Auxiliary device and method for improving airborne laser inertial navigation calibration accuracy

Abstract

The application provides an auxiliary device and method for improving the calibration precision of airborne laser inertial navigation, which comprises an auxiliary base plate, a hexagonal prism and a board-shaped test reference; the bottom surface of the auxiliary base plate is provided with a boss I, the bottom surface of the boss I is used as the installation reference surface A of the auxiliary base plate to the bottom plate of the hexagonal installation frame, the side surface is provided with a boss II, the outer side surface of the boss II is used as the installation reference surface B of the board-shaped test reference, the outer side surface of the boss II is perpendicular to the bottom surface of the boss I; the inner and outer side surfaces of the test reference are parallel, and the outer side surface is coplanar with the outer side surface of the boss II; the hexagonal prism is fixedly connected to the inner side of the test reference, and is closely adjacent to the test reference. The airborne laser inertial navigation device is closely adjacent to the test reference, the horizontal error angle between the auxiliary base plate and the hexagonal installation frame is determined through the light sighting test, the horizontal error angle is compensated into the airborne laser inertial navigation device, so that all installation errors are eliminated, and the calibration precision of the airborne laser inertial navigation device is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of electromechanical control, and particularly relates to an auxiliary device and method for improving the calibration precision of airborne laser inertial navigation, which can improve the test and calibration precision of airborne inertial navigation equipment. BACKGROUND

[0002] With the rapid development of laser inertial navigation technology and the wide application of laser inertial navigation in various fields such as aerospace, aviation and navigation, the precision requirements for airborne laser inertial navigation are becoming higher and higher. Therefore, it is necessary to develop a structure or method for improving the test and calibration precision of laser inertial navigation equipment.

[0003] The existing calibration test technical solution is that the ordinary base plate is fixed to the hexagonal mounting frame through mounting screws, and the airborne laser inertial navigation equipment is fixed on the ordinary base plate, which respectively causes installation errors between the hexagonal mounting frame and the ordinary base plate, and between the ordinary base plate and the airborne laser inertial navigation equipment. The continuous accumulation of errors seriously affects the calibration test precision of the airborne laser inertial navigation. SUMMARY

[0004] In order to overcome the deficiencies in the prior art, the present application provides an auxiliary device and method for improving the calibration precision of airborne laser inertial navigation, which is simple in structure, easy to manufacture, can eliminate installation errors during calibration and test of airborne laser inertial navigation equipment, and improve the calibration precision of airborne laser inertial navigation.

[0005] The technical solution provided by the present application is as follows:

[0006] In a first aspect, an auxiliary device for improving the calibration precision of airborne laser inertial navigation includes an auxiliary base plate, at least two hexagonal prisms and a board-shaped test reference.

[0007] The upper surface of the auxiliary base plate is provided with at least three bosses I, and the bottom surface of the boss I is used as the installation reference surface A of the auxiliary base plate installed on the bottom plate of the hexagonal mounting frame. The bottom plate of the hexagonal mounting frame is provided with a positioning reference surface, and after the auxiliary base plate is installed on the bottom plate of the hexagonal mounting frame, the installation reference surface A and the positioning reference surface form a face-to-face contact. One side of the auxiliary base plate is provided with at least two bosses II, and the outer side of the boss II is used as the installation reference surface B of the board-shaped test reference, and the outer side of the boss II is perpendicular to the bottom surface of the boss I.

[0008] The test reference is fixedly connected to the boss II side of the auxiliary base plate, the outer side is parallel to the inner side, and the outer side is coplanar with the outer side of the boss II. The hexagonal prism is a cube or a cuboid structure, and is fixedly connected to the inner side of the test reference and closely abuts the test reference.

[0009] The second aspect is a method for improving the calibration precision of airborne laser inertial navigation, comprising the following steps:

[0010] The mounting precision between the auxiliary base plate, the hexagonal prism and the test reference is determined to eliminate the installation error of the device itself;

[0011] The pitch and roll error between the mounting reference surface A on the auxiliary base plate and the positioning reference surface on the hexagonal mounting frame is eliminated through the design precision and the processing precision, and the horizontal error angle between the hexagonal mounting frame and the auxiliary base plate is determined through the light sighting test between the installed hexagonal prism and the theodolite, and finally the horizontal error angle is compensated into the airborne laser inertial navigation device, so that all the installation errors are eliminated;

[0012] The airborne laser inertial navigation device and the test reference are closely close to each other through the interference amount design, and the installation error between the two is eliminated, and finally the calibration test precision of the airborne laser inertial navigation device is ensured.

