CN219914456U - Optical fiber gyroscope inertial measurement device for scout car mast - Google Patents

Abstract

The utility model discloses an optical fiber gyro inertia measurement device used for a reconnaissance vehicle mast, which belongs to the field of inertia measurement devices. The vibration-absorbing pad mounting plate is a square ring structure. Four step holes are provided on the inside of the four corners on the opposite side of the square ring structure. Four square bosses extend outward from the four corners of the square ring structure of the vibration-absorbing pad mounting plate. The bosses There is a through hole for installing the vibration damping pad inside; the material of the vibration damping pad is silicone rubber, which has a circular step structure with a cylindrical boss extending from the cylindrical seat. The vibration damping pad is provided with a circular through hole that runs through its central axis. hole; each through hole is provided with two damping pads, the two damping pads are facing each other and there is an air layer between the cylindrical bosses of the two; they are fastened by the damping pads that penetrate the circular through holes of the two damping pads Screws secure the vibration-absorbing pad mounting plate to the upper surface of the base plate. The utility model ensures the measurement accuracy of the device, saves space, improves the convenience of wiring, and has strong practicability.

Description

A fiber optic gyro inertial measurement device for the mast of a reconnaissance vehicle

Technical field

The utility model relates to the field of inertial measurement devices, in particular to a fiber optic gyro inertial measurement device used for a reconnaissance vehicle mast.

Background technique

Reconnaissance vehicles are key equipment for obtaining battlefield information and an important guarantee for modern warfare. In order to avoid obstruction by buildings, trees and other obstacles, the reconnaissance vehicle uses mast-type photoelectric equipment to achieve long-distance reconnaissance. The mast is composed of multiple sections. When landing, each section overlaps to reduce the height. When lifting, each section stretches to increase the observation height. There are gaps between the sections of the mast's mechanical structure, and there are bends and deformations during the lifting process of the mast. The higher the mast, the greater the attitude change at the top of the mast. After lifting, the changes will also be aggravated due to wind blowing, engine vibration, etc. Changes in posture. Failure to accurately measure the attitude change at the top of the mast caused by the bending deformation of the mast will cause the optoelectronic equipment installed on the top of the mast to introduce attitude errors in the calculation of target coordinates, ultimately affecting the reconnaissance orientation accuracy of the reconnaissance vehicle. At present, the better method is to use an inertial measurement device installed on the top of the mast to dynamically measure the real-time attitude of the mast.

Fiber optic gyroscope is a fiber optic angular velocity sensor based on the principle of Sagnac effect. It has the advantages of no mechanical moving parts, no warm-up time, insensitive acceleration, wide dynamic range, digital output, small size, etc. It is currently the most popular in inertial measurement device. One of the mainstream gyroscopes used, so the fiber optic gyro inertial measurement device is currently the mainstream inertial measurement device used on the mast of a reconnaissance vehicle. However, the fiber optic gyro inertial measurement device installed on the top of the mast of the reconnaissance vehicle has the following problems in actual use:

(1) After the mast of the reconnaissance vehicle is lifted, it is affected by wind, engine vibration, etc., causing the fiber optic gyro inertial measurement device to be in a vibration environment, and the measurement accuracy of the fiber optic gyro is affected in the vibration environment;

(2) Other optoelectronic equipment installed on the top of the mast of the reconnaissance vehicle causes electromagnetic interference to the fiber optic gyro in the fiber optic gyro inertial measurement device, affecting its measurement accuracy;

(3) The installation space at the top of the reconnaissance vehicle mast is small, and the wiring process of electrically connecting the fiber optic gyro inertial measurement device to the external socket through a cable with a plug is extremely inconvenient.

Utility model content

The purpose of this utility model is to provide a fiber optic gyro inertia measurement device for the reconnaissance vehicle mast, which has a compact overall layout, in order to overcome the problems existing in the actual use of the fiber optic gyro inertia measurement device installed on the top of the reconnaissance vehicle mast. , reasonable, using good anti-vibration and anti-electromagnetic interference design, which greatly reduces the impact of the vibration environment and electromagnetic interference of other optoelectronic equipment on the fiber optic gyroscope, ensuring the measurement accuracy of the device, and at the same time, a downward external socket is set The connection with the plug installed on the installation plate at the top of the mast is completed during installation, which saves space, improves the convenience of wiring, and has strong practicality.

