CN112729342B - Near-space vertical-drop transmitter-mounted navigation system ground test device - Google Patents
Near-space vertical-drop transmitter-mounted navigation system ground test device Download PDFInfo
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- CN112729342B CN112729342B CN202011598085.XA CN202011598085A CN112729342B CN 112729342 B CN112729342 B CN 112729342B CN 202011598085 A CN202011598085 A CN 202011598085A CN 112729342 B CN112729342 B CN 112729342B
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- 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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Abstract
The application discloses a ground test device for a near space vertical launching transmitter-mounted navigation system, which comprises a bearing mechanism, a driving mechanism ground and a navigation system transfer alignment mechanism. The bearing mechanism is used for bearing various devices related to an airborne navigation system of the aircraft to be tested; the driving mechanism is flexibly connected with the bearing mechanism and used for driving the bearing mechanism to execute target actions, and the target actions comprise at least one of random actions generated by the aircraft in the process from the ground to the near space before launching when the near space aircraft is vertically launched. The ground test device for the airborne navigation system of the near space vertical launching transmitter can simulate the random actions generated by the aircraft through the active control of physical rising/lowering, data link communication closed loop, swinging and rotation, or can simulate the whole using process of the airborne navigation system from the ground to the near space launching, acquire the precision bottom line data of the navigation system, and test the corresponding navigation algorithm and flight test flow design.
Description
Technical Field
The application relates to the technical field of aircraft launching, in particular to a ground test device for a near space vertical launch vehicle-mounted navigation system.
Background
Aircraft (flight vehicle) is an instrument that flies in the atmosphere or in an extraterrestrial space (space). The aircraft is launched to lift off and fly by the static buoyancy of air or the aerodynamic force generated by relative movement of air.
At present, the mode of launching the aircraft mainly includes rocket boosting transmission and aerostat mounting launching two kinds of modes, aerostat mounting launching is that the aerostat launches the aircraft in the mode of launching through perpendicular the input in close to the space, and the aircraft head is loaded perpendicularly downwards in the rigid coupling support, drops and accelerates from thin close to the space through gravity, accomplishes various maneuver actions afterwards or realizes the effect of launching in close to the space through starting driving system.
The launching of the aerostat in the mounted state has many advantages, but the aerostat can be in a condition of shaking and free rotation after being connected with the aircraft because only flexible connection can be used between the aircraft and the aerostat. In addition, since the time consumed by the aircraft and the aerostat for ground connection, preparation and ascending to reach high altitude is more than several hours, new problems are brought, for example, the drift accumulation time of the aircraft-mounted navigation system is very long, which may cause the navigation drift accumulation to be too large, and the flight is affected; and (6) positioning by a satellite and blocking. The aircraft is connected with the aerostat to form a pod, power supply equipment and control equipment are placed on the pod to conveniently control the aircraft to be thrown in, and the control platform is located above the aircraft and possibly has shielding influence on the satellite positioning effect of the aircraft; the airborne satellite receiving equipment of the vertically-hung aircraft is easy to collect and has less satellites. Due to the fact that the aircraft is vertically hoisted, the satellite navigation receiving antenna on the back of the aircraft can only see less than half of satellites under the horizontal condition, and therefore the satellites are easily lost, and navigation accuracy is affected.
In order to verify the influence of the above problems on the navigation accuracy of the aircraft, it is necessary to perform a simulation test in a ground simulation environment, and to optimize the structure, the navigation algorithm, and the like of the airborne navigation system or verify the optimized structure and algorithm by obtaining data through the simulation test. Therefore, how to provide a ground test device for testing an airborne navigation system of a vertically-launched transmitter in a near space is a technical problem which needs to be solved urgently by a person skilled in the art.
Disclosure of Invention
The application provides a near space vertical launch transmitter airborne navigation system ground test device.
The application provides the following scheme:
the utility model provides a near space puts in transmitter airborne navigation system ground test device perpendicularly, includes:
the bearing mechanism is used for bearing various devices related to an airborne navigation system of the aircraft to be tested;
the driving mechanism is flexibly connected with the bearing mechanism and is used for driving the bearing mechanism to execute target actions, and the target actions comprise at least one of random actions generated by the aircraft in the process from the ground to the near space before launching when the near space aircraft is vertically launched and launched;
the ground navigation system transmission alignment mechanism comprises an airborne navigation system ground tool and a ground data analysis mechanism, wherein the airborne navigation system ground tool is used for reading data generated by the airborne navigation system after the test is completed, and the ground data analysis mechanism is used for analyzing the read data to generate a corresponding test result.
