An online dynamic identification device for inertial sensor errors of inertial navigation system

Abstract

The present invention relates to the field of identification devices for inertial navigation systems, and specifically to an online dynamic identification device for inertial sensor errors of inertial navigation systems. The device comprises an inertial sensor body, a groove is provided at the upper end of the inertial sensor body, a socket is fixed on the left side of the bottom of the groove, the socket is electrically connected to the inertial sensor body, a plug is inserted in the socket, an online dynamic identification module for errors is installed in the groove on the right side of the socket, the online dynamic identification module for errors is electrically connected to the plug through a wiring harness, a horizontal support rod is fixed at the left end of the online dynamic identification module for errors, and the support rod is rotatably connected to the right end of the plug through a swivel pin. The present invention has a simple structure and is easy to disassemble and assemble, and is convenient for integrating the online dynamic identification module for errors with the inertial sensor. After installation, the online dynamic identification module for errors has good stability and occupies little space, and is convenient for repairing the online dynamic identification module for errors.

Description

Technical Field

[0001] The invention relates to the field of an identification device for an inertial navigation system, and in particular to an online dynamic identification device for an inertial sensor error of an inertial navigation system. Background Art

[0002] IMU stands for Inertial Measurement Unit, which is a sensor mainly used to detect and measure acceleration and rotational motion. Its principle is to use the law of inertia. These sensors range from ultra-small MEMS sensors to laser gyroscopes with very high measurement accuracy. Whether the size of a MEMS sensor is only a few millimeters or the diameter of an optical fiber device is nearly half a meter, they all use this principle. Due to the manufacturing process, the data measured by the inertial sensor usually has a certain error. The first error is the offset error, that is, the gyroscope and accelerometer will have non-zero data output even when there is no rotation or acceleration. To get the displacement data, we need to integrate the output of the accelerometer twice. After two integrations, even a small offset error will be amplified. As time goes by, the displacement error will continue to accumulate, and eventually we can no longer track the position of the object. The second error is the proportional error, which is the ratio between the measured output and the change in the detected input. Similar to the offset error, after two integrations, the displacement error caused by it will continue to accumulate as time goes by. The third error is background white noise. If it is not corrected, we will not be able to track the position of the object. Therefore, inertial sensors are generally used in conjunction with error online dynamic identification modules. The data output by the inertial sensor is analyzed and processed by the online dynamic identification module and error compensation is given to improve navigation accuracy. During the assembly process, the inertial sensor and the online dynamic identification module are not convenient to install. The stability of the connection between the two is not good, and they cannot be effectively integrated and installed. It is not convenient to disassemble and repair the error online dynamic identification module after it is damaged. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide an inertial navigation system inertial sensor error online dynamic identification device which is easy to connect, can be easily integrated and installed, has good stability after connection, and is convenient for disassembly and maintenance of the error online dynamic identification module.

[0004] In order to achieve the above object, the technical solution provided by the present invention is:

[0005] An inertial navigation system inertial sensor error online dynamic identification device comprises an inertial sensor body, a groove is provided at the upper end of the inertial sensor body, a socket is fixed on the left side of the groove bottom, the socket is electrically connected to the inertial sensor body, a plug is inserted in the socket, an error online dynamic identification module is installed in the groove on the right side of the socket, the error online dynamic identification module is electrically connected to the plug through a wiring, a horizontal support rod is fixed to the left end of the error online dynamic identification module, the support rod and the right end of the plug are rotatably connected through a rotating pin, a horizontal upper rod is fixed to the left end of the error online dynamic identification module, the upper rod is located above the support rod, a horizontal rotating shaft passes through the upper end of the error online dynamic identification module and the upper rod, and the rotating shaft is connected to the upper rod and the error online dynamic identification module. The online dynamic identification module is rotatably connected, a rotating rod is fixed at the left end of the rotating shaft, the rotating rod is perpendicular to the rotating shaft, a turntable is fixed at the right end of the rotating shaft, a card slot is opened at the left end of the plug, a longitudinal inner rod is fixed in the card slot, a longitudinal pin is rotatably arranged at the right end of the error online dynamic identification module, the pin passes through the error online dynamic identification module, an inverted U-shaped handle is fixedly connected to the pin, a gear concentric with it is fixed on the pin part on the front side of the error online dynamic identification module, a horizontal support bar is fixed on the front side of the error online dynamic identification module below the gear, a rack is slidably arranged on the upper end of the support bar, the rack is meshed with the gear, a baffle is fixed in the groove on the left side of the support bar, a through hole corresponding to the rack is opened on the baffle, and the left end of the rack is inserted in the through hole.

[0006] Specifically, a wiring harness connector electrically connected to the inertial sensor body is fixed on the inertial sensor body, and a mounting plate is fixed on the lower end of the inertial sensor body.

