An intelligent automobile vehicle-mounted inertial navigation system calibration device

Abstract

The application discloses a kind of intelligent automobile vehicle-mounted inertial navigation system calibration device, belongs to inertial navigation technical field, including test frame, the test frame side fixed installation has test with sensing equipment, the test frame inner chamber bottom four corners are all fixedly connected with support leg, the test frame inner chamber fixed installation has test track.The navigation calibration car body can be moved upward under the limiting effect of one side ramp plate and fall into the curved part of test track, and enter into lateral track mechanism under the extension abutment effect of rear track arc part, the reciprocating rotary motion of navigation calibration car body in test track curved part and staggered track main body, so that the reciprocating turning motion of navigation calibration car body in test track curved part and staggered track main body is simulated to turn, improve the simulation effect of navigation calibration car body in different calibration conditions under indoor condition, meet the adjustable of navigation system calibration.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of inertial navigation, and particularly relates to a calibration device for a vehicle-mounted inertial navigation system of an intelligent automobile. BACKGROUND

[0002] With the development of science and technology, the positioning capability of an intelligent automobile navigation system in a weak signal environment is necessary guarantee for ensuring the stability of the working state of the automobile, which requires the use of an inertial navigation system. The inertial navigation system is a self-contained navigation system that does not rely on external information. The basic working principle of the inertial navigation system is based on Newton's laws of motion. By measuring the acceleration of the carrier in the inertial reference frame, integrating it with respect to time, and transforming it into the navigation coordinate system, the velocity, yaw angle and position information in the navigation coordinate system can be obtained.

[0003] Chinese patent document CN112539767A discloses a calibration device for a vehicle-mounted inertial navigation system of an intelligent automobile, which comprises a vehicle-mounted inertial navigation system calibration device. The vehicle-mounted inertial navigation system calibration device mainly comprises a mobile platform, a measured inertial navigation system, an annular motion track, a cross motion track, a shielding simulation and a control console. The mobile platform comprises a platform body and a vertical vibration device mounted on the platform body. Two groups of support plates are installed on the two sides of the platform body, and a driving mechanism is installed inside. A GPS antenna is installed on each of the two groups of support plates. An installation bracket is installed between the vertical vibration device and the platform body. The vehicle-mounted panoramic surround view camera automatic alignment device designed in the present application can quickly align the device when calibrating the surround view camera of the measured vehicle indoors, and can save time when adjusting the attitude of the vehicle manually. However, in actual use, the navigation equipment to be calibrated cannot be fully simulated and adapted to the road section, and the calibrated system is used in a single working calibration state, which affects the processing effect of the calibration system. SUMMARY

[0004] The present application aims to solve the problem that the navigation equipment to be calibrated cannot be fully simulated and adapted to the road section, and the calibrated system is used in a single working calibration state, which affects the processing effect of the calibration system.

[0005] To achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0006] The utility model provides a kind of intelligent automobile vehicle-mounted inertial navigation system calibration device, including test frame, test frame one side fixed installation is with sensing equipment for testing, the bottom of the inner chamber of test frame four corners is fixedly connected with support leg, test frame inner chamber is fixedly installed with test track, the inner chamber of test track is slidably connected with navigation calibration vehicle body, the inner chamber of test track is detachably connected with lateral track mechanism, the position of the lateral track mechanism communication of test track inner side is equipped with communication groove, the inner chamber of lateral track mechanism is equipped with slope adjustment mechanism, the inner chamber of test track is fixedly installed with shaking mechanism and signal shielding mechanism respectively on both sides, for simulating navigation test road section;

[0007] The lateral track mechanism includes an interleaved track body, which is composed of two interleaved parallel X-shaped tracks. The outer edges of the interleaved track body are connected to the corresponding communication grooves on the inner side of the test track. A jacking mechanism is fixedly installed at the bottom of the interleaved track body and fixedly connected to the inner chamber of the test frame. The jacking mechanism controls the communication between the interleaved track body and the test track.

