises an intermediate body which is of a straight quadrangular prism structure; the four bosses take the intermediate body as the center, extend outwards from four edges extending longitudinally of the intermediate body respectively, and form a cross structure with the intermediate body; be formed with accommodation space between two adjacent bosss and the midbody, four accommodation space are the cross and arrange, all have inertia instrument installation position on the midbody and four side, the top surface of midbody and the bottom surface that four accommodation space correspond respectively. By adopting a cross-shaped platform body structure, under the condition of meeting the spatial arrangement requirements and measurement accuracy of an X axis, a Y axis and a Z axis of the inertial instrument, the compact installation of the inertial instrument on the platform body structure and the miniaturization and lightweight design of the platform body structure are realized; and four bosses with cross structures also facilitate the installation of the platform body structure on an external part, thereby reducing the installation difficulty of the platform body structure.

Description

A table body structure and inertial measurement device for installing inertial instruments

technical field

The invention relates to a table body structure for installing an inertial instrument and an inertial measurement device, belonging to the technical field of navigation, guidance and control, used for measuring the acceleration and rotation angular rate of a carrier, and is suitable for a position attitude system and a strapdown inertial navigation system .

Background technique

The inertial navigation system relies on its own inertial sensitive components for navigation, and does not rely on any external information to measure navigation parameters, so it is not subject to natural or artificial interference, has good concealment, and is a completely autonomous navigation system. In modern times, various missiles, satellites, spacecraft and other carriers have put forward higher and higher requirements for the reliability and accuracy of the inertial navigation system, because it not only directly reflects the quality index of the inertial navigation system itself, but also directly relates to the process of the carrier performing tasks. success or failure.

The inertial measurement device in the inertial navigation system is generally composed of inertial sensor components, mounting brackets and corresponding electronic circuits. Inertial sensor components usually include three single-axis gyroscopes or two dual-axis gyroscopes and three single-axis accelerometers. The sensitive axes of inertial sensor components usually adopt an orthogonal layout: two of the sensitive axes of the three accelerometers are perpendicular and three The axes are orthogonal to the same point in space. The sensitive axes of the three gyroscopes are perpendicular to each other in space and parallel to the sensitive axes of the corresponding axial accelerometers. The three accelerometers are as close as possible in space. The components of the carrier angular rate and specific force on three mutually orthogonal axes are obtained; the mounting frame provides a positioning and installation reference for the inertial sensor assembly to ensure the orthogonal layout of the sensitive axis of the inertial sensor assembly; the electronic circuit part includes part of the circuit of the inertial assembly And the signal conditioning and conversion circuits of the necessary inertial components. The inertial measurement unit measures the acceleration of the movement of the carrier through the accelerometer, and measures the angular velocity of the movement of the carrier through the gyroscope. The carrier motion parameters provided by the inertial measurement unit obtain the required parameters of the navigation, guidance and control system such as the position, attitude and speed of the carrier through the navigation calculation.

In the prior art, the Chinese invention patent with the publication number CN103389085A discloses a six-redundant fiber optic gyroscope IMU platform, the platform body is an integral dodecahedron structure, and each surface of the regular dodecahedron is a positive dodecahedron. Pentagon; in order to reduce the weight of the system, the regular dodecahedron is designed as a hollow structure, and the interior of the regular dodecahedron is hollowed out with six gyro surfaces as the guiding surfaces, which realizes the light weight and high rigidity of the table body; The six-redundant fiber optic gyro IMU platform body includes a fiber optic gyro sensing ring installation position, an accelerometer installation position, and a mounting body connected and fixed with the system base; the invention realizes the redundant fiber optic gyro IMU component mass center, geometric center and sensitive axis intersection point The uniformity of ; exhibits better isotropic dynamic characteristics under shock and vibration conditions.

However, this kind of dodecahedron and integrally formed platform has complex structure and high processing cost, and additional mounting body needs to be installed to install with the carrier, which is inconvenient for installation; The surface of the plane body, the volume of the inertial instrument installed on the table body is further increased, and it is difficult to realize the requirement of compact installation of the inertial instrument.

