A vehicle inertial navigation module test tool, system and method

Abstract

The present invention is applicable to the field of testing technology, and provides a vehicle inertial navigation module testing tool, system and method. The vehicle inertial navigation module testing tool comprises a load-bearing plate and a positioning component arranged on the top surface of the load-bearing plate, wherein the positioning component comprises a positioning plate detachably connected to the top surface of the load-bearing plate, wherein the positioning plate is provided with reference grooves distributed in a rectangular shape, and a cantilever-shaped elastic block is formed on one side of the reference groove. The present invention performs batch testing on the inertial navigation module through the testing tool, and obtains an absolute compensation coefficient and a relative compensation coefficient and stores them in the inertial navigation module by performing a normal temperature test and a temperature control test on the inertial navigation module, performs a primary correction on the zero point position of the inertial navigation module by the absolute compensation coefficient, and performs a secondary correction on the zero point position of the inertial navigation module by the relative compensation coefficient. In actual use of the inertial navigation module, the output value of the inertial navigation module is compensated by the relative compensation coefficient, so as to obtain a more stable and accurate monitoring output.

Description

Technical Field

[0001] The present invention belongs to the technical field of testing tooling, and in particular relates to a testing tooling, system and method for an automobile inertial navigation module. Background Art

[0002] The inertial navigation module refers to the module that adopts GNSS (BDS / GPS system joint positioning) / INS combined navigation and positioning technology. With high-precision six-axis inertial devices and mature inertial algorithms, it does not require odometer or speed signal access and has no strict installation requirements. It can provide vehicles with high-precision positioning modules even in weak signal environments such as tunnels and garages. The inertial navigation module generally uses three-axis gyroscopes, three-axis accelerometers and magnetometers for ceramic packaging to collect angular velocity values ​​and acceleration values ​​on the coordinate system during the vehicle's forward movement. In order to ensure the stability and accuracy of the inertial navigation module performance, it is necessary to test the inertial navigation module. By placing the inertial navigation module in a test fixture and applying movements of different directions and speeds to the fixture, the inertial navigation module is subjected to an aging test.

[0003] In the prior art, the inertial navigation module is often fixed to the tooling by bolts. The installation accuracy of the inertial navigation module is poor, which affects the stability and accuracy test of the inertial navigation module performance, and it is inconvenient to disassemble and assemble. At the same time, only performance and aging tests can be performed on a single inertial navigation module, and batch tests cannot be performed. The test efficiency is low and it is impossible to perform batch tests. Therefore, in order to solve the above problems, a vehicle inertial navigation module test tooling, system and method are proposed. Summary of the invention

[0004] The present invention provides a vehicle inertial navigation module testing tool, system and method, aiming to solve the problem that the inertial navigation module is inconvenient to disassemble and assemble and the testing efficiency is low.

[0005] The present invention is implemented as follows: an automobile inertial navigation module test fixture includes a bearing plate, a positioning component arranged on the top surface of the bearing plate;

[0006] The positioning assembly includes a positioning plate detachably connected to the top surface of the carrier plate, the positioning plate is provided with a rectangularly distributed reference groove, a cantilevered elastic block is formed on one side of the reference groove, the elastic block serves as one of the side edges of the reference groove, the inner wall of the reference groove is provided with a first reference surface, the outer wall of the elastic block close to the reference groove is provided with a second reference surface, the reference groove is used to position the inertial navigation module, the inertial navigation module is placed in the reference groove, and the second reference surface of the elastic block is in contact with the inertial navigation module to be close to the first reference surface.

[0007] Preferably, it also includes a communication component, which includes a communication control board sunk into the top surface of the carrier plate and a PCB board detachably connected to the top surface of the positioning plate, the communication control board is electrically connected to the PCB board, the communication control board obtains the signal of the parallel inertial navigation module through the PCB board, marks and arranges the inertial navigation modules that output data, and the PCB board is electrically connected to the inertial navigation module placed in the reference groove.

[0008] Preferably, the communication component further comprises a pressing plate arranged above the communication control board, the end surface of the pressing plate is provided with a card slot corresponding to the communication control board, and the card slot is used to fix the external connection terminal connected to the communication control board.

[0009] Preferably, it also includes a press-fit assembly arranged above the positioning assembly, the press-fit assembly includes a top plate, the bottom surface of the top plate is provided with a height limiting part, the height limiting part is used to limit the height between the top plate and the supporting plate, the top surface of the top plate is penetrated by a locking part threadedly connected to the supporting plate, and the top plate is used to press down the inertial navigation module in the reference groove.

[0010] A method for testing an automobile inertial navigation module comprises the following steps:

[0011] The inertial navigation module to be tested is placed in the test fixture, and the test fixture is installed on the test equipment. The test equipment and the inertial navigation module in the test fixture are connected to the host computer for data, forming a communication series for the inertial navigation module, obtaining the driving data of the test equipment, the product information stored in the inertial navigation module and its performance parameters, and marking the position of the inertial navigation module;

[0012] Calibrate the zero position of the test fixture, calibrate the reference axes of the test fixture in the X, Y, and Z directions based on the zero position, place the test fixture at the zero position, perform zero-point sampling on the inertial navigation module based on the zero position, and obtain the output mean value of the inertial navigation module at the zero position of the test fixture;

