Fixing tool and carrier rocket initial alignment precision measurement verification device

Abstract

The invention relates to the technical field of rocket launching, in particular to a fixing tool and a carrier rocket initial alignment precision measurement verification device.The fixing tool comprises a bottom frame, a first mounting part and at least one pair of second mounting parts, and the first mounting part and the at least one pair of second mounting parts are arranged on the bottom frame; each pair of second mounting parts is respectively suitable for mounting a group of antennas of the differential orientator, the first mounting part is positioned between the two second mounting parts, and a center connecting line of the two second mounting parts is suitable for being parallel to a measuring shaft of the inertial measurement unit during initial measurement. The attitude of the inertial measurement unit and the differential orientator during measurement verification can be ensured, so that the measurement precision and accuracy are ensured, the limitation of the measurement environment is overcome, and the rapid measurement of the initial alignment direction angle error of the inertial measurement unit under the shaking condition is realized.

Description

Technical Field

[0001] The present invention relates to the field of rocket launching technology, and in particular to a fixed tooling and a launch vehicle initial alignment accuracy measurement and verification device. Background Art

[0002] Inertial navigation is a completely autonomous recursive navigation that requires prior knowledge of the state quantities at the initial moment. The initial alignment of the launch vehicle uses the angle information measured by the gyroscope and known information to determine the initial posture of the rocket body in the navigation coordinate system, providing the prerequisite for subsequent precision guidance.

[0003] However, the current measurement method cannot adapt to the complex shaking environment of sea alignment. The sea launch environment is more complex than the land launch environment, and the rocket body is always in a shaking state, which puts higher requirements on the initial alignment algorithm. Summary of the invention

[0004] The present invention provides a fixed tooling and a launch vehicle initial alignment accuracy measurement and verification device to solve one of the defects in the prior art. It can ensure the posture of the inertial group and the differential orienter during measurement and verification, thereby ensuring the measurement precision and accuracy, overcoming the limitations of the measurement environment, and realizing the rapid measurement of the initial alignment direction angle error of the inertial group under shaking conditions.

[0005] The present invention provides a fixing tool, comprising a base frame and a first mounting part and at least a pair of second mounting parts arranged on the base frame, wherein the first mounting part is suitable for mounting an inertial group, and each pair of the second mounting parts is respectively suitable for mounting a group of antennas of a differential director, and the first mounting part is located between two of the second mounting parts, and the center line of the two second mounting parts is suitable for being parallel to the measurement axis of the inertial group during initial measurement.

[0006] According to a fixing tool provided by the present invention, the first mounting portion is detachably connected to the base frame, and is suitable for adjusting the angle between the measuring axis of the inertial group and the center line.

[0007] According to a fixing tool provided by the present invention, the first mounting part includes a support seat and a turntable, the support seat is connected to the turntable, the support seat is suitable for mounting the inertial group, the turntable is provided with at least four first adjustment holes, the first adjustment holes are connected to the base frame by fasteners, and the first adjustment holes are evenly distributed around the inertial group along the circumferential direction.

[0008] According to a fixing tool provided by the present invention, the support seat includes a base and a protrusion, one side of the base is in contact with the turntable, and the other side is provided with the protrusion, and the protrusion surrounds a space suitable for installing the inertial group.

[0009] According to a fixing tool provided by the present invention, the support seat is provided with at least four second adjustment holes, the second adjustment holes are arranged in a one-to-one correspondence with the first adjustment holes, and the second adjustment holes are connected to the first adjustment holes by fasteners.

[0010] According to a fixing tool provided by the present invention, the turntable includes a base plate, a vertical plate, a connecting plate and a triangular plate, the base plate is provided with the first adjustment hole, suitable for connecting with the base frame, the vertical plate and the base plate are vertically connected via the triangular plate, the connecting plate is arranged on the vertical plate, the connecting plate is provided with a third adjustment hole corresponding one-to-one with the second adjustment hole, suitable for connecting the connecting plate with the support seat.

[0011] According to a fixing tool provided by the present invention, the base frame is provided with fixing holes suitable for connecting with the mounting surface.

[0012] According to a fixing tool provided by the present invention, the base frame is provided with a handle.

[0013] The present invention also provides a launch vehicle initial alignment accuracy measurement and verification device, comprising an inertial group, a differential director and the fixed tooling as described above, wherein the inertial group is arranged on the first mounting part, the differential director comprises at least one group of antennas, and the antennas are arranged on the second mounting part.