SUMMARY OF THE INVENTION

Therefore, the technical problem to be solved by the present invention is to overcome the problems of complex structure, high processing cost and inconvenient installation in the table body structure for installing inertial instruments in the prior art, thereby providing a table body structure for installing inertial instruments and inertial measurement devices.

For solving the above-mentioned technical problems, the technical scheme of the present invention is as follows:

A table body structure for installing an inertial instrument, comprising:

The intermediate is a right quadrangular prism structure;

Four bosses, with the intermediate body as the center, respectively extend outward from the four longitudinally extending ribs of the intermediate body, and form a cross structure with the intermediate body;

A accommodating space is formed between the two adjacent bosses and the intermediate body, the four accommodating spaces are arranged in a cross shape, and the intermediate body and the four side surfaces, Both the top surface and the bottom surface of the intermediate body have inertial instrument installation positions.

Further, the top of the intermediate body is provided with a first concave cavity, and the inertial instrument installation position on the top surface of the intermediate body is located at the bottom of the first concave cavity.

Further, the tops of the four bosses are all provided with second concave cavities, and the four second concave cavities and the first concave cavities communicate with each other to form a platform body concave cavity.

Further, two side walls of the two oppositely disposed bosses are respectively provided with wire routing holes penetrating the accommodating space and the second cavity.

Further, the installation position of the inertial instrument includes:

The installation plane is the outer surface of the intermediate body;

The positioning structure is protruded on the installation plane or recessed in the installation plane for the inertial instrument to be positioned and installed thereon.

Further, the inertial instrument installation position includes an X-direction accelerometer assembly installation position, a Y-direction accelerometer assembly installation position, a Z-direction accelerometer assembly installation position, an X-direction gyroscope assembly installation position, a Y-direction gyroscope assembly installation position and Z-direction gyroscope assembly installation position; wherein, the X-direction accelerometer assembly installation position and the Y-direction accelerometer assembly installation position are respectively located on two adjacent sides of the intermediate body, and the X-direction gyroscope assembly The installation position and the Y-direction gyroscope assembly installation position are respectively located on the other two sides of the intermediate body, and the Z-direction accelerometer assembly installation position and the Z-direction gyroscope assembly installation position are respectively located in the platform structure. top and bottom.

Further, the positioning structures on the X-direction accelerometer assembly installation position, the Y-direction accelerometer assembly installation position and the Z-direction accelerometer assembly installation position are respectively several positions recessed into the installation plane. holes; the positioning structures on the X-direction gyroscope assembly installation position, the Y-direction gyroscopic assembly installation position and the Z-direction gyro assembly installation position are respectively several No. 1s protruding from the installation plane. A positioning column.

Further, the side wall corresponding to the mounting position of the X-direction accelerometer assembly of the intermediate body and the side wall corresponding to the mounting position of the Y-direction accelerometer assembly are provided with first weight reduction holes; The bottom is provided with a mounting groove corresponding to the position of the first weight-reducing hole.

Further, the thickness of the two side walls corresponding to the first weight-reducing holes of the intermediate body is greater than the thickness of the other two side walls of the intermediate body.

Further, the four bosses are respectively a first boss, a second boss, a third boss and a fourth boss; wherein, the first boss is located at the X-direction accelerometer assembly installation position and The middle of the installation position of the accelerometer assembly in the Y direction, the second boss is located in the middle of the installation position of the gyroscope assembly in the X direction and the installation position of the gyroscope assembly in the Y direction, and the third boss is located in the X direction Between the installation position of the accelerometer assembly and the installation position of the Y-direction gyroscope assembly, the fourth boss is located in the middle of the installation position of the Y-direction accelerometer assembly and the installation position of the X-direction gyroscope assembly;

The installation position of the Z-direction accelerometer assembly is located at the end of the intermediate body close to the second boss, and the installation position of the Z-direction gyroscope assembly is located at the end of the intermediate body close to the first boss; the The platform structure is provided with a second weight reduction hole on the installation plane corresponding to the installation position of the Z-direction accelerometer assembly, and the platform structure corresponding to the installation plane of the Z-direction gyroscope assembly is provided with Third weight reduction hole.

