CN115615464B - Built-in buffer fiber optic gyroscope strapdown inertial navigation assembly method and system - Google Patents
Built-in buffer fiber optic gyroscope strapdown inertial navigation assembly method and system Download PDFInfo
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- CN115615464B CN115615464B CN202211629131.7A CN202211629131A CN115615464B CN 115615464 B CN115615464 B CN 115615464B CN 202211629131 A CN202211629131 A CN 202211629131A CN 115615464 B CN115615464 B CN 115615464B
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- inertial navigation
- buffer
- strapdown inertial
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- optic gyroscope
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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
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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 invention relates to the technical field of fiber optic gyroscopes, in particular to a built-in buffer fiber optic gyroscope strapdown inertial navigation assembly method and a system, which comprises the following processes: two vertical plates are fixedly installed in the box body, hard tool and buffer installation holes are formed in four corners of the two vertical plates, the installation holes in each vertical plate are arranged in a diagonal mode, and the hard tool installation holes in the first vertical plate are opposite to the buffer installation holes in the second vertical plate; arranging inertial navigation between the two vertical plates; a hard tool is fixedly arranged at the hard tool mounting hole and is fixed with the inertial navigation device; a drum-shaped rubber sleeve of the buffer is placed at the mounting hole of the buffer and fixed with the vertical plate, and a centering bolt penetrates through the drum-shaped rubber sleeve and is fixed with the inertial navigation system; after the box body is fixedly arranged on the rotary table and calibrated, the hard tool is detached and then is arranged on the equipment. The method and the system provided by the invention have the advantages of simple structure, convenience and quickness in assembly, capability of ensuring accurate calibration of inertial navigation before delivery, and capability of relieving the influence of overload impact on inertial navigation.
Description
Technical Field
The invention relates to the technical field of fiber optic gyroscopes, in particular to a built-in buffer fiber optic gyroscope strapdown inertial navigation assembly method and system.
Background
In the prior art, the optical fiber strapdown inertial navigation system is fixedly installed on the base directly through the bolt, and then the base is fixedly installed on the required equipment. The equipment is often subjected to larger overload impact, so that the magnitude of the inertial navigation impact is large, and the use of inertial navigation is influenced. Although there is a buffering vibration damper arranged in the inertial navigation system, the buffering vibration damper is external, most of the buffering vibration damper can only damp vibration, but can amplify large overload impact, and far exceeds the bearing range of the fiber optic gyroscope of the fiber optic strapdown inertial navigation and the main inertial element of the fiber optic gyroscope, the external rubber buffer can cause the optical gyroscope to lose functions due to the angular acceleration generated in the buffering process, and the external rubber buffer is easily influenced by the external temperature, gas and oil stains to reduce the buffering performance, even lead to the reduction of the service life, and because the gyroscope needs to be calibrated before leaving the factory, the buffer is arranged, and the calibration precision of the gyroscope can be influenced when the gyroscope is calibrated.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method and a system for assembling a fiber-optic gyroscope strapdown inertial navigation system with a built-in buffer, which are convenient and quick to assemble, do not influence the accurate calibration of the fiber-optic gyroscope strapdown inertial navigation system before leaving a factory, can relieve the influence of large overload impact on the inertial navigation system due to equipment in the using process, ensure the normal use function of the fiber-optic gyroscope strapdown inertial navigation system, and can prolong the service life of the fiber-optic gyroscope strapdown inertial navigation system.
