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Light and small high-precision composite inertial navigation system and navigation mode switching method

An inertial navigation system and navigation mode technology, applied in the field of light, small and high-precision composite inertial navigation system and navigation mode switching, can solve the problems of large volume, low efficiency of rotating mechanism, inability to meet application occasions, etc., and achieve good flexibility. Effect

Active Publication Date: 2022-05-20
湖南智航联测科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

There are at least the following problems in the above locking methods: the navigation process does not have the function of rotation modulation, the weight is large, the volume is large, it cannot meet the application occasions with harsh mechanical environments, the efficiency of the rotation mechanism is low, and it needs to be used under large vibration conditions. Keep the power-on servo, and the installation and adjustment are difficult, which is not conducive to mass production. The power-off locking torque of the ultrasonic motor is greatly affected by the rigidity of the rotating frame in a vibrating environment, so it is difficult to apply to a large impact, vibration and overload. At the same time Occasions that require strict product miniaturization

Method used

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  • Light and small high-precision composite inertial navigation system and navigation mode switching method
  • Light and small high-precision composite inertial navigation system and navigation mode switching method
  • Light and small high-precision composite inertial navigation system and navigation mode switching method

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0030] Such as figure 1 and figure 2 As shown, the light and small high-precision composite inertial navigation system of this embodiment includes a base 1, an outer rotating frame 2 mounted on the base 1 through the first bearing 11, and an outer rotating frame 2 installed on the outer rotating frame through the second bearing 21. The inner rotating frame 3 on the frame 2, the inertial measurement unit 4 arranged on the inner rotating frame 3, one end of the inner rotating frame 3 and the outer rotating frame 2 are respectively provided with a driving assembly, and the other end is respectively provided with a locking mechanism, and the driving assembly Including an ultrasonic motor 5 and an angle sensor 6, the locking mechanism includes a moving plate 71, a disc spring 72, a coil 73, a housing 74 and a fixed plate 75, the moving disc 71 is in contact with the inner rotating frame 3 and the outer rotating frame 2 respectively, and the disc spring 72 is set between the movin...

Embodiment 2

[0032] Such as image 3 As shown, the difference from Embodiment 1 is that the locking mechanism includes a moving disk 71, a coil 73, a housing 74, a fixed disk 75, a permanent magnet 76 and a friction plate 77, and the coil 73 and the permanent magnet 76 are integrated. The locking method of embodiment 2: the coils are fed with forward current and reverse current respectively, and the control of the friction plate on the moving disk 71 is realized by the principle that the magnetic poles of the same name repel each other and the magnetic poles of different names attract each other.

Embodiment 3

[0034] In order to further improve the locking effect, Embodiment 3 designs a method of controlling the current according to the actual use situation as follows:

[0035]

[0036] In the formula, Sa is the safety factor, I 0 is the current value corresponding to the unit locking torque of the electromagnetic lock, M is the rotational inertia moment, A is the acceleration sensed by the accelerometer, ε is the damping ratio, f is the acceleration frequency, f 0 is the natural frequency. Due to the error between the given current and the actual working conditions, the given current cannot lock the motor shaft, so the current needs to be adjusted in real time to ensure that it can be locked.

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Abstract

The invention discloses a light, small, high-precision composite inertial navigation system and a navigation mode switching method. The navigation system includes a base, an outer rotating frame mounted on the base through a first bearing rotation, and an outer rotation frame installed on the outer rotation frame through a second bearing rotation. The inner rotating frame on the rotating frame and the inertial measurement unit arranged on the inner rotating frame, one end of the inner rotating frame and the outer rotating frame are respectively provided with a driving assembly, and the other end is respectively provided with a locking mechanism, and the driving assembly includes an ultrasonic motor and an angle The sensor and the locking mechanism include a moving plate, a disc spring, a coil, a casing and a fixed plate. The moving plate is in contact with the inner rotating frame and the outer rotating frame respectively. The disc spring is arranged between the moving plate, the fixing plate and the housing. The magnetic field generated by the coil is stretched to realize the support and distance of the moving plate, and the coil changes the magnetic field by controlling the current input. Ultrasonic motor and electromagnetic lock can be quickly locked and unlocked in harsh mechanical environments to meet the needs of complex mechanical environments.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation, and in particular relates to a light, small and high-precision composite inertial navigation system and a navigation mode switching method. Background technique [0002] The strapdown inertial system with a rotating mechanism, referred to as "composite inertial system", is a new type of inertial navigation system between the strapdown inertial system and the platform inertial system proposed in China in recent years. In terms of system composition, compared with the traditional strapdown inertial navigation system, the composite inertial system adds a set of rotating mechanisms; compared with the traditional platform inertial system, the composite inertial system greatly reduces the rotation accuracy of the rotating mechanism. The difficulty is greatly reduced. In terms of performance, the composite inertial system can have a self-calibration function after adopting a rotating mechan...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16
CPCY02T90/00
Inventor 宋敏张珉谷庭军陈亮徐志刚
Owner 湖南智航联测科技有限公司
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