A device and method for testing dynamic characteristics of a posture sensor

Abstract

The application discloses a kind of attitude sensor dynamic characteristic testing device and method, the device includes: several horizontal adjusting mechanisms, servo drive module, transmission mechanism and disc shaft;Several horizontal adjusting mechanisms are located at the bottom and side of box, the servo drive module and transmission mechanism are sequentially connected in the inside of box, and the servo drive module is connected with box lower cover, and the transmission mechanism is connected with box upper cover;The box upper cover connects disc shaft, and the disc shaft connects attitude sensor to test.The low-cost rotating platform designed by the application is simple in composition and low in cost, mainly uses a servo motor and its supporting parts, can test the sensor in two directions, and the use of driver supporting host computer can conveniently and quickly set the motion mode of rotating platform, meet the demand of low-cost operation simplicity.

Description

Technical Field

[0001] This invention belongs to the field of inertial navigation technology, and in particular relates to a device and method for testing the dynamic characteristics of an attitude sensor. Background Technology

[0002] Attitude sensors are high-performance three-dimensional motion attitude measurement systems based on microelectromechanical systems (MEMS) technology, mainly consisting of accelerometers, gyroscopes, and magnetometers. As crucial tools for detecting attitude changes, attitude sensors are widely used in industrial control, military equipment, aerospace, and other fields.

[0003] Sensor motion characteristics typically refer to the dynamic characteristics of a sensor. Dynamic characteristics define the relationship between the system's output and input when the input signal to the detection system is a time-varying signal. Since the sensor's input signal is a dynamic signal that varies with time, the sensor is required to accurately track the input signal at all times and output a signal according to the changing pattern of the input signal.

[0004] Existing methods for testing attitude sensors employ static experiments, placing the sensor stationary and collecting static data to verify its static characteristics in a static state. For dynamic characteristic testing, the method involves rotating the sensor to a certain angle to verify its dynamic properties. However, this approach is too simplistic and fails to accurately reflect the dynamic characteristics of the attitude sensor.

[0005] In summary, existing methods for testing the dynamic characteristics of attitude sensors only reflect the static drift characteristics of the sensor in static experiments, failing to accurately reflect the impact of complex magnetic interference on the static attitude during use. Dynamic experiments simply rotate the attitude sensor to a certain angle to verify its dynamic characteristics, which also fails to accurately reflect the sensor's overall dynamic performance. Furthermore, the testing equipment used is often a three-axis turntable, which is expensive and complex to use. Summary of the Invention

[0006] The purpose of this invention is to provide a dynamic characteristic testing device and method for an attitude sensor. The testing device mainly includes a horizontal adjustment mechanism, a servo drive module, a transmission mechanism, a disc shaft, a communication module, a power switch, and a housing. The testing method mainly includes a static testing method under magnetic interference and a dynamic sinusoidal trajectory motion testing method, in order to solve the problems of high cost and inaccurate test results in the prior art, and to ensure the validity and accuracy of the test results, thereby solving the aforementioned problems in the prior art.

[0007] To achieve the above objectives, the present invention provides a dynamic characteristic testing device for an attitude sensor, comprising: several horizontal adjustment mechanisms, a servo drive module, a transmission mechanism, a device housing, and a disc shaft;

[0008] The device housing includes a housing, a top cover, and a bottom cover; several horizontal adjustment mechanisms are located at the bottom and sides of the housing; the servo drive module and the transmission mechanism are located inside the housing and connected in sequence; the servo drive module is connected to the bottom cover, and the transmission mechanism is connected to the top cover; the top cover is connected to a disc shaft, and the disc shaft is connected to an attitude sensor for testing.

[0009] Optionally, the bottom and sides of the enclosure are equipped with leveling mechanisms arranged in an isosceles triangle pattern. The leveling mechanism includes leveling feet, foot connectors, and fastening bolts III. The leveling feet and foot connectors are connected by threads, and the foot connectors are fixed to the bottom or side of the enclosure by fastening bolts III17.

[0010] Optionally, the servo drive module includes a motor driver, an encoder, and a motor connected in sequence by internal bolts, wherein the motor driver is connected to the lower cover of the housing by fastening bolt II.

[0011] Optionally, the transmission mechanism includes a reducer, a flexible coupling, and a three-legged bracket. The input end of the reducer is connected to the motor, and the output end of the reducer is connected to the housing cover via four evenly distributed flange holes using fastening bolts I, and is also connected to the flexible coupling. The housing cover is also connected to the three-legged bracket via bolts.