Preferably: the bearing mechanism at least comprises an aircraft simulation cabin, the airborne navigation system comprises a navigation sensitive device, and the navigation sensitive device is hung in the aircraft simulation cabin through a lifting rope.
Preferably: the navigation sensing device comprises a gyroscope and an accelerometer, and the gyroscope and the accelerometer are connected with a lifting rope in the aircraft simulation cabin after rotating for 90 degrees relative to the working installation surface.
Preferably: the navigation sensitive device is a navigation sensitive device which completes navigation initialization alignment.
Preferably: the ground navigation system transfer alignment mechanism is also used for accurately initializing the initial value of the navigation sensitive device so as to realize the navigation initialization alignment.
Preferably: the ground navigation system transfer alignment mechanism further comprises a ground north-seeking device, and the ground north-seeking device is used for providing direction and position information for the navigation sensitive device.
Preferably: the satellite antenna shielding control mechanism is connected with the aircraft simulation cabin; the airborne navigation system comprises a satellite antenna, and the satellite antenna shielding control mechanism is used for switching the satellite antenna between a state capable of receiving all signals and a state capable of receiving partial signals.
Preferably: the satellite antenna comprises a plurality of satellite antennas which are all positioned at the inner side of the aircraft simulation cabin, and the satellite antenna shielding control mechanism comprises a plurality of satellite antennas which are arranged at the outer side of the aircraft simulation cabin after being in one-to-one correspondence with the plurality of satellite antennas.
Preferably: the upper part of the aircraft simulation cabin is connected with a nacelle.
Preferably: the airborne navigation system comprises an airborne navigation computer, and the airborne navigation computer is connected with the nacelle.
Preferably: the aircraft simulation cabin is a closed aircraft simulation cabin, the temperature adjusting mechanism is connected with the nacelle, and the temperature adjusting mechanism is used for adjusting the temperature inside the closed aircraft simulation cabin.
Preferably: the airborne navigation system comprises a data communication simulation mechanism and a data communication simulation antenna, and the data communication simulation mechanism and the data communication simulation antenna are connected with the nacelle.
Preferably: the driving mechanism comprises a driving motor, a rope and a guide pulley, an output shaft of the driving motor is connected with a winding drum, and the guide pulley is positioned at a high position relative to the driving motor; one end of the rope is connected with the winding drum by bypassing the guide pulley, and the other end of the rope is flexibly connected with the bearing mechanism.
Preferably: the driving motor is connected with a speed control mechanism, and the speed control mechanism is used for controlling the rotating speed of the driving motor so as to enable the bearing mechanism to be raised or lowered at a target speed.
According to the specific embodiment provided by the application, the application has at least one of the following technical effects:
the application provides a near space puts in perpendicular transmitter airborne navigation system ground test device that puts in can be through physics rising/reduction, data chain communication closed loop, swing and rotatory initiative control simulation aircraft random action that produces, can simulate airborne navigation system and use the overall process before putting in from ground to near space, obtain navigation system's precision bottom line data, test corresponding navigation algorithm and flight test flow design.
In addition, in a preferred embodiment, the device provided by the application also has a large testing range, and can simulate and test the influence of temperature, satellite receiving influence, communication interference influence and the like on the aircraft-mounted navigation mechanism through temperature control, satellite receiving shielding, communication simulation and other modes.
Of course, a product that implements any of the solutions provided by the examples of this application does not require that all of the advantages described above be achieved simultaneously.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a ground test device for a near space vertical launch vehicle-mounted navigation system according to an embodiment of the present disclosure.
In the figure: the system comprises a carrying mechanism 1, an aircraft simulation cabin 11, a nacelle 12, a driving mechanism 2, a driving motor 21, a rope 22, a guide pulley 23, a navigation sensitive device 31, a satellite antenna 32, an airborne navigation computer 33, a ground navigation system transfer alignment mechanism 4, a ground north-seeking device 41, an airborne navigation system ground tool 42, a satellite antenna shielding control mechanism 5, a temperature adjusting mechanism 6, a data communication simulation mechanism 7 and a data communication simulation antenna 8.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments that can be derived from the embodiments given herein by a person of ordinary skill in the art are intended to be within the scope of the present disclosure.