[0014] A launch vehicle initial alignment accuracy measurement and verification device provided by the present invention also includes a simulator, and the inertial group and the differential orientation device are both connected to the simulator.

[0015] The fixed fixture provided by the present invention is used for the initial alignment accuracy measurement and verification device of a launch vehicle at sea. The fixed fixture is mainly composed of a base frame, a first mounting part and at least a pair of second mounting parts. The inertial group is positioned by the first mounting part, and the antenna of the differential director is positioned by the second mounting part. After the inertial group has multiple measurements, the differential director has at least one group of antennas, each group of antennas includes two antennas, a pair of second mounting parts correspondingly fixes one group of antennas, and the two second mounting parts are respectively located on both sides of the first mounting part. The center line of the two second mounting parts is parallel to the state of a measurement axis of the inertial group at the first mounting part during the initial measurement. This orientation can be used as a test reference, that is, to achieve that a measurement axis of the inertial group is kept parallel to a group of antennas of the differential director during the initial measurement, meeting the requirement that when the inertial group is installed on the fixed fixture, a measurement axis of the inertial group is parallel to a straight line where a group of antennas of the differential director are located.

[0016] During the measurement and verification of the initial alignment accuracy of the launch vehicle at sea, it is necessary to obtain the measurement values ​​of the inertial group and the differential orienter. The fixed tooling of the present invention can ensure the posture of the inertial group and the differential orienter during the measurement and verification, thereby ensuring the measurement precision and accuracy, overcoming the limitations of the measurement environment, and realizing the rapid measurement of the initial alignment direction angle error of the inertial group under shaking conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 It is one of the structural schematic diagrams of the fixing tool provided in the embodiment of the present invention; Figure 2 This is the second structural schematic diagram of the fixing tool provided in the embodiment of the present invention; Figure 3 This is the third structural schematic diagram of the fixing tool provided in the embodiment of the present invention; Figure 4 It is a structural schematic diagram of a launch vehicle initial alignment accuracy measurement and verification device provided by an embodiment of the present invention; Figure 5 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention; Figure 6 It is a flow chart of a method for measuring and verifying the initial alignment accuracy of a launch vehicle provided in an embodiment of the present invention.

[0019] Reference numerals: 100, inertial group; 200, differential direction finder; 210, antenna; 300, simulation machine; 400, fixing tool; 410, chassis; 411, fixing hole; 412, handle; 420, first mounting portion; 421, support seat; 4211, base; 4212, protrusion; 4213, second adjustment hole; 422, turntable; 4222, bottom plate; 4223, vertical plate; 4224, connecting plate; 4225, triangle plate; 430, second mounting portion; 500, power supply; 810, processor; 820, communication interface; 830, memory; 840, communication bus. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limitations on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0022] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0023] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0024] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0025] like Figure 1 , Figure 2 and Figure 4 As shown, the fixing tool 400 provided in the embodiment of the present invention includes a base frame 410 and a first mounting portion 420 and at least one pair of second mounting portions 430 arranged on the base frame 410, the first mounting portion 420 is suitable for mounting the inertial group 100, each pair of second mounting portions 430 is respectively suitable for mounting a group of antennas 210 of the differential director 200, the first mounting portion 420 is located between the two second mounting portions 430, and the center line of the two second mounting portions 430 is suitable for being parallel to the measurement axis of the inertial group 100 during the initial measurement.

[0026] The fixing fixture 400 of the embodiment of the present invention is used for the initial alignment accuracy measurement and verification device of the launch vehicle at sea. The fixing fixture 400 is mainly composed of a base frame 410, a first mounting portion 420 and at least one pair of second mounting portions 430. The inertial group 100 is positioned by the first mounting portion 420, and the antenna 210 of the differential director 200 is positioned by the second mounting portion 430. The inertial group 100 has multiple measurements. After that, the differential director 200 has at least one group of antennas 210, each group of antennas 210 includes two antennas 210, and a pair of second mounting portions 430 correspondingly fixes one group of antennas 210. 0, the two second mounting parts 430 are respectively located on both sides of the first mounting part 420, and the center line of the two second mounting parts 430 is parallel to a measuring axis of the inertial group 100 at the first mounting part 420 during the initial measurement. This orientation can be used as a test reference, that is, to achieve that a measuring axis of the inertial group 100 is kept parallel to a group of antennas 210 of the differential director 200 during the initial measurement, which meets the requirement that when the inertial group 100 is installed on the fixed tooling 400, a measuring axis of the inertial group 100 is parallel to a straight line where a group of antennas 210 of the differential director 200 are located.