In order to achieve the above purpose, the technical solution of the present invention is as follows:

A fiber optic gyro inertial measurement device for a reconnaissance vehicle mast, including an outer cover, an inertial measurement unit and a base, characterized in that it also includes a shielding plate, a shielding cover, a shock absorber and a shock absorber mounting plate; the shock absorber is The mounting plate is a square ring structure. Four step holes are provided on the inside of the four corners on the back of the square ring structure. Four square bosses extend outward from the four corners of the square ring structure of the vibration-absorbing pad mounting plate. There are four square bosses inside the bosses. Through holes for mounting vibration damping pads;

The material of the damping pad is silicone rubber, which is a circular step structure with a cylindrical boss extending from the cylindrical seat. The damping pad is provided with a circular through hole penetrating its central axis;

The shielding plate is located on the lower surface of the base; a mounting slot for placing the power module is provided in the middle of the base; the vibration-absorbing pad mounting plate is located on the upper surface of the base and surrounds the periphery of the power module; the inertial measurement unit The main body is fixed on the top of the vibration-absorbing pad mounting plate by counter-tightening screws through the step holes; the shielding cover is fixed on the edge of the base and covers the outside of the inertial measurement unit; the outer cover covers the outside of the shielding cover and is fixed on the base;

Each through hole is provided with two damping pads. The two damping pads are facing each other and there is an air layer between the cylindrical bosses of the two; The vibration-absorbing pad mounting plate is fixed to the upper surface of the base plate.

Further, the inertial measurement unit includes a body, an X-direction fiber optic gyroscope, a Y-direction fiber optic gyroscope, a Z-direction fiber optic gyroscope, an X-direction accelerometer, a Y-direction accelerometer, a Z-direction accelerometer, and a first signal acquisition and processing circuit board installation transition. The second signal acquisition and processing circuit board installs the transition piece and the signal acquisition and processing circuit board;

The X-direction fiber optic gyroscope, Y-direction fiber optic gyroscope and Z-direction fiber optic gyroscope are respectively installed on the mutually orthogonal X-direction fiber optic gyro mounting surface, Y-direction fiber optic gyro mounting surface and Z-direction fiber optic gyro mounting surface on the body; X-direction accelerometer, The Y-direction accelerometer and the Z-direction accelerometer are respectively installed on the X-direction accelerometer mounting surface, the Y-direction accelerometer mounting surface and the Z-direction accelerometer mounting surface on the accelerometer mounting boss on the body.

Further, the outer diameter of the cylindrical seat of the vibration damping pad is greater than the inner diameter of the through hole in the four-corner boss of the vibration damping pad mounting plate, and the outer diameter of the cylindrical boss of the vibration damping pad is smaller than the inner diameter of the through hole in the four corner boss of the vibration damping pad mounting plate. , the height of the cylindrical boss of the vibration damping pad is less than 1/2 of the height of the through hole in the four corner boss of the vibration damping pad mounting plate.

Further, it also includes a vibration-absorbing pad fastener; the vibration-absorbing pad fastener mainly consists of a vibration-absorbing pad fastening screw, a vibration-absorbing pad fastening spring washer and a vibration-absorbing pad fastening flat pad; the vibration-absorbing pad fastening The pad fastening elastic washer and the vibration-absorbing pad fastening flat pad are located between the vibration-absorbing pad fastening screw nail head and the vibration-absorbing pad, wherein the vibration-absorbing pad fastening spring washer is close to the vibration-absorbing pad fastening screw nail head.

Further, an external socket installation slot is provided on the base for installing the external socket; the shape of the shielding plate is adapted to the shielding plate installation slot provided on the bottom surface of the base, and a gap is provided in the direction corresponding to the external socket so that the external socket can pass through.

Further, the inertial measurement unit also includes a signal acquisition and processing circuit board; the first signal acquisition and processing circuit board installation transition piece and the second signal acquisition and processing circuit board installation transition piece are installed on the right side of the body through screws, and the first signal acquisition and processing circuit board is installed on the right side of the body through screws. The circuit board installation transition piece and the second signal acquisition and processing circuit board installation transition piece have a circular boss with screw holes on the round boss. The signal acquisition and processing circuit board is installed on the first signal acquisition and processing circuit board installation transition piece and the first signal acquisition and processing circuit board through screws. The second signal acquisition and processing circuit board is on a circular boss; the fiber optic gyroscope and the accelerometer are both connected to the signal acquisition and processing circuit board.

