A flexible inertial measurement unit rigging device and method

Abstract

The application provides a flexible inertial measurement unit rigidity debugging device and method. The debugging device is connected in series with a fixed resistor and a variable resistor to form an adjustable impedance circuit, and both of them provide stable, continuous and high-resolution resistance adjustment capability. The debugging method temporarily connects the external flexible inertial measurement unit rigidity debugging device to the gyro control circuit inside the flexible inertial measurement unit to be tested, so that the technician can adjust the resistance of the debugging circuit inside the device in real time, and observe the change of the output pulse count value to meet the total resistance value of the debugging circuit with the preset accuracy requirement. The selected matching adjustment resistor is welded to the two ends of the corresponding rigidity center adjustment resistor, which solves the problem that the adjustment resistor is difficult to estimate during the rigidity center adjustment, changes the rigidity center adjustment from relying on artificial experience to a deterministic operation with a clear quantitative basis, improves the debugging efficiency, and meets the technical problems of application requirements of high precision, high stability and batch generation.

Description

Technical Field

[0001] This invention relates to a stiffness adjustment device and method, specifically to a flexible inertial navigation system (INS) stiffness adjustment device and method that utilizes the adjustment principle of an electric compensation machine to assist adjustment personnel in adjusting the stiffness center of a flexible INS. Background Technology

[0002] As the core inertial measurement unit of an inertial navigation system, the flexible inertial group (IIG) can acquire the angular velocity and linear acceleration information of the carrier in real time. Its measurement accuracy, environmental adaptability, and batch consistency directly determine the overall performance of the inertial navigation system. In actual operation, the flexible IIG is always in a complex mechanical environment such as vibration and impact. The angular vibration of the carrier will generate false linear acceleration signals through mechanical lever effect coupling at the sensitive end of the accelerometer. The error caused by this angular vibration is dynamic and high-frequency, which is difficult to effectively suppress through data processing methods such as back-end software filtering and algorithm compensation. Therefore, calibrating the stiffness center of the flexible IIG to make the stiffness center, installation center, and center of mass of the flexible IIG coinciding is a necessary hardware calibration method to eliminate angular vibration coupling error and ensure that the flexible IIG outputs true inertial acceleration.

[0003] Currently, the industry commonly uses an "electrical compensation" calibration method. By adjusting the resistance parameters of the internal circuit board of the flexible inertial group (INS), it effectively compensates for the micron-level structural deviations generated during machining and assembly. This transforms the minute structural errors that are difficult to correct mechanically into electrically adjustable and quantifiable circuit parameter errors, indirectly achieving fine-tuning of the stiffness center of the INS. However, during the calibration process, there is no real-time detection data feedback, and the initial deviation benchmark of the stiffness center and the required fine-tuning amount cannot be quantitatively estimated. The entire calibration process relies entirely on the experience of the calibration personnel and requires multiple iterative tests. This results in problems such as low calibration accuracy, poor quantification, low calibration efficiency, and poor consistency of batch products. It is very easy for the measurement error of the INS to exceed the standard under vibration environment, which cannot meet the application requirements of high precision, high stability, and mass production. Summary of the Invention

[0004] The purpose of this invention is to solve the technical problems in the existing technology of calibration, which are that the initial deviation benchmark of stiffness center and the required fine adjustment amount cannot be quantitatively estimated, and the calibration process relies on the experience of the calibration personnel and requires multiple iterative tests. As a result, there are defects such as low calibration accuracy, poor quantification, low calibration efficiency and poor consistency of batch products. This can easily lead to excessive measurement errors of flexible inertial navigation system products under vibration environment, and fail to meet the application requirements of high precision, high stability and mass production. Therefore, this invention provides a flexible inertial navigation system stiffness calibration device and method.

