Field calibration device for airborne navigation system

Abstract

The invention discloses a field calibration device for an airborne navigation system, and belongs to the field of navigation system calibration. The device comprises a positioning and orienting system, a movable three-axis turntable and a portable industrial control all-in-one machine, the positioning and orientation system comprises a gyro north seeker, a laser tracker, a satellite receiver, an RTK data radio assembly, an antenna, a control acquisition box, a battery box, a tripod, a power cable, a gyro north seeker signal output cable, a laser tracker signal output cable, an antenna signal output cable and an acquisition signal output cable; the movable three-axis rotary table comprises an inner shaft table top, an inner code disc, a middle code disc, an outer code disc, an outer motor, an outer slip ring, an inner shaft worm and gear shaft system, a middle shaft worm and gear shaft system, a north guide mirror, a base, an electric control box, a main shaft driver, a power supply and a roller, the given angular position is realized by controlling the rotary table to rotate, and the given angular speed is realized by controlling the rotation angular rate; the attitude angle is given by controlling three axes of the rotary table and is used for attitude calibration of an airborne navigation system.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of navigation system calibration, and relates to a field calibration device for airborne navigation system. BACKGROUND

[0002] The navigation system is an important component of certain aircraft and other key types, and the navigation system is a combined navigation system composed of inertial navigation (INS) and global satellite navigation (GNSS).

[0003] Under the long-time navigation working state, the zero offset and other parameters of the assembled accelerometer and gyroscope of the navigation system will be offset with time, which leads to the change of the parameters of the inertial navigation system with the increase of the use time of the whole machine, and the longer the time interval, the greater the change. According to statistics, the error caused by the inertial device accounts for more than 70% of the whole navigation error. Therefore, in order to ensure the long-term working accuracy of the navigation system, it is necessary to regularly calibrate the navigation system in the field, and provide the obtained calibration results to the solving software of the navigation system for error correction, so as to ensure that the accuracy of the navigation system is not affected by the zero drift of the inertial device, and thus ensure that the navigation system indicators meet the needs of certain aircraft and other weapon equipment.

[0004] At present, there is a lack of calibration devices that can be used for the field calibration of the navigation system, and there is no corresponding field calibration method. In order to solve the problem of field calibration of the navigation system of certain aircraft and improve the efficiency of field measurement support of the navigation system, it is urgent to develop a field calibration device for the navigation system and study a field calibration method for the navigation system, so as to provide measurement support for the development and application of certain aircraft and other key types of equipment. SUMMARY

[0005] The purpose of the present application is to provide a field calibration device for airborne navigation system, which is used for calibrating the performance indicators of the navigation system, including the calibration of angular motion parameters and position parameters. The present application has the advantages of high precision, stable performance, convenient carrying, convenient installation and debugging, simple operation and the like.

[0006] The purpose of the present application is achieved by the following technical scheme.

[0007] The application discloses a field calibration device for an airborne navigation system, which comprises a positioning and orientation system, a mobile three-axis turntable and a portable industrial computer. The positioning and orientation system comprises a gyro north finder, a laser tracker, a satellite receiver, an RTK data transmission radio assembly, an antenna, a control collection box, a battery box, a tripod, a power cable, a gyro north finder signal output cable, a laser tracker signal output cable, an antenna signal output cable and a collection signal output cable. The mobile three-axis turntable comprises an inner shaft table, an inner code disc, a middle code disc, an outer code disc, an outer motor, an outer slip ring, an inner shaft worm gear shaft system, a middle shaft worm gear shaft system, a north finder, a base, an electric control box, a main shaft driver, a power supply and a roller. The rotation of the turntable is controlled by a control system to achieve the given angle position, and the rotation angle rate of the turntable is controlled by the control system to achieve the given angle velocity, so that the standard angle position and angle rate are provided. The airborne navigation system is installed on the mobile three-axis turntable, the three axes of the turntable are controlled by the control system to achieve the given attitude angle, and the attitude calibration of the airborne navigation system is achieved. The portable industrial computer comprises a motion control board card, a data collection card, an angle measurement board card and calibration software, and the motion control of the turntable, the data collection and the calibration of the airborne navigation system are achieved.

[0008] The navigation system is used for acquiring the current state information of a carrier for navigation positioning and motion control, and the state information comprises the current position, speed and attitude of the carrier.