The beneficial effects of this utility model are:

The purpose of this utility model is to provide a fiber optic gyro inertial measurement device for a reconnaissance vehicle mast. Compared with the existing technology, its effective effects are:

(1) Good anti-vibration design: A vibration-absorbing pad is installed between the base and the inertial measurement unit to attenuate the vibrations experienced by the three fiber optic gyroscopes and three accelerometers on the inertial measurement unit, improving the measurement accuracy of the device;

(2) Good anti-electromagnetic interference design: The shielding cover and shielding plate enclose three fiber optic gyroscopes, three accelerometers, signal acquisition and processing circuit boards and power modules in a nearly closed magnetic shielding space, isolating the outside world including The electromagnetic interference of electronic components including three fiber optic gyroscopes improves the measurement accuracy of the device;

(3) Convenient wiring design: The external socket of the device is set on the bottom of the base. When the device is installed on the installation surface at the top of the reconnaissance vehicle mast, the connection between the external socket of the device and the top of the reconnaissance vehicle mast is directly completed during installation. The docking of plugs set on the installation surface saves space and improves the convenience of wiring.

Description of the drawings

Figure 1 is a schematic diagram of the appearance of a fiber optic gyro inertial measurement device used for a reconnaissance vehicle mast according to the present invention;

Figure 2 is a schematic diagram of the composition of a fiber optic gyro inertial measurement device for a reconnaissance vehicle mast according to the present invention;

Figure 3 is a schematic structural diagram of a fiber optic gyro inertial measurement device for a reconnaissance vehicle mast according to the present invention with its outer cover and shielding cover removed;

Figure 4 is a schematic diagram of the composition of the inertial measurement unit in the fiber optic gyro inertial measurement device used for the mast of a reconnaissance vehicle according to the present invention;

Figure 5 is a schematic view of the reverse structure of the vibration-absorbing pad mounting plate in the fiber optic gyro inertial measurement device used for the mast of a reconnaissance vehicle according to the present invention;

Figure 6 is a schematic structural diagram of a vibration-absorbing pad in a fiber optic gyro inertial measurement device used for a reconnaissance vehicle mast according to the present invention;

Figure 7 is a schematic diagram of the installation of the vibration damping pad in the fiber optic gyro inertial measurement device used for the mast of a reconnaissance vehicle according to the present invention;

Figure 8 is a schematic view of the reverse structure of the base of a fiber optic gyro inertial measurement device used for a reconnaissance vehicle mast according to the present invention;

Figure 9 is a schematic structural diagram of a shielding plate in a fiber optic gyro inertial measurement device for a reconnaissance vehicle mast according to the present invention;

Figure 10 is a schematic structural diagram of the outer cover of a fiber optic gyro inertial measurement device used for a reconnaissance vehicle mast according to the present invention;

Figure 11 is a schematic diagram of the power distribution principle of a fiber optic gyro inertial measurement device used on the mast of a reconnaissance vehicle according to the present invention;

Figure 12 is a schematic diagram of the signal flow principle of a fiber optic gyro inertial measurement device used for a reconnaissance vehicle mast according to the present invention;

Among them: 1. Outer cover, 2. Shielding cover, 3. Inertial measurement unit, 301. Body, 302. X-direction fiber optic gyroscope, 303. Y-direction fiber optic gyroscope, 304. Z-direction fiber optic gyroscope, 305. , Y-direction accelerometer, 307. Z-direction accelerometer, 308. First signal acquisition and processing circuit board installation transition piece, 309. Second signal acquisition and processing circuit board installation transition piece, 310. Signal acquisition and processing circuit board, 3101. Program Saving module, 3102. Digital signal processing module, 3103. Synchronization signal module, 3104. User data format configuration module, 3105. Digital signal acquisition module, 3106. X-direction accelerometer IF module, 3107. Y-direction accelerometer IF module, 3108 , Z-direction accelerometer IF module, 3109, RS422 interface module, 4. Vibration-absorbing pad mounting plate, 5. Vibration-absorbing pads (eight in total), 501. Vibration-absorbing pad installed with cylindrical boss facing downward, 502. Cylindrical boss The vibration-absorbing pad is installed with the table facing upward, 6. Vibration-absorbing pad fasteners (four in total), 601. Vibration-absorbing pad fastening screws, 602. Vibration-absorbing pad fastening elastic washer, 603. Vibration-absorbing pad fastening flat Pad, 7. Power supply module, 701. Filter module, 702. +24V to signal acquisition and processing circuit board +5V module, 703. +24V to accelerometer ±15V module, 704. +24V to fiber optic gyroscope ±5V module, 8. Base, 9. Shielding plate, 10. External socket.