[0012] Optionally, the end of the disc shaft is connected to a flexible coupling, the middle part is connected to a bearing, and the upper part is a disc with a bolt hole in the center, and four through holes are evenly distributed around the central bolt hole to connect to the attitude sensor; wherein, the bearing is installed at the center of the three-legged bracket.

[0013] Optionally, the testing device further includes a communication module, which is connected to the side of the housing by bolts and is used for communication between the host computer and the motor driver.

[0014] Optionally, the testing device further includes a power switch, which is embedded in the side of the housing through an opening for supplying power to the testing device.

[0015] This invention also provides a method for testing the dynamic characteristics of an attitude sensor, comprising the following steps:

[0016] Connect the attitude sensor to the disk shaft;

[0017] Static experiments were conducted on the attitude sensor under magnetic interference in a stationary state.

[0018] During motion, dynamic experiments are conducted on the attitude sensor based on dynamic sinusoidal motion.

[0019] The attitude sensor data from the static and dynamic experiments are acquired to complete the dynamic characteristic test.

[0020] Optionally, the process of acquiring static sensor data includes: using a powered DC motor as a magnetic interference source to magnetically interfere with the attitude sensor, and collecting static data of the attitude sensor under magnetic interference; and performing magnetic interference compensation on the attitude sensor based on the static data with magnetic interference.

[0021] Optionally, the process of acquiring dynamic sensor data includes: setting the amplitude and frequency of the rotating disk axis motion via a host computer, fixing the attitude sensor to the disk axis, and collecting dynamic sensor data.

[0022] The technical effects of this invention are as follows:

[0023] The low-cost rotating platform designed in this invention is simple in composition and low in cost. It mainly uses a servo motor and its supporting parts, and can perform sensor testing in two directions. The motion mode of the rotating platform can be easily and quickly set using the host computer with the driver, thus meeting the requirements of low cost and simple operation.

[0024] The attitude sensor dynamic characteristic testing method designed in this invention meets the requirements of complex scenarios in practical applications, especially for attitude sensors used on aircraft. Magnetic interference from rotating motors is a persistent issue; using a motor to conduct magnetic interference experiments effectively verifies static characteristics. Using a sinusoidal motion platform to test the dynamic characteristics of the attitude sensor effectively verifies its tracking performance during motion. The testing method designed in this invention can accurately measure the dynamic characteristics of the attitude sensor. In summary, the attitude sensor dynamic characteristic testing device and method proposed in this invention have good economic practicality and technical effectiveness. Attached Figure Description

[0025] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0026] Figure 1 This is a schematic diagram of the shared warehouse management device in an embodiment of the present invention;

[0027] Figure 2 This is a flowchart illustrating the motion of the turntable in an embodiment of the present invention;

[0028] Figure 3 This is a schematic diagram of the turntable structure in an embodiment of the present invention;

[0029] Figure 4 This is a schematic diagram of the test results in an embodiment of the present invention;

[0030] Figure 5 This is a flowchart of the testing method in an embodiment of the present invention;

[0031] The components include: 1. Disc shaft; 2. Bearing; 3. Three-legged bracket; 4. Flexible coupling; 5. Reducer; 6. Motor; 7. Encoder; 8. Motor driver; 9. Horizontal adjustment feet; 10. Communication module; 11. Power switch; 12. Foot connector; 13. Housing; 14. Fastening bolt I; 15. Fastening bolt II; 16. Housing top cover; 17. Fastening bolt III; 18. Housing bottom cover. Detailed Implementation

[0032] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0033] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0034] Example 1

[0035] This embodiment provides a device and method for testing the dynamic characteristics of an attitude sensor, which mainly includes two aspects: the testing device and the testing method, to ensure the validity and accuracy of the test results.

[0036] like Figures 1-3 As shown, this invention provides a dynamic characteristic testing device for an attitude sensor. The low-cost rotating platform design of this invention mainly includes a horizontal adjustment mechanism, a servo drive module, a transmission mechanism, a disc shaft 1, a communication module 10, a power switch 11, and a device housing. The device housing includes a housing body 13, a top cover 16, and a bottom cover 18. The horizontal adjustment mechanism is located at the bottom and sides of the housing body 13. The servo drive module includes a servo motor 6 and a motor driver 8 located inside the housing body 13 and connected to the bottom cover 16. The transmission mechanism includes a reducer 5 connected to the motor 6 inside the housing body 13 and a flexible coupling 4 connected to the reducer 5 shaft. The disc shaft 1 is located at the top of the rotating platform and connected to the flexible coupling 4. The communication module 10 and the power switch 11 are located on the side of the housing body 13.

