A vibration test device and test method for inertial navigation equipment

Abstract

The present invention discloses a vibration testing device and method for an inertial navigation device. The device comprises a cubical housing with shock absorbers mounted on at least two opposing horizontal walls of the housing. When the inertial navigation device is mounted in the housing, a gap exists between each outer side surface of the inertial navigation device and the side walls of the housing. Correspondingly, two displacement sensors are mounted on at least one vertical side wall of the housing, with the acquisition ends of the two displacement sensors facing the inertial navigation device. A spacing exists between the acquisition ends of the displacement sensors and the inertial navigation device, for collecting the distance between the inertial navigation device and the displacement sensors when the inertial navigation device rotates. The present invention can accurately measure the additional displacement of the inertial navigation device during vibration, facilitating the performance evaluation of the navigation device and the shock absorbing device.

Description

Technical Field

[0001] The present invention relates to the technical field of vibration measurement of inertial navigation equipment, and in particular to a vibration testing device and a testing method for inertial navigation equipment. Background Art

[0002] Inertial navigation is based on Newton's principle of inertia. It uses inertial elements (accelerometers) to measure the acceleration of the vehicle itself, and obtains the speed and position through integration and calculation, thereby achieving the purpose of navigation and positioning of the vehicle.

[0003] Existing inertial navigation devices can output various angular rate, angle, speed, and displacement data during motion testing. This data is typically obtained by measuring the motion of the internal inertial element using an angular rate sensor (gyroscope) and a linear accelerometer. However, during motion, the inertial element's inertial force exerts a certain degree of force on the inertial navigation device as a whole, causing additional angular or linear displacement, etc., which can lead to errors and inaccurate data output by the inertial navigation device. Existing inertial navigation devices, however, cannot accurately capture the motion of their housing or carrier under the influence of the external environment during vibration testing or actual use. This makes it difficult to correct for the additional displacement caused by the device itself or by the motion of the inertial element, and to effectively evaluate the actual performance of the inertial navigation device, causing inconvenience in vibration testing of inertial navigation devices. Summary of the Invention

[0004] In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is: to provide an inertial navigation device vibration test device and test method, which solves the problems that the existing inertial navigation equipment is difficult to obtain the motion state of the whole or the carrier during vibration testing or actual application, difficult to evaluate its performance in the vibration state, and the output data is not accurate enough.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] A vibration testing device for an inertial navigation device comprises a cubical housing having a cavity therein capable of accommodating the inertial navigation device; shock absorbers are mounted on at least two opposite horizontal side walls of the housing, one end of the shock absorber being connected to the side wall of the housing and the other end being connected to the inertial navigation device, and when the inertial navigation device is mounted in the housing, a gap is provided between each outer side surface of the inertial navigation device and the side wall of the housing; correspondingly, two displacement sensors are mounted on at least one vertical side wall of the housing, with acquisition ends of the two displacement sensors facing the inertial navigation device and a spacing between the acquisition ends of the displacement sensors and the inertial navigation device, for collecting the distance between the inertial navigation device and the displacement sensors on opposite sides thereof when the inertial navigation device rotates.

[0007] As an optimization, four shock absorbers are installed on two opposite side walls of the shell, and the four shock absorbers are distributed at the four corners of the side walls.

[0008] As an optimization, it also includes an operator, which is connected to the displacement sensor, for receiving displacement data collected by the displacement sensor, and capable of outputting angular displacement and / or angular velocity and / or angular acceleration and / or linear displacement and / or linear velocity and / or linear acceleration when the inertial navigation device rotates.

[0009] As an optimization, the two displacement sensors are arranged on the outside of one side wall of the shell along the Z-axis direction, and are relatively arranged on opposite sides of the side wall. The acquisition end of the displacement sensor passes through the side wall and faces the inertial navigation device.

[0010] Based on the above vibration testing device, the present invention also provides an inertial navigation equipment vibration testing method, including the above-mentioned inertial navigation equipment vibration testing device, comprising the following steps:

[0011] S1. Install the inertial navigation device in the housing, with the Z-axis of the inertial navigation device vertically arranged, connect and fix it to the shock absorber in the Y-axis direction, and ensure a gap between the inertial navigation device and the housing;

[0012] S2. Obtaining the distance between the acquisition terminals of the two displacement sensors and the inertial navigation device, and the distance between the two displacement sensors when the inertial navigation device vibration testing device is in a static state;

[0013] S3. Synchronously acquiring the distance between the acquisition ends of the two displacement sensors and the inertial navigation device when the inertial navigation device vibration testing device is vibrating;

[0014] S4. Calculate the angular displacement and / or angular velocity and / or angular acceleration and / or linear displacement and / or linear velocity and / or linear acceleration of the inertial navigation device rotating around the X-axis when vibrating based on the data acquired in steps S2 and S3.

