A method for laser inertial navigation installation adjustment

Abstract

The present application relates to the technical field of inertial navigation component installation adjustment, in particular to a method for laser inertial navigation installation adjustment. The installation error of the inertial navigation bracket is measured and compensated, including horizontal adjustment and heading adjustment. The purpose of the present application is to solve the problem of measuring whether the installation precision of the laser inertial navigation component meets the design requirements after installation. The laser inertial navigation component is installed and locked on the bracket, and then the installation precision of the laser inertial navigation component can be measured. If the installation precision does not meet the design requirements, the installation precision can be adjusted to meet the requirements through corresponding operation. Meanwhile, the installation and dismounting method of the present application is simple and easy to operate, which can well meet the installation precision measurement and adjustment of the laser inertial navigation component, and help to accurately fit the navigation coordinate system, thereby ensuring the measurement precision of the laser inertial navigation component during work.

Description

Technical Field

[0001] This invention relates to the field of inertial navigation component installation and adjustment technology, and specifically to a method for installing and adjusting laser inertial navigation systems. Background Technology

[0002] Currently, after the laser inertial navigation system (SINa) components are installed, it is crucial to ensure that their installation accuracy meets the requirements of the design drawings and technical specifications. The design drawings impose strict requirements on the installation accuracy of the SINa components, stipulating that both horizontal and heading accuracy errors must not exceed ±3′. If the horizontal and heading references of the SINa components deviate from those of the helicopter, meaning the installation error does not meet the design requirements, the aircraft attitude, heading, and speed information measured by the inertial navigation system will fail to reflect the true state of the helicopter, affecting the pilot's control and potentially even flight safety. Due to the lack of suitable tooling equipment, the installation accuracy cannot be inspected and adjusted under current technological conditions, severely impacting final assembly progress and product quality. Summary of the Invention

[0003] Therefore, a method is needed for measuring and compensating for the installation error of the inertial navigation bracket, including both horizontal and heading adjustments, in order to install and adjust laser inertial navigation components. The purpose of this invention is to solve the problem of whether the installation accuracy of laser inertial navigation components meets design requirements after installation. This invention provides a method for installing and adjusting laser inertial navigation components.

[0004] Technical solution

[0005] A method for installing and adjusting a laser inertial navigation system is provided. The method is based on an installation and adjustment device, which includes a laser inertial navigation adapter plate 1, a support plate 2, and a horizontal plate 3.

[0006] The support plate 2 and the horizontal plate 3 are connected as one unit by the first internal hexagon screw 4 and fixed by the first cylindrical pin 5. The main structure formed by the support plate 2 and the horizontal plate 3 is a solid "T"-shaped body; the specific steps are as follows:

[0007] Step 1: After installing the laser inertial navigation component bracket, gently wipe the upper surface of the bracket with a clean cloth or degreased cotton gauze pad to ensure that the surface is smooth and free of any foreign matter. Place the installation and adjustment device of this invention on the inertial navigation component mounting bracket, and lock the installation and adjustment device with the positioning pins and buckles on the bracket, so that the laser inertial navigation installation and adjustment device is installed in place on the mounting bracket and will not be displaced in any direction.

[0008] Step 2: Adjust the helicopter to a level position, ensuring that the helicopter's horizontal reference point coincides with the horizontal plane of the geographic system. Check the prepared quadrant; it should be functioning properly and within its calibration validity period.

[0009] The quadrant is positioned along the helicopter's lateral axis on the horizontal plane of the laser inertial navigation adapter plate 1. The roll error value of the laser inertial navigation component mounting bracket is measured using the quadrant. If the roll error value is less than ±3′, the installation accuracy requirements are met.

[0010] The quadrant is positioned along the longitudinal axis of the helicopter on the horizontal plane of the laser inertial navigation adapter plate 1. The pitch error of the laser inertial navigation component mounting bracket is measured using the quadrant. If the pitch error is less than ±3′, the installation accuracy requirements are met.

[0011] Both roll and pitch errors meet the installation accuracy requirements, meaning the horizontal accuracy meets the requirements. After the horizontal accuracy meets the requirements, the heading error is then measured.

[0012] Step 3: Using the positioning holes at the front and rear of the helicopter fuselage to suspend plumb lines, draw a line connecting the projection points of two plumb lines on the passenger and cargo cabin floor. This line is the helicopter's heading reference, i.e., the helicopter's centerline.