[0008] As a further description of the above technical solution:

[0009] The jacking mechanism includes a fixed plate fixedly connected to the inner chamber of the test frame. An electric push rod is fixedly connected to the top of the fixed plate. The top end of the electric push rod is fixedly connected to the bottom of the interleaved track body.

[0010] As a further description of the above technical solution:

[0011] The outer side wall of the single track of the interleaved track body is fixedly connected to a ramp plate on one side away from the other end. The ramp plate extends at an inclined angle to the inner side of the test track. The ramp plate is used to guide the rail car into the interleaved track body from the straight section of the test track.

[0012] As a further description of the above technical solution:

[0013] The slope adjustment mechanism includes a ramp cover fixedly installed in the inner chamber of the interleaved track body. An adjustment shaft is inserted and connected in the inner chamber of the ramp cover. Expansion plates are fixedly connected to the two sides of the adjustment shaft. The expansion plates are in close contact with one side of the inner chamber of the ramp cover. A twisting rod is fixedly connected to one side of the adjustment shaft. A limiting plate is fixedly connected to the outer side wall of the twisting rod. The twisting rod is limitedly connected in the groove on one side of the interleaved track body through the limiting plate. The twisting rod controls the expansion angle of the expansion plate in the inner chamber of the ramp cover.

[0014] As a further description of the above technical solution:

[0015] The signal shielding mechanism comprises an insertion groove plate, a sliding block is fixedly connected to the bottom of the insertion groove plate, a sliding groove is formed in one side of the sliding block, a sliding rail is slidably connected in the sliding groove, the sliding rail is fixedly installed at the bottom of the inner cavity of the test frame, insertion grooves are formed in both sides of the inner cavity of the insertion groove plate, and shield inner plates are connected to the inner cavities of the insertion grooves.

[0016] As a further description of the above technical solution:

[0017] The shaking mechanism comprises a plurality of shaking seats and a shaking belt, the shaking belt is embedded in the straight line part of the test track, the shaking seat is embedded in the groove formed on one side of the test track, a sliding sleeve is embedded in the top of the inner cavity of the shaking seat, a sliding rod is slidably connected in the sliding sleeve, a fixing sleeve is fixedly connected to the bottom end of the sliding rod, a disturbance rod is fixedly connected to one side of the fixing sleeve, the disturbance rod is insertedly connected in the inner cavity of the shaking belt, a triangular plate is fixedly connected to the top end of the sliding rod, the triangular plate is attached to the top side driving part, and is used for adjusting the relative depth of the disturbance rod in the shaking belt through the control of the driving part, a spring is sleeved on the outer side wall of the sliding rod, and the spring is fixedly connected to the corresponding positions in the inner cavities of the sliding sleeve and the fixing sleeve.

[0018] As a further description of the above technical solution:

[0019] The shaking mechanism driving part comprises a driving shaft, a plurality of cams corresponding to the triangular plate are embedded in one side of the outer side wall of the driving shaft, the relative angles of the plurality of cams are different, one side of the cam is attached to the top of the triangular plate, a driving motor is fixedly connected to one end of the driving shaft, the driving motor is fixedly installed on one side of the outer wall of the test track, a fixed block is drivingly connected to the outer side wall of the end of the driving shaft through a bearing, and the fixed block is fixedly installed on one side of the outer wall of the test track.

[0020] As a further description of the above technical solution:

[0021] The outer edge side of the inner cavity of the staggered track main body is fixedly connected to the corresponding positions of the test track, and a track arc part is arranged, which is used for steering and guiding the test car through the arc part.

[0022] As described above, due to the adoption of the above technical solution, the beneficial effects of the present application are:

[0023] 1. In this invention, when inertial calibration of an in-vehicle inertial navigation system is required, the navigation calibration vehicle is self-driven and moves in a circular motion within the test track. After calibration is completed, the electric push rod of the bottom lifting mechanism shortens and pulls the intersecting track body of the lateral track mechanism downwards, falling into the front side of the bend of the test track. Under the limiting action of the ramp plate on one side, the navigation calibration vehicle moves upwards and falls into the bend of the test track. Under the extension and abutment action of the arc-shaped part of the rear track, it enters the lateral track mechanism. The reciprocating rotation of the navigation calibration vehicle within the bend of the test track and the intersecting track body simulates turning motion, improving the simulation effect of different calibration conditions of the navigation calibration vehicle in indoor conditions and satisfying the adjustable processing of navigation system calibration.

