Inertial navigation module testing apparatus and method

Abstract

The present invention provides an inertial navigation module testing device and method. The inertial navigation module testing device includes: a test bench for supporting an inertial navigation module; a clamping mechanism; a six-degree-of-freedom driving mechanism, which is arranged on the test bench, and one end of the six-degree-of-freedom driving mechanism is fixedly connected to the clamping mechanism; and a control mechanism, which is used to control the six-degree-of-freedom driving mechanism to drive the clamping mechanism to move in six degrees of freedom directions respectively, and to control the clamping mechanism to clamp the inertial navigation module. The above-mentioned inertial navigation module testing device improves the efficiency of the inertial navigation module testing because the control mechanism can automatically control the six-degree-of-freedom driving mechanism to drive the clamping mechanism to move in six degrees of freedom directions respectively during the inertial navigation module testing process, and the inertial navigation module testing device has a simple structure, low cost and small size.

Description

Technical Field

[0001] The present invention relates to the technical field of inertial navigation module testing, and in particular to an inertial navigation module testing device and method. Background Art

[0002] Inertial navigation is a technology that measures the acceleration and angular velocity of a moving object and then performs an integral operation to obtain the instantaneous speed and position of the moving object. Inertial navigation is widely used, for example, in missiles, airplanes, and cars. High-precision positioning technology is required for self-driving cars, which is achieved by combining satellite positioning technology with inertial navigation technology. The inertial navigation module contains a satellite positioning unit and an inertial sensor. Inertial sensors include accelerometers and gyroscopes. Inertial navigation modules need to test inertial sensors during the production process, mainly to test the functions of accelerometers and gyroscopes.

[0003] The existing test device for acceleration sensors and gyroscope sensors is a turntable. The turntable is a complex modern equipment integrating optics, machinery and electronics. It performs semi-physical simulation and testing in the fields of aviation and aerospace, and plays a key role in the development of aircraft. It can simulate various attitude and angular motions of aircraft, reproduce various dynamic characteristics of its motion, and repeatedly test the performance of the guidance system, control system and corresponding devices of the aircraft, obtain sufficient test data, and redesign and improve the system according to the data to meet the performance index requirements of the overall design of the aircraft. However, there is a problem of low test efficiency when using a turntable to test inertial sensors. Summary of the invention

[0004] Based on this, it is necessary to provide an inertial navigation module testing device and method with high testing efficiency to address the problem of low testing efficiency when using a turntable to test inertial sensors.

[0005] The present application provides an inertial navigation module testing device, including:

[0006] A test bench, used for supporting the inertial navigation module;

[0007] Clamping mechanism;

[0008] A six-degree-of-freedom driving mechanism is arranged on the test bench, one end of which is fixedly connected to the clamping mechanism; and

[0009] The control mechanism is used to control the clamping mechanism to clamp the inertial navigation module, and to control the six-degree-of-freedom driving mechanism to drive the clamping mechanism to move in six degrees of freedom directions respectively.

[0010] In the above-mentioned inertial navigation module testing device, the test bench supports the inertial navigation module, and one end of the six-degree-of-freedom driving mechanism is fixedly connected to the clamping mechanism. During the inertial navigation module testing process, the control mechanism controls the clamping mechanism to clamp the inertial navigation module, and the control mechanism controls the six-degree-of-freedom driving mechanism to drive the clamping mechanism to move in the six degrees of freedom directions respectively, thereby realizing the performance test of the inertial navigation module along each axis. Since during the inertial navigation module testing process, the control mechanism can automatically control the six-degree-of-freedom driving mechanism to drive the clamping mechanism to move in the six degrees of freedom directions respectively, the efficiency of the inertial navigation module testing is improved, and the inertial navigation module testing device has a simple structure, low cost and small size.

[0011] In one embodiment, the inertial navigation module testing device further includes a clamping mechanism for clamping the inertial navigation module.

[0012] In one embodiment, the clamping mechanism has a plurality of clamping positions.

[0013] In one embodiment, the inertial navigation module testing device further includes a conveying mechanism, which is disposed on the test bench and is used to convey the clamping mechanism to the holding mechanism.

[0014] In one embodiment, the conveying mechanism is a cylinder or a conveyor belt.