[0013] The auxiliary device and method for improving the calibration precision of airborne laser inertial navigation provided by the application has the following beneficial effects:

[0014] (1) The auxiliary device and method for improving the calibration precision of airborne laser inertial navigation provided by the application can ensure the fastening cooperation of the airborne laser inertial navigation device and the auxiliary device by closely close the airborne laser inertial navigation device and the test reference according to the interference amount position, and avoid the shaking influence on the gyro precision in the dynamic use process;

[0015] (2) The auxiliary device and method for improving the calibration precision of airborne laser inertial navigation provided by the application completely eliminates all the installation errors between the airborne laser inertial navigation device and the auxiliary device as much as possible without changing the original calibration test method and installation mode, reduces the dynamic wear, prolongs the service life of the device, reduces the maintenance cost, and improves the calibration test precision;

[0016] (3) The auxiliary device for improving the calibration precision of airborne laser inertial navigation provided by the application adopts the auxiliary base plate of hard aluminum alloy material, the stainless steel hexagonal prism and the test reference, and the stainless steel threaded connecting piece, the materials of the whole device are easy to find, easy to realize in processing, and easy to adjust and adapt in the first use;

[0017] (4) The auxiliary device for improving the calibration precision of airborne laser inertial navigation provided by the application designs the different installation modes of 10 types of inertial navigation devices, ensures that the calibration test of multiple types can be carried out on the same auxiliary device, and ensures the calibration test repeatability of different inertial navigation devices of the same type, relatively saves time, improves efficiency, saves and maintains the cost. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 Figure 1 is a structural schematic diagram of an auxiliary device of the present application, in which

[0019] Figure 2 Figure 2 is a schematic diagram of the assembly of the auxiliary device of the present application and a certain type of airborne laser inertial navigation system;

[0020] Figure 3 Figure 3 is a schematic diagram of the light sighting test of the auxiliary device of the present application.

[0021] BRIEF DESCRIPTION OF DRAWINGS

[0022] 1 - auxiliary base plate; 2 - hexagonal prism; 3 - test reference; 201 - mounting hole; 202 - boss I; 203 - boss II. DETAILED DESCRIPTION

[0023] The features and advantages of the present application will become more apparent from the detailed description of the application, which follows.

[0024] The term "exemplary" is used herein to mean "serving as an example, instance, or illustration." Any implementation described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other implementations. Although various aspects of an implementation can be described herein as being a preferred or advantageous implementation, no inference should be drawn that other aspects necessarily are inferior or inferior to other aspects or implementations.

[0025] According to a first aspect of the present application, there is provided an auxiliary device for improving the calibration accuracy of an airborne laser inertial navigation system, as shown in Figure 1 which comprises an auxiliary base plate 1, at least two hexagonal prisms 2, and a board-shaped test reference 3.

[0026] The upper surface of the auxiliary base plate 1 is mounted with an airborne laser inertial navigation device, and the bottom surface is processed with at least three non-collinear bosses I 202, such as four square bosses. The bottom surface of the boss I 202 serves as the mounting reference surface A of the auxiliary base plate 1 mounted to the bottom plate of the hexagonal mounting frame. The bottom plate of the hexagonal mounting frame is also processed with a positioning reference surface. After the auxiliary base plate 1 is mounted to the bottom plate of the hexagonal mounting frame, the mounting reference surface A and the positioning reference surface form a surface-to-surface contact. One side of the auxiliary base plate 1 is mounted with at least two bosses II 203, such as two square bosses. The outer side of the boss II 203 serves as the mounting reference surface B of the board-shaped test reference 3. The outer side of the boss II 203 (mounting reference surface B) is perpendicular to the bottom surface of the boss I 202 (mounting reference surface A).

[0027] The test reference 3 is fixedly connected to the boss II 203 side of the auxiliary base plate 1, with the outer side parallel to the inner side, and the outer side coplanar with the outer side of the boss II 203 (mounting reference surface B). The hexagonal prism 2 is a cube or cuboid structure, fixedly connected to the inner side of the test reference 3, and closely abutting the test reference 3.