[0024] 2. In this invention, when the navigation calibration vehicle moves in a circle within the test track, it can enter the top of the vibration belt at a long distance on the test track. The output shaft of the drive motor rotates, causing the drive shaft and cam to rotate. When the longer end of the cam rotates to the top of the triangular plate, the cam can press the triangular plate downward, causing the bottom fixing sleeve of the slide rod and the disturbance rod to move downward. The reciprocating rotation of the drive shaft controls multiple disturbance rods to pull the top side vibration belt that is attached to the top side and randomly adjust the slope of the unfolding. The slope of the vibration belt causes the navigation calibration vehicle to shake when it travels on the top, which can simulate the inertial calibration of the navigation calibration vehicle on a bumpy road section, further improving the calibration accuracy and calibration effect.

[0025] 3. In this invention, by pulling the insertion slot plate, the bottom slider moves outside the slide rail, which in turn adjusts the relative position of the insertion slot plate and the shielding inner plate outside the test track. This can absorb the positioning signal emitted by the navigation calibration vehicle and prevent it from receiving signals, simulating the navigation calibration vehicle in weak signal or no signal road sections to assist in the inertial calibration of the guide system, and further improve the calibration simulation capability.

[0026] 4. In this invention, during the circumferential turning test, the navigation calibration vehicle can enter the top of the ramp cover inside the main body of the intersecting track. When the turning rod is rotated, it drives the adjustment shaft on one side to rotate, which in turn drives the two unfolding plates to unfold the ramp cover. When the ramp cover on one side is abutted by the unfolding plate and opened, the top side wall of one side of the ramp cover moves upward to cooperate with the un-unfolded ramp cover on the other side to form a ramp, so that the navigation calibration vehicle can perform navigation calibration by simulating climbing. Furthermore, the slope adjustment mechanism can meet the calibration simulation of the navigation calibration vehicle under different slopes, improve the simulation calibration effect of the vehicle system, and ensure the limiting support capability after the ramp cover angle is adjusted. Attached Figure Description

[0027] Figure 1 The overall structure schematic diagram of the intelligent automobile vehicle-mounted inertial navigation system calibration device is provided in the application;

[0028] Figure 2 The exploded split structure schematic diagram of the intelligent automobile vehicle-mounted inertial navigation system calibration device is provided in the application;

[0029] Figure 3 The slope adjustment mechanism split structure schematic diagram of the intelligent automobile vehicle-mounted inertial navigation system calibration device is provided in the application;

[0030] Figure 4 The signal shielding mechanism three-dimensional structure schematic diagram of the intelligent automobile vehicle-mounted inertial navigation system calibration device is provided in the application;

[0031] Figure 5 The jitter mechanism split structure schematic diagram of the intelligent automobile vehicle-mounted inertial navigation system calibration device is provided in the application;

[0032] Figure 6 The jitter seat three-dimensional structure schematic diagram of the intelligent automobile vehicle-mounted inertial navigation system calibration device is provided in the application;

[0033] Figure 7 The lateral track mechanism raised state schematic diagram of the intelligent automobile vehicle-mounted inertial navigation system calibration device is provided in the application;

[0034] Figure 8 The another angle structure schematic diagram of the intelligent automobile vehicle-mounted inertial navigation system calibration device is provided in the application.