[0015] In one embodiment, the inertial navigation module testing device further includes a driving unit, and the control mechanism is used to control the driving unit so that the driving unit drives the conveying mechanism to move.

[0016] In one embodiment, the driving unit is a motor.

[0017] In one embodiment, the six-degree-of-freedom driving mechanism is a six-axis manipulator or a six-axis robot.

[0018] In one embodiment, the clamping mechanism is a clamping claw.

[0019] In one embodiment, the control mechanism is a programmable controller, a microprocessor or a single chip microcomputer.

[0020] Another embodiment of the present application further provides an inertial navigation module testing method based on the inertial navigation module testing device described in any one of the above items, wherein the inertial navigation module has an x-axis, a y-axis, and a z-axis, and the inertial navigation module testing method includes:

[0021] Controlling the six-degree-of-freedom driving mechanism to drive the clamping mechanism to clamp the inertial navigation module;

[0022] Controlling the six-degree-of-freedom driving mechanism to drive the clamping mechanism to move, respectively making the positive direction of the x-axis of the inertial navigation module consistent with the direction of gravity acceleration and remain stationary for a period of time, the negative direction of the x-axis consistent with the direction of gravity acceleration and remain stationary for a period of time, the positive direction of the y-axis consistent with the direction of gravity acceleration and remain stationary for a period of time, the negative direction of the y-axis consistent with the direction of gravity acceleration and remain stationary for a period of time, the positive direction of the z-axis consistent with the direction of gravity acceleration and remain stationary for a period of time, the negative direction of the z-axis consistent with the direction of gravity acceleration and remain stationary for a period of time, and respectively storing the acceleration values ​​of the positive direction of the x-axis, the negative direction of the x-axis, the positive direction of the y-axis, the negative direction of the y-axis, the positive direction of the z-axis, and the negative direction of the z-axis of the inertial navigation module in the process of being consistent with the direction of gravity acceleration and remaining stationary;

[0023] The six-degree-of-freedom drive mechanism is controlled to drive the clamping mechanism to move, so that the inertial navigation module rotates uniformly clockwise at a preset angular velocity for a period of time along the positive direction of the x-axis, rotates uniformly counterclockwise at a preset angular velocity for a period of time along the positive direction of the x-axis, rotates uniformly clockwise at a preset angular velocity for a period of time along the positive direction of the y-axis, rotates uniformly counterclockwise at a preset angular velocity for a period of time along the positive direction of the y-axis, rotates uniformly clockwise at a preset angular velocity for a period of time along the positive direction of the z-axis, and rotates uniformly counterclockwise at a preset angular velocity for a period of time along the positive direction of the z-axis, and stores the angular velocity data of the inertial navigation module during the clockwise and counterclockwise rotation along each axis.

[0024] In one embodiment, the inertial navigation module testing method further includes:

[0025] Respectively calculating the average value of the acceleration value output when the positive direction of the x-axis of the inertial navigation module is consistent with the direction of gravity acceleration and remains stationary, the average value of the acceleration value output when the negative direction of the x-axis is consistent with the direction of gravity acceleration and remains stationary, the average value of the acceleration value output when the positive direction of the y-axis is consistent with the direction of gravity acceleration and remains stationary, the average value of the acceleration value output when the negative direction of the y-axis is consistent with the direction of gravity acceleration and remains stationary, the average value of the acceleration value output when the positive direction of the z-axis is consistent with the direction of gravity acceleration and remains stationary, and the average value of the acceleration value output when the negative direction of the z-axis is consistent with the direction of gravity acceleration and remains stationary;

[0026] The difference between the average value of each acceleration value and the gravitational acceleration is calculated respectively.

[0027] In one embodiment, the inertial navigation module testing method further includes:

[0028] Respectively calculate the average value of the angular velocity values ​​output when the inertial navigation module rotates clockwise at a constant speed along the positive direction of the x-axis, the average value of the angular velocity values ​​output when the inertial navigation module rotates counterclockwise at a constant speed along the positive direction of the x-axis, the average value of the angular velocity values ​​output when the inertial navigation module rotates clockwise at a constant speed along the positive direction of the y-axis, the average value of the angular velocity values ​​output when the inertial navigation module rotates counterclockwise at a constant speed along the positive direction of the y-axis, the average value of the angular velocity values ​​output when the inertial navigation module rotates clockwise at a constant speed along the positive direction of the z-axis, and the average value of the angular velocity values ​​output when the inertial navigation module rotates counterclockwise at a constant speed along the positive direction of the z-axis;

[0029] The difference between the average value of each angular velocity value and the corresponding preset angular velocity is calculated respectively.

