Unmanned aerial vehicle inertial measurement unit zero position adjusting device and method

Abstract

The invention provides an unmanned aerial vehicle inertial measurement unit zero position adjusting device which comprises a workbench, a base, a first lead screw nut mechanism assembly, a first connecting rod, a second lead screw nut mechanism assembly and a second connecting rod, a cylinder is arranged in the middle of the base, and the center of the bottom face of the workbench is hinged to the cylinder; the first lead screw nut mechanism assembly and the second lead screw nut mechanism assembly are perpendicularly installed on the base, the lower surface of the workbench is provided with a first shaft and a second shaft which are rotationally connected with the workbench, the upper end of the first connecting rod is hinged to the first shaft, and the lower end of the first connecting rod is hinged to one end of the first lead screw nut mechanism assembly. The upper end of the second connecting rod is hinged with the second shaft; the invention further provides a zero position adjusting method. According to the zero adjustment device and method, horizontal zero adjustment of the inertial measurement unit of the unmanned aerial vehicle is easy to operate, reversing in the pitching direction and the yawing direction is accurate and rapid, the adjusted zero of the inertial measurement unit is high in precision and safety, meanwhile, time and labor are saved, and the test efficiency can be remarkably improved.

Description

Technical Field

[0001] The invention belongs to the technical field of inertial system testing, and in particular relates to an unmanned aerial vehicle inertial group zero position adjustment device and method. Background Art

[0002] When an aircraft in the air loses effective contact with all external equipment, it must use the autonomous equipment on the aircraft, namely the inertial navigation system, for navigation. The inertial navigation system is usually composed of components such as gyroscopes and accelerometers, and an important factor that determines the accuracy of the inertial navigation system is its core component: the accuracy of the zero position of the inertial sensor. The inertial group test system is an important device for testing and calibrating inertial sensors and the inertial systems composed of them. The testing and calibration of inertial components has the following important significance: 1. Quantitatively obtain various error factors existing in the inertial components and systems, and after data processing and analysis. And compared with the determined error mathematical model, obtain the characterization of various error coefficients and various performance data, and evaluate the inertial system; 2. Based on the error mathematical model that has been obtained, propose a method to compensate the inertial system to improve the accuracy.

[0003] At present, the pitch and yaw zero position adjustment in the IMU zero position test requires the IMU to be propped up and the horizontal zero position of the pitch and yaw directions to be adjusted by padding paper at the bottom, which requires manual repeated adjustment during the test. In addition, the large number and variety of test pieces, the difficulty of parts clamping, and other problems make the measurement time-consuming and labor-intensive, and the test accuracy error is large. Summary of the invention

[0004] The purpose of the present invention is to solve the problem that the manual paper pad adjustment method used in the prior art inertial group zero position test causes the test to be time-consuming and labor-intensive, and has large precision errors, and to provide an unmanned aerial vehicle inertial group zero position adjustment device and method.

[0005] To achieve the above purpose, the technical solution provided by the present invention is:

[0006] Provided is a device for adjusting the inertial group of an unmanned aerial vehicle, comprising: a workbench, a base, a first lead screw and nut mechanism assembly, a first connecting rod, a second lead screw and nut mechanism assembly, a second connecting rod and a control system; the workbench has a first vertical center plane S1 and a second vertical center plane S2, and the first vertical center plane S1 and the second vertical center plane S2 are perpendicular to each other and both perpendicular to the workbench; a mounting interface is provided on the workbench for fixedly mounting the inertial group of the unmanned aerial vehicle; a cylinder is provided in the middle of the base, and the center of the bottom surface of the workbench is hinged to the cylinder through a cross-axis rotary hinge, and the two axes of the cross-axis rotary hinge are respectively located in the first vertical center plane S1 and the second vertical center plane S2; the first lead screw and nut mechanism assembly is installed on the base, and comprises a first motor, a first reducer, a first lead screw, a first nut and a first guide base, the first reduction motor and the first guide base are both fixedly connected to the base, and the first guide base is used to guide the first nut to move in the first vertical center plane S1 in a direction parallel to the workbench; the workbench The lower surface of the table has two first vertical plates parallel to the second vertical plane S2, and the two first vertical plates are hinged with a first axis parallel to the workbench; the upper end of the first connecting rod is hinged to the first axis, and the lower end is hinged to the first nut; the second screw and nut mechanism assembly is installed on the base, including a second motor, a second reducer, a second screw, a second nut and a second guide base, the second reduction motor and the second guide base are fixedly connected to the base, and the second guide base is used to guide the second nut to move in the second vertical center plane S2 along a direction parallel to the workbench; the lower surface of the workbench has two second vertical plates parallel to the first vertical plane S1, and the two second vertical plates are hinged with a second axis parallel to the workbench; the first axis and the second axis are not on the same horizontal line; the upper end of the second connecting rod is hinged to the second axis, and the lower end is hinged to the second nut; the control system is electrically connected to the first motor, the first reducer, the second motor, and the second reducer, and is used to control the operation of the first screw and nut mechanism assembly and the second screw and nut mechanism assembly.

