CN112595316B - Modularized optical fiber strapdown inertial navigation system - Google Patents
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- CN112595316B CN112595316B CN202011464408.6A CN202011464408A CN112595316B CN 112595316 B CN112595316 B CN 112595316B CN 202011464408 A CN202011464408 A CN 202011464408A CN 112595316 B CN112595316 B CN 112595316B
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- 238000012423 maintenance Methods 0.000 abstract description 7
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- 230000000875 corresponding effect Effects 0.000 description 6
- 238000013461 design Methods 0.000 description 5
- 238000004458 analytical method Methods 0.000 description 4
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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Abstract
The invention discloses a modularized optical fiber strapdown inertial navigation, which comprises the following steps: an electronic compartment and an instrument compartment; the electronic compartment comprises: the device comprises an electronic cabin frame, an IF radiating fin, an IF circuit board, a DSP+FPGA processing board, an ARM storage board, a power supply board, a power radiating fin and a motherboard; the motherboard is arranged in the electronic cabin frame, four CPCI slots are formed in the motherboard, and the IF circuit board, the DSP+FPGA processing board, the ARM storage board and the power supply board are correspondingly inserted into the four CPCI slots of the motherboard respectively; the instrument pod includes: the device comprises a main support frame, and an X-axis gyroscope, a Y-axis gyroscope, a Z-axis gyroscope, an X-axis adding meter, a Y-axis adding meter and a Z-axis adding meter which are arranged on the main support frame; the X-axis gyroscope, the Y-axis gyroscope and the Z-axis gyroscope are respectively connected with the other three opposite-interpolation seats of the motherboard in a one-to-one correspondence manner through cables, and the invention can solve the problems of complex structure, high cost, difficult maintenance and upgrade and difficult maintenance of the conventional inertial navigation for the AUV.
Description
Technical Field
The invention belongs to the technical field of inertial navigation, and particularly relates to modularized optical fiber strapdown inertial navigation.
Background
Autonomous underwater unmanned underwater vehicle (autonomous underwater vehicle, AUV) plays an increasingly important role in the fields of ocean development and national defense due to the advantages of small volume, low use cost, intelligent autonomous operation, convenient maintenance, good concealment and the like. With the gradual expansion of the AUV application field, the requirement on a navigation system is higher and higher, and the AUV has to have the capability of high-precision navigation and positioning in long distance and long voyage. Because of high-precision navigation positioning, the accuracy of the results of safe operation and return of the AUV, underwater target positioning, submarine topography mapping, underwater fixed-point deployment and the like is determined.
The common navigation modes of AUV include GPS navigation, dead reckoning, inertial navigation, terrain matching, gravity field navigation, combined navigation and the like. The Inertial Navigation System (INS) does not need any external information or radiate any information outwards, can be suitable for any working environment, can output various navigation parameters such as the position, the speed and the gesture of a carrier in real time, and has stable navigation data and good short-term stability. At present, optical fiber strapdown inertial navigation (FINS) is a new generation of strapdown inertial navigation equipment (SINS), has the advantages of small volume, no noise, impact resistance, low power consumption and the like compared with laser strapdown inertial navigation, and is being widely applied to AUV. However, the errors of INS accumulate with time, and in order to ensure the navigation positioning accuracy of the AUV operating under water for a long time, an integrated navigation system composed of pins, GPS and DVL is generally used, wherein the optical fiber strapdown inertial navigation is the most core device in the integrated navigation system of the AUV.
However, the strapdown inertial navigation currently used for AUV still has the following disadvantages: 1) The mechanical structure of the table body for fixing the three laser gyroscopes and the three accelerometers is complex, the processing is very difficult and time-consuming, the cost of the product is increased, and the improvement of the production efficiency is affected; 2) The mounting grooves of the three laser gyroscopes on the table body are scattered, so that occupied volume space is increased; 3) The traditional strapdown inertial navigation designs a damping structure, and as the damping piece is compressed, aged and the like to deform, the installation angle between the SINS and the DVL changes, and the AUV underwater integrated navigation precision is seriously affected; 4) The traditional strapdown inertial navigation is of a non-modularized design, and once a fault occurs, the complete machine is required to be disassembled, and other parts or meters are easy to damage in the maintenance process. Based on the above, it is necessary to design an optical fiber strapdown inertial navigation with a more compact structure, low cost and convenient upgrade and maintenance.
