CN115950457B - Inertial device centrifugal test device for inertial navigation system calibration - Google Patents
Inertial device centrifugal test device for inertial navigation system calibration Download PDFInfo
- Publication number
- CN115950457B CN115950457B CN202310232375.XA CN202310232375A CN115950457B CN 115950457 B CN115950457 B CN 115950457B CN 202310232375 A CN202310232375 A CN 202310232375A CN 115950457 B CN115950457 B CN 115950457B
- Authority
- CN
- China
- Prior art keywords
- inertial
- turntable
- inertial device
- navigation system
- centrifugal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Gyroscopes (AREA)
Abstract
The invention belongs to the technical field of inertial device test and measurement of an inertial navigation system, and particularly relates to an inertial device centrifugal test device for inertial navigation system calibration, which comprises a centrifugal machine and a load, wherein the centrifugal machine comprises a turntable, a driving mechanism, a turntable electric control mechanism and a main shaft; a main shaft is arranged in the center of the turntable; the driving mechanism is connected with the main shaft and drives the main shaft to rotate; the turntable electric control mechanism completes start and stop of the turntable, monitoring of the turntable and remote control; the turntable is provided with a load, and the load comprises an inertial device to be detected, a power supply and data transmission mechanism, a fixing mechanism, a triaxial fiber optic gyroscope assembly and a laser ranging mechanism; the laser ranging mechanism is used for measuring the effective test radius of the inertial device to be measured in real time, and the triaxial fiber-optic gyroscope assembly is used for measuring the instantaneous angular rate of the inertial device to be measured in real time; the device effectively improves the accuracy of the output centripetal acceleration, further improves the calibration accuracy of the inertial device to be measured, and reduces the influence of nonlinear errors.
Description
Technical Field
The invention belongs to the technical field of inertial device test and measurement of inertial navigation systems, and particularly relates to an inertial device centrifugal test device for inertial navigation system calibration.
Background
The fiber optic gyroscope is a rate integration gyroscope based on the Sagnac effect, when an annular light path rotates around an axis perpendicular to a light path plane in an inertial space, two rows of light propagating oppositely in the light path generate an optical path difference due to inertial motion, so that interference of two coherent light waves is caused. The phase difference corresponding to the optical path difference has a certain internal relation with the rotation angle rate, and the rotation angle rate can be determined through detecting and demodulating the interference light intensity signal. The fiber optic gyroscope is one of the core devices of the inertial navigation system.
In an inertial navigation system, accuracy correction of an inertial device has important significance. As US2873426a discloses an accelerometer calibration system comprising a vibrator for testing and calibrating an accelerometer to be measured at high speed, mounting the accelerometer to be measured on the end of the vibrator member, and a test and power supply device electrically connected to the vibrator member, calibration of the accelerometer being achieved by the above vibration structure. US9459277B2 discloses a system and method of calibrating a 3-axis accelerometer comprising an acceleration sensor and a speed sensor, receiving speed information using the speed sensor, receiving acceleration information along at least one measured component using the speed information, receiving acceleration information using the acceleration sensor, and calibrating at least one of the measured components to the acceleration sensor axis using the acceleration information, the acceleration sensor acceleration samples and the average vertical vector samples.
However, in practical applications, the output of the accelerometer is not linear, and the accelerometer includes error terms such as a high-order nonlinear term and a cross-coupling term in addition to the linear part formed by the zero offset and the primary term. But there is currently no effective test device for calibrating the errors described above. The precision centrifuge is a common high-dynamic testing device for inertial devices in an inertial navigation system, and the device is used for providing high centripetal acceleration by means of high rotation speed, so that when the inertial device to be tested is arranged on a centrifuge table top and rotates together with the centrifuge table top, the acceleration effect far greater than gravity can be obtained, and the nonlinear error which cannot be distinguished from the linear part of a sensor under the gravity field is excited, so that the calibration of the nonlinear error is possible.