The invention is realized by the following technical scheme:
a built-in buffer fiber optic gyroscope strapdown inertial navigation assembly method comprises the following steps:
s1: the two vertical plates are fixedly arranged in the box body, two hard tool mounting holes and two buffer mounting holes are respectively formed in four corners of the two vertical plates, the two hard tool mounting holes and the two buffer mounting holes in each vertical plate are arranged in a diagonal manner, and the hard tool mounting holes of the first vertical plate and the buffer mounting holes of the second vertical plate are arranged oppositely;
s2, suspending the fiber optic gyroscope strapdown inertial navigation system between the two vertical plates, and fixedly mounting sleeves with internal threads at four corners respectively;
s3, respectively and fixedly installing hard tools at the hard tool installation holes of the two vertical plates, wherein the middle parts of the hard tools are fixed with one end of the corresponding installation sleeve of the fiber optic gyroscope strapdown inertial navigation through long screws;
s4, placing drum-shaped rubber sleeves of the buffers at the buffer mounting holes of the two vertical plates and fixing the drum-shaped rubber sleeves with the corresponding vertical plates, and fixing a centering bolt with the other end of the corresponding mounting sleeve of the fiber optic gyroscope strapdown inertial navigation through a shaft sleeve in the drum-shaped rubber sleeves;
and S5, fixedly mounting the box body on a rotary table, driving the fiber optic gyroscope strapdown inertial navigation to rotate by the rotary table for calibration, dismantling the hard tool after the calibration is finished, and mounting the box body on required equipment.
Furthermore, the centering bolt is matched with the shaft sleeve of the drum-shaped rubber sleeve through a conical surface.
Optimized, the nut of the centering bolt is provided with an inner hexagonal hole, and when the centering bolt is disassembled and assembled, the tool with the outer hexagonal shape stretches into the inner hexagonal hole to rotate the centering bolt for disassembling and assembling.
Further, the drum-shaped rubber sleeve is connected with the drum-shaped rubber sleeve through a flange sleeved on the drum-shaped rubber sleeve by a bolt.
A built-in buffering fiber optic gyroscope strapdown inertial navigation assembly system comprises a box body, a fiber optic gyroscope strapdown inertial navigation unit, a hard tool and a buffer, wherein a first vertical plate and a second vertical plate are fixedly installed in the box body, two hard tool installation holes and two buffer installation holes are respectively formed in four corners of the first vertical plate and the second vertical plate, the two hard tool installation holes and the two buffer installation holes in each vertical plate are arranged in a diagonal mode, the hard tool installation holes in the first vertical plate and the buffer installation holes in the second vertical plate are arranged oppositely, the hard tool is fixedly installed in the hard tool installation holes, the fiber optic gyroscope strapdown inertial navigation unit is arranged between the first vertical plate and the second vertical plate in a suspended mode, installation sleeves with internal threads are respectively and fixedly installed at four corners of the fiber optic gyroscope strapdown inertial navigation unit, the hard tool is fixed with the fiber optic gyroscope strapdown inertial navigation unit through long bolts penetrating into the installation sleeves, the buffer comprises drum-shaped rubber sleeves, flanges and centering bolts, the rubber sleeves are sleeved on the drum-shaped rubber sleeves, the drum-shaped rubber sleeves are installed on the drum-shaped rubber sleeves, the hard tool are installed in the drum-shaped rubber sleeves, the fixed sleeves, the hard tool and penetrate into the drum-shaped rubber sleeves through the corresponding fixed flanges, and the drum-shaped inertial navigation unit and the corresponding installation holes of the fiber optic gyroscope strapdown inertial navigation unit.
Furthermore, a conical surface matched with a shaft sleeve of the drum-shaped rubber sleeve is arranged at the nut of the centering bolt.
Furthermore, the nut of the centering bolt is provided with an inner hexagonal hole.
Optimized, the stereoplasm frock includes the mounting panel and fixed extension cover of locating in the mounting panel, the extension cover is equipped with the internal thread, has seted up on the mounting panel with the corresponding bolt mounting hole of extension cover centre bore.
Furthermore, a box body mounting hole is fixedly formed outside the box body.
Advantageous effects of the invention
The invention provides a built-in buffer fiber optic gyroscope strapdown inertial navigation assembly method and a system, which have the following advantages:
1. the structure is simple, and the assembly is convenient and quick;
2. accurate calibration of the fiber-optic gyroscope strapdown inertial navigation before delivery can be ensured;
3. the influence of large overload impact on the inertial navigation system can be relieved, the normal use function of the fiber-optic gyroscope strapdown inertial navigation system is ensured, and the service life of the fiber-optic gyroscope strapdown inertial navigation system can be prolonged.