Disclosure of Invention
In view of the above, the invention provides a modularized optical fiber strapdown inertial navigation which can solve the problems of complex structure, high cost, difficult maintenance and upgrade and difficult maintenance of the conventional inertial navigation for AUV.
The invention is realized by the following technical scheme:
a modular fiber optic strapdown inertial navigation comprising: an electronic compartment and an instrument compartment;
the electronic compartment comprises: the device comprises an electronic cabin frame, an IF radiating fin, an IF circuit board, a DSP+FPGA processing board, an ARM storage board, a power supply board, a power radiating fin and a motherboard;
the motherboard is arranged in the electronic cabin frame, and is provided with four CPCI slots, an external socket and four internal sockets, wherein the external socket is connected with the external socket; the external socket is connected with external equipment through a cable;
the IF circuit board, the DSP+FPGA processing board, the ARM storage board and the power board are correspondingly inserted into four CPCI slots of the motherboard respectively;
the IF cooling fin and the power cooling fin are respectively arranged on the electronic cabin frame through screws; the IF radiating fin is attached to the IF circuit board, and the power radiating fin is attached to the power panel;
the instrument pod includes: the device comprises a main support, an X-axis gyroscope, a Y-axis gyroscope, a Z-axis gyroscope, an X-axis adding meter, a Y-axis adding meter and a Z-axis adding meter;
a mounting base is arranged in the main support;
the X-axis gyroscope, the Y-axis gyroscope, the Z-axis gyroscope, the X-axis adding meter, the Y-axis adding meter and the Z-axis adding meter are respectively arranged on the corresponding mounting bases of the main supporting frame;
the X-axis adding table, the Y-axis adding table and the Z-axis adding table are connected with a pair of inserting seats of the motherboard through a cable; the X-axis gyroscope, the Y-axis gyroscope and the Z-axis gyroscope are respectively connected with the other three opposite interpolation seats of the motherboard in a one-to-one correspondence manner through cables.
Furthermore, the side walls of the electronic cabin frame and the main support frame are respectively provided with a lightening hole.
Furthermore, when the inertial navigation system is used, the electronic cabin and the instrument cabin are not fixedly connected in a butt joint mode, and the electronic cabin and the instrument cabin are respectively arranged in the AUV navigation control cabin in a split mode.
Furthermore, when the inertial navigation device is used, one end of the main support frame is coaxially butted with one end of the electronic cabin frame, so that the electronic cabin and the instrument cabin are butted, and the electronic cabin and the instrument cabin are directly installed in the AUV navigation control cabin after being butted and fixedly connected.
Further, the method also comprises the following steps; a housing and an end cap;
one end of the main support frame is coaxially butted with one end of the electronic cabin frame, so that the electronic cabin and the instrument cabin are butted;
the end cover is fixed at the other end of the electronic cabin frame;
the shell is a cylinder with one end open and one end closed, and the closed end of the shell is provided with a through hole; the base part of the external socket is arranged on the motherboard, and the opposite plug part of the external socket extends out through the through hole and is connected with a cable of external equipment; the outer shell is sleeved outside the electronic cabin and the instrument cabin and is fixedly connected with the end cover;
the electronic cabin, the instrument cabin, the shell and the end cover form complete inertial navigation, and are arranged in the AUV navigation control cabin.
Further, the outer shell and the main support are respectively provided with a boss and a groove for assembly and matching.
Further, the electronic cabin frame and the main support frame are both cylindrical structures.
Further, the mounting base of the main support includes: a rectangular block and three flat surfaces; the three flat plate surfaces are mutually perpendicular in pairs;
the X-axis gyroscope, the Y-axis gyroscope and the Z-axis gyroscope are respectively and correspondingly arranged on three flat surfaces of the main supporting frame, and the X-axis meter, the Y-axis meter and the Z-axis meter are respectively arranged on three mutually adjacent surfaces of a rectangular block of the main supporting frame.