[0005] To achieve the above objectives, the technical solution provided by this invention is as follows:

[0006] A flexible inertial navigation system (INS) stiffness adjustment device, wherein the INS internally houses multiple gyroscopes and multiple gyroscope control circuits respectively connected to the multiple gyroscopes, and each gyroscope control circuit is equipped with a corresponding stiffness center adjustment resistor; its special feature is:

[0007] It includes a test box, N debugging circuits inside the test box, and N adjustment knobs and 2N terminals outside the test box; where N≥2;

[0008] Each debugging circuit includes a fixed resistor and a variable resistor connected in series. The adjustment terminal of the variable resistor is electrically connected to one of the corresponding adjustment knobs among the N adjustment knobs. The two ends of the debugging circuit are respectively electrically connected to two corresponding terminals among the 2N terminals. The two terminals are used to be soldered to the two ends of the stiffness center adjustment resistor of the flexible inertial device to be tested, so as to replace the corresponding stiffness center adjustment resistor and connect to the corresponding gyroscope control circuit.

[0009] Furthermore, the fixed resistor is a resistor with a resistance of 1kΩ and an accuracy of 0.5%.

[0010] Furthermore, the rheostat uses a potentiometer with a resistance of 1kΩ and an accuracy of 0.5%.

[0011] Meanwhile, the present invention also provides a method for adjusting the stiffness of a flexible inertial navigation system (INS), utilizing the aforementioned flexible INS stiffness adjustment device; its special feature is that it includes the following steps:

[0012] The number of gyroscope control circuits and stiffness center adjustment resistors inside the flexible inertial navigation system under test is defined as M;

[0013] When N≥M, select M debugging circuits in the flexible inertial navigation system stiffness adjustment device. Using debugging wiring harnesses, connect the selected M debugging circuits to the two terminals of the M stiffness center adjustment resistors of the flexible inertial navigation system under test, respectively. This allows the M debugging circuits to replace the M stiffness center adjustment resistors and connect to the M gyroscope control circuits of the flexible inertial navigation system under test. Then, according to the preset debugging sequence, perform stiffness adjustment sequentially: power on the gyroscope control circuit connected to the first gyroscope and perform stiffness adjustment; power off after stiffness adjustment is complete. Then, power on the gyroscope control circuit connected to the next gyroscope in sequence and perform stiffness adjustment; power off after stiffness adjustment is complete, until the stiffness adjustment corresponding to all M gyroscope control circuits is completed.

[0014] When M≥N≥2, according to the preset debugging sequence of the M stiffness center adjustment resistors, the two terminals corresponding to the N debugging circuits are connected to the two ends of the first N stiffness center adjustment resistors of the flexible inertial device under test by means of the debugging harness, so that the N debugging circuits replace the first N stiffness center adjustment resistors and are connected to the first N gyroscope control circuits of the flexible inertial device under test. Then, the stiffness adjustment is performed after the first gyroscope connected to the first N gyroscope control circuit is powered on. After the stiffness adjustment of the gyroscope control circuit connected to the first gyroscope is completed, the power is turned off, and the connection between the stiffness center adjustment resistor of the first gyroscope and the debugging circuit is disconnected. Then, according to the above method, the corresponding number of debugging circuits are connected to the two ends of the remaining stiffness center adjustment resistors of the next gyroscope, and the stiffness adjustment is performed after the gyroscope control circuit connected to the next gyroscope is powered on, until the stiffness adjustment of all M gyroscope control circuits is completed.

[0015] The stiffness adjustment for each gyroscope control circuit is performed independently; the steps for stiffness adjustment are as follows:

[0016] S1 controls the flexible inertial group under test to run under the first test condition, and tests the pulse count value of the gyroscope control circuit corresponding to the debugging circuit, and records the first output value A1.

[0017] S2 controls the flexible inertial group under test to run under the second test condition, and tests the pulse count value of the gyroscope control circuit corresponding to the debugging circuit, and records the second output value A2.

[0018] S3 Determine whether the difference between the first output value A1 and the second output value A2 meets the preset precision requirement; if it does, proceed to step S5; if it does not, proceed to step S4.

[0019] S4 Rotate the adjustment knob corresponding to the adjustment circuit to change the resistance value of the strain gauge, and then return to step S1;

[0020] S5 controls the flexible inertial navigation system under test to run under the third test condition, and tests the pulse count value of the gyroscope control circuit corresponding to the debugging circuit, and records the third output value A3.

[0021] S6 Determine whether the difference between the first output value A1 and the third output value A3 meets the preset precision requirement; if it does, proceed to step S8; if it does not, proceed to step S7.

