CN207515799U - A kind of calibrating installation of inertia device - Google Patents

A kind of calibrating installation of inertia device Download PDF

Info

Publication number
CN207515799U
CN207515799U CN201721240844.9U CN201721240844U CN207515799U CN 207515799 U CN207515799 U CN 207515799U CN 201721240844 U CN201721240844 U CN 201721240844U CN 207515799 U CN207515799 U CN 207515799U
Authority
CN
China
Prior art keywords
calibrating installation
inertia device
link block
cylinders
inertia
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
Application number
CN201721240844.9U
Other languages
Chinese (zh)
Inventor
张生志
刘超军
罗璋
余帅
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wuhan Yuansheng Innovative Technology Co Ltd
Original Assignee
Wuhan Yuansheng Innovative Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Wuhan Yuansheng Innovative Technology Co Ltd filed Critical Wuhan Yuansheng Innovative Technology Co Ltd
Priority to CN201721240844.9U priority Critical patent/CN207515799U/en
Application granted granted Critical
Publication of CN207515799U publication Critical patent/CN207515799U/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Landscapes

  • Gyroscopes (AREA)

Abstract

The utility model is related to inertia device collimation technique fields, provide a kind of calibrating installation of inertia device.Wherein calibrating installation includes three vertical cylinders of mutual center, the main side face of fixation when six top surfaces of three cylinders form calibration;Three cylinders are respectively divided into two sections in center upright position, and link block is provided between each segmented column body, and the surface of link block is designed for fan-shaped either polygon and thickness with reference to cylinder through the long or length of side;Wherein, the link block between three adjacent segmented column bodies forms a hollow out centrum space, and three inclined-planes on vertebra top are intersected in centrum for placing inertia device to be measured.The utility model is in the case of no turntable, zero bias under gyroscope difference posture can be calibrated, zero bias, constant multiplier and scale factor that can realize accelerometer etc. completely calibrates for error, and multiple sensors can be respectively installed on three inclined-planes of centrum to be calibrated, improve calibration efficiency.