As the definition of the centripetal acceleration shows, the errors of the angular velocity and the effective radius affect the magnitude of the centripetal acceleration. Since the centripetal acceleration is proportional to the square of the angular velocity, the accuracy of the angular velocity has an important influence on the centripetal acceleration. However, in the working process of the conventional precise centrifugal machine, the average angular velocity is used for representing the actual angular velocity, and the angular velocity under the influence of the angular velocity error cannot be accurately described in the mode. This presents two problems, one is that the instantaneous angular rates at different phases of the centrifuge turret are not equal and are affected by a number of factors, not described by the average angular rate; secondly, in the precise centrifugal test process, the linearity of any rotating speed sequence is difficult to ensure due to the existence of angular rate errors. The effective radius is affected by centrifugal and gravitational loads, resulting in stretching. Meanwhile, since the centrifugal load is related to the centripetal acceleration, a singular quadratic error is introduced in the test, and the nonlinearity of the acceleration measurement is caused.
Therefore, in the high-dynamic test of an inertial sensor or an inertial navigation system in engineering practice, the angular speed error and the effective radius error of the centrifugal machine cause centripetal acceleration error, and finally, the calibration precision of the equipment to be tested is reduced, so that the performance of the equipment to be tested cannot be accurately reflected.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides an inertial device centrifugal test device for inertial navigation system calibration. Based on the fiber-optic gyroscope and the laser ranging, the method is used for improving the accuracy of the angular rate and the test radius in the precise centrifugal test and finally improving the calibration accuracy of the inertial equipment to be tested.
The complete technical scheme of the invention comprises the following steps:
an inertial device centrifugal test device for inertial navigation system calibration, the inertial device centrifugal test device comprises a centrifugal machine and a load;
the centrifugal machine comprises a rotary table, a driving mechanism, a rotary table electric control mechanism and a main shaft; the turntable comprises a working table surface, and a main shaft is arranged in the center of the turntable; the driving mechanism is a brushless torque motor and is connected with the main shaft and drives the main shaft to rotate; the turntable electric control mechanism is electrically connected with the turntable and is used for completing start and stop of the turntable, monitoring of the turntable and remote control;
the turntable is provided with a load, and the load comprises an inertial device to be detected, a power supply and data transmission mechanism, a fixing mechanism, a triaxial fiber optic gyroscope assembly and a laser ranging mechanism; the fixing mechanism is used for fixing the inertial device to be tested;
the laser ranging mechanism comprises a laser and a reflecting mirror, the laser is arranged at the center of a working table surface of the turntable, the reflecting mirror is arranged on the circumference with the same installation radius as that of the inertial device to be measured, and the laser, the reflecting mirror and the center of the working table surface are positioned on a horizontal straight line;
the triaxial fiber optic gyroscope assembly is arranged below the working table surface of the turntable and is positioned on a vertical straight line with the inertial device to be measured.
Furthermore, the centrifugal testing device for the inertial device further comprises a main shaft supporting mechanism, and the main shaft supporting mechanism adopts a mechanical shafting supporting mode.
Furthermore, a leveling sizing block for leveling the centrifugal machine is arranged below the centrifugal machine, and a grating encoder is arranged on the outer side of the turntable of the centrifugal machine.
Further, the laser ranging mechanism is used for measuring the effective test radius of the inertial device to be measured in real time.
Further, the triaxial fiber optic gyroscope assembly is used for measuring the instantaneous angular rate of the inertial device to be measured in real time.
Further, the load further comprises a power supply and data transmission mechanism, wherein the power supply and data transmission mechanism comprises 1 electric connector arranged in the center of the working table surface and a conductive slip ring connected with the electric connector.
Further, a first marble table top is arranged below the fixing mechanism and the inertial device to be tested; a second marble table top is arranged below the first marble table top.
Further, the data of the triaxial fiber optic gyroscope assembly, the inertial device to be measured and the laser ranging mechanism are output to the acquisition computer.
Further, the inertial device to be measured is an accelerometer.
