Inertial measurement unit calibration device and calibration method

Abstract

The invention provides an inertial measurement unit calibration device and method, a hexahedron square frame in the device comprises an XYZ three-axis slide rail unit, the XYZ three-axis slide rail unit comprises an X-axis track groove, a Y-axis track groove and a Z-axis track groove, each axis track groove comprises a plurality of groups of track grooves, each group of track grooves is provided with a mounting plate assembly, and each group of track grooves is provided with a mounting plate; the mounting plate assembly can slide back and forth on the track groove in the direction of the corresponding shaft; each group of track grooves of the X-axis track grooves comprises a first track groove arranged on the xoz surface and a small track groove which is arranged on the first frame and corresponds to the position of the first track groove, and the first frame is arranged opposite to the xoz surface; each group of track grooves of the Y-axis track grooves comprises a second track groove formed in the xoy surface and a small track groove which is formed in a second frame and corresponds to the position of the second track groove, and the second frame is arranged opposite to the xoy surface; each group of track grooves of the Z-axis track grooves comprises a third track groove formed in the zoy surface and a small track groove which is formed in a third frame and corresponds to the third track groove in position, and the third frame is arranged opposite to the zoy surface; the internal space of the square box is fully utilized, the space utilization rate is increased, the one-time calibration number is increased, multiple sets of products can be rapidly assembled and disassembled at a time in the X-axis direction, the Y-axis direction and the Z-axis direction, and the product assembling precision is improved through pin hole matching.

Description

Technical Field

[0001] The present invention belongs to the technical field of inertial measurement unit calibration, and in particular relates to an inertial measurement unit calibration device and a calibration method. Background Art

[0002] Inertial measurement units are widely used in control systems such as drones, unmanned vehicles, missiles, and submarines. Inertial components such as gyroscopes and accelerometers are important components of inertial measurement units. Inertial components (gyroscopes, accelerometers) have fixed error sources during processing, manufacturing, and assembly. Accurate calibration of the inertial measurement unit is required to improve its measurement accuracy.

[0003] The existing calibration tooling based on the dual-axis turntable is a hexahedral square box structure, with the bottom surface installed on the turntable, and the remaining five surfaces are used to realize the installation of the three axial directions of the inertial measurement unit. The installation and disassembly are cumbersome, the space utilization rate in the square box is low, the number of inertial measurement units calibrated at one time is small, and the efficiency is low. Summary of the invention

[0004] In order to solve the technical problems in the prior art of realizing the installation of an inertial measurement unit in three axes, cumbersome installation and disassembly, low space utilization in a square box, a small number of inertial measurement units calibrated at one time, and low efficiency, the present invention provides an inertial measurement unit calibration device and a calibration method, which can realize the rapid assembly and disassembly function in three directions.

[0005] In a first aspect, an embodiment of the present invention provides an inertial measurement unit calibration device, comprising: a hexahedral frame (1), a mounting plate assembly (19);

[0006] The hexahedral frame (1) includes an XYZ three-axis slide rail unit, the XYZ three-axis slide rail unit includes an X-axis track groove, a Y-axis track groove and a Z-axis track groove, each axis track groove includes a plurality of groups of track grooves, each group of track grooves is used to place a mounting plate assembly (19), and the mounting plate assembly (19) can slide forward and backward on the track groove along the corresponding axis direction;

[0007] Each group of track grooves of the X-axis track grooves comprises a first track groove (8-1) arranged on the xoz surface (7), and a small track groove (8-2) arranged on a first frame (26) corresponding to the position of the first track groove (8-1), and the first frame (26) is arranged opposite to the xoz surface (7);

[0008] Each group of track grooves of the Y-axis track grooves comprises a second track groove (3-1) arranged on the xoy surface (27), and a small track groove (3-2) arranged on the second frame (30) corresponding to the position of the second track groove (3-1), and the second frame (30) is arranged opposite to the xoy surface (27);

[0009] Each group of Z-axis track grooves comprises a third track groove (13-1) arranged on the zoy surface (2), and a small track groove (13-2) arranged on a third frame (28) corresponding to the position of the third track groove (13-1), and the third frame (28) is arranged opposite to the zoy surface.

[0010] The hexahedral frame (1) can satisfy the requirements of four mounting plate assemblies (19) sliding along the track groove in the X, Y and Z directions in a push-pull manner, and high-precision positioning of the hexahedral frame (1) and the mounting plate assembly (19) can be achieved through positioning with hole pins on both sides;

[0011] Wherein, the mounting plate assembly (19) comprises a mounting plate (31),

[0012] After the mounting plate assembly (19) slides into place, the front end rhombus pin (21) and the front end cylindrical pin (20) are inserted into the hexahedral frame (1), and the rear end rhombus pin (23) and the rear end cylindrical pin (22) are inserted into the hexahedral frame (1).