Examples
Referring to fig. 1, a ground test apparatus for an airborne navigation system of a vertical launch transmitter in an adjacent space provided in an embodiment of the present application includes:
the bearing mechanism 1 is used for bearing various devices related to an airborne navigation system of an aircraft to be tested;
the driving mechanism 2 is flexibly connected with the bearing mechanism 1, the driving mechanism 2 is used for driving the bearing mechanism 1 to execute target actions, and the target actions comprise at least one of random actions generated by the aircraft in the using process from the ground to the near space before launching when the near space aircraft is launched vertically;
the ground navigation system transfer alignment mechanism 4 comprises an airborne navigation system ground tool 42 and a ground data analysis mechanism (not shown in the figure), wherein the airborne navigation system ground tool 42 is used for reading data generated by the airborne navigation system after the test is completed, and the ground data analysis mechanism is used for analyzing the read data to generate a corresponding test result.
The driving mechanism provided by the embodiment of the application can drive the carrying mechanism to act, and is used for simulating various random actions generated by the aircraft in a state of being connected with the aerostat, so that the target action can comprise random actions of ascending and descending carried by the aerostat, and can also comprise random actions of swinging, rotating, coupled nutation and the like generated under the influence of an atmospheric wind field and airflow due to the fact that the aircraft is flexibly connected with the fixed connection support before delivery. By simulating the random action generated by the aircraft, the whole using process of the airborne navigation system from the ground to the near space before launching can be simulated, the precision bottom line data of the airborne navigation system can be obtained, and the corresponding navigation algorithm and the flight test flow design can be tested.
The bearing mechanism provided by the embodiment of the application can be in various forms, and the airborne navigation system to be tested can also be in various forms. For example, in one implementation, the carrying mechanism 1 at least includes an aircraft simulation cabin 11, and the onboard navigation system includes a navigation sensitive device 31, and the navigation sensitive device 31 is hung inside the aircraft simulation cabin 11 by a lifting rope. Because when adopting aerostatics launching aircraft, can a fixed connection support of flexible coupling below the aircraft, then adopt the perpendicular hoist and mount of short rope on this fixed connection support with the aircraft, the aircraft simulation cabin that this application embodiment provided can simulate the function of fixed connection support. When the navigation sensitive device is used as a sensing device of an airborne navigation system in an actual use, each navigation sensitive device is fixedly connected with the aircraft, so that the same action can be performed along with the free action of the aircraft. Therefore, the navigation sensitive device can be connected with the aircraft simulation cabin in a short rope hoisting mode, and the state that the aircraft is connected with the fixed connection bracket can be simulated. It will be appreciated that after the navigation-sensitive device is connected to the aircraft simulation cabin, it is necessary to ensure that the navigation-sensitive device does not contact the cabin wall of the aircraft simulation cabin during operation of the aircraft simulation cabin. The modes of adopting a connecting rope with shorter length or increasing the size of the aircraft simulation cabin and the like can be adopted.
When the navigation sensitive device is installed on an aircraft, a corresponding working installation plane is provided, and the navigation sensitive device is usually installed on an installation plane which is parallel to the bottom surface of the aircraft when the aircraft is horizontally placed, namely, the base of the navigation sensitive device faces the bottom surface of the aircraft. And after the aircraft hoisted on the fixed connection support of aerostatics, the aircraft was in the vertical state, therefore each navigation sensing device also can be along with the aircraft rotation 90, for the position state of simulation navigation sensing device that can be better, guaranteed the accuracy of the detection data who obtains, this application embodiment can provide the navigation sensing device includes gyroscope and accelerometer, the gyroscope and the accelerometer all relative work installation face rotate 90 back with the lifting rope of the inside in aircraft simulation cabin links to each other. The gyroscope and the accelerometer can comprise any gyroscope and accelerometer which can be used for an aircraft in the prior art, and only need to ensure that the respective orientation is vertical to the orientation in a normal use state.