[0013] Since the laser inertial navigation component is installed under the passenger and cargo cabin floor, it cannot be directly measured and compared with the helicopter's centerline, and therefore the heading error of the installation cannot be calculated. Therefore, the heading of the laser inertial navigation component mounting bracket is guided to the horizontal plane of the floor through the support plate 2 and the horizontal plate 3.

[0014] Measure the distances from both ends of the horizontal plate 3 to the helicopter's centerline. Let X1 be the distance from the front end of the horizontal plate 3 in the heading direction to the helicopter's centerline, and X2 be the distance from the front end of the horizontal plate 3 in the heading direction to the helicopter's centerline. Then calculate the actual distance difference as ΔX′=X1-X2. If ΔX′ is positive, it indicates a rightward tilt; if ΔX′ is negative, it indicates a leftward tilt.

[0015] Yaw error conversion principle: L is the length of the horizontal plate 3, α is the maximum allowable heading error required by the design document, and the maximum allowable heading error required by the design document is converted into the maximum distance difference between the two ends of the horizontal plate 3 and the helicopter heading reference line as ΔX=Lsinα.

[0016] Step 4: After adjusting the horizontal and heading accuracy to meet the requirement of not exceeding ±3′, remove the invention from the mounting bracket and install the finished laser inertial navigation component onto the adjusted bracket, thereby ensuring that the installation accuracy of the finished laser inertial navigation component meets the requirements.

[0017] Furthermore, the laser inertial navigation adapter plate 1 is an L-shaped solid body.

[0018] Furthermore, the horizontal plane of the laser inertial navigation adapter plate is used to measure horizontal accuracy error.

[0019] Furthermore, the vertical surface of the laser inertial navigation adapter plate is connected to the support plate 2 using a second hexagonal screw 6 and fixed with a second cylindrical pin 7.

[0020] Furthermore, the flatness of the upper surface of the horizontal plate 3 is 0.01 mm, the flatness of the lower surface of the horizontal plate 3 is 0.01 mm, and the parallelism between its upper surface and its lower surface is 0.02 mm.

[0021] Furthermore, in step 2, if the roll error value is greater than ±3′, it is necessary to adjust it by adding a peelable shim under the mounting bracket (left or right) so that the roll error value is less than ±3′ and meets the installation accuracy requirements.

[0022] Furthermore, in step 2, if the pitch error value is greater than ±3′, it is necessary to adjust it by adding a peelable shim under the mounting bracket (front or rear) so that the pitch error value is less than ±3′ and meets the installation accuracy requirements.

[0023] Furthermore, in step 3, the length of the horizontal plate 3 is 300mm. Therefore, when ΔX′≤300sin3′≈0.26mm, the heading installation accuracy is met. If it is not met, the heading accuracy is met by fine-tuning the direction of the mounting bracket.

[0024] Technical effect

[0025] This invention provides a specialized tooling for measuring the installation accuracy of a laser inertial navigation component of a certain type of aircraft. By installing and locking it onto the laser inertial navigation component bracket, the installation accuracy of the laser inertial navigation component can be measured. If the installation accuracy does not meet the design requirements, it can be adjusted through corresponding operations to meet the requirements. At the same time, the installation and disassembly methods of this invention are simple and easy to operate, which can well meet the measurement and adjustment of the installation accuracy of the laser inertial navigation component, and help to accurately fit the navigation coordinate system, thereby ensuring the measurement accuracy of the laser inertial navigation component during operation. Attached Figure Description

[0026] Figure 1 This is a front view of the structural schematic diagram of the present invention;

[0027] Figure 2 This is a schematic diagram of the structure of the present invention, left view;

[0028] Figure 3 These are the front view and left view of the support plate in this invention;

[0029] Figure 4 These are the front view and top view of the horizontal plate in this invention;

[0030] Figure 5 This is a schematic diagram of the conversion principle.

[0031] Wherein: 1-Laser inertial navigation adapter plate

[0032] 2-Support plate

[0033] 3-Horizontal board

[0034] 4-First internal hex socket screw (GB70 M8X25)

[0035] 5-First cylindrical pin (GB / T 119.18X40)

[0036] 6-Second internal hex screw (GB70 M8X20)

[0037] 7-Second cylindrical pin (GB / T 119.18X30) Detailed Implementation

[0038] The present invention will be further described below with reference to embodiments. The following description represents only a portion of the embodiments of the present invention, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0039] Since the laser inertial navigation component is installed under the passenger and cargo cabin floor, the support plate 2 is mainly used to extend the heading accuracy measurement baseline of the laser inertial navigation component from under the cargo cabin floor to the cargo cabin floor plane, so as to facilitate the measurement of heading accuracy error.