[0013] Wherein, a hexagon socket head captive screw (24) is arranged below the rear end diamond pin (23) and the rear end cylindrical pin (22) for fixing the mounting plate (31) on the hexahedral frame (1).

[0014] The parallelism between the plane formed by the center lines of the front rhombus pin (21) and the front cylindrical pin (20) and the plane formed by the center lines of the rear rhombus pin (23) and the rear cylindrical pin (22) is less than 0.01 mm, which facilitates the positioning of the mounting plate assembly (19) and the hexahedral frame (1).

[0015] Wherein, two first positioning holes are arranged at the front end of each group of track grooves of each axis track groove, and two second positioning holes and two mounting holes are arranged at the rear end, and the first positioning holes, the second positioning holes and the mounting holes are all located on the hexahedral frame (1).

[0016] The two first positioning holes are respectively matched with the front rhombus pin (21) and the front cylindrical pin (20) for positioning, the two second positioning holes are respectively matched with the rear rhombus pin (23) and the rear cylindrical pin (22) for positioning, and the two mounting holes are matched with the hexagon socket head non-slip screws (24) for connection;

[0017] For each axis track groove, the parallelism between the plane formed by the center lines of the two second positioning holes provided at the rear end and the plane formed by the center lines of the two first positioning holes provided at the front end is less than 0.01 mm;

[0018] For the X-axis track groove, the parallelism between the plane formed by the center lines of the two first positioning holes of each group and the xoy surface is 0.01 mm, and the parallelism between the plane formed by the center lines of the two second positioning holes of each group and the xoy surface is 0.01 mm;

[0019] For the Y-axis and Z-axis track grooves, the perpendicularity between the plane formed by the center lines of the two first positioning holes in each group and the xoy surface is 0.01 mm, and the perpendicularity between the plane formed by the center lines of the two second positioning holes in each group and the xoy surface is 0.01 mm;

[0020] For the Y-axis track groove, the perpendicularity between the plane formed by the center lines of the two first positioning points of each group and the plane formed by the center lines of the two first positioning points of each group of the Z-axis track groove is 0.01 mm.

[0021] Furthermore, the mounting plate assembly (19) further comprises a mounting handle (25) located in the middle of the rear end to facilitate operation.

[0022] Furthermore, a plurality of mounting holes for mounting the inertial measurement unit are provided on the bottom surface of the mounting plate assembly (19), and the number of the mounting holes can be appropriately adjusted according to the size of the inertial measurement unit.

[0023] Optionally, the front rhombus pin (21), the front cylindrical pin (20), the rear rhombus pin (23), and the rear cylindrical pin (22) are all fixed to the hexahedral frame (1) via a locking nut 26.

[0024] In a second aspect, a calibration method for the inertial measurement unit calibration device according to the first aspect is provided, comprising:

[0025] When calibration is required, an inertial measurement unit (29) is installed at the bottom of a mounting plate (31) of a mounting plate assembly (19);

[0026] The mounting plate assembly (19) is placed in the X-axis track groove, and the mounting plate assembly (19) is slid forward on the track groove along the X-axis direction. After being tightened, the turntable is started according to the calibration process, and the installation deflection angle and scale coefficient of the gyroscope and accelerometer in the inertial measurement unit (29) are obtained through the test equipment; the dual-axis turntable rotates at a high speed around the Z axis, and the other axis is locked, and the angular velocity of the Z-axis gyroscope in the inertial measurement unit (29) is tested;

[0027] The mounting plate assembly (19) is placed in the Y-axis track groove, and the mounting plate assembly (19) is slid forward on the track groove along the Y-axis direction. After being tightened, the dual-axis turntable rotates at a high speed around the Z-axis, and the other axis is locked, so as to test the angular velocity of the Y-axis gyroscope in the inertial measurement unit (29);

[0028] The mounting plate assembly (19) is placed in the Z-axis track groove, and the mounting plate assembly (19) is slid forward on the track groove along the Z-axis direction. After being tightened, the dual-axis turntable rotates at a high speed around the Z-axis, and the other axis is locked to test the angular velocity of the X-axis gyroscope in the inertial measurement unit (29).