Drawings
FIG. 1 is a schematic diagram of the system architecture of the present invention;
FIG. 2 is a schematic view of a damper mounting structure;
FIG. 3 is a schematic view of a centering bolt configuration;
fig. 4 is a schematic structural view of a hard tooling.
In the figure: 1. the device comprises a first vertical plate, a box body, a fiber optic gyroscope strapdown inertial navigation unit, a mounting sleeve, a box body mounting hole, a hard tool, a buffer, a second vertical plate, a hard tool mounting hole, a buffer mounting hole, a drum-shaped rubber sleeve, a flange, a shaft sleeve, a centering bolt, a conical surface, a centering bolt nut, a centering bolt, a nut, a hexagon socket, a mounting plate and an extension sleeve, wherein the box body mounting hole is 5, the hard tool 6, the buffer 7, the second vertical plate 8, the hard tool mounting hole 9, the buffer mounting hole 10, the drum-shaped rubber sleeve 11, the flange, the shaft sleeve 13, the centering bolt 14, the conical surface, the centering bolt nut 16, the hexagon socket hole 17, the mounting plate 18 and the extension sleeve 19.
Detailed Description
A built-in buffer fiber optic gyroscope strapdown inertial navigation assembly method comprises the following steps:
s1: two risers of fixed mounting and set up two stereoplasm frock mounting holes and two buffer mounting holes respectively in the four corners of two risers in the box, two stereoplasm frock mounting holes and two buffer mounting holes on every riser all set up in pairs of angles, and the stereoplasm frock mounting hole of first riser sets up with the buffer mounting hole of second riser relatively, if the stereoplasm frock mounting hole that sets up on the first riser promptly, just set up the buffer mounting hole with other corresponding position on the second riser, if the buffer mounting hole that sets up on the first riser, just set up stereoplasm frock mounting hole with other corresponding position on the second riser.
S2, suspending the fiber optic gyroscope strapdown inertial navigation system between the two vertical plates, and fixedly mounting sleeves with internal threads at four corners respectively;
s3, respectively and fixedly installing hard tools at the hard tool installation holes of the two vertical plates, wherein the middle parts of the hard tools are fixed with one end of the corresponding installation sleeve of the fiber optic gyroscope strapdown inertial navigation through long screws;
s4, placing drum-shaped rubber sleeves of the buffers at the buffer mounting holes of the two vertical plates and fixing the drum-shaped rubber sleeves with the corresponding vertical plates, and fixing a centering bolt with the other end of the corresponding mounting sleeve of the fiber optic gyroscope strapdown inertial navigation through a shaft sleeve in the drum-shaped rubber sleeves;
the processes of S3 and S4 are not separated, and the S4 buffer can be installed first and then the hard tool can be installed.
And S5, fixedly mounting the box body on a rotary table, driving the fiber-optic gyroscope strapdown inertial navigation to rotate by the rotary table for calibration, dismantling the hard tool after calibration is finished, and mounting the box body on required equipment.
When the fiber optic gyroscope strapdown inertial navigation system assembled by the method is used for calibrating the fiber optic gyroscope strapdown inertial navigation, because two ends of the fiber optic gyroscope strapdown inertial navigation system are fixed with the vertical plate through the diagonal hard tools, the fiber optic gyroscope strapdown inertial navigation system is fixed relative to the box body, when the box body rotates along with the rotary table, the fiber optic gyroscope strapdown inertial navigation system can rotate along with the box body, the internal buffer does not work at the moment, and accurate calibration before the fiber optic gyroscope strapdown inertial navigation system leaves a factory can be realized.
After calibration is finished, the box body is fixedly installed on corresponding equipment for use after the hard tool is detached, namely buffers are installed on opposite angles of two ends of the fiber-optic gyroscope strapdown inertial navigation system, and the relative position relation between the fiber-optic gyroscope strapdown inertial navigation system and the case is not changed, so that the deformation error of the rubber buffer cannot be introduced into the calibration of the inertial navigation system. And when the optical fiber gyroscope strapdown inertial navigation receives X-direction impact, the four buffers are simultaneously axially extruded and stretched to play a role in buffering, and when the optical fiber gyroscope strapdown inertial navigation receives vertical Y-direction and Z-direction impact, the four rubber buffers are simultaneously radially extruded and sheared to play a role in buffering, so that the influence of large overload impact on an inertial navigation system due to equipment is frequently relieved, the normal use function of the optical fiber gyroscope strapdown inertial navigation is ensured, and the service life of the optical fiber gyroscope strapdown inertial navigation can be prolonged.