The invention designs a novel precise centrifugal device under the requirement of high acceleration range (100 g), which mainly comprises a mechanical table body of a precise centrifugal machine, a triaxial fiber optic gyro assembly, a laser ranging system and other components. The high-strength titanium alloy material is used as the strength and stability of the load tool, the triaxial fiber-optic gyroscope assembly tool, the reflector main body structure and the like under centrifugal load, so that failure of each assembly is avoided. The angular position sensor is a Haidehan absolute type circular grating, torque motor driving is carried out through an AKD series servo driver, stability at high rotating speed is guaranteed, and the requirement on a gyroscope device is reduced.
Drawings
FIG. 1 is a schematic diagram of a centrifugal test apparatus according to the present invention.
FIG. 2 is a diagram of the structure of the working table of the centrifugal testing device of the present invention.
FIG. 3 is a block diagram of the working system of the centrifugal testing device of the invention.
In the figure: the device comprises a 1-inertial device to be tested, a 2-fixing mechanism, a 3-first marble table top, a 4-second marble table top, a 5-reflecting mirror, a 6-laser and a 7-triaxial fiber optic gyro assembly.
Detailed Description
The present invention will be described in detail with reference to the following examples and drawings, but it should be understood that the examples and drawings are only for illustrative purposes and are not intended to limit the scope of the present invention in any way. All reasonable variations and combinations that are included within the scope of the inventive concept fall within the scope of the present invention.
The invention discloses an inertial sensor centrifugal test device for inertial navigation system calibration, which is a precise centrifugal test device based on an optical fiber gyroscope and laser ranging, and mainly comprises a centrifugal machine mechanical table body, a triaxial optical fiber gyroscope assembly and a laser ranging system. The mechanical table body of the centrifugal machine adopts a vertical table-board type structure, and a triaxial fiber optic gyro assembly and a laser ranging system are added on the basis of the structure of the traditional precise centrifugal machine, so that the precision of the angular rate and the testing radius is improved. The specific structure is shown in fig. 1-2, and comprises a centrifugal machine and a load, wherein the centrifugal machine adopts a mechanical table body. The mechanical table body adopts a vertical table top single-shaft electric structure and mainly provides a mounting reference and rotary motion for a load, and comprises a rotary table, a driving mechanism, a rotary table electric control mechanism, a main shaft and a main shaft supporting mechanism.
The turntable adopts a vertical table top structure and comprises a working table top, a load is arranged on the turntable, a main shaft is arranged in the center of the turntable, a main shaft supporting mechanism is a precise mechanical shaft system support, and each shaft system adopts a high-precise angular contact ball bearing as a main support and an auxiliary support of a centrifugal machine shaft system. Because the triaxial fiber optic gyroscope assembly increases the gravity load of the table surface of the centrifugal machine, the rigidity of the table surface needs to be as great as possible to reduce the bending caused by the gravity load, and the table surface is made of super hard aluminum material, with the brand 7075, and has high strength and weak magnetism, so that the magnetic flux leakage of the table surface can be effectively reduced.
The driving mechanism is a brushless torque motor, is used as a driving element of a centrifuge shafting and drives the main shaft to drive the centrifuge to rotate; a leveling sizing block for leveling the centrifugal machine is arranged below the mechanical table body. The upper and lower surfaces of the table top of the turntable have the same flatness, and the normal directions are parallel.
The turntable electric control system is responsible for completing the functions of starting and stopping of a turntable, monitoring of the turntable, remote control and the like so as to realize the centrifugal test function, and mainly comprises a motion control unit, an angle measurement unit, a driving unit, a logic control unit and the like. The turntable electric control mechanism is arranged in the control cabinet and is provided with a visual operation interface, so that the functions of motion control, data processing, state monitoring and the like are conveniently realized; the turntable electric control system adopts the technical scheme of a main control computer + 'DSP+FPGA motion control board "+' servo driving unit+torque motor+high-precision encoder, adopts a position, speed and current three-loop closed-loop control mode, and is matched with the existing mature servo control algorithm to ensure the good steady-state precision and dynamic quality of the system. The three-axis optical fiber gyro assembly, the inertial device to be measured and laser ranging output data are output to the acquisition computer through RS232/422, the relation between the real-time centripetal acceleration, the instantaneous angular rate and the effective test radius is obtained, the acceleration reference value is calculated according to the real-time effective test radius and the instantaneous angular rate, and the acceleration reference value is compared with the measured acceleration value acquired by the inertial device to be measured, so that the inertial device to be measured is corrected after being measured.