Detailed ways

An embodiment of the present utility model will be described below with reference to the accompanying drawings.

A fiber optic gyro inertial measurement device used for the mast of a reconnaissance vehicle. In terms of structural design, see Figures 1 to 3, it includes: outer cover 1, shielding cover 2, inertial measurement unit 3, vibration-absorbing pad mounting plate 4, damping pad Vibration pads 5 (eight in total), vibration pad fasteners 6 (four in total), power module 7, base 8, shielding plate 9, external socket 10.

Further, referring to Figure 4, the inertial measurement unit 3 includes: a body 301, an X-direction fiber optic gyroscope 302, a Y-direction fiber optic gyroscope 303, a Z-direction fiber optic gyroscope 304, an 307 , the first signal acquisition and processing circuit board installation transition piece 308 , the second signal acquisition and processing circuit board installation transition piece 309 , and the signal acquisition and processing circuit board 310 .

Preferably, referring to Figures 3 and 4, the X-direction fiber optic gyro 302, the Y-direction fiber optic gyro 303 and the Z-direction fiber optic gyro 304 are respectively installed on the mutually orthogonal X-direction fiber optic gyro mounting surface and Y-direction fiber optic gyro on the body 301. Gyroscope mounting surface and Z-direction fiber optic gyroscope mounting surface. In order to ensure the orthogonality of the three fiber optic gyroscopes, the flatness requirement of the mounting surface of the three fiber optic gyroscopes is 0.01mm, and the mutual perpendicularity requirement is 0.01mm;

Preferably, referring to Figures 3 and 4, the X-direction accelerometer 305, the Y-direction accelerometer 306 and the Z-direction accelerometer 307 are respectively installed on the X-direction accelerometer mounting surface on the accelerometer mounting boss on the body 301. In order to ensure the orthogonality of the Y-direction accelerometer mounting surface and Z-direction accelerometer mounting surface, the flatness requirement of the three orthogonal mounting surfaces of the accelerometer mounting boss is 0.01mm, and the mutual perpendicularity requirement is 0.01mm;

Preferably, referring to Figure 3 and Figure 4, the first signal acquisition and processing circuit board mounting transition piece 308 and the second signal acquisition and processing circuit board mounting transition piece 309 are installed on the right side of the body 301 through screws, and the first signal acquisition and processing circuit The board mounting transition piece 308 and the second signal acquisition and processing circuit board mounting transition piece 309 have cylindrical bosses with screw holes on the bosses. The signal acquisition and processing circuit board 310 is installed on the first signal acquisition and processing circuit board mounting transition piece through screws. 308 and the cylindrical boss of the second signal acquisition and processing circuit board 309, the height of the cylindrical boss is higher than the height of the electronic devices on the signal acquisition and processing circuit board 310 to prevent the electronic devices from touching the body 301 and causing a short circuit;

Further, referring to Figure 5, the vibration damping pad mounting plate 4 is a square ring structure. Four step holes are provided on the inside of the four corners on the back of the square ring structure. The body 301 of the inertial measurement unit 3 is screwed back through the step holes. It is fixed on the vibration damping pad mounting plate 4; at the same time, four square bosses extend outward from the four corners of the square ring structure of the vibration damping pad mounting plate 4, and circular through holes are provided in the bosses for installing the vibration damping pad 5;

Further, referring to Figure 6, the material of the damping pad 5 is silicone rubber, which is a structure in which a cylindrical boss extends from a cylindrical seat, and a circular through hole is provided in the direction of the overall symmetry axis;

Preferably, as shown in Figure 7, the outer diameter of the cylindrical seat of the damping pad 5 is larger than the inner diameter of the through hole in the four-corner boss of the damping pad mounting plate 4, and the outer diameter of the cylindrical boss of the damping pad 5 is slightly smaller than the mounting plate of the damping pad. The inner diameter of the through hole in the four-corner boss of the plate 4 and the height of the cylindrical boss of the vibration-absorbing pad 5 are less than 1/2 of the height of the through-hole in the four-corner boss of the vibration-absorbing pad mounting plate 4;

