Rocket marine launching initial alignment precision test simulation device

Abstract

The invention belongs to the technical field of rocket launching simulation devices, and particularly relates to a rocket marine launching initial alignment precision test simulation device. The asymmetric motion guide mechanism is fixedly arranged at the top end of the integral bracket; the mounting bottom plate is movably arranged on the asymmetric motion guide mechanism; the connecting mechanism is movably connected with the top end of the mounting bottom plate, and the connecting mechanism is used for connecting the mounting bottom plate to suspension equipment; the rolling mechanism is fixedly arranged at the bottom end of the mounting bottom plate, and the rolling mechanism is in rolling contact with the asymmetric motion guide mechanism; and the data acquisition and transmission mechanism is fixedly arranged on the mounting bottom plate and is used for acquiring and transmitting asymmetric motion data. According to the invention, the problem of initial alignment ground verification of high-value and high-cost rocket marine launch is solved, breakthrough progress is achieved in the aspects of simulation fidelity, load capacity, environmental adaptability, test cost, efficiency and the like, and the method has important significance in guaranteeing the success rate of rocket marine launch.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of rocket launch simulation devices, and particularly relates to a rocket sea launch initial alignment precision test simulation device. BACKGROUND

[0002] Self-alignment is a process of determining the relative relationship between the inertial measurement coordinate system and the geographic north direction before flight test, and is used to establish the transformation relationship between the inertial measurement coordinate system and the launch coordinate system and the launch inertial coordinate system, and is the basis of inertial navigation and plays a decisive role in the accuracy of inertial navigation.

[0003] Self-alignment precision test is one of the important ground test projects of self-alignment of rockets in a sea swaying state, and has important significance for testing the correctness of the self-alignment scheme and the calculation precision of the self-alignment algorithm. Due to the disturbance of waves and the like on the sea, the rocket will move with the launch ship, and the initial alignment problem under the condition of swinging needs to be solved, and a certain precision needs to be reached within the launch period. The launch vehicle sea launch coarse alignment test simulation device is a self-alignment test simulation device for simulating the swinging of the launch ship caused by sea wave fluctuation on the land ground.

[0004] During the sea launch process, the navigation system of the launch vehicle needs to complete the initial alignment on the swinging base, and the precision directly affects the success or failure of the launch. The traditional method has the following disadvantages:

[0005] Poor environmental adaptability: the optical aiming method is blocked by sea fog, and needs a long time for azimuth transmission (> 30 minutes), which is difficult to meet the demand of rapid launch.

[0006] Low alignment precision: the traditional self-alignment method uses a fixed parameter low-pass filter to process the inertial measurement unit data, and when the ship body swings greatly, the attitude angle error can reach more than 0.5°, which leads to a 40% increase in the convergence time of fine alignment.

[0007] High test cost: the real ship test needs to rely on a large launch platform, and the cost of a single test is more than one million yuan, and it is difficult to repeat the verification due to the sea state.

[0008] Therefore, it is necessary to design a rocket sea launch initial alignment precision test simulation device to solve the above problems. SUMMARY

[0009] The purpose of the present application is to provide a rocket sea launch initial alignment precision test simulation device, which realizes the simulation of asymmetric sea waves through a pure mechanical structure, and integrates the dynamic calibration function of multiple sensors, and makes up for the disadvantage of excessive overall test load.

[0010] In order to achieve the above object, the present application provides the following scheme: a rocket initial alignment accuracy test simulation device for offshore launch, comprising: a whole support; an asymmetric motion guide mechanism fixedly arranged at the top end of the whole support; a mounting bottom plate movably arranged on the asymmetric motion guide mechanism, the asymmetric motion guide mechanism being used for guiding the mounting bottom plate to move asymmetrically; a connecting mechanism movably connected with the top end of the mounting bottom plate, the connecting mechanism being used for connecting the mounting bottom plate to a suspension device; a rolling mechanism fixedly arranged at the bottom end of the mounting bottom plate, the rolling mechanism being in rolling contact with the asymmetric motion guide mechanism; and a data acquisition and transmission mechanism fixedly arranged on the mounting bottom plate, the data acquisition and transmission mechanism being used for acquiring and transmitting asymmetric motion data.

