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Dual-axis indexing mechanism control system, control method and strapdown inertial group self-calibration method

A technology of indexing mechanism and strapdown inertial group, which is applied in the field of inertial navigation, can solve the problems of complicated equipment maintenance and low calibration accuracy, and achieve the effect of realizing self-calibration function and high-precision control

Active Publication Date: 2020-08-07
BEIJING INST OF SPACE LAUNCH TECH +1
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Problems solved by technology

[0005] In order to solve the problems of complicated equipment maintenance or low calibration accuracy existing in the existing strapdown inertial group calibration method, the present invention innovatively discloses a dual-axis indexing mechanism control system, control method and strapdown inertial group self-calibration method , through high-precision real-time angular position acquisition and high-precision PID control algorithm, the angular position and angular rate control of the biaxial indexing mechanism is realized, and the self-calibration of the laser strapdown inertial group with high precision and high reliability is further realized, which effectively solves the above problems

Method used

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  • Dual-axis indexing mechanism control system, control method and strapdown inertial group self-calibration method

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Embodiment 1

[0036] Such as Figure 1-3 As shown, the present invention discloses a high-precision dual-axis indexing mechanism control system, which includes an angular position sensor, an analog-to-digital converter, a DSP microprocessor, an FPGA processor, a motor drive circuit, and a motor connected in sequence; It should be understood that the strapdown inertial group involved in the present invention is a double-axis indexing strapdown inertial group, and there are two indexing mechanisms inside it for respectively realizing the two axial rotations of the inertial assembly. The online self-calibration function of the inertial group can realize the calibration of the inertial device without removing the strapdown inertial group from the vehicle. The details are as follows.

[0037] The angular position sensor is used to collect the angular position signal of the dual-axis indexing mechanism of the strapdown inertial group, and the angular position signal is an analog quantity; in thi...

Embodiment 2

[0046] Based on the same inventive concept as Embodiment 1, this embodiment provides a method for controlling a biaxial indexing mechanism, such as figure 2 , 3 As shown, the control method includes the following steps.

[0047] Step 1, collect the angular position signal of the dual-axis indexing mechanism of the strapdown inertial group, and the angular position signal is an analog quantity. In this embodiment, the angular position of the dual-axis indexing mechanism of the strapdown inertial group is collected by the angular position sensor signal, and the angular position sensor uses a resolver connected to the motor.

[0048] Step 2, performing a high-precision AD conversion step, converting the above-mentioned angular position signal in analog form into an angular position signal in digital form.

[0049]Step 3, analyzing the angular position signal in the form of digital quantity to obtain the real-time digital shaft angle signal of the biaxial indexing mechanism.

...

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Abstract

The invention discloses a system and method for control of a biaxial transposition mechanism and a method for self-calibration of a strapdown inertial group. The control system includes an angular position sensor, an analog-to-digital converter, a DSP microprocessor, an FPGA processor, a motor driver circuit and a motor which are connected in sequence. The control method includes the steps of collecting and analyzing an angular position signal, generating a digital control quantity after a closed-loop control based on an analysis result, and driving the motor to rotate through output of the digital control quantity. The self-calibration method utilizes the above control system or control method for calibration. The control system, the control method and the self-calibration method can realize high-precision acquisition of angular position data of the biaxial transposition mechanism and high-precision closed-loop control of the biaxial transposition mechanism, effectively realize the high-precision control of a speed loop and the position loop of the biaxial transposition mechanism, and further achieve self-calibration function of the strapdown inertial group.

Description

technical field [0001] The present invention relates to the technical field of inertial navigation, and more specifically, the present invention relates to a dual-axis indexing mechanism control system, a control method and a strapdown inertial group self-calibration method. Background technique [0002] At present, the vehicle positioning and orientation equipment based on the dual-axis indexing strapdown inertial group can provide the vehicle with orientation, attitude and positioning information without relying on external information. However, there is system parameter drift in the traditional strapdown inertial group. Therefore, in order to maintain the accuracy of positioning and orientation, it is necessary to calibrate the inertial devices in the strapdown inertial group on a regular basis (about one year). [0003] The conventional calibration method is: the strapdown inertial set is removed from the vehicle and then calibrated separately. This method leads to very ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P7/00H02P7/03H02P25/02G01C21/16
CPCG01C21/16H02P7/00H02P7/03H02P25/02
Inventor 邓志宝王盛狄世超张桃源李海洲赵晓伟陈为肖强何艳梅谢继国
Owner BEIJING INST OF SPACE LAUNCH TECH
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