Further, the bottom of the platform structure corresponding to the third boss and the bottom of the fourth boss is further provided with fourth weight reduction holes respectively.

Further, the second boss, the third boss and the fourth boss are provided with a fifth weight reduction hole corresponding to the position of the second weight reduction hole or the fourth weight reduction hole .

Further, the end surfaces of the four bosses facing away from the intermediate body are provided with mounting positions for shock absorbing structures connected to external components.

Further, the shock-absorbing structure installation position includes;

The table body mounting seat is protrudingly arranged on the end face of the boss facing away from the end of the intermediate body, for the table body structure to be positioned and installed on the external components;

The first shock absorbing structure is cushioned on the contact surface where the platform mounting seat and the external component are connected.

Further, the top and bottom surfaces of the platform structure are also protruded with a plurality of second positioning posts for positioning and installing the circuit board.

On the other hand, an embodiment of the present invention also provides an inertial measurement device, including the above-mentioned table body structure for installing an inertial instrument and an inertial instrument installed on the inertial instrument installation position of the table body structure, so A second damping structure is arranged between the inertial instrument and the installation position of the inertial instrument.

The technical scheme of the present invention has the following advantages:

1. The platform structure for installing the inertial instrument provided by the present invention includes an intermediate body and four platform bodies extending outward along four corners on the side of the intermediate body, and the four platform bodies form a cross structure with the intermediate body as the center. , a accommodating space can be formed between any two adjacent bosses and the side of the intermediate body. After the inertial instrument is installed on the side of the intermediate body, the inertial instrument is located in the accommodating space and will not be relative to the structure of the platform. Outward extension, compared with the method of installing the inertial instrument on the outer surface of the polyhedral table structure in the prior art, the inertial instrument can be realized in the case of satisfying the spatial arrangement requirements of the X-axis, Y-axis and Z-axis of the inertial instrument. The compact installation on the table body structure; and the four bosses of the cross structure also facilitate the installation of the table body structure on the external components, which reduces the installation difficulty of the table body structure.

2. The platform structure for installing the inertial instrument provided by the present invention, a first concave cavity is arranged on the top of the intermediate body, and a second concave cavity that is connected to the first concave cavity is arranged on the top of the boss, so that the platform body can be realized. Lightweight structure.

3. The platform structure for installing the inertial instrument provided by the present invention, the setting of the wiring hole on the side wall of the boss is convenient for the inertial instrument located in the accommodation space between the two bosses and the internal components of the platform structure. line between.

4. The platform structure for installing the inertial instrument provided by the present invention, the inertial instrument installation position of this layout can make the sensitive axes of the three gyroscope sensors and the three accelerometer sensors that constitute the inertial measurement device parallel to the reference coordinates The three orthogonal main axis directions of the system meet at the geometric center of the platform structure and the vibration reduction support center; and the installation positions of the three gyroscope components are embedded in the design and arranged inside the corresponding sides of the platform structure, so that the The distance between the three accelerometer assemblies and the geometric center of the table structure is minimized, minimizing the lever arm effect of the accelerometer assemblies.

5. The table body structure for installing the inertial instrument provided by the present invention, the first weight reduction holes and the wall thickness of the counterweight are respectively arranged on each side of the table body structure, and the fourth weight reduction hole is arranged at the bottom of the table body structure. The weight-reduction hole and the fifth weight-reduction hole can realize the overlap of the "centre of mass" and the "geometric center" after the inertial instrument is assembled with the platform structure.

6. In the platform structure for installing inertial instruments provided by the present invention, first shock absorbing structures are respectively arranged at the ends of the four bosses, and the space alignment of the first shock absorbing structure is realized by the four outwardly extending bosses. The angular layout ensures that the span of the vibration-damping support points in the reference coordinate system is consistent; the "center of mass", "geometric center", "vibration-damping support center" and "sensitive axis intersection point" after the inertial instrument is installed on the platform structure components "Unification, it exhibits isotropic dynamic characteristics under shock and vibration conditions, effectively protecting the measurement accuracy of inertial instruments.