[0011] Based on the rocket initial alignment accuracy test simulation device for offshore launch of the present application, the asymmetric motion guide mechanism comprises a first guide plate and a second guide plate, the first guide plate is fixedly connected to one end of the top of the whole support, the second guide plate is fixedly connected to the other end of the top of the whole support, the mounting bottom plate is movably arranged between the first guide plate and the second guide plate, and the curvatures of the first guide plate and the second guide plate are different.

[0012] Based on the rocket initial alignment accuracy test simulation device for offshore launch of the present application, a plurality of limiting blocks are fixedly connected to the whole support, and the limiting blocks are located at the two ends of the first guide plate and the second guide plate.

[0013] Based on the rocket initial alignment accuracy test simulation device for offshore launch of the present application, the rolling mechanism comprises a plurality of universal cow eye rolling balls, the fixed ends of the universal cow eye rolling balls are fixedly connected with the bottom end of the mounting bottom plate, and the rolling ends of the universal cow eye rolling balls are in rolling contact with the first guide plate and / or the second guide plate.

[0014] Based on the rocket initial alignment accuracy test simulation device for offshore launch of the present application, a plurality of rubber props are fixedly connected to the bottom end of the mounting bottom plate.

[0015] Based on the rocket initial alignment accuracy test simulation device for offshore launch of the present application, the connecting mechanism comprises a combined hoist, one end of the combined hoist is movably connected with the top end of the mounting bottom plate, and the other end of the combined hoist is connected with the suspension device.

[0016] Based on the rocket initial alignment accuracy test simulation device for offshore launch of the present application, the data acquisition and transmission mechanism comprises a to-be-tested component and a reference component, and the to-be-tested component and the reference component are detachably mounted on the mounting bottom plate.

[0017] The rocket sea launch initial alignment precision test simulation device based on the application, the to-be-tested component includes a vehicle inertial measurement unit, and the vehicle inertial measurement unit is detachably installed on the installation base plate.

[0018] The rocket sea launch initial alignment precision test simulation device based on the application, the reference component includes a high-precision reference inertial measurement unit and a reference inertial measurement unit antenna, the high-precision reference inertial measurement unit is detachably installed on the installation base plate, and the reference inertial measurement unit antenna is detachably installed on the installation base plate through a second antenna support.

[0019] The rocket sea launch initial alignment precision test simulation device based on the application, the installation base plate is detachably provided with a plurality of GNSS antennas through a first antenna support, and an RTK antenna, a radio antenna and an RTK receiver are also detachably installed on the installation base plate, the RTK antenna is arranged on the second antenna support, and the RTK receiver, the vehicle inertial measurement unit and the high-precision reference inertial measurement unit are connected with a ground front-end device.

[0020] Compared with the prior art, the application has the following advantages and technical effects: compared with a mechanical swing table that can only generate an ideal sine wave, the application can reproduce a high-fidelity asymmetric sea wave form, the motion characteristics of the wave crest and the wave trough are obviously different, and the correlation coefficient with the real sea condition is greatly improved. In this environment, the attitude angle error of the initial alignment algorithm can be controlled within a very small range, the precision is greatly improved compared with the traditional method, the credibility of the ground test verification is greatly improved, and a high-quality data source is provided for optimizing the fine alignment algorithm.

[0021] The entire simulation process does not require external power supply, has no energy consumption, and is completely free of dependence on fixed power supply, so that the test can be flexibly carried out in outdoor places such as wharfs and fields.

[0022] The test cost is extremely low, and the test is not limited by weather and sea conditions, and can be repeated and iterated at any time and any place. The preparation time is greatly reduced from deployment to completion of one test.

[0023] The device shaking can be realized by manual pushing or crane micro-motion, without the need for professional operators to control a complex electro-hydraulic system, and the operation is extremely simple. All the devices are integrated in the overall support, so that the risk of device sliding during the shaking process is avoided, and the safety is high. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0025] Fig. 1 The overall schematic diagram of the present application.

[0026] Fig. 2 The schematic diagram of the installation base plate and data acquisition transmission mechanism of the present application.