[0027] During the measurement and verification of the initial alignment accuracy of the launch vehicle at sea, it is necessary to obtain the measurement values ​​of the inertial group 100 and the differential orienter 200. The fixed tooling 400 of the present invention can ensure the posture of the inertial group 100 and the differential orienter 200 during the measurement and verification, thereby ensuring the measurement precision and accuracy, overcoming the limitations of the measurement environment, and realizing the rapid measurement of the initial alignment direction angle error of the inertial group 100 under shaking conditions.

[0028] In this embodiment, the base frame 410 is set to a long strip symmetrical structure, the middle part is the first mounting part 420, and the two ends are respectively provided with a second mounting part 430 to form a pair of second mounting parts 430. The vertical distances between the first mounting part 420 and the two second mounting parts 430 are equal. The base frame 410 adopts a symmetrical design, which is conducive to the combination design with other components. In other embodiments, the number of pairs of the second mounting parts 430 can be set according to the number of antennas 210 of the actual differential director 200, and the shape of the base frame 410 can be asymmetrical, that is, the vertical distances between the first mounting part 420 and each second mounting part 430 can be different.

[0029] In this embodiment, the second mounting portion 430 is a mounting hole formed on the base frame 410 . In other embodiments, the second mounting portion 430 may also be other mounting and fixing structures.

[0030] According to an embodiment provided by the present invention, the first mounting portion 420 is detachably connected to the base frame 410, and is suitable for adjusting the angle between the measuring axis and the center line of the inertial group 100. In this embodiment, the first mounting portion 420 can be detached from the base frame 410 for rotation adjustment, thereby adjusting the angle between the measuring axis of the inertial group 100 fixed on the first mounting portion 420 and the antenna 210 fixed on the second mounting portion 430.

[0031] During the measurement and verification of the initial alignment accuracy of the launch vehicle at sea, during the initial measurement, the measurement values ​​of the inertial group 100 and the differential director 200 are obtained when the measurement axis is parallel to the antenna 210. In subsequent measurements, it is necessary to adjust the angle between the measurement axis and the antenna 210, separate the first mounting part 420 from the base frame 410, and then adjust the state of the first mounting part 420, and then connect the first mounting part 420 to the base frame 410, thereby adjusting the angle between the measurement axis and the antenna 210, and executing subsequent alignment algorithms in sequence. At the same time, the directional angle error of the initial alignment of the inertial group 100 in different orientations can be determined.

[0032] According to an embodiment provided by the present invention, the first mounting portion 420 includes a support seat 421 and a turntable 422, the support seat 421 is connected to the turntable 422, the support seat 421 is suitable for installing the inertial group 100, the turntable 422 is provided with at least four first adjustment holes, the first adjustment holes are connected to the base frame 410 by fasteners, and the first adjustment holes are evenly distributed around the inertial group 100 along the circumferential direction.

[0033] In this embodiment, the first mounting portion 420 is composed of a support base 421 and a turntable 422. The support base 421 is used to fix the inertial group 100, and the turntable 422 is used to connect the support base 421 to the base frame 410. At least four first adjustment holes are arranged on the turntable 422. The first adjustment holes are evenly distributed around the inertial group 100, that is, the maximum central angle between two adjacent first adjustment holes is 90°. The central angle spacing of the first adjustment holes is set according to the actual azimuth adjustment requirements of the measuring axis. If each adjustment is 60°, six first adjustment holes are set. If each adjustment is 30°, 12 first adjustment holes are set.

[0034] By setting the first adjustment hole on the turntable 422, it can be ensured that after the turntable 422 is rotated through a fixed angle and fixed to the base frame 410 by fasteners, the measuring axis of the inertial group 100 on the support seat 421 can be accurately rotated through the adjustment angle. The design of the fixed tooling 400 is concise and the composition is simple, but the measurement accuracy can meet the design requirements.

[0035] In this embodiment, the fastener may be a bolt or a screw, and a corresponding threaded connection hole is provided on the base frame 410 corresponding to the first adjustment hole.

[0036] According to an embodiment provided by the present invention, the support seat 421 includes a base 4211 and a protrusion 4212. One side of the base 4211 contacts the turntable 422, and the other side is provided with a protrusion 4212. The protrusion 4212 surrounds a space suitable for installing the inertial module 100. In this embodiment, the support seat 421 is mainly composed of the base 4211 and the protrusion 4212. The base 4211 serves as a basic support for the inertial module 100 and also serves as a connection with the turntable 422. The protrusion 4212 is annular and extends vertically upward from the upper surface of the base 4211. The inertial module 100 can be fixed in the protrusion 4212 or in the space surrounded by the protrusion 4212.