[0029] The beneficial effects of the present invention are at least:

[0030] The present invention makes full use of the inner space of the square box, improves space utilization, increases the number of one-time calibrations, can realize rapid installation and disassembly of multiple sets of products (inertial measurement units) at a time, and improves the assembly accuracy of the products through pin-hole matching. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A three-dimensional appearance diagram of an inertial measurement unit calibration device of the present invention;

[0032] Figure 2 This is a schematic structural diagram of a mounting plate assembly of an inertial measurement unit calibration device of the present invention;

[0033] Figure 3 A schematic diagram of a hexahedral frame structure of an inertial measurement unit calibration device of the present invention;

[0034] Figure 4 The present invention is a schematic diagram of a mounting plate assembly and an inertial measurement unit of an inertial measurement unit calibration device. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the present invention more clear, the embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other arbitrarily without conflict.

[0036] The device is based on a dual-axis turntable and can realize rapid installation and calibration in three axes. It is easy and fast to install with high assembly precision. It makes full use of the internal space of the square box, and can calibrate a large number of items at one time with high efficiency.

[0037] The present invention can reasonably utilize the structural space on the dual-axis turntable, realize the installation of multi-layer products inside the cavity, design a push-pull installation method, improve the assembly and disassembly efficiency during the product calibration process, and effectively ensure the consistency of installation. An embodiment of the present invention provides an inertial measurement unit calibration device, see Figure 1 , which is an example of installing a four-layer product, the inertial measurement unit calibration device includes: a hexahedral frame 1, a mounting plate assembly 19;

[0038] Wherein, the hexahedral frame 1 includes an XYZ three-axis slide rail unit;

[0039] The XYZ three-axis slide rail unit includes an X-axis track groove, a Y-axis track groove and a Z-axis track groove. Each axis track groove includes multiple groups of track grooves. Each group of track grooves is used to place a mounting plate assembly 19. The mounting plate assembly 19 can slide back and forth on the track groove along the corresponding axis direction. Figure 2 ;

[0040] Each group of track grooves of the X-axis track grooves includes a first track groove 8-1 arranged on the xoz surface 7 (composed of the x-axis and the z-axis), and a small track groove 8-2 arranged on the first frame 26 corresponding to the position of the first track groove 8-1, and the first frame 26 is arranged opposite to the xoz surface 7;

[0041] Each group of track grooves of the Y-axis track grooves includes a second track groove 3-1 arranged on the xoy surface 27 (composed of the x-axis and the y-axis), and a small track groove 3-2 arranged on the second frame 30 corresponding to the position of the second track groove 3-1, and the second frame 30 is arranged opposite to the xoy surface 27;

[0042] Each group of Z-axis track grooves includes a third track groove 13-1 arranged on the zoy surface 2 (composed of the y-axis and the z-axis), and a small track groove 13-2 arranged on the third frame 28 corresponding to the position of the third track groove 13-1, and the third frame 28 is arranged opposite to the zoy surface 2.

[0043] In one embodiment, see Figure 3 The mounting plate assembly 19 includes a mounting plate 31,

[0044] After the mounting plate 31 slides into place, the front end rhombus pin 21 and the front end cylindrical pin 20 are inserted into the hexahedron frame, and the rear end rhombus pin 23 and the rear end cylindrical pin 22 are inserted into the hexahedron frame. In this way, it is convenient to position the mounting plate assembly after it is in place.

[0045] Furthermore, a hexagon socket head captive screw 24 is provided below the rear end diamond pin 23 and the rear end cylindrical pin 22 to fix the mounting plate 31 on the hexahedral frame. Figure 2 .

[0046] The parallelism between the plane formed by the center lines of the front rhombus pin 21 and the front cylindrical pin 20 and the plane formed by the center lines of the rear rhombus pin 23 and the rear cylindrical pin 22 is less than 0.01 mm, which facilitates positioning of the mounting plate assembly and the hexahedral frame.

[0047] See also Figure 1 Each group of track grooves of each axis track groove is provided with two first positioning holes at the front end, two second positioning holes and two mounting holes at the rear end, and the first positioning holes, the second positioning holes and the mounting holes are all located on the hexahedral frame 1.

[0048] See also Figure 2 The two first positioning holes are respectively matched with the front end diamond pin 21 and the front end cylindrical pin 20 for positioning, the two second positioning holes are respectively matched with the rear end diamond pin 23 and the rear end cylindrical pin 22 for positioning, and the two mounting holes are matched with the hexagon socket head non-slip screws 24 for connection.