Because the airborne navigation system carried by the aircraft needs to initialize each parameter of the airborne navigation system before being launched on the ground, in order to achieve a more real simulation effect, the embodiment of the application can provide that the navigation sensitive device is a navigation sensitive device which has already completed navigation initialization alignment. The navigation sensitive device is connected with the aircraft simulation cabin after being initialized and aligned in advance, so that various testing works can be guaranteed to be directly carried out. When the navigation initialization alignment processing is carried out, any equipment which can realize the functions in the prior art can be adopted to carry out the data initialization on the navigation sensitive device to be tested. For example, in one implementation, the ground navigation system transfer alignment mechanism is further configured to precisely initialize an initial value of the navigation-sensitive device to achieve the navigation initialization alignment. The embodiment of the application can provide an independent ground navigation system transfer alignment mechanism which is independently arranged and can ensure accurate initialization of a navigation sensitive device. Specifically, the ground navigation system transfer alignment mechanism 4 further includes a ground north-seeking device 41 for providing direction and position information for the navigation sensor. The ground north-seeking device can adopt various forms, for example, the ground north-seeking device can be a gyro north-seeking instrument, the gyro north-seeking instrument is a gyro which is dynamically tuned by high-precision double shafts, the true north direction value of an attached carrier can be automatically determined by measuring the rotation angular speed of the earth, and the ground north-seeking device is not interfered and influenced by an external magnetic field or other environments. In addition, it can also be used to measure and correct the horizontal angle in conjunction with the acceleration. The ground tool of the airborne navigation system is combined with the ground north-seeking device, so that the initial value of the navigation sensitive device can be accurately initialized.
The above-mentioned each part and the connected mode between each part that provides can realize that the simulation test is because the action such as up-and-down motion, swing and rotation of flexible coupling aircraft, to the influence of navigation sensitive device initial navigation data. Because the airborne navigation system further comprises other various devices, in order to realize simulation tests on other devices, the embodiment of the application may provide a satellite antenna shielding control mechanism 5, and the satellite antenna shielding control mechanism 5 is connected with the aircraft simulation cabin 11; the airborne navigation system comprises a satellite antenna 32, and the satellite antenna shielding control mechanism 5 is used for switching the satellite antenna 32 between a full signal receivable state and a partial signal receivable state. The satellite antenna shielding control mechanism can shield the satellite antenna so that the satellite antenna can receive all signals or only a part of signals can be received when a part of signals are shielded. Because airborne satellite receiving equipment is easy to collect few satellites, the satellite navigation receiving antenna on the back of the aircraft can only see less than half of satellites under the horizontal condition due to the vertical hoisting of the aircraft, so that the satellites are easy to lose, and the navigation precision is influenced. According to the satellite antenna shielding control mechanism, the satellite antenna shielding control mechanism can be used for simulating the conditions, and a part of acquired signals can be used for simulating the influence of satellite positioning data acquired by an antenna carried by an aircraft on navigation precision under the condition of a certain number of lost satellites.
When specifically selecting this satellite antenna and sheltering from control mechanism, can be by multiple form, this application embodiment can provide that the satellite antenna includes a plurality ofly and all is located the inboard of aircraft simulation cabin, it is a plurality of the satellite antenna shelters from control mechanism and a plurality of dispose behind the satellite antenna one-to-one in the outside of aircraft simulation cabin. This shelter from mechanism can adopt the material preparation that satellite positioning signal is impenetrable, simultaneously can adopt the multiple connected mode of detachable with the connected mode in aircraft simulation cabin, for example can adopt the connected mode of relative slip, through the fixed frame of fixed connection on the aircraft simulation cabin, shelter from control mechanism with satellite antenna and make the panel shape, then shelter from control mechanism with satellite antenna with the mode and the fixed frame sliding connection of pegging graft. When the satellite antenna is required to be in a state of receiving all signals, the shielding control mechanism of the satellite antenna is taken down. When the satellite antenna is required to be in a state of receiving partial signals, the position of the satellite antenna shielding control mechanism in the fixed frame is adjusted, and the satellite antenna is partially shielded.
Because the airborne navigation system comprises a plurality of devices, other devices can be tested conveniently, and other devices can be fixed conveniently, for this reason, the nacelle 12 can be connected to the upper part of the aircraft simulation cabin 11. The pod 12 may be used to carry components other than the navigation-sensitive components included in the onboard navigation system, as well as other ancillary environmental simulation components. The nacelle can be connected with the aircraft simulation cabin in a fixed connection or soft connection mode, and then the nacelle is connected with the driving mechanism in a soft connection mode. The nacelle can adopt a frame type structure, so that the manufacturing cost can be saved, the self weight can be reduced, and the load of a driving mechanism is lightened.
