CN113514081A - Automatic test system for inertia measurement product - Google Patents
Automatic test system for inertia measurement product Download PDFInfo
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Abstract
The invention relates to an automatic test system for data acquisition, monitoring and processing of inertia measurement products, which designs a multi-channel and programmable control relay module for replacing a mechanical switch for controlling the on-off of a power supply or a signal path of the inertia measurement products; the automatic test method has the advantages that single-step operation of single-step or multi-step tests can be realized only by arranging the single-step operation functions of the sub-function modules according to specific test items by compiling program codes of single-step operation such as relay control, data acquisition control, data judgment, time synchronization, self-checking, resetting, RT address gating, accelerometer ground inspection data interpretation and the like and respectively packaging the program codes into the single-step operation functions of the sub-function modules, so that new establishment, modification and maintenance of a system test flow are more convenient, the test process automation is realized, the production efficiency is improved, the labor cost is saved, and the possibility of test failure or product damage caused by manual operation or manual interpretation errors is reduced.
Description
Technical Field
The invention belongs to the technical field of inertia measurement, relates to a test system of an inertia measurement product, and particularly relates to an automatic test system for data acquisition, monitoring and processing of the inertia measurement product.
Background
The inertial measurement product is a key device for sensing the angular velocity and the linear acceleration of a carrier to complete navigation and guidance. The production and use of such products typically involves complex functional, performance and environmental stress tests. The environmental stress test usually takes several hours or days, and the state of the product needs to be monitored manually in real time, and operations such as power on and power off, data acquisition and the like need to be performed regularly; the function and performance tests require that testers have skilled operation levels and higher test data interpretation capability, and the repeated tests can be caused by wrong operation or interpretation, so that the production progress is seriously delayed, and more manpower and time cost are often required to be invested for ensuring the correctness and the effectiveness of the tests.
The existing automatic test system for the inertia measurement product mainly focuses on reliability and correctness of acquired data, and has a single function, and in this case, the inertia measurement product relates to various functions, performances and test environments, so that the test method is complex and changeable, the basis for judging the output data of the inertia instrument is not easy to determine, and the automatic test is difficult to realize. In addition, the complexity of the test software programming is improved along with the increase of the integrated functions of the test software, the requirements on software modification and maintenance are high, the application flexibility of the inertia measurement product related to a complicated test project is poor, and the popularization and development of automatic test software and an automatic system are not facilitated.
Disclosure of Invention
The invention aims to overcome the defects and provides an automatic test system for inertia measurement products, which realizes data acquisition, monitoring and processing of the inertia measurement products through the cooperation of a power supply, a relay module, an execution module, a function module library and a time sequence control module, can automatically perform various tests in sequence according to a preset time sequence, monitors and interprets the output data of the inertia measurement products in real time in the test process according to a preset criterion, prompts and checks necessary manual operation, and finally generates a test report according to various data results recorded in the test process.
In order to achieve the above purpose, the invention provides the following technical scheme:
an automatic test system for inertia measurement products comprises a power supply, a relay module, an execution module, a function module library and a time sequence control module;
the relay module receives a control instruction input by the time sequence control module and realizes the switching function of a signal path in the power supply and execution module according to a control signal;
the execution module is used for receiving the control instruction input by the time sequence control module and executing the test action according to the control instruction to obtain a test result;
the function module library comprises a single-step operation function of the sub-function module corresponding to the test action of the execution module and a relay operation function corresponding to the switch of the relay module;
the time sequence control module calls the sub-function module single-step operation function or the relay operation function in the function module library according to the time sequence table corresponding to the test requirement and connects the sub-function module single-step operation function or the relay operation function, and outputs the corresponding control instruction of each sub-function module single-step operation function or relay operation function to the relay module and the execution module.
Further, the single-step operation function of the sub-function module in the function module library comprises: the system comprises a data acquisition starting operation function, a data acquisition stopping operation function, a working condition judging operation function, a time synchronization operation function, a self-checking operation function, an RT address setting operation function and a data redundancy channel setting operation function.
