CN202693000U - Laser strapdown inertial navigation system calibration equipment for external field - Google Patents
Laser strapdown inertial navigation system calibration equipment for external field Download PDFInfo
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- CN202693000U CN202693000U CN 201220369223 CN201220369223U CN202693000U CN 202693000 U CN202693000 U CN 202693000U CN 201220369223 CN201220369223 CN 201220369223 CN 201220369223 U CN201220369223 U CN 201220369223U CN 202693000 U CN202693000 U CN 202693000U
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Abstract
The utility model belongs to the technical field of inertial navigation and relates to laser strapdown inertial navigation system calibration equipment for an external field. The laser strapdown inertial navigation system calibration equipment comprises an equipment shell (1) with a rapid leveling function, a mechanical and electronic integrated single-shaft automatic turntable (2), a computer (3), a relay module (4), a power module (5) and an RS232 interface to RS485 interface bus module (6). The laser strapdown inertial navigation system calibration equipment can be used for carrying out fault inspection, performance detection, key parameter calibration and compensation on a laser strapdown inertial navigation system and ensures the pure inertial navigation precision of the laser strapdown inertial navigation system. The laser strapdown inertial navigation system calibration equipment is small in size, light in weight, suitable for conditions of external field maneuvering or turnaround and the like and is low in automation degree, has low requirements on operation personnel and provides convenience for maintenance guarantee work of the external field.
Description
Technical field
The utility model belongs to the inertial navigation technology field, relates to a kind of Laser strapdown inertial navigation system calibration facility for the outfield.
Background technology
Along with a large amount of equipments of Laser strapdown inertial navigation system in the Aeronautics and Astronautics field, the error drift that produces in the long-term use procedure of inertial navigation system is more and more obvious on the impact of flight precision, so the regular calibration work of Laser strapdown inertial navigation system under condition of external field seems very necessary.At present calibration scheme commonly used is that the Laser strapdown inertial navigation system is returned factory and carried out staking-out work in testing laboratory, and the normal operating position that this has not only affected the equipment product also greatly reduces the maneuverability that product ensures.Simultaneously, the automaticity of existing calibration equipment is lower, and operating personnel's professional level is had relatively high expectations.Full-automatic, the portable calibration facility that specialty is directed to the Ring Laser Gyroscope SINS outfield does not exist.
The utility model content
Technical problem to be solved in the utility model is: a kind of Portable type full-automatic calibration facility that is applicable to the Laser strapdown inertial navigation system in outfield is provided.
The technical solution of the utility model is: a kind of Laser strapdown inertial navigation system automatic calibration equipment for the outfield, described equipment comprise that mainly apparatus casing 1, electromechanical integration single shaft automatic turntable 2, computing machine 3, relay module 4, power module 5, RS232 interface with fast leveling function turn RS485 interface bus module 6; Electromechanical integration single shaft automatic turntable 2, computing machine 3, relay module 4, power module 5 and RS232 interface turn RS485 interface bus module 6 and all are embedded in and comprise in the apparatus casing 1 with fast leveling function.Computing machine 3 is crosslinked by one road RS232 bus and integrated single shaft automatic turntable 2, and computing machine 3 sends instruction by this bus and controls integrated single shaft automatic turntable, receives simultaneously integrated single shaft automatic turntable status information; Computing machine 3 is connected with apparatus casing 1 inner cable plug by another road RS232 bus, and inertial navigation product cable connects this plug, makes computing machine 3 send the inertial navigation product that required demarcation is controlled in instruction by this bus, receives the inertial navigation product data information; Computing machine 3 turns RS485 interface bus module 6 by Third Road RS232 bus and RS232 interface and is connected, the RS232 interface turns RS485 interface bus module 6 and is connected with relay module 4, the output terminal of relay module 4 is connected to the startup terminal of inertial navigation cable, thereby make computing machine 3 by sending instruction pilot relay module 4 switches, realize the switching on and shutting down control to the inertial navigation product; Power module 5 output 28V DC are the electrical integrated single shaft automatic turntable 2 of junctors, computing machine 3, relay module 4 respectively, and is the power supply of inertial navigation product by the cable connector plug on the connection device housing 1.
The beneficial effects of the utility model: the utility model Laser strapdown inertial navigation system calibration facility, can carry out trouble shooting, Performance Detection, key parameter is demarcated and compensate the pure-inertial guidance precision of assurance Ring Laser Gyroscope SINS Ring Laser Gyroscope SINS; The utility model volume is little, lightweight, is fit to use in the situation such as the motor-driven or transition in outfield; The utility model automaticity is high, operating personnel is required low, makes things convenient for the Support work in outfield.
Description of drawings
Fig. 1 is the utility model Laser strapdown inertial navigation system calibration facility theory of constitution figure;
Fig. 2 is the utility model Laser strapdown inertial navigation system calibration facility structural representation;
Fig. 3 is the utility model Laser strapdown inertial navigation system calibration facility annexation block diagram;
Wherein, 1-apparatus casing, 2-electromechanical integration single shaft automatic turntable, 3-computing machine, 4-relay module, 5-power module, 6-RS232 interface turn RS485 interface bus module.
Embodiment
Below in conjunction with Figure of description embodiment of the present utility model is elaborated.
See also Fig. 1, Fig. 2, Fig. 3, a kind of Laser strapdown inertial navigation system calibration facility for the outfield of the utility model, described equipment comprise that mainly apparatus casing 1, electromechanical integration single shaft automatic turntable 2, computing machine 3, relay module 4, power module 5, RS232 interface with fast leveling function turn RS485 interface bus module 6; Electromechanical integration single shaft automatic turntable 2, computing machine 3, relay module 4, power module 5 and RS232 interface turn RS485 interface bus module 6 and all are embedded in and comprise in the apparatus casing 1 with fast leveling function.Computing machine 3 is crosslinked by one road RS232 bus and integrated single shaft automatic turntable 2, and computing machine sends instruction by this bus and controls integrated single shaft automatic turntable 2, receives simultaneously integrated single shaft automatic turntable 2 status informations; Computing machine 3 is connected with apparatus casing 1 inner cable plug by another road RS232 bus, and inertial navigation product cable connects this plug, makes computing machine 3 send the inertial navigation product that required demarcation is controlled in instruction by this bus, receives the inertial navigation product data information; Computing machine 3 turns RS485 interface bus module 6 by Third Road RS232 bus and RS232 interface and is connected, the RS232 interface turns RS485 interface bus module 6 and is connected with relay module 4, the output terminal of relay module 4 is connected to the startup terminal of inertial navigation cable, thereby make computing machine 3 by sending instruction pilot relay module 4 switches, realize the switching on and shutting down control to the inertial navigation product; Power module 5 output 28VDC are the electrical integrated single shaft automatic turntable 2 of junctors, computing machine 3, relay module 4 respectively, and is the power supply of inertial navigation product by the cable connector plug on the connection device housing 1.
Utilize the said equipment to realize the method flow that Laser strapdown inertial navigation system outfield is demarcated, concrete operation step is as follows:
1. device initialize:
Utilize fast leveling bubble and leveling support on the apparatus casing 1, adjust the turntable planar horizontal; Required demarcation inertial navigation product is installed on the turntable carriage; Install the starting outfit power supply, control software is demarcated in operation automatically.
2. automatically control the inertial navigation system switch:
Computing machine 3 automatically sends by the RS232 interface and starts the inertial navigation instruction, turns RS485 interface bus module 6 by the RS232 interface and is forwarded to relay module 4, the startup of the control inertial navigation product of demarcating.
3. inertial navigation fault diagnosis:
Computing machine 3 carries out data communication by RS232 bus and institute's calibration inertial navigation product, demarcates whether fault of inertial navigation product according to the data message automatic decision.
4. the control turntable is sought north:
The computing machine 3 control inertial navigation products of demarcating are finished and are aimed at and change over to navigational state, by receiving inertial navigation product true heading data, calculate rotational angle, computing machine 3 by with the crosslinked RS232 interface sending controling instruction of electromechanical integration single shaft automatic turntable 2, the north of seeking of finishing electromechanical integration single shaft automatic turntable 2.
5. inertial navigation Performance Detection:
By the crosslinked RS232 interface of computing machine 3 and inertial navigation product, receive the data message of the inertial navigation product of demarcating, judge whether the inertial navigation properties of product meet the demands.
6. the control turntable is measured the inertial navigation accelerometer error of zero and gyroscope constant value drift:
Make the inertial navigation product of demarcating finish the demarcation flow process by the electrical integrated single shaft automatic turntable 2 of controller, measure to add and count error of zero deltva_x0, delta_y0; Measure inertial navigation product gyroscope constant value drift drift_x0, drift_y0, drift_z0; Judge whether the inertial navigation properties of product are up to standard.
7. inertial navigation parameter auto-compensation:
The error and the drift that measure are converted to corresponding parametric compensation value, and computing machine 3 sends instruction parameter value is sent to the inertial navigation product by the RS232 interface, finishes parametric compensation.
8. checking calibration result:
Parametric compensation is complete, and control inertial navigation product is finished and aimed at the navigation experiment, judges the validity of calibration result according to index.Checking is finished, and provides inertial navigation product calibration result prompting, and automatically preserves test report, and pilot relay module 4 is shut down institute's inertial navigation product of demarcating.
Claims (1)
1. Laser strapdown inertial navigation system automatic calibration equipment that is used for the outfield, it is characterized in that: described equipment comprises that mainly apparatus casing (1), electromechanical integration single shaft automatic turntable (2), computing machine (3), relay module (4), power module (5), RS232 interface with fast leveling function turn RS485 interface bus module (6); Electromechanical integration single shaft automatic turntable (2), computing machine (3), relay module (4), power module (5) and RS232 interface turn RS485 interface bus module (6) and all are embedded in and comprise in the apparatus casing (1) with fast leveling function; Computing machine (3) is crosslinked by one road RS232 bus and integrated single shaft automatic turntable (2), and computing machine (3) sends instruction by this bus and controls integrated single shaft automatic turntable (2), receives simultaneously integrated single shaft automatic turntable (2) status information; Computing machine (3) is connected with apparatus casing (1) inner cable plug by another road RS232 bus, and inertial navigation product cable connects this plug, makes computing machine (3) send the inertial navigation product that required demarcation is controlled in instruction by this bus, receives the inertial navigation product data information; Computing machine (3) turns RS485 interface bus module (6) by Third Road RS232 bus and RS232 interface and is connected, the RS232 interface turns RS485 interface bus module (6) and is connected with relay module (4), the output terminal of relay module (4) is connected to the startup terminal of inertial navigation cable, thereby make computing machine (3) by sending instruction pilot relay module (4) switch, realize the switching on and shutting down control to the inertial navigation product; Power module (5) is the electrical integrated single shaft automatic turntable of junctor (2), computing machine (3), relay module (4) respectively, and is that the inertial navigation product is powered by the cable connector plug on the connection device housing (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220369223 CN202693000U (en) | 2012-07-27 | 2012-07-27 | Laser strapdown inertial navigation system calibration equipment for external field |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220369223 CN202693000U (en) | 2012-07-27 | 2012-07-27 | Laser strapdown inertial navigation system calibration equipment for external field |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202693000U true CN202693000U (en) | 2013-01-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220369223 Expired - Lifetime CN202693000U (en) | 2012-07-27 | 2012-07-27 | Laser strapdown inertial navigation system calibration equipment for external field |
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| CN (1) | CN202693000U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104613980A (en) * | 2014-12-19 | 2015-05-13 | 北京航天时代激光导航技术有限责任公司 | A detection system for field comprehensive performance of airborne model laser inertial navigation |
| CN105651308A (en) * | 2014-11-14 | 2016-06-08 | 中国航空工业第六八研究所 | A laser strapdown inertial navigation system test method and a system therefor |
| CN111044079A (en) * | 2019-12-27 | 2020-04-21 | 北京航天飞腾装备技术有限责任公司 | Testing method and tester for inertia measuring unit |
| CN112649018A (en) * | 2019-10-13 | 2021-04-13 | 九江精密测试技术研究所 | Centralized control's inclination testing arrangement |
-
2012
- 2012-07-27 CN CN 201220369223 patent/CN202693000U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105651308A (en) * | 2014-11-14 | 2016-06-08 | 中国航空工业第六八研究所 | A laser strapdown inertial navigation system test method and a system therefor |
| CN104613980A (en) * | 2014-12-19 | 2015-05-13 | 北京航天时代激光导航技术有限责任公司 | A detection system for field comprehensive performance of airborne model laser inertial navigation |
| CN104613980B (en) * | 2014-12-19 | 2019-08-09 | 北京航天时代激光导航技术有限责任公司 | A kind of airborne model laser inertial outfield comprehensive performance detecting system |
| CN112649018A (en) * | 2019-10-13 | 2021-04-13 | 九江精密测试技术研究所 | Centralized control's inclination testing arrangement |
| CN111044079A (en) * | 2019-12-27 | 2020-04-21 | 北京航天飞腾装备技术有限责任公司 | Testing method and tester for inertia measuring unit |
| CN111044079B (en) * | 2019-12-27 | 2022-10-04 | 北京航天飞腾装备技术有限责任公司 | Testing method and tester for inertia measuring unit |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
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Granted publication date: 20130123 |
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| CX01 | Expiry of patent term |