7. The inertial measurement device provided by the present invention adopts a cross-table structure, and has the advantages of simple structural design, easy acquisition of materials, low processing cost, and a lightweight and easy-to-install overall structure.

Description of drawings

In order to illustrate the specific embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the specific embodiments or the prior art. Obviously, the accompanying drawings in the following description The drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

1 is a schematic diagram of the overall structure of the first surface of the platform structure in the embodiment of the present invention;

2 is a schematic diagram of the overall structure of the second side of the platform structure in the embodiment of the present invention;

3 is a schematic diagram of the overall structure of the third surface of the platform structure in the embodiment of the present invention;

4 is a schematic diagram of the overall structure of the fourth surface of the platform structure in the embodiment of the present invention;

Fig. 5 is the top view of the platform structure in the embodiment of the present invention;

FIG. 6 is a bottom view of the platform structure in the embodiment of the present invention.

Description of reference numerals: 1. Intermediate body; 11. First side wall; 12, Second side wall; 13, Third side wall; 14, Fourth side wall; 15, Bottom wall; 151, Mounting groove; 152, The second weight reduction hole; 153, the third weight reduction hole; 154, the fourth weight reduction hole; 155, the fifth weight reduction hole; 16, the first cavity; 2, the boss; 21, the first boss; 22 , the second boss; 23, the third boss; 24, the fourth boss; 25, the second cavity; 3, the installation position of the inertial instrument; 301, the installation plane; 302, the first positioning column; 303, the positioning hole ;31, X-direction accelerometer assembly installation position; 32, Y-direction accelerometer assembly installation position; 33, Z-direction accelerometer assembly installation position; 34, X-direction gyroscope assembly installation position; 35, Y-direction gyroscope assembly installation position ;36. Z-direction gyroscope assembly installation position; 4. Cable hole; 5. First weight reduction hole; 6. Installation position of shock absorption structure; 61. Mounting seat of table body; 62. First shock absorption structure; 7. The second positioning column.

Detailed ways

The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation or a specific orientation. construction and operation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first", "second", and "third" are used for descriptive purposes only and should not be construed to indicate or imply relative importance.

In the description of the present invention, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.

In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

As shown in Figures 1-6, a table body structure for installing an inertial instrument is an integrally formed structure, including an intermediate body 1 and four bosses 2 that form a cross structure with the intermediate body 1. Among them, the intermediate body 1 is a right quadrangular prism structure; the four bosses 2 are centered on the intermediate body 1, and respectively extend outward from the four longitudinally extending edges of the intermediate body 1. The two adjacent bosses 2 and the intermediate body 1 An accommodation space is formed between the four accommodation spaces, and the four accommodation spaces are arranged in a cross shape. There are inertial instrument installation positions 3 on the four sides corresponding to the intermediate body 1 and the four accommodation spaces respectively, and on the top and bottom surfaces of the intermediate body 1. The inertial instrument (not shown in the figure) can be accurately positioned through the inertial instrument installation position 3 Mounted on the table body structure, the table body structure is mounted on the outer part through the four bosses 2 .

The four bosses 2 take the intermediate body 1 as the center and form a cross-shaped structure together with the intermediate body 1. An accommodation space can be formed between two adjacent bosses 2 and the sides of the intermediate body 1. Inertial instrument installation position 3 After the inertial instrument is installed, the inertial instrument is located in the accommodating space and will not extend outward relative to the table body structure, which is different from the way in which the inertial instrument is installed on the outer surface of the polyhedron table body structure in the prior art. In the case of satisfying the spatial arrangement requirements of the X-axis, Y-axis and Z-axis of the inertial instrument, the compact installation of the inertial instrument on the table body structure can be realized; and the four bosses 2 of the cross structure are also convenient for the table body. The structure is installed on the external components, which reduces the difficulty of installation of the table body structure.