[0030] In one embodiment, the inertial navigation module rotates clockwise and counterclockwise along each axis at a constant speed for at least one revolution.

[0031] In one embodiment, the length of time that each axis of the inertial navigation module remains stationary when the positive and negative directions are respectively consistent with the direction of gravity acceleration is the same. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A schematic structural diagram of an inertial navigation module testing device according to an embodiment;

[0033] Figure 2 for Figure 1 Schematic diagram of the clamping mechanism in the embodiment of the present invention when the clamping mechanism is grasping the clamping mechanism;

[0034] Figure 3 for Figure 1 Schematic diagram of the six-degree-of-freedom driving mechanism driving the clamping mechanism to rotate;

[0035] Figure 4 Flow chart of an inertial navigation module testing method according to an embodiment of the present application. DETAILED DESCRIPTION

[0036] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0037] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0038] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0039] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0041] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0042] Please refer to Figure 1 The embodiment of the present application provides an inertial navigation module testing device 100. The inertial navigation module testing device 100 includes: a test bench 110, a clamping mechanism 120, a six-degree-of-freedom driving mechanism 130, and a control mechanism (not shown).

[0043] The inertial navigation module 10 includes an acceleration sensor (not shown) and a gyroscope sensor (not shown). The acceleration sensor has three axes and outputs acceleration data in each direction in three-dimensional space. The gyroscope sensor has three axes and outputs angular velocity data in each direction in three-dimensional space.

[0044] The test bench 110 is used to support the inertial navigation module 10 .

[0045] Specifically, the inertial navigation module testing device 100 further includes a clamping mechanism 140. The clamping mechanism 140 is used to clamp the inertial navigation module 10. One or more clamping positions can be set on the clamping mechanism 140, and each clamping position can clamp an inertial navigation module 10. Please refer to Figure 1 to Figure 3 In this embodiment, the clamping mechanism 140 is provided with two clamping positions, each of which is respectively clamped with an inertial navigation module 10. The clamping mechanism 140 is disposed on the test bench 110, so that the inertial navigation module 10 and the clamping mechanism 140 are supported by the test bench 110.

[0046] The clamping mechanism 120 may be a clamping jaw. The clamping jaw may be an open and close type clamping jaw, such as a two-finger clamping jaw, a three-finger clamping jaw, etc. The clamping mechanism 140 may be grasped by opening and closing the clamping jaw.

[0047] The six-degree-of-freedom driving mechanism 130 is disposed on the test bench 110 . One end of the six-degree-of-freedom driving mechanism 130 is fixedly connected to the clamping mechanism 120 .

[0048] Specifically, the six-degree-of-freedom driving mechanism 130 may be a six-axis manipulator or a six-axis robot. The six-degree-of-freedom driving mechanism 130 may drive the clamping mechanism 120 to move in six degrees of freedom.

[0049] The control mechanism is used to control the six-degree-of-freedom driving mechanism 130 to drive the clamping mechanism 120 to move in six degrees of freedom directions respectively, and is also used to control the clamping mechanism 120 to clamp the inertial navigation module 10 .

[0050] Specifically, the control mechanism can be a PLC controller, a single chip microcomputer, a microprocessor, etc. The control mechanism can drive the clamping mechanism 120 to move along the six degrees of freedom directions by controlling the movement of the six-degree-of-freedom driving mechanism 130. Figure 2 When testing the inertial navigation module 10, the control mechanism first controls the six-degree-of-freedom driving mechanism 130 to drive the clamping mechanism 120 to move to the position of the inertial navigation module 10, and then controls the clamping mechanism 120 to open, thereby clamping the clamping mechanism 140, and then clamping the inertial navigation module 10, so as to test the inertial navigation module 10.