[0022] S7 Rotate the adjustment knob corresponding to the adjustment circuit to change the resistance value of the strain gauge, and then return to step S5;

[0023] S8 Disconnect the debugging circuit from the corresponding stiffness center adjustment resistor, measure the total resistance value at both ends of the debugging circuit, select an adjustment resistor that matches the total resistance value, and solder the two ends of the adjustment resistor to the two ends of the corresponding stiffness center adjustment resistor.

[0024] Further, step S1 includes the following steps:

[0025] S11 Adjust the frequency of the inverter power supply of the flexible inertial navigation system under test to X Hz as the first test condition.

[0026] The S12 test and debugging circuit, corresponding to the gyroscope control circuit, acquires multiple sets of pulse count values ​​output by the corresponding gyroscope control circuit within a predetermined sampling time T.

[0027] S13 Calculate the average value of multiple pulse counts acquired by the test software under the first test condition as the first output value and record it as A1.

[0028] Further, step S2 includes the following steps:

[0029] S21 Adjust the frequency of the inverter power supply of the flexible inertial navigation system under test to X + ΔX Hertz as the second test condition;

[0030] The S22 test and debugging circuit, corresponding to the gyroscope control circuit, acquires multiple sets of pulse count values ​​output by the corresponding gyroscope control circuit within a predetermined sampling time T.

[0031] S23 Calculates the average value of multiple pulse counts acquired by the test software under the second test condition as the second output value and records it as A2.

[0032] Further, step S5 includes the following steps:

[0033] S51 Adjust the frequency of the inverter power supply of the flexible inertial navigation system under test to X - ΔX Hertz as the third test condition;

[0034] The gyroscope control circuit corresponding to the S52 test and debugging circuit acquires multiple sets of pulse count values ​​output by the corresponding gyroscope control circuit within a predetermined sampling time T.

[0035] S53 calculates the average value of multiple pulse counts acquired by the test software under the third test condition as the third output value and records it as A3.

[0036] Furthermore, step S3 specifically includes:

[0037] Determine whether the difference between the first output value A1 and the second output value A2 satisfies |(A2 / T)-(A1 / T)|≤1pulse / s; if it satisfies, proceed to step S5; if it does not satisfy, proceed to step S4.

[0038] Step S6 is as follows:

[0039] Determine whether the difference between the first output value A1 and the third output value A3 satisfies |(A3 / T)-(A1 / T)|≤1pulse / s; if it satisfies, proceed to step S8; if it does not satisfy, proceed to step S7.

[0040] Furthermore, step S4 specifically includes:

[0041] Rotate the adjustment knob corresponding to the debugging circuit along the first direction to a predetermined angle to change the resistance value of the strain gauge. Then return to step S1 and compare the trend of the difference between the first output value A1 and the second output value A2. If the difference decreases, it is determined that the first direction is correct. Continue to rotate the corresponding adjustment knob along the first direction for fine adjustment, and then return to step S1. If the difference increases, it is determined that the first direction is incorrect. Instead, rotate the corresponding adjustment knob along the second direction opposite to the first direction for fine adjustment, and then return to step S1.

[0042] Step S7 is as follows:

[0043] Rotate the adjustment knob corresponding to the debugging circuit along the first direction to a predetermined angle to change the resistance value of the strain gauge. Then return to step S5 and compare the trend of the difference between the first output value A1 and the third output value A3. If the difference decreases, it is determined that the first direction is correct. Continue to rotate the corresponding adjustment knob along the first direction for fine adjustment, and then return to step S5. If the difference increases, it is determined that the first direction is incorrect. Instead, rotate the corresponding adjustment knob along the second direction opposite to the first direction for fine adjustment, and then return to step S5.

[0044] Furthermore, in steps S12, S22 and S52, the predetermined sampling time T is 10s;

[0045] In steps S21 and S51, ΔX = 10 Hz.