[0027] Wherein, 1, overall support; 2, first guide plate; 3, second guide plate; 4, limiting block; 5, installation base plate; 6, universal bullseye ball; 7, rubber prop; 8, combined sling; 9, first antenna support; 10, second antenna support; 11, GNSS antenna; 12, RTK antenna; 13, radio antenna; 14, RTK receiver; 15, aircraft inertial unit; 16, high-precision reference inertial unit; 17, reference inertial unit antenna. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0029] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0030] Reference Figs. 1-2 As shown in the figure, the present application provides a rocket sea launch initial alignment precision test simulation device, comprising: an overall support 1; an asymmetric motion guide mechanism fixedly arranged at the top end of the overall support 1; an installation base plate 5 movably arranged on the asymmetric motion guide mechanism, the asymmetric motion guide mechanism being used for guiding the installation base plate 5 to move asymmetrically; a connecting mechanism movably connected with the top end of the installation base plate 5, the connecting mechanism being used for connecting the installation base plate 5 to a suspension equipment; a rolling mechanism fixedly arranged at the bottom end of the installation base plate 5, the rolling mechanism being in rolling contact with the asymmetric motion guide mechanism; and a data acquisition and transmission mechanism fixedly arranged on the installation base plate 5, the data acquisition and transmission mechanism being used for acquiring and transmitting asymmetric motion data.

[0031] Further, the asymmetric motion guide mechanism comprises a first guide plate 2 and a second guide plate 3, the first guide plate 2 is fixedly connected at one end of the top of the overall support 1, the second guide plate 3 is fixedly connected at the other end of the top of the overall support 1, the installation base plate 5 is movably arranged between the first guide plate 2 and the second guide plate 3, and the curvature radii of the first guide plate 2 and the second guide plate 3 are different.

[0032] The first guide plate 2 and the second guide plate 3 are fixed to the overall support 1 with a certain curvature, forming an asymmetric guide track. The curvature is designed such that the curvature radius on one side of the track is larger (simulating a gentle wave trough), and the curvature radius on the other side is smaller (simulating a steep wave crest).

[0033] Further, the overall support 1 is fixedly connected with a plurality of limiting blocks 4, which are located at the two ends of the first guide plate 2 and the second guide plate 3.

[0034] The limiting blocks 4 are installed on the overall support 1 and located at the edge of the movement track of the mounting base plate 5, serving as mechanical limiting and protection to prevent the device from slipping in severe swinging.

[0035] Further, the rolling mechanism includes a plurality of universal cow eye balls 6, the fixed end of which is fixedly connected with the bottom end of the mounting base plate 5, and the rolling end of which is in rolling contact with the first guide plate 2 and / or the second guide plate 3.

[0036] The plurality of universal cow eye balls 6 are embedded in the bottom of the mounting base plate 5, with the spherical top end in contact with the upper surfaces of the first guide plate 2 and the second guide plate 3. When the device is pushed to swing, the balls roll along the curved surfaces of the first guide plate 2 and the second guide plate 3, converting the suspension swinging of the device into horizontal movement of the mounting base plate 5 with asymmetric characteristics. By adjusting the size and direction of the pushing force, different sea state fluctuations can be flexibly simulated.

[0037] Further, the bottom end of the mounting base plate 5 is fixedly connected with a plurality of rubber foot props 7.

[0038] The mounting base plate 5 is a metal platform with high flatness and high rigidity, which is "sitting" on the first guide plate 2 and the second guide plate 3 through the universal cow eye balls 6, reducing the frictional resistance. A plurality of standardized mounting interfaces and threaded holes are precisely machined on it.

[0039] Further, the connecting mechanism includes a combined sling 8, one end of which is movably connected with the top end of the mounting base plate 5, and the other end of which is connected with the suspended device.

[0040] The upper end of the combined sling 8 is connected with the hoist hook, and the lower end is connected with the top hoisting point of the overall support 1 through a ball hinge mechanism (or a universal joint). This ensures that the entire device has the ability to swing with multiple degrees of freedom in a suspended state, while avoiding additional interference introduced by rope twisting.

[0041] The overall support 1 is a solid frame structure for fixing the first guide plate 2, the second guide plate 3, and the limiting blocks 4, and providing a hoisting point for connecting with the combined sling 8.

[0042] Further, the data acquisition and transmission mechanism comprises a to-be-tested component and a reference component, and the to-be-tested component and the reference component are detachably installed on the installation base plate 5.

[0043] Further, the to-be-tested component comprises an aircraft inertial measurement unit 15, and the aircraft inertial measurement unit 15 is detachably installed on the installation base plate 5.

[0044] Further, the reference component comprises a high-precision reference inertial measurement unit 16 and a reference inertial measurement unit antenna 17, the high-precision reference inertial measurement unit 16 is detachably installed on the installation base plate 5, and the reference inertial measurement unit antenna 17 is detachably installed on the installation base plate 5 through the second antenna support 10.