[0013] An angular velocity point and an acceleration point are selected based on the zero point position of the test fixture, and the test equipment is started to drive the test fixture to perform a normal temperature test of the inertial navigation module according to the selected angular velocity point and acceleration point. The inertial navigation module is sampled at normal temperature at the selected angular velocity point and acceleration point to obtain the input value of the test equipment at each angular velocity point and acceleration point and the output value of the normal temperature sampling of the inertial navigation module;

[0014] According to the output value sampled at normal temperature, the output mean value of the inertial navigation module at each angular velocity point and acceleration point is obtained. According to the input value and output mean value of each angular velocity point and acceleration point, a linear model of the relationship between the input value and the output mean value of the normal temperature test is established. The absolute compensation coefficient of the inertial navigation module is obtained by combining the linear model, the input value and the output mean value of the zero point sampling of the inertial navigation module, and the zero point position of the inertial navigation module is corrected by the absolute compensation coefficient.

[0015] Preferably, it also includes: obtaining the difference between the input value and the output value at each angular velocity point and acceleration point, performing discrete analysis on the difference at each velocity point and acceleration point, and marking the inertial navigation module and its corresponding angular velocity point and acceleration point whose difference deviates significantly.

[0016] Preferably, the method further includes: after the zero point position of the inertial navigation module is corrected according to the absolute compensation coefficient, a temperature point is selected to generate a temperature control strategy, and a temperature control test is performed on the inertial navigation module according to the temperature point and the temperature control strategy to obtain the input value of the test equipment at each temperature point under the zero point and each angular velocity point and acceleration point state and the output value of the temperature control sampling of the inertial navigation module at each temperature point.

[0017] Preferably, it also includes: obtaining the difference between the input value and the output value at the zero point and each angular velocity point and acceleration point according to the input value of the test equipment at each temperature point at the zero point and each angular velocity point and acceleration point and the output value of the temperature control sampling of the inertial navigation module at each temperature point, performing discrete analysis on the differences corresponding to each velocity point and acceleration point at each temperature point, obtaining the variance of each difference in the discrete analysis, and performing secondary marking on the inertial navigation module and its corresponding temperature point whose difference deviates significantly.

[0018] Preferably, the method further comprises: after removing the inertial navigation modules with repeated marks of the primary mark and the secondary mark, obtaining the output mean values ​​of the inertial navigation module zero point and each angular velocity point and the acceleration point corresponding to each temperature point according to the output values ​​of the remaining inertial navigation modules and their temperature control samples, obtaining the output increments of the angular velocity point and the acceleration point at each temperature point according to the input values ​​and the output mean values ​​of each angular velocity point and the acceleration point at each temperature point, establishing a linear model of the relationship between temperature and output increment, obtaining the relative compensation coefficient of the inertial navigation module within the full temperature range, and performing a secondary correction on the zero point position of the inertial navigation module according to the relative compensation coefficient.

[0019] A vehicle inertial navigation module testing system comprises a host computer, a testing device, the vehicle inertial navigation module testing tool and an inertial navigation module installed in the testing tool. The vehicle inertial navigation module testing system is used to execute the vehicle inertial navigation module testing method.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] The present invention arranges a positioning assembly on the top surface of the carrier plate, positions the inertial navigation module through a reference groove in the positioning plate, performs preliminary positioning and installation on the inertial navigation module through a first reference surface formed in the reference groove, and ensures that the inertial navigation module can be closely attached to the reference edge while being clamped by an elastic block on one side of the reference groove, thereby ensuring the accuracy of the inertial navigation module in the X-axis and Y-axis directions, and making it easier to disassemble and assemble the inertial navigation module; and connects the inertial navigation module to the carrier plate through the Nha Trang assembly, adjusts the height between the top plate and the carrier plate according to the height of the inertial navigation module by a height limiting member, connects the top plate and the carrier plate by a locking member, and then elastically presses down the inertial navigation module through an elastic pressing head, and positions the inertial navigation module in the reference groove. After the inertial navigation module is limited in the X-axis and Y-axis directions, the elastic pressure head limits the freedom of the inertial navigation module in the Z-axis direction, and then the inertial navigation module is limited in all directions, each inertial navigation module is pressed tightly to ensure that the inertial navigation module will not be displaced during dynamic testing, effectively ensuring the test accuracy and making it easier to quickly disassemble and assemble the inertial navigation modules in batch testing. In addition, multiple inertial navigation modules are connected through the PCB board, and the communication control board edits and arranges the signals of all the inertial navigation modules and converts them into network port communication, which are transmitted to the computer through the external wiring harness. The test software performs batch testing on the inertial navigation modules, effectively improving the test efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a three-dimensional structural schematic diagram of the vehicle inertial navigation module testing tool of the present invention;

[0023] Figure 2 It is a schematic diagram of the expanded structure of the vehicle inertial navigation module testing system of the present invention;

[0024] Figure 3 It is a schematic diagram of the three-dimensional structure of the supporting plate, the positioning component and the communication component in the present invention;

[0025] Figure 4 It is a schematic diagram of the three-dimensional structure of the positioning component in the present invention;

[0026] Figure 5 for Figure 4 A local enlarged structural diagram of the part;

[0027] Figure 6 A schematic diagram of the three-dimensional structure of the positioning assembly in the present invention from another perspective;

[0028] Figure 7 for Figure 6 A schematic diagram of the local enlarged structure at B in FIG.