[0037] In a specific embodiment, the horizontal adjustment mechanism mainly consists of horizontal adjustment feet 9, foot connectors 12, and fastening bolts III 17. Three foot connectors 12 are installed on the lower cover 18 of the housing. These three foot connectors 12 are arranged in an isosceles triangle at the bottom to increase the stability of the support. The foot connectors 12 are fixed to the lower cover 18 of the housing by fastening bolts III 17. The horizontal adjustment feet 9 are threaded to the foot connectors 12. Rotating the horizontal adjustment feet 9 adjusts the horizontality of the plane. The foot connectors 12 have three evenly distributed fastening bolts III 17 for connecting to the housing 13. The side horizontal adjustment mechanism has the same configuration as the bottom mechanism. The side horizontal adjustment mechanism allows for the testing of dynamic characteristics in two directions using a single sensor fixture.

[0038] The servo drive module includes a motor driver 8, an encoder 7, and a motor 6, all located at the center inside the housing 13. The motor driver 8 is located inside the housing 13 and is connected to the bottom cover through four bolt holes. The encoder 7 is located at the end of the motor 6 and is fixedly connected to the motor 6 through a connection hole. The end of the motor 6 is fixedly connected to the encoder 7, and the front end is connected to the gearbox through a connection hole.

[0039] As a specific embodiment, the motor driver 8 is placed at the bottom inside the device housing 13 and is mounted on the lower cover 18 of the housing using fastening bolts II 15; above the motor driver 8 is the encoder 7, and above the encoder 7 is the motor 6.

[0040] The transmission mechanism includes a reducer 5, a flexible coupling 4, and a three-legged bracket 3. The input end of the reducer 5 is connected to the motor 6, and the upper part of its output end is connected to the housing cover 16 through four evenly distributed flange holes. The flexible coupling 4 is connected to the output end of the reducer 5; each leg of the three-legged bracket 3 has a bolt hole at its center for connection to the housing cover 16, and a bearing hole at the center of the upper end of the bracket for tight fit with a bearing 2.

[0041] In a specific embodiment, a reducer 5 is located above the motor 6. These three components are connected by internal bolts, and a servo motor with a reducer 5 can be directly selected. Above the reducer 5 are four flange holes, which are connected to the housing cover 16 using fastening bolts I14. Above the housing cover 16 is a three-legged bracket 3, with threaded holes in the center of each leg, which are also connected to the housing cover 16 using fastening bolts I14.

[0042] The disc shaft 1 is connected to a flexible coupling 4 at one end and to a bearing 2 in the middle. The upper part is a disc with a bolt hole at its center and four through holes evenly distributed around the central bolt hole. The bearing 2 is installed at the center of the three-legged support 3 to ensure the normal rotation of the disc shaft 1.

[0043] In a specific embodiment, a flexible coupling 4 is located above the reducer 5. The other end of the flexible coupling 4 is connected to a disc shaft 1, which has 5 holes for connecting attitude sensors.

[0044] The communication module 10 is located on the side of the housing 13 and is connected to the housing 13 via bolt holes. The power switch 11 is located on the side of the housing 13 and is embedded in the side of the housing 13 via an opening.

[0045] In a specific embodiment, the communication module 10 and the power switch 11 are located on the same plane. The communication module 10 is responsible for the communication between the host computer and the motor driver 8. The host computer sends instructions to the motor driver 8 to control the rotation of the motor 6. The power switch 11 controls whether the total power control system of the test platform is powered on.

[0046] like Figures 4-5 As shown, this embodiment also provides a testing method. In the static state, the turntable is stationary, and the motor acts as a magnetic interference source to generate magnetic interference. The collected data is then processed and the results are transmitted to the host computer. In the dynamic experiment, the turntable rotates according to a sinusoidal law to test the dynamic characteristics of the sensor under sinusoidal trajectory motion.