Further, the data acquisition starting operation function takes a sampling period, an RT address and a data redundancy channel number as input parameters, and starts a data acquisition channel;
the working condition judgment operation function takes a test condition or a criterion, the data acquisition time and a judgment post-processing mode as input parameters, obtains a corresponding criterion according to the test condition or directly judges the output value of the product in the data acquisition time after calculation according to the input criterion, or directly judges the output value, and outputs a next step instruction according to the judgment post-processing mode according to a judgment result; the working condition judging operation function comprises a measurement precision judging operation function, an output stability judging operation function, a temperature data judging function, an output reset judging operation function and a ground detection result judging operation function;
the time synchronization operation function takes the synchronization time as an input parameter, sends a synchronization instruction to the execution module, reads back the synchronization time, and outputs a next step instruction according to the judgment result of the input synchronization time and the read-back synchronization time;
and the self-checking operation function sends a self-checking instruction to the execution module, receives and judges a self-checking result, and outputs a next step instruction according to the self-checking result.
Further, the measurement precision judging operation function, the temperature data judging function and the ground detection result judging operation function take test conditions as input parameters, and corresponding criteria are obtained according to the test conditions; the measurement precision judging operation function test conditions comprise the position of a product and the rotating speed of the rotary table; the test conditions of the temperature data judgment function comprise a design value of the temperature control of the product and the ambient temperature; the test condition of the ground detection result judging operation function comprises ground detection current intensity;
the output stability judgment operation function and the output reset judgment operation function take criteria as input parameters; the criterion of the output stability judgment operation function comprises a gyroscope stability index and an accelerometer stability index of the product; the criterion of the output reset judging operation function is whether the output returns to zero within sampling time.
Further, the measurement precision judging operation function carries out average value calculation on output values of the product in the sampling time and then judges the output values; the output stability judgment operation function is used for performing hundred-second smoothing and standard deviation calculation on the output value of the product in the sampling time and then judging; and the output reset judging operation function, the temperature data judging function and the ground detection result judging operation function directly judge the output value in the sampling time.
Further, if the judgment post-processing mode of the measurement precision judging operation function, the temperature data judging operation function and the ground detection result judging operation function is failure, prompting manual intervention processing is suspended, if the judgment is successful, a measurement mean value is recorded, and the next operation is determined to be test continuation or test termination according to input parameters;
the judging post-processing mode of the output stability judging operation function is to continue judging if the output stability judging operation function does not meet the index, record the standard deviation result if the output stability judging operation function meets the index, and record the starting time of the product according to the judging execution time;
and the post-judgment processing mode of the output reset judgment operation function is to suspend prompting of manual intervention processing if the judgment result does not meet the index, and continue the next operation if the judgment result meets the index.
Further, the criterion obtaining method in the measurement precision judging operation function is to extract the criterion corresponding to the position of the product and the rotating speed of the rotary table from an existing criterion library; the criterion library includes output criteria set according to theoretical values of ground speed components and gravitational acceleration components input by the gyros and the accelerometers in twelve directions of the product in the north-north east, the south-west, the north-south, the south-north-south, the west-north, the north-east, the south-west, the north-west, and the south-east, and output criteria set according to theoretical values of angular velocities and gravitational acceleration components input when the product rotates on each axis of the turntable by +/-1 DEG/h, +/-5 DEG/h, +/-10 DEG/h, +/-20 DEG/h, +/-40 DEG/h, +/-60 DEG/h towards the sky, respectively.
Further, the relay module is a multi-channel, programmable control relay module, and the switch function of the signal path in the execution module includes: reset lockout switch, RT address gating switch, accelerometer ground current detection switch.
Further, the time sequence table comprises a functional performance test time sequence table, a parameter calibration test time sequence table and a static environment test time sequence table corresponding to the functional performance test, the parameter calibration test and the static environment test;
in the time sequence control module, single step operation functions or relay operation functions of the sub-function modules are linked through judgment logic.
Further, in the parameter calibration test, initial judgment operation on the working condition of the product is set, and the initial judgment time is after the product is manually placed in the direction or the rotating speed of the rotary table is set;
and setting the timing judgment operation on the working condition of the product in the performance test, the parameter calibration test and the static environment test.
Furthermore, the automatic test system also comprises a report generation module, and the single-step operation function of the sub-function module of the function module library comprises a report generation operation function which is used for generating a test report according to the test result obtained by the execution module.