[0007] Furthermore, it also includes a vibration isolation platform, which includes a fixing seat and a damper, the damper is installed on the fixing seat, and the base is installed on the damper.

[0008] Furthermore, the two first vertical plates are located on the same side of the cylinder, or the two first vertical plates are located on both sides of the cylinder; the two second vertical plates are located on the same side of the cylinder, or the two second vertical plates are located on both sides of the cylinder.

[0009] Furthermore, an inclination sensor is provided on the bottom surface of the workbench, a first terminal encoder for monitoring the rotation angle of the first axis is provided on the workbench, and a second terminal encoder for monitoring the rotation angle of the second axis is provided on the workbench; the inclination sensor, the first terminal encoder and the second terminal encoder are electrically connected to the control system respectively.

[0010] Furthermore, the first motor and the second motor are both equipped with encoder and brake functions.

[0011] A method for adjusting the zero position of an unmanned aerial vehicle inertial group is also provided, which is applied to an adjustment device and comprises the following steps:

[0012] Step 1: Install the UAV inertial unit on the workbench;

[0013] Step 2: Control the first motor in the first screw nut mechanism assembly to operate, drive the first connecting rod to swing, and rotate the workbench around the rotation axis of the cross-axis rotation hinge perpendicular to the first vertical plane S1 to a horizontal zero position;

[0014] Step 3: Control the second motor in the second lead screw nut mechanism assembly to operate, drive the second connecting rod to swing, and rotate the workbench around the rotation axis of the cross-axis rotation hinge perpendicular to the second vertical plane S2 to a horizontal zero position;

[0015] Step 4: Connect the UAV IMU to the tester and perform a zero position test.

[0016] Furthermore, the workbench rotates around the rotation axis of the cross-axis rotary hinge perpendicular to the first vertical plane S1 within an angular range of -15° to +15°; the workbench rotates around the rotation axis of the cross-axis rotary hinge perpendicular to the second vertical plane S2 within an angular range of -15° to +15°.

[0017] Furthermore, the encoder in the first motor is used to feedback the rotation angle of the first lead screw; the encoder in the second motor is used to feedback the rotation angle of the second lead screw.

[0018] Furthermore, a terminal encoder is provided on the bottom surface of the workbench to obtain the actual angle value of the workbench, and an inclination sensor is provided on the bottom surface of the workbench to measure the final angle of the workbench and calibrate the horizontal zero position; the motor encoder, the terminal encoder and the inclination sensor form a closed-loop control loop, and the rotation speed and rotation angle of the first motor and the second motor are adjusted according to the deviation between the actual angle value of the workbench and the set horizontal zero position, so that the workbench is automatically zeroed.

[0019] The advantages of the present invention are:

[0020] The zero position adjustment device designed by the present invention is stable and highly versatile. It is easy to operate when adjusting the horizontal zero position of the inertial group of the unmanned aerial vehicle. It is accurate and fast in pitch and yaw direction switching. The adjusted zero position of the inertial group is highly accurate and safe. It saves time and effort and can significantly improve the test efficiency. It solves the problem that when obtaining the zero position of the inertial group in the conventional test, the horizontal zero position of the pitch and yaw directions of the inertial group of the unmanned aerial vehicle is not at the horizontal zero point, and manual repeated adjustment is required, which is time-consuming and labor-intensive, and has a large test accuracy error. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The features and advantages of the present invention will become more readily understood through the following description with reference to the accompanying drawings, which are not drawn to scale and in which some features are exaggerated or minimized to show details of particular components:

[0022] Figure 1 is a schematic structural diagram of an adjustment device in an embodiment of the present invention;

[0023] Figure 2 is a schematic diagram of the positional relationship between the workbench and the base in an embodiment of the present invention;

[0024] Figure 3 2 is a schematic diagram of the structure of the adjustment device for zeroing along the X-axis direction in an embodiment of the present invention;

[0025] Figure 4 2 is a schematic diagram of the structure of the adjustment device for zeroing along the Y-axis direction in an embodiment of the present invention;

[0026] Figure 5 It is a cross-sectional view of the adjustment device half-sectioned at the first connecting rod and the second connecting rod in an embodiment of the present invention.