Furthermore, the IF circuit board, the DSP+FPGA processing board, the ARM storage board and the power supply board are all parallel to the axis of the electronic cabin frame.
The beneficial effects are that: (1) The invention realizes the modularized design of the fiber strapdown inertial navigation, thereby being convenient for reusing, upgrading and maintaining and replacing the add table (comprising X-axis add table, Y-axis add table and Z-axis add table), the gyro (comprising X-axis gyro, Y-axis gyro and Z-axis gyro), the IF circuit board, the DSP+FPGA processing board, the ARM memory board and the like, and enabling the standardized design and product serialization of the fiber inertial navigation to be possible.
(2) The outer shell, the electronic cabin and the instrument cabin are all cylindrical in shape and are suitable for being installed in the rotary navigation control cabin of the AUV; and the electronic cabin frame and the main support frame are respectively provided with a lightening hole, so that the weight of the whole machine is greatly reduced while the mechanical strength and the rigidity are ensured.
(3) The invention does not use a shell and an end cover, and the electronic cabin and the instrument cabin are not in butt joint; the electronic cabin and the instrument cabin are respectively arranged in the AUV navigation control cabin in a split mode, and the electronic cabin and the instrument cabin can be normally used through electric connection; the invention can be flexibly and dispersedly installed in a small internal space of the small AUV, and provides a technical solution for realizing high-precision underwater navigation of the small AUV.
(4) The electronic cabin and the instrument cabin are in butt joint and fixedly connected to be used as a simplified version of inertial navigation, and the electronic cabin and the instrument cabin can be directly installed and used in an AUV navigation control cabin without using the shell and the end cover; the requirements on weight and installation size are reduced, and the method can be suitable for a small AUV platform.
(5) The electronic cabin, the instrument cabin, the shell and the end cover can form a complete version of inertial navigation, and the inertial navigation can be installed and used in the AUV navigation control cabin.
(6) The components of the invention are all in a shock-absorbing structure, so that the problem that the installation angle between the INS and the DVL is changed due to deformation of the shock-absorbing component caused by compression, aging and the like is avoided, and the integrated navigation precision is further reduced.
Drawings
FIG. 1 is a schematic diagram of the structural composition of the present invention;
FIG. 2 is a schematic illustration of the structure of the present invention (without end caps and housing);
FIG. 3 is a right side view of the present invention (without the end cap and housing);
FIG. 4 is a front view of the present invention (without the end cap and housing);
wherein, 1-the shell; 2-end caps; 3-electronic cabin; 4-an instrument compartment; 5-an electronic cabin frame; 6-IF heat sinks; a 7-IF circuit board; 8-DSP+FPGA processing board; a 9-ARM memory board; 10-a power panel; 11-a power supply heat sink; 12-motherboard; 13-a main support; 14-X axis gyro; 15-Y axis gyro; 16-Z axis gyro; 17-X axis adding table; adding a table on an 18-Y axis; the 19-Z axis is tabulated.
Detailed Description
The invention will now be described in detail by way of example with reference to the accompanying drawings.
