Six-axis redundant fiber-optic gyroscope inertial navigation device

Abstract

The invention relates to the technical field of navigation, and discloses a six-axis redundant fiber-optic gyroscope inertial navigation device. The device comprises a shell, an inertial measurement unit, a circuit assembly and a cable, the shell comprises an upper circuit cavity used for installing the circuit assembly and the cable and a lower inertial cavity used for installing the inertial measurement unit, and the inertial measurement unit comprises a six-axis fiber-optic gyroscope, a six-axis accelerometer, an inertial combined support, a plurality of gyroscope light sources and a light source support. The six-axis fiber-optic gyroscopes are arranged on the outer surfaces of the six side walls of the inertia combined support, the six-axis accelerometers are arranged on the inner surfaces of the six side walls of the inertia combined support, the gyroscope light sources are arranged on the upper portion of the inertia combined support through light source supports, and the circuit assembly comprises a functional circuit and a circuit support used for arranging the functional circuit. The functional circuit is in a dual-redundancy design and comprises two independent direct-current power supply circuits and two independent navigation computer circuits. Therefore, the survivability of the device is effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of navigation technology, and in particular to a six-axis redundant fiber optic gyro inertial navigation device. Background Art

[0002] Inertial navigation system is an autonomous navigation and positioning system that connects inertial devices to carriers and can continuously provide attitude and position information, with very good short-term accuracy and stability. Usually, fiber optic gyro strapdown inertial navigation systems are composed of mutually orthogonal three-axis fiber optic gyroscopes and three-axis accelerometers to form an inertial measurement unit, but this structure is unacceptable for some occasions with extremely high reliability requirements, and the risk of inertial device failure is unacceptable. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide a six-axis redundant fiber optic gyro inertial navigation device that can solve the problems in the prior art.

[0004] The technical solution of the present invention is: a six-axis redundant fiber optic gyro inertial navigation device, wherein the device includes a shell, an inertial measurement unit, a circuit component and a cable, the shell includes an upper circuit cavity for installing the circuit component and the cable and a lower inertial cavity for installing the inertial measurement unit, the inertial measurement unit includes a six-axis fiber optic gyroscope, a six-axis accelerometer, an inertial combination bracket, a plurality of gyro light sources and a light source bracket, the six-axis fiber optic gyroscope is arranged on the six side wall outer surfaces of the inertial combination bracket, the six-axis accelerometer is arranged on the six side wall inner surfaces of the inertial combination bracket, the plurality of gyro light sources are arranged on the upper part of the inertial combination bracket through the light source bracket, the circuit component includes a functional circuit and a circuit bracket for setting the functional circuit, the functional circuit is a dual redundant design, and the functional circuit includes two independent DC power supply circuits and two independent navigation computer circuits.

[0005] Preferably, the inertial measurement unit is mounted in the housing via an IMU damper.

[0006] Preferably, the six-axis fiber optic gyroscope and the six-axis accelerometer are in a predetermined angle relationship with the system inertial coordinate system, rather than being parallel or orthogonal.

[0007] Preferably, the inertial combined bracket is in the form of a regular hexagonal pyramid, and three of the six faces that are separated by one face are orthogonal to each other.

[0008] Preferably, each pair of gyroscopes with the same direction is parallel to the sensitive direction of the accelerometer.

[0009] Preferably, the circuit assembly further includes a power supply heat sink and a computer heat sink.

[0010] Preferably, the circuit assembly is mounted in the housing via a circuit assembly damper.

[0011] Through the above technical solution, it can be ensured that when part of the gyroscope or accelerometer and the functional circuit fails, the fiber optic gyro inertial navigation device can still guarantee a certain working accuracy, effectively improving the survivability of the device. In addition, the device has the characteristics of simple structure, good structural stability and high reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The included drawings are used to provide a further understanding of the embodiments of the present invention, which constitute a part of the specification, are used to illustrate the embodiments of the present invention, and together with the text description, explain the principles of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0013] Figure 1 A schematic diagram of one side of a gyroscope of a six-axis redundant fiber optic gyroscope inertial navigation device provided by an embodiment of the present invention;

[0014] Figure 2 A schematic diagram of one side of an accelerometer of a six-axis redundant fiber optic gyro inertial navigation device provided by an embodiment of the present invention;

[0015] Figure 3 A partial cross-sectional view of an inertial navigation device in an embodiment of the present invention;

[0016] Figure 4 Schematic diagram of a circuit component in an embodiment of the present invention. DETAILED DESCRIPTION

[0017] Below in conjunction with accompanying drawing, specific embodiment of the present invention is described in detail.In the following description, for explanation and not limiting purpose, set forth specific details, to help fully understand the present invention.But it is obvious to those skilled in the art that also can practice the present invention in other embodiment that breaks away from these specific details.