Preferably, referring to Figure 7, the installation method of the vibration damping pad 5 is as follows: first, place a vibration damping pad 5 with the cylindrical boss facing upward as a vibration damping pad 502 installed with the cylindrical boss facing upward; The cylindrical boss of the installed damping pad 502 is inserted into the through hole in the four corner boss of the damping pad mounting plate 4, and the other damping pad 5 with the cylindrical boss facing downward is counted as the vibration damping installed with the cylindrical boss facing downward. Pad 501, insert the cylindrical boss of the damping pad 501 with the cylindrical boss facing downward into the through holes in the four corner bosses of the damping pad mounting plate 4; then, press the remaining damping pads 5 in sequence with the cylindrical boss facing downwards. Insert the through holes in the four-corner bosses of the damping pad mounting plate 4 in two ways: upward and downward; then, pass the damping pad fasteners 6 through the damping pad 501 and the cylindrical boss installed with the cylindrical boss facing downward. The circular through hole of the upwardly installed damping pad 502 is fastened to the corresponding screw hole of the base 8, thereby fastening the damping pad 5 and the damping pad mounting plate 4 to the base 8;

Preferably, referring to Figure 7, the vibration-absorbing pad fastener 6 includes: a vibration-absorbing pad fastening screw 601, a vibration-absorbing pad fastening spring washer 602, a vibration-absorbing pad fastening flat pad 603, and a vibration-absorbing pad fastening flat pad. 603 is placed on the end surface of the cylindrical seat of the damping pad 501 with the cylindrical boss facing downward, the damping pad fastening spring pad 602 is placed on the damping pad fastening flat pad 603, and the damping pad fastening screw 601 is placed on the damping pad. The pad is fastened to the spring pad 602 and penetrates the damping pad to fasten the spring pad 602, and the damping pad is fastened to the flat pad 603;

Preferably, referring to Figure 7, the screw length of the vibration-damping pad fastening screw 601 is greater than the vibration-damping pad fastening spring pad height 602, the vibration-damping pad fastening flat pad height 603, the two vibration-damping pad 5 cylindrical seat heights and the damping pad height. The sum of the heights of the vibration pad mounting plate 4 enables the screw of the vibration pad fastening screw 601 to penetrate the vibration pad fastening spring pad 602, the vibration pad fastening flat pad 603, the two vibration pad 5 cylindrical seats and the vibration damping After padding the mounting plate 4, it can be screwed into the threaded hole of the base 8;

Further, referring to Figure 3 and Figure 8, the top surface of the base 8 is provided with a power module installation slot for installing the power module 7, the four sides of the base 8 are provided with grooves for installing the outer cover 1, and the bottom surface of the base 8 is provided with a shield plate installation groove. It is used to install the shielding plate 9, and an external socket installation slot is provided on the base 8 for installing the external socket 10;

Further, referring to Figure 9, the shape of the shielding plate 9 is adapted to the shielding plate installation groove provided on the bottom surface of the base 8, and a gap is provided in the direction corresponding to the external socket 10 so that the external socket 10 can pass;

Further, referring to Figure 10, the overall structure of the outer cover 1 is a square shell with an open bottom, and bosses extending on the four sides that are adapted to the shape of the grooves provided on the four sides of the base 8 are screwed through the bosses. hole to fix the outer cover 1 on the base 8;

Preferably, referring to Figure 3, the power module 7 is installed on the base 8, and the upper mounting surface of the power module 7 is close to the base 8 so that the heat generated by the power module 7 can be quickly dissipated through conduction through the base 8, preventing the heat generated by the power module 7 from changing the temperature inside the device. The thermal field affects the accuracy of the fiber optic gyroscope inertial measurement device;

Preferably, see Figure 3, the vibration damping pad 5 attenuates the vibrations experienced by the three fiber optic gyroscopes and three accelerometers in the fiber optic gyro inertial measurement device installed on the top of the reconnaissance vehicle mast, improving the vibration environment of the device in the reconnaissance vehicle mast. Lower measurement accuracy;

