CN218822408U - High-speed spinning inertial navigation measuring device - Google Patents
High-speed spinning inertial navigation measuring device Download PDFInfo
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- CN218822408U CN218822408U CN202223051937.0U CN202223051937U CN218822408U CN 218822408 U CN218822408 U CN 218822408U CN 202223051937 U CN202223051937 U CN 202223051937U CN 218822408 U CN218822408 U CN 218822408U
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Abstract
The utility model belongs to the technical field of inertial navigation, in particular to a high-speed spinning inertial navigation measuring device, which comprises a shell, a printed circuit board, a gyroscope and an accelerometer, wherein the printed circuit board, the gyroscope and the accelerometer are arranged inside the shell; the sensor mounting table for fixing the accelerometer is mounted in the center of the interior of the base, the printed circuit board and the gyroscope are also fixed on the base, the main structure is a cylindrical structure, no hole is formed in the side wall, and the small stress intensity is high. Each sensor inside is positioned on different planes, so that heat can be fully and fully dissipated, the performance reduction of components caused by vibration noise is reduced, and the reasonable space distribution ensures that the radius of each inertial sensor measuring shaft from the transverse roller is as small as possible under the condition of high-speed rotation of the carrier, so that the generated coupling angular rate and centrifugal acceleration error are small.
Description
Technical Field
The utility model belongs to the technical field of inertial navigation, concretely relates to high-speed spin inertial navigation measuring device.
Background
The inertial navigation is to measure the motion parameters of a carrier through an inertial sensor (a gyroscope and an accelerometer), and then obtain the speed and position information of the carrier through navigation calculation, thereby achieving the purpose of navigation and positioning of the carrier.
The inertial navigation measuring device generally needs to be installed on a carrier to work, and the existing inertial navigation measuring device has the following defects for some environmental conditions needing the high-speed rotation of the carrier:
1. each sensor in the inertial navigation measuring device is far away from the transverse rolling shaft, so that a large error can be generated by coupling angular rate and centrifugal acceleration;
2. the parallelism and the verticality of the installation of each axis sensor also have certain influence on the precision and the stability of the inertial navigation system;
3. the inertial navigation measuring device has small internal space, more sensors need to be installed, the performance of components is often reduced due to insufficient heat dissipation or large vibration noise,
therefore, a matched inertial navigation measuring device of a high-speed spinning (more than or equal to 8000 DEG/S) carrier needs to be designed, and the device is required to have good structural stability, high position measurement precision, strong heat dispersion and strong noise resistance under the working conditions of high rotating speed, large impact and the like.
SUMMERY OF THE UTILITY MODEL
The utility model aims to design a supporting inertial navigation measuring device of high-speed spin (≧ 8000/S) carrier, require can accomplish under operating conditions such as big rotational speed and big impact that structural stability is good, position measurement accuracy is high, heat dispersion and noise immunity can be strong.
In order to solve the technical problem, the utility model provides a high-speed spin inertial navigation measuring device, which comprises a shell, a printed circuit board, a gyroscope and an accelerometer, wherein the printed circuit board, the gyroscope and the accelerometer are arranged inside the shell;
the inside central point of base put and install the sensor mount table that is used for fixed accelerometer, printed circuit board and gyroscope also fix on the base.
The end face of the closed end of the upper shell is provided with a plug connector mounting hole for fixing a plug connector assembly; an inner opening ring groove is arranged on the end face of the open end of the upper shell and is used for being matched with the base to be buckled.
An outer opening ring groove is formed in the end face of the open end of the base and used for being matched with and buckled with the upper shell;
three mutually vertical gyroscope mounting grooves are formed in the base and used for fixing gyroscopes in the X-axis direction, the Y-axis direction and the Z-axis direction;
a square positioning groove is formed in the center of the inner portion of the base, and the sensor mounting table is fixed in the square positioning groove.
The sensor mounting table is of a cubic structure, and the size of the lower surface of the sensor mounting table is equal to that of a square positioning groove in the base;
a cylindrical table with a threaded hole at the center is fixed in the square positioning groove, a round hole used for being matched and positioned with the cylindrical table is formed in the center of the lower surface of the sensor mounting table, a stepped hole used for being screwed with the base is formed in the upper surface of the sensor mounting table, a fastening bolt penetrates through the stepped hole and the round hole, is screwed into the threaded hole in the center of the cylindrical table, and is used for fixing the sensor mounting table in the square positioning groove;
the sensor mounting table is characterized in that open grooves are formed in 3 side faces of the sensor mounting table, the open grooves are formed in the upper surface of the sensor mounting table, and the accelerometer is fixed in the open grooves.