[0051] In one embodiment, the inertial navigation module testing device 100 further includes a conveying mechanism 150 . The conveying mechanism 150 is disposed on the test bench 110 and is used to convey the clamping mechanism 140 to the holding mechanism 120 .

[0052] Specifically, the conveying mechanism 150 may be a cylinder, a conveying belt, etc. After the inertial navigation module 10 is clamped on the clamping mechanism 140 , the clamping mechanism 140 may be placed on the conveying mechanism 150 , and the clamping mechanism 140 may be conveyed to the bottom of the clamping mechanism 120 by the conveying mechanism 150 , so as to facilitate the clamping mechanism 120 to be clamped to the clamping mechanism 140 .

[0053] In one embodiment, the inertial navigation module testing device 100 further includes a driving unit (not shown). The control mechanism controls the driving unit to move, so that the driving unit drives the conveying mechanism 150 to move, so that the conveying mechanism 150 conveys the clamping mechanism 140 to the clamping mechanism 120 .

[0054] Specifically, the driving part 150 may be a motor. The rotation of the motor may drive the crank-connecting rod mechanism to move, so that the crank-connecting rod mechanism drives the cylinder to move, so that the cylinder transports the clamping mechanism 140 to the clamping mechanism 120. The rotation of the motor may also drive the pulley to rotate, and the rotation of the pulley drives the conveyor belt to move, so that the conveyor belt transports the clamping mechanism 140 to the clamping mechanism 120.

[0055] Please refer to Figure 3 The inertial navigation module 10 has three axes, namely, an x-axis, a y-axis, and a z-axis.

[0056] The following describes a specific method for testing the inertial navigation module 10 using the inertial navigation module testing device 100:

[0057] The inertial navigation module 10 is clamped on the clamping mechanism 140, and then the clamping mechanism 140 is placed on the conveying mechanism 150, and the conveying mechanism 150 is controlled by the control mechanism to convey the clamping mechanism 140 to the clamping mechanism 120;

[0058] The control mechanism controls the clamping mechanism 120 to clamp the clamping mechanism 140, thereby clamping the inertial navigation module 10;

[0059] The six-degree-of-freedom driving mechanism 130 is controlled by the control mechanism to drive the clamping mechanism 120 to move, so that the positive direction of the x-axis, the negative direction of the x-axis, the positive direction of the y-axis, the negative direction of the y-axis, the positive direction of the z-axis, and the negative direction of the z-axis of the inertial navigation module 10 are respectively vertically downward (consistent with the direction of gravity acceleration) and remain stationary for a period of time, and the acceleration values ​​of the positive direction of the x-axis, the negative direction of the x-axis, the positive direction of the y-axis, the negative direction of the y-axis, the positive direction of the z-axis, and the negative direction of the z-axis of the inertial navigation module 10 in the process of being vertically downward and remaining stationary are respectively saved. By comparing the acceleration values ​​output in the positive and negative directions of each axis of the inertial navigation module 10 in the process of being vertically downward and remaining stationary with the local gravity acceleration value, it can be determined whether the function of the acceleration sensor of the tested inertial navigation module 10 is intact;

[0060] The six-degree-of-freedom driving mechanism 130 is controlled by the control mechanism to drive the clamping mechanism 120 to move, so that the inertial navigation module 10 rotates uniformly clockwise at a preset angular velocity for a period of time along the positive direction of the x-axis, rotates uniformly counterclockwise at a preset angular velocity for a period of time along the positive direction of the x-axis, rotates uniformly clockwise at a preset angular velocity for a period of time along the positive direction of the y-axis, rotates uniformly counterclockwise at a preset angular velocity for a period of time along the positive direction of the y-axis, rotates uniformly clockwise at a preset angular velocity for a period of time along the positive direction of the z-axis, and rotates uniformly counterclockwise at a preset angular velocity for a period of time along the positive direction of the z-axis, and saves the angular velocity data of the inertial navigation module 10 during the clockwise and counterclockwise rotation along each axis. By comparing the angular velocity data output during the clockwise and counterclockwise rotation of the inertial navigation module 10 along each axis with the corresponding preset angular velocities, it can be determined whether the function of the gyroscope sensor of the tested inertial navigation module 10 is intact.