[0037] In this embodiment, the protrusion 4212 surrounds a square receiving cavity, and the base 4211 is a circular base 4211. The square receiving cavity is used to receive the inertia module 100, and can be fixed to the inertia module 100 by bolts. In other embodiments, the receiving cavity can also be other shapes to match the shape of the inertia module 100 used.

[0038] According to an embodiment provided by the present invention, the support seat 421 is provided with at least four second adjustment holes 4213, the second adjustment holes 4213 are arranged in one-to-one correspondence with the first adjustment holes, and the second adjustment holes 4213 are connected to the first adjustment holes by fasteners. In this embodiment, the support seat 421 and the turntable 422 can also be in an adjustable connection form, that is, the support seat 421 is also provided with a second adjustment hole 4213, the second adjustment hole 4213 corresponds to the first adjustment hole, and the support seat 421 and the turntable 422 are connected by fasteners to connect the second adjustment hole 4213 and the first adjustment hole to achieve connection.

[0039] The second adjustment holes 4213 are evenly distributed around the inertial group 100, that is, the maximum central angle between two adjacent second adjustment holes 4213 is 90°, and the central angle spacing of the second adjustment holes 4213 is set according to the actual azimuth adjustment requirements of the measurement axis. For example, if each adjustment is 60°, six second adjustment holes 4213 are set; if each adjustment is 30°, 12 second adjustment holes 4213 are set.

[0040] After the support base 421 is removed from the turntable 422, the support base 421 can be rotated to adjust the relative state of the support base 421 on the turntable 422, thereby adjusting the angle between the inertial group 100 on the support base 421 and the antenna 210 after measurement. By setting the second adjustment hole 4213 on the support base 421, it can be ensured that after the support base 421 is rotated through a fixed angle and fixed to the turntable 422 by fasteners, the measuring axis of the inertial group 100 on the support base 421 can be accurately rotated through the adjustment angle. The design of the fixed tooling 400 is simple and the composition is simple, but the measurement accuracy can meet the design requirements.

[0041] In this embodiment, the fasteners can be selected as bolts or screws, and corresponding threaded connection holes are set on the base frame 410 corresponding to the first adjustment holes, and then the support seat 421, the turntable 422 and the base frame 410 are connected and fixed in sequence from top to bottom through the fasteners.

[0042] The second adjustment hole 4213 can be set on the base 4211, that is, on the plane where the base frame 410 is located. The base 4211 and the turntable 422 have adjustment holes with different rotation angles. The angle of the inertial group 100 can be adjusted as needed by rotating the base 4211 and the turntable 422, thereby determining the alignment accuracy of the inertial group 100 in other orientations.

[0043] Furthermore, in order to improve the initial alignment direction angle error, two or three groups of antennas 210 of the differential director 200 may be used, and each group of antennas 210 is parallel to a measurement axis of the inertial group 100. By having multiple groups of antennas 210 parallel to the measurement axis, multiple groups of error values ​​may be obtained simultaneously, thereby improving the final measurement accuracy.

[0044] like Figure 3As shown, according to an embodiment provided by the present invention, the turntable 422 includes a base plate 4222, a vertical plate 4223, a connecting plate 4224 and a triangular plate 4225, the base plate 4222 is provided with a first adjustment hole, suitable for connecting with the base frame 410, the vertical plate 4223 and the base plate 4222 are vertically connected through the triangular plate 4225, the connecting plate 4224 is arranged on the vertical plate 4223, and the connecting plate 4224 is provided with a third adjustment hole corresponding to the second adjustment hole 4213 one by one, suitable for connecting the connecting plate 4224 with the support seat 421.

[0045] Due to the shape of the inertial group 100 itself, after the support base 421 and the inertial group 100 are installed together, a group of antennas 210 are only parallel to a certain measurement axis in the inertial group 100 and cannot be changed. Therefore, in order to be able to change the measurement axis in the inertial group 100 that is parallel to the antenna 210, the structure of the support base 421 is further designed.