Description

A kind of calibrating installation of inertia device
【Technical field】
The utility model is related to inertia device collimation technique field, more particularly to a kind of calibrating installation of inertia device.
【Background technology】
MEMS (Micro-Electro-Mechanic System, MEMS) sensor has small, weight Gently, reliability it is high, it is at low cost, be easy to large-scale production the advantages that.Recently as the universal and device price of MEMS technology Decline, MEMS device possesses wide future in engineering applications.MEMS gyroscope and acceleration are passed as typical MEMS inertia Sensor has been widely used for the intelligent control and consumer electronics sector of unmanned plane, robot.However MEMS gyroscope With acceleration also comprising many constant errors, offset output can generate certain drift with the variation of time, i.e. zero is inclined It moves, while also there are scale factor errors and interaxis error for multi-axial sensor, it is therefore desirable to periodically MEMS and gyroscope be carried out Calibration.High-precision multi-axis turntable is common gyroscope and accelerometer calibration equipment, is capable of providing accurate angular speed and angle Position.But high-precision calibration equipment price is expensive, ordinary user can not bear, and polyhedral structure pair is used in routine use more Gyroscope and accelerometer are calibrated.And single axle table, the content that can be detected is there are great limitation, therefore, such as Where realize that the test function of multi-axis turntable seems very with practical value on the less expensive single axle table of equipment cost.
【Utility model content】
The technical problems to be solved in the utility model is to overcome calibrating installation under uniaxial environment in the prior art available Detection data dimension is limited, and cannot meet the requirement for being carried out at the same time multiple inertia device calibrations.
In a first aspect, the utility model provides a kind of calibrating installation of inertia device, calibrating installation includes mutual Three vertical cylinders of center, the main side face of fixation when six top surfaces of three cylinders form calibration;
Three cylinders are respectively divided into two sections in center upright position, and are provided with link block between each segmented column body, institute It is designed for fan-shaped either polygon and thickness with reference to cylinder through the long or length of side on the surface for stating link block;Wherein, adjacent three Link block between segmented column body forms a hollow out centrum space, and three inclined-planes on vertebra top are intersected in the centrum and are treated for placing The inertia device of survey.
Preferably, at least two fixation grooves are each provided on six main sides face, the fixation is used with groove In the fixed feet for possessing identical quantity on embedded single axle table, the fixation of the calibrating installation is completed.
Preferably, at least two fixations groove includes two current electrodes, the current electrode by conducting wire with The pedestal connection for being used to fix inertia device on three inclined-planes is arranged on, for giving the inertia for being arranged on each position on three inclined-planes Device is powered.
Preferably, the calibrating installation is internally provided with accumulator, and the accumulator is by conducting wire and is arranged on three tiltedly Face position connects for fixing the pedestal of inertia device, for the inertia device for being arranged on each position on three inclined-planes to be given to supply Electricity.
Preferably, in the calibrating installation, the calibrating installation frame being made of the cylinder and link block is to pass through filling Injection molding tool is integrally formed;Alternatively, molding is burnished and fabricated by ball-type idiosome;Alternatively, it is respectively zero with the cylinder and link block Component mode assembled formation.
Preferably, the link block is coupled in the surface portion in adjacent main side face, is connected with reference to main side face structure setting Two auxiliary end faces;Wherein, the auxiliary end face of all link blocks and the main side face of three cylinders form one can fix end face with 30 Calibrating installation.
Preferably, it is 30 ° that the respective both sides in main side Mian Hefu end faces, which reach the angle that calibrating installation center is formed, so that Two intersecting cylinders and the section of the link block institute Component units of cylinders intersected for linking two are positive 12 side shape;Alternatively,
Two auxiliary end faces are respectively 45 ° with the angle on vertebra top so that the link block between two intersecting cylinders is symmetrical for one Structure.
Preferably, the weight of the calibrating installation is 2-10Kg.
Preferably, magnetic enclosure material is provided on end face, the magnetic enclosure material is used to fix by the calibrating installation After on turntable, contacting the magnetic enclosure material on the end face of turntable can be adsorbed by the electromagnet of corresponding region on turntable.
The utility model devises a kind of available for gyroscope and the calibrating installation and method of accelerometer.In no turntable In the case of, the calibrating installation of the utility model design can calibrate the zero offset error under gyroscope difference posture, can be with Zero bias, constant multiplier and scale factor for realizing accelerometer etc. completely calibrates for error.On the other hand, the utility model device It can realize that carrying out zero bias, scale factor and scale factor equal error to gyroscope using single axle table calibrates, and energy Multiple sensors are respectively enough installed on three inclined-planes of centrum to be calibrated, improve calibration efficiency.