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention relates to an automatic test system for an inertia measurement product, which can realize the automatic operation of single-item or multi-item tests only by compiling program codes of single-step operation such as relay control, data acquisition control, data judgment, time synchronization, self-checking, resetting, RT address gating, accelerometer ground detection data interpretation and the like and respectively packaging the program codes into single-step operation functions of sub-function modules;
(2) according to the automatic test system for the inertia measurement product, the automatic test and interpretation of the typical functions of the inertia measurement product are realized according to the single-step operation function or the relay operation function of the time sequence table adapter function module corresponding to the test requirement, the output data of the inertia measurement product is monitored and interpreted in real time in the test process according to the preset criterion, the automatic continuous execution of various test items of the inertia measurement product can be realized, the data processing and judgment are completed, the key result is recorded, and the test report is finally generated, so that the test efficiency is effectively improved, and the automatic test system is suitable for data acquisition, monitoring and processing of the inertia measurement product;
(3) the invention relates to an automatic test system for an inertia measurement product, which provides a method for carrying out initial judgment and timing judgment in a data acquisition process, can timely check the correctness of necessary manual operation, and ensures that a test is always carried out in a correct state; the timing judgment is used for real-time monitoring of the product testing process, and when the temperature and the power supply are seriously abnormal, the relay can be directly controlled to carry out power-off protection, so that the product damage is avoided;
(4) according to the automatic testing system for the inertia measurement product, the multi-channel programmable control relay module is designed to replace a mechanical switch for controlling the on-off of a power supply or a signal path of the inertia measurement product, so that the control difficulty is reduced;
(5) according to the automatic test system for the inertia measurement product, the design criterion of theoretical output values of the product under various working conditions in the functional performance test, the parameter calibration test and the static environment test is adopted, and a timer function is combined, so that various single-step operations can be automatically executed according to time and a judgment result, and the automatic test process is more stable and reliable;
(6) the invention relates to an automatic test system for an inertia measurement product, which arranges an execution time sequence table of a single-step operation function according to the flow of various specific test items, the operations are linked through a judgment logic, and the follow-up operation is determined to be continued, the manual confirmation is suspended and waited or the power-off protection is carried out according to the judgment result, so that the automation of the whole test flow is realized;
(7) the automatic testing system for the inertia measurement product reduces the human participation in the testing process of the inertia measurement product to a great extent, realizes the automation of the testing process, improves the production efficiency, saves the labor cost and reduces the possibility of test failure and even product damage caused by manual operation or manual interpretation errors.
Drawings
FIG. 1 is a functional block diagram of an automated test system for inertial measurement products according to the present invention.
Detailed Description
The features and advantages of the present invention will become more apparent and appreciated from the following detailed description of the invention.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
An automatic test system for inertia measurement products comprises a power supply, a relay module, an execution module, a function module library and a time sequence control module;
the relay module is used for replacing a mechanical switch for controlling the on-off of a power supply or a signal path of an inertia measurement product; receiving a control instruction input by the time sequence control module, and realizing the switching function of a signal path in the power supply and execution module according to the control signal;
the execution module is used for receiving the control instruction input by the time sequence control module and executing the test action according to the control instruction to obtain a test result;
the function module library comprises a single-step operation function of the sub-function module corresponding to the test action of the execution module and a relay operation function corresponding to the switch of the relay module;
the time sequence control module calls the single-step operation function or the relay operation function of the sub-function module in the function module library according to the time sequence table corresponding to the test requirement, and outputs the single-step operation function or the corresponding control instruction of the relay operation function of each sub-function module to the relay module and the execution module.
Further, as shown in fig. 1, the single-step operation function of the sub-function module in the function module library includes: a data acquisition starting operation function, a data acquisition stopping operation function, a working condition judging operation function, a time synchronization operation function, a self-checking operation function, an RT address setting operation function and a data redundancy channel setting operation function;
programming program codes of single-step operation such as relay control, data acquisition control, data judgment, time synchronization, self-checking, resetting, RT address gating, accelerometer ground inspection data judgment and the like by using C + + language and respectively packaging the program codes into single-step operation functions of the sub-functional modules;
further, the data acquisition starting operation function takes a sampling period, an RT address and a data redundancy channel number as input parameters, and starts a data acquisition channel;
the working condition judgment operation function takes a test condition or a criterion, the data acquisition time and a judgment post-processing mode as input parameters, obtains a corresponding criterion according to the test condition or directly judges the output value of the product in the data acquisition time after calculation according to the input criterion, or directly judges the output value, and outputs a next step instruction according to the judgment post-processing mode according to a judgment result; the working condition judging operation function comprises a measurement precision judging operation function, an output stability judging operation function, a temperature data judging function, an output reset judging operation function and a ground detection result judging operation function; designing criteria according to theoretical output values of the product under various working conditions, and combining a time sequence table to enable various single-step operations to be automatically executed according to time and judgment results;
the time synchronization operation function takes the synchronization time as an input parameter, sends a synchronization instruction to the execution module, reads back the synchronization time, and outputs a next step instruction according to the judgment result of the input synchronization time and the read-back synchronization time;
the self-checking operation function sends a self-checking instruction to the execution module, receives and judges a self-checking result, and outputs a next step instruction according to the self-checking result;
further, the measurement precision judging operation function, the temperature data judging function and the ground detection result judging operation function take test conditions as input parameters, and corresponding criteria are obtained according to the test conditions; the measurement precision judging operation function test conditions comprise the position of a product and the rotating speed of the rotary table; the test conditions of the temperature data judgment function comprise a design value of the temperature control of the product and the ambient temperature; the test condition of the ground detection result judging operation function comprises ground detection current intensity; the input parameters of the ground detection result judgment operation function further comprise an inertial measurement unit azimuth, an accelerometer code and the like.