[0045] The measurement value of the high-precision reference inertial measurement unit 16 serves as a reference true value for evaluating the precision of the aircraft inertial measurement unit 15.

[0046] Further, the installation base plate 5 is detachably installed with a plurality of GNSS antennas 11 through the first antenna support 9, and the installation base plate 5 is further detachably installed with an RTK antenna 12, a radio antenna 13 and an RTK receiver 14, the RTK antenna 12 is arranged on the second antenna support 10, and the RTK receiver 14, the aircraft inertial measurement unit 15 and the high-precision reference inertial measurement unit 16 are connected with a ground front-end device.

[0047] The GNSS antennas 11 constitute a short baseline measurement system, and are used for calculating the real-time position and heading of a carrier.

[0048] The working process of the application is as follows: preparation stage: the aircraft inertial measurement unit 15, the high-precision reference inertial measurement unit 16 and the GNSS antennas 11 are respectively installed on the corresponding positions of the installation base plate 5, and all cables are connected.

[0049] Excitation stage: the tester applies an initial thrust to the device by artificial means, or performs a small amplitude lifting / moving operation by a crane.

[0050] Simulation stage: during the swinging process, the universal bull's eye ball 6 at the bottom of the installation base plate 5 rolls along the specific curvature surface of the first guide plate 2 and the second guide plate 3.

[0051] Data acquisition phase: During the whole shaking process, the aircraft inertial measurement unit 15 and the high-precision reference inertial measurement unit 16 continuously output inertial data, and the GNSS antenna 11 receives satellite signals. All data are transmitted in real time to the ground front-end equipment through the cable for recording.

[0052] Analysis and verification phase: After the test is completed, based on the reference information provided by the high-precision reference inertial measurement unit 16 and the GNSS antenna 11, the accuracy of the initial alignment algorithm processing result of the aircraft inertial measurement unit 15 is evaluated, so as to verify the effectiveness of the algorithm under the simulated sea wave condition.

[0053] The application discards the complex electro-hydraulic servo system, adopts a "suspended single pendulum" as a basic excitation source, and simulates the randomness of sea waves through "manual driving". The core key lies in the design of an asymmetric motion guide mechanism composed of a first guide plate 2 with a specific curvature, a second guide plate 3, and a universal bull's eye ball 6 transmission sliding bearing assembly. Through the differential design of physical limiting and friction damping, the device has the characteristics of small resistance, long stroke, and slow speed when moving in one direction (simulating wave trough), and large resistance, short stroke, and fast speed when moving in the other direction (simulating wave peak), thereby efficiently and realistically reproducing the asymmetric wave form of the real sea wave "steep wave peak and gentle wave trough" under pure mechanical conditions, which cannot be achieved by traditional simple mechanical pendulum tables.

[0054] The main structure of the application adopts an overall support 1 design, which is connected with the crane through a combined sling 8 to realize the suspension and carrying of hundreds of kilograms of test products (such as inertial measurement units, machine cases, etc.). The whole shaking simulation process completely relies on the conversion of gravitational potential energy and kinetic energy and the artificial initial thrust, without external power driving, realizing zero-power wave excitation. The design of the universal bull's eye ball 6 ensures the low-friction smooth movement of the installation base plate 5 in any horizontal direction, which not only ensures the shaking freedom, but also reduces the demand for driving force to the minimum, making manual pushing possible, and fundamentally solving the problems of high energy consumption and poor outdoor adaptability of the hydraulic swing table.

[0055] The application integrates high-precision measurement and calibration reference. The installation base plate 5 not only serves as a shaking platform, but also a precise reference plane, on which a high-precision reference inertial measurement unit 16 is installed, providing attitude and acceleration reference true values for the tested aircraft inertial measurement unit 15. At the same time, a special antenna support is designed for accurately installing multiple GNSS antennas 11 to form a short baseline for measuring the displacement and heading change of the carrier during shaking, providing a data source for GNSS / INS integrated navigation algorithm verification. This "common reference" design of rigidly connecting the reference sensor and the measured sensor to the same shaking body ensures the high synchronization and accuracy of the comparison data, and provides a hardware foundation for precision calibration under dynamic conditions.