[0018] It should be noted that, in order to avoid obscuring the present invention due to unnecessary details, only the device structure and / or processing steps closely related to the solution according to the present invention are shown in the accompanying drawings, while other details that are not closely related to the present invention are omitted.

[0019] like Figure 1-4As shown, an embodiment of the present invention provides a six-axis redundant fiber optic gyroscope inertial navigation device, wherein the device includes a shell 9, an inertial measurement unit 10, a circuit component 11 and a cable. The shell 9 includes an upper circuit cavity for installing the circuit component 11 and the cable and a lower inertial cavity for installing the inertial measurement unit 10. The inertial measurement unit 10 includes a six-axis fiber optic gyroscope 1, a six-axis accelerometer 2, an inertial combination bracket 5, a plurality of gyroscope light sources 6 and a light source bracket 7. The six-axis fiber optic gyroscope 1 is arranged on the six side wall outer surfaces of the inertial combination bracket 5, the six-axis accelerometer 2 is arranged on the six side wall inner surfaces of the inertial combination bracket 5, the plurality of gyroscope light sources 6 are arranged on the upper part of the inertial combination bracket 5 through the light source bracket 7, the circuit component 11 includes a functional circuit and a circuit bracket 12 for setting the functional circuit, the functional circuit is a dual redundant design, and the functional circuit includes two independent DC power supply circuits 14 and two independent navigation computer circuits 16.

[0020] Through the above technical solution, it can be ensured that when part of the gyroscope or accelerometer and the functional circuit fails, the fiber optic gyro inertial navigation device can still guarantee a certain working accuracy, effectively improving the survivability of the device. In addition, the device has the characteristics of simple structure, good structural stability and high reliability.

[0021] For example, two gyroscopic light sources 6 are fixed to the inertial combination bracket 5 through the light source bracket 7, as shown in FIG. Figure 1 and Figure 2 shown.

[0022] According to an embodiment of the present invention, the inertial measurement unit 10 is installed in the housing 9 via the IMU damper 8 .

[0023] According to an embodiment of the present invention, the six-axis fiber optic gyroscope 1 and the six-axis accelerometer 2 are at a predetermined angle to the system inertial coordinate system 4, rather than being parallel or orthogonal.

[0024] That is, the inertial devices of each axis are at a certain angle to the inertial coordinate system of the system, rather than being parallel or orthogonal, to achieve the coupling function. This angle relationship ensures that there are still sensitive components in the system coordinate system when some inertial devices fail, so that the system maintains a certain accuracy.

[0025] According to an embodiment of the present invention, the inertial combined bracket 5 is in the form of a regular hexagonal pyramid, and three of the six faces that are separated by one face are orthogonal to each other.

[0026] According to an embodiment of the present invention, each pair of gyroscopes with the same direction is parallel to the sensitive direction of the accelerometer.

[0027] That is, each pair of gyroscopes in the same direction is parallel to the sensitive direction of the accelerometer. The six-axis gyroscopes are installed on the six faces of a regular hexagonal pyramid, and the three faces of each alternate face are orthogonal to each other, that is, Figure 2 Taking the six faces numbered sequentially as an example, the faces numbered 1-3-5 form a group of inertial devices, and the faces numbered 2-4-6 form a group of inertial devices, and each group of inertial devices is orthogonal to each other.

[0028] According to an embodiment of the present invention, the circuit assembly 11 further includes a power supply heat sink 13 and a computer heat sink 17 .

[0029] According to an embodiment of the present invention, the circuit assembly 11 is installed in the housing 9 via a circuit assembly damper 15 .

[0030] The following describes a six-axis redundant fiber optic gyro inertial navigation device according to the present invention with reference to examples.