In this embodiment, the intermediate body 1 includes a bottom wall 15 serving as the lower bottom surface of a right-square prism structure, and a first side wall 11 and a second side wall 12 that are four side surfaces of the right-square prism structure and integrally formed with the bottom wall 15 . , the third side wall 13 and the fourth side wall 14, the first side wall 11, the second side wall 12, the third side wall 13 and the fourth side wall 14 are enclosed on the bottom wall 15 to form a first cavity 16 . The inertial instrument installation position 3 on the top surface of the intermediate body 1 is located at the bottom of the first cavity 16 , the inertial instrument installation position 3 on the bottom surface of the intermediate body 1 is located on the bottom surface of the bottom wall 15 facing away from the first cavity 16 , and the first side wall 11. An inertial meter installation position 3 is respectively provided on the outer surfaces of the second side wall 12 , the third side wall 13 and the fourth side wall 14 .

In this embodiment, the sides of the four bosses 2 are respectively connected between the two adjacent side walls of the intermediate body 1, and are enclosed with the bottom wall 15 of the intermediate body 1 to form a second cavity 25; four The second concave cavity 25 and the first concave cavity 16 pass through each other to form a table body concave cavity. The boss 2 is provided with a second cavity 25 and the second cavity 25 communicates with the first cavity 16 through the structural design, which can reduce the weight of the stage structure while ensuring that the structure strength of the stage body meets the requirements. Further, two side walls of the two bosses 2 disposed opposite to each other are respectively provided with wire routing holes 4 penetrating the accommodating space and the second concave cavity 25 .

Specifically, the six inertial instrument installation positions 3 include three accelerometer assembly installation positions and three gyroscope assembly installation positions, where the accelerometer assembly installation position is used for installing the accelerometer assembly, and the gyroscope assembly installation position is used for installing the gyroscope assembly. . The three accelerometer assembly installation positions are the X-direction accelerometer assembly installation position 31, the Y-direction accelerometer assembly installation position 32, and the Z-direction accelerometer assembly installation position 33, respectively, and the three gyroscope assembly installation positions are the X-direction gyroscope assembly. The installation position 34 , the installation position 35 of the Y-direction gyro assembly, and the installation position 36 of the Z-direction gyro assembly.

In this embodiment, the X-direction accelerometer assembly installation position 31 is located on the outer surface of the first side wall 11 , the Y-direction accelerometer assembly installation position 32 is located on the outer surface of the second side wall 12 , and the Z-direction accelerometer assembly is installed The position 33 is located on the upper surface of the bottom wall 15, the X-direction gyroscope assembly mounting position 34 is located on the outer surface of the third side wall 13, the Y-direction gyroscope assembly mounting position 35 is located on the outer surface of the fourth side wall 14, Z The mounting position 36 for the gyroscope assembly is located on the lower surface of the bottom wall 15 . The three accelerometer assembly installation positions can make the sensitive axes of the three accelerometer assemblies installed on it orthogonal to the same point in space, and the three gyroscope assembly installation positions can also make the three gyroscope assemblies installed on it The sensitive axis is orthogonal to the same point in space.

In this embodiment, the inertial instrument installation position 3 includes an installation plane 301 and a positioning structure. The installation plane 301 is a plane on the outer surface of the intermediate body 1 , and the positioning structure can be a plurality of first positioning posts 302 protruding from the installation plane 301 . Or a plurality of positioning holes 303 recessed in the installation plane 301 , the inertial instrument is installed on the installation plane 301 through a plurality of first positioning columns 302 or a plurality of positioning holes 303 . Generally, there are three first positioning posts 302 or positioning holes 303 as positioning structures, which are uniformly arranged around the center of the installation plane 301 in the circumferential direction. Specifically, the positioning structures on the X-direction accelerometer assembly installation position 31 , the Y-direction accelerometer assembly installation position 32 and the Z-direction accelerometer assembly installation position 33 are respectively three positioning holes 303 recessed into the installation plane 301 ; The positioning structures on the gyroscope assembly installation position 34 , the Y-direction gyroscope assembly installation position 35 and the Z-direction gyroscope assembly installation position 36 are respectively three first positioning posts 302 protruding from the installation plane 301 . The gyroscope assembly is installed on the three first positioning posts 302 protruding from the installation plane 301 , and a space for convenient wiring is formed between the installation plane 301 and the gyroscope assembly.