[0061] In the above-mentioned inertial navigation module testing device 100, the test bench 110 supports the inertial navigation module 10, and one end of the six-degree-of-freedom driving mechanism 130 is fixedly connected to the clamping mechanism 120. In the process of testing the inertial navigation module 10, the clamping mechanism is controlled by the control mechanism to clamp the inertial navigation module 10, and the six-degree-of-freedom driving mechanism 130 is controlled by the control mechanism to drive the clamping mechanism 120 to move in the six degrees of freedom directions respectively, thereby realizing the performance test of the inertial navigation module 10 along each axis. Since in the process of testing the inertial navigation module 10, the control mechanism can automatically control the six-degree-of-freedom driving mechanism 130 to drive the clamping mechanism 120 to move in the six degrees of freedom directions respectively, the efficiency of the inertial navigation module 10 test is improved, and the inertial navigation module testing device 100 has a simple structure, low cost and small size.

[0062] Please refer to Figure 4 Another embodiment of the present application also provides a method for testing an inertial navigation module 10 based on the inertial navigation module testing device 100 of any of the above embodiments. The inertial navigation module 10 has an x-axis, a y-axis, and a z-axis. The method for testing the inertial navigation module 10 includes the following steps:

[0063] S110 : controlling the six-degree-of-freedom driving mechanism 130 to drive the clamping mechanism 120 to clamp the inertial navigation module 10 .

[0064] Specifically, the inertial navigation module 10 is clamped on the clamping mechanism 140, and the clamping mechanism 140 is placed on the conveying mechanism 150. The control mechanism controls the conveying mechanism 150 to convey the clamping mechanism 140 to the clamping mechanism 120. The control mechanism controls the clamping mechanism 120 to clamp the clamping mechanism 140, thereby clamping the inertial navigation module 10.

[0065] S130: Control the six-degree-of-freedom drive mechanism 130 to drive the clamping mechanism 120 to move, so that the positive direction of the x-axis of the inertial navigation module 10 is consistent with the direction of gravity acceleration and remains stationary for a period of time, the negative direction of the x-axis is consistent with the direction of gravity acceleration and remains stationary for a period of time, the positive direction of the y-axis is consistent with the direction of gravity acceleration and remains stationary for a period of time, the negative direction of the y-axis is consistent with the direction of gravity acceleration and remains stationary for a period of time, the positive direction of the z-axis is consistent with the direction of gravity acceleration and remains stationary for a period of time, and the negative direction of the z-axis is consistent with the direction of gravity acceleration and remains stationary for a period of time, and the acceleration values ​​of the positive direction of the x-axis, the negative direction of the x-axis, the positive direction of the y-axis, the negative direction of the y-axis, the positive direction of the z-axis, and the negative direction of the z-axis of the inertial navigation module 10 are respectively stored in the process of being consistent with the direction of gravity acceleration and remaining stationary.

[0066] Specifically, when the inertial navigation module 10 is stationary and its x-axis, y-axis or z-axis is consistent with the direction of gravity acceleration, the acceleration sensor in the inertial navigation module 10 tests the acceleration value along the direction of gravity and outputs the measured acceleration value. Therefore, the performance of the acceleration sensor in the inertial navigation module 10 can be judged by comparing the acceleration value output by the inertial navigation module 10 with the actual local gravity acceleration. The acceleration value output by the inertial navigation module 10 can be sent to a control mechanism, so that the acceleration value output by the inertial navigation module 10 is stored in the control mechanism. The control mechanism can be a computer. For example, the inertial navigation module 10 can be connected to a computer through a wire, so that the acceleration value output by the inertial navigation module 10 can be transmitted and stored in the computer.

[0067] The positive direction of the x-axis, the negative direction of the x-axis, the positive direction of the y-axis, the negative direction of the y-axis, the positive direction of the z-axis, and the negative direction of the z-axis of the inertial navigation module 10 can be kept vertically downward, respectively, so that the positive and negative directions of each axis can be kept consistent with the direction of gravity acceleration in sequence. The present application does not limit the order in which the positive and negative directions of the axes of the inertial navigation module 10 are consistent with the direction of gravity acceleration, and it can be adjusted arbitrarily, for example, the order in which the positive direction of the z-axis, the negative direction of the z-axis, the positive direction of the x-axis, the negative direction of the x-axis, the positive direction of the y-axis, and the negative direction of the y-axis are consistent with the direction of gravity acceleration in sequence. The stationary time when the positive and negative directions of the axes of the inertial navigation module 10 are kept consistent with the direction of gravity acceleration can be the same or different.