[0027] In the figure: 100-base; 110-cylinder; 120-cross-axis rotary hinge; 200-vibration isolation platform; 210-fixed seat; 220-damper; 300-workbench; 400-first screw-nut mechanism assembly; 410-first motor; 420-first reducer; 430-first screw; 440-first nut; 450-first guide base; 500-first connecting rod; 510-first vertical plate; 520-first shaft; 600-second screw-nut mechanism assembly; 610-second motor; 620-second reducer; 630-second screw; 640-second nut; 650-second guide base; 700-second connecting rod; 710-second vertical plate; 720-second shaft; 800-tilt sensor; 900-second terminal encoder; 1000-first terminal encoder. DETAILED DESCRIPTION

[0028] The present invention will be described in detail below with reference to the accompanying drawings by means of exemplary embodiments of the present invention. It should be noted that the following detailed description of the present invention is only for the purpose of illustration, and is not intended to limit the present invention.

[0029] An unmanned aerial vehicle inertial group zero position adjustment device, such as Figure 1 , 2 As shown, a horizontal structure is adopted, including a workbench 300, a base 100, a vibration isolation platform 200, a first screw nut mechanism assembly 400, a first connecting rod 500, a second screw nut mechanism assembly 600, a second connecting rod 700 and a control system.

[0030] The workbench has a first vertical center plane S1 and a second vertical center plane S2 , and the first vertical center plane S1 and the second vertical center plane S2 are perpendicular to each other and are both perpendicular to the workbench.

[0031] like Figure 1 As shown, a mounting interface is provided on the workbench 300 for fixing the inertial group of the unmanned aerial vehicle under test; this interface is designed as a T-slot and the screw can be moved to adjust the position as needed to achieve a universal purpose. The mounting interface is used to fix the mounting bracket and carry the inertial group of the unmanned aerial vehicle under test. The main part of the workbench 300 is made of high-strength aluminum alloy through precision processing, which ensures the strength while reducing the weight of the workbench 300.

[0032] like Figure 3 , 4 As shown in FIG. 5 , a cylinder 110 is provided in the middle of the base 100, and the center of the bottom surface of the workbench 300 is hinged to the cylinder 110 through a cross-axis rotary hinge 120, and the two axes of the cross-axis rotary hinge 120 are respectively located in a vertical center plane S1 and a second vertical center plane S2.

[0033] In another embodiment, the cross-axis rotating hinge 120 can optionally use a universal joint, one end of which is fixedly connected to the ground center of the workbench 300, and the other end is fixedly connected to the upper end of the cylinder 110; it can also be a hemispherical body with an upper end connected to the bottom surface of the workbench 300, which is inserted into a circular groove provided at the upper end of the cylinder 110, and the hemispherical body matches the circular groove in size, and the hemispherical body can rotate in the circular groove; so that the workbench 300 can rotate in the direction perpendicular to the first vertical plane S1 (X-axis direction) and the direction of the second vertical plane S2 (Y-axis direction), thereby adjusting the horizontal zero position of the workbench 300.

[0034] like Figure 3 , 4 As shown, the vibration isolation platform 200 includes a fixing base 210 and a damper 220 . The damper 220 is installed on the fixing base 210 , and the base 100 is installed on the damper 220 .

[0035] like Figure 3 , 5 As shown, the first screw 430 nut mechanism assembly 400 is installed on the base 100, including a first motor 410, a first reducer 420, a first screw 430, a first nut 440 and a first guide base 450. The first reduction motor and the first guide base 450 are both fixedly connected to the base 100. The first guide base 450 is used to guide the first nut 440 to move along the first guide groove in the first vertical center plane S1 in a direction parallel to the workbench.

[0036] like Figure 3As shown, the lower surface of the workbench has two first vertical plates 510 parallel to the second vertical plane S2, and a first shaft 520 parallel to the workbench is hinged on the two first vertical plates 510. The upper end of the first connecting rod 500 is hinged to the first shaft 520, and the lower end is hinged to the first nut 440. Driven by the first nut 440, the first connecting rod 500 can swing around the connecting shaft at the hinge with the first nut 440.

