Angle measurement element zero setting method for replacing naval vessel inertial navigation system power transmission device

Abstract

The invention relates to an angle measurement element zeroing method for replacing a power transmission device of a naval vessel inertial navigation system, which comprises the following steps of: fixing an inertial platform body by using a zeroing tool, erecting a first auto-collimation optical theodolite and a second auto-collimation optical theodolite, respectively aiming a plane mirror and a platform body hexahedron of a pitching gimbal of the inertial platform, and mutually aiming the first auto-collimation optical theodolite and the second auto-collimation optical theodolite after alignment; recording the electrical output of a course rotary transformer and an inductosyn and the azimuth difference of a theodolite, namely relative angle data between a table body and a pitching gimbal, and taking the relative angle data as original data; replacing the power transmission device, and reassembling the rotary transformer and the inductosyn; and the inertial platform body is fixed again, and the zero setting tool is installed and adjusted, so that the relative angle between the platform body and the pitching gimbal is restored to original data. The angle measurement element zero setting device reliably and effectively meets the requirement for angle measurement element zero setting in the process of replacing a naval vessel inertial navigation system power transmission device, and operation is accurate and convenient.

Description

Technical Field

[0001] The present invention relates to the technical field of inertial navigation system testing, and particularly to a method for zeroing the angle measuring element for replacing the power transmission device of a shipborne inertial navigation system. Background Art

[0002] The inertial navigation system (hereinafter referred to as "INS") is the most important basic guarantee equipment for ships. Its mission is to provide navigation information guarantee for the navigation of the ship itself and the formation, and to provide support for the ship motion state information of the combat system. It is widely installed on large and medium-sized surface ships, conventional submarines underwater, and nuclear submarines.

[0003] The power transmission device of the INS plays a role in connecting the electrical signals inside and outside the platform. The reliability of the connection of each conductive slip ring of the power transmission device is directly related to the accuracy of the INS and even its normal operation. The power transmission device belongs to a wear life part and needs to be replaced regularly. The power transmission device is installed inside the upper shaft of the inertial platform. When replacing the power transmission device, the upper shaft needs to be removed. A heading angle measuring element is also installed at the end of the upper shaft of the inertial platform. The angle measuring element is divided into a coarse-level angle measuring element, a resolver, and a fine-level angle measuring element, an induction synchro. When removing the upper shaft, the corresponding angle measuring element needs to be removed. After replacement, the angle measuring element is reinstalled, and the electrical zero position of the angle measuring element will inevitably change. The angle measuring element is related to the platform heading angle measuring accuracy. Therefore, it is necessary to readjust the electrical zero position of the angle measuring element to ensure the normal use of the equipment. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a method for zeroing the angle measuring element for replacing the power transmission device of a shipborne inertial navigation system. By using a zeroing tooling and two theodolites, the angle between the pitching gimbal and the platform is adjusted to the position before replacement and fixed, and the electrical output of the angle measuring element is adjusted to be the same as that before replacement, with precise and convenient operation.

[0005] The present invention solves its technical problems through the following technical solutions:

[0006] A method for zeroing the angle measuring element for replacing the power transmission device of a shipborne inertial navigation system, characterized in that the angle measuring element zeroing method includes the following steps:

[0007] Step 1: Fix the inertial platform body with a zeroing tooling, set up the first autocollimation theodolite and the second autocollimation theodolite, respectively aim at the plane mirror of the pitching gimbal of the inertial platform and the hexahedron of the platform body. After alignment, the first autocollimation theodolite and the second autocollimation theodolite aim at each other;

[0008] Step 2: Read the electrical outputs of the heading resolver and the induction synchro from the display panel of the INS, record the azimuth difference between the first autocollimation theodolite and the second autocollimation theodolite, that is, the relative angle data between the platform body and the pitching gimbal, as the original data;

[0009] Step 3, turn off the inertial navigation power supply, remove the zero adjustment tooling and the first autocollimation optical theodolite and the second autocollimation optical theodolite;

[0010] Step 4: Replace the power transmission device, and reinstall the rotary transformer and induction synchronizer;

[0011] Step 5: After completion, check the correctness of wiring, friction torque of the platform shaft and static balance of the platform;

[0012] Step 6: Use the zeroing tool to fix the inertial platform body again, set up the first autocollimation optical theodolite and the second autocollimation optical theodolite to aim at the plane mirror of the pitch gimbal and the hexahedron of the platform body respectively, adjust the zeroing tool to restore the relative angle between the platform body and the pitch gimbal to the original data; adjust the relative positions of the stator and rotor of the rotary transformer and the induction synchronizer to make the electrical output of the rotary transformer and the induction synchronizer consistent with the original data;

[0013] Step 7, sealing and fixing the stator and rotor of the rotary transformer and the induction synchronizer with glue;

[0014] Step 8: Complete platform reinstallation;

[0015] Step 9: System startup verification.