[0015] As an optimization, step S5 is also included, which obtains the additional angular displacement and / or angular velocity and / or angular acceleration and / or linear displacement and / or linear velocity and / or linear acceleration caused by the inertial navigation device itself when it vibrates, based on the data obtained in step S4 and combined with the data output by the inertial navigation device itself.

[0016] As an optimization, the angular displacement in step S4 is calculated by the following formula:

[0017] ΔL=L 21 -L 11 (1)

[0018]

[0019]

[0020] Where, L 21 and L 11 are the displacement changes on the two sides of the inertial navigation device and the displacement sensor respectively; is the angular displacement in step S4.

[0021] As an optimization, the angular velocity and angular acceleration in step S4 are calculated by the following formula:

[0022]

[0023] α x =ω x / Δt1 (5)

[0024] Where, ω x is the angular velocity in step S4; α x is the angular acceleration in step S4; Δt1 is the displacement change of the two sides of the inertial navigation device to L 21 and L 11 The time interval.

[0025] As an optimization, the linear displacement in step S4 is calculated by the following formula:

[0026] S z ={(Z 21 -Z 20 )+(Z 11 -Z 10 )} / 2 (6)

[0027] Where Z 20 and Z 10 is the distance collected by the two displacement sensors when the inertial navigation device is static; Z 21 and Z 11 is the distance collected by the two displacement sensors when the inertial navigation device vibrates; S z is the linear displacement in step S4.

[0028] As an optimization, the linear velocity and linear acceleration in step S4 are calculated by the following formula:

[0029] V Z =S z / Δt2 (7)

[0030] α z =V z / Δt2 (8)

[0031] Where V Z is the linear velocity in step S4, αz is the linear acceleration in step S4, Δt2 is the linear displacement on both sides of the inertial navigation device, and Z 20 Change to Z 21 or Z 10 Change to Z 11 time interval.

[0032] Compared with the prior art, this application has the following beneficial effects:

[0033] The present invention obtains changes in the angular displacement, angular velocity, and angular acceleration of an inertial navigation device during vibration, thereby analyzing the impact of these changes on the inertial device, thereby optimizing the vibration reduction design and avoiding or reducing the impact of changes in the angular displacement, angular velocity, and angular acceleration during vibration on the inertial device. By using a position sensor to measure the position change of the IMU during vibration, the changes in the angular displacement or linear displacement of the measured position are calculated, and the quantification and separation of the additional angular velocity and angular acceleration of the IMU during vibration are analyzed. This method can be used to evaluate and analyze the vibration reduction effect of inertial navigation product shock absorbers and the performance of inertial navigation devices, and can be used to optimize and improve the design of shock absorbers or inertial navigation devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 Schematic diagram of the structure of the present invention (taking three-way test as an example);

[0035] In the figure, 1 is the housing, 2 is the inertial navigation device, 3 is the shock absorber, and 4 is the displacement sensor. DETAILED DESCRIPTION

[0036] The present invention will be described in further detail below with reference to the accompanying drawings.

[0037] Specific implementation: see Figure 1 ,

[0038] An inertial navigation device vibration test device includes a cubical housing 1 having a cavity therein capable of accommodating an inertial navigation device 2. Four shock absorbers 3 are mounted on at least two opposing horizontal walls of the housing 1, and are evenly distributed at the four corners of the side walls. One end of each shock absorber 3 is connected to the side wall of the housing 1, and the other end is connected to the inertial navigation device 2. When the inertial navigation device 2 is installed in the housing 1, a gap exists between each outer side surface of the inertial navigation device 2 and the side wall of the housing 1. Correspondingly, two displacement sensors 4 are mounted on at least one vertical side wall of the housing 1, with the acquisition ends of the two displacement sensors 4 facing the inertial navigation device 2, and a gap exists between the acquisition ends of the displacement sensors 4 and the inertial navigation device 2. Specifically, the two displacement sensors 4 are disposed on the outside of one vertical side wall of the housing 1, and are disposed on opposite sides of the side wall. The acquisition ends of the displacement sensors 4 penetrate the side wall and face the inertial navigation device 2. It is used to collect the displacement of the inertial navigation device 2 on both sides opposite to the displacement sensor 4 when the inertial navigation device 2 rotates. Similarly, according to actual test requirements, displacement sensors 4 can be installed on multiple surfaces of the housing 1 to test or collect the motion state data of the inertial navigation device 2 in the other two directions respectively, such as Figure 1 As shown, the structure used is a three-directional test.

