A dual-axis self-calibration hemispherical sensing device

Abstract

The present invention discloses a dual-axis self-calibrating hemispherical sensing device, comprising an inertial group assembly, an outer frame, and an outer shell. The inertial group assembly is rotatably mounted within the outer frame, which in turn is rotatably mounted within the outer shell, enabling the inertial group assembly to rotate along the X-axis while the outer frame and the inertial group assembly simultaneously rotate along the Y-axis. The hemispherical sensing device of the present invention, through the arrangement of the outer shell, outer frame, rotating motor, and transmission shaft, provides the inertial group assembly with the ability to rotate along both the X- and Y-axes, enabling the inertial group assembly to achieve self-calibration, self-alignment, and fault self-diagnosis. Furthermore, the present invention optimizes the layout of the inertial group assembly, resulting in a spherical overall layout with a minimal volume envelope. This meets the demand for miniaturization of multifunctional weaponry and has promising market application prospects.

Description

Technical Field

[0001] The invention belongs to the field of inertial navigation, and in particular relates to a dual-axis self-calibration hemispherical sensing device. Background Art

[0002] The inertial navigation system is based on inertial technology. It obtains inertial information through inertial sensors such as gyroscopes and accelerometers, and obtains navigation information such as the carrier's attitude, speed, and position through internal calculations. It is widely used in weapons and equipment, special vehicles and other fields.

[0003] Currently, a traditional hemispherical gyro inertial system (ISU) primarily consists of three hemispherical gyroscopes, three quartz flexible accelerometers, interface circuitry, and structural components, arranged in a cube, rectangular, or cylindrical configuration. After structural design and production, the ISU is calibrated on a high-precision marble platform and a high-precision turntable. The relevant error parameters are compensated for after calibration before delivery. However, the repeatability and stability of the inertial components installed in the ISU after storage for more than ten years cannot guarantee application requirements. Furthermore, the rapid alignment of the ISU without external assistance is a key factor limiting the rapid response of weapon systems during special vehicle operations. To correct these accumulated errors from long-term storage, the ISU must be removed from the system assembly and returned to the manufacturer for recalibration.

[0004] Although the traditional hemispherical inertial group structure is relatively small in size and easy to design, it has the following problems:

[0005] (1) The hemispherical inertial group adopts the traditional discrete calibration method, which relies on a high-precision turntable, is costly and has low production efficiency. It cannot calibrate the coupled dynamic error terms. At the same time, due to the long-term storage characteristics of the inertial device itself, the calibration parameters have a short validity period, and the cost of returning to the factory for recalibration is high.

[0006] (2) After the hemispherical inertial group is installed in the weapon system, it can only perform initial position alignment, but cannot perform multi-position alignment. It cannot perform fault detection during calibration. It has poor reliability and single function, and cannot meet the multi-purpose requirements of existing weapon systems.

[0007] (3) The traditional hemispherical inertial group layout is not compact enough, the space utilization is not sufficient, and it cannot meet the needs of miniaturization under the multi-functionality of weapons and equipment.

[0008] Therefore, there is an urgent need in this field to design an inertial device with a new structure, small size, self-calibration parameters, multi-position alignment and fault self-diagnosis functions. Summary of the Invention

[0009] The object of the present invention is to provide a dual-axis self-calibrating hemispherical sensing device, which is not only small in size but also has the functions of self-calibration parameters, multi-position alignment and fault self-diagnosis.

[0010] To solve the above technical problems, the present invention first provides a dual-axis self-calibrated hemispherical sensing device, comprising: an inertial group assembly, an outer frame, and a housing; the inertial group assembly is rotatably mounted within the outer frame, and the outer frame is rotatably mounted within the housing, such that the inertial group assembly rotates along the X-axis, and the outer frame and the inertial group assembly simultaneously rotate along the Y-axis; a first rotary motor and a second rotary motor are mounted on the front and rear side walls of the housing, respectively; the inertial group assembly comprises:

[0011] a skeleton, which is a hexahedron with grooves;

[0012] First, second and third hemispherical gyroscopes are respectively installed in the grooves on three adjacent sides of the frame;

[0013] a first, a second, and a third quartz accelerometer respectively mounted in the grooves on two adjacent sides of the frame;

[0014] A first cover plate and a second cover plate are respectively mounted on the bottom side of the frame and the opposite side, wherein the first cover plate and the second cover plate are rotatably connected to the upper and lower inner walls of the outer frame; and

[0015] An end gear plate and a mandrel are respectively mounted on the left and right sides of the frame, and a through hole is provided in the middle of the mandrel;

[0016] The end gear plate is connected to the first rotary motor through a transmission locking mechanism, and the push rod is connected to the second rotary motor through a transmission limiting mechanism, so as to control the locking and releasing state of the inertial group assembly;

[0017] The three quartz accelerometers and the three hemispherical gyroscopes are coaxial and arranged orthogonally in space, and the three axes intersect at one point.