Devices other than the navigation-sensitive device may include a variety of types, for example, embodiments of the present application may provide that the onboard navigation system includes an onboard navigation computer 33, the onboard navigation computer 33 being coupled to the pod 12. The airborne navigation computer can be in communication connection with the navigation sensitive device and the satellite antenna, so that data obtained by the navigation sensitive device and the satellite antenna can be resolved and stored in real time in the process of simulation test.
The components and the connection mode among the components can realize the influence of the simulation test on the airborne navigation system due to the actions of soft connection, up-and-down movement, swinging, rotation and the like of the aircraft and obtain relevant data generated in the simulation process. However, after the aircraft carried by the aerostat rises to a certain height, the temperature of the surrounding environment of the aircraft is different from the temperature of the ground environment, so in order to perform simulation test on the influence of the ambient temperature change on the airborne navigation system, the embodiment of the application may further provide the temperature adjusting mechanism 6, the aircraft simulation cabin 11 is a closed aircraft simulation cabin, the temperature adjusting mechanism 6 is connected with the pod 12, and the temperature adjusting mechanism 6 is used for adjusting the temperature inside the closed aircraft simulation cabin. The temperature adjusting mechanism heats and cools the aircraft simulation cabin, and the influence of the temperature on the airborne navigation system is tested.
When launching is thrown perpendicularly to near space aircraft from ground to near space in the use before throwing need communicate with ground control center in real time, for simulation test to communication system's influence, this application embodiment can also provide airborne navigation includes data communication analog mechanism 7 and data communication simulation antenna 8, data communication analog mechanism 7 and data communication simulation antenna 8 all with nacelle 12 links to each other. And the influence of communication interference can be tested by adjusting the output frequency band and power of the data communication simulation mechanism.
The application provides a drive mechanism is used for simulating aerostatics and uses, can drive the load bearing mechanism and rise or descend, still can not influence load bearing mechanism's random actions such as free swing, rotating simultaneously. The drive mechanism may be any type of drive mechanism known in the art capable of driving the carriage up and down. For example, the embodiment of the present application may provide that the driving mechanism 2 includes a driving motor 21, a rope 22, and a guide pulley 23, an output shaft of the driving motor is connected with a winding drum, and the guide pulley 23 is located at a high position relative to the driving motor 21; one end of the rope 22 is wound around the guide pulley 23 to be connected with the winding drum, and the other end of the rope 22 is flexibly connected with the bearing mechanism 1. The driving motor and the winding drum can form a hoisting structure, and the bearing mechanism can be driven to ascend or descend by winding and unwinding the rope. The guide pulley may include at least one fixed pulley, the fixed pulley may be suspended above a driving motor by a support rod or a support frame, and in order to control the ascending or descending speed of the carrying mechanism, the driving motor is connected with a speed control mechanism, and the speed control mechanism is configured to control the rotation speed of the driving motor, so that the carrying mechanism is raised or lowered at a target speed.
The ground test device for the near space vertical launch vehicle-mounted navigation system provided by the invention is described in detail below in the form of a pod arranged at the upper part of an aircraft simulation cabin, and it can be understood that the device provided by the invention can also comprise any necessary power supply element, data transmission line and other control elements.
When the device is actually assembled, the ground navigation system transfer alignment mechanism comprises a north-seeking instrument and an airborne navigation system ground tool, and the initial value of the airborne navigation system can be accurately initialized through the ground navigation system transfer alignment mechanism. After the navigation initialization alignment is completed, the navigation system is placed in the aircraft simulation cabin, and navigation sensitive devices such as a gyroscope and an accelerometer are in flexible connection with the aircraft simulation cabin through a rope; a satellite receiving antenna is arranged in the aircraft simulation cabin and can receive satellite positioning signals, and a satellite antenna blocker is arranged outside the aircraft simulation cabin and can be controlled to shield the satellite antenna from receiving signals; the aircraft simulation cabin can be subjected to temperature regulation through an external temperature control device. The upper part of the aircraft simulation cabin is provided with a control pod, the aircraft simulation cabin is in flexible connection with the control pod through a rope, and a temperature control device, a battery power supply, an airborne navigation computer, a data communication simulation device and a matched antenna are arranged in the pod; the data communication simulator can simulate communication electromagnetic waves with different frequency bands and different power. The top of the nacelle is connected with a fixed pulley through a rope, the fixed pulley can be arranged on a high rod or a bracket, the other end of the fixed pulley is connected with a driving motor, and when the driving motor drives, the whole system can be controlled to be lifted or lowered at a certain speed.