The output stability judgment operation function and the output reset judgment operation function take criteria as input parameters; the criterion of the output stability judgment operation function comprises a gyroscope stability index and an accelerometer stability index of the product; the criterion of the output reset judging operation function is whether the output returns to zero within sampling time.
Further, the measurement precision judgment operation function carries out average calculation on output values of the product in the sampling time and then judges the output values; the output stability judgment operation function judges the output value of the product in the sampling time after hundred seconds of smoothing and standard deviation calculation, and the sampling time of the output stability judgment operation function is the first 600s of the judgment execution time; the output reset judging operation function directly judges the output value in the sampling time, wherein the sampling time is the first 3s of the judging execution time; the temperature data judgment function and the ground detection result judgment operation function directly judge the output value in the sampling time.
Further, if the judgment post-processing mode of the measurement precision judging operation function, the ground detection result judging operation function and the temperature data judging operation function is failure, prompting manual intervention processing is suspended, if the judgment is successful, a measurement mean value is recorded, and the next operation is determined to be test continuation or test termination according to input parameters;
the judging post-processing mode of the output stability judging operation function is to continue judging if the output stability judging operation function does not meet the index, record the standard deviation result if the output stability judging operation function meets the index, and record the starting time of the product according to the judging execution time;
and the post-judgment processing mode of the output reset judgment operation function is to suspend prompting of manual intervention processing if the judgment result does not meet the index, and continue the next operation if the judgment result meets the index.
Further, the criterion obtaining method in the measurement precision judging operation function is to extract the criterion corresponding to the position of the product and the rotating speed of the rotary table from the existing criterion library; the criterion library includes output criteria set according to theoretical values of ground speed components and gravitational acceleration components input by the gyros and the accelerometers in twelve directions of the product in the north-north east, the south-west, the north-south, the south-north-south, the west-north, the north-east, the south-west, the north-west, and the south-east, and output criteria set according to theoretical values of angular velocities and gravitational acceleration components input when the product rotates on each axis of the turntable by +/-1 DEG/h, +/-5 DEG/h, +/-10 DEG/h, +/-20 DEG/h, +/-40 DEG/h, +/-60 DEG/h towards the sky, respectively.
The output criteria designed in the parameter calibration test comprise angular velocity and linear acceleration criteria of product output in the position and speed calibration test, accelerometer ground detection output criteria and the like;
further, the relay module is a multi-channel and programmable control relay module, and the switch function of the signal path in the execution module comprises: the power supply comprises one or more of a reset blocking switch, an RT address gating switch, an accelerometer ground current detection switch and other signal path switches related to typical functions, and can realize the switching function of a power supply, wherein the power supply comprises a working power supply and a temperature control power supply.
Further, the time sequence table comprises a functional performance test time sequence table, a parameter calibration test time sequence table and a static environment test time sequence table corresponding to the functional performance test, the parameter calibration test and the static environment test; arranging an execution time sequence table of the single-step operation function according to the flow of various specific test items, linking the operations through judgment logic, and determining to continue subsequent operations, suspend to wait for manual confirmation or power-off protection according to the judgment result, so that the automation of the whole test flow is realized; the single-step operation functions of the sub-function modules are arranged according to a certain time sequence table, so that automatic testing and interpretation of some typical functions of the inertia measurement product are realized, including starting time testing, measurement precision verification, RT address gating function testing, accelerometer ground detection testing, reset function testing and the like;
furthermore, by setting initial judgment and timing judgment in the data acquisition process, the inspection of manual operation and the real-time monitoring of the product state are realized. In the parameter calibration test of the inertia measurement product, the judgment is carried out at the initial stage of data acquisition after the product is manually placed in the direction or the rotating speed of the rotary table is set every time, so that the aim of checking the correctness of manual operation can be fulfilled; in a long-time environmental test, a timing judgment mode is adopted, so that the real-time monitoring of the product state can be realized, the power is automatically cut off when necessary, and the purpose of protecting the product in time is achieved.