[0029] Figure 8 It is a schematic diagram of the three-dimensional structure of the carrying plate in the present invention;

[0030] Fig. 9 It is a schematic diagram of the three-dimensional structure of the communication component in the present invention;

[0031] Fig.10 It is a schematic diagram of the installation of the positioning component on the inertial navigation module in the present invention;

[0032] Fig.11 It is a schematic diagram of the three-dimensional structure of the press-fit assembly in the present invention;

[0033] Fig.12 It is a schematic diagram of the composition of the automobile inertial navigation module testing system of the present invention.

[0034] In the figure: 1, bearing plate; 11, mounting groove; 12, guide sleeve; 13, nut;

[0035] 2. Positioning assembly; 21. Positioning plate; 22. Reference groove; 23. Elastic groove; 24. Elastic block; 25. Limiting groove; 26. Spring; 27. First reference surface; 28. Second reference surface;

[0036] 3. Communication component; 31. Communication control board; 32. PCB board; 33. Press plate; 34. Card slot; 35. Connecting column;

[0037] 4. Press-fit assembly; 41. Top plate; 42. Height limiter; 43. Locking piece; 44. Elastic pressure head; 45. Guide column. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0039] Example 1

[0040] See also Figure 1-8, 10 and 11, the present invention provides a technical solution: a vehicle inertial navigation module test fixture, system and method, including a carrier plate 1, a positioning component 2 arranged on the top surface of the carrier plate 1, specifically, two positioning components 2 are provided, the two positioning components 2 are symmetrically arranged above the carrier plate 1 and located on both sides of the parallel mounting grooves 11, the positioning component 2 includes a positioning plate 21 detachably connected to the top surface of the carrier plate 1, the positioning plate 21 is provided with a rectangularly distributed reference groove 22, specifically, a plurality of reference grooves 22 are provided, and the plurality of reference grooves 22 are rectangularly distributed and parallel, a cantilevered elastic block 24 is formed on one side of the reference groove 22, the elastic block 24 serves as one of the side edges of the reference groove 22, specifically, one end of the elastic block 24 is integrally connected to the positioning plate 21, and the other end is suspended, and the inner wall of the reference groove 22 is provided with a first reference surface 27, a second reference surface 28 is provided on the outer wall of one side of the elastic block 24 close to the reference groove 22. Specifically, the second reference surface 28 and the first reference surface 27 in the reference groove 22 are the reference edges of the reference groove 22, which surround the installation position of the inertial navigation module to position the inertial navigation module. The reference groove 22 is used to position the inertial navigation module. The inertial navigation module is placed in the reference groove 22, and the second reference surface 28 of the elastic block 24 is in contact with the inertial navigation module and is close to the first reference surface 27. The positioning component 2 can be arranged on the top surface of the carrier plate 1, and the inertial navigation module can be positioned through the reference groove 22 in the positioning plate 21. The inertial navigation module is preliminarily positioned and installed through the first reference surface 27 formed in the reference groove 22, and the elastic block 24 on one side of the reference groove 22 is clamped to ensure that the inertial navigation module can be closely close to the reference edge, thereby ensuring the accuracy of the inertial navigation module in the X-axis and Y-axis directions.

[0041] The carrier plate 1 is made of fiberglass board, and its thickness is processed by a precision grinder, which effectively ensures the flatness of the end face of the carrier plate 1 and the accuracy of the horizontality of the inertial navigation module.

[0042] The positioning plate 21 is made of PEEK material, and the top edge of the reference groove 22 is chamfered to facilitate the installation of the inertial navigation module.

[0043] Among them, the end face of the positioning plate 21 is provided with a right-angled elastic groove 23 located on one side of the reference groove 22, and a limiting groove 25 connected to the reference groove 22 is formed at one end of the elastic groove 23. A cantilevered elastic block 24 is formed between the elastic groove 23 and the reference groove 22, and the cantilever end of the elastic block 24 extends into the limiting groove 25. The elastic groove 23 and the limiting groove 25 can be processed on one side of the reference groove 22 to form a cantilevered elastic block 24 on the side of the reference groove 22. The second reference surface 28 processed by the side wall of the elastic block 24 abuts against the inertial navigation module, and the cantilever end of the elastic block 24 is bidirectionally limited by the limiting groove 25.

[0044] Among them, a spring 26 is arranged in the limiting groove 25, one end of the spring 26 is connected to the end of the elastic block 24 extending into the limiting groove 25, and the other end of the spring 26 is against the inner wall of the limiting groove 25, that is, the cantilever end of the elastic block 24 can be connected through the spring 26, and on the basis of the elasticity of the elastic block 24 and the positioning plate 21 themselves, the spring 26 elastically tensions the elastic block 24 to improve the stability of the elastic block 24.