The load comprises an inertial device 1 to be measured, a fixing mechanism 2, a power supply and data transmission mechanism, a triaxial fiber optic gyro assembly 7 and a laser ranging mechanism.
The inertial device to be measured is located on the first marble table 3 and is fixed by a fixing mechanism, which is connected to the inertial device to be measured through an adapter, and in a centrifugal test, in order to obtain an acceleration of 100g, the required rotational speed of the centrifuge will reach about 5 revolutions per second, so the fixing mechanism needs to have the capability of resisting a centrifugal load of 100 g. In order to reduce the load beyond the inertial device to be measured, high-strength titanium alloy is used as the material of the fixing mechanism, and the centrifugal load resistance is further improved structurally by utilizing a triangular support mode. The adaptor should have the ability to facilitate 180 ° steering of the inertial device to be tested, while allowing the inertial device to be tested mounted on the adaptor to have its communication function unobstructed by steering. In addition, the change in effective radius before and after steering should be made as small as possible in size.
A first marble table top is arranged below the fixing mechanism and is used for mounting an inertial device to be tested; a second marble table top 4 is arranged below the first marble table top, and the second marble table top 5 is used for isolating heat transfer between the turntable and the inertial device to be tested.
The laser ranging mechanism adopts a laser interferometer to realize a laser ranging function and comprises a laser 6 and a reflecting mirror 5, wherein the laser is arranged at the central spindle of the workbench surface and is symmetrically provided with 2 lasers. And a 2-surface reflector is arranged on the circumference with the same installation radius as the inertia device to be detected, and is used for receiving the reflected laser beam. The laser, the reflector and the center of the table top are positioned on the same straight line in the horizontal direction. The rigidity of the reflector structure needs to ensure that the reflector cannot fail under high centripetal acceleration, and the laser probe of the laser needs to ensure that the laser probe cannot deviate relative to the mounting surface. The laser ranging mechanism measures the effective test radius of the equipment to be measured in real time so as to improve the effective radius measurement accuracy.
The triaxial fiber-optic gyroscope assembly 7 is arranged below the working table surface of the turntable, and is used for measuring the instantaneous rotating speed of the inertial device to be measured by installing the fiber-optic gyroscope, so that the angular rate reference of the centrifugal machine is replaced, and the instantaneous angular rate measurement accuracy is improved.
The triaxial gyroscope provided by the invention realizes accurate measurement of the instantaneous rotation speed of the centrifugal machine under the installation misalignment angle. In order to reduce the effect of the mounting misalignment angle, the triaxial fiber optic gyroscope assembly should have the sensitive axis of the Z-axis gyroscope parallel to the normal direction of the table when mounted to the table. Meanwhile, the triaxial fiber optic gyroscope assembly is larger in mass, so that the problem of tool strength is required to be more attention during installation. To ensure the balance of the table top, the tri-axial fiber optic gyroscope assembly needs to be mounted directly under the accelerometer, also mounted on both sides of the table top in symmetrical positions, as shown in fig. 2.
The middle of the working table surface is provided with 1 electric connector, and the electric connector supplies power to a power supply of an inertial device to be tested and realizes data transmission through the conductive slip ring. Considering the mass of the equipment to be tested and the mass of the tooling itself, the load capacity of the table top is required to be more than 40kg.
