CN114812615B - IMU batch calibration device, calibration method and calibration system - Google Patents
IMU batch calibration device, calibration method and calibration system Download PDFInfo
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- CN114812615B CN114812615B CN202210720741.1A CN202210720741A CN114812615B CN 114812615 B CN114812615 B CN 114812615B CN 202210720741 A CN202210720741 A CN 202210720741A CN 114812615 B CN114812615 B CN 114812615B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
Abstract
The application is suitable for the technical field of clamps, and provides an IMU batch calibration device, a calibration method and a calibration system, wherein the calibration device comprises: the product mounting device comprises a female seat and a plurality of product mounting strips, wherein the product mounting strips are mounted on the female seat; each product mounting bar comprises an IMU product placing part to be tested and a data processing board, wherein the IMU product placing part to be tested is used for placing a plurality of IMU products to be tested in parallel, and the IMU products to be tested are connected with the data processing board; the data processing board can be connected with an external terminal through the female seat, and the data processing board is used for controlling a plurality of IMU products to be tested to be calibrated according to a control command sent by the external terminal. The method and the device can achieve the effects of simple and convenient operation during calibration and increase of the calibration number multiple.
Description
Technical Field
The application belongs to the technical field of clamps, and particularly relates to an IMU batch calibration device, a calibration method and a calibration system.
Background
The new growth of the IMU product will be in the fields of Internet of things and artificial intelligence, and the demand for the IMU product will show exponential growth. The bottleneck of the prior IMU product production is calibrated, the equipment adopted during calibration is a double-shaft rotary table with a warm box, and the calibration capacity of a single rotary table is 100 pieces/day.
Every product of the existing rotary table needs to be interconnected with a rotary table channel in the calibration and test processes, the number of rotary table channels is small, the number of single calibration is small, and the utilization rate of the rotary table is low.
Disclosure of Invention
In order to solve the problems in the related art, embodiments of the present application provide an IMU batch calibration apparatus, a calibration method, and a calibration system, which can achieve the effects of simple operation and increased calibration number multiples during calibration.
The application is realized by the following technical scheme:
in a first aspect, an embodiment of the present application provides an apparatus for calibrating IMU in batches, including: the product mounting device comprises a female seat and a plurality of product mounting strips, wherein the product mounting strips are mounted on the female seat; each product mounting bar comprises an IMU product placing part to be tested and a data processing board, wherein the IMU product placing part to be tested is used for placing a plurality of IMU products to be tested in parallel, and the IMU products to be tested are connected with the data processing board; the data processing board can be connected with an external terminal through the female seat, and the data processing board is used for controlling the IMU products to be tested to be calibrated according to a control command sent by the external terminal.
Based on the first aspect, in some embodiments, the female socket includes: a circuit board; the base is arranged on the circuit board and used for bearing the product mounting strips, and the base is detachably connected with the product mounting strips; and the data processing board is connected with the circuit board through the corresponding spring pins.
Based on the first aspect, in some embodiments, the base includes:
a base station provided with a plurality of assembly grooves; a first threaded hole is formed in the bottom surface of each assembling groove; the first threaded hole is used for fixing the product mounting bar on the base;
the sliding rails are symmetrically arranged on two sides of the base platform and used for guiding the product mounting bars to be assembled into the assembling grooves;
the stop block is arranged at the lower end of the sliding rail and used for limiting the position of the downward movement of the product mounting bar;
and the fixing bolt is used for being matched with the first threaded hole to fix the product mounting bar on the base.
According to the first aspect, in some embodiments, a ventilation circular hole is arranged in the middle of the base platform; bosses are arranged on two sides of the base platform, second threaded holes are formed in the bosses, and the second threaded holes are used for fixing the base platform on the circuit board.
Based on the first aspect, in some embodiments, the number of the IMU product placing portions to be tested per product mounting bar is two; each IMU product to be tested can be connected with the data processing board through a connector.
Based on the first aspect, in some embodiments, the IMU product placing section under test includes: the first fixing plate and the second fixing plate are oppositely arranged on two sides of the data processing plate;
a plurality of the connectors are soldered to the data processing board.
According to the first aspect, in some embodiments, the product mounting strip is provided with a third fixing plate;
the first fixing plate and the second fixing plate are connected together through the third fixing plate;
a connecting block is arranged on the outer side of the third fixing plate, a through hole is formed in the connecting block, and the through hole is axially parallel to the third fixing plate;
the fixing bolt, the through hole and the first threaded hole in the bottom surface of the assembling groove are assembled together, and the two product mounting strips are fixed on the assembling groove of the base.