[0045] Furthermore, it also includes a press-fitting assembly 4 arranged above the positioning assembly 2, the press-fitting assembly 4 includes a top plate 41, the bottom surface of the top plate 41 is provided with a height limiting member 42, the height limiting member 42 is used to limit the height between the top plate 41 and the load-bearing plate 1, specifically, the height limiting member 42 is a bolt, the head of the height limiting member 42 abuts against the top surface of the load-bearing plate 1, the top of the height limiting member 42 is threadedly connected to the top plate 41, and the top surface of the top plate 41 is penetrated with a locking member 43 threadedly connected to the load-bearing plate 1, specifically, the four corners and both sides of the middle of the top plate 41 are provided with There is a locking piece 43, which is a bolt. The handle of the locking piece 43 passes through the top plate 41. The top surface of the carrier plate 1 is provided with a nut 13 threadedly connected to the handle of the locking piece 43. The top plate 41 is used to press down the inertial navigation module in the reference groove 22. The height between the top plate 41 and the carrier plate 1 can be adjusted by the height limiting piece 42, and then the height of the top plate 41 is limited according to the height of the inertial navigation module. Then, the locking piece 43 connects the top plate 41 to the carrier plate 1, and the top plate 41 limits the top end of the inertial navigation module in the Z-axis direction.

[0046] Furthermore, an elastic pressure head 44 corresponding to the reference groove 22 is provided on the bottom surface of the top plate 41. The elastic pressure head 44 is used to resist and elastically press down the inertial navigation module in the reference groove 22. After the inertial navigation module is placed in the reference groove 22, the elastic pressure head 44 elastically presses down the inertial navigation module. After the reference groove 22 limits the position of the inertial navigation module in the X-axis and Y-axis directions, the elastic pressure head 44 limits the freedom of the inertial navigation module in the Z-axis direction, and then limits the inertial navigation module in all directions, and presses each inertial navigation module to ensure that the inertial navigation module will not be displaced during dynamic testing, thereby effectively ensuring the test accuracy.

[0047] Among them, guide columns 45 are provided at both ends of the top plate 41, and guide sleeves 12 cooperating with the guide columns 45 are provided at both ends of the supporting plate 1. Specifically, the guide sleeve 12 is sunk into the supporting plate 1, and the guide sleeve 12 and the guide column 45 are matched in hole and axis. The installation and height adjustment of the top plate 41 can be guided by the cooperation between the guide column 45 and the guide sleeve 12.

[0048] In this embodiment, the inertial navigation module is placed in the reference groove 22. Under the elastic action of the spring 26, the elastic block 24 contacts the inertial navigation module through the second reference surface 28, and the inertial navigation module is close to the first reference surface 27, thereby performing reference positioning of the inertial navigation module in the X-axis and Y-axis directions, and ensuring the accuracy of the inertial navigation module in the X-axis and Y-axis directions;

[0049] The guide column 45 cooperates with the guide sleeve 12 to guide the top plate 41 to be installed above the carrier plate 1. The height limiting member 42 is adjusted to adjust the distance between the top plate 41 and the carrier plate 1. The elastic pressure head 44 contacts the top surface of the inertial navigation module to limit the freedom of the inertial navigation module in the Z-axis direction, thereby limiting the position of the inertial navigation module in all directions. The top plate 41 is connected to the carrier plate 1 through the locking member 43 to press each inertial navigation module tightly to ensure that the inertial navigation module will not be displaced during dynamic testing, thereby effectively ensuring the test accuracy.

[0050] Example 2

[0051] See also Figure 1-11 , based on Example 1, the difference is that:

[0052] Furthermore, it also includes a communication component 3, which includes a communication control board 31 sunk into the top surface of the carrier plate 1 and a PCB board 32 detachably connected to the top surface of the positioning plate 21. Specifically, a plurality of parallel mounting grooves 11 are provided in the middle of the top surface of the carrier plate 1, and a plurality of communication control boards 31 and PCB boards 32 are provided. The communication control board 31 is sunk into the corresponding mounting grooves 11, and the PCB board 32 is connected to the top surfaces of the two positioning plates 21 by screws. The communication control board 31 is electrically connected to the PCB board 32. Specifically, the output end of the PCB board 32 is connected to the input end of the communication control board 31 by a wiring terminal. The output end of the communication control board 31 passes through the PCB board 32. The communication control board 31 obtains the signals of the parallel inertial navigation modules through the PCB board 32, marks and arranges the inertial navigation modules that output data, and the PCB board 32 is electrically connected to the inertial navigation module placed in the reference slot 22. Specifically, the male end of one end of the wiring harness is connected to the output port of the inertial navigation module, and the male end of the other end of the wiring harness is connected to the female end on the PCB board 32. Multiple inertial navigation modules can be connected through the PCB board 32, and the communication control board 31 edits and arranges the signals of all the inertial navigation modules and converts them into network port communication, which are transmitted to the computer through the external wiring harness, and the inertial navigation module is tested by the test software.

[0053] Furthermore, the communication component 3 also includes a pressure plate 33 arranged above the communication control board 31. Specifically, the four corners of the pressure plate 33 are provided with connecting columns 35, and the two ends of the connecting columns 35 are respectively threadedly connected to the carrier plate 1 and the pressure plate 33. The end face of the pressure plate 33 is provided with a card slot 34 corresponding to the communication control board 31. The card slot 34 is used to fix the external connection terminal of the communication control board 31. The connection terminal of the external wiring harness of the communication control board 31 can be positioned by the card slot 34, and then the communication control board 31 and its external connection terminal are fixed, which effectively ensures that the external connection terminal of the communication control board 31 will not fall off during the test of the inertial navigation module.