[0046] In this embodiment, the turntable 422 is mainly composed of a bottom plate 4222, a vertical plate 4223, a connecting plate 4224 and two triangular plates 4225. The bottom plate 4222 is connected to the bottom frame 410, two tripods are fixed on the bottom plate 4222, and the vertical plate 4223 is fixed by the two tripods, so that the vertical plate 4223 is vertically connected to the bottom plate 4222, and the connecting plate 4224 is set on the vertical plate 4223, and the base 4211 of the support seat 421 is connected to the connecting plate 4224. At this time, the bottom plate 4222 is provided with a first adjustment hole, and the vertical plate 4223 and the support seat 421 can be driven to rotate by rotating the bottom plate 4222, so that the relative angle between the turntable 422 and the bottom plate 4222 can be adjusted. The connecting plate 4224 is provided with a third adjustment hole, and the third adjustment hole is set corresponding to the second adjustment hole 4213, so that the relative angle between the support seat 421 and the turntable 422 can be adjusted, thereby achieving the azimuth adjustment of the measuring axis. By adjusting the position of the vertical plate 4223, the dual antenna 210 can be made parallel to the inertial group 100 after different measurements. The fixed fixture 400 can obtain the alignment error of the inertial group 100 in different measurement axes and different orientations through combined design.

[0047] According to an embodiment provided by the present invention, the base frame 410 is provided with a fixing hole 411 suitable for connecting with the mounting surface. In this embodiment, the fixing hole 411 is provided between the first mounting portion 420 and the second mounting portion 430 on the base frame 410, and the fixing hole 411 is used to fix the base frame 410 to the ground, ground facilities, test bench, launch vehicle, launch ship, etc.

[0048] In this embodiment, the fixing hole 411 can be a screw hole, which is fastened by bolts or the like.

[0049] According to an embodiment provided by the present invention, the base frame 410 is provided with a handle 412. In this embodiment, the handle 412 is provided between the fixing hole 411 and the second mounting portion 430 on the base frame 410, and the staff can grasp the fixing tool 400 as a whole through the handle 412, so as to facilitate the disassembly, position adjustment and transportation of the fixing tool 400.

[0050] The fixing fixture 400 of the present invention can make the measuring axis of the inertial group 100 parallel to the antenna 210 of the differential direction finder 200, combine the measuring data of the inertial group 100 and the differential direction finder 200, and more accurately measure the error. The overall structure is simple, the cost is low, the weight is light, and the assembly, disassembly and transportation are convenient.

[0051] The launch vehicle initial alignment accuracy measurement and verification device provided by the present invention is described below. The launch vehicle initial alignment accuracy measurement and verification device described below and the tooling described above can be referenced to each other.

[0052] An embodiment of the present invention also provides a launch vehicle initial alignment accuracy measurement and verification device, including an inertial group 100, a differential director 200 and the above-mentioned fixed tooling 400, the inertial group 100 is arranged on a first mounting portion 420, the differential director 200 includes at least one group of antennas 210, and the antennas 210 are arranged on a second mounting portion 430.

[0053] In the launch vehicle initial alignment accuracy measurement and verification device of the embodiment of the present invention, the inertial group 100 is the core component of the launch vehicle inertial navigation system, and is mainly composed of three mutually perpendicular accelerometers and gyroscopes. Inertial navigation is a completely autonomous recursive navigation, which requires the state quantity at the initial moment to be known in advance. The initial alignment of the launch vehicle is to use the angle information and known information sensed by the gyroscope to determine the initial attitude of the rocket body in the navigation coordinate system, providing a prerequisite for subsequent precision guidance.

[0054] According to the present invention, a launch vehicle initial alignment accuracy measurement and verification device further includes a simulator 300 , and the inertial group 100 and the differential orienter 200 are both connected to the simulator 300 .

[0055] The launch vehicle initial alignment accuracy measurement and verification device of the embodiment of the present invention is composed of a fixed fixture 400, an inertial group 100, a differential orienter 200 and a simulator 300. The inertial group 100 and the differential orienter 200 are fixedly connected through the fixed fixture 400, and the measurement axis of the inertial group 100 is ensured to be parallel to the dual antennas 210 of the differential orienter 200. The simulator 300 is connected to the inertial group 100 and the differential orienter 200 through a simulation cable, and the measurement values ​​of the inertial group 100 and the differential orienter 200 can be collected in real time. The simulator 300 outputs the initial alignment attitude angle in real time by running the initial alignment algorithm. By comparing the initial alignment attitude angle with the measurement value of the differential orienter 200, the initial alignment direction angle error is obtained, so as to achieve the purpose of quickly measuring the initial alignment direction angle error of the inertial group 100 under shaking conditions.