[0035] Legend:

[0036] 1, test frame; 2, test track; 3, lateral track mechanism; 301, staggered track main body; 302, track arc part; 4, slope adjustment mechanism; 401, slope cover; 402, unfolding plate; 403, adjustment shaft; 404, twisting rod; 405, limiting plate; 5, signal shielding mechanism; 501, shielding inner plate; 502, insertion slot plate; 503, sliding block; 504, sliding track; 6, jitter mechanism; 601, jitter seat; 602, sliding rod; 603, triangular plate; 604, spring; 605, fixed sleeve; 606, disturbance rod; 607, drive shaft; 608, cam; 609, fixed block; 610, drive motor; 611, jitter belt; 7, jacking mechanism; 701, fixed plate; 702, electric push rod; 8, communication groove; 9, slope plate; 10, supporting leg. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0038] Please refer to Figures 1-8 The present application provides a technical solution: an intelligent automobile vehicle-mounted inertial navigation system calibration device, comprising a test frame 1, a test sensor device is fixedly installed on one side of the test frame 1, support legs 10 are fixedly connected at the four corners of the bottom of the inner cavity of the test frame 1, a test track 2 is fixedly installed in the inner cavity of the test frame 1, a navigation calibration vehicle body is slidably connected in the inner cavity of the test track 2, a lateral track mechanism 3 is detachably connected in the inner cavity of the test track 2, a communication groove 8 is formed at the position communicated with the lateral track mechanism 3 on the inner side of the test track 2, a slope adjusting mechanism 4 is arranged in the inner cavity of the lateral track mechanism 3, a shaking mechanism 6 and a signal shielding mechanism 5 are fixedly installed on the two sides of the inner cavity of the test track 2, respectively, for simulating a navigation test road section.

[0039] The lateral track mechanism 3 comprises an interlaced track body 301, the interlaced track body 301 is composed of two interlaced parallel X-shaped tracks, the four peripheral outlets of the interlaced track body 301 are in communication with the corresponding communication grooves 8 on the inner side of the test track 2, a jacking mechanism 7 is fixedly arranged at the bottom of the interlaced track body 301, the jacking mechanism 7 is fixedly installed in the inner cavity of the test frame 1, for controlling the communication between the interlaced track body 301 and the test track 2 through the jacking mechanism 7, the jacking mechanism 7 comprises a fixed plate 701, the fixed plate 701 is fixedly connected on the two sides of the inner cavity of the test frame 1, an electric push rod 702 is fixedly connected on the top of the fixed plate 701, the top end of the electric push rod 702 is fixedly connected with the bottom of the interlaced track body 301.

[0040] The slope plate 9 is fixedly connected on the side away from the two ends of the outer side wall of the single-side track of the interlaced track body 301, the slope plate 9 extends to the inner bottom side of the test track 2 at an inclined angle, for guiding the navigation calibration vehicle body located in the straight section of the test track 2 into the interlaced track body 301, through the designed slope plate 9, the navigation calibration vehicle body can be guided and processed when the interlaced track body 301 is embedded in the test track 2, avoiding the collision between the navigation calibration vehicle body and the outer wall of the interlaced track body 301.

[0041] The embodiment is specific: when the vehicle-mounted inertial navigation system needs to be calibrated, the navigation calibration vehicle body is placed in the test track 2, the navigation calibration vehicle body is driven to move in the test track 2, the bending part of the test track 2 can make the navigation calibration vehicle body do circular motion, and the signal calibration is carried out through the linkage of the navigation calibration vehicle body and the side sensing device. When the navigation calibration vehicle body under the circular motion is calibrated, the electric push rod 702 of the bottom jacking mechanism 7 can be shortened through work, the electric push rod 702 can control the side track mechanism 3 on the top of the test track 2 to move downward, the staggered track body 301 of the side track mechanism 3 moves downward and falls into the front side of the bending part of the test track 2, then the track arc part 302 can abut against the front end of the bending part, when the navigation calibration vehicle body moves from the circular part or the straight line area of the test track 2 to the front side of the staggered track body 301, the navigation calibration vehicle body can move upward under the limiting action of the side slope plate 9 and fall into the bending part of the test track 2, and under the extension abutting action of the rear track arc part 302, the navigation calibration vehicle body enters the side track mechanism 3, so that the 8-shaped reciprocating rotating motion of the vehicle body in the bending part of the test track 2 and the staggered track body 301 can be realized, the turning simulation of the reciprocating turning motion of the navigation calibration vehicle body in the bending part of the test track 2 and the staggered track body 301 is realized, the simulation adjustability of the vehicle calibration in the indoor condition is improved, and the overall calibration processing needs are met.