【Description of the drawings】
It, below will be in the utility model embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment Required attached drawing is briefly described.It should be evident that drawings described below is only the one of the utility model A little embodiments, for those of ordinary skill in the art, without creative efforts, can also be according to these Attached drawing obtains other attached drawings.
Fig. 1 is the column structure schematic diagram in a kind of inertia device detection device that the utility model embodiment provides;
Fig. 2 is the cylinder mating part link block in a kind of inertia device detection device that the utility model embodiment provides Structure diagram;
Fig. 3 is the vertebral body structure signal in a kind of inertia device detection device that the utility model embodiment provides Figure;
Fig. 4 is a kind of outline structural diagram for inertia device detection device that the utility model embodiment provides;
Fig. 5 is a kind of contour structures vertical view for inertia device detection device that the utility model embodiment provides;
Fig. 6 is a kind of groove structure schematic diagram for inertia device detection device that the utility model embodiment provides;
Fig. 7 is the groove structure schematic diagram for another inertia device detection device that the utility model embodiment provides;
Fig. 8 is the uniaxial turntable structure schematic diagram with fixed feet that the utility model embodiment provides;
Fig. 9 is that the utility model embodiment secures the schematic diagram after detection device and uniaxial turntable;
Figure 10 is the uniaxial turntable structure schematic diagram with fixed feet and magnetic suck structure that the utility model embodiment provides;
Figure 11 is being electrically connected between a kind of pedestal for fixed inertia device that the utility model embodiment provides and fixed feet Connect schematic diagram;
Figure 12 is a kind of calibration method flow diagram for inertia device that the utility model embodiment provides;
Figure 13 is a kind of sensor error model schematic that the utility model embodiment provides.
【Specific embodiment】
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation Example, the present invention is further described in detail.It should be appreciated that specific embodiment described herein is only used to explain The utility model is not used to limit the utility model.
Term " interior ", " outer ", " longitudinal direction ", " transverse direction ", " on ", " under ", " top ", " bottom " in the description of the present invention, It is based on orientation shown in the drawings or position relationship to wait the orientation of instructions or position relationship, is for only for ease of and describes this practicality newly Type rather than require the utility model must be with specific azimuth configuration and operation, therefore be not construed as to the utility model Limitation.
As long as in addition, technical characteristic involved in the various embodiments of the present invention described below each other it Between do not form conflict and can be combined with each other.
MEMS gyroscope and accelerometer can carry out calibration test before manufacture, but the zero of gyroscope and accelerometer is defeated The phenomenon that certain drift can be generated with the time by going out, i.e., zero bias are inaccurate, this is the inherent characteristic of MEMS device.
The error model of usual 3 axis MEMS transducer can be written as form:
yk=SkTkMkuk+bk
Wherein k represents different types of sensor, ukRepresent the measurand under ideal coordinates system, ykRepresent sensor Original output vector, bkRepresent sensor bias vector, SkRepresent sensor constant multiplier matrix, TkAnd MkIt represents to pass respectively The between centers orthogonal matrix and alignment matrix of sensor.As can be seen that multi-axial sensor completely calibrates for error comprising 12 calibration ginsengs Number, generally corresponds to that the output of multiple gyroscopes, that the input of multiple acceleration corresponds to multiple accelerometers is defeated using multiple turning rate inputs The least-square fitting approach gone out calibrates the error of sensor.
How personal be critical issue to MEMS gyroscope and accelerometer progress field calibration.The method of most convenient at present It is to be to provide accurate angular speed and angle using high-precision multi-axis turntable calibration gyroscope and accelerometer, the major function of turntable Position.High precision turntable calibrates gyroscope with different turning rate input, inputs to calibrate acceleration with different Angle Positions It counts (usually having 6 position methods, 12 position methods etc.), different Angle Positions correspond to different acceleration of gravity inputs.But high-precision multiaxis Turntable it is expensive, maintenance cost is high, is not particularly suited for individual.
Embodiment 1:
Utility model people also used hexahedron to calibrate gyroscope and accelerometer during solving the problems, such as, led to It crosses and by hexahedron place on upper and lower, front, rear, left and right six direction, obtain gyroscope and accelerometer on different directions Output, so as to fulfill the zero bias of gyroscope and accelerometer calibrate.Hexahedron calibration method can install number of probes simultaneously Space it is limited, calibration efficiency is not high.On the other hand, hexahedron structure is only capable of to accelerometer input 0, ± g uniform acceleration values, It can only obtain six groups of Calibration equations, and complete error equation includes 12 unknown quantitys, it can not abundant calibrating accolerometer between centers Cross-coupling error.