In this embodiment, both the first side wall 11 of the intermediate body 1 corresponding to the X-direction accelerometer assembly installation position 31 and the second side wall 12 corresponding to the Y-direction accelerometer assembly installation position 32 are provided with first weight reduction holes. 5; the bottom of the intermediate body 1 is provided with an installation groove 151 corresponding to the position of the first weight reduction hole 5 . The arrangement of the first weight-reducing hole 5 on the first side wall 11 and the second side wall 12 and the arrangement of the mounting groove 151 on the bottom wall 15 not only provide sufficient installation space and wiring channels for the accelerometer components, but also reduce the weight of the table body. The overall weight of the structure.

In this embodiment, the wall thicknesses of the first side wall 11 and the second side wall 12 are larger than the wall thicknesses of the third side wall 13 and the fourth side wall 14 . The four bosses 2 are the first boss 21 , the second boss 22 , the third boss 23 and the fourth boss 24 respectively; wherein, the first boss 21 is located in the X-direction accelerometer assembly installation position 31 and the Y-direction In the middle of the accelerometer assembly installation position 32, the second boss 22 is located in the middle of the X-direction gyroscope assembly installation position 34 and the Y-direction gyroscope assembly installation position 35, and the third boss 23 is located in the X-direction accelerometer assembly installation position 31 and Y direction Between the installation positions 35 of the gyroscope assembly, the fourth boss 24 is located between the installation position 32 of the accelerometer assembly in the Y direction and the installation position 34 of the gyroscope assembly in the X direction. The Z-direction accelerometer assembly mounting position 33 is located at the end of the intermediate body 1 close to the second boss 22 , and the Z-direction gyroscope assembly mounting position 36 is located at the end of the intermediate body 1 close to the first boss 21 .

A second weight-reducing hole 152 is provided on the mounting plane 301 corresponding to the mounting position 33 of the Z-direction accelerometer assembly corresponding to the platform structure, and the mounting plane 301 corresponding to the mounting position 36 of the Z-direction gyroscope assembly is also provided on the mounting plane 301 corresponding to the platform structure. The third weight reduction hole 153 . The bottoms of the platform structure corresponding to the third boss 23 and the fourth boss 24 are further provided with fourth weight reduction holes 154 respectively. The second boss 22 , the third boss 23 and the fourth boss 24 are provided with a fifth weight reduction hole 155 corresponding to the position of the second weight reduction hole 152 or the fourth weight reduction hole 154 . The weight reduction of the first weight reduction hole 5 , the second weight reduction hole 152 , the third weight reduction hole 153 , the fourth weight reduction hole 154 and the fifth weight reduction hole 155 on the platform structure and the first side wall 11 and the second weight reduction hole 155 The weight increase of the side wall 12 can reduce the overall weight of the table structure and at the same time meet the unification of the "center of mass", "geometric center" and "the intersection of sensitive axes" after the inertial instrument is assembled in the table structure, ensuring the measurement of the inertial instrument. On the premise of high precision, the high assembly density and miniaturized design of inertial instruments on the table structure are realized.

In the present embodiment, the end surfaces of the four bosses 2 facing away from the intermediate body 1 are provided with mounting positions 6 of the shock absorbing structure connected with the external components. The shock-absorbing structure installation position 6 includes a platform body mounting seat 61 and a first shock-absorbing structure 62; the platform body mounting seat 61 is protrudingly arranged on the end face of the boss 2 facing away from the intermediate body 1, for the platform body structure to be positioned and installed outside components; the first shock absorbing structure 62 is cushioned on the contact surface where the platform mounting seat 61 is connected with the external components. The first shock absorbing structures 62 are respectively arranged at the ends of the four bosses 2 , and the space diagonal layout of the first shock absorbing structures 62 is realized through the four outwardly extending bosses 2 , while ensuring that the shock absorbing support points are in the reference The spans in the coordinate system are consistent; after the inertial instrument is installed in the table structure components, the "center of mass", "geometric center", "vibration damping support center" and "sensitive axis intersection" are unified, and the performance is shown under shock and vibration conditions. The isotropic dynamic characteristics are used to effectively protect the measurement accuracy of the inertial instrument.