Furthermore, the automatic test system further comprises a report generation module, and the single-step operation function of the sub-function module of the function module library comprises a report generation operation function, which is used for generating a test report from the test result obtained by the execution module.
In order to solve the problems that the traditional test system has single function and low efficiency and excessively depends on manual operation or guard, the invention provides an automatic test system for data acquisition, monitoring and processing of an inertia measurement product.
Example 1
As shown in fig. 1, the specific implementation of the embodiment of the present invention can be divided into: the system comprises a power supply, a relay module, an execution module, a function module library and a time sequence control module; the power supply comprises a working power supply and a temperature control power supply;
the relay module of the embodiment is developed based on an SRD-12VDC-SL-C chip, and 10 paths of relay switches are respectively used for replacing the following mechanical switches: the device comprises a working power switch, a temperature control power switch, a reset blocking switch, an RT1 address gating switch, an RT2 address gating switch, an RT3 address gating switch, an X accelerometer ground current detection switch, a Y accelerometer ground current detection switch and a Z accelerometer ground current detection switch.
The function module library comprises a single-step operation function and a relay operation function of the sub-function module;
the single-step operation function of the sub-function module comprises the following steps:
(1) "data acquisition Start" function of operation (with data file name, sampling period, RT address and data redundancy channel number as input parameters): starting data acquisition according to the appointed data file name, sampling period, RT address and data channel;
(2) "data acquisition stop" function of operations: after data acquisition is started, the data acquisition can be stopped only by performing data acquisition stopping operation;
(3) "Relay closed" operating function (with relay channel number as input parameter): turning on a designated relay switch;
(4) "Relay off" operating function (with relay channel number as input parameter): turning off the designated relay switch;
(5) "measurement accuracy determination" operation function (with the orientation of the product, the rotation speed of the rotary table, the sampling time and the determination post-processing mode as input parameters): judging the output average value of the product in the sampling time according to a criterion corresponding to the position of the inertia measurement product and the rotating speed of the rotary table, pausing to prompt manual intervention processing if the judgment fails, recording the measurement average value if the judgment succeeds, and determining whether the test is continued or terminated according to input parameters;
(6) "output stability determination" operation function (with the gyro stability index, accelerometer stability index, and determination post-processing mode of the product as input parameters): and performing hundred-second smoothing and standard deviation calculation on the first 600s data of the judged execution time, then comparing the data with the output stability index of the product, continuing the test if the data do not meet the index, recording the standard deviation result if the data meet the index, and taking the 'judgment execution time-600 s' as the starting time of the product.
(7) "temperature data determination" operation function (with design value of temperature control of the product itself, ambient temperature and determination post-processing mode as input parameters): judging whether the temperature value output by the temperature sensor in the product is within the temperature criterion range of the corresponding working condition or not, disconnecting the product power supply and prompting manual intervention processing if the judgment is failed, and recording the temperature value and determining whether the test is continued or terminated according to the input parameters if the judgment is successful;
(8) "time synchronization" function of operation (with synchronization time as input parameter): sending a synchronization instruction to an execution module and receiving a feedback signal, then reading back the synchronization time, judging whether the sent synchronization time is consistent with the read-back synchronization time, if the judgment is failed, suspending prompting of manual intervention processing, and if the judgment is successful, continuing the next operation;
(9) "self-test" function of operation: sending a self-checking instruction to the execution module, receiving and judging a self-checking result, suspending prompting manual intervention processing if the judgment is failed, and continuing the next operation if the judgment is successful;
(10) "output reset decision" operation function (with decision post-processing as input parameters): judging whether the product output returns to zero or not (resetting is completed) in the data of the first 3s, suspending prompting manual intervention processing if the judgment result is not in accordance with expectation, and continuing the next operation if the judgment result is in accordance with expectation;
(11) "RT address set" operation function (with RT address as input parameter): setting a designated RT address;
(12) "data redundancy channel setup" operation function (with data redundancy channel number as input parameter): setting a designated bus channel;
(13) "accelerometer ground detection result determination" operation function (with inertial group orientation, accelerometer code number for ground detection, ground detection current intensity and determination post-processing mode as input parameters): judging the output of the product accelerometer according to a criterion corresponding to the intensity of the ground detection current applied to the product accelerometer, pausing to prompt manual intervention processing if the judgment is failed, recording the output of the accelerometer if the judgment is successful, and determining whether the test is continued or terminated according to the input parameters;
(14) the "report generation" function of operation: and generating a test report of the Word version according to various results recorded in the testing process.