[0009] The gyro north finder and the laser tracker are combined and integrated, coaxially connected through a connecting disc in a fixed connection mode, the azimuth main shaft of the gyro north finder is parallel to the vertical shaft of the laser tracker, and the north seeking function is realized.

[0010] The gyro north finder comprises a gyro sensitive part, a support leveling device, a cover assembly, a display control module, a fixed hand wheel and a tripod, and the output signal is connected to the control collection box through a gyro north finder signal output cable. The support leveling device realizes accurate leveling.

[0011] The laser tracker comprises a laser tracking head and a target ball, and the output signal is connected to the control collection box through a laser tracker signal output cable.

[0012] The satellite receiver, the RTK data transmission radio assembly and the antenna realize the position positioning function. The antenna is a satellite receiver antenna, installed on the top of the laser tracker, and the output signal is connected to the control collection box through an antenna signal output cable.

[0013] The control acquisition box acquires the output signals of the gyro north seeker, the laser tracker and the antenna, and outputs the acquired signals after processing.

[0014] The power box is responsible for supplying power to the gyro north seeker and the laser tracker, and the power cable is connected to the battery box.

[0015] The inner code disc, the middle code disc and the outer code disc measure the angular positions of the inner shaft, the middle shaft and the outer shaft respectively, and provide position accuracy and rate accuracy feedback.

[0016] The power box is responsible for supplying power to the gyro north seeker and the laser tracker, and the power cable is connected to the battery box.

[0017] Beneficial effects:

[0018] 1. The field calibration device for the airborne navigation system disclosed in the present application is different from the laboratory calibration equipment, and the combination and integration design of the mobile three-axis turntable, the gyro north seeker and the laser tracker enables the calibration of the navigation system to be carried out in the field, the entire calibration device is movable, and reassembly is simple and rapid, thereby meeting the demand for field calibration of the navigation system for weapon equipment, providing the weapon equipment with a field calibration device, and providing metrological support for the development and application of weapon equipment.

[0019] 2. The field calibration device for the airborne navigation system disclosed in the present application adopts high-precision and rapid positioning of the satellite receiver and the laser tracker, and high-precision and rapid orientation of the gyro north seeker and the laser tracker, constructs a positioning and orientation system integrated with the satellite receiver, the laser tracker and the gyro north seeker, realizes the calibration of the heading and attitude of the navigation system, and the obtained calibration result can be used for error correction of the navigation system, thereby improving the precision of the navigation system.

[0020] 3. The field calibration device for the airborne navigation system disclosed in the present application is based on the existing laboratory calibration, the rotating arm test bench calibration, the running car calibration and the rocket pry calibration, adopts the digital servo control principle of the microcomputer control driver-torque direct drive frame, realizes the integration of the high-precision control system and the portable turntable body, constructs a mobile three-axis turntable, and realizes the field calibration of the navigation system. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a schematic diagram of the positioning and orientation system disclosed in the present application.

[0022] Figure 2Is the mobile three-axis turntable composition schematic diagram disclosed by the present application;

[0023] Figure 3 Is the combination integrated system schematic diagram of the gyro north finder and laser tracker disclosed by the present application;

[0024] 1 - gyro north finder, 2 - laser tracker, 3 - satellite receiver, 4 - RTK data radio assembly, 5 - antenna, 6 - control acquisition box, 7 - battery box, 8 - power cable, 9 - tripod, 10 - gyro north finder signal output cable, 11 - laser tracker signal output cable, 12 - antenna signal output cable, 13 - acquisition signal output cable, 14 - inner shaft table, 15 - inner code disc, 16 - middle code disc, 17 - outer code disc, outer motor 18 -, 19 - outer slip ring, 20 - inner shaft worm gear shaft system, 21 - middle shaft worm gear shaft system, 22 - north finder mirror, 23 - base, 24 - electric control box, 25 - main shaft driver, 26 - power supply, 27 - roller, 28 - gyro sensitive part, 29 - support leveling device, 30 - cover assembly, 31 - display control module, 32 - fixed hand wheel, 33 - tripod. DETAILED DESCRIPTION

[0025] The present application will be further described below in combination with the drawings and examples.