[0040] The horizontal plate 3 is a long, solid strip connected to the top of the support plate. The heading accuracy error is calculated by measuring the distance difference between the two ends of the horizontal plate and the center axis of the aircraft's symmetry.

[0041] Pick Figure 3 The A1 surface of the middle support plate 2 is the reference surface. The perpendicularity of the A2 surface to the A1 surface is 0.02 mm, the parallelism of the A3 surface to the A1 surface is 0.02 mm, and the flatness of the A1, A2, and A3 surfaces is 0.01 mm. The upper surface of the horizontal plate 3 is relative to the bottom surface of the laser inertial navigation adapter plate 1. Figure 2 The parallelism at point A is 0.1 mm.

[0042] In this example, the laser inertial navigation component is installed under the cargo hold floor. It is now necessary to ensure that the horizontal accuracy error and heading accuracy error of its finished mounting bracket do not exceed ±3′.

[0043] Step 1: First, place the present invention on the mounting bracket of the finished product to be tested, and lock it in place with the positioning pins and latches on the bracket, so that the laser inertial navigation adapter plate is installed in place on the finished product mounting bracket and will not shift.

[0044] Step 2: Then, place the quadrant along the horizontal and vertical axes of the aircraft on the horizontal plane of the laser inertial navigation adapter plate to measure the roll and pitch errors of the finished mounting bracket.

[0045] If the accuracy is greater than ±3′, it can be adjusted by adding a peelable shim under the bracket to ensure that the horizontal accuracy meets the requirements.

[0046] After the horizontal accuracy requirement is met in step 3, the distances from both ends of the horizontal plate to the symmetrical center axis of the aircraft are measured respectively, and the distance difference ΔL is calculated. Since the length of the horizontal plate is 300mm, the heading installation accuracy is met when ΔL≤300sin3′≈0.26mm. If it is not met, the heading accuracy is met by fine-tuning the mounting bracket.

[0047] After adjusting the horizontal and heading accuracy to meet the requirement of not exceeding ±3′, the invention is removed from the bracket, and the finished laser inertial navigation component is installed on the adjusted bracket, thereby ensuring that the installation accuracy of the finished laser inertial navigation component meets the requirements.

[0048] Example 2

[0049] A method for installing and adjusting a laser inertial navigation system, the method being performed based on an installation and adjustment device, which includes a laser inertial navigation adapter plate 1, a support plate 2, and a cross plate 3.

[0050] The support plate 2 and the horizontal plate 3 are connected as one unit by the first internal hexagon screw 4 and fixed by the first cylindrical pin 5. The main structure formed by the support plate 2 and the horizontal plate 3 is a solid "T"-shaped body; the specific steps are as follows:

[0051] Step 1: After installing the laser inertial navigation component bracket, gently wipe the upper surface of the bracket with a clean cloth or degreased cotton gauze pad to ensure that the surface is smooth and free of any foreign matter. Place the installation and adjustment device of this invention on the inertial navigation component mounting bracket, and lock the installation and adjustment device with the positioning pins and buckles on the bracket, so that the laser inertial navigation installation and adjustment device is installed in place on the mounting bracket and will not be displaced in any direction.

[0052] Step 2: Adjust the helicopter to a level position, ensuring that the helicopter's horizontal reference point coincides with the horizontal plane of the geographic system. Check the prepared quadrant; it should be functioning properly and within its calibration validity period.

[0053] Position the quadrant instrument along the helicopter's lateral axis (Y-axis) (perpendicular to the helicopter's heading) on ​​the horizontal plane of the laser inertial navigation adapter plate 1. Measure the roll error of the laser inertial navigation component mounting bracket using the quadrant instrument. If the roll error is less than ±3′, the installation accuracy requirements are met. If the roll error is greater than ±3′, adjustments must be made by adding peelable shims under the mounting bracket (left or right) to ensure the roll error is less than ±3′ and meets the installation accuracy requirements.

[0054] For example, if the roll error is 4′, add a peelable shim to the left side under the mounting bracket for adjustment; if the roll error is -4′, add a peelable shim to the right side under the mounting bracket for adjustment.