[0028] In the precision calibration of the airborne laser inertial navigation equipment, firstly, the installation precision between the auxiliary base plate 1, the hexagonal prism 2 and the test reference 3 is determined to eliminate the installation error of the device itself; then the installation error between the auxiliary base plate 1 and the hexagonal mounting frame is eliminated, specifically, the pitch and roll error between the design precision and the processing precision of the mounting reference surface A on the auxiliary base plate 1 and the positioning reference surface on the hexagonal mounting frame is eliminated, and then through the light sighting test between the installed hexagonal prism 2 and the theodolite, the horizontal error angle between the hexagonal mounting frame and the auxiliary base plate 1 can be determined, and then the horizontal error angle is compensated into the airborne laser inertial navigation equipment, so as to eliminate all installation errors; finally, through the design of the interference amount of 0.05-0.1mm, the airborne laser inertial navigation equipment is closely adjacent to the test reference 3 to eliminate the installation error between them, and finally the calibration test precision of the airborne laser inertial navigation equipment is ensured.

[0029] In a preferred embodiment, the auxiliary base plate 1 is made of hard aluminum alloy material, and is preferably a square plate or a rectangular plate to adapt to different installation modes of various types of inertial navigation equipment.

[0030] The at least three bosses I 202 below the auxiliary base plate 1 have a flatness tolerance of the mounting reference surface A of not higher than 0.01mm, a parallelism tolerance between the mounting reference surfaces A of not higher than 0.01mm, and a parallelism tolerance between the mounting reference surface A and the positioning reference surface on the hexagonal mounting frame of not higher than 0.01mm.

[0031] The at least two bosses II 203 on the side of the auxiliary base plate 1 have a flatness tolerance of the mounting reference surface B of not higher than 0.01mm, and a parallelism tolerance between the mounting reference surfaces B of not higher than 0.01mm.

[0032] The perpendicularity tolerance between the mounting reference surface A and the mounting reference surface B is not higher than 0.01mm.

[0033] In a preferred embodiment, mounting holes 201 such as threaded mounting holes corresponding to various types of airborne laser inertial navigation equipment are processed on the auxiliary base plate 1 to improve the versatility of the auxiliary equipment.

[0034] In a preferred embodiment, the test reference 3 is made of stainless steel material, and is assembled on the auxiliary base plate 1 after modification through threaded connections such as stainless steel M4 countersunk head screws, and the perpendicularity tolerance between the inner and outer surfaces and the mounting reference surface A is not higher than 0.01mm; the parallelism tolerance between the inner and outer surfaces and the mounting reference surface B is not higher than 0.01mm.

[0035] In a preferred embodiment, the hexahedral prism 2 adopts a cube or cuboid shaped hexahedral prism made of stainless steel, which is assembled at a specific position of the auxiliary base plate 1 through a threaded connecting member such as a stainless steel M3 cylindrical head screw, and is tightly fitted with the test reference 3 according to a position size with an interference of 0.05-0.1 mm.

[0036] The flatness tolerance of each face of the hexahedral prism 2 is not higher than 0.01 mm, and the perpendicularity tolerance between adjacent faces is not higher than 0.01 mm.

[0037] According to a second aspect of the present application, a method for improving the calibration accuracy of airborne laser inertial navigation is provided, which comprises the following steps:

[0038] The installation accuracy among the auxiliary base plate 1, the hexahedral prism 2 and the test reference 3 is determined to eliminate the installation error of the device itself; then the installation error between the auxiliary base plate 1 and the hexahedral mounting frame is eliminated, specifically, the pitch and roll errors between the design accuracy and the machining accuracy of the installation reference face A on the auxiliary base plate 1 and the positioning reference face on the hexahedral mounting frame are eliminated, and then the horizontal error angle between the hexahedral mounting frame and the auxiliary base plate 1 is determined through the light sighting test between the installed hexahedral prism 2 and the theodolite, and the horizontal error angle is compensated into the airborne laser inertial navigation equipment, so as to eliminate all installation errors; finally, the airborne laser inertial navigation equipment is tightly fitted with the test reference 3 according to an interference of 0.05-0.1 mm through interference amount design, so as to eliminate the installation error between the two, and finally ensure the calibration test accuracy of the airborne laser inertial navigation equipment.

[0039] As shown in Figure 1 , 2 and 3, they are respectively the schematic diagram of the auxiliary equipment, the schematic diagram of the auxiliary equipment and a certain type of airborne laser inertial navigation assembly, and the schematic diagram of the light sighting test of the auxiliary equipment. The calibration test of a certain type of airborne laser inertial navigation equipment is carried out, the gyro pulse angle of the inertial navigation equipment is counted, and the use effect of the new auxiliary equipment is verified. As shown in Table 1 below, the calibration test data of each angle is improved by an order of magnitude, which plays a crucial role in subsequent improvement of the accuracy of airborne laser inertial navigation equipment.