Therefore, the utility model embodiment 1 provides a kind of calibrating installation of inertia device, as Figure 1-Figure 4, calibration Device includes three vertical cylinders of mutual center, the main side of fixation when six top surfaces of three cylinders form calibration Face;Wherein, three cylinders be specially the upward cylinder I of z-axis shown in Fig. 1, the upward cylinder II of x-axis and y-axis to The schematic diagram of column structure is only presented to have had an X-rayed in calibrating installation after other structures in cylinder III, described Fig. 1.
Three cylinders be respectively divided into center upright position two sections (such as:Fig. 1 middle column bodies I is divided into I-1 sections and I-2 Section, reference frame are labeled as Section 1 using the intersection point of cylinder as origin with coordinate system positive direction side, negative direction side Section 2 is labeled as, which applies also for cylinder II and cylinder III), and link block is provided between each segmented column body, it is described It is designed for fan-shaped either polygon and thickness with reference to cylinder through the long or length of side on the surface of link block;Wherein, three adjacent sections Link block between cylinder forms a hollow out centrum space, and three inclined-planes of the centrum are used to place inertia device to be measured.
In the utility model embodiment, 8 centrums are contained in a calibrating installation, in total 24 can place it is to be measured The inclined-plane of inertia device.Preferably, the weight of the calibrating installation is 2-10Kg, so as to which weight is being set as g ranks Inertia device to be measured after, the center of gravity of calibrating installation is maintained to be unlikely to excessive deflection and influence its on single axis stage test fortune It is dynamic.
The utility model embodiment devises the calibrating installation available for gyroscope and accelerometer, in the situation of no turntable Under, the zero bias under gyroscope difference posture can be calibrated, can realize zero bias, constant multiplier and the ratio of accelerometer Factor etc. completely calibrates for error.On the other hand, the device of the utility model embodiment can be realized using single axle table to top Spiral shell instrument carries out scale factor and scale factor equal error is calibrated, and can respectively be installed on three inclined-planes of centrum multiple Sensor is calibrated, and improves calibration efficiency.
The utility model embodiment may be used six end faces and gyroscope and accelerometer calibrated, by by six faces Body placed on upper and lower, front, rear, left and right six direction, obtains the output of gyroscope and accelerometer on different directions, from And realize the calibration of gyroscope and accelerometer.
As shown in Fig. 2, in order to illustrate the convenience of link block, only retouched with the structure diagram comprising one piece of link block It states.Wherein, link block I_II_1 is provided between I-1 sections and II-1 sections shown in Fig. 2.Wherein, the thickness ginseng of link block Examine being slightly thicker than through the long or length of side (when being cylindrical structure for cylinder, as to design through the long either length of side for cylinder Diameter;And for when cylinder is the cuboid that bottom surface is square, the as square length of side), it can also be slightly thinner than through length, but Be, premise be to ensure that the center of gravity deviation of entire calibrating installation meet preset condition (such as:It is required that the center of gravity of calibrating installation is located at The center that each cylinder intersects, and deviation is less than 1mm).
As shown in figure 3, the structure diagram to present only calibrating installation middle column body structure and a centrum space, wherein, The size and shape of each link block is to use identical structure design, so as to ensure that when different main side faces are turned to, The center of gravity of entire calibrating installation is unlikely to change.The vertebra top in the centrum space is that 90 ° of right-angle sides are formed for three faces.
As shown in figure 4, the calibrating installation schematic diagram for containing complete column structure and complete connecting block structure for one, In, the link block is coupled in the surface portion in adjacent main side face, two auxiliary end faces being connected with reference to main side face structure setting;Its In, the main side face of the auxiliary end face of all link blocks and three cylinders, which forms one, has 30 calibrating installations that can fix end face.Its In, the angle of each end face is 135 °.
Assuming that A faces are the top surface of calibrating installation, the vertical view of the utility model embodiment calibrating installation is as shown in Figure 5.It passes Sensor may be mounted in D regions shown in Fig. 4, and D regions (the centrum space i.e. described in the present embodiment) is mutually perpendicular three A right-angle plane is formed, and each plane that D regions include may serve to installation sensor.The utility model embodiment device is total to Comprising 8 D regions, multiple sensors can be installed simultaneously and calibrated.