[0068] In one embodiment, when the positive and negative directions of each axis of the inertial navigation module 10 are consistent with the direction of gravity acceleration, the stationary time can be 1s to 3s, such as 1s, 1.2s, 2.5s, 3s, etc., so that when the inertial navigation module 10 rotates clockwise and counterclockwise at a constant speed along each axis, acceleration data of sufficient time length can be obtained, so as to better evaluate the performance of the acceleration sensor of the inertial navigation module 10.

[0069] By comparing the acceleration values ​​output when the positive and negative directions of each axis of the inertial navigation module 10 are consistent with the direction of gravity acceleration with the local gravity acceleration value, it can be determined whether the acceleration sensor of the tested inertial navigation module 10 is functioning properly.

[0070] S150: The control mechanism controls the six-degree-of-freedom driving mechanism 130 to drive the clamping mechanism 120 to move, so that the inertial navigation module 10 rotates clockwise at a preset angular velocity for a period of time along the positive direction of the x-axis, rotates counterclockwise at a preset angular velocity for a period of time along the positive direction of the x-axis, rotates clockwise at a preset angular velocity for a period of time along the positive direction of the y-axis, rotates counterclockwise at a preset angular velocity for a period of time along the positive direction of the y-axis, rotates clockwise at a preset angular velocity for a period of time along the positive direction of the z-axis, and rotates counterclockwise at a preset angular velocity for a period of time along the positive direction of the z-axis, and stores the angular velocity data of the inertial navigation module 10 during the clockwise and counterclockwise rotation along each axis.

[0071] Specifically, the angular velocity of the six-degree-of-freedom drive mechanism 130 can be controlled by a control mechanism, so that the six-degree-of-freedom drive mechanism 130 rotates at a preset angular velocity, so that when the six-degree-of-freedom drive mechanism 130 rotates at a preset angular velocity, the clamping mechanism 120 and the inertial navigation module 10 are driven to rotate at a preset angular velocity. At this time, the gyroscope sensor in the inertial navigation module 10 tests the angular velocity value when it rotates, and outputs the angular velocity value measured. Therefore, the performance of the gyroscope sensor in the inertial navigation module 10 can be judged by comparing the angular velocity value output by the inertial navigation module 10 with the preset angular velocity. The angular velocity value output by the inertial navigation module 10 can be sent to the control mechanism, so that the angular velocity value output by the inertial navigation module 10 is stored in the control mechanism. The control mechanism can be a computer. For example, the inertial navigation module 10 can be connected to a computer through a wire, so that the angular velocity value output by the inertial navigation module 10 can be transmitted and stored in the computer.

[0072] The present application does not limit the order of the clockwise and counterclockwise rotation of the inertial navigation module 10 along each axis, which can be adjusted arbitrarily, for example, it can be rotated clockwise along the positive direction of the z-axis, counterclockwise along the positive direction of the z-axis, clockwise along the positive direction of the y-axis, counterclockwise along the positive direction of the y-axis, clockwise along the positive direction of the x-axis, and counterclockwise along the positive direction of the x-axis. The preset angular velocities of the clockwise and counterclockwise rotation of the inertial navigation module 10 along each axis can be the same or different. The length of time for the clockwise and counterclockwise rotation of the inertial navigation module 10 along each axis can be the same or different.

[0073] By comparing the angular velocity data outputted during the clockwise and counterclockwise rotation of the inertial navigation module 10 along each axis with the magnitude and direction of the corresponding preset angular velocity, it is possible to determine whether the function of the gyro sensor of the tested inertial navigation module 10 is intact. The preset angular velocity during the clockwise and counterclockwise rotation of the inertial navigation module 10 along each axis can be set in advance in the control mechanism.