The inner wall of the upper shell is provided with a plurality of longitudinal semicircular bosses, the upper semicircular bosses are provided with through holes, the through holes penetrate through the upper semicircular bosses and the closed end of the upper shell, and stepped holes are formed in the end face of the closed end of the upper shell and are used for being screwed with the base;
the inner wall of the base is provided with a plurality of longitudinal lower circular bosses, and the lower circular bosses are provided with threaded blind holes for being screwed with the upper shell.
The number of the upper semicircular bosses is 4, and the 4 upper semicircular bosses are uniformly distributed along the circumferential direction of the inner wall of the upper shell;
the number of the lower circular bosses is 7, wherein the boss surfaces of 3 lower circular bosses are higher than the boss surfaces of the other 4 lower circular bosses,
4 lower circular bosss that the boss face is low correspond with the first semicircle boss in the upper casing and distribute, and 3 lower circular bosss that the boss face is high evenly distributed along base inner wall circumference for fixed printed circuit board.
The outer side of the closed end of the base is provided with 2 rectangular bosses which are symmetrically distributed, and the rectangular bosses are provided with threaded holes and positioning pin holes which are used for fixing the whole high-speed spinning inertial navigation measuring device.
The utility model has the advantages as follows:
1. the accelerometer is mounted in such a way that the radius of the measuring shaft of each inertial sensor from the transverse shaft is as small as possible under the condition of high-speed rotation of the carrier, so that the generated coupling angular rate and centrifugal acceleration errors are small.
2. The installation parallelism and the perpendicularity of each axis sensor can be ensured by the design and processing precision of the sensor installation platform and the assembly process method, and the measurement precision of the device is improved.
3. The sensors are respectively arranged on different planes, so that the heat can be fully dissipated, and the performance reduction of components caused by vibration noise can be reduced.
4. The main structure is a cylinder structure, the side wall has no opening, and the stress is small and the strength is high.
In order to make the above and other objects of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
FIG. 1 is a schematic diagram of the overall assembly of a high-speed spinning inertial navigation measurement unit.
Fig. 2 is a first structural schematic diagram of the upper shell.
Fig. 3 is a structural schematic diagram two of the upper shell.
Fig. 4 is a schematic structural view of the base.
Fig. 5 is a schematic structural view of the sensor mount.
Fig. 6 is a top view of the sensor mount.
Fig. 7 isbase:Sub>A sectional view taken along linebase:Sub>A-base:Sub>A of fig. 6.
Description of reference numerals: 1. an upper housing; 2. a base; 3. a sensor mounting table; 4. a printed circuit board; 5. a gyroscope; 6. an accelerometer; 7. a rectangular boss;
1-1, plug connector mounting holes; 1-2, an inner opening ring groove; 1-3, an upper semicircular boss;
2-1, an outer opening ring groove; 2-2, mounting grooves for gyroscopes; 2-3, square positioning grooves; 2-4, a cylindrical table; 2-5, lower semicircular lug bosses;
3-1, round holes; 3-2, a stepped hole; 3-3, an open slot.
Detailed Description
The following description is provided for illustrative embodiments of the present invention, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein.
In the present invention, the upper, lower, left, and right in the drawings are regarded as the upper, lower, left, and right of the high-speed spin inertial navigation measurement unit described in the present specification.
The exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, which, however, may be embodied in many different forms and are not limited to the embodiments described herein, which are provided for the purpose of fully and completely disclosing the present invention and fully communicating the scope of the present invention to those skilled in the art. The terms used in the exemplary embodiments shown in the drawings are not intended to limit the present invention. In the drawings, the same units/elements are denoted by the same reference numerals.
Unless otherwise defined, terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Further, it will be understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense.
The utility model relates to a high-speed spin inertial navigation measuring device, as shown in figure 1, comprising a shell, a printed circuit board 4, a gyroscope 5 and an accelerometer 6 which are arranged inside the shell, wherein the shell is of a hollow cylinder structure and comprises an upper shell 1 and a base 2, the upper shell 1 and the base 2 are both of hollow thin-wall cylinder structures with one open end and one closed end, and the upper shell and the base are matched and buckled into a hollow cylinder shell;
the sensor mounting table 3 for fixing the accelerometer 6 is mounted at the center position inside the base 2, and the printed circuit board 4 and the gyroscope 5 are also fixed on the base 2.