[0054] In this embodiment, by setting a PCB board 32 on the top surface of the positioning plate 21, each inertial navigation module in the same column is connected to the PCB board 32 through a wiring harness, and the communication control board 31 is connected to the PCB board 32, so that multiple inertial navigation modules in the same column are uniformly communicated and connected, and sorted, and then the rectangularly distributed inertial navigation modules are communicated and connected in sequence through multiple communication control boards 31 and corresponding PCB boards 32;

[0055] The external connection terminals of the communication control board 31 are pressed tightly by the card slot 34 of the pressure plate 33 to prevent the external connection terminals from falling off during the test. Then, the external connection terminals of the communication control board 31 are connected to the computer, and the signals of the inertial navigation modules are collected through the test software. The inertial navigation modules are batch tested, which makes the operation simpler and more efficient.

[0056] Example 3

[0057] See also Figure 1 , 10 And 12, the present invention also provides a technical solution: an automobile inertial navigation module testing system, comprising a host computer, a test device, the above-mentioned automobile inertial navigation module testing tool and an inertial navigation module installed in the test tool, the host computer is data-connected with the test device and the communication control board 31, the test device is used to drive the test tool to rotate and displace along the X-axis, Y-axis and Z-axis according to the input value, specifically, the host computer is a computer, and is installed with a sampling program for testing the inertial navigation module, and the output value generated by the inertial navigation module along with the action of the test tool is output to the host computer through the communication control board 31.

[0058] Example 4

[0059] See also Figure 1 , 10 12. The present invention also provides a technical solution: a method for testing an automotive inertial navigation module, comprising the following steps:

[0060] S1, installing the inertial navigation module: placing the inertial navigation module to be tested in the reference slot 22 of the test fixture, and installing the test fixture on the test equipment, the test equipment and the inertial navigation module in the test fixture are both data-connected to the host computer, forming a communication series for the inertial navigation module, obtaining the driving data of the test equipment, the product information stored in the inertial navigation module and its performance parameters, and marking the position of the inertial navigation module;

[0061] Before the test, the X, Y, and Z axis precision calibration is performed on the installation position of the inertial navigation module in the test fixture to ensure that the machining precision of any reference groove 22 is consistent with the installation precision of the inertial navigation module;

[0062] The driving data includes the movement data and rotation data of the test fixture along the X, Y, and Z reference axis directions, the movement data includes the range and accuracy of displacement, velocity, and acceleration, and the rotation data includes the range and accuracy of angular velocity and angular acceleration;

[0063] The product information includes the product number and usage conditions, the product information includes the product number, check code, size, weight, the usage conditions include electrical parameters, interface, operating temperature, storage temperature and reliability, wherein the electrical parameters include operating voltage and power consumption;

[0064] The performance parameters include angular velocity parameters and acceleration parameters, and the angular velocity parameters and acceleration parameters include scale factor parameters, zero bias parameters, range and accuracy;

[0065] Wherein, the scale factor parameters include scale factor, scale factor nonlinearity, scale factor asymmetry, scale factor repeatability and scale factor temperature coefficient;

[0066] Among them, the bias parameters include bias, bias stability, bias repeatability, bias acceleration sensitivity, angle random walk and bias temperature sensitivity;

[0067] After the inertial navigation module is installed and connected to the host computer data, the inertial navigation module is numbered according to the sequence of the communication control board 31 and the PCB board 32 according to the arrangement of the reference slot 22, and the obtained product information is associated with the number, and the position of each inertial navigation module is marked;

[0068] S2, zero point calibration: calibrate the zero point position of the test fixture, calibrate the reference axes of the test fixture in the X, Y, and Z directions based on the zero point position, place the test fixture at the zero point position, perform zero point sampling on the inertial navigation module based on the zero point position, and obtain the output mean value of the inertial navigation module at the zero point position of the test fixture;

[0069] Before the test, the initial positions of the fixture or mounting seat holding the test fixture for forward rotation, reverse rotation, forward movement and reverse movement are marked, the initial position of the test fixture installation is used as its zero position, and the reference axes of the test fixture for forward rotation, reverse rotation, forward movement and reverse movement are calibrated based on the zero position;

[0070] Among them, after the test fixture is at the zero position, the inertial navigation module is connected to the power supply for 5 minutes of working preheating, and then a 10-minute static test is performed after 5 minutes of preheating. The sampling period is 2 seconds, and the sampling data within the middle 5 minutes are intercepted. According to the number of samples, the output mean value of the inertial navigation module at the zero position of the test fixture is obtained;

[0071] S3, normal temperature test: based on the zero position of the test fixture, select the angular velocity point and acceleration point, start the test equipment to drive the test fixture to perform normal temperature test of the inertial navigation module according to the selected angular velocity point and acceleration point, start the sampling program in a normal temperature environment within the range of 25±5℃, and the inertial navigation module rotates forward, rotates backward, moves forward and moves backward along the X, Y and Z reference axes with the test fixture. The inertial navigation module is sampled at normal temperature at the selected angular velocity point and acceleration point to obtain the input value of the test equipment at each angular velocity point and acceleration point and the output value of the normal temperature sampling of the inertial navigation module;

[0072] Among them, normal temperature test conditions: ambient temperature 25±5℃, relative humidity 20~80%, atmospheric pressure 86~106kPa;

[0073] According to the angular rate and acceleration range, the selection of the angular rate points of the inertial navigation module rotating in the positive and reverse directions along the X, Y, and Z reference axes along with the test fixture includes but is not limited to ±0.1º / s, ±0.5º / s, ±1º / s, ±5º / s, ±10º / s, ±20º / s, ±50º / s, ±100º / s, ±200º / s, and ±300º / s;