[0018] Preferably, the first, second and third hemispherical gyroscopes are respectively installed in the grooves on the front side, right side and bottom side of the skeleton; the first quartz accelerometer is installed in the groove on the right side of the skeleton, and the second and third quartz accelerometers are installed in the groove on the front side of the skeleton.

[0019] Preferably, it also includes: first, second, and third gyro control circuit boards, a signal processing board, an I / F conversion circuit board, and a third cover plate.

[0020] Preferably, the first and third gyro control circuit boards are respectively installed on the front and rear sides of the skeleton; the signal processing board is installed on the inner side of the first cover plate, and the second gyro control circuit board, I / F conversion circuit board, and third cover plate are installed in sequence from the skeleton to the top rod between the second hemispherical gyroscope and the top rod.

[0021] Preferably, the I / F conversion circuit board is mounted on the inner side wall of the third cover plate.

[0022] Preferably, a rotating motor is installed on at least one of the left and right side walls of the shell, and a rotating motor is installed on at least one of the upper and lower side walls of the outer frame.

[0023] Preferably, a third rotating motor is installed on the left side wall of the shell, and a fourth rotating motor is installed on the right side wall; a fifth rotating motor is installed on the upper side wall of the outer frame, and a sixth rotating motor is installed on the lower side wall.

[0024] Preferably, the left and right ends of the outer frame are respectively connected to the third rotating motor and the fourth rotating motor through transmission shafts; the first cover plate and the second cover plate of the inertial assembly are respectively connected to the fifth rotating motor and the sixth rotating motor through transmission shafts.

[0025] Preferably, the transmission locking mechanism includes a first turbine, a first worm and a fixed gear plate, the fixed gear plate is fixed on the first worm and engages with the end gear plate; the transmission limiting mechanism includes a second turbine and a second worm, and one end of the worm is engaged and pressed with the end face of the through hole on the top rod.

[0026] Preferably, the range of rotation of the inertial group component along the X-axis is -360° to +360°, and the range of rotation of the outer frame and the inertial group component along the Y-axis is -100° to +280°.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The present invention provides a dual-axis self-calibrating hemispherical sensing device. This hemispherical sensing device, through the arrangement of a housing, an outer frame, a rotating motor, a transmission shaft, and the like, provides an inertial group assembly with the ability to rotate along the X and Y axes, so that the inertial group assembly can achieve self-calibration, self-alignment, and fault self-diagnosis functions. At the same time, the present invention optimizes the layout of the inertial group assembly, making the overall layout of the inertial group assembly spherical, achieving a minimum volume envelope, which can meet the demand for miniaturization under the multi-functionality of weapon equipment and has good market application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 Schematic diagram of the internal structure of the inertial group component in the device of the present invention.

[0030] Figure 2 Schematic diagram of the external structure of the inertial group component in the device of the present invention.

[0031] Figure 3 It is a schematic diagram of the top view of the inertial group component in the device of the present invention.

[0032] Figure 4 Schematic diagram of the top view of a dual-axis self-calibration hemispherical sensing device according to an embodiment of the present invention.

[0033] Figure 5 Schematic diagram of the bottom-up structure of a dual-axis self-calibration hemispherical sensing device according to one embodiment of the present invention.

[0034] Figure 6 This is a schematic diagram of the connection between the outer frame and the inertial group assembly in a dual-axis self-calibration hemispherical sensing device according to one embodiment of the present invention.

[0035] Figure 7 This is a physical picture of the device of the present invention.

[0036] Figure ID:

[0037] Outer frame 1, housing 2, first rotating motor 3, second rotating motor 4, skeleton 5, first hemispherical gyroscope 6, second hemispherical gyroscope 7, third hemispherical gyroscope 8, first quartz accelerometer 9, second quartz accelerometer 10, third quartz accelerometer 11, first cover plate 12, second cover plate 13, end gear plate 14, push rod 15, transmission locking mechanism 16, transmission limiting mechanism 17, first gyroscope control circuit board 18, second gyroscope control circuit board 19, third gyroscope control circuit board 20, signal processing board 21, I / F conversion circuit board 22, third cover plate 23, third rotating motor 24, fourth rotating motor 25, fifth rotating motor 26, sixth rotating motor 27. DETAILED DESCRIPTION

[0038] The following is a clear and complete description of the technical solution of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0039] In the description of the present invention, it should be understood that the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inside", "outside", "middle", "two ends", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0040] Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and do not limit temporal order, quantity, or importance. They should not be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Instead, they are used solely to distinguish one technical feature from another in the technical solution. Therefore, features defined as "first," "second," "third," etc., may explicitly or implicitly include one or more of such features.