The mode of rubberizing may be used in test in the end face for the calibrating installation that the utility model embodiment is proposed, but It is that the utility model embodiment additionally provides a kind of more preferably implementation, as shown in Figure 6 and Figure 7, on six main sides face At least two fixation grooves 11 are each provided with, the fixation groove 11 possesses identical quantity for being embedded on single axle table Fixed feet 21, complete the fixation of the calibrating installation.Possess 30 for above-mentioned and can fix for the calibrating installation of end face, Each can fix end face and be both provided with the fixation groove 11, as shown in Figure 6.Wherein, Mian Hefu end faces in main side are respective It is 30 ° that both sides, which reach the angle that calibrating installation center is formed, so that two intersecting cylinders and the columns intersected for linking two The section of the link block institute Component units of body be positive 12 while shape (as shown in fig. 7, at this point, shape when section AA ' A " is positive 12, wherein, A, the position that A ' and A " is drawn is the central point of each end face);Alternatively, two auxiliary end faces are respectively 45 ° with the angle on vertebra top (as shown in fig. 7, β is 45 ° in figure at this time) so that the link block between two intersecting cylinders is a symmetrical structure.
As shown in figure 8, the surface texture for a typical single axle table, it is three to correspond to groove number shown in Fig. 7 Designed fixed feet 21.As shown in figure 9, for by the way that the fixation groove 11 of calibrating installation is embedded into turntable surface fixed feet 21 Complete the calibrating installation before test and the fixed effect diagram of turntable.
As shown in Figure 10, the preferred extension implementation of another kind provided for the utility model embodiment, wherein, it is uniaxial The disk region that turntable is provided with fixed feet 21 can also set permanent magnet or electromagnet 22, and coordinate each of calibrating installation For fixed surface using can magnetic enclosure material make, so as to further improve fixed stability.
Since the setting of calibrating installation also needs to the requirement for considering to power to inertia device to be measured, just calibrate How device powers to inertia device to be measured, the utility model embodiment optional implementation in additionally providing 2.
Scheme one:
At least two fixations groove includes two current electrodes, and the current electrode is by conducting wire and is arranged on vertebra Three inclined-planes of body connect for fixing the pedestal of inertia device, for the inertia device for being arranged on each three inclined-planes of centrum to be given to supply Electricity.As shown in figure 11, two fixed feets 21 can be used to be used as data transmission interface and power delivery interface respectively, and it is accordingly solid Determining the interface mode of foot 21 can imitate earphone interface to be fabricated to two section concatenation compositions (two sections are intermediate to be provided with insulating trip) up and down, It is each to save in coupling the shrapnel that corresponds to depth in calibrating installation in fixation groove, so as to complete above-mentioned data transmission interface or The coupling of person's power delivery interface.Wherein, especially when calibrating installation supports the calibration of multiple inertia devices simultaneously, in addition to can Outside with the utilization more grooves of above-mentioned setting and corresponding fixed feet (such as:It transmits and is equipped with to the sensing data of each inertia device One fixed feet-groove structure, and their power port can be with a public fixed feet-groove structure), it can also be described Calibration cartridge centers a master controller, and the data-out port of the pedestal of each fixed inertia device is connected to described Master controller just can still give two fixed feets-groove structure and complete to examine while corresponding multiple inertia devices in this way Survey (gives the pedestal of the effect diagram of one group of inertia device patch pedestal 12, wherein the three of centrum surface in such as Figure 11 Design sketch is as shown in pedestal 12 in Figure 11).
Scheme two:
The calibrating installation is internally provided with accumulator, and the accumulator is by conducting wire and is arranged on three inclined-planes of centrum For fixing the connection of the pedestal of inertia device, for giving the inertia device power supply for being arranged on each three inclined-planes of centrum.
In the utility model embodiment, the calibrating installation frame that the cylinder and link block are formed is by the way that mold is perfused It is integrally formed;Alternatively, molding is burnished and fabricated by ball-type idiosome;Alternatively, parts side is respectively with the cylinder and link block Formula assembled formation.
Embodiment 2:
The utility model embodiment additionally provides a kind of calibration method of inertia device, and the calibration method is used as implemented The calibrating installation of inertia device described in example 1, as shown in figure 12, the method further includes:
In step 201, one or more inertia device to be measured is fixed in the centrum of the calibrating installation Position at the top of vertebra.
In step 202, according to preset computational methods, at least 12 end faces is selected to be separately fixed on single axle table, And complete corresponding data acquisition.
In step 203, collected data are brought into respectively in the calculation equation of each inertia device, correspondence is calculated The calibration result for including one or more parameter in zero bias, constant multiplier, interaxis error and scale factor of each inertia device.
The utility model embodiment devises the calibration method available for gyroscope and accelerometer.In the situation of no turntable Under, the calibrating installation of the utility model embodiment design can calibrate the zero bias under gyroscope difference posture, Ke Yishi Zero bias, constant multiplier and scale factor of existing accelerometer etc. completely calibrate for error.On the other hand, the utility model embodiment Calibration method can realize that carrying out scale factor and scale factor equal error to gyroscope using single axle table calibrates, and And can sensor be installed as much as possible and be calibrated, improve calibration efficiency.