Further, a plurality of second positioning columns 7 for positioning and installing the circuit board are also protruded from the top and bottom surfaces of the platform structure.

On the other hand, an embodiment of the present invention also provides an inertial measurement device, including the above-mentioned table body structure for installing an inertial instrument and an inertial instrument installed on the inertial instrument installation position 3 of the table body structure, an inertial instrument and an inertial instrument A second shock absorbing structure (not shown) is arranged between the instrument installation positions 3. The setting of the second shock absorbing structure between the inertial instrument and the inertial instrument installation position 3 can make the inertial instrument better exhibit isotropic dynamic characteristics under shock and vibration conditions.

To sum up, the table body structure for installing the inertial instrument provided by the embodiment of the present invention adopts the cross table body structure. The compact installation of the inertial instrument on the table structure and the miniaturized design of the table structure are realized; and the four bosses 2 of the cross structure also facilitate the installation of the table structure on the external components, which reduces the installation difficulty of the table structure. .

Obviously, the above-mentioned embodiments are only examples for clear description, and are not intended to limit the implementation manner. For those of ordinary skill in the art, changes or modifications in other different forms can also be made on the basis of the above description. There is no need and cannot be exhaustive of all implementations here. And the obvious changes or changes derived from this are still within the protection scope of the present invention.

Claims (16)

1. A stage structure for mounting an inertial instrument, comprising:

the intermediate (1) is of a straight quadrangular prism structure;

the four bosses (2) take the intermediate body (1) as a center, respectively extend outwards from four edges of the intermediate body (1) extending longitudinally, and form a cross structure with the intermediate body (1);

adjacent two boss (2) with be formed with accommodation space, four between midbody (1) accommodation space is the cross and arranges, midbody (1) and four sides that accommodation space corresponds respectively all have inertial instrument installation position (3) on the top surface and the bottom surface of midbody (1).

2. The table structure for mounting inertial instruments according to claim 1, characterized in that the top of the central body (1) is provided with a first cavity, and the inertial instrument mounting site (3) on the top surface of the central body (1) is located at the bottom of the first cavity.

3. The structure of a table body for mounting an inertial instrument according to claim 2, characterized in that the tops of the four bosses (2) are provided with second cavities, and the four second cavities and the first cavity are communicated with each other to form a table body cavity.

4. A platform structure for mounting an inertial instrument according to claim 3, characterized in that two opposite side walls of the two bosses (2) are respectively provided with a wire hole (4) penetrating through the accommodating space and the second cavity.

5. Table structure for mounting inertial instruments according to claim 1, characterized in that said inertial instrument mounting station (3) comprises:

a mounting plane (301) on the outer surface of the intermediate body (1);

and the positioning structure protrudes on the mounting plane (301) or is recessed in the mounting plane (301) for positioning and mounting the inertial instrument on the positioning structure.

6. The stage body structure for mounting an inertial instrument according to claim 5, wherein said inertial instrument mounting location (3) comprises an X-direction accelerometer assembly mounting location (31), a Y-direction accelerometer assembly mounting location (32), a Z-direction accelerometer assembly mounting location (33), an X-direction gyroscope assembly mounting location (34), a Y-direction gyroscope assembly mounting location (35) and a Z-direction gyroscope assembly mounting location (36); wherein, X is to accelerometer subassembly installation position (31) with Y is located respectively to accelerometer subassembly installation position (32) on two adjacent sides of midbody (1), X is to gyroscope subassembly installation position (34) with Y is located respectively to gyroscope subassembly installation position (35) on two other sides of midbody (1), Z is to accelerometer subassembly installation position (33) with Z is located respectively on the top surface and the bottom surface of stage body structure to gyroscope subassembly installation position (36).