[0031] Among them, the six-axis redundant fiber optic gyro inertial navigation device can adopt a split-cavity design. The lower part of the shell 9 is an inertial cavity, in which an inertial measurement unit 10 composed of a six-axis fiber optic gyro 1, a six-axis accelerometer 2, an inertial combination bracket 5, etc. is installed; the upper part of the shell 9 is a circuit cavity, in which a circuit component 11 and system cables, etc. are installed. The circuit component 11 is composed of a functional circuit, a circuit bracket 12, and a circuit component shock absorber 15. The functional circuit adopts a dual redundant design, including two independent DC power supply circuits 14 and two independent navigation computer circuits 16, such as Figure 4 To ensure long-term working reliability, the functional circuit can achieve the purpose of uniform heat dissipation through the power supply heat sink 13 and the computer heat sink 17. The circuit assembly can be installed in the housing 9 through the circuit assembly damper 15, which improves the mechanical environment adaptability and reliability of the circuit.

[0032] The six-axis redundant fiber optic gyro inertial navigation device provided by the present invention has each inertial sensitive axis coupled with the system navigation coordinate system, which can improve the system survival probability, and the dual gyro light source and dual function circuit design enhances the reliability of the system.

[0033] Features described and / or illustrated above for one embodiment may be used in the same or similar manner in one or more other embodiments, and / or combined with or used in place of features in other embodiments.

[0034] It should be emphasized that the term "include / comprises" when used herein refers to the presence of features, integers, steps or components, but does not exclude the presence or addition of one or more other features, integers, steps, components or combinations thereof.

[0035] The above devices and methods of the present invention can be implemented by hardware, or by hardware combined with software. The present invention relates to such a computer-readable program, which, when executed by a logic component, enables the logic component to implement the above-mentioned devices or components, or enables the logic component to implement the above-mentioned various methods or steps. The present invention also relates to a storage medium for storing the above-mentioned program, such as a hard disk, a magnetic disk, an optical disk, a DVD, a flash memory, etc.

[0036] The many features and advantages of these embodiments are apparent from this detailed description, and thus the appended claims are intended to cover all such features and advantages of these embodiments that fall within their true spirit and scope. Furthermore, since numerous modifications and changes will readily occur to those skilled in the art, it is not intended that the embodiments of the invention be limited to the exact construction and operation illustrated and described, but rather all suitable modifications and equivalents falling within the scope thereof are intended to be covered.

[0037] Parts of the present invention that are not described in detail are well known to those skilled in the art.

Claims

1. A six-axis redundant fiber optic gyro inertial navigation device, characterized in that: The device comprises a housing (9), an inertial measurement unit (10), a circuit assembly (11) and a cable. The housing (9) comprises an upper circuit cavity for mounting the circuit assembly (11) and the cable and a lower inertial cavity for mounting the inertial measurement unit (10). The inertial measurement unit (10) comprises a six-axis fiber optic gyroscope (1), a six-axis accelerometer (2), an inertial combination bracket (5), a plurality of gyro light sources (6) and a light source bracket (7). The six-axis fiber optic gyroscope (1) is arranged on the six side wall outer surfaces of the inertial combination bracket (5), the six-axis accelerometer (2) is arranged on the six side wall inner surfaces of the inertial combination bracket (5), the plurality of gyro light sources (6) are arranged on the upper part of the inertial combination bracket (5) through the light source bracket (7), and the circuit assembly (11) comprises a functional circuit and a circuit bracket (12) for arranging the functional circuit. The functional circuit is of dual redundant design and comprises two independent DC power supply circuits (14) and two independent navigation computer circuits (16).

2. The device according to claim 1, characterized in that The inertial measurement unit (10) is mounted in the housing (9) via the IMU damper (8).

3. The device according to claim 2, characterized in that The six-axis fiber optic gyroscope (1) and the six-axis accelerometer (2) are in a predetermined angle relationship with the system inertial coordinate system (4), rather than being parallel or orthogonal.

4. The device according to claim 3, characterized in that The inertial combined bracket (5) is in the form of a regular hexagonal pyramid, and three faces of the six faces that are separated by one face are orthogonal to each other.

5. The device according to claim 4, characterized in that Each pair of gyros with the same orientation is parallel to the sensitive direction of the accelerometer.

6. The device according to claim 5, characterized in that The circuit assembly (11) also includes a power supply heat sink (13) and a computer heat sink (17).

7. The device according to claim 6, characterized in that The circuit assembly (11) is installed in the housing (9) via a circuit assembly damper (15).

Images