After the integral installation is finished, a cylindrical device is formed, 2 rectangular bosses 7 which are symmetrically distributed are arranged on the outer side of the closed end of the base 2, and threaded holes and positioning pin holes for fixing the whole high-speed spinning inertial navigation measuring device are formed in the rectangular bosses 7. The integral device is fixedly arranged on a carrier through a rectangular boss 7, moves along with the movement of the carrier, and obtains measurement data through the internal printed circuit board 4, the gyroscope 5 and the accelerometer 6 in the moving process.
Referring to fig. 2 and 3, the structure of the present invention is further described, wherein a plug mounting hole 1-1 is provided on the end surface of the closed end of the upper housing 1 for fixing the plug assembly, and the interface is provided for transmitting the measurement data and transmitting the control command. The end face of the open end of the upper shell 1 is provided with an inner open ring groove 1-2 for matching and buckling with the base 2, the end face of the open end of the base 2 is provided with an outer open ring groove 2-1 for matching and buckling with the upper shell 1, and a cylindrical integral device is formed by buckling the inner open ring groove 1-2 and the outer open ring groove 2-1.
As shown in fig. 4, three gyroscope mounting grooves 2-2 perpendicular to each other are provided inside the base 2, one is located on the bottom surface inside the base 2, the other two are perpendicular to the bottom surface of the base 2 and also perpendicular to each other, the three gyroscope mounting grooves 2-2 form a three-dimensional structure for fixing the gyroscopes 5 in three directions of the X axis, the Y axis and the Z axis, and the three gyroscopes 5 measure data in three directions respectively.
A square positioning groove 2-3 is formed in the center of the inner portion of the base 2, and the sensor mounting table 3 is fixed in the square positioning groove 2-3. As shown in fig. 5, 6 and 7, the sensor mounting table 3 is a cube structure, and the size of the lower surface of the sensor mounting table is equal to the size of the square positioning slot 2-3 inside the base 2, so that the sensor mounting table 3 can be exactly fixed inside the square positioning slot 2-3, and in order to realize this, the specific structure is as follows: a cylindrical table 2-4 with a threaded hole at the center is fixed in the square positioning groove 2-3, a round hole 3-1 used for being matched and positioned with the cylindrical table 2-4 is arranged at the center of the lower surface of the sensor mounting table 3, a stepped hole 3-2 used for being screwed with the base 2 is arranged on the upper surface of the sensor mounting table 3, a fastening bolt penetrates through the stepped hole 3-2 and the round hole 3-1 and is screwed into the threaded hole at the center of the cylindrical table 2-4, and the sensor mounting table 3 is fixed in the square positioning groove 2-3. During installation, the lower surface of the sensor installation platform 3 faces downwards, the round hole 3-1 is buckled into the cylindrical platform 2-4 at the center of the base 2, the sensor installation platform 3 is placed into the square positioning groove 2-3 in the center of the bottom surface of the base 2 after being buckled into the cylindrical platform and rotated by a correct angle to the installation position, it is guaranteed that the sensor installation platform 3 cannot rotate, the lower surface of the sensor installation platform 3 is completely attached to the bottom surface of the square positioning groove 2-3, the bolt is screwed in and tightened from the stepped hole 3-2 of the sensor installation platform 3, and the bolt head is observed to be completely sunk into the stepped hole 3-2 of the sensor installation platform 3 after being tightened.
Open grooves 3-3 are formed in 3 side faces of the sensor mounting table 3, the open grooves 3-3 are opened in the upper surface of the sensor mounting table 3, the accelerometers 6 are fixed in the open grooves 3-3, and the open grooves 3-3 in the 3 side faces also form a three-dimensional structure, so that acceleration data in the X-axis direction, the Y-axis direction and the Z-axis direction can be measured by the 3 accelerometers 6 arranged in the three-dimensional structure.
In order to make the structure more stable, in the utility model, as shown in fig. 2 and fig. 3, the inner wall of the upper shell 1 is provided with a plurality of longitudinal upper semicircular bosses 1-3, the upper semicircular bosses 1-3 are provided with through holes, the through holes run through the upper semicircular bosses 1-3 and the closed end of the upper shell 1, and step holes are formed on the end face of the closed end of the upper shell 1 for being screwed with the base 2. The inner wall of the base 2 is provided with a plurality of longitudinal lower circular bosses 2-5, and the lower circular bosses 2-5 are provided with threaded blind holes for being screwed with the upper shell 1.