[0056] The present invention can be applied to the measurement and verification of the initial alignment accuracy of a carrier rocket at sea. The environment for launching at sea is more complicated than that for launching on land, and the rocket body is always in a shaking state. When designing an initial alignment algorithm, it is necessary to measure the initial alignment error under the shaking condition, which puts higher requirements on the initial alignment algorithm. The present invention overcomes the limitation of the measurement environment and can realize the rapid measurement of the initial alignment directional angle error of the inertial group 100 under the shaking condition.

[0057] The present invention relates to the field of semi-physical simulation of an inertial navigation system for a launch vehicle. In an initial alignment semi-physical simulation test based on a fiber-optic inertial navigation group 100, the present invention can quickly verify the accuracy of an output result of an initial alignment algorithm of the inertial navigation group 100, provide physical reference data for the design and optimization of an initial alignment algorithm in an inertial navigation system for a launch vehicle, and help improve the accuracy and stability of an initial alignment algorithm for a launch vehicle in a dynamic environment.

[0058] The launch vehicle initial alignment accuracy measurement and verification method provided by the present invention is described below. The launch vehicle initial alignment accuracy measurement and verification method described below and the launch vehicle initial alignment accuracy measurement and verification device described above can refer to each other.

[0059] like Figure 6 As shown, an embodiment of the present invention further provides a method for measuring and verifying the initial alignment accuracy of a launch vehicle, which is applied to the device for measuring and verifying the initial alignment accuracy of a launch vehicle as in the above embodiment, comprising: Obtaining the initial alignment attitude angle measured by the inertial group 100 and the azimuth angle output by the differential orientation device 200; the initial alignment attitude angle represents the attitude angle of the launch vehicle relative to the navigation coordinate system before launch, and the azimuth angle represents the direction angle of the launch vehicle relative to the earth's fixed coordinate system during the initial alignment process; Based on the initial alignment attitude angle and azimuth angle, an initial alignment direction angle error is obtained; Adjust the initial alignment accuracy of the launch vehicle according to the initial alignment direction angle error value.

[0060] The method for measuring and verifying the initial alignment accuracy of a launch vehicle in an embodiment of the present invention connects the simulator 300, the differential orienter 200, the fiber optic inertial group 100 and the stabilized DC power supply 500 through a simulation cable. After the measurement and control system is coordinated, the equipment is powered on, and the simulator 300 collects the outputs of the inertial group 100 and the differential orienter 200 in real time, that is, the attitude angle of the launch vehicle relative to the navigation coordinate system before launch measured by the inertial group 100 as the initial alignment attitude angle and the direction angle of the launch vehicle relative to the earth's fixed coordinate system during the initial alignment process output by the differential orienter 200 as the azimuth angle.

[0061] By performing a comprehensive comparison of the initial alignment attitude angle and azimuth angle, the initial alignment direction angle error is obtained, so as to achieve the purpose of quickly measuring the initial alignment direction angle error of the inertial group 100 under shaking conditions. According to the initial alignment direction angle error, the initial alignment parameters can be adjusted to improve the alignment accuracy. The measurement results measured by the inertial group 100 and the differential orientation device 200 complement each other. The inertial group 100 provides high-precision short-term dynamic measurement, and the differential orientation device 200 provides a long-term stable reference direction, which can effectively reduce the impact of the measurement error of a single device.

[0062] The present invention uses a differential orienter 200 to replace a three-axis turntable, ensures that the dual antennas 210 of the differential orienter are parallel to the measuring axis of the inertial group 100 through structural parts, and compares the initial alignment result of the inertial group 100 with the differential orientation result to obtain the initial alignment direction angular error, thereby achieving the purpose of quickly measuring the initial alignment direction angular error of the inertial group 100 under shaking conditions.

[0063] According to an embodiment provided by the present invention, obtaining the initial alignment attitude angle measured by the inertial group 100 and the azimuth angle output by the differential orientation device 200 includes: Acquire an initial alignment attitude angle signal set within a set time period, wherein the elements of the initial alignment attitude angle signal set are an array consisting of the initial alignment attitude angle measured by the inertial group 100 and a first time, wherein the first time is the moment when the initial alignment attitude angle is acquired within the set time period; The output signal set of the differential orienter 200 within a set time period is obtained. The elements of the output signal set of the differential orienter 200 are an array consisting of the azimuth angle output by the differential orienter 200 and the second time. The second time is the moment when the azimuth angle output by the differential orienter 200 is obtained within the set time period.