[0041] In the present invention, unless otherwise clearly stipulated and limited, the terms "installation", "setting", "connection", "fixation" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0042] Please see the attached Figure 1 To the attached Figure 6 To address the above technical issues, the present invention provides a dual-axis self-calibrated hemispherical sensing device, comprising an inertial group assembly, an outer frame 1, and a housing 2. The inertial group assembly is rotatably mounted within the outer frame 1, which in turn is rotatably mounted within the housing 2, such that the inertial group assembly rotates along the X-axis within a range of -360° to +360°. The outer frame 1 and the inertial group assembly simultaneously rotate along the Y-axis within a range of -100° to +280°. A first rotary motor 3 and a second rotary motor 4 are mounted on the front and rear walls of the housing 2, respectively.

[0043] As attached Figure 1 To the attached Figure 3 As shown, the inertial group assembly includes: a skeleton 5, which is a hexahedron with grooves;

[0044] A first hemispherical gyroscope 6, a second hemispherical gyroscope 7, and a third hemispherical gyroscope 8 are respectively installed in the grooves on three adjacent sides of the skeleton 5;

[0045] a first quartz accelerometer 9, a second quartz accelerometer 10, and a third quartz accelerometer 11 respectively installed in two adjacent side grooves of the skeleton 5;

[0046] A first cover plate 12 and a second cover plate 13 are respectively mounted on the bottom side of the frame 5 and the opposite side, wherein the first cover plate 12 and the second cover plate 13 are rotatably connected to the upper and lower inner walls of the outer frame 1; and

[0047] The end gear disc 14 and the push rod 15 are respectively installed on the left and right sides of the frame 5; the mechanical zero-position locking accuracy repeatability of the end gear disc 14 is no more than 2", with high precision, and a through hole is provided in the middle of the push rod 15;

[0048] As attached Figure 4 To the attached Figure 6 As shown, the end gear disc 14 is connected to the second rotary motor 4 through a transmission locking mechanism 16, and the push rod 15 is connected to the first rotary motor 3 through a transmission limiting mechanism 17, which is used to control the locking and loosening states of the inertial group component. The purpose of the loosening state is to facilitate the rotation of the inertial group component along the X-axis and the Y-axis to realize self-calibration and multi-position alignment functions. When the inertial group component returns to the initial installation position, in order to prevent external vibration from causing the frame to drive the sensitive components to move, the inertial group component needs to be locked.

[0049] In some embodiments, the transmission locking mechanism 16 includes a first turbine, a first worm and a fixed gear disk, the fixed gear disk is fixed on the first worm and meshes with the end gear disk 14; the transmission limiting mechanism 17 includes a second turbine and a second worm, one end of the worm is pressed against the end face of the through hole on the push rod 15. The working principle of the transmission locking mechanism 16 and the transmission limiting mechanism 17 is as follows: when the inertial group assembly is in a locked state and self-calibration is desired, the second rotary motor 4 drives the first turbine to rotate in the opposite direction, the rotation of the first turbine drives the first worm to rotate, and the first worm is pushed forward in an axial straight line away from the end gear disk 14 to a position, at which time the fixed gear disk fixed on the first worm is disengaged from the end gear disk 14; the first rotary motor 3 drives the second turbine to rotate in the opposite direction, the rotation of the second turbine drives the second worm to rotate, and the second worm is pushed forward in an axial straight line away from the push rod 15 to a position, thereby engaging with the push rod 15. The end face of the through hole disengages from the fit, thereby completing the unlocking; when the inertial group component completes self-calibration and returns to the initial position, the second rotary motor 4 drives the first turbine to rotate, and the rotation of the first turbine drives the first worm to rotate, and the first worm is pushed forward in an axial straight line toward a position close to the end gear plate 14. At this time, the fixed gear plate fixed on the first worm is engaged with the end gear plate 14; the first rotary motor 3 drives the second turbine to rotate, and the rotation of the second turbine drives the second worm to rotate, and the second worm is pushed forward in an axial straight line toward a position close to the push rod 15, thereby cooperating with the end face of the through hole of the push rod 15, thereby completing the locking.

[0050] Furthermore, the first rotating motor 3 and the second rotating motor 4 are both dual-channel resolver transmitters.