According to product test items and working conditions, 3 types of criteria are set:
(1) the precision criterion is as follows: output criteria set according to theoretical values of ground speed components and gravity acceleration components input by the gyro and the accelerometer under twelve orientations of the product, namely 'northeast, southwest, northwest, southeast, northeast, southwest, northwest and southeast', and output criteria set according to theoretical values of angular velocities and gravity acceleration components input when the product rotates towards the sky on each axis of the rotary table at +/-1 DEG/h, +/-5 DEG/h, +/-10 DEG/h, +/-20 DEG/h, +/-40 DEG/h, +/-60 DEG/h;
(2) the temperature criterion is as follows: a reasonable temperature range criterion is set according to the design value of the temperature control of the product and the working condition (the temperature control point of the product in the embodiment is 55 ℃, when the ambient temperature is lower than 55 ℃, the temperature criterion is 'ambient temperature-65 ℃, and when the ambient temperature is higher than 55 ℃, the temperature criterion is' ambient temperature +/-10 ℃);
(3) accelerometer ground detection criterion: an accelerometer output range criterion is set based on the orientation of the product and the applied ground current level (the accelerometer scale factor of an embodiment is 1g/mA, so when the applied ground current level is I ground, the accelerometer output criterion is "I ground x 1g/mA ± 0.1 g").
The test step timing sequence table is arranged according to specific test items of the inertia measurement product in the embodiment and is respectively used for function and performance tests, parameter calibration tests and static environment tests:
(1) the 'function and performance test' of the embodiment comprises a starting time test, a measurement precision test, a time synchronization function test, a self-checking function test, a reset and reset lockout function test, a bus A/B channel redundancy function test, an RT address strobe function test and an accelerometer ground check function test, and the time schedule is as follows:
step 1, executing a data acquisition starting operation;
step 2, starting from 600s, starting output stability judgment operation every 100s at regular time until the judgment result meets the output stability criterion;
step 3, executing a measurement precision judgment operation, and judging the product output average value of the first 600 s;
step 4, executing time synchronization operation;
step 5, executing self-checking operation;
step 6, a switch for controlling reset is closed through the 'relay closing' operation, and the switch is disconnected after being kept for 1 second;
step 7, executing the operation of 'output reset judgment';
step 8, closing a switch for controlling reset locking through 'relay closing' operation;
step 9, a switch for controlling reset is closed through the 'relay closing' operation, and the switch is disconnected after being kept for 1 second;
step 10, executing an output reset judgment operation;
11, switching off a switch for controlling reset locking through 'relay off' operation;
step 12, executing a data acquisition stopping operation;
step 13, setting a bus channel as an A channel through a data redundancy channel setting operation;
step 14, executing a data acquisition starting operation;
step 15, after collecting 100s, executing the operation of 'measuring precision judging' to judge the collected data;
step 16, executing the operation of stopping data acquisition;
step 17, setting the bus channel as a B channel through a data redundancy channel setting operation;
step 18, executing a data acquisition starting operation;
step 19, after 100s of acquisition, executing measurement precision judgment operation to judge the acquired data;
step 20, executing a data acquisition stopping operation;
step 21, setting the RT address to RT22 through 'RT address strobe' operation;
step 22, a switch for controlling RT22 is closed through a relay closing operation;
step 23, executing a data acquisition starting operation;
step 24, after 100s of acquisition, executing measurement precision judgment operation to judge the acquired data;
step 25, executing the operation of stopping data acquisition;
step 26, setting the RT address to RT21 through 'RT address strobe' operation;
27, opening a switch of RT22 and closing a switch of RT21 through relay control operation;
step 28, executing a data acquisition starting operation;
step 29, after collecting 100s, executing measurement precision judgment operation to judge the collected data;
step 30, executing the operation of stopping data acquisition;
step 31, setting the RT address to RT20 through 'RT address strobe' operation;
step 32, opening a switch of the RT21 and closing a switch of the RT20 through relay control operation;
step 33, executing a data acquisition starting operation;
step 34, after 100s of acquisition, executing measurement precision judgment operation to judge the acquired data;
step 35, executing the operation of stopping data acquisition;
step 36, executing a data acquisition starting operation;
step 37, the switch of the RT20 is switched off through the 'relay switching-off' operation;
step 38, closing a ground detection switch of the X accelerometer through a relay closing operation;
step 39, executing the operation of judging the detection result of the accelerometer;
step 40, switching off the ground detection switch of the X accelerometer through the relay control operation, and then switching on the ground detection switch of the Y accelerometer;
step 41, executing the operation of judging the detection result of the accelerometer;
step 42, switching off a ground detection switch of the Y accelerometer through relay control operation, and then switching on a ground detection switch of the Z accelerometer;
step 43, executing the operation of judging the detection result of the accelerometer;
step 44, switching off a ground detection switch of the Z accelerometer through the control operation of a relay;
step 45, executing the operation of stopping data acquisition;
and step 46, generating a Word report according to various results recorded in the test process.