[0064] In this embodiment, the simulator 300 collects the outputs of the inertial group 100 and the differential direction finder 200 in real time, and records the corresponding signal arrival time. The time of collecting the signal and the data of the collected signal together form an array. Within the set time, the array obtained after continuous collection is used as an element to form a signal set. The set time can be a time period with a certain length, or it can be one or more specific time points. The set can be composed of one or more array elements.

[0065] After the above test is completed, a set of arrays (t_gz, gamma_gz) of the initial alignment attitude angle signal set and a set of arrays (t_tx, gamma_tx) of the differential director 200 output signal set are obtained.

[0066] According to an embodiment provided by the present invention, obtaining the initial alignment direction angle error based on the initial alignment posture angle and the azimuth angle includes: Processing the initial alignment attitude angle signal set based on the second time to obtain an output signal set of the inertial group 100 at the second time; Based on the set of output signals of the inertial group 100 and the set of output signals of the differential orientation finder 200 corresponding to the second time, an array of initial alignment measurement errors varying with time is obtained.

[0067] In this embodiment, the initial alignment attitude angle signal set obtained by the inertial group 100 is processed, that is, the initial alignment attitude angle signal set is integrated into the second time to obtain the output signal set of the inertial group 100, that is, the initial alignment attitude angle signal set at the first time is converted to the initial alignment attitude angle signal set at the second time, and the initial alignment attitude angle signal set normalized to the same time is compared with the output signal set of the differential orientator 200 to obtain an array of initial alignment measurement errors changing with time.

[0068] In this embodiment, the second time may be a certain time point under multiple second times, and the obtained inertial group 100 output signal set may be the inertial group 100 output signal at this time point. The second time may also be all second times, that is, all the initial alignment attitude angle signal sets obtained from the inertial group 100 are converted into the inertial group 100 output signal set. The array of the initial alignment measurement error varying with time may be an array at one or more time points, or may be a set consisting of arrays within the entire second time range.

[0069] In other embodiments, the azimuth signal set is processed based on the first time to obtain the differential direction finder 200 output signal set at the first time; based on the differential direction finder 200 output signal set and the inertial group 100 output signal set corresponding to the first time, an array of initial alignment measurement errors varying with time is obtained.

[0070] The azimuth signal set obtained by the differential orienter 200 is processed, that is, the azimuth signal set is integrated into the first time to obtain the output signal set of the differential orienter 200, that is, the azimuth signal set at the second time is converted into the azimuth signal set at the first time, and the azimuth signal set normalized to the same time is compared with the output signal set of the inertial group 100 to obtain an array of initial alignment measurement errors varying with time.

[0071] In this embodiment, the first time may be a certain time point under multiple first times, and the obtained differential orienter 200 output signal set may be the differential orienter 200 output signal at this time point. The first time may also be all first times, that is, all azimuth signal sets obtained by the differential orienter 200 are converted into differential orienter 200 output signal sets. The array of the initial alignment measurement error varying with time may be an array at one or more time points, or may be a set composed of arrays within the entire first time range.

[0072] The inertial group is usually sampled at a higher frequency (such as several hundred Hz), while the sampling frequency of the differential orienter may be lower. Therefore, compared with processing the inertial group data according to the time when the differential orienter acquires the data, directly using the high-frequency sampled inertial group data to interpolate the low-frequency sampled differential orienter data may cause the interpolation error to increase, especially when the data changes rapidly. Therefore, in order to ensure that the differential orienter data is processed according to the time when the inertial group acquires the data, it is necessary to ensure that the time base of the inertial group and the differential orienter is synchronized before the test begins. This can be achieved through an external time synchronization signal (such as a GPS time signal).

[0073] According to an embodiment provided by the present invention, the initial alignment attitude angle signal set is processed based on the second time to obtain the output signal set of the inertial group 100 at the second time, which includes: By performing linear interpolation calculation on the initial alignment attitude angle signal set at the second time, the output signal set of the inertial group 100 at the second time is obtained.

[0074] In this embodiment, the second time t_tx is used to perform linear interpolation on the array (t_gz, gamma_gz) of the initial alignment attitude angle signal set to obtain the output signal (t_gz1, gamma_gz1) of the inertia group 100 at the same time. At this time, t_tx = t_gz1.

[0075] According to an embodiment provided by the present invention, based on the set of output signals of the inertial group 100 and the set of output signals of the differential orientation device 200 corresponding to the second time, obtaining an array of initial alignment measurement errors varying with time includes: The output signal set of the inertial group 100 and the output signal set of the differential direction finder 200 at the same moment are differentiated to obtain an array of initial alignment measurement errors varying with time.