For multi-axial sensor, each sensitive axes of sensor should theoretically keep perpendicular quadrature.Further, for more Sensor-based system, it should keep being mutually perpendicular to install between each sensor, and the sensitive axes of each sensor should snap to unification Reference frame, however sensor is nonopiate and not right due to including between centers caused by production technology and chip attachment process error Various cross-coupling errors including neat are difficult to avoid that.As shown in figure 13, sensor is described using sensor error model Error Propagation Property.
Subscript k represents different types of sensor in Figure 13.ukRepresent the measurand under ideal coordinates system, ykIt represents Sensor original output vector.bkRepresent sensor bias vector:
SkRepresent that (wherein, constant multiplier is the ratio of gyroscope output quantity and input angle speed to sensor constant multiplier matrix Value):
TkAnd MkThe between centers orthogonal matrix and alignment matrix of sensor are represented respectively, are main cross-coupling error items.It is comprehensive On, the original output of sensor and the relationship of measurand can be expressed as:
yk=SkTkMkuk+bk (1-3)
After the sensor output value for generally yielding multiple test points, using least square method by 1-3 formulas Reason, we simplify the optimization procedure of sensor ascertainment error parameter by two step method for parameter estimation.First, it is fixed An adopted combination misalignment matrix Hk, meet:
Hk=SkTkMk (1-4)
To replace individually estimating constant multiplier matrix Sk, orthogonalization matrix TkWith alignment matrix Mk.By this simplification, pass The linear time-varying error being not accounted in sensor ascertainment error modular form (1-3) will also be calibrated.The utility model Embodiment is unfolded to illustrate respectively from accelerometer calibration and gyro calibiatio i respectively.
1st, accelerometer calibration
When sensor remains static, only only have gravity to accelerate in the case where not considering Coriolis acceleration Degree is applied on accelerometer, and sensor is kept to be in W different positions, output definition of the accelerometer under W position ForWhereinRepresent the accelerometer output under i-th of position.Assuming that plus Attitude angle of the speedometer under W position is respectively φiAnd θi(i=1,2 ..., W), it is defeated according to accelerometer under stationary state Enter value and the relationship of acceleration of gravity:
WhereinRepresent the acceleration of gravity acted on accelerometer the input under i-th of position, i.e., By measuring acceleration.Expansion (1-5) can obtain accurate input acceleration at different locationValue
Total input acceleration is defined asTotal biasing under accelerometer different location Vector is defined as Ba|3×w=R (ba) (R () function representation BaEach column element be set as the biasing b of accelerometera).Acceleration The bias vector of meterAnd combination misalignment matrixEstimation can be iterated by formula (1-7) until convergence.
In formulaRepresent (ya-HaUa) the i-th column element.
2nd, gyro calibiatio i
Unlike accelerometer calibration process, the bias vector of gyroscopeEssence can be carried out by not needing to iterative calculation Really estimation.The calibration of gyroscope is broadly divided into following two steps:
Holding sensor is static at M different location respectively, and M input angular velocity of gyroscope is at this timeOutput speedIt can be counted as its biasing.In view of the defeated of gyroscope Go out noise, the average value for defining output valve is offset of gyroscope:
The gyroscope under M position always biases B at this timeg|3×1=R (bg) (R () function representation BgEach column element setting Biasing b for accelerometerg)。
Sensor is fixed, rotates n times rotating around referential reference axis with different angular speed, input angular velocity is at this timeGyroscope Output speed isTotal input angular velocity isTotal Output speed isIt can obtain answering for gyroscope Close error matrix Hg
WhereinRepresent gyroscope output valve matrix UgRight inverse matrix.
When common hexahedron calibrating accolerometer and gyroscope, usually only generated on some axis of sensor defeated Enter, and the input of other two axis is 0, cross-coupling error shows unobvious in this case.Such as when sensor levels are quiet Only be placed on hexahedron and Z axis upward when, the input of accelerometer is [0 0 g], only has the accelerometer defeated in Z-direction Enter, X and Y-axis without input, the influence to Z axis output can not embody.Similarly, in this case gyro calibiatio i when input For [0 0 ω] (ω represents turntable angle velocity magnitude), only there are turning rate input, X and Y-axis to Z axis without turning rate input, to Z The influence of axis output can not embody.Therefore, hexahedron structure can not integral calibration cross-coupling error.The utility model embodiment Device can realize the acceleration input in three axial directions when calibrating accolerometer, and three can be also realized using single axle table Turning rate input in a axial direction makes the input and output coupling influence on three axis fully demonstrate out, and then improves between centers and hand over Fork coupling calibration accuracy.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this All any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in the utility model Protection domain within.