[0037] like Figure 4 , 5 As shown, the second lead screw 630 nut mechanism assembly 600 is installed on the base 100, including a second motor 610, a second reducer 620, a second lead screw 630, a second nut 640 and a second guide base 650. The second reduction motor and the second guide base 650 are both fixedly connected to the base 100, and the second guide base 650 is used to guide the second nut 640 to move in the second vertical center plane S2 in a direction parallel to the workbench;

[0038] like Figure 4 As shown, the lower surface of the workbench has two second vertical plates 710 parallel to the first vertical plane S1, and the two second vertical plates 710 are hinged with a second axis 720 parallel to the workbench; the first axis 520 and the second axis 720 are not on the same horizontal line; the two first vertical plates 510 can be located on the same side of the cylinder 110, or on both sides of the cylinder 110 respectively; the two second vertical plates 710 can be located on the same side of the cylinder 110, or on both sides of the cylinder 110 respectively; avoid interference between the first axis 520 and the second axis 720. The two first vertical plates 510 are on both sides of the cylinder 110 in the direction of the first axis 520, and the two second vertical plates 710 are on one side of the cylinder 110 in the direction of the second axis 720, that is, as shown in FIG. Figure 4 In the case shown, in addition to the above case, the first axis 520 and the second axis 720 can be located on two horizontal planes, and in this case, the first axis 520 and the second axis 720 will not interfere with each other.

[0039] like Figure 4 , 5 As shown, the upper end of the second connecting rod 700 is hinged to the Y axis, and the lower end is hinged to the second nut 640. Driven by the second nut 640, the second connecting rod 700 can swing around the connecting axis at the hinged position with the second nut 640.

[0040] The control system is electrically connected to the first motor 410 , the first reducer 420 , the second motor 610 , and the second reducer 620 , and is used to control the operation of the first lead screw 430 nut mechanism assembly 400 and the second lead screw 630 nut mechanism assembly 600 .

[0041] The first motor 410 and the second motor 610 selected in this embodiment both have encoders and brake functions, and the encoders can provide feedback on the rotation angles of the first lead screw 430 and the second lead screw 630 .

[0042] In this embodiment, the first lead screw 430 nut mechanism assembly 400 and the second lead screw 630 nut mechanism assembly 600 arranged in two directions are driven in the same manner, that is, the first lead screw 430 nut mechanism assembly 400 and the second lead screw 630 nut mechanism assembly 600 respectively output linear motion in corresponding directions, thereby driving the first connecting rod 500 and the second connecting rod 700 to move, so that the workbench 300 can achieve overall pitch motion in the two directions of X axis (pitch) and Y axis (yaw). The first connecting rod 500, the second connecting rod 700 and the cross-axis rotating hinge 120 are all supported and rotated by high-precision bearings to improve transmission accuracy; the first lead screw 430 and the second lead screw 630 are selected as high-precision ball screws, and appropriate pre-pressure is selected to ensure that the accuracy of the first lead screw 430 and the second lead screw 630 meets the use requirements; the transmission structure adopts a simple structure to achieve a higher transmission ratio, thereby improving the sensitivity of fine adjustment.

[0043] like Figure 1 As shown, an inclination sensor 800 is provided on the bottom surface of the workbench 300, and a first terminal encoder 1000 for monitoring the first axis 520 is provided on the workbench 300; a first terminal encoder 1000 for monitoring the second axis 720 is provided on the workbench 300; the inclination sensor 800, the first terminal encoder 1000 and the second terminal encoder 900 are electrically connected to the control system respectively.

[0044] The control system is specifically a control cabinet, which is a collection of turntable performance detection, operation control, and safety protection rotating electronic equipment. It mainly includes a main control computer, a servo control circuit, a logic protection circuit, an input and output interface, control buttons, and indicator lights. By obtaining the output data of the encoders of the first motor 410 and the second motor 610, the inclination sensor 800, the first terminal encoder 1000, and the second terminal encoder 900, the main control computer can control the precise operation of the first motor 410 and the second motor 610.

[0045] This embodiment also provides a device and method for adjusting the zero position of an unmanned aerial vehicle inertial group. The method for adjusting the zero position of an unmanned aerial vehicle inertial group using the adjustment device includes the following steps:

[0046] Step 1: Install the UAV inertial unit onto the workbench 300;

[0047] Step 2: Control the first motor 410 in the first lead screw 430 nut mechanism assembly 400 to operate, drive the first connecting rod 500 to swing, and rotate the workbench 300 around the rotation axis of the cross-axis rotary hinge 120 perpendicular to the first vertical plane S1 to a horizontal zero position;

[0048] Step 3: Control the second motor 610 in the second lead screw 630 nut mechanism assembly 600 to operate, drive the second connecting rod 700 to swing, and rotate the workbench 300 around the rotation axis of the cross-axis rotary hinge 120 perpendicular to the second vertical plane S2 to a horizontal zero position;

[0049] Step 4: Connect the UAV IMU to the tester and perform a zero position test.