Preferably, the shielding cover 2 and the shielding plate 9 are made of 1J79 magnetic shielding material, and are magnetized by vacuum high-temperature annealing after processing. The magnetized shielding cover 2 and the shielding plate 9 combine three fiber optic gyroscopes, three accelerometers, The signal acquisition and processing circuit board 310 and the power module 7 are enclosed in a nearly closed magnetic shielding space, which isolates the external electromagnetic interference to the electronic components including the three fiber optic gyroscopes and ensures that the fiber optic gyro inertial measurement device is protected against electromagnetic interference. Accuracy in the environment;

Further, referring to Figures 1 to 4, the installation steps of a fiber optic gyro inertial measurement device for a reconnaissance vehicle mast of the present invention are: first, complete the assembly of the inertial measurement unit 3: install three accelerometers. On the accelerometer mounting boss in the body 301, install three fiber optic gyroscopes on the fiber optic gyroscope mounting surface on the body 301, install the transition piece 308 of the first signal acquisition and processing circuit board and the second signal acquisition and processing circuit board. The transition piece 309 is installed on the body 301, and the signal processing and acquisition circuit board 310 is installed on the cylindrical boss of the first signal acquisition and processing circuit board installation transition piece 308 and the second signal acquisition and processing circuit board transition piece 309; after that, connect the power supply The module 7 is installed on the base 8; then, the vibration damping pad mounting plate 4 is installed on the body 301 of the inertial measurement unit 3; then, the vibration damping pad mounting plate 4 is installed through the vibration damping pad 5 and the vibration damping pad fastener 6 Fixed on the base 8; then, install the external socket 10 on the base 8; then, install the shielding plate 9 on the base 8; finally, install the shielding cover 2 inside the outer cover 1 and install the outer cover 1 on the base 8 , complete the assembly;

Further, the specific dimensions of the fiber optic gyro inertial measurement device for the reconnaissance vehicle mast of the present invention are: a square structure of 220mm long, 220mm wide, and 160mm high. The holes are connected with external screws, and the bottom surface of the base 8 is used as the installation reference surface;

Preferably, referring to Figures 1 to 3, the external socket 10 of the device is provided on the bottom surface of the base 8. When the device is installed on the mounting surface at the top of the mast of the reconnaissance vehicle, the external socket 10 of the device is directly completed during installation. The docking with the plug provided on the mounting surface at the top of the reconnaissance vehicle mast saves space and improves the convenience of wiring.

A fiber optic gyro inertial measurement device for the mast of a reconnaissance vehicle, from the perspective of power distribution design:

Referring to Figure 11, the core of the power distribution design lies in the power module 7. The power module 7 includes a filter module 701, a +24V to signal acquisition and processing circuit board +5V module 702, a +24V to accelerometer ±15V module 703, and a +24V to optical fiber Gyro ±5V module 704;

Referring to Figure 11, the power distribution process is: the external +24V input is input to the filter module 701 of the power module 7 through the external socket 10 for power filtering and conversion into filtered +24V with a stable voltage. The filtered +24V enters their respective Independent +24V to signal acquisition and processing circuit board +5V module 702, +24V to accelerometer ±15V module 703, +24V to fiber optic gyroscope ±5V module 704 and correspondingly converted into signal acquisition and processing circuit board +5V, Accelerometer ±15V, fiber optic gyroscope ±5V;

Preferably, the signal acquisition and processing circuit board +5V alone supplies power to the digital circuit part of the signal acquisition and processing circuit board 310;

Preferably, the accelerometer ±15V supplies power to three accelerometer IF modules (IF is the abbreviation of "current frequency conversion") of the signal acquisition and processing circuit board 310, and simultaneously supplies power to three accelerometers. The three accelerometers of the signal acquisition and processing circuit board 310 The reason why one accelerometer IF module and three accelerometers share the accelerometer ±15V is: the accelerometer signal and the accelerometer IF module signal acquisition are all related to the power supply, so the three accelerometer IF modules and the three accelerometers share the accelerometer. ±15V can reduce accelerometer signal acquisition errors caused by different power supplies;

Preferably, the fiber optic gyroscope ±5V supplies power to three fiber optic gyroscopes;

Preferably, each module that supplies power to the signal acquisition and processing circuit board 310, the three accelerometers and the three fiber optic gyroscopes is independent of each other, avoiding mutual interference caused by the common use of electricity between various components, and improving the accuracy of the fiber optic gyro inertial measurement device.