[0056] The application integrates the navigation device cluster (inertial measurement unit, GNSS receiver, etc.) and the simulation device body by only taking out the design concept of the coarse alignment device integrated module, avoids the problem of placing the whole rocket or large platform on the shaking table, greatly reduces the test load (<500 kg), and realizes the separation of dynamic and static through a cable connected with the ground fixed device. The device can be quickly lifted by a crane and start testing, and can be disassembled and transported after testing, has high mobility and rapid deployment capability, perfectly adapts to various site environments such as outdoors and wharfs, has very low single test cost, and can perform a large amount of repetitive verification.

[0057] In the description of the application, it should be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application.

[0058] The above-described embodiments are only descriptions of the preferred modes of the application, and do not limit the scope of the application. Without departing from the design spirit of the application, various modifications and improvements to the technical solutions of the application made by those skilled in the art shall fall within the protection scope of the application.

Claims

1. A simulation device for testing the initial alignment accuracy of a rocket launched from a ship, characterized in that, The application relates to a whole bracket (1), an asymmetric motion guiding mechanism fixedly arranged at the top end of the whole bracket (1), a mounting bottom plate (5) movably arranged on the asymmetric motion guiding mechanism, the asymmetric motion guiding mechanism being used for guiding the mounting bottom plate (5) to move asymmetrically, a connecting mechanism movably connected with the top end of the mounting bottom plate (5), the connecting mechanism being used for connecting the mounting bottom plate (5) to a suspension device, a rolling mechanism fixedly arranged at the bottom end of the mounting bottom plate (5), the rolling mechanism being in rolling contact with the asymmetric motion guiding mechanism, and a data acquisition and transmission mechanism fixedly arranged on the mounting bottom plate (5), the data acquisition and transmission mechanism being used for acquiring and transmitting asymmetric motion data. The asymmetric motion guiding mechanism comprises a first guiding plate (2) and a second guiding plate (3), the first guiding plate (2) is fixedly connected to one end of the top of the whole bracket (1), the second guiding plate (3) is fixedly connected to the other end of the top of the whole bracket (1), the mounting bottom plate (5) is movably arranged between the first guiding plate (2) and the second guiding plate (3), and the curvatures of the first guiding plate (2) and the second guiding plate (3) are different. A plurality of limiting blocks (4) are fixedly connected to the whole bracket (1), and the limiting blocks (4) are located at the two ends of the first guiding plate (2) and the second guiding plate (3). The rolling mechanism comprises a plurality of universal cow eye rolling balls (6), the fixed ends of the universal cow eye rolling balls (6) are fixedly connected to the bottom end of the mounting bottom plate (5), and the rolling ends of the universal cow eye rolling balls (6) are in rolling contact with the first guiding plate (2) and / or the second guiding plate (3). A plurality of rubber props (7) are fixedly connected to the bottom end of the mounting bottom plate (5). The connecting mechanism comprises a combined hoisting sling (8), one end of the combined hoisting sling (8) is movably connected with the top end of the mounting bottom plate (5), and the other end of the combined hoisting sling (8) is connected with the suspension device. The data acquisition and transmission mechanism comprises a to-be-tested assembly and a reference assembly, and the to-be-tested assembly and the reference assembly can be detachably mounted on the mounting bottom plate (5).

2. The test simulation device for initial alignment accuracy of a rocket launched from a ship according to claim 1, wherein The to-be-tested assembly comprises an aircraft inertial measurement unit (15), and the aircraft inertial measurement unit (15) can be detachably mounted on the mounting bottom plate (5).

3. The test device of claim 2, wherein: The reference assembly comprises a high-precision reference inertial measurement unit (16) and a reference inertial measurement unit antenna (17), the high-precision reference inertial measurement unit (16) can be detachably mounted on the mounting bottom plate (5), and the reference inertial measurement unit antenna (17) is detachably mounted on the mounting bottom plate (5) through a second antenna support (10).

4. The test device of claim 2, wherein: ​ 5. The test device of claim 1, wherein: ​ 6. The test device of claim 1, wherein: ​ 7. The test device of claim 1, wherein: ​ 8. The test device of claim 7, wherein: ​ 9. The test device of claim 8, wherein: ​ 10. The test device of claim 9, wherein: The mounting base plate (5) is detachably mounted with a plurality of GNSS antennas (11) through a first antenna support (9), and is also detachably mounted with an RTK antenna (12), a radio antenna (13) and an RTK receiver (14), the RTK antenna (12) is arranged on the second antenna support (10), and the RTK receiver (14), the aircraft inertial measurement unit (15) and the high-precision reference inertial measurement unit (16) are connected with a ground front-end device.

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