[0051] In the device of the present invention, the three quartz accelerometers and the three hemispherical gyroscopes are coaxial and arranged orthogonally in space, and the three axes intersect at one point.

[0052] In some embodiments, the first hemispherical gyroscope 6, the second hemispherical gyroscope 7, and the third hemispherical gyroscope 8 are respectively installed in the grooves on the front side, right side, and bottom side of the skeleton 5; the first quartz accelerometer 9 is installed in the groove on the right side of the skeleton, and the second quartz accelerometer 10 and the third quartz accelerometer 11 are installed in the groove on the front side of the skeleton 5.

[0053] The dual-axis self-calibrated hemispherical sensing device provided by the present invention also includes: a first gyro control circuit board 18, a second gyro control circuit board 19, a third gyro control circuit board 20, a signal processing board 21, an I / F conversion circuit board 22, and a third cover plate 23. The three hemispherical gyro control boards are used to respectively collect and calculate the angle information of the corresponding hemispherical gyros, as well as control the vibration mode of the resonator to maintain the stability of the vibration mode of the resonator; the I / F conversion circuit board is used to collect telecommunication signals from the three accelerometers and convert the current signals into pulse signals for output; and the signal processing board is used to collect the angle information output by the three hemispherical gyro control boards and the acceleration information output by the I / F conversion circuit board.

[0054] In some embodiments, the first gyro control circuit board 18 and the third gyro control circuit board 20 are respectively installed on the front side and the rear side of the skeleton 5; the signal processing board 21 is installed on the inner side of the first cover plate 12, and the second gyro control circuit board 19, the I / F conversion circuit board 22, and the third cover plate 23 are installed in sequence from the skeleton 5 to the top rod 15 between the second hemispherical gyroscope 7 and the top rod 15.

[0055] The inertial group assembly provided in the present invention maximizes the use of the overall space by optimizing the layout of three hemispherical gyroscopes, three quartz accelerometers and related control circuit boards, so that the overall layout of the inertial group assembly is spherical, such as Figure 7 As shown in the figure, the volume envelope is minimized, which makes it possible to meet the application requirements of miniaturization of some inertial groups.

[0056] In some embodiments, the I / F conversion circuit board 22 is mounted on the inner wall of the third cover plate 23 .

[0057] In some embodiments, a rotating motor is installed on at least one of the left and right side walls of the housing 2 , and a rotating motor is installed on at least one of the upper and lower side walls of the outer frame.

[0058] In some embodiments, such as Figure 5 and Figure 6 As shown, a third rotary motor 24 is installed on the left side wall of the housing 2, and a fourth rotary motor 25 is installed on the right side wall; a fifth rotary motor 26 is installed on the upper side wall of the outer frame 1, and a sixth rotary motor 27 is installed on the lower side wall.

[0059] In some embodiments, the left and right ends of the outer frame 1 are respectively connected to the third rotary motor 24 and the fourth rotary motor 25 through transmission shafts; the first cover plate 12 and the second cover plate 13 of the inertial assembly are respectively connected to the fifth rotary motor 26 and the sixth rotary motor 27 through transmission shafts.

[0060] It should be noted that in order to minimize the size of the present invention, when various components, parts or mechanisms need to be connected by screws, matching countersunk holes are provided to place the screws for fixing the connections.

[0061] The usage of the dual-axis self-calibration hemispherical sensing device provided by the present invention is as follows:

[0062] At the beginning, the inertial group assembly is in a locked state. When the inertial group assembly wants to realize the self-calibration and multi-position alignment functions, the second rotary motor drives the transmission locking mechanism to work in the reverse direction, and the first rotary motor drives the transmission limiting mechanism to work in the reverse direction, so that the fixed gear disc and the end gear disc on the first worm are disengaged, and the second worm is disengaged from the end face of the through hole of the push rod, thereby completing the unlocking; thereafter, the third, fourth, fifth, and sixth rotary motors work to rotate the inertial group assembly along the X-axis and Y-axis, thereby completing the self-calibration and multi-position alignment functions of the inertial group assembly; when the self-calibration and multi-position alignment are completed, the second rotary motor drives the transmission locking mechanism to work, and the first rotary motor drives the transmission limiting mechanism to work, so that the fixed gear disc and the end gear disc on the first worm are engaged, and the second worm is engaged with the end face of the through hole of the push rod, thereby completing the locking.