(2) The timing chart of the "parameter calibration test" is as follows:
step 1, prompting manual operation to place the product in the north east of the earth;
step 2, executing the operation of 'data acquisition starting';
step 3, after 10s of acquisition, executing measurement precision judgment operation, and judging whether the average value of the previous 10s of data meets the precision criterion corresponding to the current position;
step 4, if the direction is correct, executing the operation of stopping data acquisition after acquiring for 300 s;
step 5, completing the test of the remaining 11 azimuths according to the steps 1 to 4;
step 6, prompting manual operation to place the product on a single-shaft rotary table, enabling the X shaft to face upward, and setting the rotary table to rotate at the speed of 1 degree/s;
step 7, executing the operation of 'data acquisition starting';
step 8, after 10s of acquisition, executing measurement precision judgment operation, and judging whether the average value of the previous 10s of data meets the precision criterion corresponding to the current position;
9, if the direction is correct, executing the operation of stopping data acquisition after acquiring for 300 s;
step 10, completing the test of the remaining 11 speed points according to the steps 6-9;
and 11, completing speed calibration of the Y axis and the Z axis according to the steps 6-10.
(3) The timing schedule for the "static environment test" is as follows:
step 1, executing a data acquisition starting operation;
step 2, performing temperature data judgment operation every 1 minute, performing data acquisition stopping operation when the temperature exceeds a normal range, and disconnecting both a product working power supply and a temperature control power supply through relay disconnection operation;
and 3, if the temperature is always in the normal range, automatically performing data acquisition, start and stop and power control at a specified time point according to test requirements.
The invention has been described in detail with reference to specific embodiments and illustrative examples, but the description is not intended to be construed in a limiting sense. Those skilled in the art will appreciate that various equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its embodiments without departing from the spirit and scope of the present invention, which fall within the scope of the present invention. The scope of the invention is defined by the appended claims.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (11)
1. An automatic test system for inertia measurement products is characterized by comprising a power supply, a relay module, an execution module, a function module library and a time sequence control module;
the relay module receives a control instruction input by the time sequence control module and realizes the switching function of a signal path in the power supply and execution module according to a control signal;
the execution module is used for receiving the control instruction input by the time sequence control module and executing the test action according to the control instruction to obtain a test result;
the function module library comprises a single-step operation function of the sub-function module corresponding to the test action of the execution module and a relay operation function corresponding to the switch of the relay module;
the time sequence control module calls the sub-function module single-step operation function or the relay operation function in the function module library according to the time sequence table corresponding to the test requirement and connects the sub-function module single-step operation function or the relay operation function, and outputs the corresponding control instruction of each sub-function module single-step operation function or relay operation function to the relay module and the execution module.
2. The automated testing system for inertia measurement products of claim 1, wherein the sub-function modules in the library of function modules single-step function operations comprise: the system comprises a data acquisition starting operation function, a data acquisition stopping operation function, a working condition judging operation function, a time synchronization operation function, a self-checking operation function, an RT address setting operation function and a data redundancy channel setting operation function.