[0076] In this embodiment, the azimuth angle is subtracted at the same time to obtain an array (t_tx, gamma_gz - gamma_tx) of the initial alignment measurement error varying with time.

[0077] In one embodiment, the time interval for the inertial group 100 to output data is different from the time interval for the differential orientation device 200 to output data, that is, within a set time period, the time interval of the first time is different from the time interval of the second time; For example, the inertial group 100 outputs data once every 100ms, and the differential orientation device outputs data once every 10ms. The time when the two sets of data are obtained is different, so the inertial group data is interpolated.

[0078] For example, when the second time is 150ms, the differential orientation device 200 outputs the corresponding azimuth angle data, which does not need interpolation and can be directly obtained; while the inertial group 100 does not output the corresponding initial alignment attitude angle data at the second time of 150ms, and interpolation calculation is required to obtain the initial alignment attitude angle data at the same moment.

[0079] After obtaining the initial alignment attitude angle data of the inertial group 100 and the azimuth angle data of the differential orienter 200 at the moment of 150ms, the coordinate values ​​are calculated for difference to obtain the initial alignment measurement error data at that moment. Based on the error value, the initial alignment parameters can be adjusted to improve the alignment accuracy.

[0080] Figure 5 An example of a physical structure diagram of an electronic device is shown, and the electronic device may include: a processor (processor) 810, a communication interface (Communications Interface) 820, a memory (memory) 830 and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute the launch vehicle initial alignment accuracy measurement verification method.

[0081] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0082] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the launch vehicle initial alignment accuracy measurement and verification methods provided by the above-mentioned methods.

[0083] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the launch vehicle initial alignment accuracy measurement and verification method provided by the above-mentioned methods.

[0084] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0085] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general hardware tools, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0086] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A fixed tool, characterized in that: The invention comprises a base frame, a first mounting portion and at least a pair of second mounting portions arranged on the base frame, wherein the first mounting portion is suitable for mounting an inertial group, and each pair of the second mounting portions is respectively suitable for mounting a group of antennas of a differential director, the first mounting portion is located between two of the second mounting portions, and a center line connecting the two second mounting portions is suitable for being parallel to a measurement axis of the inertial group during initial measurement.

2. The fixing tool according to claim 1, characterized in that: The first mounting portion is detachably connected to the base frame and is suitable for adjusting an angle between a measuring axis of the inertial group and a center line.

3. The fixing tool according to claim 2, characterized in that: The first mounting portion includes a support seat and a turntable, wherein the support seat is connected to the turntable, the support seat is suitable for mounting the inertial group, the turntable is provided with at least four first adjustment holes, the first adjustment holes are connected to the base frame through fasteners, and the first adjustment holes are evenly distributed around the inertial group along the circumferential direction.

4. The fixing tool according to claim 3, characterized in that: The support seat includes a base and a protrusion. One side of the base contacts the turntable, and the other side is provided with the protrusion. The protrusion surrounds a space suitable for installing the inertial group.

5. The fixing tool according to claim 3, characterized in that: The support seat is provided with at least four second adjustment holes, the second adjustment holes are arranged in one-to-one correspondence with the first adjustment holes, and the second adjustment holes are connected to the first adjustment holes through fasteners.

6. The fixing tool according to claim 5, characterized in that: The turntable includes a base plate, a vertical plate, a connecting plate and a triangular plate. The base plate is provided with the first adjustment hole and is suitable for connecting to the base frame. The vertical plate and the base plate are vertically connected via the triangular plate. The connecting plate is arranged on the vertical plate. The connecting plate is provided with a third adjustment hole corresponding to the second adjustment hole one by one, and is suitable for connecting the connecting plate to the support seat.

7. The fixing tool according to any one of claims 1 to 6, characterized in that: The base frame is provided with fixing holes suitable for connecting with the mounting surface.

8. The fixing tool according to any one of claims 1 to 6, characterized in that: The base frame is provided with a handle.

9. A launch vehicle initial alignment accuracy measurement and verification device, characterized in that: It comprises an inertial group, a differential director and the fixing tool as claimed in any one of claims 1 to 8, wherein the inertial group is arranged on the first mounting part, the differential director comprises at least one group of antennas, and the antennas are arranged on the second mounting part.

10. The launch vehicle initial alignment accuracy measurement and verification device according to claim 9, characterized in that: It also includes a simulation machine, and the inertial group and the differential orientation device are both connected to the simulation machine.

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