4 upper semicircular bosses 1-3 are arranged, and 4 upper semicircular bosses 1-3 are uniformly distributed along the circumferential direction of the inner wall of the upper shell 1; 7 lower circular bosses are arranged 2-5, wherein the boss surfaces of 3 lower circular bosses 2-5 are higher than the boss surfaces of the other 4 lower circular bosses 2-5,
4 lower circular bosses 2-5 with low boss faces are distributed corresponding to the upper semicircular bosses 1-3 in the upper shell 1, and 3 lower circular bosses 2-5 with high boss faces are uniformly distributed along the circumferential direction of the inner wall of the base 2 and used for fixing the printed circuit board 4.
This embodiment illustrates the installation and assembly method of the optimized high-speed spinning inertial navigation measurement unit structure of the present invention, as shown in fig. 1, a proper amount of silicone rubber is uniformly coated on the installation surface of the gyroscope 5, then 3 gyroscopes 5 are respectively adhered and fixed at the gyroscope installation grooves 2-2 of the base 2, in order to ensure the measurement performance of each axis of gyroscope 5, the flatness of the gyroscope 5 is required to meet the requirement (detected by a special instrument), otherwise, the adjustment is performed before the glue is cured until the requirement is met, the three gyroscope installation grooves 2-2 are designed to be perpendicular to each other,
in the same method, 3 accelerometers 6 are fixed at three open grooves 3-3 of the sensor mounting table 3 by using silicon rubber, the flatness and the directivity of the accelerometers 6 are required to meet the requirements (detected by using a special instrument), otherwise, the accelerometers are adjusted before the glue is cured until the accelerometers meet the requirements. Standing for 4 hours, enabling the lower surface of a sensor mounting table 3 with an accelerometer 6 mounted thereon to face downwards, buckling a round hole 3-1 into a cylindrical table 2-4 at the center of a base 2, rotating the round hole to a correct angle to an installation position after buckling, placing the sensor mounting table 3 into a square positioning groove 2-3 at the center of the bottom surface of the base 2, ensuring that the sensor mounting table 3 cannot rotate and the lower surface of the sensor mounting table is completely attached to the bottom surface of the square positioning groove 2-3, screwing and screwing a bolt into the stepped hole 3-2 of the sensor mounting table 3, and observing that the bolt head is required to be completely sunk into the stepped hole 3-2 of the sensor mounting table 3 after screwing.
And after the base assembly is installed, uniformly stirring the two-component liquid pouring sealant for filling, slowly pouring the pouring sealant into the previously installed base assembly until the base assembly just submerges all the sensors, stopping pouring the pouring sealant into threaded holes in each part of the base, and standing the base assembly for 24 hours and then continuing to install the base assembly.
After the pouring sealant is completely solidified, aligning 3 mounting holes of the printed circuit board 4 with threaded blind holes in three lower circular bosses 2-5 with higher boss surfaces in the base, placing the bottom surface of the printed circuit board 4 on the boss surfaces of the three lower circular bosses 2-5, and screwing three M4 bolts into the mounting holes and then screwing the three bolts tightly; then, an inner opening ring groove 1-2 of an upper shell 1 is aligned to an outer opening ring groove 2-1 of the upper end face of a base 2 and pressed into a notch to be connected, the upper shell 1 is rotated to enable 4 step holes of the upper shell 1 to be aligned with lower circular boss inner thread holes of 4 boss faces of the base 2, a bolt is screwed in and then screwed down, due to the installation mode of the upper shell 1 and the base 2, the bolt needs to penetrate through a printed circuit board 4, but 4 upper semicircular bosses 1-3 of the upper shell 1 and 4 lower circular bosses of the base 2 are not in contact with the printed circuit board 4, and therefore the situation that the printed circuit board 4 is likely to be in contact with the shell and short circuit is avoided.
Through the installation, can will the utility model discloses the device carries out perfect assembly, the device that has assembled, the major structure is the drum structure, the lateral wall does not have the trompil, stress little intensity is high, because inside each sensor is located the plane of difference, can fully dispel the heat and reduce the components and parts performance decline that the vibrations noise leads to, its reasonable space distribution for each inertial sensor measures the radius of axial distance horizontal roller axle as little as possible under the high-speed rotatory condition of carrier, therefore the coupling angular rate and the centrifugal acceleration error that produce are little.
It will be understood by those skilled in the art that the foregoing embodiments are specific examples of the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in its practical application.
Claims (7)
1. A high-speed spin inertial navigation measuring device comprises a shell, and a printed circuit board (4), a gyroscope (5) and an accelerometer (6) which are arranged inside the shell, and is characterized in that: the shell is of a hollow cylindrical structure and comprises an upper shell (1) and a base (2), wherein the upper shell (1) and the base (2) are both of hollow thin-walled cylindrical structures with one open end and one closed end, and the upper shell and the base are matched and buckled into the hollow cylindrical shell;
the sensor mounting table (3) used for fixing the accelerometer (6) is mounted at the center position inside the base (2), and the printed circuit board (4) and the gyroscope (5) are also fixed on the base (2).