[0050] The horizontal zero position adjustment process of the workbench 300 in the X-axis direction is as follows: Figure 3 When the first motor 410 rotates forward, it drives the first lead screw 430 connected thereto to rotate. The first nut 440 can move horizontally to the right along the first guide base 450 by threading with the first lead screw 430, and push the lower end of the first connecting rod 500, so that the lower end of the first connecting rod 500 swings around the connecting axis at the hinge with the first nut 440, and the upper end of the first connecting rod 500 swings obliquely downward, so that the cross-axis rotary hinge 120 rotatably connected thereto swings around the supporting axis, and the right end of the cross-axis rotary hinge 120 swings obliquely to the right and downward, and the workbench 300 rotates around the cross-axis rotary hinge 120 on the cylinder 110, thereby adjusting the horizontal position of the workbench 300. The workbench 300 rotates around the rotation axis of the cross-axis rotary hinge 120 perpendicular to the first vertical plane S1 within an angle range of -15° to +15°. By changing the forward and reverse rotation of the first motor 410 and driving the rotation angle of the first lead screw 430, the horizontal zero position of the workbench 300 in the X-axis direction is adjusted. The horizontal zero position adjustment of the workbench 300 in the Y-axis direction is the same as the above principle. The workbench 300 rotates around the rotation axis of the cross-axis rotary hinge 120 perpendicular to the second vertical plane S2 within an angle range of -15° to +15°.

[0051] Among them, the encoder in the first motor 410 is used to feedback the rotation angle of the first lead screw 430. Based on the rotation angle, the moving distance of the first nut 440 can be obtained, and the swing angle of the first connecting rod 500 can be obtained through geometric analysis, that is, the rotation angle of the workbench 300 in the first vertical plane S1 can be obtained; the encoder in the second motor 610 is used to feedback the rotation angle of the second lead screw 630. Based on the rotation angle, the rotation angle of the workbench 300 in the second vertical plane S2 can be obtained through geometric analysis. The high-precision first terminal encoder 1000 and the second terminal encoder 900 provided on the bottom surface of the workbench 300 obtain the actual angle value of the workbench 300, and the inclination sensor 800 provided on the bottom surface of the workbench 300 is used to measure the final angle of the workbench 300 and calibrate the horizontal zero position.

[0052] The encoder of the first motor 410 and the encoder of the second motor 610, the first terminal encoder 1000, the second terminal encoder 900 and the inclination sensor 800 form a closed-loop control circuit. Through the deviation between the actual angle value of the workbench 300 and the set horizontal zero position, the rotation speed and rotation angle of the first motor 410 and the second motor 610 are adjusted to automatically adjust the workbench 300 to zero, accurately ensuring the rotation accuracy of the workbench 300 and realizing the adjustment of the horizontal angle with an adjustment accuracy of up to 0.001°.

[0053] The adjustment device of this embodiment has a reasonable design structure and can completely solve the problems existing in conventional testing. The adjustment device has the advantages of stable tooling platform, simple operation, fast reversing, high positioning accuracy, high operational safety, time saving and labor saving, and can significantly improve the testing efficiency.

[0054] Finally, it should be noted that the features mentioned and / or shown in the above description of the exemplary embodiments of the present invention may be combined in the same or similar manner into one or more other embodiments, combined with the features in other embodiments or substituted for the corresponding features in other implementations. The technical solutions obtained by these combinations or substitutions shall also be deemed to be included in the protection scope of the present invention.