[0042] Please refer to Figure 2 , 5-6, the shaking mechanism 6 comprises a plurality of shaking seats 601 and a shaking belt 611, the shaking belt 611 is embedded in the straight part of the test track 2, the shaking seat 601 is embedded in the groove opened on one side of the test track 2, the top of the inner cavity of the shaking seat 601 is embedded with a sliding sleeve, the sliding sleeve is slidably connected with a sliding rod 602, the bottom end of the sliding rod 602 is fixedly connected with a fixed sleeve 605, one side of the fixed sleeve 605 is fixedly connected with a disturbance rod 606, the disturbance rod 606 is insertedly connected in the inner cavity of the shaking belt 611, the top end of the sliding rod 602 is fixedly connected with a triangular plate 603, the triangular plate 603 is attached to the top side driving part, used for adjusting the relative depth of the disturbance rod 606 in the shaking belt 611 through the control of the driving part, the outer side wall of the sliding rod 602 is sleeved with a spring 604, the both ends of the spring 604 are fixedly connected with the inner cavities of the sliding sleeve and the fixed sleeve 605 respectively, the driving part of the shaking mechanism 6 comprises a driving shaft 607, the outer side wall of one side of the driving shaft 607 is embedded with a plurality of cams 608 corresponding to the triangular plate 603, and the relative angles of the plurality of cams 608 are different, one side of the cam 608 is attached to the top of the triangular plate 603, one end of the driving shaft 607 is fixedly connected with a driving motor 610, the driving motor 610 is fixedly installed on one side of the outer wall of the test track 2, the outer side wall of the end of the driving shaft 607 is drivingly connected with a fixed block 609 through a bearing, the fixed block 609 is fixedly installed on one side of the outer wall of the test track 2, the corresponding positions of the outer along side of the inner cavity of the staggered track main body 301 and the test track 2 are all fixedly connected with a track arc-shaped part 302, used for steering and guiding the test car through the arc-shaped part.

[0043] The embodiment is specific: when the navigation calibration vehicle body makes circular motion in the test track 2, the navigation calibration vehicle body can enter the top of the shaking belt 611 in the long distance part of the test track 2, at this time, the driving motor 610 output shaft rotation can drive the driving shaft 607 to rotate, the driving shaft 607 rotation can drive the external cam 608 to rotate, when the longer end of the cam 608 rotates to the top of the triangular plate 603, the cam 608 can press the triangular plate 603 to move downward, the triangular plate 603 moving downward can drive the sliding rod 602 to slide in the sliding sleeve, the sliding rod 602 moving can drive the bottom fixed sleeve 605 and the disturbance rod 606 to move downward, the fixed sleeve 605 moving can pull the spring 604 at the same time, when the longer end of the cam 608 continues to rotate and separates from the triangular plate 603, the spring 604 can pull the fixed sleeve 605 and the disturbance rod 606 to move upward and reset by using the self-pulling force, so that the relative expansion slope of the top side adhered top side shaking belt 611 can be adjusted by the reciprocating rotation of the driving shaft 607, the shaking belt 611 can make the navigation calibration vehicle body shake when walking at the top, so that the inertial calibration of the navigation calibration vehicle body in the bumpy road section can be simulated, and the calibration precision and calibration effect can be further improved, wherein the bottom of the shaking belt 611 is fixedly connected in the inner cavity of the test track 2, the abutment support ability when the disturbance rod 606 is pulled is guaranteed, the shaking belt 611 is prevented from being separated from the inner cavity bottom of the test track 2 due to the upward lifting of the disturbance rod 606 on both sides at the same time, and the motion stability of the navigation calibration vehicle body is guaranteed.

[0044] Please refer to Figure 3 , the slope adjusting mechanism 4 comprises a ramp cover 401 fixedly arranged in the inner cavity of the staggered track main body 301, an adjusting shaft 403 is arranged in the inner cavity of the ramp cover 401, and the two sides of the adjusting shaft 403 are fixedly connected with expansion plates 402, the expansion plates 402 are attached to one side of the inner cavity of the ramp cover 401, one side of the adjusting shaft 403 is fixedly connected with a twisting rod 404, the outer side wall of the twisting rod 404 is fixedly connected with a limiting plate 405, and the twisting rod 404 is limitingly connected in the groove arranged on one side of the staggered track main body 301 through the limiting plate 405, so as to control the expansion angle of the expansion plates 402 in the inner cavity of the ramp cover 401 through the twisting rod 404.