3. The automated testing system for inertia measurement products of claim 2, wherein the data acquisition start operation function starts a data acquisition channel with a sampling period, an RT address and a data redundancy channel number as input parameters;
the working condition judgment operation function takes a test condition or a criterion, the data acquisition time and a judgment post-processing mode as input parameters, obtains a corresponding criterion according to the test condition or directly judges the output value of the product in the data acquisition time after calculation according to the input criterion, or directly judges the output value, and outputs a next step instruction according to the judgment post-processing mode according to a judgment result; the working condition judging operation function comprises a measurement precision judging operation function, an output stability judging operation function, a temperature data judging function, an output reset judging operation function and a ground detection result judging operation function;
the time synchronization operation function takes the synchronization time as an input parameter, sends a synchronization instruction to the execution module, reads back the synchronization time, and outputs a next step instruction according to the judgment result of the input synchronization time and the read-back synchronization time;
and the self-checking operation function sends a self-checking instruction to the execution module, receives and judges a self-checking result, and outputs a next step instruction according to the self-checking result.
4. The automated testing system for inertia measurement products of claim 3, wherein the measurement precision determination operation function, the temperature data determination function and the ground test result determination operation function take test conditions as input parameters, and obtain corresponding criteria according to the test conditions; the measurement precision judging operation function test conditions comprise the position of a product and the rotating speed of the rotary table; the test conditions of the temperature data judgment function comprise a design value of the temperature control of the product and the ambient temperature; the test condition of the ground detection result judging operation function comprises ground detection current intensity;
the output stability judgment operation function and the output reset judgment operation function take criteria as input parameters; the criterion of the output stability judgment operation function comprises a gyroscope stability index and an accelerometer stability index of the product; the criterion of the output reset judging operation function is whether the output returns to zero within sampling time.
5. The automated testing system for inertia measurement products of claim 3, wherein the measurement accuracy determination function determines the average of the output values of the product during the sampling time; the output stability judgment operation function is used for performing hundred-second smoothing and standard deviation calculation on the output value of the product in the sampling time and then judging; and the output reset judging operation function, the temperature data judging function and the ground detection result judging operation function directly judge the output value in the sampling time.
6. The automated testing system for the inertia measurement product of claim 3, wherein the post-determination processing modes of the measurement precision determination operation function, the temperature data determination operation function and the ground inspection result determination operation function are that the determination fails, the prompt of manual intervention processing is suspended, and if the determination succeeds, the measurement mean value is recorded and the next operation is determined to be test continuation or test termination according to the input parameters;
the judging post-processing mode of the output stability judging operation function is to continue judging if the output stability judging operation function does not meet the index, record the standard deviation result if the output stability judging operation function meets the index, and record the starting time of the product according to the judging execution time;
and the post-judgment processing mode of the output reset judgment operation function is to suspend prompting of manual intervention processing if the judgment result does not meet the index, and continue the next operation if the judgment result meets the index.
7. The system of claim 4, wherein the method for obtaining the criteria in the measurement accuracy decision function is to extract the criteria corresponding to the orientation of the product and the rotation speed of the turntable from an existing criteria library; the criterion library includes output criteria set according to theoretical values of ground speed components and gravitational acceleration components input by the gyros and the accelerometers in twelve directions of the product in the north-north east, the south-west, the north-south, the south-north-south, the west-north, the north-east, the south-west, the north-west, and the south-east, and output criteria set according to theoretical values of angular velocities and gravitational acceleration components input when the product rotates on each axis of the turntable by +/-1 DEG/h, +/-5 DEG/h, +/-10 DEG/h, +/-20 DEG/h, +/-40 DEG/h, +/-60 DEG/h towards the sky, respectively.
8. The automated testing system for inertia measurement products of claim 1, wherein the relay module is a multi-channel, programmable relay module, and implementing the switching function of the signal path in the execution module comprises: reset lockout switch, RT address gating switch, accelerometer ground current detection switch.
9. The automated testing system for inertia measurement products of claim 1, wherein the timing schedule includes a functional performance test timing schedule, a parameter calibration test timing schedule, and a static environment test timing schedule corresponding to a functional performance test, a parameter calibration test, and a static environment test;
in the time sequence control module, single step operation functions or relay operation functions of the sub-function modules are linked through judgment logic.
10. The automated testing system for the inertia measurement products of claim 9, wherein in the parameter calibration test, an initial determination operation for the working condition of the products is set, and the initial determination time is after the product is manually placed in the direction or the rotating speed of the rotary table is set;
and setting the timing judgment operation on the working condition of the product in the performance test, the parameter calibration test and the static environment test.
11. The automated testing system for inertia measurement products of claim 1, further comprising a report generation module, wherein the single-step operation function of the sub-function modules of the function module library comprises a report generation operation function, and is configured to generate a test report according to the test result obtained by the execution module.
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