[0046] Compared with the prior art, the present invention has the following beneficial technical effects:

[0047] (1) The present invention provides a flexible inertial navigation system stiffness adjustment device with a simple structure and convenient disassembly and assembly. During the adjustment process, the corresponding adjustment circuit can be selected for independent operation as needed. Each adjustment circuit does not interfere with each other, and there is no need for complex programming settings. The operation is intuitive and easy for technicians to master quickly. Furthermore, the fixed resistor and the variable resistor are connected in series to form an adjustable impedance circuit. The two together provide stable, continuous and high-resolution resistance adjustment capability, which meets the microvolt-level signal adjustment requirements required for stiffness center adjustment. It effectively overcomes the inherent quantization error problem of digital adjustment and can be well adapted to subsequent loads, avoiding signal distortion caused by impedance mismatch, improving anti-interference capability, and realizing high-precision signal adjustment function.

[0048] (2) The present invention provides a flexible inertial navigation system stiffness adjustment device, which establishes a reliable overcurrent protection mechanism. When the rheostat is adjusted to zero resistance, the fixed resistor can effectively limit the loop current, avoid the risk of power supply short circuit, ensure the safety of technicians and the device during the adjustment process, and extend the service life of the device.

[0049] (3) The present invention provides a method for adjusting the stiffness of a flexible inertial navigation system (INS). By temporarily connecting an external INS stiffness adjustment device to the gyroscope control circuit inside the INS under test, technicians can adjust the resistance value of the internal adjustment circuit in real time and observe the change in the output pulse count value. According to the total resistance value of the adjustment circuit that meets the preset accuracy requirements, a matching adjustment resistor is selected and welded to both ends of the corresponding stiffness center adjustment resistor. This solves the problem that the adjustment resistor is difficult to predict during the stiffness center adjustment process. Compared with the traditional blind iterative mode of "guessing-welding-testing-unsoldering", the stiffness center adjustment is transformed from relying on manual experience to a deterministic operation with clear quantitative basis, which greatly improves the adjustment efficiency and effectively solves the problem of poor consistency of batch products. Attached Figure Description

[0050] Figure 1 This is a circuit diagram of a flexible inertial navigation system stiffness adjustment device according to Embodiment 1 of the present invention.

[0051] Figure 2 This is a flowchart of the stiffness adjustment stage in a flexible inertial navigation system stiffness adjustment method of the present invention. Detailed Implementation

[0052] To make the objectives, advantages, and features of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Those skilled in the art should understand that these embodiments are merely used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0053] Typically, a flexible inertial navigation system (INS) contains three quartz flexible accelerometers, two two-degree-of-freedom flexible gyroscopes, and four gyroscope control circuits. Each gyroscope control circuit has a stiffness center adjustment resistor. Among them, the two-degree-of-freedom flexible gyroscope G1 corresponds to the ωA and ωB channels, the two-degree-of-freedom flexible gyroscope G2 corresponds to the ωC and ωD channels, and the stiffness center adjustment resistors Rx, Ry, Rz, and Rw on the four gyroscope control circuits correspond to the ωA, ωB, ωC, and ωD channels, respectively.

[0054] Example 1

[0055] To address the shortcomings of existing calibration techniques, such as the inability to quantify and predict the initial deviation benchmark of stiffness center and the required fine-tuning amount, and the reliance on the experience of calibration personnel requiring multiple iterative tests, resulting in low calibration accuracy, poor quantification, low calibration efficiency, and poor batch product consistency, which easily leads to excessive measurement errors in flexible inertial navigation systems (INS) under vibration environments, thus failing to meet the application requirements of high precision, high stability, and mass production, this embodiment 1 provides a flexible INS stiffness calibration device, such as... Figure 1 As shown, it includes a test box, four debugging circuits inside the test box, and four adjustment knobs and eight terminals on the outside of the test box; the four adjustment knobs are S1, S2, S3 and S4, and the eight terminals are divided into four groups, namely K11 and K12, K21 and K22, K31 and K32, and K41 and K42.

[0056] Each debugging circuit includes a fixed resistor R1 and a variable resistor R2 connected in series. The fixed resistor R1 is a 1kΩ resistor with an accuracy of 0.5%, and the variable resistor R2 is a 1kΩ potentiometer with an accuracy of 0.5%. The adjustment terminal of the variable resistor R2 is electrically connected to one of the four adjustment knobs. The two ends of the debugging circuit are respectively electrically connected to one of the four sets of terminals. One set of terminals is used to lap-connect the two ends of the stiffness center adjustment resistor of the flexible inertial device to be tested.