[0074] In one embodiment, the inertial navigation module 10 testing method further includes the following steps:

[0075] S210: respectively calculating the average value of the acceleration value output when the positive direction of the x-axis of the inertial navigation module 10 is consistent with the direction of gravity acceleration and remains stationary, the average value of the acceleration value output when the negative direction of the x-axis is consistent with the direction of gravity acceleration and remains stationary, the average value of the acceleration value output when the positive direction of the y-axis is consistent with the direction of gravity acceleration and remains stationary, the average value of the acceleration value output when the negative direction of the y-axis is consistent with the direction of gravity acceleration and remains stationary, the average value of the acceleration value output when the positive direction of the z-axis is consistent with the direction of gravity acceleration and remains stationary, and the average value of the acceleration value output when the negative direction of the z-axis is consistent with the direction of gravity acceleration and remains stationary;

[0076] S230: Calculate the difference between the average value of each acceleration value and the gravitational acceleration respectively.

[0077] By respectively calculating the average value of the acceleration values ​​output when the positive and negative directions of each axis of the inertial navigation module 10 are consistent with the direction of gravity acceleration and remain stationary, and respectively calculating the difference between each average value and gravity acceleration, the performance of the acceleration sensor of the inertial navigation module 10 can be better evaluated.

[0078] In one embodiment, the inertial navigation module 10 testing method further includes:

[0079] S310: respectively calculating the average value of the angular velocity values ​​output when the inertial navigation module 10 rotates clockwise at a constant speed along the positive direction of the x-axis, the average value of the angular velocity values ​​output when the inertial navigation module 10 rotates counterclockwise at a constant speed along the positive direction of the x-axis, the average value of the angular velocity values ​​output when the inertial navigation module 10 rotates clockwise at a constant speed along the positive direction of the y-axis, the average value of the angular velocity values ​​output when the inertial navigation module 10 rotates counterclockwise at a constant speed along the positive direction of the y-axis, the average value of the angular velocity values ​​output when the inertial navigation module 10 rotates clockwise at a constant speed along the positive direction of the z-axis, and the average value of the angular velocity values ​​output when the inertial navigation module 10 rotates counterclockwise at a constant speed along the positive direction of the z-axis;

[0080] S330: Calculate the difference between the average value of each angular velocity value and the corresponding preset angular velocity.

[0081] By respectively calculating the difference between the average value of the angular velocity values ​​output when the inertial navigation module 10 rotates clockwise and counterclockwise along each axis at a uniform speed and the corresponding preset angular velocity, the performance of the gyro sensor of the inertial navigation module 10 can be better evaluated.

[0082] In one embodiment, the inertial navigation module 10 rotates clockwise and counterclockwise along each axis at a constant speed for at least one revolution, so that angular velocity data of a sufficient length of time can be obtained when the inertial navigation module 10 rotates clockwise and counterclockwise along each axis at a constant speed, so as to better evaluate the performance of the gyroscope sensor of the inertial navigation module 10.

[0083] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0084] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An inertial navigation module testing device, characterized in that: include: A test bench, used for supporting the inertial navigation module; Clamping mechanism; A six-degree-of-freedom driving mechanism is arranged on the test bench, and one end of the six-degree-of-freedom driving mechanism is fixedly connected to the clamping mechanism; A clamping mechanism, wherein the clamping mechanism is provided with at least two clamping positions, each of the clamping positions being used to clamp one of the inertial navigation modules; as well as A control mechanism, used for controlling the clamping mechanism to clamp the clamping mechanism, and then clamp the inertial navigation module, and for controlling the six-degree-of-freedom driving mechanism to drive the clamping mechanism to move in six degrees of freedom directions respectively; A conveying mechanism is arranged on the test bench and is used to convey the clamping mechanism to the holding mechanism.

2. The inertial navigation module testing device according to claim 1, characterized in that: The clamping mechanism is a clamping claw.

3. The inertial navigation module testing device according to claim 1, characterized in that: The six-degree-of-freedom driving mechanism is a six-axis manipulator or a six-axis robot.

4. The inertial navigation module testing device according to claim 1, characterized in that: The control mechanism is a programmable controller, a microprocessor or a single chip microcomputer.