[0007] Specifically, vertical support plates are fixed on the bottom of the grooves on both sides of the support rod, the support rod is in sliding contact with the opposite end faces of the two support plates, and elastic protrusions are fixed on the opposite end faces of the two support plates above the support rod, and the elastic protrusions are in contact with the upper end of the support rod.

[0008] Specifically, an arc groove is opened at the rear end of the error online dynamic identification module, the arc groove is concentric with the rotating pin, a longitudinal fixing rod is fixed on the rear side groove wall of the groove, and the fixing rod is located in the arc groove.

[0009] Specifically, a fixing block is fixed on the left groove wall of the groove, and a guide groove is opened at the right end of the fixing block, and the guide groove corresponds to the upper rod.

[0010] Compared with the prior art, the present invention has the following beneficial effects:

[0011] The present invention has a simple structure and is convenient for assembly and disassembly, and facilitates the integrated installation of the online dynamic error identification module and the inertial sensor. After the online dynamic error identification module is installed, the module has good stability and occupies a small space, and is convenient for maintenance of the online dynamic error identification module. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1This is a structural diagram of the connection between the error online dynamic identification module and the inertial sensor.

[0013] Figure 2 for Figure 1 Magnified view of area A.

[0014] Figure 3 This is a structural diagram of the disassembly of the error online dynamic identification module.

[0015] Figure 4 A top view of the inertial sensor. DETAILED DESCRIPTION

[0016] like Figure 1-4 As shown, an inertial navigation system inertial sensor error online dynamic identification device includes an inertial sensor body 1, a wiring harness connector 3 electrically connected to the inertial sensor body 1 is fixed on the inertial sensor body 1, a mounting plate 2 is fixed on the lower end of the inertial sensor body 1, a groove 4 is opened on the upper end of the inertial sensor body 1, a socket 5 is fixed on the left side of the bottom of the groove 4, the socket 5 is electrically connected to the inertial sensor body 1, a plug 6 is inserted in the socket 5, and an error online dynamic identification device is installed in the groove 4 on the right side of the socket 5 Module 11, the error online dynamic identification module 11 is electrically connected to the plug through the cable 18, a horizontal support rod 9 is fixed to the left end of the error online dynamic identification module 11, the support rod 9 is rotatably connected to the right end of the plug 6 through a turn pin 10, vertical support plates 21 are fixed to the bottom of the grooves 4 on the front and rear sides of the support rod 9, the support rod 9 is in sliding contact with the opposite end surfaces of the two support plates 21, and elastic protrusions 22 are fixed to the opposite end surfaces of the two support plates 21 above the support rod 9, and the elastic protrusions 22 are in contact with the upper end of the support rod 9.

[0017] A horizontal upper rod 14 is fixed to the left end of the error online dynamic identification module 11, and the upper rod 14 is located above the support rod 9. A horizontal rotating shaft 16 passes through the upper end of the error online dynamic identification module 11 and the upper rod 14. The rotating shaft 16 is rotatably connected to the upper rod 14 and the error online dynamic identification module 11. A rotating rod 15 is fixed to the left end of the rotating shaft 16, and the rotating rod 15 is perpendicular to the rotating shaft 16. A turntable 17 is fixed to the right end of the rotating shaft 16. A card slot 7 is opened at the left end of the plug 6, and a longitudinal inner rod 8 is fixed in the card slot 7.

[0018] The error online dynamic identification module 11 has an arc groove 12 at the rear end, the arc groove 12 is concentric with the rotating pin 10 , and a longitudinal fixing rod 13 is fixed on the rear side groove wall of the groove 4 , and the fixing rod 13 is located in the arc groove 12 .

[0019] A longitudinal pin 25 is rotatably provided at the right end of the error online dynamic identification module 11, and the pin 25 penetrates the error online dynamic identification module 11. An inverted U-shaped handle 26 is fixedly connected to the pin 25. A gear 27 concentric with the pin 25 is fixed on the front side of the error online dynamic identification module 11, and a transverse support bar 28 is fixed on the front side of the error online dynamic identification module 11 below the gear 27. A rack 29 is slidably provided on the upper end of the support bar 28, and the rack 29 meshes with the gear 27. A baffle 23 is fixed in the groove 4 on the left side of the support bar 28, and a through hole 24 corresponding to the rack 29 is opened on the baffle 23, and the left end of the rack 29 is inserted into the through hole 24.

[0020] A fixing block 19 is fixed on the left groove wall of the groove 4 , and a guide groove 20 is opened at the right end of the fixing block 19 , and the guide groove 20 corresponds to the upper rod 14 .