[0055] Position the quadrant instrument along the helicopter's longitudinal axis (X-axis) (parallel to the helicopter's heading) on ​​the horizontal plane of the laser inertial navigation adapter plate 1. Measure the pitch error of the laser inertial navigation component mounting bracket using the quadrant instrument. If the pitch error is less than ±3′, the installation accuracy requirement is met. If the pitch error is greater than ±3′, adjustments are made by adding peelable shims under the mounting bracket (front or rear) to ensure the pitch error is less than ±3′ and meets the installation accuracy requirement. For example, if the pitch error is 5′, add a peelable shim to the rear of the mounting bracket for adjustment; if the pitch error is -5′, add a peelable shim to the front of the mounting bracket for adjustment.

[0056] Both roll and pitch errors meet the installation accuracy requirements, meaning the horizontal accuracy meets the requirements. After the horizontal accuracy meets the requirements, the heading error is then measured.

[0057] Step 3: Using the positioning holes at the front and rear of the helicopter fuselage to suspend plumb lines, draw a line connecting the projection points of two plumb lines on the passenger and cargo cabin floor. This line is the helicopter's heading reference, i.e., the helicopter's centerline.

[0058] Since the laser inertial navigation component is installed under the passenger and cargo cabin floor, it cannot be directly measured and compared with the helicopter's centerline, and therefore the heading error of the installation cannot be calculated. Therefore, the heading of the laser inertial navigation component mounting bracket is guided to the horizontal plane of the floor through the support plate 2 and the horizontal plate 3.

[0059] Measure the distances from both ends of the horizontal plate 3 to the helicopter's centerline. Let X1 be the distance from the front end of the horizontal plate 3 in the heading direction to the helicopter's centerline, and X2 be the distance from the front end of the horizontal plate 3 in the heading direction to the helicopter's centerline. Then calculate the actual distance difference as ΔX′=X1-X2. If ΔX′ is positive, it indicates a rightward tilt; if ΔX′ is negative, it indicates a leftward tilt.

[0060] Since the length of the horizontal plate 3 is 300mm, the heading installation accuracy is met when ΔX′≤300sin3′≈0.26mm. If it is not met, the heading accuracy is met by fine-tuning the direction of the mounting bracket.

[0061] Yaw error conversion principle: L is the length of the horizontal plate 3, α is the maximum allowable heading error required by the design document, and the maximum allowable heading error required by the design document is converted into the maximum distance difference between the two ends of the horizontal plate 3 and the helicopter heading reference line as ΔX=Lsinα.

[0062] Step 4: After adjusting the horizontal and heading accuracy to meet the requirement of not exceeding ±3′, remove the invention from the mounting bracket and install the finished laser inertial navigation component onto the adjusted bracket, thereby ensuring that the installation accuracy of the finished laser inertial navigation component meets the requirements.

[0063] Furthermore, the laser inertial navigation adapter plate 1 is an L-shaped solid body.

[0064] Furthermore, the horizontal plane of the laser inertial navigation adapter plate is used to measure horizontal accuracy error.

[0065] Furthermore, the vertical surface of the laser inertial navigation adapter plate is connected to the support plate 2 using a second hexagonal screw 6 and fixed with a second cylindrical pin 7.

[0066] Furthermore, the flatness of the upper surface of the horizontal plate 3 is 0.01 mm, the flatness of the lower surface of the horizontal plate 3 is 0.01 mm, and the parallelism between its upper surface and its lower surface is 0.02 mm.