[0057] Using the aforementioned flexible inertial navigation system (INS) stiffness adjustment device, this embodiment 1 also provides a flexible INS stiffness adjustment method, comprising the following steps:

[0058] Wiring preparation stage:

[0059] By using the four sets of terminals corresponding to the four debugging circuits in the flexible inertial navigation system stiffness debugging device, the four debugging circuits are respectively connected to the two ends of the four stiffness center adjustment resistors of the flexible inertial navigation system under test by using the debugging wire harness, so that the four debugging circuits replace the four stiffness center adjustment resistors respectively and are connected to the four gyroscope control circuits of the flexible inertial navigation system under test, and then enter the stiffness debugging stage.

[0060] During the stiffness adjustment phase, according to the preset adjustment sequence, first power on the gyroscope control circuit corresponding to the two-degree-of-freedom flexible gyroscope G1, then simultaneously or sequentially adjust the stiffness of the corresponding stiffness center adjustment resistors Rx and Ry. After adjustment, power off the gyroscope control circuit corresponding to the two-degree-of-freedom flexible gyroscope G1, then power on the gyroscope control circuit corresponding to the two-degree-of-freedom flexible gyroscope G2, and simultaneously or sequentially adjust the stiffness of the corresponding stiffness center adjustment resistors Rz and Rw. The adjustment steps for each stiffness center adjustment resistor are as follows:

[0061] S1 controls the flexible inertial navigation system under test to run under the first test condition and tests the pulse count value of the gyroscope control circuit corresponding to a debugging circuit, and records the first output value A1.

[0062] S11 Based on the model parameters of the flexible inertial navigation system under test, adjust the frequency of the inverter power supply of the flexible inertial navigation system under test to 500 Hz as the first test condition.

[0063] S12 uses testing software to test the gyroscope control circuit corresponding to a debugging circuit. Within a predetermined sampling time T = 10s, it collects 5 sets of pulse count values ​​output by the corresponding gyroscope control circuit.

[0064] S13 Calculate the average value of the 5 sets of pulse count values ​​collected by the test software under the first test condition, and record it as the first output value as A1.

[0065] S2 controls the flexible inertial group under test to run under the second test condition, and tests the pulse count value of the gyroscope control circuit corresponding to a debugging circuit, and records the second output value A2.

[0066] S21 Adjust the frequency of the inverter power supply of the flexible inertial navigation system under test to 510 Hz as the second test condition.

[0067] S22 uses testing software to test the gyroscope control circuit corresponding to a debugging circuit. Within a predetermined sampling time T = 10s, it collects 5 sets of pulse count values ​​output by the corresponding gyroscope control circuit.

[0068] S23 Calculate the average value of the 5 sets of pulse count values ​​collected by the test software under the second test condition, and record it as the second output value as A2.

[0069] S3 determines whether the difference between the first output value A1 and the second output value A2 satisfies |(A2 / 10)-(A1 / 10)|≤1pulse / s; if it satisfies, then proceed to step S5; if it does not satisfy, then proceed to step S4.

[0070] S4 Rotate the adjustment knob corresponding to the debugging circuit to change the resistance value of the strain gauge R2, and then return to step S1;

[0071] Rotate the adjustment knob corresponding to the debugging circuit along the first direction to a predetermined angle to change the resistance value of the strain gauge R2, then return to step S1 and compare the trend of the difference between the first output value A1 and the second output value A2; if the difference decreases, it is determined that the first direction is correct, and the corresponding adjustment knob is rotated along the first direction for fine adjustment, then return to step S1; if the difference increases, it is determined that the first direction is incorrect, and the corresponding adjustment knob is rotated along the second direction opposite to the first direction for fine adjustment, then return to step S1.

[0072] S5 controls the flexible inertial navigation system under test to run under the third test condition, and tests the pulse count value of the gyroscope control circuit corresponding to a debugging circuit, and records the third output value A3.

[0073] S51 Adjust the frequency of the inverter power supply of the flexible inertial navigation system under test to 490 Hz as the third test condition.