The embodiment provides a modularized optical fiber strapdown inertial navigation, referring to fig. 1, including: a shell 1, an end cover 2, an electronic cabin 3 and an instrument cabin 4;
referring to fig. 2, the electronic compartment 3 includes: the electronic cabin frame 5, the IF cooling fin 6, the IF circuit board 7, the DSP+FPGA processing board 8, the ARM storage board 9, the power panel 10, the power cooling fin 11 and the motherboard 12;
the electronic cabin frame 5 is of a cylindrical structure;
the motherboard 12 is installed in the electronic cabin frame 5 through screws, and four CPCI slots, one external socket and four internal sockets are arranged on the motherboard 12, wherein; the external socket is connected with external equipment (the external equipment comprises GPS, DVL and a microcontroller) through a cable;
the IF circuit board 7, the DSP+FPGA processing board 8, the ARM storage board 9 and the power board 10 are respectively correspondingly inserted into four CPCI slots of the motherboard 12; the IF circuit board 7, the DSP+FPGA processing board 8, the ARM storage board 9 and the power board 10 are all parallel to the axis of the electronic cabin frame 5;
the IF cooling fin 6 and the power cooling fin 11 are respectively arranged on the electronic cabin frame 5 through screws; the IF radiating fin 6 is tightly attached to the IF circuit board 7 for radiating the IF circuit board 7, and the power radiating fin 11 is tightly attached to the power panel 10 for radiating the power panel 10;
referring to fig. 3 to 4, the instrument pod 4 includes: the main support 13, the X-axis gyroscope 14, the Y-axis gyroscope 15, the Z-axis gyroscope 16, the X-axis addition meter 17, the Y-axis addition meter 18 and the Z-axis addition meter 19;
the main support frame 13 is of a cylindrical structure; a mounting base is arranged in the main support frame 13; the mounting base includes: the device comprises a rectangular block and three flat plate surfaces, wherein blind holes and threaded holes for installing an X-axis adding meter 17, a Y-axis adding meter 18 and a Z-axis adding meter 19 are formed in three mutually adjacent surfaces of the rectangular block; the three flat plate surfaces are mutually perpendicular in pairs, and threaded holes for installing an X-axis gyroscope 14, a Y-axis gyroscope 15 and a Z-axis gyroscope 16 are formed in each flat plate surface;
the X-axis gyroscope 14, the Y-axis gyroscope 15, the Z-axis gyroscope 16, the X-axis adding meter 17, the Y-axis adding meter 18 and the Z-axis adding meter 19 are respectively arranged on corresponding mounting bases of the main supporting frame 13 through screws; namely, an X-axis gyroscope 14, a Y-axis gyroscope 15 and a Z-axis gyroscope 16 are respectively and correspondingly arranged on three flat surfaces of the main support frame 13, and an X-axis adding meter 17, a Y-axis adding meter 18 and a Z-axis adding meter 19 are respectively arranged on three mutually adjacent surfaces of a rectangular block of the main support frame 13;
the X-axis adding table 17, the Y-axis adding table 18 and the Z-axis adding table 19 are connected with a pair of inserting seats of the motherboard 12 through a cable; the X-axis gyroscope 14, the Y-axis gyroscope 15 and the Z-axis gyroscope 16 are respectively connected with the other three opposite inner inserting seats of the motherboard 12 in a one-to-one correspondence manner through cables;
wherein, the side walls of the electronic cabin frame 5 and the main support frame 13 are respectively provided with weight reducing holes which are arranged according to a set rule.
The inertial navigation can be used in the following three cases:
in the first case, the shell 1 and the end cover 2 are not used, and the electronic cabin 3 and the instrument cabin 4 are not fixedly connected in a butt joint manner; the electronic cabin 3 and the instrument cabin 4 are respectively arranged in the AUV navigation control cabin in a split mode, and the electronic cabin 3 and the instrument cabin 4 can be normally used through electric connection; the electrical connection, namely the X-axis gyroscope 14, the Y-axis gyroscope 15 and the Z-axis gyroscope 16 are respectively connected with three sockets of the motherboard 12 in a one-to-one correspondence manner through cables; the X-axis plus table 17, Y-axis plus table 18 and Z-axis plus table 19 are connected to a socket of the motherboard 12 by a cable.
In the second case, the electronic cabin 3 and the instrument cabin 4 can be used as the inertial navigation of the simplified version after being in butt joint and fixed connection, and can be directly installed and used in the AUV navigation control cabin without using the shell 1 and the end cover 2, namely:
one end of the main support frame 13 is coaxially butted with one end of the electronic cabin frame 5 through a screw, so that the electronic cabin 3 and the instrument cabin 4 are butted.