[0045] The embodiment is specific: when the surrounding steering test is carried out, the navigation calibration vehicle body can enter the top of the ramp cover 401 inside the staggered track main body 301, when the knob 404 is rotated, the knob 404 can drive the one side adjusting shaft 403 to rotate, the rotation of the adjusting shaft 403 can drive the two side unfolding plates 402 to unfold the ramp cover 401, when the single side ramp cover 401 is unfolded by the unfolding plate 402 and is opened, the one side top side wall of the ramp cover 401 moves upward to cooperate with the other side unfolded ramp cover 401 to form a navigation calibration for the ramp navigation calibration vehicle body to simulate climbing, so that the slope adjusting mechanism 4 can meet the calibration simulation of the navigation calibration vehicle body under different slopes, improve the simulation calibration effect of the vehicle-mounted system, and the knob 404 can be limited and fixed in the groove body opened on one side of the staggered track main body 301 through the external limiting plate 405, so as to ensure the limiting support ability after the angle of the ramp cover 401 is adjusted.

[0046] Please refer to Figure 4 The signal shielding mechanism 5 comprises an insertion groove plate 502, the bottom of the insertion groove plate 502 is fixedly connected with a sliding block 503, one side of the sliding block 503 is provided with a sliding groove, and a sliding rail 504 is slidably connected in the sliding groove, the sliding rail 504 is fixedly installed at the bottom of the inner cavity of the test frame 1, and insertion grooves are formed in the inner cavities of the two sides of the insertion groove plate 502, and shield inner plates 501 are connected in the inner cavities of the insertion grooves.

[0047] The embodiment is specific: the bottom sliding block 503 can be moved outside the sliding rail 504 by pulling the insertion groove plate 502, so that the relative position of the insertion groove plate 502 and the shield inner plate 501 outside the test track 2 can be adjusted, the shield inner plate 501 is one of a purple copper shielding net and a nickel shielding net, can absorb the positioning signal emitted by the navigation calibration vehicle body and prevent it from receiving signals, through the configuration of different positions of multiple insertion groove plates 502 and shield inner plates 501, the inertial calibration of the wire system can be assisted in the case of weak signal or no signal section of the navigation calibration vehicle body, and the calibration simulation capability is further improved, meanwhile, multiple shield inner plates 501 can ensure the insertion processing capability in the insertion groove plate 502 through the U-shaped structure, facilitate the replacement of shield inner plates 501 with different materials and shielding strengths, and the shield inner plate 501 can improve the insertion stability in the insertion groove plate 502 through the arc-shaped structure on both sides, avoid separation of the shield inner plate 501 and the insertion groove plate 502 caused by external impact shaking, and improve the assembly stability of the shield inner plate 501.

[0048] Working principle: when using, when the vehicle inertial navigation system needs to be calibrated, the navigation calibration vehicle body is placed in the test track 2, the navigation calibration vehicle body is driven to move in the test track 2, the test track 2 bending part makes the navigation calibration vehicle body do circular motion, and the signal is calibrated through the linkage of the navigation calibration vehicle body and one side sensing device, when the navigation calibration vehicle body under circular motion is calibrated, the electric push rod 702 of the bottom jacking mechanism 7 is shortened, the electric push rod 702 controls the lateral track mechanism 3 at the top of the test track 2 to move downward, the staggered track body 301 of the lateral track mechanism 3 moves downward and falls into the front side of the bending part of the test track 2, and the track arc part 302 abuts against the front end of the bending part, when the navigation calibration vehicle body moves from the circular part or the straight line area of the test track 2 to the front side of the staggered track body 301, the navigation calibration vehicle body moves upward under the limiting action of one side slope plate 9 and falls into the bending part of the test track 2, and enters the lateral track mechanism 3 under the extension abutment action of the rear track arc part 302;