[0039] It also includes an operator, which is connected to the displacement sensor 4, is used to receive the displacement data collected by the displacement sensor 4, and can output the angular displacement and / or angular velocity and / or angular acceleration and / or linear displacement and / or linear velocity and / or linear acceleration when the inertial navigation device 2 rotates.

[0040] Based on the above vibration testing device, the present invention also provides an inertial navigation equipment vibration testing method, including the above-mentioned inertial navigation equipment vibration testing device, comprising the following steps:

[0041] S1. Install the inertial navigation device in the housing, with the Z axis of the inertial navigation device vertically arranged, connected and fixed to the shock absorber in the Y axis direction, and the other horizontal direction as the X axis, and with a gap between the inertial navigation device and the housing;

[0042] S2. Obtaining the distance between the acquisition terminals of the two displacement sensors and the inertial navigation device, and the distance between the two displacement sensors when the inertial navigation device vibration testing device is in a static state;

[0043] S3. Synchronously acquiring the distance between the acquisition ends of the two displacement sensors and the inertial navigation device when the inertial navigation device vibration testing device is vibrating;

[0044] S4. Calculate the angular displacement and / or angular velocity and / or angular acceleration and / or linear displacement and / or linear velocity and / or linear acceleration of the inertial navigation device about the X-axis during vibration based on the data acquired in steps S2 and S3. During vibration, unequal deformation of the shock absorber causes the inertial navigation device to produce additional angular displacement or linear displacement. However, during actual testing or use, it is difficult to determine whether this additional displacement is caused by external vibration or the carrier, or by the movement of the inertial elements within the inertial navigation device during vibration. Therefore, the present invention directly collects the overall motion data of the inertial navigation device to facilitate correction of errors in the inertial navigation device output data.

[0045] The angular displacement is calculated using the following formula:

[0046] ΔL=L 21 -L 11 (1)

[0047]

[0048]

[0049] Where, L 21 and L 11 are the displacement changes on the two sides of the inertial navigation device and the displacement sensor respectively; is the angular displacement in step S4.

[0050] Angular velocity and angular acceleration are calculated using the following formula:

[0051]

[0052] α x =ω x / Δt1 (5)

[0053] Where, ω x is the angular velocity in step S4; α x is the angular acceleration in step S4; Δt1 is the displacement change of the two sides of the inertial navigation device to L 21 and L 11 The time interval.

[0054] The linear displacement is calculated using the following formula:

[0055] S z ={(Z 21 -Z 20 )+(Z 11 -Z 10 )} / 2 (6)

[0056] Where Z 20 and Z 10is the distance collected by the two displacement sensors when the inertial navigation device is static; Z 21 and Z 11 is the distance collected by the two displacement sensors when the inertial navigation device vibrates; S z is the linear displacement in step S4.

[0057] The linear velocity and linear acceleration are calculated using the following formula:

[0058] V Z =S z / Δt2 (7)

[0059] α z =V z / Δt2 (8)

[0060] Where V Z is the linear velocity in step S4, α z is the linear acceleration in step S4, Δt2 is the linear displacement on both sides of the inertial navigation device, and Z 20 Change to Z 21 or Z 10 Change to Z 11 time interval.

[0061] The method further includes step S5, wherein the additional angular displacement and / or angular velocity and / or angular acceleration and / or linear displacement and / or linear velocity and / or linear acceleration caused by the inertial navigation device itself when the inertial navigation device vibrates are obtained based on the data obtained in step S4 and combined with the data output by the inertial navigation device itself.

[0062] The present invention obtains changes in the angular displacement, angular velocity, and angular acceleration of an inertial navigation device during vibration, thereby analyzing the impact of these changes on the inertial device, thereby optimizing the vibration reduction design and avoiding or reducing the impact of changes in the angular displacement, angular velocity, and angular acceleration during vibration on the inertial device. By using a position sensor to measure the position change of the IMU during vibration, the changes in the angular displacement or linear displacement of the measured position are calculated, and the quantification and separation of the additional angular velocity and angular acceleration of the IMU during vibration are analyzed. This method can be used to evaluate and analyze the vibration reduction effect of inertial navigation product shock absorbers and the performance of inertial navigation devices, and can be used to optimize and improve the design of shock absorbers or inertial navigation devices.