[0074] The selection of acceleration points for the inertial navigation module to move forward and backward along the X, Y, and Z reference axes with the test fixture includes but is not limited to ±0.1g, ±0.5g, ±lg, ±5g, and ±10g;

[0075] The sampling time of each angular rate point and acceleration point is not less than 5 minutes, the sampling period is 2 seconds, and the normal temperature test is repeated 3 times, with an interval of at least 30 minutes each time;

[0076] S4, one-time marking: obtain the difference between the input value and the output value at each angular rate point and acceleration point, perform discrete analysis on the difference at each rate point and acceleration point, obtain the variance of each difference in the discrete analysis, and mark the inertial navigation module and its corresponding angular rate point and acceleration point with obvious deviation in the difference once;

[0077] Specifically, for the inertial navigation modules with large variance values ​​and their angular rate points and acceleration points, the host computer marks them according to the product number;

[0078] S5, zero position absolute compensation: according to the output value sampled at normal temperature, the output mean value of the inertial navigation module at each angular velocity point and acceleration point is obtained, and a linear model of the input value and output mean relationship of the normal temperature test is established according to the input value and output mean value of each angular velocity point and acceleration point. The absolute compensation coefficient of the inertial navigation module is obtained by combining the linear model, the input value and output mean value of the zero point sampling of the inertial navigation module, and the zero point position of the inertial navigation module is corrected by the absolute compensation coefficient;

[0079] Specifically, a weighted average is calculated for the output values ​​sampled at each angular velocity point and acceleration point and the output value sampled at the zero point, as the output mean value of each angular velocity point, acceleration point and zero point;

[0080] Generate a linear regression model of the input-output relationship of the angular velocity point based on the input value and output mean of each angular velocity point, and generate a linear regression model of the input-output relationship of the acceleration point based on the input value and output mean of each acceleration point;

[0081] Get the difference between the output mean and input value of the zero-point sampling of the inertial navigation module, and get the output mean of the angular velocity and acceleration of the inertial navigation module according to the linear regression model. Calculate the absolute compensation coefficient of the zero-point position of the inertial navigation module under normal temperature based on the ratio of the two:

[0082] According to the absolute compensation coefficient, the output value of the zero point position of the inertial navigation module is compensated to correct the zero point position of the inertial navigation module;

[0083] S6, temperature control test: After the zero point position of the inertial navigation module is corrected according to the absolute compensation coefficient, a temperature point is selected to generate a temperature control strategy. According to the temperature point and the temperature control strategy, the temperature control test of the inertial navigation module is carried out. In the full temperature range of [-40,70], the sampling program is started. During the process of the inertial navigation module rotating forward, rotating backward, moving forward and moving backward along the X, Y, and Z reference axes with the test fixture, according to the selected temperature point and temperature strategy, the input value of the test equipment at each temperature point under the zero point and each angular velocity point and acceleration point state and the output value of the temperature control sampling of the inertial navigation module at each temperature point are obtained;

[0084] The values ​​of the temperature points include all integers in the closed interval [-40,70], and the temperature control test is carried out in the full temperature range of [-40,70];

[0085] Among them, the temperature control strategy is as follows:

[0086] After the test fixture is placed at the zero position, the ambient temperature of the inertial navigation module is raised to 70°C at the maximum rate and kept warm for at least 1 hour. During the warm-keeping time, the inertial navigation module is powered on and preheated for 5 minutes. After preheating for 5 minutes, the inertial navigation module is statically tested and sampled based on the zero position of the test fixture. The zero-point sampling is a static test with a sampling time of 2 minutes and a sampling period of 1 second. The output value of the inertial navigation module is obtained at the selected angular rate point and acceleration point. The sampling time for each rate point and acceleration point is 2 minutes and the sampling period is 1 second.

[0087] After the holding time is over, the ambient temperature of the inertial navigation module is gradually reduced to -40°C according to the selected temperature points, and the adjacent temperature points are cooled at a constant rate of -1°C / min;

[0088] During the temperature reduction process, each time a temperature point is lowered, the temperature is kept warm for at least 1 hour and static testing and sampling are performed according to the temperature point value. At the selected angular rate point and acceleration point, the output value of the inertial navigation module is obtained. The sampling time for each rate point and acceleration point is 2 minutes, and the sampling period is 1 second.

[0089] After the temperature drops to -40°C and the inertial navigation module is tested and sampled at this temperature, the temperature is raised to 60°C at a heating rate of 1°C / min. During the heating process, the inertial navigation module is subjected to dynamic temperature testing and sampling at the selected angular rate points and acceleration points.