According to the first aspect, in some embodiments, sliding blocks are arranged on two sides of the connecting block; the sliding block is used for assembling the product mounting strip with the corresponding sliding rail.
A second aspect of the embodiments of the present application provides an IMU batch calibration system, which includes an external terminal and the IMU batch calibration apparatus according to any one of the embodiments of the first aspect, where the IMU batch calibration apparatus is in communication connection with the external terminal.
A third aspect of the embodiments of the present application provides an IMU batch calibration method, which is implemented based on the IMU batch calibration system of the second aspect, and the method includes: the data processing board receives a control instruction sent by an external terminal through the mother socket, the control instruction comprises IMU labels and calibration parameters which correspond to one another one by one, and the number of the IMU labels is multiple; the data processing board responds to the control instruction and sends corresponding calibration parameters to the IMU product to be tested corresponding to each IMU label, so that the IMU product to be tested executes the corresponding calibration parameters for calibration; and the data processing board acquires calibration feedback information sent by each IMU product to be tested and sends the calibration feedback information to the external terminal through the female seat.
It is understood that, the beneficial effects of the second and third aspects may be referred to the relevant description of the first aspect, and are not described herein again.
Compared with the prior art, the embodiment of the application has the advantages that:
this application embodiment, through the expandable design of product mounting bar, the female seat that constitutes by base, spring pin, circuit board is once assembled and is taken shape, and follow-up production need not the dismouting, only needs once accurate installation, can reach the calibration time easy and simple to handle, the effect that the calibration quantity multiple increases.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the specification.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions 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 based on these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of an IMU batch calibration apparatus according to an embodiment of the present application;
fig. 2 is a front view of an IMU batch calibration apparatus according to an embodiment of the present application;
fig. 3 is a left side view of an IMU batch calibration apparatus according to an embodiment of the present application;
FIG. 4 is a top view of an IMU batch calibration apparatus according to an embodiment of the present application;
FIG. 5 is a schematic structural diagram of a female housing according to an embodiment of the present application;
FIG. 6 is a front view of the structure of the female housing provided in an embodiment of the present application;
FIG. 7 is a left side view of the structure of the female housing provided in an embodiment of the present application;
FIG. 8 is a top view of a female socket configuration provided in accordance with an embodiment of the present application;
fig. 9 is a schematic structural diagram of a product mounting bar according to an embodiment of the present application;
fig. 10 is a left side view of the structure of a product mounting bar provided in an embodiment of the present application;
fig. 11 is a front view of a structure of a product mounting bar according to an embodiment of the present application;
fig. 12 is a right side view of a structure of a product mounting bar provided in an embodiment of the present application;
fig. 13 is a top view of a product mounting bar construction provided in accordance with an embodiment of the present application;
FIG. 14 is a schematic structural view of a product mounting bar and base assembly according to an embodiment of the present application;
FIG. 15 is a front view of a product mounting bar assembled with a base according to one embodiment of the present application;
FIG. 16 is a schematic diagram of a communication process of an IMU batch calibration apparatus according to an embodiment of the present application;
fig. 17 is a schematic diagram illustrating a batch testing principle of an IMU batch calibration apparatus according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing a relative importance or importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless otherwise specifically stated.
In the face of the fierce war of the unmanned market, the new growth point of future IMU products is in the fields of Internet of things and artificial intelligence, and the demand for the products is exponentially increased. The bottleneck of IMU product production is calibrated, the equipment adopted during calibration is a double-shaft rotary table with a warm box, and the calibration capacity of a single rotary table is 100 pieces/day.
The problems encountered in the calibration and test processes of the conventional rotary table are as follows: long disassembly and assembly time (each product needs to be interconnected with a turntable channel); the damage to the table surface mounting hole is large (the clamp is heavy, and the moment is large); the single calibration quantity is small (the number of the channels of the rotary table is 22/33), and the utilization rate of the rotary table is low; the temperature inside the rotary table is poor in circulation, and the product temperature rising and falling speed is low; the installation accuracy is poor, and the installation error of the calibrated product is larger.
Based on the above problem, an IMU batch calibration device in this application embodiment includes: the product mounting device comprises a female seat and a plurality of product mounting strips, wherein the product mounting strips are mounted on the female seat; each product mounting bar comprises an IMU product placing part to be tested and a data processing board, wherein the IMU product placing part to be tested is used for placing a plurality of IMU products to be tested in parallel, and the IMU products to be tested are connected with the data processing board; the data processing board can be connected with an external terminal through the female seat, and the data processing board is used for controlling a plurality of IMU products to be tested to be calibrated according to a control command sent by the external terminal. The IMU batch calibration device can achieve the effects of simple and convenient operation and multiple increase of calibration quantity during calibration.