The use method of the ground test device for the airborne navigation system of the adjacent space vertical launching transmitter comprises the following steps:
(1) A ground navigation system is used for transferring an alignment mechanism, and the initial value of an airborne navigation system is accurately initialized;
(2) The method comprises the following steps that an airborne navigation system is installed to an aircraft simulation cabin under the electrified condition, wherein navigation sensitive devices such as a gyroscope and an accelerometer need to rotate 90 degrees, and the vertical hoisting condition is simulated;
(3) Driving a nacelle and an aircraft simulation cabin which are hung on a rope system to act for simulation testing according to a vertical launching process of the near space aircraft, and continuously repeating the action within the time length from preparation to launching; the lifting action or the descending action can be realized through the driving mechanism, and the swinging and rotating user can manually drive the aircraft simulation cabin to swing or rotate, and of course, a related mechanism can also be arranged for driving the aircraft simulation cabin to swing or rotate.
The simulation test of the step (3) comprises at least one of the following contents:
(3.1) simulation test content 1: swinging and rotating the aircraft simulation cabin, and testing the influence of the flexible connection shaking;
(3.2) simulation test content 2: heating and cooling the aircraft simulation cabin, and testing the temperature influence;
(3.3) simulation test content 3: carrying out interval shielding and opening shielding on a satellite receiving antenna of the aircraft simulation cabin section, and testing satellite receiving influence;
(3.4) simulation test content 4: adjusting the frequency band and power of the data communication simulation device, and testing the influence of communication interference;
(3.5) simulation test content 5: adjusting a ground driving motor, controlling the lifting of the whole system, and testing the dynamic influence of the speed;
(3.6) simulation test content 6: coupling and combination of the above 5 tests.
The use method further comprises the following steps:
(4) In the test process, obtaining and recording test data in real time;
(5) After the test, the airborne navigation system is placed back into the ground navigation system transfer alignment mechanism, the difference between the navigation output of the airborne navigation system and the initial value after the long-time test is obtained, the difference data is analyzed, and the test is completed.
In a word, the ground test device for the airborne navigation system of the near space vertical launching transmitter can simulate the whole using process of the airborne navigation system from the ground to the near space launching through the active control of temperature control, star collection shielding, physical rising/lowering, data link communication closed loop, swinging and rotation, acquire the precision bottom line data of the navigation system, and test the corresponding navigation algorithm and flight test flow design.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
The above description is only for the preferred embodiment of the present application, and is not intended to limit the scope of the present application. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application are included in the protection scope of the present application.
Claims (6)
1. The utility model provides a near space and put in transmitter machine and carry navigation ground test device perpendicularly which characterized in that includes:
the bearing mechanism is used for bearing various devices related to an airborne navigation system of the aircraft to be tested;
the driving mechanism is flexibly connected with the bearing mechanism and used for driving the bearing mechanism to execute target actions, and the target actions comprise at least one of random actions generated by the aircraft in the process from the ground to the near space before launching when the near space aircraft is vertically launched and launched;
the ground navigation system transfer alignment mechanism comprises an airborne navigation system ground tool and a ground data analysis mechanism, wherein the airborne navigation system ground tool is used for reading data generated by an airborne navigation system after the test is completed, and the ground data analysis mechanism is used for analyzing the read data to generate a corresponding test result;
the bearing mechanism comprises an aircraft simulation cabin, the airborne navigation system comprises a navigation sensitive device, and the navigation sensitive device is hung in the aircraft simulation cabin to simulate the state that the aircraft is connected with the fixed connection support; connecting the navigation sensitive device with the aircraft simulation cabin in a short rope hoisting mode to simulate the state that the aircraft is connected with the fixed connection bracket; after the navigation sensitive device is connected with the aircraft simulation cabin, the navigation sensitive device cannot contact with the cabin wall of the aircraft simulation cabin when the aircraft simulation cabin acts;
the ground navigation system transmission alignment mechanism also comprises a ground north-seeking device which is used for providing direction and position information for the navigation sensitive device;
the test device also comprises a satellite antenna shielding control mechanism which is connected with the aircraft simulation cabin and used for switching the satellite antenna of the airborne navigation system between a state capable of receiving all signals and a state capable of receiving partial signals;
a pod is connected to the upper part of the aircraft simulation cabin;
the test device also comprises a temperature adjusting mechanism, wherein the aircraft simulation cabin is a closed aircraft simulation cabin, the temperature adjusting mechanism is connected with the nacelle and is used for adjusting the temperature in the closed aircraft simulation cabin;
the airborne navigation system comprises a data communication simulation mechanism and a data communication simulation antenna, and the data communication simulation mechanism and the data communication simulation antenna are connected with the nacelle;
the driving mechanism comprises a driving motor, a rope and a guide pulley, an output shaft of the driving motor is connected with a winding drum, and the guide pulley is positioned at a high position relative to the driving motor; one end of the rope is connected with the winding drum by bypassing the guide pulley, and the other end of the rope is flexibly connected with the nacelle of the bearing mechanism;
the driving motor is connected with a speed control mechanism, and the speed control mechanism is used for controlling the rotating speed of the driving motor so as to enable the bearing mechanism to be raised or lowered at a target speed;
the ground tool of the airborne navigation system is combined with the ground north-seeking device to accurately initialize the initial value of the navigation sensitive device.