Claims (9)

1. a kind of calibrating installation of inertia device, which is characterized in that calibrating installation includes three vertical columns of mutual center Body, the main side face of fixation when six top surfaces of three cylinders form calibration;
Three cylinders are respectively divided into two sections in center upright position, and link block, the company are provided between each segmented column body It is designed for fan-shaped either polygon and thickness with reference to cylinder through the long or length of side on the surface for connecing block;Wherein, three adjacent segmented columns Link block between body forms a hollow out centrum space, and it is to be measured for placing that three inclined-planes on vertebra top are intersected in the centrum Inertia device.
2. the calibrating installation of inertia device according to claim 1, which is characterized in that respectively set on six main sides face At least two fixation grooves are equipped with, the fixation groove is used to be embedded in the fixed feet for possessing identical quantity on single axle table, Complete the fixation of the calibrating installation.
3. the calibrating installation of inertia device according to claim 2, which is characterized in that at least two fixations groove Include two current electrodes, the current electrode passes through conducting wire and the pedestal for being used to fix inertia device for being arranged on three inclined-planes Connection, for giving the inertia device power supply for being arranged on each position on three inclined-planes.
4. the calibrating installation of inertia device according to claim 1, which is characterized in that the calibrating installation is internally provided with Accumulator, the accumulator are connect with being arranged on the pedestal for being used to fix inertia device of three incline positions by conducting wire, used It powers in the inertia device for being arranged on each position on three inclined-planes.
5. the calibrating installation of inertia device according to claim 1, which is characterized in that in the calibrating installation, by institute Stating the calibrating installation frame that cylinder and link block are formed is integrally formed by the way that mold is perfused;Alternatively, it is polished by ball-type idiosome Make molding;Alternatively, the assembled formation in a manner that the cylinder and link block are respectively parts.
6. according to the calibrating installation of any inertia devices of claim 1-5, which is characterized in that the link block is coupled in The surface portion in adjacent main side face, two auxiliary end faces being connected with reference to main side face structure setting;Wherein, the auxiliary end of all link blocks Face and the main side face of three cylinders, which form one, has 30 calibrating installations that can fix end face.
7. the calibrating installation of inertia device according to claim 6, which is characterized in that main side Mian Hefu end faces respective two It is 30 ° that side, which reaches the angle that calibrating installation center is formed, so that two intersecting cylinders and the cylinders intersected for linking two Link block institute Component units section be positive 12 side shape;Alternatively,
Two auxiliary end faces are respectively 45 ° with the angle on vertebra top so that the link block between two intersecting cylinders is a symmetrical structure.
8. according to the calibrating installation of any inertia devices of claim 1-5, which is characterized in that the weight of the calibrating installation It measures as 2-10Kg.
9. according to the calibrating installation of any inertia devices of claim 1-5, which is characterized in that be provided with magnetic on end face Enclosure material, the magnetic enclosure material are used for after the calibrating installation is fixed on turntable, contact on the end face of turntable Magnetic enclosure material can be adsorbed by the electromagnet of corresponding region on turntable.
CN201721240844.9U 2017-09-25 2017-09-25 A kind of calibrating installation of inertia device Active CN207515799U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201721240844.9U CN207515799U (en) 2017-09-25 2017-09-25 A kind of calibrating installation of inertia device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201721240844.9U CN207515799U (en) 2017-09-25 2017-09-25 A kind of calibrating installation of inertia device