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a schematic structural diagram of an IMU batch calibration apparatus according to an embodiment of the present application, and referring to fig. 1, the IMU batch calibration apparatus includes a female socket 100 and a plurality of product mounting bars 200, where the plurality of product mounting bars 200 are mounted on the female socket 100. Each product mounting bar 200 comprises an IMU product placing part to be tested and a data processing board, the IMU product placing part to be tested is used for placing a plurality of IMU products 400 to be tested in parallel, and the IMU products 400 to be tested are connected with the data processing board. The data processing board can be connected with an external terminal through the female socket 100, and the data processing board is used for controlling the plurality of IMU products 400 to be tested to be calibrated according to a control instruction sent by the external terminal.
In order to more clearly show the female housing 100, a plurality of product mounting bars 200 are associated with the IMU product 400 to be tested and the turntable 300, as shown in fig. 2, 3 and 4.
Illustratively, the female housing 100 is always fixed to the table top of the turntable 300.
Specifically, the female block 100 includes: circuit board 110, a plurality of pedestals 120, a plurality of pogo pins 130, and a plurality of transmission interfaces 140. The plurality of bases 120 are disposed on the circuit board 110 for carrying the plurality of product mounting bars 200, and the bases 120 are detachably connected to the product mounting bars 200. A plurality of pogo pins 130 are provided on the circuit board 110, and the data processing board is connected with the circuit board 110 through the corresponding pogo pins 130. A plurality of transmission interfaces 140 are provided on the circuit board 110 for connecting the circuit board 110 with an external circuit, as shown in fig. 5, 6, 7 and 8.
Specifically, the base 120 includes: a base 121, a slide rail 122, a stopper 123 and a fixing bolt 124. The base station is provided with a plurality of assembling grooves; a first threaded hole is formed in the bottom surface of each assembling groove; the first screw hole is used to fix the product mounting bar 200 to the base 120. And the sliding rails 122 are symmetrically arranged on two sides of the base 121 and used for guiding the product mounting bar to be assembled into the assembling groove. And a stopper 123 provided at a lower end of the slide rail 122 for limiting a position at which the product mounting bar 200 moves downward. And the fixing bolt 124 is used for being matched with the first threaded hole to fix the product mounting bar 200 on the base 120.
Specifically, a ventilation circular hole is formed in the middle of the base table 121; bosses are arranged on two sides of the base platform, second threaded holes are formed in the bosses, and the second threaded holes are used for fixing the base platform 121 on the circuit board 110.
Specifically, the number of the IMU product placing portions to be tested per product mounting bar 200 is two, and each IMU product 400 to be tested can be connected to the data processing board 240 through the connector 250.
Wherein, product mounting bar 200 includes: a first fixing plate 210, a second fixing plate 220, a third fixing plate 230, a data processing plate 240, and a plurality of connectors 250. The IMU product placement part to be tested includes a first fixing plate 210 and a second fixing plate 220. A data processing board 240 disposed between the first fixing plate 210 and the second fixing plate 220; the first fixing plate 210, the second fixing plate 220 and the data processing plate 240 are connected by screws. And a plurality of connectors 250 welded to the data processing board 240, as shown in fig. 9, 10, 11, 12 and 13.
Specifically, the first fixing plate 210 and the second fixing plate 220 are connected together by the third fixing plate 230; a connecting block 260 is arranged on the outer side of the third fixing plate 230, and a through hole is formed in the connecting block 260 and is axially parallel to the third fixing plate 230; the fixing bolt 124, the through hole and the first threaded hole on the bottom surface of the assembly groove are assembled together to fix the two product mounting bars 200 on the assembly groove of the base 120.
Illustratively, the product mounting bar 200 and another product mounting bar 200 are fixed on the bottom surface of the assembly groove of the base 120 by the connecting block 260 and the fixing bolt 124 disposed outside the third fixing plate 230; the two connection blocks 260 are stacked on each other by being disposed at different positions on the third fixing plate 230, as shown in fig. 14 and 15.
Specifically, a sliding block 270 is arranged on the connecting block 260; the slider 270 is used to assemble the product mounting bar 200 with the corresponding slide rail 122.