A fiber optic gyro inertial measurement device for the mast of a reconnaissance vehicle, from the aspect of signal flow design:

Referring to Figure 12, the core of the signal flow lies in the signal acquisition and processing circuit board 310. The signal acquisition and processing circuit board 310 includes a program saving module 3101, a digital signal processing module 3102, a synchronization signal module 3103, a user data format configuration module 3104, and a digital signal acquisition module. Module 3105, X-direction accelerometer IF module 3106, Y-direction accelerometer IF module 3107, Z-direction accelerometer IF module 3108, RS422 interface module 3109;

Preferably, at the moment of power-on before the fiber optic gyro inertial measurement device is ready to work normally, the digital signal processing module 3102 reads the operating program saved in the program saving module 3101 and starts working;

Preferably, the outputs of the three accelerometers are analog signals in the form of currents. The currents of the X-direction accelerometer 305, Y-direction accelerometer 306 and Z-direction accelerometer 307 pass through the X-direction accelerometer IF module 3106 and the Y-direction accelerometer IF module respectively. 3107 and Z-direction accelerometer IF module 3108 convert into X-direction accelerometer frequency signal, Y-direction accelerometer frequency signal and Z-direction accelerometer frequency signal. The three accelerometer digital signals in the form of frequency are collected in real time by the digital signal acquisition module 3105;

Preferably, after receiving the synchronization signal from the synchronization signal module 3103, the three fiber optic gyroscopes respectively output RS422 signals through their respective RS422 signal ports, that is, the X-axis fiber optic gyroscope 302, the Y-axis fiber optic gyroscope 303 and the Z-axis fiber optic gyroscope 304 After receiving the synchronization signal, the X-direction fiber optic gyro RS422 signal, Y-direction fiber optic gyro RS422 signal and Z-direction fiber optic gyro RS422 signal are respectively output. The RS422 signals of the three fiber optic gyros are received by the RS422 interface module 3109 and sent to the digital signal acquisition module 3105 in real time. collection;

Preferably, the digital signal acquisition module 3105 packages the collected digital signals of three accelerometers and three fiber optic gyroscopes into collected digital signals and sends them to the digital signal processing module 3102. The digital signal processing module 3102 processes the collected digital signals in real time according to the running program. The digital signal is converted into a processed digital signal and sent back to the digital signal acquisition module 3105. The digital signal acquisition module 3105 packages the processed digital signal into data and outputs it to the user data format configuration module 3104;

Preferably, the user data format configuration module 3104 outputs data formats according to user requirements, including RS232 data format, RS422 data format, network port data format and CAN port data format. The configured user data in the data format is transmitted to the user through the external socket 10 ;

Preferably, the digital signal acquisition module 3105 and the digital signal processing module 3102 are the two core modules of the signal acquisition and processing circuit board 310. The digital signal acquisition module 3105 uses a field programmable gate array (FPGA) chip of model XC3S1000-4FGG320I. The signal processing module 3102 uses a low-power floating-point digital signal processor (DSP) chip model TMS320C6713BGDPA200;

Preferably, the signal processes of the three accelerometers and the three fiber optic gyroscopes are independent of each other, reducing interference caused by signal transmission between various components;

Preferably, the three fiber optic gyroscopes only send RS422 signals after receiving the synchronization signal, which reduces errors caused by signal transmission delays between the three fiber optic gyroscopes;

Preferably, the digital signal acquisition module 3105 and the digital signal processing module 3102 of the signal acquisition and processing circuit board 310 adopt an FPGA+DSP framework with excellent real-time performance to realize real-time acquisition and processing of accelerometer and fiber optic gyroscope signals, reducing the cost due to The delay error in data acquisition and processing brings about the measurement error of the fiber optic gyroscope inertial measurement device, thus improving the accuracy.