2. The high-speed spin inertial navigation measurement unit of claim 1, wherein: the end face of the closed end of the upper shell (1) is provided with a plug connector mounting hole (1-1) for fixing a plug connector assembly; an inner opening ring groove (1-2) is arranged on the end face of the open end of the upper shell (1) and is used for being matched with the base (2) to be buckled.
3. The high-speed spin inertial navigation measurement unit of claim 1, wherein: an outer opening ring groove (2-1) is formed in the end face of the open end of the base (2) and is used for being matched with the upper shell (1) to be buckled;
three gyroscope installation grooves (2-2) which are vertical to each other are formed in the base (2) and are used for fixing gyroscopes (5) in the X-axis direction, the Y-axis direction and the Z-axis direction;
a square positioning groove (2-3) is formed in the center of the inner portion of the base (2), and the sensor mounting table (3) is fixed in the square positioning groove (2-3).
4. A high-speed spin inertial navigation measurement unit according to claim 3, wherein: the sensor mounting table (3) is of a cube structure, and the size of the lower surface of the sensor mounting table is equal to that of a square positioning groove (2-3) in the base (2);
a cylindrical table (2-4) with a threaded hole at the center is fixed in the square positioning groove (2-3), a round hole (3-1) used for being matched and positioned with the cylindrical table (2-4) is formed in the center of the lower surface of the sensor mounting table (3), a stepped hole (3-2) used for being screwed with the base (2) is formed in the upper surface of the sensor mounting table (3), a fastening bolt penetrates through the stepped hole (3-2) and the round hole (3-1), is screwed into the threaded hole in the center of the cylindrical table (2-4), and fixes the sensor mounting table (3) in the square positioning groove (2-3);
the accelerometer is characterized in that open grooves (3-3) are formed in 3 side faces of the sensor mounting platform (3), the open grooves (3-3) are opened on the upper surface of the sensor mounting platform (3), and the accelerometer (6) is fixed in the open grooves (3-3).
5. The high-speed spin inertial navigation measurement unit of claim 1, wherein: the inner wall of the upper shell (1) is provided with a plurality of longitudinal semicircular bosses (1-3), the upper semicircular bosses (1-3) are provided with through holes, the through holes penetrate through the upper semicircular bosses (1-3) and the closed end of the upper shell (1), and step holes are formed in the end face of the closed end of the upper shell (1) and used for being screwed with the base (2);
the inner wall of the base (2) is provided with a plurality of longitudinal lower circular bosses (2-5), and the lower circular bosses (2-5) are provided with threaded blind holes for being screwed with the upper shell (1).
6. The high-speed spin inertial navigation measurement unit of claim 5, wherein: the number of the upper semicircular bosses (1-3) is 4, and the 4 upper semicircular bosses (1-3) are uniformly distributed along the circumferential direction of the inner wall of the upper shell (1);
the number of the lower circular bosses (2-5) is 7, wherein the boss surfaces of 3 lower circular bosses (2-5) are higher than the boss surfaces of the other 4 lower circular bosses (2-5),
4 lower circular bosses (2-5) with low boss surfaces are distributed corresponding to the upper semicircular bosses (1-3) in the upper shell (1), and 3 lower circular bosses (2-5) with high boss surfaces are uniformly distributed along the circumferential direction of the inner wall of the base (2) and are used for fixing the printed circuit board (4).
7. The high-speed spin inertial navigation measurement unit of claim 1, wherein: the outer side of the closed end of the base (2) is provided with 2 rectangular bosses (7) which are symmetrically distributed, and the rectangular bosses (7) are provided with threaded holes and positioning pin holes for fixing the whole high-speed spinning inertial navigation measuring device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223051937.0U CN218822408U (en) | 2022-11-16 | 2022-11-16 | High-speed spinning inertial navigation measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223051937.0U CN218822408U (en) | 2022-11-16 | 2022-11-16 | High-speed spinning inertial navigation measuring device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218822408U true CN218822408U (en) | 2023-04-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223051937.0U Active CN218822408U (en) | 2022-11-16 | 2022-11-16 | High-speed spinning inertial navigation measuring device |
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|---|---|
| CN (1) | CN218822408U (en) |
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- 2022-11-16 CN CN202223051937.0U patent/CN218822408U/en active Active
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