[0021] When installing the error online dynamic identification module 11, the plug 6 is rotated so that the plug 6 is located on the left side of the error online dynamic identification module 11. At this time, the end of the upper rod 14 away from the error online dynamic identification module 11 enters the card slot 7, and the end of the upper rod 14 in the card slot 7 contacts the inner rod 8. The rotating shaft 16 and the rotating rod 15 are rotated by the rotating disk 17 so that the rotating rod 15 is partially rotated into the card slot 7 and is located below the inner rod 8. The rotating rod 15 can stabilize the plug 6, and the rotating error online dynamic identification module 1 1, so that it is in a vertical state and the plug 6 faces downward, then the error online dynamic identification module 11 and the plug 6 are moved, and the plug 6 is inserted into the socket 5. In the process of inserting the plug 6 into the socket 5, the upper rod 14 can be slidably matched with the guide groove 20 on the fixed block 19, and the guide groove 20 can guide the upper rod 14, which can facilitate the plug-in matching of the plug 6 and the socket 5. After the plug 6 is inserted into the socket 5, the rotating shaft 16 and the rotating rod 15 are rotated by the rotating disk 17, so that the inside of the card slot 7 The rotating rod 15 is partially rotated out of the card slot 7, and then the error online dynamic identification module 11 and the support rod 9 can be rotated to rotate around the rotating pin 10. During the rotation of the error online dynamic identification module 11 and the support rod 9, the support rod 9 can cause the elastic protrusion 22 to deform. When the error online dynamic identification module 11 is completely located in the groove 4 and contacts the groove bottom of the groove 4, the support rod 9 is rotated to the bottom of the elastic protrusion 22. After the elastic protrusion 22 is restored, it can block the support rod 9, thereby further stabilizing the error. The error online dynamic identification module 11, and the fixed rod 13 is located in the arc groove 12. The cooperation between the arc groove 12 and the fixed rod 13 can prevent the error online dynamic identification module 11 from moving left and right in the groove 4, and then rotate the handle 26 so that the handle 26 is completely inserted into the groove 4. During the process of the handle 26 rotating into the groove 4, the gear 27 makes the rack 29 move to the left, and the rack 29 is inserted into the through hole 24 on the baffle 23. At this time, the error online dynamic identification module 11 is completely stabilized.

[0022] 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. An inertial navigation system inertial sensor error online dynamic identification device, comprising an inertial sensor body, characterized in that: A groove is provided at the upper end of the inertial sensor body, a socket is fixed on the left side of the bottom of the groove, the socket is electrically connected to the inertial sensor body, a plug is inserted in the socket, an error online dynamic identification module is installed in the groove on the right side of the socket, the error online dynamic identification module is electrically connected to the plug through a wiring harness, a horizontal support rod is fixed to the left end of the error online dynamic identification module, the support rod is rotatably connected to the right end of the plug through a rotating pin, a horizontal upper rod is fixed to the left end of the error online dynamic identification module, the upper rod is located above the support rod, a horizontal rotating shaft passes through the upper end of the error online dynamic identification module and the upper rod, the rotating shaft is rotatably connected to the upper rod and the error online dynamic identification module, and the left end of the rotating shaft is fixed A rotating rod is fixed, the rotating rod is perpendicular to the rotating shaft, a rotating disk is fixed at the right end of the rotating shaft, a card slot is opened at the left end of the plug, a longitudinal inner rod is fixed in the card slot, a longitudinal pin is rotatably set at the right end of the error online dynamic identification module, the pin passes through the error online dynamic identification module, an inverted U-shaped handle is fixedly connected to the pin, a gear concentric with it is fixed on the pin part on the front side of the error online dynamic identification module, a horizontal support bar is fixed on the front side of the error online dynamic identification module below the gear, a rack is slidably set on the upper end of the support bar, the rack is meshed with the gear, a baffle is fixed in the groove on the left side of the support bar, a through hole corresponding to the rack is opened on the baffle, and the left end of the rack is inserted into the through hole; A wiring harness connector electrically connected to the inertial sensor body is fixed on the inertial sensor body, and a mounting plate is fixed on the lower end of the inertial sensor body; Vertical support plates are fixed on the bottom of the grooves on both sides of the support rod, and the support rod is in sliding contact with the opposite end surfaces of the two support plates. Elastic protrusions are fixed on the opposite end surfaces of the two support plates above the support rod, and the elastic protrusions are in contact with the upper end of the support rod; An arc groove is provided at the rear end of the error online dynamic identification module, the arc groove is concentric with the rotating pin, a longitudinal fixing rod is fixed on the rear side groove wall of the groove, and the fixing rod is located in the arc groove.

2. According to claim 1, an online dynamic identification device for inertial sensor errors of an inertial navigation system is characterized in that: A fixing block is fixed on the left groove wall of the groove, and a guide groove is opened at the right end of the fixing block, and the guide groove corresponds to the upper rod.

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