Illustratively, 10 Molex connectors 250 are soldered to the data processing board 240 of the product mounting strip 200; firstly, the IMU product 400 to be tested is fixed on the first fixing plate 210 and the second fixing plate 220 of the product mounting bar 200 by screws, and then the line end of the IMU product 400 to be tested is inserted into the Molex connector 250.
Illustratively, the female seat 100 formed by one-time assembly is installed on the rotary table 300 through screws, the female seat 100 composed of the base 120, the spring pins 130 and the circuit board 110 is fixed on the table top of the rotary table 300 through a positioning device, and subsequent production does not need to be disassembled or assembled, only needs one-time precise installation, and ensures the consistency of products.
Illustratively, the connecting pieces 260 of the two product mounting bars 200 are pressed against each other, and then the product mounting bars 200 are fixed to the base 120 of the female housing 100 by the fastening nuts of the M12. The data processing board 240 of the product mounting strip 200 is connected in contact with the pogo pins 130 on the circuit board 110, i.e., the assembly is completed.
Illustratively, the circuit board 110 is formed by splicing a plurality of circuit boards capable of collecting data.
The embodiment of the application also provides an IMU batch calibration system. The system comprises an external terminal and the IMU batch calibration device according to any one of the embodiments, wherein the IMU batch calibration device is in communication connection with the external terminal.
Illustratively, the data of the IMU product 400 to be tested is transmitted to the data processing board 240 through the Molex connector 250, and the data processing board 240 on the product mounting bar 200 is conducted with the circuit board 110 of the female housing 100 through the pogo pins 130 and is transmitted to the upper computer through the transmission interface 140 on the circuit board 110, thereby implementing data transmission. The communication process is shown in fig. 16.
Illustratively, the transmission interface 140 may be an aerial, turntable slip ring.
The embodiment of the application further provides an IMU batch calibration method, which is implemented based on the IMU batch calibration system of the second aspect, and the calibration method includes: the data processing board 240 receives a control instruction sent by an external terminal through the mother socket 100, wherein the control instruction comprises a plurality of IMU labels and calibration parameters which correspond to one another; the data processing board 240 responds to the control instruction, and sends corresponding calibration parameters to the to-be-tested IMU product 400 corresponding to each IMU label, so that the to-be-tested IMU product 400 executes the corresponding calibration parameters for calibration; the data processing board 240 obtains the calibration feedback information sent by each IMU product 400 to be tested, and sends the calibration feedback information to the external terminal through the female socket 100.
For example, as shown in fig. 17, the IMU product 400 to be tested is connected to the multi-path acquisition board through the multi-path gating switch; the multi-path acquisition board adopts a single chip microcomputer to control a multi-path gating switch, and alternately gates IMU output to be connected with an RS422 serial interface of the multi-path acquisition board so as to alternately acquire data of the IMU; the multi-channel acquisition board is the data processing board 240. The upper computer collects data, and data collection software can be the same as non-batch test data collection software; and processing the data through batch computing software to complete parameter programming and testing processes.
For example, 24 × 20=480 IMU products to be tested can be calibrated at a time by using the IMU batch calibration device, which is about 4.8 times of the calibration quantity of a common calibration device.
For example, the calibration of the IMU batch calibration device is simple and convenient to operate, and during calibration, the product mounting bar 200 is fastened on the female seat 100 by using a nut of the M12, and the pogo pins 130 on the female seat 100 can communicate signals. The base 120 is provided with a precision slide rail 122, a stop block 123 and a fixing bolt 124, which limits 5 degrees of freedom of the mounting bar 200 of the product to be tested, so that the mounting bar can only move in the vertical direction, and has high positioning precision and good mistake proofing.