[0090] Statistical zero point and each angular velocity point, acceleration point at different temperature points, test equipment input value and inertial navigation module temperature control sampling output value;

[0091] S7, secondary marking: according to the input value of the test equipment at each temperature point under the zero point and each angular velocity point and acceleration point state and the output value of the temperature control sampling of the inertial navigation module at each temperature point, the difference between the input value and the output value under the zero point and each angular velocity point and acceleration point state is obtained, and the difference corresponding to each velocity point and acceleration point of each temperature point is discretely analyzed. In the discrete analysis, the variance of each difference is obtained, and the inertial navigation module and its corresponding temperature point with obvious deviation of the difference are secondary marked;

[0092] Specifically, for the inertial navigation modules with significantly larger variance values ​​and their angular rate points and acceleration points, the host computer will mark them according to the product number;

[0093] S8, data storage and removal: for the inertial navigation module and its temperature points, angular rate points, and acceleration points that have been marked twice and once, associate the position mark and store the data. After the data storage is completed, remove it from the communication queue;

[0094] If after one marking, it is marked again after the temperature control test, the twice marked inertial navigation module and its temperature points, angular rate points, acceleration points and sampling data will be stored and associated with their position marks;

[0095] After the data is stored, the host computer closes its data connection channel and repairs or scraps the inertial navigation module according to the data stored in the twice marked module;

[0096] S9, relative compensation: after removing the inertial navigation modules with repeated marks of the first mark and the second mark, obtain the output mean of the zero point of the inertial navigation module and each angular velocity point and the acceleration point corresponding to each temperature point according to the output values ​​of the remaining inertial navigation modules and their temperature control sampling, obtain the output increment of the angular velocity point and the acceleration point at each temperature point according to the input value and output mean of each angular velocity point and the acceleration point at each temperature point, establish a linear model of the relationship between temperature and output increment, obtain the relative compensation coefficient of the inertial navigation module in the full temperature range, and perform secondary correction on the zero point position of the inertial navigation module according to the relative compensation coefficient;

[0097] Specifically, according to the output value of the temperature control sampling, the output mean at the same temperature point and the same angular velocity point, as well as the output mean at the same temperature point and the same acceleration point are calculated, and after summarizing, the output mean of the inertial navigation module at the zero point and each angular velocity point and acceleration point at each temperature point in the full temperature range is obtained;

[0098] At the same temperature point, the difference between the output mean and the input value corresponding to each angular velocity point is calculated, and the weighted average value of the difference corresponding to all angular velocity points at this temperature point is calculated as the output increment representing the angular velocity at this temperature point. Combined with all temperature points and their corresponding output increments, a linear regression model of the relationship between temperature and output increment is established, and the output increment mean of the angular velocity is obtained according to the linear regression model;

[0099] At the same temperature point, the difference between the output mean and the input value corresponding to each acceleration point is calculated, and the weighted average value of the difference corresponding to all acceleration points at this temperature point is calculated as the output increment representing the acceleration at this temperature point. Combined with all temperature points and their corresponding output increments, a linear regression model of the relationship between temperature and output increment is established, and the output increment mean of acceleration is obtained according to the linear regression model;

[0100] Obtain the difference between the output mean and input value of the zero-point sampling of the inertial navigation module, and obtain the relative compensation coefficient of the inertial navigation module in the full temperature range according to the ratio of the difference between the output mean and input value of the zero-point sampling of the inertial navigation module to the output increment mean of the angular velocity and acceleration of the inertial navigation module;

[0101] Perform secondary compensation on the output value of the zero point position of the inertial navigation module according to the relative compensation coefficient, and perform secondary correction on the zero point position of the inertial navigation module;

[0102] S10, output compensation: based on the zero point position corrected by the relative compensation coefficient, the output value of the inertial navigation module is compensated by the relative compensation coefficient;

[0103] Specifically, the absolute compensation coefficient and the relative compensation coefficient are stored in the inertial navigation module;

[0104] The automotive inertial navigation module testing system is used to execute the above-mentioned automotive inertial navigation module testing method. By performing normal temperature tests and temperature control tests on the inertial navigation module, the absolute compensation coefficient and the relative compensation coefficient are obtained and stored in the inertial navigation module. In the actual use of the inertial navigation module, the zero point position of the inertial navigation module is corrected once by the absolute compensation coefficient, and the zero point position of the inertial navigation module is corrected twice by the relative compensation coefficient and its output value is compensated to obtain more stable and accurate angular velocity, angular acceleration, and acceleration monitoring output.

[0105] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for testing an automobile inertial navigation module, characterized in that: The following steps are involved: The inertial navigation module to be tested is placed in the test fixture, and the test fixture is installed on the test equipment. The test equipment and the inertial navigation module in the test fixture are connected to the host computer for data, forming a communication series for the inertial navigation module, obtaining the driving data of the test equipment, the product information stored in the inertial navigation module and its performance parameters, and marking the position of the inertial navigation module; After the inertial navigation module is installed and connected to the host computer data, the inertial navigation module is numbered according to the arrangement of the reference slots based on the sequence of the communication control board and the PCB board, and the obtained product information is associated with the number, and the position of each inertial navigation module is marked; Calibrate the zero position of the test fixture, calibrate the reference axes of the test fixture in the X, Y, and Z directions based on the zero position, place the test fixture at the zero position, perform zero-point sampling on the inertial navigation module based on the zero position, and obtain the output mean value of the inertial navigation module at the zero position of the test fixture; An angular velocity point and an acceleration point are selected based on the zero point position of the test fixture, and the test equipment is started to drive the test fixture to perform a normal temperature test of the inertial navigation module according to the selected angular velocity point and acceleration point. The inertial navigation module is sampled at normal temperature at the selected angular velocity point and acceleration point to obtain the input value of the test equipment at each angular velocity point and acceleration point and the output value of the normal temperature sampling of the inertial navigation module; According to the output value sampled at normal temperature, the output mean value of the inertial navigation module at each angular velocity point and acceleration point is obtained. According to the input value and output mean value of each angular velocity point and acceleration point, a linear model of the relationship between the input value and the output mean value of the normal temperature test is established. The absolute compensation coefficient of the inertial navigation module is obtained by combining the linear model, the input value and the output mean value of the zero point sampling of the inertial navigation module, and the zero point position of the inertial navigation module is corrected by the absolute compensation coefficient.