[0067] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the meaning consistent with their meaning in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless defined as herein. The specific embodiments described above further illustrate the purpose, technical solutions, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for installing and adjusting a laser inertial navigation system, characterized in that, The method is based on an installation and adjustment device, which includes a laser inertial navigation adapter plate (1), a support plate (2), and a horizontal plate (3); The support plate (2) and the horizontal plate (3) are connected as one unit by the first internal hexagon screw (4) and fixed by the first cylindrical pin (5). The main structure formed by the support plate (2) and the horizontal plate (3) is a solid "T"-shaped body. The specific steps are as follows: Step 1: After the laser inertial navigation component bracket is installed, gently wipe the upper surface of the bracket with a clean cloth or degreased cotton gauze pad to ensure that the surface is clean and free of any foreign matter; place the installation and adjustment device of the present invention on the inertial navigation component mounting bracket, and lock the installation and adjustment device with the positioning pin and buckle on the bracket, so that the laser inertial navigation installation and adjustment device is installed in place on the mounting bracket and will not be displaced in any direction; Step 2: Adjust the helicopter to a level position, ensuring that the helicopter's horizontal reference coincides with the horizontal plane of the geographic system; check the prepared quadrant, ensuring that the quadrant is functioning properly and within its calibration validity period. The quadrant is placed on the horizontal plane of the laser inertial navigation adapter plate (1) along the lateral axis of the helicopter. The roll error value of the laser inertial navigation component mounting bracket is measured by the quadrant. If the roll error value is less than ±3′, the installation accuracy requirement is met. The quadrant is placed on the horizontal plane of the laser inertial navigation adapter plate (1) along the longitudinal axis of the helicopter. The pitch error value of the laser inertial navigation component mounting bracket is measured by the quadrant. If the pitch error value is less than ±3′, the installation accuracy requirement is met. Both roll and pitch errors meet the installation accuracy requirements, meaning the horizontal accuracy meets the requirements; after the horizontal accuracy meets the requirements, the heading error is then measured. Step 3: Using the positioning holes at the front and rear of the helicopter fuselage to suspend plumb lines, draw a line connecting the projection points of two plumb lines on the passenger and cargo cabin floor. This line is the helicopter's heading reference, i.e., the helicopter's centerline. Since the laser inertial navigation component is installed under the passenger and cargo cabin floor, it cannot be directly measured and compared with the helicopter centerline, so the heading error of the installation cannot be calculated. Therefore, the heading of the laser inertial navigation component mounting bracket is guided to the horizontal plane of the floor by the support plate (2) and the horizontal plate (3). Measure the distances from both ends of the horizontal plate (3) to the helicopter centerline. Let X1 be the distance from the front end of the horizontal plate (3) to the helicopter centerline and X2 be the distance from the front end of the horizontal plate (3) to the helicopter centerline. Then calculate the actual distance difference as ΔX′=X1-X2. If ΔX′ is positive, it indicates right tilt; if ΔX′ is negative, it indicates left tilt. Yaw error conversion principle: L is the length of the horizontal plate (3), α is the maximum allowable heading error required by the design document, and the maximum allowable heading error required by the design document is converted into the maximum distance difference between the two ends of the horizontal plate (3) and the helicopter heading reference line as ΔX=Lsinα. Step 4: After adjusting the horizontal and heading accuracy to meet the requirement of not exceeding ±3′, remove the present invention from the mounting bracket and install the finished laser inertial navigation component onto the adjusted bracket, thereby ensuring that the installation accuracy of the finished laser inertial navigation component meets the requirements.

2. The method for mounting and adjusting a laser inertial navigation system according to claim 1, characterized in that, The laser inertial navigation adapter plate (1) is an "L"-shaped solid body.

3. The method for mounting and adjusting a laser inertial navigation system according to claim 2, characterized in that, The horizontal plane of the laser inertial navigation adapter plate is used to measure horizontal accuracy error.

4. The method for mounting and adjusting a laser inertial navigation system according to claim 3, characterized in that, The vertical surface of the laser inertial navigation adapter plate is connected to the support plate (2) by a second internal hexagon screw (6) and fixed with a second cylindrical pin (7).

5. A method for mounting and adjusting a laser inertial navigation system according to claim 4, characterized in that, The flatness of the upper surface of the horizontal plate (3) is 0.01 mm, the flatness of the lower surface of the horizontal plate (3) is 0.01 mm, and the parallelism between the upper surface and the lower surface is 0.02 mm.

6. A method for mounting and adjusting a laser inertial navigation system according to claim 5, characterized in that, In step 2, if the roll error value is greater than ±3′, it is necessary to adjust it by adding a peelable shim under the mounting bracket so that the roll error value is less than ±3′ and meets the installation accuracy requirements.

7. A method for installing and adjusting a laser inertial navigation system according to claim 6, characterized in that, In step 2, if the pitch error is greater than ±3′, it is necessary to adjust it by adding a peelable shim under the mounting bracket so that the pitch error is less than ±3′ and meets the installation accuracy requirements.

8. A method for mounting and adjusting a laser inertial navigation system according to claim 7, characterized in that, In step 3, the length of the horizontal plate (3) is 300mm. Therefore, when ΔX′≤300sin3′≈0.26mm, the heading installation accuracy is met. If it is not met, the heading accuracy is met by fine-tuning the direction of the mounting bracket.

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