Meanwhile, as the system is provided with the buffer in the box body, the defects that the service life of the conventional commonly used external rubber buffer is short due to the influence of the external environment and the angular speed is too high during buffering are overcome.
And the buffer system and the hard tool adopt a four-point symmetrical installation mode, so that the hard tool ensures the fixing effect, the buffer ensures the damping and buffering effects, the structure and the assembly procedure are simplified, and the effects of reducing the cost and the weight are achieved.
Further, the drum-shaped rubber sleeve is connected with the drum-shaped rubber sleeve through a flange sleeved on the drum-shaped rubber sleeve by a bolt.
A schematic structural diagram of a fiber optic gyroscope strapdown inertial navigation assembly system with a built-in buffer is shown in the attached drawing 1, and the assembly system comprises a box body 2, a fiber optic gyroscope strapdown inertial navigation unit 3, a hard tool 6 and a buffer 7, wherein a first vertical plate 1 and a second vertical plate 8 are fixedly mounted in the box body, two hard tool mounting holes 9 and two buffer mounting holes 10 are respectively formed in four corners of the first vertical plate and the second vertical plate, the two hard tool mounting holes and the two buffer mounting holes in each vertical plate are arranged in a diagonal manner, the hard tool mounting holes in the first vertical plate and the buffer mounting holes in the second vertical plate are arranged oppositely, the hard tool mounting holes are fixedly provided with the hard tool, the fiber optic gyroscope strapdown inertial navigation unit is arranged between the first vertical plate and the second vertical plate in a suspended manner, mounting sleeves 4 with internal threads are respectively and fixedly mounted at the four corners of the fiber optic gyroscope strapdown inertial navigation unit, the hard tool is fixed with the fiber optic gyroscope strapdown inertial navigation unit through long bolts penetrating into the mounting sleeves, the buffer comprises drum-shaped rubber sleeve 11, a shaft sleeve 13, a flange 12 and a centering bolt 14, the concrete structural diagram of the buffer is mounted on the drum-shaped rubber sleeve, the drum-shaped rubber sleeve and the drum-shaped rubber sleeve, the drum-shaped rubber sleeve is mounted on the drum-shaped fixing rubber sleeve, and the drum-shaped rubber sleeve, and the buffer is mounted on the drum-shaped fixing rubber sleeve, and the drum-shaped inertial navigation unit.
Furthermore, the centering bolt and nut 16 is provided with a conical surface 15 which is matched with a shaft sleeve of the drum-shaped rubber sleeve, when the buffering component optical fiber gyroscope strapdown inertial navigation is impacted by the outside, the buffering component optical fiber gyroscope strapdown inertial navigation is equivalent to a motion guide rail, the angular rates and the angular accelerations of the optical fiber gyroscope strapdown inertial navigation in the X direction and the Y direction under the impact action are effectively limited, and the optical fiber gyroscope is prevented from being operated beyond the measuring range to cause precision loss.
Furthermore, the hexagon socket 17 is arranged at the nut of the centering bolt, when the centering bolt is disassembled and assembled, the tool with the outer hexagon shape can stretch into the hexagon socket to rotate the centering bolt for disassembly and assembly, the assembly is more convenient and labor-saving, and the specific structural schematic diagram of the centering bolt is shown in the attached drawing 3.
Preferably, the hard tool comprises an installation plate 18 and an extension sleeve 19 fixedly arranged in the installation plate, the specific structure schematic diagram of the hard tool is shown in the attached drawing 4, the extension sleeve is provided with internal threads, and the installation plate is provided with bolt installation holes corresponding to the central holes of the extension sleeve. The mounting panel can integrated into one piece with the extension cover, also can welded fastening, and the mounting panel can pass through bolt fixed connection with the riser, convenient dismantlement. The arrangement of the extension sleeve can be in butt joint with the installation sleeve of the fiber-optic gyroscope strapdown inertial navigation, so that the fixing effect of the hard tool and the fiber-optic gyroscope strapdown inertial navigation is improved, and a long bolt is convenient to penetrate.