[0049] When the navigation calibration vehicle body does circular motion in the test track 2, the navigation calibration vehicle body enters the top of the shaking belt 611 in the long distance part of the test track 2, the driving motor 610 output shaft is driven to rotate by controlling the driving motor 610 to work, the driving shaft 607 is driven to rotate by the driving motor 610 output shaft rotation, the external cam 608 is driven to rotate by the driving shaft 607 rotation, when the longer end of the cam 608 rotates to the top of the triangular plate 603, the cam 608 presses the triangular plate 603 to move downward, the triangular plate 603 moves downward to drive the sliding rod 602 to slide in the sliding sleeve, the sliding rod 602 moves to drive the fixed sleeve 605 and the disturbance rod 606 to move downward, the fixed sleeve 605 moves to pull the spring 604, when the longer end of the cam 608 continues to rotate and separates from the triangular plate 603, the spring 604 pulls the fixed sleeve 605 and the disturbance rod 606 to move upward and reset by using the self pulling force, the relative expansion slope of the top side adhering top side shaking belt 611 is adjusted by the reciprocating rotation of the driving shaft 607 to control multiple disturbance rods 606, so that the navigation calibration vehicle body shakes when walking on the top, and the inertial calibration of the navigation calibration vehicle body on the bumpy road section is simulated;

[0050] When the surrounding steering test is performed, the navigation calibration vehicle body enters the top of the ramp cover 401 inside the staggered track main body 301, when the knob 404 is rotated, the knob 404 drives the one side adjusting shaft 403 to rotate, the adjusting shaft 403 drives the two side unfolding plates 402 to unfold the ramp cover 401, when the single side ramp cover 401 is unfolded by the unfolding plate 402 and opened, the one side top side wall of the ramp cover 401 moves upward to cooperate with the other side unfolded ramp cover 401 to form a navigation calibration for the ramp navigation calibration vehicle body to simulate climbing, by pulling the inserted slot plate 502 to drive the bottom slider 503 to move outside the slide rail 504, the inserted slot plate 502 and the shielding inner plate 501 are adjusted to the relative position outside the test track 2, the different position configuration of the multiple groups of inserted slot plates 502 and shielding inner plates 501 simulates the inertial calibration of the navigation calibration vehicle body in the weak signal or no signal section to assist the wire system.

[0051] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this, any skilled person in the art can make equivalent replacement or change according to the technical range disclosed by the present application and the inventive concept of the present application, which should be covered in the protection scope of the present application.