And a high-precision grating encoder is arranged on the outer side of the rotary table of the centrifugal machine and used for realizing angle measurement and angle position feedback. The triaxial fiber optic gyroscope assembly only provides measurement of instantaneous angular velocity and does not have a centrifuge rotation speed control function. The measurement and control of the shaft angle position of the turntable are completed through an angle measuring device, and factors such as precision requirements, installation dimensions, electromagnetic environment, temperature and humidity are considered. The measuring standard is a periodic line-grating, and the grating is engraved on glass or steel. The absolute position value is derived from a grating code disc consisting of a series of absolute codes, and the position value can be obtained immediately when the encoder is powered on, so that the reference point zeroing operation is not required to be executed by the rotating shaft system. The torque motor is driven by the servo driver, and an isolation transformer and an EMI filter are arranged at the front end of the power supply input of the servo driver and used for inhibiting higher harmonics and radio frequency clutters in a power grid, so that the servo driver can work orderly without being influenced by the conduction interference of the power grid, and electromagnetic interference generated by the servo driver can be effectively inhibited, and interference with sensitive equipment of the power grid is prevented; on the other hand, an output reactor or a common mode choke coil is added between the output end of the servo driver and the torque motor, and the motor is mainly used for inhibiting resonance phenomenon of distributed capacitance and distributed inductance caused by long cable wires, eliminating motor overvoltage caused by high dv/dt, eliminating motor early damage caused by eddy current loss and reducing radiation interference of a motor driving system to the outside.
The inertial device to be measured is an accelerometer, and the accelerometer can be sensitive to centripetal acceleration caused by the angular velocity of the centrifugal machine by fixing the accelerometer on the workbench surface to rotate together with the turntable, so that the precise centrifugal test of the accelerometer can be realized. The mounting of the accelerometer is therefore of vital importance. It is first necessary to determine the mounting form of the accelerometer, which is determined by the kind of calibration to be performed. If the purpose of calibration is to determine the high-order nonlinear coefficient of the accelerometer, the input shaft of the accelerometer needs to be directed to the main shaft of the centrifugal machine along the effective radius direction for installation, which is a standard installation mode capable of meeting most of applications; if the cross coupling error is required to be calibrated, according to the specific cross axis composition required to be calibrated, an angular bisector of the accelerometer points to a main shaft of the centrifugal machine for installation; if the cross-axis nonlinearity is to be calibrated, the accelerometer output shaft or pendulum shaft is directed to the centrifuge spindle for installation in a manner similar to the standard. In the vertical direction, the axis to be tested of the accelerometer should be parallel to the table top as much as possible, so that the influence of the gravitational acceleration is reduced.
The integral working principle of the integral structure and the specific rotating speed control flow of the turntable are shown in figure 3, mode selection, parameter setting and monitoring are carried out through the operation of an upper computer, local or remote operation is realized, after the control computer receives the instruction and the feedback information, judgment operation is carried out, a motion instruction is sent to a motion control module, and the motion control module generates a control signal according to the motion instruction. The control signal is transmitted to the driving module, the driving module drives the motor to rotate, and the preset angular movement function is realized through measurement and calculation of the angular position of the high-precision angle encoder and the angular position acquisition card, and the high rotation speed stability is ensured, so that the performance requirement on each device of the triaxial fiber-optic gyroscope assembly is reduced.
The above applications are only some of the embodiments of the present application. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit of the inventive concept.
Claims (9)
1. An inertial device centrifugal test device for inertial navigation system calibration is characterized in that the inertial device centrifugal test device comprises a centrifugal machine and a load;
the centrifugal machine comprises a rotary table, a driving mechanism, a rotary table electric control mechanism and a main shaft; the turntable comprises a working table surface, and a main shaft is arranged in the center of the turntable; the driving mechanism is a brushless torque motor and is connected with the main shaft and drives the main shaft to rotate; the turntable electric control mechanism is electrically connected with the turntable and is used for completing start and stop of the turntable, monitoring of the turntable and remote control;
the turntable is provided with a load, and the load comprises an inertial device to be detected, a fixing mechanism, a triaxial fiber optic gyroscope assembly and a laser ranging mechanism; the fixing mechanism is used for fixing the inertial device to be tested;
the laser ranging mechanism comprises a laser and a reflecting mirror, the laser is arranged at the center of a working table surface of the turntable, the reflecting mirror is arranged on the circumference with the same installation radius as that of the inertial device to be measured, and the laser, the reflecting mirror and the center of the working table surface are positioned on a horizontal straight line;
the triaxial fiber optic gyroscope assembly is arranged below the working table surface of the turntable and is positioned on a vertical straight line with the inertial device to be measured.