5. An inertial navigation module testing method based on the inertial navigation module testing device according to any one of claims 1 to 4, wherein the inertial navigation module has an x-axis, a y-axis and a z-axis, and is characterized in that: The inertial navigation module testing method comprises: Controlling the six-degree-of-freedom driving mechanism to drive the clamping mechanism to clamp the inertial navigation module; Controlling the six-degree-of-freedom driving mechanism to drive the clamping mechanism to move, respectively making the positive direction of the x-axis of the inertial navigation module consistent with the direction of gravity acceleration and remain stationary for a period of time, the negative direction of the x-axis consistent with the direction of gravity acceleration and remain stationary for a period of time, the positive direction of the y-axis consistent with the direction of gravity acceleration and remain stationary for a period of time, the negative direction of the y-axis consistent with the direction of gravity acceleration and remain stationary for a period of time, the positive direction of the z-axis consistent with the direction of gravity acceleration and remain stationary for a period of time, the negative direction of the z-axis consistent with the direction of gravity acceleration and remain stationary for a period of time, and respectively storing the acceleration values ​​outputted in the process in which the positive direction of the x-axis, the negative direction of the x-axis, the positive direction of the y-axis, the negative direction of the y-axis, the positive direction of the z-axis, and the negative direction of the z-axis of the inertial navigation module are consistent with the direction of gravity acceleration and remain stationary; The six-degree-of-freedom drive mechanism is controlled to drive the clamping mechanism to move, so that the inertial navigation module rotates uniformly clockwise at a preset angular velocity for a period of time along the positive direction of the x-axis, rotates uniformly counterclockwise at a preset angular velocity for a period of time along the positive direction of the x-axis, rotates uniformly clockwise at a preset angular velocity for a period of time along the positive direction of the y-axis, rotates uniformly counterclockwise at a preset angular velocity for a period of time along the positive direction of the y-axis, rotates uniformly clockwise at a preset angular velocity for a period of time along the positive direction of the z-axis, and rotates uniformly counterclockwise at a preset angular velocity for a period of time along the positive direction of the z-axis, and stores the angular velocity data output by the inertial navigation module during the clockwise and counterclockwise rotation along each axis.

6. The inertial navigation module testing method according to claim 5, characterized in that: Also includes: Respectively calculating the average value of the acceleration value output when the positive direction of the x-axis of the inertial navigation module is consistent with the direction of gravity acceleration and remains stationary, the average value of the acceleration value output when the negative direction of the x-axis is consistent with the direction of gravity acceleration and remains stationary, the average value of the acceleration value output when the positive direction of the y-axis is consistent with the direction of gravity acceleration and remains stationary, the average value of the acceleration value output when the negative direction of the y-axis is consistent with the direction of gravity acceleration and remains stationary, the average value of the acceleration value output when the positive direction of the z-axis is consistent with the direction of gravity acceleration and remains stationary, and the average value of the acceleration value output when the negative direction of the z-axis is consistent with the direction of gravity acceleration and remains stationary; The difference between the average value of each acceleration value and the gravitational acceleration is calculated respectively.

7. The inertial navigation module testing method according to claim 5, characterized in that: Also includes: Respectively calculate the average value of the angular velocity values ​​output when the inertial navigation module rotates clockwise at a constant speed along the positive direction of the x-axis, the average value of the angular velocity values ​​output when the inertial navigation module rotates counterclockwise at a constant speed along the positive direction of the x-axis, the average value of the angular velocity values ​​output when the inertial navigation module rotates clockwise at a constant speed along the positive direction of the y-axis, the average value of the angular velocity values ​​output when the inertial navigation module rotates counterclockwise at a constant speed along the positive direction of the y-axis, the average value of the angular velocity values ​​output when the inertial navigation module rotates clockwise at a constant speed along the positive direction of the z-axis, and the average value of the angular velocity values ​​output when the inertial navigation module rotates counterclockwise at a constant speed along the positive direction of the z-axis; The difference between the average value of each angular velocity value and the corresponding preset angular velocity is calculated respectively.

8. The inertial navigation module testing method according to claim 5, characterized in that: The inertial navigation module rotates clockwise and counterclockwise along each axis at a uniform speed for at least one revolution.

9. The inertial navigation module testing method according to claim 5, characterized in that: When the positive and negative directions of each axis of the inertial navigation module are respectively consistent with the direction of gravity acceleration, the length of time for which the axis remains stationary is the same.

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