[0063] Although the embodiments of the present invention have been shown and described, it is apparent to those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and basis of the present invention. The scope of the present invention is defined by the appended claims and their equivalents. Therefore, the embodiments of the present invention are merely illustrative examples of the present invention. No matter from which point of view, the embodiments of the present invention do not constitute a limitation on the present invention.

Claims

1. A vibration test device for inertial navigation equipment, characterized in that: The invention relates to a cubic shell having a cavity therein capable of accommodating an inertial navigation device; a shock absorber is mounted on at least two opposite horizontal side walls of the shell, one end of the shock absorber being connected to the side wall of the shell and the other end being used to connect to the inertial navigation device, and when the inertial navigation device is mounted in the shell, a gap is formed between each outer side surface of the inertial navigation device and the side wall of the shell; correspondingly, two displacement sensors are mounted on at least one side wall of the shell in the vertical direction, with the acquisition ends of the two displacement sensors facing the inside of the shell and being able to face the inertial navigation device, for acquiring the distance between the inertial navigation device and the displacement sensor when the inertial navigation device rotates; and an operator is also included, the operator being connected to the displacement sensor, for receiving displacement data acquired by the displacement sensor, and capable of outputting angular displacement and / or angular velocity and / or angular acceleration and / or linear displacement and / or linear velocity and / or linear acceleration of the inertial navigation device when it rotates.

2. The inertial navigation equipment vibration testing device according to claim 1, characterized in that: Four shock absorbers are installed on two opposite side walls of the shell, and the four shock absorbers are distributed at the four corners of the side walls.

3. The inertial navigation equipment vibration testing device according to claim 1, characterized in that: The two displacement sensors are arranged on the outside of one side wall of the housing in the vertical direction and close to the opposite two side edges of the side wall. The collection ends of the displacement sensors pass through the side wall.

4. A vibration test method for an inertial navigation device, comprising the vibration test apparatus for an inertial navigation device according to any one of claims 1 to 3, characterized in that: The following steps are included: S1. Install the inertial navigation device in the housing, with the Z-axis of the inertial navigation device arranged vertically, connect and fix it to the shock absorber in the Y-axis direction, and ensure a gap between the inertial navigation device and the housing; S2. In a static state, obtain the distance between the acquisition terminals of the two displacement sensors and the inertial navigation device, as well as the distance between the two displacement sensors; S3. During vibration, obtain the distance between the acquisition ends of the two displacement sensors and the inertial navigation device; S4. Calculate the angular displacement and / or angular velocity and / or angular acceleration and / or linear displacement and / or linear velocity and / or linear acceleration of the inertial navigation device rotating around the X-axis when vibrating based on the data acquired in steps S2 and S3.

5. The vibration testing method of an inertial navigation device according to claim 4, characterized in that: The method further includes step S5, wherein the additional angular displacement and / or angular velocity and / or angular acceleration and / or linear displacement and / or linear velocity and / or linear acceleration caused by the inertial navigation device itself when the inertial navigation device vibrates are obtained based on the data obtained in step S4 and combined with the data output by the inertial navigation device itself.

6. The vibration testing method of an inertial navigation device according to claim 5, characterized in that: The angular displacement in step S4 is calculated using the following formula: ΔL=L 21 -L 11 (1) Where, L 21 and L 11 are the displacement changes on the two sides of the inertial navigation device and the displacement sensor respectively; is the angular displacement in step S4.

7. The vibration testing method of an inertial navigation device according to claim 6, characterized in that: The angular velocity and angular acceleration in step S4 are calculated using the following formula: a x =ω x / Δt1 (5) Where, ω x is the angular velocity in step S4; α x is the angular acceleration in step S4; Δt1 is the displacement change of the two sides of the inertial navigation device to L 21 and L 11 The time interval.

8. The vibration testing method for an inertial navigation device according to claim 5, wherein: The linear displacement in step S4 is calculated by the following formula: S z ={(Z 21 -WITH 20 )+(Z 11 -WITH 10 )} / 2 (6) Where Z 20 and Z 10 is the distance collected by the two displacement sensors when the inertial navigation device is static; Z 21 and Z 11 is the distance collected by the two displacement sensors when the inertial navigation device vibrates; S z is the linear displacement in step S4.

9. The vibration testing method for an inertial navigation device according to claim 8, characterized in that: The linear velocity and linear acceleration in step S4 are calculated using the following formula: V Z =S z / Δt2 (7) a z =V z / Δt2 (8) Where V Z is the linear velocity in step S4, α z is the linear acceleration in step S4, Δt2 is the linear displacement on both sides of the inertial navigation device, and Z 20 Change to Z 21 or Z 10 Change to Z 11 time interval.

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