[0074] S52 uses testing software to test the gyroscope control circuit corresponding to a debugging circuit. Within a predetermined sampling time T = 10s, it collects 5 sets of pulse count values ​​output by the corresponding gyroscope control circuit.

[0075] S53 Under the third test condition, the average value of the 5 sets of pulse count values ​​collected by the test software is taken as the third output value and recorded as A3.

[0076] S6 Determine whether the difference between the first output value A1 and the third output value A3 satisfies |(A3 / T)-(A1 / T)|≤1pulse / s; if it satisfies, proceed to step S8; if it does not satisfy, proceed to step S7.

[0077] S7 Rotate the adjustment knob corresponding to the debugging circuit to change the resistance value of the strain gauge R2, and then return to step S5;

[0078] Rotate the adjustment knob corresponding to the debugging circuit along the first direction to a predetermined angle to change the resistance value of the strain gauge R2, then return to step S5 and compare the trend of the difference between the first output value A1 and the third output value A3; if the difference decreases, it is determined that the first direction is correct, and the corresponding adjustment knob is rotated along the first direction for fine adjustment, then return to step S5; if the difference increases, it is determined that the first direction is incorrect, and the corresponding adjustment knob is rotated along the second direction opposite to the first direction for fine adjustment, then return to step S5.

[0079] S8 Disconnect the connection between the debugging circuit and the corresponding stiffness center adjustment resistor, measure the total resistance value at both ends of the debugging circuit, select an adjustment resistor that matches the total resistance value, and solder the adjustment resistor to both ends of the corresponding stiffness center adjustment resistor.

[0080] Example 2

[0081] Compared with Embodiment 1, the difference in Embodiment 2 is that the flexible inertial navigation system stiffness adjustment device provided in Embodiment 2 includes a test box, two adjustment circuits inside the test box, and two adjustment knobs S1 and S2 and four terminals K11, K12, K21 and K22 set outside the test box. Each adjustment circuit includes a fixed resistor R1 and a variable resistor R2 connected in series. The fixed resistor R1 is a resistor with a resistance of 1kΩ and an accuracy of 0.5%. The variable resistor R2 is a potentiometer with a resistance of 1kΩ and an accuracy of 0.5%. The adjustment terminals of the variable resistor R2 are electrically connected to the adjustment knobs S1 and S2 respectively. The two ends of the adjustment circuit are electrically connected to the terminals K11 and K12, K21 and K22 respectively. The terminals K11 and K12, K21 and K22 are used to be welded to the two ends of the stiffness center adjustment resistor of the flexible inertial navigation system to be tested.

[0082] Based on the flexible inertial navigation system (INS) stiffness adjustment device provided in Embodiment 2, the flexible INS stiffness adjustment method provided in Embodiment 2 differs from the flexible INS stiffness adjustment method in Embodiment 1 in that:

[0083] Wiring preparation stage:

[0084] According to the preset debugging sequence of the four stiffness center adjustment resistors, the two debugging circuits correspond to two sets of terminals K11 and K12, K21 and K22. The debugging wire harness is then used to solder the two ends of the stiffness center adjustment resistors Rx and Ry corresponding to the two-degree-of-freedom flexible gyroscope G1. After powering on the gyroscope control circuit corresponding to the two-degree-of-freedom flexible gyroscope G1, the stiffness debugging stage begins.

[0085] After completing the debugging steps for the stiffness center adjustment resistors Rx and Ry corresponding to the two-degree-of-freedom flexible gyroscope G1, power off the gyroscope control circuit corresponding to the two-degree-of-freedom flexible gyroscope G1, and disconnect the connection between the two debugging circuits and the stiffness center adjustment resistors Rx and Ry corresponding to the two-degree-of-freedom flexible gyroscope G1. Then, through the two sets of terminals K11 and K12, K21 and K22 corresponding to the two debugging circuits, use the debugging wire harness to solder them to the two ends of the stiffness center adjustment resistors Rz and Rw corresponding to the two-degree-of-freedom flexible gyroscope G2 respectively. After powering on the gyroscope control circuit corresponding to the two-degree-of-freedom flexible gyroscope G2, the stiffness debugging stage begins.