7. The stage body structure for mounting an inertial instrument according to claim 6, characterized in that said positioning structures on said X-direction accelerometer assembly mounting location (31), said Y-direction accelerometer assembly mounting location (32) and said Z-direction accelerometer assembly mounting location (33) are a number of positioning holes (303) recessed in said mounting plane (301), respectively; x is to gyroscope subassembly installation position (34), Y is to gyroscope subassembly installation position (35) and Z is to gyroscope subassembly installation position (36) on the location structure respectively for protrusion in a plurality of first locating posts (302) on mounting plane (301).

8. The platform body structure for mounting the inertial instrument according to claim 6, wherein the side wall of the middle body (1) corresponding to the X-direction accelerometer assembly mounting position (31) and the side wall corresponding to the Y-direction accelerometer assembly mounting position (32) are both provided with a first lightening hole (5); and the bottom of the intermediate body (1) is provided with a mounting groove (151) corresponding to the position of the first lightening hole (5).

9. The structure of a table body for mounting an inertial instrument according to claim 8, characterized in that the thickness of two lateral walls of the intermediate body (1) corresponding to the first lightening holes (5) is greater than the thickness of the other two lateral walls of the intermediate body (1).

10. The stage body structure for mounting an inertial instrument according to claim 9, characterized in that the four bosses (2) are respectively a first boss (21), a second boss (22), a third boss (23) and a fourth boss (24); wherein the first boss (21) is located between the X-direction accelerometer assembly mounting location (31) and the Y-direction accelerometer assembly mounting location (32), the second boss (22) is located between the X-direction gyroscope assembly mounting location (34) and the Y-direction gyroscope assembly mounting location (35), the third boss (23) is located between the X-direction accelerometer assembly mounting location (31) and the Y-direction gyroscope assembly mounting location (35), and the fourth boss (24) is located between the Y-direction accelerometer assembly mounting location (32) and the X-direction gyroscope assembly mounting location (34);

the Z-direction accelerometer assembly mounting position (33) is located at one end, close to the second boss (22), of the middle body (1), and the Z-direction gyroscope assembly mounting position (36) is located at one end, close to the first boss (21), of the middle body (1); the platform body structure is correspondingly provided with a second lightening hole (152) on a mounting plane (301) of the Z-direction accelerometer assembly mounting position (33), and the platform body structure is correspondingly provided with a third lightening hole (153) on the mounting plane (301) of the Z-direction accelerometer assembly mounting position (36).

11. The stage structure for mounting an inertial instrument according to claim 10, characterized in that the bottom of the stage structure corresponding to the third boss (23) and the fourth boss (24) is further provided with a fourth lightening hole (154), respectively.

12. The stage body structure for mounting an inertial instrument according to claim 11, wherein fifth lightening holes (155) corresponding to the positions of the second lightening holes (152) or the fourth lightening holes (154) are provided in the second boss (22), the third boss (23) and the fourth boss (24).

13. Platform structure for mounting inertial instrument according to claim 1, characterized in that four of said bosses (2) have, on their end faces facing away from said intermediate body (1), shock-absorbing structure mounting locations (6) for connection with external parts.

14. Table body structure for mounting inertial instruments according to claim 13, characterized in that said shock-absorbing structure mounting locations (6) comprise;

the table body mounting seat (61) is convexly arranged on the end face of one end, back to the intermediate body (1), of the boss (2) and used for positioning and mounting the table body structure on an external part;

and the first shock absorption structure (62) is arranged on a contact surface where the table body mounting seat (61) is connected with an external component in a cushioning mode.

15. The structure of a desk for mounting inertial instrument of claim 1, characterized in that the top and bottom of the structure are further provided with a plurality of second positioning posts (7) for positioning and mounting circuit board.

16. An inertial measurement unit, comprising a table structure for mounting an inertial instrument according to any one of claims 1 to 15 and an inertial instrument mounted on an inertial instrument mounting site (3) of said table structure, a second shock-absorbing structure being provided between said inertial instrument and said inertial instrument mounting site (3).

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