Claims

1. An intelligent automobile on-board inertial navigation system calibration device, comprising a test frame (1), one side of which is fixedly provided with a test sensor device, and support legs (10) are fixedly connected to the four corners of the bottom of the inner cavity of the test frame (1), characterized in that, The test frame (1) is fixedly installed with a test track (2) in the cavity, a navigation calibration vehicle body is slidably connected in the cavity of the test track (2), a lateral track mechanism (3) is detachably connected in the cavity of the test track (2), a communication groove (8) is formed in the position communicated with the lateral track mechanism (3) on the inner side of the test track (2), a slope adjusting mechanism (4) is arranged in the cavity of the lateral track mechanism (3), a shaking mechanism (6) and a signal shielding mechanism (5) are fixedly installed on both sides of the cavity of the test track (2) respectively, and the shaking mechanism (6) is used for simulating a navigation test section; The lateral track mechanism (3) comprises an interlaced track body (301), the interlaced track body (301) is composed of two interlaced X-shaped tracks in parallel connection, the four peripheral outlets of the interlaced track body (301) are connected with the corresponding communication grooves (8) on the inner side of the test track (2), a jacking mechanism (7) is fixedly arranged at the bottom of the interlaced track body (301), and the jacking mechanism (7) is fixedly installed on the bottom side in the cavity of the test frame (1); the jacking mechanism (7) is used for controlling the communication between the interlaced track body (301) and the test track (2) through the jacking mechanism (7); The shaking mechanism (6) comprises a plurality of shaking seats (601) and a shaking belt (611), the shaking belt (611) is embedded in the straight part of the test track (2), the shaking seat (601) is embedded in the groove formed on one side of the test track (2), a sliding sleeve is embedded in the top of the shaking seat (601), a sliding rod (602) is slidably connected in the sliding sleeve, a fixed sleeve (605) is fixedly connected to the bottom end of the sliding rod (602), a disturbance rod (606) is fixedly connected to one side of the fixed sleeve (605), the disturbance rod (606) is insertedly connected in the cavity of the shaking belt (611), a triangular plate (603) is fixedly connected to the top end of the sliding rod (602), the triangular plate (603) is attached to the top side driving part, the relative depth of the disturbance rod (606) in the shaking belt (611) is adjusted through the control of the driving part, and a spring (604) is sleeved on the outer side wall of the sliding rod (602); the spring (604) is fixedly connected to the corresponding positions on the two ends in the cavity of the sliding sleeve and the fixed sleeve (605). The driving part of the shaking mechanism (6) comprises a driving shaft (607), a plurality of cams (608) corresponding to the triangular plate (603) are embedded on one side of the outer side wall of the driving shaft (607), the relative angles of the plurality of cams (608) are different, the cam (608) is attached to the top of the triangular plate (603) on one side, a driving motor (610) is fixedly connected to one end of the driving shaft (607), the driving motor (610) is fixedly installed on one side of the outer wall of the test track (2), a fixed block (609) is drivingly connected to the outer side wall of the tail end of the driving shaft (607) through a bearing, and the fixed block (609) is fixedly installed on one side of the outer wall of the test track (2). 2.The intelligent vehicle on-board inertial navigation system calibration device of claim 1, wherein, The jacking mechanism (7) comprises a fixed plate (701) fixedly connected on both sides of the inner cavity of the test frame (1), and the top of the fixed plate (701) is fixedly connected with an electric push rod (702), and the top end of the electric push rod (702) is fixedly connected with the bottom of the staggered track body (301). 3.The intelligent vehicle on-board inertial navigation system calibration device of claim 1, wherein, The outer side wall of the single-side track of the staggered track body (301) is fixedly connected with a ramp plate (9) on the side away from the two ends, and the ramp plate (9) extends to the inner bottom side of the test track (2) at an inclined angle, so as to introduce the rail car into the staggered track body (301) from the straight section of the test track (2).

4. The intelligent vehicle on-board inertial navigation system calibration device of claim 1, wherein, The slope adjusting mechanism (4) comprises a ramp cover (401) fixedly arranged in the inner cavity of the staggered track body (301), and the inner cavity of the ramp cover (401) is insertedly connected with an adjusting shaft (403), and the two sides of the adjusting shaft (403) are fixedly connected with an unfolding plate (402), and the unfolding plate (402) is attached to one side of the inner cavity of the ramp cover (401), and one side of the adjusting shaft (403) is fixedly connected with a twisting rod (404), and the outer side wall of the twisting rod (404) is fixedly connected with a limiting plate (405), and the twisting rod (404) is limitingly connected in the groove on one side of the staggered track body (301) through the limiting plate (405), so as to control the unfolding angle of the unfolding plate (402) in the inner cavity of the ramp cover (401) through the twisting rod (404).

5. The intelligent vehicle on-board inertial navigation system calibration device of claim 1, wherein, The signal shielding mechanism (5) comprises an inserted slot plate (502), and the bottom of the inserted slot plate (502) is fixedly connected with a sliding block (503), and one side of the sliding block (503) is provided with a sliding groove, and the sliding groove is slidingly connected with a sliding track (504), and the sliding track (504) is fixedly installed at the bottom of the inner cavity of the test frame (1), and the inner cavities of the two sides of the inserted slot plate (502) are provided with inserted slots, and the inserted slots are forkedly connected with shielding inner plates (501), and the cross-sectional shape of the shielding inner plate (501) is U-shaped.

6. The intelligent vehicle on-board inertial navigation system calibration device of claim 1, wherein, The inner cavity outer side of the staggered track body (301) and the corresponding position of the test track (2) are fixedly connected with track arc-shaped parts (302), so as to guide the test car through the arc-shaped parts.

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