[0086] Stiffness adjustment stage:

[0087] First, adjust the stiffness center adjustment resistors Rx and Ry corresponding to the two-degree-of-freedom flexible gyroscope G1 sequentially or simultaneously. After adjustment, adjust the stiffness center adjustment resistors Rz and Rw corresponding to the two-degree-of-freedom flexible gyroscope G2 sequentially or simultaneously. The adjustment steps for each stiffness center adjustment resistor are as follows:

[0088] S1 controls the flexible inertial navigation system under test to run under the first test condition and tests the pulse count value of the gyroscope control circuit corresponding to a debugging circuit, and records the first output value A1.

[0089] S11 According to the model parameters of the flexible inertial navigation system under test, adjust the frequency of the variable frequency power supply of the flexible inertial navigation system under test to 360 Hz as the first test condition.

[0090] S12 uses testing software to test the gyroscope control circuit corresponding to a debugging circuit. Within a predetermined sampling time T = 10s, it collects three sets of pulse count values ​​output by the corresponding gyroscope control circuit.

[0091] S13 Calculate the average value of the three sets of pulse count values ​​collected by the test software under the first test condition, and record it as the first output value as A1.

[0092] S2 controls the flexible inertial group under test to run under the second test condition, and tests the pulse count value of the gyroscope control circuit corresponding to a debugging circuit, and records the second output value A2.

[0093] S21 Adjust the frequency of the inverter power supply of the flexible inertial navigation system under test to 370 Hz as the second test condition.

[0094] S22 uses testing software to test the gyroscope control circuit corresponding to a debugging circuit. Within a predetermined sampling time T = 10s, it collects 3 sets of pulse count values ​​output by the corresponding gyroscope control circuit.

[0095] S23 Calculate the average value of the three sets of pulse counts collected by the test software under the second test condition, and record it as the second output value as A2.

[0096] S3 determines whether the difference between the first output value A1 and the second output value A2 satisfies |(A2 / 10)-(A1 / 10)|≤1pulse / s; if it satisfies, then proceed to step S5; if it does not satisfy, then proceed to step S4.

[0097] S4 Rotate the adjustment knob corresponding to the debugging circuit to change the resistance value of the strain gauge R2, and then return to step S1;

[0098] Rotate the adjustment knob corresponding to the debugging circuit along the first direction to a predetermined angle to change the resistance value of the strain gauge R2, then return to step S1 and compare the trend of the difference between the first output value A1 and the second output value A2; if the difference decreases, it is determined that the first direction is correct, and the corresponding adjustment knob is rotated along the first direction for fine adjustment, then return to step S1; if the difference increases, it is determined that the first direction is incorrect, and the corresponding adjustment knob is rotated along the second direction opposite to the first direction for fine adjustment, then return to step S1.

[0099] S5 controls the flexible inertial navigation system under test to run under the third test condition, and tests the pulse count value of the gyroscope control circuit corresponding to a debugging circuit, and records the third output value A3.

[0100] S51 Adjust the frequency of the inverter power supply of the flexible inertial navigation system under test to 350 Hz as the third test condition.

[0101] S52 uses testing software to test the gyroscope control circuit corresponding to a debugging circuit. Within a predetermined sampling time T = 10s, it collects three sets of pulse count values ​​output by the corresponding gyroscope control circuit.

[0102] S53 Under the third test condition, the average value of the three sets of pulse count values ​​collected by the test software is taken as the third output value and recorded as A3.

[0103] S6 Determine whether the difference between the first output value A1 and the third output value A3 satisfies |(A3 / T)-(A1 / T)|≤1pulse / s; if it satisfies, proceed to step S8; if it does not satisfy, proceed to step S7.

[0104] S7 Rotate the adjustment knob corresponding to the debugging circuit to change the resistance value of the strain gauge R2, and then return to step S5;

[0105] Rotate the adjustment knob corresponding to the debugging circuit along the first direction to a predetermined angle to change the resistance value of the strain gauge R2, then return to step S5 and compare the trend of the difference between the first output value A1 and the third output value A3; if the difference decreases, it is determined that the first direction is correct, and the corresponding adjustment knob is rotated along the first direction for fine adjustment, then return to step S5; if the difference increases, it is determined that the first direction is incorrect, and the corresponding adjustment knob is rotated along the second direction opposite to the first direction for fine adjustment, then return to step S5.