[0016] Moreover, the zeroing tool is a U-shaped support frame, both ends of which are fixed to the pitch and roll gimbal of the inertial platform, and the middle of the U-shaped support frame is fixed to the platform body of the inertial platform through an L-shaped connecting frame.

[0017] The beneficial effects of the present invention are:

[0018] 1. The method for zeroing an angle measuring element for replacing a power transmission device of an inertial navigation system of a ship of the present invention is as follows: when the ship is in dock and sitting on a pier, a zeroing tool is used to fix the pitch gimbal and the platform, two theodolites are used to align the hexahedron of the platform and the plane mirror of the pitch gimbal respectively, and the electrical output of the angle measuring element and the azimuth difference between the two theodolites are read and recorded. After the power transmission device is replaced, the zeroing tool and the two theodolites are used to adjust the rotation angle between the pitch gimbal and the platform to the position before the replacement and fix it, and the electrical output of the angle measuring element is adjusted to be consistent with that before the replacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the inertial platform of the present invention;

[0020] Figure 2 This is a schematic diagram of fixing the zero adjustment tool of the present invention;

[0021] Figure 3 Schematic diagram of the mutual aiming method of the self-collimating theodolite.

[0022] Reference Signs:

[0023] 1 - Inertial platform, 2 - Plane mirror, 3 - Body, 4 - Pitch gimbal, 5 - Roll gimbal, 6 - Base, 7 - Upper shaft, 8 - Electrical components, 9 - U-shaped support frame, 10 - L-shaped connecting frame, 11 - First autocollimation theodolite, 12 - Second autocollimation theodolite. Detailed implementation mode

[0024] The present invention will be further described in detail below through specific embodiments. The following embodiments are only descriptive and not restrictive, and the protection scope of the present invention cannot be limited thereby.

[0025] Embodiment 1

[0026] An angle-zeroing method for an angle measuring element for replacing a power transmission device of a ship's inertial navigation system. The angle-zeroing method for the angle measuring element includes the following steps:

[0027] Step 1: Fix the body 3 of the inertial platform 1 and the pitch gimbal 4 with the zeroing tooling 13. The inertial platform 1 includes a body 3, a pitch gimbal 4, a roll gimbal 5, and a base 6. The bottom of the roll gimbal 5 is fixed on the base 6. The upper shaft 7 at the top of the pitch gimbal 4 is provided with electrical components 8 such as a resolver, an inductosyn, and a power transmission device.

[0028] Set up the first autocollimation theodolite 11 and the second autocollimation theodolite 12, respectively aim at the plane mirror 2 of the pitch gimbal 4 of the inertial platform 1 and a vertical surface of the hexahedron of the body 3, adjust the vertical surface to be in substantially the same orientation as the pitch gimbal 4 and the plane mirror 2, and the normal directions are substantially the same. The first autocollimation theodolite 11 aims at the plane mirror 2 of the pitch gimbal 4, and the second autocollimation theodolite 12 aims at a vertical surface of the hexahedron of the body 3 that is in the same orientation as the plane mirror 2. After alignment, the first autocollimation theodolite 11 and the second autocollimation theodolite 12 aim at each other.

[0029] The zeroing tooling is a U-shaped support frame 9. The two ends of the U-shaped support frame 9 are fixed to the pitch gimbal 4 of the inertial platform 1, and the middle of the U-shaped support frame 9 is fixed to the body 3 of the inertial platform 1 through an L-shaped connecting frame 10. The body 3 of the inertial platform 1 and the pitch gimbal 4 are fixed through the zeroing tooling, and the relative angles between the pitch gimbal 4 and the roll gimbal 5 and between the roll gimbal 5 and the base 6 are locked by bolts. Thus, the relative angle stability of the entire inertial platform 1 is maintained.

[0030] Step 2: Read the electrical outputs of the course resolver and the inductosyn from the display panel of the inertial navigation system, and record the azimuth difference between the first autocollimation theodolite 11 and the second autocollimation theodolite 12, that is, the relative angle data between the body 3 and the pitch gimbal 4, as the original data;

[0031] Step 3: Turn off the power of the inertial navigation system, remove the zeroing tooling, instruments, the first autocollimation theodolite 11, and the second autocollimation theodolite;

[0032] Step 4: Replace the power transmission device, and reinstall the resolver and the inductosyn.