For example, the IMU batch calibration device is compared with a "building plate", the product mounting bars 200 are compared with a "building", the gaps between the product mounting bars 200 are compared with a "street", when the warm box fan blows air, the street and the building are affected by a "narrow pipe effect", and due to the ventilation round holes arranged on the base 120, the wind speed between the streets or the buildings following the wind is obviously increased, so that building wind is formed. The test product was able to stabilize more quickly at the specified temperature. Comparing the batch calibration device of the present invention with a common batch calibration device, as shown in table 1:
TABLE 1 comparison of the batch calibration apparatus of the present invention with a conventional batch calibration apparatus
| Principal parameters | Original device | Improved rear device |
| Number of |
100 pieces of | 480 are only |
| Device assembly time | 30min | Less than 5min |
| Cross coupling after calibrationCombination of Chinese herbs | Fluctuating within 5-20 min | Fluctuating within 2 min-9 min |
| Device assembly | Difficulty in | Simple |
| Rate of temperature rise and fall | The upper and lower layers have large difference | Are substantially identical |
Illustratively, the base 120 and the product mounting bar 200 are made of 2a12 high-strength duralumin alloy, and the connecting block 260 on the product mounting bar is a main stressed part and made of TC4 titanium alloy. 480 about 32Kg (the maximum bearing capacity of the rotary table is 40 Kg) after the IMU product 400 to be tested is assembled, thereby ensuring the reliability of the device, reducing the weight ratio of the device and improving the utilization rate of the rotary table.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (8)
1. An IMU batch calibration device is characterized by comprising a female seat and a plurality of product mounting strips, wherein the product mounting strips are mounted on the female seat;
each product mounting bar comprises an IMU product placing part to be tested and a data processing board, wherein the IMU product placing part to be tested comprises a first fixing plate and a second fixing plate; the data processing board is arranged between the first fixing board and the second fixing board; the first fixing plate, the second fixing plate and the data processing plate are connected through screws;
the to-be-tested IMU product placing part is used for placing a plurality of to-be-tested IMU products in parallel, and the to-be-tested IMU products are connected with the data processing board;
the data processing board can be connected with an external terminal through the mother seat, and the data processing board is used for controlling the IMU products to be tested to calibrate according to a control instruction sent by the external terminal;
the female block includes: a circuit board;
the multiple bases are arranged on the circuit board and used for bearing the multiple product mounting strips, and the bases are detachably connected with the product mounting strips;
the spring pins are arranged on the circuit board, and the data processing board is connected with the circuit board through the corresponding spring pins;
the transmission interfaces are arranged on the circuit board and used for connecting the circuit board with an external circuit;
the base, including:
a base station provided with a plurality of assembly grooves; a first threaded hole is formed in the bottom surface of each assembling groove; the first threaded hole is used for fixing the product mounting strip on the base;
the sliding rails are symmetrically arranged on two sides of the base platform and used for guiding the product mounting bars to be assembled into the assembling grooves;
the fixing bolt is used for being matched with the first threaded hole to fix the product mounting bar on the base;
the stop block is arranged at the lower end of the slide rail and used for limiting the position of the product mounting bar moving downwards;
and a ventilation round hole is formed in the middle of the base station.
2. The IMU batch calibration device of claim 1, wherein bosses are provided on both sides of the base platform, and second threaded holes are provided on the bosses for fixing the base platform to the circuit board.
3. The IMU batch calibration device of claim 1, wherein the number of the IMU product placement portions to be tested per product mounting bar is two; each IMU product to be tested placed on the IMU product placing part can be connected with the data processing board through a connector.
4. The IMU batch calibration apparatus of claim 3, wherein the IMU product placement section to be tested comprises: the first fixing plate and the second fixing plate are oppositely arranged on two sides of the data processing plate;
a plurality of the connectors are soldered to the data processing board.
5. The IMU batch calibration apparatus of claim 4, wherein the product mounting bar further comprises a third fixing plate;
the first fixing plate and the second fixing plate are connected together through the third fixing plate;
a connecting block is arranged on the outer side of the third fixing plate, a through hole is formed in the connecting block, and the through hole is axially parallel to the third fixing plate;
the fixing bolt, the through hole and the first threaded hole in the bottom surface of the assembling groove are assembled together, and the two product mounting strips are fixed in the assembling groove of the base.
6. The IMU batch calibration device of claim 5, wherein sliding blocks are arranged on two sides of the connecting block; the sliding block is used for assembling the product mounting strip with the corresponding sliding rail.
7. An IMU batch calibration system, comprising an external terminal and an IMU batch calibration apparatus as claimed in any one of claims 1 to 6, the IMU batch calibration apparatus being communicatively connected to the external terminal.
8. An IMU batch calibration method, which is implemented based on the IMU batch calibration system of claim 7, and comprises:
the data processing board receives a control instruction sent by an external terminal through the mother socket, the control instruction comprises IMU labels and calibration parameters which correspond to one another one by one, and the number of the IMU labels is multiple;
the data processing board responds to the control instruction and sends corresponding calibration parameters to the IMU product to be tested corresponding to each IMU label, so that the IMU product to be tested executes the corresponding calibration parameters for calibration;
and the data processing board acquires calibration feedback information sent by each IMU product to be tested and sends the calibration feedback information to the external terminal through the female seat.
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