2. The ground test device for the airborne navigation system of the close-space vertical-launch vehicle according to claim 1, wherein the navigation sensor comprises a gyroscope and an accelerometer, and the gyroscope and the accelerometer are both connected with the lifting rope inside the aircraft simulation cabin after rotating 90 degrees relative to the working installation surface.
3. The ground test device for the airborne navigation system of the close-space vertical-launch vehicle according to claim 1, wherein the navigation sensor is a navigation sensor which has already completed navigation initialization alignment.
4. The ground test device for the near space vertical launch vehicle-mounted navigation system according to claim 1, wherein the number of the plurality of satellite antennas is plural, and the plurality of satellite antennas are all located inside the aircraft simulation cabin, and the plurality of satellite antenna shielding control mechanisms are disposed outside the aircraft simulation cabin after being in one-to-one correspondence with the plurality of satellite antennas.
5. The ground testing device for the near space vertical launch vehicle-mounted navigation system according to claim 1, wherein the vehicle-mounted navigation system comprises a vehicle-mounted navigation computer, and the vehicle-mounted navigation computer is connected with the pod.
6. A ground test method for an airborne navigation system of a near space vertical launch vehicle, which is implemented based on the ground test device for the airborne navigation system of the near space vertical launch vehicle of any one of claims 1-5, and comprises the following steps:
accurately initializing an initial value of the airborne navigation system by using the ground navigation system transfer alignment mechanism;
the airborne navigation system is installed on an aircraft simulation cabin under the electrified condition, and the condition of vertical hoisting is simulated by the bearing of the bearing mechanism;
the driving mechanism drives the hoisted nacelle and the aircraft simulation cabin to actuate so as to perform simulation test;
in the test process, obtaining and recording test data in real time;
after testing, the airborne navigation system is placed back into the ground navigation system transfer alignment mechanism, the difference between the navigation output and the initial value of the airborne navigation system after long-time testing is obtained, and the difference data is analyzed.
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| CN106855693A (en) * | 2016-12-30 | 2017-06-16 | 北京天恒长鹰科技股份有限公司 | A kind of near space aerostatics semi-physical system, avionics system test and winged control semi-physical simulation method and ground controlling method |
| CN109878758A (en) * | 2019-03-15 | 2019-06-14 | 天津天航智远科技有限公司 | A kind of aerostatics flight control system laboratory test platform |
| CN111780797A (en) * | 2020-05-28 | 2020-10-16 | 中国人民解放军军事科学院国防科技创新研究院 | Simulation test device and method for space-air cooperative remote sensing system |
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|---|---|---|---|---|
| CN106855693A (en) * | 2016-12-30 | 2017-06-16 | 北京天恒长鹰科技股份有限公司 | A kind of near space aerostatics semi-physical system, avionics system test and winged control semi-physical simulation method and ground controlling method |
| CN109878758A (en) * | 2019-03-15 | 2019-06-14 | 天津天航智远科技有限公司 | A kind of aerostatics flight control system laboratory test platform |
| CN111780797A (en) * | 2020-05-28 | 2020-10-16 | 中国人民解放军军事科学院国防科技创新研究院 | Simulation test device and method for space-air cooperative remote sensing system |
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