[0026] Example 1

[0027] As Figure 1 , Figure 2 , Figure 3As shown, the on-board navigation system for field calibration device disclosed in the embodiment, mainly by positioning and orientation system, mobile three-axis turntable, portable industrial computer consists of. The positioning and orientation system includes gyro north finder 1, laser tracker 2, satellite receiver 3, RTK data radio assembly 4, antenna 5, control acquisition box 6, battery box 7, power cable 8, tripod 9, gyro north finder signal output cable 10, laser tracker signal output cable 11, antenna signal output cable 12, acquisition signal output cable 13. Gyro north finder 1 and laser tracker 2 combination integration, using solid connection type coaxial connection through the connecting plate, realize the function of north-seeking. Satellite receiver 3, RTK data radio assembly 4 and antenna 5, realize the function of position positioning. Mobile three-axis turntable includes inner shaft table 14, inner code disc 15, middle code disc 16, outer code disc 17, outer motor 18, outer slip ring 19, inner shaft worm gear shaft system 20, middle shaft worm gear shaft system 21, north finder mirror 22, base 23, electric control box 24, main shaft driver 25, power 26, roller 27, realize the given of angle position, angular velocity, for the calibration of the attitude of the on-board navigation system. Portable industrial computer as the host computer, including motion control board card, data acquisition card, angle measurement board card, calibration software, realize the motion control of turntable, data acquisition and calibration of on-board navigation system.

[0028] The gyro north finder 1 and laser tracker 2 combination integration, using solid connection type coaxial connection through the connecting plate, gyro north finder azimuth main shaft and laser tracker vertical shaft parallel, realize the function of north-seeking.

[0029] The gyro north finder gyro sensitive part 28, support leveling device 29, cover assembly 30, display control module 31, fixed hand wheel 32, tripod 33, output signal through gyro north finder signal output cable 10 connected to control acquisition box 6. Support leveling device 29 realizes the accurate leveling.

[0030] The laser tracker 2 includes laser tracking head 34, target ball 35, output signal through laser tracker signal output cable connected to control acquisition box.

[0031] The satellite receiver 3, RTK data radio assembly 4, antenna 5, realize the function of position positioning. Antenna 5 is the antenna of satellite receiver 3, installed on the top of laser tracker 2, output signal through antenna signal output cable 12 connected to control acquisition box 6.

[0032] The control acquisition box 6 acquires the output signals of the gyro north finder 1, the laser tracker 2 and the antenna 5, and outputs the acquired signals after processing. The control acquisition box 6 is connected with the gyro north finder signal output cable 10, the laser tracker signal output cable 11 and the antenna signal output cable 12 at the input end, and is connected with the acquisition signal output cable 13 at the output end. The acquisition signal output cable 13 is connected to the portable industrial computer.

[0033] The power box 7 is responsible for supplying power to the gyro north finder 1 and the laser tracker 2. The power cable 8 is connected to the battery box 7.

[0034] The inner code disc 15, the middle code disc 16 and the outer code disc 17 respectively measure the angular positions of the inner shaft, the middle shaft and the outer shaft, and provide position accuracy and rate accuracy feedback.

[0035] The electric control box 24, the main shaft driver 25 and the power supply 26 are embedded in the base 23. The electric control box 24 is the outer shaft control system of the mobile three-axis turntable, which is embedded on the side of the base 23, so as to realize real-time control of the movement of the outer shaft of the mobile three-axis turntable.

[0036] Based on the device and the use of example 1, the calibration method based on the airborne navigation system is disclosed, and the specific implementation steps are as follows:

[0037] Step 1: Install the navigation system to be calibrated on the inner shaft table of the mobile three-axis turntable, and adjust the table to be horizontal.

[0038] Step 2: Connect the positioning and orientation system of the calibration device, the mobile three-axis turntable and the portable industrial computer through the cable, as shown in the attached Figure 1

[0039] Step 3: Check the equipment, check each subsystem to ensure that the power is turned on under the condition of normal work, and adjust to the standby state.

[0040] Step 4: Adjust the position of the laser tracker so that the light source generated by the laser can be linearly reflected back through the north mirror on the mobile three-axis turntable.

[0041] Step 5: Run the calibration device, and control the mobile three-axis turntable to be horizontal and stationary through the calibration software on the portable industrial computer for more than 1 min.

[0042] Step 6: Turn on the data acquisition system of the calibration device, and collect the output position information of the receiver and the navigation system according to the test requirements; continuously collect 6 groups of data, collect 1 min of data each time, record pi~p6i, and calculate the average value of the 6 groups as the calibrated position value of the calibration point.