[0040] Table 1

[0041]

[0042]

[0043] The present application is described in detail above in connection with specific embodiments and exemplary examples, but it is not understood that these descriptions and examples are limiting of the present application. It is understood by those skilled in the art that various equivalents substitutions, modifications and improvements can be made to the technical solutions of the present application and the embodiments thereof without departing from the spirit and scope of the present application, and these all fall within the scope of the present application. The scope of protection of the present application is defined by the appended claims.

[0044] The contents not described in detail in the specification of the present application are the known technology of those skilled in the art.

Claims

1. An auxiliary device for improving the calibration accuracy of airborne laser inertial navigation systems, characterized in that, It includes an auxiliary base plate (1), at least two hexahedral prisms (2) and a strip-shaped test reference (3); The auxiliary base plate (1) is a square plate or a rectangular plate. An airborne laser inertial navigation device is installed on the upper surface of the auxiliary base plate (1). At least three bosses I (202) are processed on the bottom surface. The bottom surface of the bosses I (202) serves as the mounting reference surface A of the auxiliary base plate (1) to be installed on the hexahedral mounting frame base plate. A positioning reference surface is processed on the hexahedral mounting frame base plate. After the auxiliary base plate (1) is installed on the hexahedral mounting frame base plate, the mounting reference surface A and the positioning reference surface form a surface-to-surface contact. The flatness tolerance of each mounting reference surface A is not higher than 0.01mm, the parallelism tolerance between each mounting reference surface A is not higher than 0.01mm, and the parallelism tolerance between each mounting reference surface A and the positioning reference surface on the hexahedral mounting frame is not higher than 0.01mm. At least two bosses II (203) are installed on one side of the auxiliary base plate (1). The outer side of the bosses II (203) serves as the mounting reference surface B of the strip-shaped test reference (3). The outer side of the bosses II (203) is perpendicular to the bottom surface of the bosses I (202). The flatness tolerance of each mounting reference surface B is not higher than 0.01mm, and the parallelism tolerance between each mounting reference surface B is not higher than 0.01mm. The perpendicularity tolerance between the mounting reference surface A and the mounting reference surface B is not higher than 0.01mm. The test reference (3) is fixedly connected to the boss II (203) side of the auxiliary base plate (1). Its outer side is parallel to its inner side, and its outer side is coplanar with the outer side of the boss II (203). The airborne laser inertial navigation equipment is closely attached to the test reference (3) with an interference fit of 0.05-0.1mm. After the test reference (3) is assembled on the auxiliary base plate (1), the perpendicularity tolerance between its inner and outer sides and the mounting reference surface A is not higher than 0.01mm; the parallelism tolerance between its inner and outer sides and the mounting reference surface B is not higher than 0.01mm. The hexahedral prism (2) is a cube or cuboid structure, fixedly connected to the inner ends of the test reference (3), and closely attached to the test reference (3); the hexahedral prism (2) is a cube or cuboid hexahedral mirror, which is closely attached to the test reference (3) on the auxiliary base plate (1) with an interference fit of 0.05-0.1mm; the flatness tolerance of each face of the hexahedral prism (2) is not higher than 0.01mm, and the perpendicularity tolerance between adjacent faces is not higher than 0.01mm.

2. The auxiliary equipment for improving the calibration accuracy of airborne laser inertial navigation according to claim 1, characterized in that, The auxiliary base plate (1) is machined with mounting holes (201) corresponding to various models of airborne laser inertial navigation equipment.

3. The auxiliary equipment for improving the calibration accuracy of airborne laser inertial navigation according to claim 1, characterized in that, The auxiliary base plate (1) is made of hard aluminum alloy material; The test benchmark (3) is made of stainless steel. The hexahedral prism (2) is made of stainless steel.

4. A method for improving the calibration accuracy of airborne laser inertial navigation systems, characterized in that, The implementation is assisted by the auxiliary equipment described in any one of claims 1 to 3, comprising the following steps: Determine the installation accuracy between the auxiliary base plate (1), the hexahedral prism (2), and the test datum (3) to eliminate the installation error of the device itself; The pitch and roll error between the mounting reference surface A on the auxiliary base plate (1) and the positioning reference surface on the hexahedral mounting frame is eliminated by the design accuracy and machining accuracy between them. Then, the horizontal error angle between the hexahedral prism (2) and the theodolite is determined by the optical aiming test between them. Finally, the horizontal error angle is compensated into the airborne laser inertial navigation equipment to eliminate all installation errors. By using interference fit design, the airborne laser inertial navigation equipment is closely attached to the test reference (3), thereby eliminating the installation error between the two and ultimately ensuring the calibration and testing accuracy of the airborne laser inertial navigation equipment.

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