[0049] See also Figure 1For each axis track groove, the parallelism between the plane formed by the center lines of the two second positioning holes provided at the rear end and the plane formed by the center lines of the two first positioning holes provided at the front end is less than 0.01 mm;

[0050] For the X-axis track groove, the parallelism between the plane formed by the center lines of the two first positioning holes of each group and the xoy surface is 0.01mm. The parallelism between the plane formed by the center lines of the two second positioning holes of each group and the xoy surface is 0.01mm;

[0051] For the Y-axis and Z-axis track grooves, the perpendicularity between the plane formed by the center lines of the two first positioning holes in each group and the xoy surface is 0.01 mm. The perpendicularity between the plane formed by the center lines of the two second positioning holes in each group and the xoy surface is 0.01 mm.

[0052] For the Y-axis track groove, the perpendicularity between the plane formed by the center lines of the two first positioning points of each group and the plane formed by the center lines of the two first positioning points of each group of the Z-axis track groove is 0.01 mm.

[0053] In another embodiment, see Figure 2 The mounting plate assembly 19 also includes a mounting handle 25 located in the middle of the rear end, which is convenient for the staff to quickly push and pull the mounting plate.

[0054] For further information, see Figure 2 and Figure 4 The bottom surface of the mounting plate 31 is provided with a plurality of mounting holes for mounting the inertial measurement unit 29. In practical applications, the number of the mounting holes can be appropriately adjusted according to the size of the inertial measurement unit.

[0055] See also Figure 3 The front end diamond pin 21, the front end cylindrical pin 20, the rear end diamond pin 23, and the rear end cylindrical pin 22 are all fixed on the hexahedral frame 1 through a locking nut 26.

[0056] An embodiment of the present invention also provides a method for using an inertial measurement unit calibration device, see Figures 1 to 4 , including the following steps:

[0057] Step 1: When calibration is required, the inertial measurement unit 29 is installed at the bottom of the mounting plate 31 of the mounting plate assembly 19.

[0058] Step 2: Place the mounting plate assembly 19 in the X-axis track groove, and slide the mounting plate assembly 19 forward on the track groove along the X-axis direction. After tightening, start the turntable according to the calibration process, and obtain the installation deflection angle and scale coefficient of the gyroscope and accelerometer in the inertial measurement unit 29 through the test equipment; the dual-axis turntable rotates at a high speed around the Z-axis, and the other axis is locked to test the angular velocity of the Z-axis gyroscope in the inertial measurement unit 29.

[0059] Step 3: Place the mounting plate assembly 19 in the Y-axis track groove, and slide the mounting plate assembly 19 forward on the track groove along the Y-axis direction. After tightening, the dual-axis turntable rotates at a high speed around the Z-axis, and the other axis is locked to test the angular velocity of the Y-axis gyroscope in the inertial measurement unit 29.

[0060] Step 4: Place the mounting plate assembly 19 in the Z-axis track groove, and slide the mounting plate assembly 19 forward on the track groove along the Z-axis direction. After tightening, the dual-axis turntable rotates at a high speed around the Z-axis, and the other axis is locked to test the angular velocity of the X-axis gyroscope in the inertial measurement unit 29.

[0061] Through the embodiments of the present invention, not only can the calibration coefficients of the three-axis gyroscope and the accelerometer, the installation deflection angle and the angular velocity test of the gyroscope be realized, but also the space can be saved, the number of calibrations each time can be increased, the installation and disassembly is convenient, and the reliability is high.

[0062] The above only expresses the implementation methods of the present application, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application. In addition, the parts that are not detailed in this application are all conventional technologies.

Claims

1. An inertial measurement unit calibration device, characterized in that: include: Hexahedral frame (1), mounting plate assembly (19); The hexahedral frame (1) includes an XYZ three-axis slide rail unit, the XYZ three-axis slide rail unit includes an X-axis track groove, a Y-axis track groove and a Z-axis track groove, each axis track groove includes a plurality of groups of track grooves, each group of track grooves is used to place a mounting plate assembly (19), and the mounting plate assembly (19) can slide forward and backward on the track groove along the corresponding axis direction; Each group of track grooves of the X-axis track grooves comprises a first track groove (8-1) arranged on the xoz surface (7), and a small track groove (8-2) arranged on a first frame (26) corresponding to the position of the first track groove (8-1), and the first frame (26) is arranged opposite to the xoz surface (7); Each group of track grooves of the Y-axis track grooves comprises a second track groove (3-1) arranged on the xoy surface (27), and a small track groove (3-2) arranged on the second frame (30) corresponding to the position of the second track groove (3-1), and the second frame (30) is arranged opposite to the xoy surface (27); Each group of Z-axis track grooves comprises a third track groove (13-1) arranged on the zoy surface (2), and a small track groove (13-2) arranged on a third frame (28) corresponding to the position of the third track groove (13-1), and the third frame (28) is arranged opposite to the zoy surface (2).