Further, the box body is externally fixedly provided with a box body mounting hole 5, so that the box body and the rotary table can be conveniently and fixedly mounted through bolts.
The application protects a fiber optic gyroscope strapdown inertial navigation assembly system with a built-in buffer, after the assembly is carried out by adopting the assembly method of S1-S4, the assembly is placed on a rotary table in an S5 mode for calibration, a hard tool is detached after the calibration is finished, and then a box body is installed on required equipment.
The invention provides a method and a system for assembling a fiber-optic gyroscope strapdown inertial navigation system with built-in buffer.
In conclusion, the method and the system for assembling the fiber-optic gyroscope strapdown inertial navigation with the built-in buffer, which are provided by the invention, have the advantages of simple structure and convenience and rapidness in assembly, can ensure accurate calibration of the fiber-optic gyroscope strapdown inertial navigation before delivery, can relieve the influence of large overload impact on an inertial navigation system due to equipment, ensure the normal use function of the fiber-optic gyroscope strapdown inertial navigation, and can prolong the service life of the fiber-optic gyroscope strapdown inertial navigation.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A method for assembling a fiber optic gyroscope strapdown inertial navigation system with a built-in buffer is characterized by comprising the following steps:
s1: the two vertical plates are fixedly arranged in the box body, two hard tool mounting holes and two buffer mounting holes are respectively formed in four corners of the two vertical plates, the two hard tool mounting holes and the two buffer mounting holes in each vertical plate are arranged in a diagonal manner, and the hard tool mounting holes of the first vertical plate and the buffer mounting holes of the second vertical plate are arranged oppositely;
s2, suspending the fiber optic gyroscope strapdown inertial navigation system between the two vertical plates, and fixedly installing installation sleeves with internal threads at four corners respectively;
s3, respectively and fixedly installing hard tools at the hard tool installation holes of the two vertical plates, wherein each hard tool comprises an installation plate and an extension sleeve fixedly arranged in the installation plate, each extension sleeve is provided with an internal thread, the installation plate is provided with a bolt installation hole corresponding to the central hole of the extension sleeve, and the extension sleeve is butted with the corresponding installation sleeve of the fiber-optic gyroscope strapdown inertial navigation and is fixed with one end of the corresponding installation sleeve of the fiber-optic gyroscope strapdown inertial navigation through a long bolt;
s4, the buffer comprises drum-shaped rubber sleeves, shaft sleeves, flanges and centering bolts, the drum-shaped rubber sleeves of the buffer are placed at the buffer mounting holes of the two vertical plates and fixed with the corresponding vertical plates, and the centering bolts penetrate through the shaft sleeves in the drum-shaped rubber sleeves and are fixed with the other ends of the corresponding mounting sleeves of the fiber optic gyroscope strapdown inertial navigation;
and S5, fixedly mounting the box body on a rotary table, driving the fiber optic gyroscope strapdown inertial navigation to rotate by the rotary table for calibration, dismantling the hard tool after the calibration is finished, and mounting the box body on required equipment.
2. The assembling method of the fiber optic gyroscope strapdown inertial navigation system with the built-in buffer as claimed in claim 1, wherein the centering bolt is matched with the shaft sleeve of the drum-shaped rubber sleeve through a conical surface.
3. The assembling method of the fiber optic gyroscope strapdown inertial navigation system with the built-in buffer as claimed in claim 2, wherein the nut of the centering bolt is provided with an inner hexagonal hole, and when the centering bolt is assembled and disassembled, a tool with an outer hexagonal shape is inserted into the inner hexagonal hole to rotate the centering bolt for assembling and disassembling.