[0047] Furthermore, in the experiment involving magnetic field interference, the sensor was fixedly connected to the disc shaft component, and a powered DC motor was used as the source of magnetic interference. Sensor data was collected, and the magnitude of the magnetic interference generated by the motor was calculated through multiple experiments to compensate for the magnetic interference in the sensor data.

[0048] Furthermore, in the dynamic sinusoidal motion experiment, the amplitude and frequency of the rotating platform's motion are set by the host computer, the sensor is fixed to the disk axis, sensor data is collected, and the rotating platform is started to move under intermediate control.

[0049] The above description is merely a preferred embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A device for testing the dynamic characteristics of an attitude sensor, characterized in that, include: Several horizontal adjustment mechanisms, servo drive modules, transmission mechanisms, device boxes and disc shafts (1); The device box includes a box body (13), a box body top cover (16), and a box body bottom cover (18); the plurality of horizontal adjustment mechanisms are located at the bottom and sides of the box body (13), the servo drive module and the transmission mechanism are located inside the box body (13) and connected in sequence, and the servo drive module is connected to the box body bottom cover (18), and the transmission mechanism is connected to the box body top cover (16); the box body top cover (16) is connected to the disc shaft (1), and the disc shaft (1) is connected to the attitude sensor for testing.

2. The attitude sensor dynamic characteristic testing device according to claim 1, characterized in that, The bottom and sides of the box (13) are equipped with horizontal adjustment mechanisms arranged in an isosceles triangle pattern. The horizontal adjustment mechanism includes horizontal adjustment feet (9), foot connectors (12), and fastening bolts III (17). The horizontal adjustment feet (9) and foot connectors (12) are connected by threads. The foot connectors (12) are fixed to the bottom or side of the box (13) by fastening bolts III (17).

3. The attitude sensor dynamic characteristic testing device according to claim 1, characterized in that, The servo drive module includes a motor driver (8), an encoder (7) and a motor (6) connected in sequence by internal bolts. The motor driver (8) is connected to the lower cover (18) of the housing by fastening bolt II (15).

4. The attitude sensor dynamic characteristic testing device according to claim 3, characterized in that, The transmission mechanism includes a reducer (5), a flexible coupling (4), and a three-legged bracket (3). The input end of the reducer (5) is connected to the motor (6), and the output end of the reducer (5) is connected to the housing cover (16) through four evenly distributed flange holes using fastening bolts I (14), and is also connected to the flexible coupling (4). The housing cover (16) is also connected to the three-legged bracket (3) by bolts.

5. The attitude sensor dynamic characteristic testing device according to claim 4, characterized in that, The end of the disc shaft (1) is connected to the flexible coupling (4), the middle part is connected to the bearing (2), the upper part is a disc with a bolt hole in the center, and four through holes are evenly distributed around the central bolt hole to connect the attitude sensor; wherein, the bearing (2) is installed at the center of the three-leg bracket (3).

6. The attitude sensor dynamic characteristic testing device according to claim 1, characterized in that, The testing device also includes a communication module (10), which is connected to the side of the housing (13) by bolts and is used for communication between the host computer and the motor driver (8).

7. The attitude sensor dynamic characteristic testing device according to claim 1, characterized in that, The testing device also includes a power switch (11), which is embedded in the side of the housing (13) through an opening and is used to supply power to the testing device.

8. A method for testing the dynamic characteristics of an attitude sensor, characterized in that, The test is performed using the attitude sensor dynamic characteristic testing device as described in any one of claims 1-7, comprising the following steps: Connect the attitude sensor to the disk shaft; Static experiments were conducted on the attitude sensor under magnetic interference in a stationary state. During motion, dynamic experiments are conducted on the attitude sensor based on dynamic sinusoidal motion. The attitude sensor data from the static and dynamic experiments are acquired to complete the dynamic characteristic test.

9. The method for testing the dynamic characteristics of an attitude sensor according to claim 8, characterized in that, The process of acquiring static sensor data includes: using a powered DC motor as a magnetic interference source to magnetically interfere with the attitude sensor, and collecting static data of the attitude sensor under magnetic interference; and performing magnetic interference compensation on the attitude sensor based on the static data with magnetic interference.

10. The method for testing the dynamic characteristics of an attitude sensor according to claim 8, characterized in that, The process of acquiring dynamic sensor data includes: setting the amplitude and frequency of the rotating disk axis motion through the host computer, fixing the attitude sensor to the disk axis, and collecting dynamic sensor data.

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