In the third case, the electronic cabin 3, the instrument cabin 4, the shell 1 and the end cover 2 form a complete version of inertial navigation, and the electronic cabin can be installed and used in an AUV navigation control cabin, namely:
the end cover 2 is fixed at the other end of the electronic cabin frame 5 through a screw;
the shell 1 is a cylinder with one end open and one end closed, and a through hole is processed at the closed end of the shell 1; the base part of the external socket is arranged on the motherboard 12, and the opposite plug part of the external socket extends out through the through hole and is connected with a cable of external equipment; the shell 1 is sleeved outside the electronic cabin 3 and the instrument cabin 4 and is fixedly connected with the end cover 2 through screws;
wherein, the housing 1 and the main support 13 are respectively provided with a boss and a groove for assembly and matching, so as to ensure the accurate position relationship between the housing 1 and the instrument cabin 4.
Working principle: the inertial navigation is arranged on a carrier; the axial direction of the instrument cabin 4 is the X-axis direction, and two mutually perpendicular directions on a plane perpendicular to the X-axis direction are the Y-axis direction and the Z-axis direction respectively;
the X-axis adding table 17, the Y-axis adding table 18 and the Z-axis adding table 19 respectively measure acceleration of the carrier along three directions of the X-axis, the Y-axis and the Z-axis and generate corresponding voltage signals, the voltage signals are transmitted to the IF circuit board 7 through the cable and the motherboard 12, the corresponding channels in the IF circuit board 7 convert the voltage signals into pulse signals through I/F, and the pulse signals are transmitted to the DSP+FPGA processing board 8 through the motherboard 12;
the X-axis gyroscope 14, the Y-axis gyroscope 15 and the Z-axis gyroscope 16 respectively measure rotation angle increment of the carrier around the X-axis, the Y-axis and the Z-axis, generate corresponding digital signals, and transmit the digital signals to the DSP+FPGA processing board 8 through the cable and the motherboard 12;
the GPS signal of the external GPS, the DVL signal of the DVL and the control instruction of the microcontroller are all transmitted to an FPGA board in the DSP+FPGA processing board 8 through an external socket on the motherboard 12; the FPGA board in the DSP+FPGA processing board 8 counts the three paths of pulse signals added with the table in unit time to form pulse counts, and analyzes the external GPS digital signals and DVL digital signals in real time; the FPGA board in the DSP+FPGA processing board 8 carries out queue processing and buffering on the three paths of pulse counting with the table, the angle increment of the three paths of gyroscopes, the protocol frame after the analysis of external GPS signals and the protocol frame after the analysis of digital signals of DVL; the DSP processing board in the DSP+FPGA processing board 8 inquires and receives information quantity in the FPGA board in real time (the information quantity comprises three paths of pulse counts with a meter, three paths of angular increment of gyroscopes, protocol frames after external GPS signal analysis and protocol frames after DVL digital signal analysis), and simultaneously carries out real-time processing on the information quantity by running a strapdown inertial navigation algorithm program to realize functions of initial alignment, real-time navigation calculation, DVL calibration and the like, and provides real-time acceleration, speed, angular velocity, position and other navigation information for external equipment such as a microcontroller through an external socket of the motherboard 12, receives instructions of external equipment and responds to corresponding actions.
In summary, the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A modular fiber optic strapdown inertial navigation comprising: an electronic cabin (3) and an instrument cabin (4);
the electronic cabin (3) comprises: the electronic cabin comprises an electronic cabin frame (5), an IF radiating fin (6), an IF circuit board (7), a DSP+FPGA processing board (8), an ARM storage board (9), a power supply board (10), a power radiating fin (11) and a motherboard (12);
the motherboard (12) is arranged in the electronic cabin frame (5), and four CPCI slots, an external socket and four internal sockets are arranged on the motherboard (12), wherein the external socket is connected with the external socket; the external socket is connected with external equipment through a cable;
the IF circuit board (7), the DSP+FPGA processing board (8), the ARM storage board (9) and the power board (10) are respectively and correspondingly inserted into four CPCI slots of the motherboard (12);
the IF cooling fin (6) and the power supply cooling fin (11) are respectively arranged on the electronic cabin frame (5) through screws; the IF radiating fin (6) is attached to the IF circuit board (7), and the power radiating fin (11) is attached to the power board (10);
the instrument pod (4) comprises: the device comprises a main support (13), an X-axis gyroscope (14), a Y-axis gyroscope (15), a Z-axis gyroscope (16), an X-axis adding meter (17), a Y-axis adding meter (18) and a Z-axis adding meter (19);
a mounting base is arranged in the main support frame (13);
the X-axis gyroscope (14), the Y-axis gyroscope (15), the Z-axis gyroscope (16), the X-axis adding meter (17), the Y-axis adding meter (18) and the Z-axis adding meter (19) are respectively arranged on corresponding mounting bases of the main support frame (13);
the X-axis adding table (17), the Y-axis adding table (18) and the Z-axis adding table (19) are connected with a pair of interpolation seats of the motherboard (12) through a cable; the X-axis gyroscope (14), the Y-axis gyroscope (15) and the Z-axis gyroscope (16) are respectively connected with the other three opposite interpolation seats of the motherboard (12) in a one-to-one correspondence manner through cables.