4. The assembling method of the fiber optic gyroscope strapdown inertial navigation system with the built-in buffer as claimed in claim 1, wherein the drum-shaped rubber sleeve is connected with the drum-shaped rubber sleeve through a flange sleeved on the drum-shaped rubber sleeve by a bolt.
5. The utility model provides a built-in buffering's optic fibre top strapdown is used to lead assembly system which characterized in that: the optical fiber gyroscope strapdown inertial navigation device comprises a box body, an optical fiber gyroscope strapdown inertial navigation device, hard tools and a buffer, wherein a first vertical plate and a second vertical plate are fixedly installed in the box body, two hard tool installation holes and two buffer installation holes are respectively formed in four corners of the first vertical plate and the second vertical plate, the two hard tool installation holes and the two buffer installation holes in each vertical plate are arranged in a diagonal line, the hard tool installation holes in the first vertical plate and the buffer installation holes in the second vertical plate are arranged oppositely, the hard tools are fixedly installed at the hard tool installation holes, the optical fiber gyroscope strapdown inertial navigation device is arranged between the first vertical plate and the second vertical plate in a hanging mode, installation sleeves with internal threads are respectively and fixedly installed at four corners of the optical fiber gyroscope strapdown inertial navigation device, the hard tools are fixed with the optical fiber gyroscope strapdown inertial navigation device through long bolts penetrating into the installation sleeves, the buffer comprises drum-shaped rubber sleeves, flanges and centering bolts, the drum-shaped rubber sleeves are installed on the drum-shaped rubber sleeves, the rubber sleeves are installed at the flange, the positions of the vertical plates are fixed through the drum-shaped rubber sleeves, and the centering bolts penetrate into the drum-shaped rubber sleeves.
6. The fiber optic gyroscope strapdown inertial navigation system with built-in buffer as claimed in claim 5, wherein the centering bolt has a tapered surface at the nut to fit the sleeve of the drum-shaped rubber sleeve.
7. The fiber optic gyroscope strapdown inertial navigation system with built-in buffer as claimed in claim 5 or 6, wherein the centering bolt nut is provided with a hexagon socket.
8. The fiber-optic gyroscope strapdown inertial navigation assembly system with the built-in buffer as claimed in claim 5 or 6, wherein the hard tool comprises a mounting plate and an extension sleeve fixedly arranged in the mounting plate, the extension sleeve is provided with internal threads, and the mounting plate is provided with bolt mounting holes corresponding to central holes of the extension sleeve.
9. The fiber optic gyroscope strapdown inertial navigation system with built-in buffer as claimed in claim 5 or 6, wherein a box mounting hole is fixedly arranged outside the box.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211629131.7A CN115615464B (en) | 2022-12-19 | 2022-12-19 | Built-in buffer fiber optic gyroscope strapdown inertial navigation assembly method and system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211629131.7A CN115615464B (en) | 2022-12-19 | 2022-12-19 | Built-in buffer fiber optic gyroscope strapdown inertial navigation assembly method and system |
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| CN115615464B true CN115615464B (en) | 2023-03-10 |
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| CN107677262A (en) * | 2017-08-15 | 2018-02-09 | 北京航天时代光电科技有限公司 | A kind of 4 vibration insulating systems in optical fiber gyro inertial measurement space |
| CN114894179A (en) * | 2022-02-28 | 2022-08-12 | 中国船舶重工集团公司第七0七研究所 | Vibration damping and buffering integrated design type optical fiber strapdown inertial navigation system |
| CN218002560U (en) * | 2022-03-30 | 2022-12-09 | 中国船舶重工集团公司第七0七研究所 | Anti-impact device for cannon inertial navigation installation |
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2022
- 2022-12-19 CN CN202211629131.7A patent/CN115615464B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0783750A (en) * | 1993-09-09 | 1995-03-31 | Canon Inc | Vibration detector supporting device and vibration gyro supporting device |
| RU121364U1 (en) * | 2011-12-16 | 2012-10-20 | Открытое акционерное общество "Государственный научно-исследовательский институт приборостроения" | SHOCK-UP PRIMER INFORMATION SENSOR UNIT FOR FREE PLATFORM INERTIAL NAVIGATION SYSTEMS |
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