Publications (1)

Publication Number Publication Date
CN207515799U true CN207515799U (en) 2018-06-19

Family

ID=62533387

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201721240844.9U Active CN207515799U (en) 2017-09-25 2017-09-25 A kind of calibrating installation of inertia device

Country Status (1)

Country Link
CN (1) CN207515799U (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110672120A (en) * 2019-09-09 2020-01-10 武汉元生创新科技有限公司 Device calibration device
CN112595343A (en) * 2020-11-18 2021-04-02 北京航天控制仪器研究所 Horizontal unipolar test simulation equipment of lightweight high accuracy

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110672120A (en) * 2019-09-09 2020-01-10 武汉元生创新科技有限公司 Device calibration device
CN110672120B (en) * 2019-09-09 2021-04-27 武汉元生创新科技有限公司 Device calibration device
CN112595343A (en) * 2020-11-18 2021-04-02 北京航天控制仪器研究所 Horizontal unipolar test simulation equipment of lightweight high accuracy
CN112595343B (en) * 2020-11-18 2023-07-28 北京航天控制仪器研究所 Lightweight high-precision horizontal single-shaft test simulation equipment

Similar Documents

Publication Publication Date Title
CN107390155B (en) Magnetic sensor calibration device and method
CN105806367B (en) Gyro free inertia system error calibrating method
CN105806364B (en) A kind of calibration method of mining slewing drilling machine inclinometer probe
CN104459828B (en) Based on the non-aligned bearing calibration of earth magnetism vector system around method of principal axes
CN109813336A (en) Inertial Measurement Unit scaling method
CN108592952A (en) The method for demarcating more MIMU errors simultaneously with positive and negative times of rate based on lever arm compensation
CN105738653B (en) High-precision optical is displaced magnetic suspension accelerometer
CN105371868A (en) Error calibration and compensation method for accelerometer unit of inertially stabilized platform system
CN207515799U (en) A kind of calibrating installation of inertia device
CN106767805A (en) High accuracy inertia measuring method and measuring system based on MEMS sensor array
CN107402007A (en) A kind of method for improving miniature AHRS modules precision and miniature AHRS modules
CN104848818B (en) Stewart platform stances measurement apparatus and measuring method
Wang et al. Improving the navigation performance of the MEMS IMU array by precise calibration
CN102748010B (en) Attitude measurement system and method and oil well well track measuring system and method
CN108802427A (en) Prefastening parallel connection six-dimension acceleration sensor and its measurement and Sensitivity Analysis Method
CN109633540A (en) A kind of real-time positioning system and real-time location method of magnetic source
CN108398576B (en) Static error calibration system and method
KR20010043340A (en) Displacement sensor and movement information collecting device compromising the same
CN107515014B (en) Calibration device and calibration method for inertial device
WO1996006328A1 (en) Three-dimensional measurement unit and position indicator
CN111780787B (en) MEMS inertial measurement unit calibration method based on optical fiber inertia assistance
JPH06507707A (en) altitude sensor
CN204389085U (en) Combined type high precision triaxial force sensor
CN114705184A (en) Nine-axis attitude sensor integrated intelligent error compensation method based on neural network
RU138023U1 (en) DEVICE FOR CALIBRATING A THREE-COMPONENT MAGNETOMETER

Legal Events

Date Code Title Description
GR01 Patent grant
GR01 Patent grant