2. A modular optical fibre strapdown inertial navigation system as claimed in claim 1, wherein the side walls of the electronic capsule frame (5) and the main support frame (13) are provided with lightening holes.
3. A modular optical fiber strapdown inertial navigation system according to claim 1, wherein the electronic cabin (3) and the instrument cabin (4) are not connected in a butt joint and are respectively installed in the AUV navigation control cabin in a split mode when the inertial navigation system is installed and used.
4. A modular optical fiber strapdown inertial navigation system according to claim 1, wherein, when the inertial navigation system is installed and used, one end of the main support frame (13) is coaxially butted with one end of the electronic cabin frame (5) to realize the butt joint of the electronic cabin (3) and the instrument cabin (4), and the electronic cabin (3) and the instrument cabin (4) are directly installed in the AUV navigation control cabin after being fixedly butted.
5. A modular fiber optic strapdown inertial navigation as claimed in claim 1, further comprising; a housing (1) and an end cap (2);
one end of the main support frame (13) is coaxially butted with one end of the electronic cabin frame (5) to realize the butt joint of the electronic cabin (3) and the instrument cabin (4);
the end cover (2) is fixed at the other end of the electronic cabin frame (5);
the shell (1) is a cylinder with one end open and one end closed, and a through hole is formed in the closed end of the shell (1); the base part of the external socket is arranged on the motherboard (12), and the opposite plug part of the external socket extends out through the through hole and is connected with a cable of external equipment; the shell (1) is sleeved outside the electronic cabin (3) and the instrument cabin (4) and is fixedly connected with the end cover (2);
the electronic cabin (3), the instrument cabin (4), the shell (1) and the end cover (2) form complete inertial navigation, and are arranged in the AUV navigation control cabin.
6. A modular fibre-strapdown inertial navigation as claimed in claim 5, characterized in that the housing (1) and the main support (13) are provided with respective bosses and grooves for fitting.
7. A modular fibre-strapdown inertial navigation according to claim 1, characterized in that the electronic capsule frame (5) and the main support frame (13) are both cylindrical structures.
8. A modular fibre strapdown inertial navigation according to claim 1, characterized in that the mounting base of the main support (13) comprises: a rectangular block and three flat surfaces; the three flat plate surfaces are mutually perpendicular in pairs;
the X-axis gyroscope (14), the Y-axis gyroscope (15) and the Z-axis gyroscope (16) are respectively and correspondingly arranged on three plane surfaces of the main support frame (13), and the X-axis adding meter (17), the Y-axis adding meter (18) and the Z-axis adding meter (19) are respectively arranged on three mutually adjacent surfaces of a rectangular block of the main support frame (13).
9. A modular optical fiber strapdown inertial navigation according to claim 1, characterized in that the IF circuit board (7), dsp+fpga processing board (8), ARM memory board (9) and power board (10) are all parallel to the axis of the electronics bay (5).
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| CN205333080U (en) * | 2016-01-27 | 2016-06-22 | 中联天通科技（北京）有限公司 | High precision fiber optic is used to lead system at prompt antithetical couplet |
| CN109708660A (en) * | 2018-11-13 | 2019-05-03 | 河北汉光重工有限责任公司 | A kind of zero bias test method of big depth dive three axis accelerometer |
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| CN112595316A (en) | 2021-04-02 |
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