[0063] In summary, the present invention provides a dual-axis self-calibration hemispherical sensitive device. The hemispherical sensitive device provides the inertial group component with the ability to rotate along the X-axis and Y-axis through the arrangement of the housing, outer frame, rotating motor, transmission shaft, etc., so that the inertial group component can realize self-calibration, self-alignment and fault self-diagnosis functions; at the same time, the present invention optimizes the layout of the inertial group component, so that the overall layout of the inertial group component is spherical, achieving the minimum volume envelope, which can meet the miniaturization requirements of weapon equipment under multi-function and has good market application prospects.

[0064] Although the present invention has been described in detail through the above preferred embodiments, it should be understood that the above description is not intended to limit the present invention. After reading the above description, various modifications and substitutions of the present invention will become apparent to those skilled in the art. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A dual-axis self-calibrated hemispherical sensing device, characterized in that: The device comprises: an inertial group assembly, an outer frame, and a housing; the inertial group assembly is rotatably mounted within the outer frame, and the outer frame is rotatably mounted within the housing, so that the inertial group assembly rotates along the X-axis, and the outer frame and the inertial group assembly rotate simultaneously along the Y-axis; a first rotary motor and a second rotary motor are respectively mounted on the front and rear side walls of the housing; the inertial group assembly comprises: a skeleton, which is a hexahedron with grooves; The first, second and third hemispherical gyroscopes are respectively installed in the grooves of three adjacent sides of the frame; the first, second and third quartz accelerometers are respectively installed in the grooves of two adjacent sides of the frame; A first cover plate and a second cover plate are respectively mounted on the bottom side of the frame and the opposite side, the first cover plate and the second cover plate being rotatably connected to the upper and lower inner walls of the outer frame; and an end gear plate and a top rod are respectively mounted on the left and right sides of the frame, the top rod having a through hole in the middle; The end gear plate is connected to the first rotary motor through a transmission locking mechanism, and the push rod is connected to the second rotary motor through a transmission limiting mechanism, so as to control the locking and releasing state of the inertial group assembly; The three quartz accelerometers and the three hemispherical gyroscopes are coaxial and arranged orthogonally in space, and the three axes intersect at one point.

2. The dual-axis self-calibrated hemispherical sensing device according to claim 1, characterized in that: The first, second and third hemispherical gyroscopes are respectively installed in the grooves on the front side, right side and bottom side of the skeleton; the first quartz accelerometer is installed in the groove on the right side of the skeleton, and the second and third quartz accelerometers are installed in the groove on the front side of the skeleton.

3. The dual-axis self-calibrated hemispherical sensing device according to claim 1, characterized in that: Also includes: First, second and third gyro control circuit boards, signal processing board, I / F conversion circuit board and third cover plate.

4. The dual-axis self-calibrated hemispherical sensing device according to claim 3, characterized in that: The first and third gyro control circuit boards are respectively installed on the front and rear sides of the skeleton; the signal processing board is installed on the inner side of the first cover plate, and the second gyro control circuit board, I / F conversion circuit board, and third cover plate are installed in sequence from the skeleton to the top rod between the second hemispherical gyroscope and the top rod.

5. The dual-axis self-calibrated hemispherical sensing device according to claim 4, characterized in that: The I / F conversion circuit board is installed on the inner side wall of the third cover plate.

6. The dual-axis self-calibrated hemispherical sensing device according to claim 1, characterized in that: A rotating motor is installed on at least one of the left and right side walls of the shell, and a rotating motor is installed on at least one of the upper and lower side walls of the outer frame.

7. The dual-axis self-calibrated hemispherical sensing device according to claim 6, characterized in that: The third rotating motor is installed on the left side wall of the shell, and the fourth rotating motor is installed on the right side wall; the fifth rotating motor is installed on the upper side wall of the outer frame, and the sixth rotating motor is installed on the lower side wall.

8. The dual-axis self-calibrating hemispherical sensing device according to claim 7, characterized in that: The left and right ends of the outer frame are respectively connected to the third rotating motor and the fourth rotating motor through transmission shafts; the first cover plate and the second cover plate of the inertial group assembly are respectively connected to the fifth rotating motor and the sixth rotating motor through transmission shafts.

9. The dual-axis self-calibrated hemispherical sensing device according to claim 1, characterized in that: The transmission locking mechanism includes a first turbine, a first worm and a fixed gear plate, the fixed gear plate is fixed on the first worm and engages with the end gear plate; the transmission limiting mechanism includes a second turbine and a second worm, and one end of the worm is engaged and pressed with the end face of the through hole on the push rod.

10. The dual-axis self-calibrated hemispherical sensing device according to claim 1, characterized in that: The range of rotation of the inertial group component along the X axis is -360° to +360°, and the range of rotation of the outer frame and the inertial group component along the Y axis at the same time is -100° to +280°.

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