Claims

1. An unmanned aerial vehicle inertial group zero position adjustment device, characterized in that: include: A workbench, having a first vertical center plane S1 and a second vertical center plane S2, wherein the first vertical center plane S1 and the second vertical center plane S2 are perpendicular to each other and are both perpendicular to the workbench; The workbench is provided with an installation interface for fixing and installing the unmanned aerial vehicle inertial group; A base, with a cylinder in the middle, the center of the bottom surface of the workbench is hinged to the cylinder through a cross-axis rotary hinge, and the two axes of the cross-axis rotary hinge are respectively located in the first vertical center plane S1 and the second vertical center plane S2; A first screw and nut mechanism assembly is installed on the base, comprising a first motor, a first reducer, a first screw, a first nut and a first guide base, wherein the first reduction motor and the first guide base are both fixedly connected to the base, and the first guide base is used to guide the first nut to move in the first vertical center plane S1 in a direction parallel to the workbench; The lower surface of the workbench has two first vertical plates parallel to the second vertical plane S2, and the two first vertical plates are hinged with a first axis parallel to the workbench; a first connecting rod, an upper end of which is hinged to the first shaft, and a lower end of which is hinged to the first nut; A second lead screw and nut mechanism assembly is mounted on the base, comprising a second motor, a second reducer, a second lead screw, a second nut and a second guide base, wherein the second reduction motor and the second guide base are both fixedly connected to the base, and the second guide base is used to guide the second nut to move in the second vertical center plane S2 in a direction parallel to the workbench; The lower surface of the workbench has two second vertical plates parallel to the first vertical plane S1, and the two second vertical plates are hinged with a second axis parallel to the workbench; the first axis and the second axis are not on the same horizontal line; a second connecting rod, an upper end of which is hinged to the second shaft, and a lower end of which is hinged to the second nut; A control system is electrically connected to the first motor, the first reducer, the second motor, and the second reducer, and is used to control the operation of the first screw-nut mechanism assembly and the second screw-nut mechanism assembly.

2. The unmanned aerial vehicle inertial group zero position adjustment device according to claim 1, characterized in that: It also includes a vibration isolation platform, which includes a fixing seat and a damper. The damper is installed on the fixing seat, and the base is installed on the damper.

3. The unmanned aerial vehicle inertial group zero position adjustment device according to claim 1, characterized in that: The two first vertical plates are located on the same side of the cylinder, or the two first vertical plates are located on two sides of the cylinder respectively; The two second vertical plates are located on the same side of the cylinder, or the two second vertical plates are located on two sides of the cylinder respectively.

4. The unmanned aerial vehicle inertial group zero position adjustment device according to claim 1, characterized in that: The bottom surface of the workbench is provided with an inclination sensor, the workbench is provided with a first terminal encoder for monitoring the rotation angle of the first shaft, and the workbench is provided with a second terminal encoder for monitoring the rotation angle of the second shaft; The inclination sensor, the first terminal encoder and the second terminal encoder are electrically connected to the control system respectively.

5. The unmanned aerial vehicle inertial group zero position adjustment device according to claim 1, characterized in that: The first motor and the second motor are both provided with encoder and brake functions.

6. A method for adjusting the zero position of an unmanned aerial vehicle inertial group, characterized in that: The adjustment device according to claims 1 to 5 comprises the following steps: Step 1: Install the UAV inertial unit onto the workbench; Step 2: Control the first motor in the first screw nut mechanism assembly to operate, drive the first connecting rod to swing, and rotate the workbench around the rotation axis of the cross-axis rotation hinge perpendicular to the first vertical plane S1 to a horizontal zero position; Step 3: Control the second motor in the second screw nut mechanism assembly to operate, drive the second connecting rod to swing, and rotate the workbench around the rotation axis of the cross-axis rotation hinge perpendicular to the second vertical plane S2 to a horizontal zero position; Step 4: Connect the UAV IMU to the tester and perform a zero position test.

7. The method for adjusting the zero position of an unmanned aerial vehicle inertial group according to claim 6, characterized in that: The workbench rotates around the rotation axis of the cross-axis rotation hinge perpendicular to the first vertical plane S1 within an angle range of -15° to +15°; The workbench rotates around the rotation axis of the cross-axis rotation hinge perpendicular to the second vertical plane S2 within an angle range of -15° to +15°.

8. The method for adjusting the zero position of an unmanned aerial vehicle inertial group according to claim 6, characterized in that: The encoder in the first motor is used to feedback the rotation angle of the first lead screw; The encoder in the second motor is used to feed back the rotation angle of the second lead screw.

9. The method for adjusting the zero position of an unmanned aerial vehicle inertial group according to claim 8, characterized in that: The terminal encoder provided on the bottom surface of the workbench obtains the actual angle value of the workbench, and the inclination sensor provided on the bottom surface of the workbench is used to measure the final angle of the workbench and calibrate the horizontal zero position; The encoder of the motor, the terminal encoder and the inclination sensor form a closed-loop control circuit, and the rotation speed and rotation angle of the first motor and the majority of second motors are adjusted through the deviation between the actual angle value of the workbench and the set horizontal zero position, so that the workbench is automatically zeroed.

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