[0043] ​Step 7: control the mobile three-axis rotary table to rotate, the inner shaft rotates 0°, 90°, 180°, 270°, repeat step 6 at each position, and calculate the position value at each position;

[0044] Step 8: control the mobile three-axis rotary table to rotate, the middle shaft rotates 0°, 90°, 180°, 270°, repeat step 6 at each position, and calculate the position value at each position;

[0045] Step 9: control the mobile three-axis rotary table to rotate, the outer shaft rotates 0°, 90°, 180°, 270°, repeat step 6 at each position, and calculate the position value at each position;

[0046] Step 10: process the data of steps 6, 7, 8, and 9 according to the twelve-position calibration method, and calculate the output position information of the navigation system in the static state;

[0047] Step 11: control the inner shaft of the mobile three-axis rotary table to rotate, rotate to the attitude angle of 30°, 60°, and 90°, collect the output attitude information of the mobile three-axis rotary table and the navigation system at each attitude angle position; collect 6 groups of data continuously, collect 1 min of data each time, record as z1i~z6i, and calculate the average value of the 6 groups as the calibrated attitude value of the calibration point;

[0048] Step 12: control the middle shaft of the mobile three-axis rotary table to rotate, rotate to the attitude angle of 30°, 60°, and 90°, repeat step 11 at each position, and calculate the attitude value at each position;

[0049] Step 13: control the outer shaft of the mobile three-axis rotary table to rotate, rotate to the attitude angle of 30°, 60°, and 90°, repeat step 11 at each position, and calculate the attitude value at each position;

[0050] Step 14: process the data of steps 11, 12, and 13, and calculate the output attitude information of the navigation system at different angles.

[0051] Step 15: according to the comparison method, calculate the error of the position and attitude information of the navigation system and the standard device.

[0052] The above specific description further details the purpose, technical solution, and beneficial effects of the application. It should be understood that the above description is only a specific embodiment of the application and does not limit the protection scope of the application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the application should be included in the protection scope of the application.

Claims

1. An on-site calibration device for an airborne navigation system, characterized by: The navigation system is used for obtaining current state information of a carrier for navigation positioning and motion control, and the state information includes current position, speed and attitude of the carrier. The gyro north finder and the laser tracker are combined and integrated, and are coaxially connected through a connecting disc in a fixed connection mode, the azimuth main shaft of the gyro north finder is parallel to the vertical shaft of the laser tracker, and the north seeking function is realized.

2. The on-board navigation system field calibration apparatus of claim 1 wherein, The gyro north finder includes a gyro sensitive part, a support leveling device, an outer cover assembly, a display control module, a fixed hand wheel and a tripod, and the output signal is connected to the control acquisition box through the gyro north finder signal output cable.

3. The on-board navigation system field calibration apparatus of claim 1 wherein, The laser tracker includes a laser tracking head and a target ball, the output signal is connected to the control acquisition box through the laser tracker signal output cable, and the output signal data is transmitted to the upper computer software.

4. The on-board navigation system field calibration apparatus of claim 1 wherein, The satellite receiver, the RTK data radio assembly and the antenna realize the position positioning function; the antenna is a satellite receiver antenna, is installed on the top of the laser tracker, and the output signal is connected to the control acquisition box through the antenna signal output cable.

5. The on-board navigation system field calibration apparatus of claim 1 wherein, The control acquisition box collects the output signals of the gyro north finder, the laser tracker and the antenna, processes the collected signals through the upper computer data processing software, and then outputs the processed signals; the input end of the control acquisition box is connected with the gyro north finder signal output cable, the laser tracker signal output cable and the antenna signal output cable, the output end is connected with the acquisition signal output cable, and the acquisition signal output cable is connected to the portable industrial computer.

6. The on-board navigation system field calibration apparatus of claim 1 wherein, The power box is responsible for supplying power for the gyro north finder and the laser tracker, and the power cable is connected with the battery box.

7. The on-board navigation system field calibration apparatus of claim 1 wherein, The inner code disc, the middle code disc and the outer code disc respectively measure the angular positions of the inner shaft, the middle shaft and the outer shaft, and provide position accuracy and rate accuracy feedback for the mobile three-axis turntable control system.

8. The on-board navigation system field calibration apparatus of claim 1 wherein, ​ 9. The on-board navigation system field calibration apparatus of claim 1 wherein, The electric control box, the main shaft driver and the power supply are embedded in the base; the electric control box is a control system of the outer shaft of the mobile three-axis rotary table, is arranged on one side of the base stand in an embedded mode and realizes real-time control on the movement of the outer shaft of the mobile three-axis rotary table.

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