[0033] Step 5: After completion, check the correctness of the wiring, the friction torque of the 3 axes of the platform body, and the static balance of the platform.

[0034] Step 6: Use the zeroing tooling to fix the platform body 3 of the inertial platform 1 again. Set up the first autocollimation theodolite 11 and the second autocollimation theodolite 12 to aim at the plane mirror 2 of the pitching gimbal 4 and the hexahedron of the platform body 3 respectively. Adjust the zeroing tooling to restore the relative angle between the platform body 3 and the pitching gimbal 4 to the original data; adjust the relative positions of the stator and rotor of the resolver and the inductosyn to make the electrical outputs of the resolver and the inductosyn consistent with the original data.

[0035] Step 7: Glue and fix the stator and rotor of the resolver and the inductosyn.

[0036] Step 8: Complete the reinstallation of the platform.

[0037] Step 9: Power on the system for verification.

[0038] Under the condition that the ship is in the dry dock and sitting on the pier, use the zeroing tooling to fix the pitching gimbal 4 and the platform body 3. Use two theodolites to aim at the hexahedron of the platform body 3 and the plane mirror 2 of the pitching gimbal 4 respectively, and read and record the electrical outputs of the angle measuring elements and the azimuth difference between the two theodolites. After completing the replacement of the power transmission device, use the zeroing tooling and the two theodolites to adjust the rotation angle between the pitching gimbal 4 and the platform body 3 to the position before replacement and fix it, and adjust the electrical output of the angle measuring elements to ensure that the electrical zero positions of the angle measuring elements are consistent before and after replacement. Dozens of sets of inertial navigation power transmission devices need to be replaced every year, which greatly improves the in-flight use efficiency of the inertial navigation system. The process is simple and easy to operate, reduces the technical types of work and professional technical requirements, and greatly improves the work efficiency.

[0039] Although the embodiments and drawings of the present invention are disclosed for illustrative purposes, those skilled in the art can understand that various substitutions, changes, and modifications are possible without departing from the spirit and scope of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the content disclosed in the embodiments and drawings.

Claims

1. A method for zeroing an angle measuring element when replacing a power transmission device of a ship inertial navigation system, characterized in that: The method for zeroing an angle measuring element comprises the following steps: Step 1, fix the inertial platform (1) body (3) with a zeroing tool, set up a first autocollimation optical theodolite (11) and a second autocollimation optical theodolite, aim at the plane mirror (2) of the inertial pitch and roll gimbal (4) and the hexahedron of the body (3), respectively, and after alignment, the first autocollimation optical theodolite (11) and the second autocollimation optical theodolite (12) aim at each other; Step 2, reading the electrical outputs of the heading rotary transformer and the inductive synchronizer from the display panel of the inertial navigation system, and recording the azimuth difference between the first autocollimation optical theodolite (11) and the second autocollimation optical theodolite (12), that is, the relative angle data between the platform (3) and the pitch gimbal (4), as raw data; Step 3, turn off the inertial navigation power supply, remove the zero adjustment tool and the first autocollimation optical theodolite (11) and the second autocollimation optical theodolite; Step 4: Replace the power transmission device, and reinstall the rotary transformer and induction synchronizer; Step 5: After completion, check the correctness of wiring, friction torque of the platform shaft and static balance of the platform; Step 6, fix the inertial platform (1) body (3) again with a zeroing tool, set up a first autocollimation optical theodolite (11) and a second autocollimation optical theodolite (12) to respectively aim at the plane mirror (2) of the pitch gimbal (4) and the body hexahedron, and adjust the zeroing tool to restore the relative angle between the body (3) and the pitch gimbal (4) to the original data; Adjust the relative positions of the stator and rotor of the resolver and induction synchronizer to make the electrical output of the resolver and induction synchronizer consistent with the original data; Step 7, sealing and fixing the stator and rotor of the rotary transformer and the induction synchronizer with glue; Step 8: Complete platform reinstallation; Step 9: System startup verification.

2. The method for zeroing an angle measuring element when replacing a power transmission device of a ship inertial navigation system according to claim 1, characterized in that: The zero adjustment tool is a U-shaped support frame (9), both ends of the U-shaped support frame (9) are fixed to the pitch and roll gimbal (4) of the inertial platform (1), and the middle of the U-shaped support frame (9) is fixed to the platform body (3) of the inertial platform (1) via an L-shaped connecting frame (10).

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