2. The inertial device centrifugal test device for inertial navigation system calibration according to claim 1, further comprising a spindle support mechanism, wherein the spindle support mechanism adopts a mechanical shafting supporting mode.
3. The inertial device centrifugal test device for inertial navigation system calibration according to claim 2, wherein a leveling pad for leveling the centrifugal machine is arranged below the centrifugal machine, and a grating encoder is arranged outside the turntable of the centrifugal machine.
4. A inertial device centrifugal test apparatus for inertial navigation system calibration according to claim 3, wherein said laser ranging mechanism is configured to measure in real time the effective test radius of the inertial device under test.
5. The inertial device centrifugal test apparatus for inertial navigation system calibration according to claim 4, wherein the tri-axial fiber optic gyroscope assembly is configured to measure in real time the instantaneous angular rate of the inertial device under test.
6. The inertial device centrifugal test apparatus for inertial navigation system calibration according to claim 5, wherein said load further comprises a power and data transmission mechanism comprising 1 electrical connector disposed in the center of the table top, and an electrically conductive slip ring connected to the electrical connector.
7. The inertial device centrifugal test device for inertial navigation system calibration according to claim 6, wherein a first marble table top is arranged below the fixing mechanism and the inertial device to be tested; a second marble table top is arranged below the first marble table top.
8. The inertial device centrifugal test device for inertial navigation system calibration according to claim 7, wherein the data of the triaxial fiber optic gyroscope assembly, the inertial device to be tested and the laser ranging mechanism are output to the acquisition computer.
9. The inertial device centrifugal test apparatus for inertial navigation system calibration according to claim 8, wherein the inertial device under test is an accelerometer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310232375.XA CN115950457B (en) | 2023-03-13 | 2023-03-13 | Inertial device centrifugal test device for inertial navigation system calibration |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310232375.XA CN115950457B (en) | 2023-03-13 | 2023-03-13 | Inertial device centrifugal test device for inertial navigation system calibration |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115950457A CN115950457A (en) | 2023-04-11 |
| CN115950457B true CN115950457B (en) | 2023-05-02 |
Family
ID=85891294
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310232375.XA Active CN115950457B (en) | 2023-03-13 | 2023-03-13 | Inertial device centrifugal test device for inertial navigation system calibration |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115950457B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5793541A (en) * | 1984-05-15 | 1998-08-11 | Societe D'etudes Et De Realisations Electroniques | Controlled and stabilized platform |
| JP2007155584A (en) * | 2005-12-07 | 2007-06-21 | Japan Agengy For Marine-Earth Science & Technology | Inertia navigation system |
| CN102636183A (en) * | 2012-03-31 | 2012-08-15 | 北京航空航天大学 | Quadratic overload term test method for flexible gyroscope based on optical fiber monitoring and centrifuge with two-axis turntable |
| CN106969783A (en) * | 2017-02-13 | 2017-07-21 | 哈尔滨工业大学 | A kind of single-shaft-rotation Rapid Calibration Technique based on optical fibre gyro inertial navigation |
| US10883852B1 (en) * | 2018-01-26 | 2021-01-05 | Amazon Technologies, Inc. | Simulating inertial motion using true inertial motion |
| CN114370885A (en) * | 2021-10-29 | 2022-04-19 | 北京自动化控制设备研究所 | Error compensation method and system for inertial navigation system |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8005635B2 (en) * | 2007-08-14 | 2011-08-23 | Ching-Fang Lin | Self-calibrated azimuth and attitude accuracy enhancing method and system (SAAAEMS) |