Claims (6)

1. A fiber optic gyro inertial measurement device for a reconnaissance vehicle mast, including an outer cover, an inertial measurement unit and a base, characterized in that it also includes a shielding plate, a shielding cover, a vibration-absorbing pad and a vibration-damping pad mounting plate; the damping pad The vibration pad mounting plate is a square ring structure. Four step holes are provided on the inside of the four corners on the back of the square ring structure. Four square bosses extend outward from the four corners of the square ring structure of the vibration pad mounting plate. There are four square bosses inside the bosses. Through holes for mounting vibration damping pads; The material of the damping pad is silicone rubber, which is a circular step structure with a cylindrical boss extending from the cylindrical seat. The damping pad is provided with a circular through hole penetrating its central axis; The shielding plate is located on the lower surface of the base; a mounting slot for placing the power module is provided in the middle of the base; the vibration-absorbing pad mounting plate is located on the upper surface of the base and surrounds the periphery of the power module; the body of the inertial measurement unit Fix it on the top of the vibration-absorbing pad mounting plate by counter-tightening the screws through the step hole; the shielding cover is fixed on the edge of the base and covers the outside of the inertial measurement unit; the outer cover covers the outside of the shielding cover and is fixed on the base; Each through hole is provided with two damping pads. The two damping pads are facing each other and there is an air layer between the cylindrical bosses of the two; The vibration-absorbing pad mounting plate is fixed to the upper surface of the base plate. 2. A fiber optic gyro inertial measurement device for a reconnaissance vehicle mast according to claim 1, characterized in that the inertial measurement unit includes a body, an X-direction fiber optic gyro, a Y-direction fiber optic gyro, and a Z-direction fiber optic gyro. X-direction accelerometer, Y-direction accelerometer, Z-direction accelerometer, first signal acquisition and processing circuit board mounting transition piece, second signal acquisition and processing circuit board mounting transition piece and signal acquisition and processing circuit board; The X-direction fiber optic gyroscope, Y-direction fiber optic gyroscope and Z-direction fiber optic gyroscope are respectively installed on the mutually orthogonal X-direction fiber optic gyro mounting surface, Y-direction fiber optic gyro mounting surface and Z-direction fiber optic gyro mounting surface on the body; X-direction accelerometer, The Y-direction accelerometer and the Z-direction accelerometer are respectively installed on the X-direction accelerometer mounting surface, the Y-direction accelerometer mounting surface and the Z-direction accelerometer mounting surface on the accelerometer mounting boss on the body. 3. A fiber optic gyro inertial measurement device for a reconnaissance vehicle mast according to claim 1, characterized in that the outer diameter of the cylindrical seat of the damping pad is larger than the inner diameter of the through hole in the four-corner boss of the damping pad mounting plate, The outer diameter of the cylindrical boss of the vibration absorbing pad is smaller than the inner diameter of the through hole in the four corner boss of the vibration absorbing pad mounting plate. The height of the cylindrical boss of the vibration absorbing pad is less than 1 of the height of the through hole in the four corner boss of the vibration absorbing pad mounting plate. /2. 4. A fiber optic gyro inertial measurement device for a reconnaissance vehicle mast according to claim 1, characterized in that it also includes a vibration-absorbing pad fastener; the vibration-absorbing pad fastener is mainly tightened by a vibration-absorbing pad. The vibration-absorbing pad fastening spring washer and the vibration-absorbing pad fastening flat pad are composed of a fastening screw, a vibration-absorbing pad fastening spring washer and a vibration-absorbing pad fastening flat pad; in which the shock-absorbing pad fastening spring washer is close to the shock-absorbing pad fastening screw nail head. 5. A fiber optic gyro inertial measurement device for a reconnaissance vehicle mast according to claim 1, characterized in that an external socket mounting slot is provided on the base for installing the external socket; the shape of the shielding plate is consistent with the shielding provided on the bottom surface of the base. The mounting groove of the board is suitable, and a gap is provided in the direction corresponding to the external socket so that the external socket can pass through. 6. A fiber optic gyro inertial measurement device for a reconnaissance vehicle mast according to claim 2, characterized in that the inertial measurement unit further includes a signal acquisition and processing circuit board; the first signal acquisition and processing circuit board is installed with a transition piece The first signal acquisition and processing circuit board installation transition piece and the second signal acquisition and processing circuit board installation transition piece are installed on the right side of the body through screws. The first signal acquisition and processing circuit board installation transition piece and the second signal acquisition and processing circuit board installation transition piece have circular bosses on the circular bosses. There are screw holes, and the signal acquisition and processing circuit board is installed on the first signal acquisition and processing circuit board mounting transition piece and the round boss of the second signal acquisition and processing circuit board through screws; the fiber optic gyroscope and accelerometer are both connected to the signal acquisition and processing circuit board. superior.