2. The device according to claim 1, characterized in that The mounting plate assembly (19) comprises a mounting plate (31), After the mounting plate (31) slides into place, the front rhombus pin (21) and the front cylindrical pin (20) are inserted into the hexahedral frame (1), and the rear rhombus pin (23) and the rear cylindrical pin (22) are inserted into the hexahedral frame (1).

3. The device according to claim 2, characterized in that A hexagon socket head captive screw (24) is arranged below the rear end diamond pin (23) and the rear end cylindrical pin (22) for fixing the mounting plate (31) on the hexahedral frame (1).

4. The device according to claim 3, characterized in that The parallelism between the plane formed by the center lines of the front rhombus pin (21) and the front cylindrical pin (20) and the plane formed by the center lines of the rear rhombus pin (23) and the rear cylindrical pin (22) is less than 0.01 mm.

5. The device according to claim 4, characterized in that Each group of track grooves of each shaft track groove is provided with two first positioning holes at the front end, and two second positioning holes and two mounting holes at the rear end, and the first positioning holes, the second positioning holes and the mounting holes are all located on the hexahedral frame (1). The two first positioning holes are respectively matched with the front rhombus pin (21) and the front cylindrical pin (20) for positioning, the two second positioning holes are respectively matched with the rear rhombus pin (23) and the rear cylindrical pin (22) for positioning, and the two mounting holes are matched with the hexagon socket head non-slip screws (24) for connection; For each axis track groove, the parallelism between the plane formed by the center lines of the two second positioning holes arranged at the rear end and the plane formed by the center lines of the two first positioning holes arranged at the front end is less than 0.01 mm; For the X-axis track groove, the parallelism between the plane formed by the center lines of the two first positioning holes of each group and the xoy surface is 0.01 mm, and the parallelism between the plane formed by the center lines of the two second positioning holes of each group and the xoy surface is 0.01 mm; For the Y-axis and Z-axis track grooves, the perpendicularity between the plane formed by the center lines of the two first positioning holes in each group and the xoy surface is 0.01 mm, and the perpendicularity between the plane formed by the center lines of the two second positioning holes in each group and the xoy surface is 0.01 mm; For the Y-axis track groove, the perpendicularity between the plane formed by the center lines of the two first positioning points of each group and the plane formed by the center lines of the two first positioning points of each group of the Z-axis track groove is 0.01 mm.

6. The device according to claim 2, characterized in that The mounting plate assembly (19) further comprises a mounting handle (25) located at the middle position of the rear end.

7. The device according to claim 2, characterized in that The bottom surface of the mounting plate (31) is provided with a plurality of mounting holes for mounting the inertial measurement unit (29).

8. The device according to claim 2, characterized in that The front rhombus pin (21), the front cylindrical pin (20), the rear rhombus pin (23) and the rear cylindrical pin (22) are all fixed on the hexahedral frame (1) via a locking nut (26).

9. A calibration method for an inertial measurement unit calibration device according to any one of claims 1 to 8, characterized in that: include: When calibration is required, an inertial measurement unit (29) is installed at the bottom of a mounting plate (31) of a mounting plate assembly (19); The mounting plate assembly (19) is placed in the X-axis track groove, and the mounting plate assembly (19) is slid forward on the track groove along the X-axis direction. After being tightened, the turntable is started according to the calibration process, and the installation deflection angle and scale coefficient of the gyroscope and accelerometer in the inertial measurement unit (29) are obtained through the test equipment; the dual-axis turntable rotates at a high speed around the Z axis, and the other axis is locked, and the angular velocity of the Z-axis gyroscope in the inertial measurement unit (29) is tested; The mounting plate assembly (19) is placed in the Y-axis track groove, and the mounting plate assembly (19) is slid forward on the track groove along the Y-axis direction. After being tightened, the dual-axis turntable rotates at a high speed around the Z-axis, and the other axis is locked, so as to test the angular velocity of the Y-axis gyroscope in the inertial measurement unit (29); The mounting plate assembly (19) is placed in the Z-axis track groove, and the mounting plate assembly (19) is slid forward on the track groove along the Z-axis direction. After being tightened, the dual-axis turntable rotates at a high speed around the Z-axis, and the other axis is locked to test the angular velocity of the X-axis gyroscope in the inertial measurement unit (29).

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