2. A vehicle inertial navigation module testing method as claimed in claim 1, characterized in that: Also includes: The difference between the input value and the output value at each angular rate point and acceleration point is obtained, and the difference at each rate point and acceleration point is discretely analyzed. The inertial navigation module and its corresponding angular rate point and acceleration point with obvious deviation in the difference are marked.

3. A vehicle inertial navigation module testing method as claimed in claim 2, characterized in that: Also includes: After the zero point position of the inertial navigation module is corrected according to the absolute compensation coefficient, the temperature point is selected to generate the temperature control strategy. According to the temperature point and the temperature control strategy, the temperature control test of the inertial navigation module is carried out to obtain the input value of the test equipment at each temperature point under the zero point and each angular velocity point and acceleration point state, as well as the output value of the temperature control sampling of the inertial navigation module at each temperature point.

4. A vehicle inertial navigation module testing method as claimed in claim 3, characterized in that: Also includes: According to the input value of the test equipment at each temperature point under the zero point and each angular velocity point and acceleration point state and the output value of the temperature control sampling of the inertial navigation module at each temperature point, the difference between the input value and the output value under the zero point and each angular velocity point and acceleration point state is obtained, and a discrete analysis is performed on the difference corresponding to each velocity point and acceleration point of each temperature point. In the discrete analysis, the variance of each difference is obtained, and the inertial navigation module and its corresponding temperature point with obvious deviation of the difference are marked twice.

5. A vehicle inertial navigation module testing method as claimed in claim 4, characterized in that: Also includes: After removing the inertial navigation modules with repeated marks of the first mark and the second mark, the output mean of the inertial navigation module zero point and each angular velocity point and acceleration point corresponding to each temperature point is obtained according to the output values ​​of the remaining inertial navigation modules and their temperature control sampling. The output increment of the angular velocity point and acceleration point at each temperature point is obtained according to the input value and output mean of each angular velocity point and acceleration point at each temperature point, and a linear model of the relationship between temperature and output increment is established to obtain the relative compensation coefficient of the inertial navigation module in the full temperature range, and the zero point position of the inertial navigation module is corrected secondary by the relative compensation coefficient.

6. A vehicle inertial navigation module testing tool, comprising a bearing plate (1), and a positioning assembly (2) arranged on the top surface of the bearing plate (1), characterized in that: The positioning assembly (2) comprises a positioning plate (21) detachably connected to the top surface of the carrier plate (1), the positioning plate (21) being provided with rectangularly distributed reference grooves (22), one side of the reference groove (22) being provided with a cantilevered elastic block (24), the elastic block (24) serving as one of the side edges of the reference groove (22), the inner wall of the reference groove (22) being provided with a first reference surface (27), the outer wall of the elastic block (24) being close to the reference groove (22) being provided with a second reference surface (28), the reference groove (22) being used for positioning an inertial navigation module, the inertial navigation module being placed in the reference groove (22), the second reference surface (28) of the elastic block (24) being in contact with the inertial navigation module and being closely attached to the first reference surface (27); The end surface of the positioning plate (21) is provided with a right-angled elastic groove (23) located on one side of the reference groove (22); one end of the elastic groove (23) is formed with a limiting groove (25) connected to the reference groove (22); a cantilevered elastic block (24) is formed between the elastic groove (23) and the reference groove (22); the cantilever end of the elastic block (24) extends into the limiting groove (25); A spring (26) is arranged in the limiting groove (25), one end of the spring (26) is connected to one end of the elastic block (24) extending into the limiting groove (25), and the other end of the spring (26) abuts against the inner wall of the limiting groove (25); The automobile inertial navigation module test fixture further comprises a press-fitting assembly (4) arranged above the positioning assembly (2), the press-fitting assembly (4) comprising a top plate (41), a bottom surface of the top plate (41) being provided with a height limiting member (42), the height limiting member (42) being used to limit the height between the top plate (41) and the bearing plate (1), a locking member (43) being threadedly connected to the bearing plate (1) being passed through the top surface of the top plate (41), the top plate (41) being used to press down the inertial navigation module in the reference groove (22).

7. The vehicle inertial navigation module testing tool as claimed in claim 6, characterized in that: The invention also comprises a communication component (3), the communication component (3) comprising a communication control board (31) sunk into the top surface of the carrier plate (1) and a PCB board (32) detachably connected to the top surface of the positioning plate (21), the communication control board (31) being electrically connected to the PCB board (32), the communication control board (31) acquiring signals of the parallel inertial navigation modules through the PCB board (32), marking and arranging the inertial navigation modules that output data, and the PCB board (32) being electrically connected to the inertial navigation modules placed in the reference slot (22).

8. The vehicle inertial navigation module testing tool as claimed in claim 7, characterized in that: The communication component (3) further comprises a pressing plate (33) arranged above the communication control board (31), the end surface of the pressing plate (33) being provided with a card slot (34) corresponding to the communication control board (31), the card slot (34) being used to fix a wiring terminal connected to an external connection of the communication control board (31).

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