| EP3812701B1 (en) * | 2019-10-23 | 2022-08-24 | Hexagon Technology Center GmbH | Online leveling calibration of a geodetic instrument |
-
2023
- 2023-03-13 CN CN202310232375.XA patent/CN115950457B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5793541A (en) * | 1984-05-15 | 1998-08-11 | Societe D'etudes Et De Realisations Electroniques | Controlled and stabilized platform |
| JP2007155584A (en) * | 2005-12-07 | 2007-06-21 | Japan Agengy For Marine-Earth Science & Technology | Inertia navigation system |
| CN102636183A (en) * | 2012-03-31 | 2012-08-15 | 北京航空航天大学 | Quadratic overload term test method for flexible gyroscope based on optical fiber monitoring and centrifuge with two-axis turntable |
| CN106969783A (en) * | 2017-02-13 | 2017-07-21 | 哈尔滨工业大学 | A kind of single-shaft-rotation Rapid Calibration Technique based on optical fibre gyro inertial navigation |
| US10883852B1 (en) * | 2018-01-26 | 2021-01-05 | Amazon Technologies, Inc. | Simulating inertial motion using true inertial motion |
| CN114370885A (en) * | 2021-10-29 | 2022-04-19 | 北京自动化控制设备研究所 | Error compensation method and system for inertial navigation system |
Non-Patent Citations (2)
| Title |
|---|
| "Impacts of Installation Errors on the Calibration accuracy of Gyro accelerometer tested on Centrifuge";Ren Shun-qing et.al;《2013 2nd International Symposium on Instrumentation and Measurement, Sensor Network and Automation (IMSNA)》;第914-918页 * |
| "正交双加速度计在离心机上的测试方法及模型辨识";姜岩松等;《航空精密制造技术》;第47卷(第1期);第16-22页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115950457A (en) | 2023-04-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204831330U (en) | Three -axle table's attitude sensor test system | |
| CN106052595B (en) | Three-axle table axis verticality detection method based on laser gyro strap down inertial navigation | |
| CN105486276A (en) | High-precision measurement device and measurement method for angle of pitch | |
| CN103499365A (en) | Rotary transformer static and dynamic angle measuring accuracy calibration device and method | |
| CN103512482B (en) | A kind of super-conductive magnetic suspension rotor attitude measurement signal calibration device | |
| CN102628694B (en) | Control system and control method of single- axis turntable based on inertia device gyroscope and accelerometers | |
| WO2018184256A1 (en) | Single point laser vibration measurer based multi-directional wide-angle and continuous-scan vibration measurement auxiliary instrument | |
| CN102636186A (en) | Positioning and calibration device of angular position of three-axis turntable | |
| CN103148818A (en) | High precision gyro motor bearing loading method | |
| CN111536998B (en) | Two-axis separation type gyroscope calibration device adopting magnetoelectric encoder | |
| CN110345838B (en) | Method for measuring working radius of four-axis centrifugal machine | |
| CN211538235U (en) | Dynamic balance adjusting device of high-precision precise centrifuge | |
| CN115950457B (en) | Inertial device centrifugal test device for inertial navigation system calibration | |
| RU2494345C1 (en) | Multi-purpose wide-range test bench for monitoring of angular velocity metres | |
| CN112798015B (en) | Dynamic angle calibration device | |
| CN105932794A (en) | Large-size and low-inertia hollow precision shaft system with limit | |
| CN110500956B (en) | Standard circle track generating device | |
| CN110954131B (en) | Tool for calibrating misalignment angle of input shaft of fiber-optic gyroscope | |
| CN109059917B (en) | Dynamic level meter and dynamic adjustment measurement method thereof | |
| CN110455313A (en) | A kind of detection device of optical fibre gyro | |
| CN205879132U (en) | Inferior rad level angle measurement device | |
| CN113899324B (en) | Multi-axis turntable perpendicularity error detection method based on single-axis laser gyro goniometer | |
| CN212482503U (en) | Temperature calibration equipment for single-shaft inertia device | |
| CN108507771A (en) | Passive electromagnetic damper for small torque calibration device | |
| CN111457920B (en) | Rotation angle measuring method based on accelerometer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |