CN205664841U - Experimental device for carrier position and gesture measurement are used for moving - Google Patents

Abstract

Experimental device for carrier position and gesture measurement are used for moving, including adjustable sensor carrier, the automatically controlled test turntable of diaxon, portable measurement and control platform, satellite receiver and the northern appearance of finger. Adjustable sensor carrier is installed on the automatically controlled test turntable of diaxon, the diaxon automatically controlled test turntable fix on the testboard is stabilized to the movable type, indicate that northern appearance and satellite receiver install on the geometric centre of adjustable sensor carrier, adjustable sensor carrier includes circular adjustable anchor clamps, four rigid guideway and a plurality of sensor carry on the slider, the sensor carries on the slider to be installed in rigid guideway respectively, the position is adjustable, the rigid guideway riveting is on circular adjustable anchor clamps, angularly adjustable between the guide rail, gesture analog controller drives adjustable sensor carrier and accomplishes corresponding motion to revolving stage output attitude control instruction, the rotation of diaxon revolving stage, accomplishes the gesture simulation of carrier.

Description

Experimental device for position and attitude measurement of moving vehicles

technical field

The utility model relates to a space dynamic measuring device for a carrier, in particular to an experimental device suitable for measuring the position and attitude of carriers such as aircraft and vehicles.

Background technique

The position and attitude measurement equipment of the carrier is an important equipment of the navigation system, and it is the key equipment to provide accurate information such as orientation, attitude, and position. The position and attitude measurement system based on multi-satellite receivers has specific requirements on the baseline length and baseline angle between satellite receiving antennas, and it can work normally only in open outdoor areas. On the one hand, the experimental device for object space position and attitude measurement can provide a platform for the position and attitude measurement system of multi-satellite receivers; on the other hand, it can provide high-precision position and attitude information as the position and attitude measurement A measure of the measurement accuracy of the system.

At present, the commonly used attitude simulation systems mostly use the universal rotating shaft and the lifting platform as the main components, which have large investment, high cost, inconvenient movement, and have a large limit on the volume and size of the measured object, which is difficult to meet various application environments. There are various requirements for the outdoor application of the attitude simulation system and the volume of the carrying platform. Therefore, it is particularly urgent to design an experimental device that is more versatile, convenient to load and disassemble, flexible to adjust, and moderate in cost, and suitable for measuring the position and attitude of a moving carrier.

Utility model content

Aiming at the technical problems existing in the prior art, the utility model provides an experimental device for measuring the position and attitude of a moving carrier with simple and compact structure, low cost, low power consumption, high reliability and wide application range.

In order to solve the above technical problems, according to one aspect of the utility model, an experimental device for measuring the position and attitude of a moving carrier is provided. The device includes an adjustable sensor carrier (1), a two-axis electric control test turntable (2), a mobile measurement and control station (3), a satellite receiver (4) and a compass (5), wherein: the adjustable sensor carrier The tool (1) is installed on the two-axis electric control test turntable (2), the two-axis electric control test turntable (2) is fixed on the mobile measurement and control platform (3), the satellite receiver (4) and the compass (5) Installed on the geometric center of the adjustable sensor carrier (1), the satellite receiver (4) and the compass (5) are respectively fixed on the circular adjustable fixture (101), and the position and heading under the earth coordinate system are output; The mobile measurement and control station (3) outputs attitude control commands to the turntable (2), and the rotation of the two-axis turntable (2) drives the adjustable sensor carrier (1) to complete the corresponding movement, completing the attitude simulation of the aircraft.

The adjustable sensor carrier (1) is specifically: the adjustable sensor carrier (1) includes a rigid guide rail (102) and a sensor carrying slider (103) in addition to a circular adjustable clamp (101); the rigid guide rail (102 ) are at least two, respectively riveted on the circular adjustable fixture (101), and the angle between the guide rails is adjustable. The sensor carrying slide block (103) is installed in the chute of rigid guide rail (102), and the position of slide block is adjustable.

The mobile measurement and control platform (3) is specifically: including a platform body (301), an attitude simulation controller (302), a power supply (303), wheels (304) and a leveling device (305); the platform body (301) is a rigid box Body, divided into two parts, the shape of the lower part is a cuboid, the shape of the upper part is a trapezoidal hexahedron whose top and bottom are rectangular, and the area of the top rectangle is less than the area of the bottom rectangle; the attitude simulation controller (302) and The power supply (303) is respectively fixed in the table body (301); the attitude simulation controller (302) is respectively connected to the two-axis electric control test turntable (2), the satellite receiver (4) and the north indicator (5) through the control cable Connect, and send level signals containing control information to the two-axis electronically controlled test turntable (2), satellite receiver (4) and compass (5) respectively through the control cable, and the two-axis electronically controlled test turntable (2), The satellite receiver (4) and the compass (5) also send the level signals containing the data information to the attitude simulation controller (302) respectively through the control cables; The two-axis electric control test turntable (2), the satellite receiver (4) and the north indicator (5) are connected, and the current of the corresponding specification is input to the two-axis electric control test turntable (2), the satellite receiver (4) and the north indicator In the instrument (5); there are four wheels (304), which are respectively installed near the rectangular apex at the bottom half of the platform body (301); there are four leveling devices (305), which are respectively installed on the platform body (301) Near the midpoint of each side of the rectangle at the bottom half of the bottom half.

Compared with the prior art, the utility model has the advantages of:

(1) The utility model measuring device uses the electric control test turntable as the attitude reference, the compass as the heading reference, and the satellite receiver as the position reference, and performs position information and attitude of the measured object under the control of the attitude simulation controller. The information is simulated, and the position and attitude information output of the measured object is detected, the function is complete, and the use is simple and convenient;

(2) The mobile measurement and control platform has strong mobility and is suitable for the experimental environment in the outdoor open field; the angle between the rigid guide rail in the adjustable sensor carrier and the position of the adjustable fixture can be adjusted according to the actual measurement needs to meet Diverse needs of different sports platforms.

Description of drawings

Fig. 1 is a schematic structural diagram of an experimental device for measuring the position and attitude of a moving carrier according to an embodiment of the present invention;

Fig. 2 is a schematic structural diagram of an adjustable sensor carrier according to an embodiment of the present invention;

Fig. 3 is a schematic structural diagram of a mobile measurement and control station according to an embodiment of the present invention.

detailed description

In order to make the purpose, technical solutions and advantages of the utility model clearer, the utility model will be further described in detail below in combination with specific embodiments and with reference to illustrations. While illustrations of parameters containing particular values may be provided herein, it should be understood that parameters need not be exactly equal to the corresponding values, but rather may approximate the values within acceptable error margins or design constraints.

Fig. 1 is a schematic structural diagram of a carrier position and attitude measurement experimental device according to an embodiment of the present invention. As shown in Figure 1, it consists of an adjustable sensor carrier (1), a two-axis electric control test turntable (2), a mobile measurement and control station (3), a satellite receiver (4) and a compass (5).

The installation steps are as follows: the adjustable sensor carrier (1) is installed on the two-axis electric control test turntable (2), the two-axis electric control test turntable (2) is fixed on the mobile measurement and control platform (3), and the satellite receiver (4 ) and the compass (5) are installed on the geometric center of the adjustable sensor carrier (1), the satellite receiver (4) and the compass (5) are respectively fixed on the circular adjustable fixture (101), and the output earth The position and heading in the coordinate system; the mobile measurement and control station (3) outputs attitude control commands to the turntable (2), and the rotation of the two-axis turntable (2) drives the adjustable sensor carrier (1) to complete the corresponding movement, completing the aircraft gesture simulation.

Fig. 2 is a schematic structural diagram of an adjustable sensor carrier (1) according to an embodiment of the present invention. The adjustable sensor carrier (1) includes a circular adjustable fixture (101), a rigid guide rail (102) and a sensor carrying slider (103); there are four rigid guide rails (102), which are respectively riveted on the circular adjustable fixture ( 101), the angle between the guide rails is adjustable. Sensor carries slide block (103) to be four, is installed in the chute of rigid guide rail (102) respectively, and the position of slide block is adjustable.

Fig. 2 is a structural schematic diagram of the mobile measurement and control station (3) according to the embodiment of the present invention. The mobile measurement and control platform (3) includes a platform body (301), an attitude simulation controller (302), a power supply (303), wheels (304) and a leveling device (305); the platform body (301) is a rigid box, divided into It is two parts, the shape of the lower part is a cuboid, and the shape of the upper part is a trapezoidal hexahedron whose top and bottom are rectangular, and the area of the top rectangle is less than the area of the bottom rectangle; attitude simulation controller (302) and power supply (303 ) are respectively fixed in the table body (301); the attitude simulation controller (302) is respectively connected with the two-axis electric control test turntable (2), the satellite receiver (4) and the compass (5) through the control cable, and the The control cables respectively send level signals containing control information to the two-axis electronically controlled test turntable (2), the satellite receiver (4) and the compass (5), and the two-axis electronically controlled test turntable (2), the satellite receiver (4) and the compass (5) also send the level signals containing data information to the attitude simulation controller (302) respectively through the control cables; The test turntable (2), the satellite receiver (4) and the compass (5) are connected, and the current of the corresponding specification is input to the two-axis electric control test turntable (2), the satellite receiver (4) and the compass (5). ); there are four wheels (304), which are respectively installed near the rectangular apex at the bottom half of the platform (301); there are four leveling devices (305), which are respectively installed on the lower half of the platform (301). Near the midpoint of each side of the rectangle at the bottom of the section.

According to the system structure and connection structure described in the utility model, an experimental device for measuring the position and attitude of the moving carrier is constructed. At the initial moment, the object to be measured is fixed on the sensor-mounted slider (103) of the adjustable sensor carrier (1), and the output line of the object to be measured is connected to the corresponding interface of the attitude simulation controller (302); (305) the mobile stability test platform (3) is leveled, and the zero position of the electric control test turntable (2) is adjusted to the true north direction by the north indicator (5). The attitude simulation controller (302) outputs motion control instructions to the electronically controlled test turntable (2), and the electronically controlled test turntable (2) drives the adjustable sensor carrier (1) to complete the corresponding aircraft attitude simulation, and the electronically controlled test turntable (2) The real-time attitude information of the rotation is returned and recorded to the attitude simulation controller (302), and the sensor of the measured object also outputs and records the measured attitude information to the attitude simulation controller (302).

The specific embodiments described above have further described the purpose, technical solutions and beneficial effects of the present utility model in detail. It should be understood that the above descriptions are only specific embodiments of the present utility model and are not intended to limit the present invention. For the utility model, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the utility model shall be included in the protection scope of the utility model.

Claims (6)

1. for the experimental provision of motion carrier position with attitude measurement, it is characterised in that include adjustable sensor carrier (1), the automatically controlled test table of two axle (2), portable monitoring and control unit (3), DVB (4) and finger north instrument (5)；Adjustable sensor Carrier (1) is arranged on the automatically controlled test table of two axle (2), and the automatically controlled test table of two axle (2) is fixed on portable monitoring and control unit (3) On, DVB (4) and finger north instrument (5) are arranged in the geometric center of adjustable sensor carrier (1), DVB And refer to that north instrument (5) is separately fixed at circular adjustable clamp (101), the position under output terrestrial coordinate system and course (4)；Mobile Formula monitoring and control unit (3) is to turntable (2) output gesture stability instruction, and the rotation of two-axle rotating table (2) drives adjustable sensor carrier (1) Complete to move accordingly, complete the attitude-simulating of aircraft.

Experimental provision for motion carrier position Yu attitude measurement the most according to claim 1, it is characterised in that described Adjustable sensor carrier (1) is particularly as follows: adjustable sensor carrier (1) is except including circular adjustable clamp (101), also wrapping Include rigid guideway (102) and sensor carries slide block (103)；Rigid guideway (102) at least two, being riveted on circle respectively can On mode fixture (101), the adjustable angle between guide rail；Sensor carries slide block (103) and is arranged on the cunning of rigid guideway (102) In groove, the position of slide block is adjustable.

Experimental provision for motion carrier position Yu attitude measurement the most according to claim 1, it is characterised in that described Portable monitoring and control unit (3) particularly as follows: include stage body (301), attitude-simulating controller (302), power supply (303), wheel (304) and Levelling device (305)；Attitude-simulating controller (302) and power supply (303) are separately fixed in stage body (301)；Attitude-simulating control Device processed (302) is connected with the automatically controlled test table of two axle (2), DVB (4) and finger north instrument (5) respectively by controlling cable, Control letter is comprised to the automatically controlled test table of two axle (2), DVB (4) and finger north instrument (5) transmission respectively by controlling cable The level signal of breath, the automatically controlled test table of two axle (2), DVB (4) and finger north instrument (5) are divided by control cable the most respectively The level signal comprising data message is not sent in attitude-simulating controller (302)；Power supply (303) is divided by power cable It is not connected with the automatically controlled test table of two axle (2), DVB (4) and finger north instrument (5), the electric current of dimension is input to two In the automatically controlled test table of axle (2), DVB (4) and finger north instrument (5).

Experimental provision for motion carrier position Yu attitude measurement the most according to claim 3, it is characterised in that described Stage body (301) is rigid box, is divided into two parts, the latter half be shaped as cuboid, top half be shaped as top Being rectangular trapezoidal hexahedron with bottom, the rectangular area in top is less than the rectangular area in bottom.

Experimental provision for motion carrier position Yu attitude measurement the most according to claim 3, it is characterised in that described Wheel (304) is four, is separately mounted near the rectangle summit bottom the latter half of stage body (301).

Experimental provision for motion carrier position Yu attitude measurement the most according to claim 3, it is characterised in that described Levelling device (305) is four, is separately mounted near midpoint, each limit of the rectangle bottom the latter half of stage body (301).