[0106] S8 Disconnect the connection between the debugging circuit and the corresponding stiffness center adjustment resistor, measure the total resistance value at both ends of the debugging circuit, select an adjustment resistor that matches the total resistance value, and solder the adjustment resistor to both ends of the corresponding stiffness center adjustment resistor.

[0107] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the present invention.

Claims

1. A stiffness adjustment device for a flexible inertial navigation system (INS), wherein the INS internally comprises multiple gyroscopes and multiple gyroscope control circuits respectively connected to the multiple gyroscopes, and each gyroscope control circuit is provided with a corresponding stiffness center adjustment resistor; characterized in that: It includes a test box, N debugging circuits inside the test box, and N adjustment knobs and 2N terminals outside the test box; where N≥2; Each debugging circuit includes a fixed resistor and a variable resistor connected in series. The adjustment terminal of the variable resistor is electrically connected to one of the corresponding adjustment knobs among the N adjustment knobs. The two ends of the debugging circuit are respectively electrically connected to two corresponding terminals among the 2N terminals. The two terminals are used to be soldered to the two ends of the stiffness center adjustment resistor of the flexible inertial device to be tested, so as to replace the corresponding stiffness center adjustment resistor and connect to the corresponding gyroscope control circuit.

2. The flexible inertial navigation system stiffness adjustment device according to claim 1, characterized in that: The fixed resistor is a resistor with a resistance of 1kΩ and an accuracy of 0.5%.

3. The flexible inertial navigation system stiffness adjustment device according to claim 1, characterized in that: The rheostat is a potentiometer with a resistance of 1kΩ and an accuracy of 0.5%.

4. A method for adjusting the stiffness of a flexible inertial navigation system, utilizing the flexible inertial navigation system stiffness adjustment device according to any one of claims 1-3; characterized in that, Includes the following steps: The number of gyroscope control circuits and stiffness center adjustment resistors inside the flexible inertial navigation system under test is defined as M; When N≥M, select M debugging circuits in the flexible inertial navigation system stiffness debugging device. Through the two terminals corresponding to each debugging circuit, use the debugging harness to solder the selected M debugging circuits to the two ends of the M stiffness center adjustment resistors of the flexible inertial navigation system under test, so that the M debugging circuits replace the M stiffness center adjustment resistors and are connected to the M gyroscope control circuits of the flexible inertial navigation system under test. Then, according to the preset debugging sequence, perform stiffness debugging in sequence: power on the gyroscope control circuit connected to the first gyroscope and perform stiffness debugging. After the stiffness debugging is completed, power off. Then, power on the gyroscope control circuit connected to the next gyroscope in sequence and perform stiffness adjustment. After the stiffness adjustment is completed, power off the circuit until the stiffness adjustment of all M gyroscope control circuits is completed. When M≥N≥2, according to the preset debugging sequence of the M stiffness center adjustment resistors, the two terminals corresponding to the N debugging circuits are connected to the two ends of the first N stiffness center adjustment resistors of the flexible inertial device under test by means of the debugging harness, so that the N debugging circuits replace the first N stiffness center adjustment resistors and are connected to the first N gyroscope control circuits of the flexible inertial device under test. Then, the stiffness adjustment is performed after the first gyroscope connected to the first N gyroscope control circuit is powered on. After the stiffness adjustment of the gyroscope control circuit connected to the first gyroscope is completed, the power is turned off, and the connection between the stiffness center adjustment resistor of the first gyroscope and the debugging circuit is disconnected. Then, according to the above method, the corresponding number of debugging circuits are connected to the two ends of the remaining stiffness center adjustment resistors of the next gyroscope, and the stiffness adjustment is performed after the gyroscope control circuit connected to the next gyroscope is powered on, until the stiffness adjustment of all M gyroscope control circuits is completed. The stiffness adjustment for each gyroscope control circuit is performed independently; the steps for stiffness adjustment are as follows: S1 controls the flexible inertial group under test to run under the first test condition, and tests the pulse count value of the gyroscope control circuit corresponding to the debugging circuit, and records the first output value A1. S2 controls the flexible inertial group under test to run under the second test condition, and tests the pulse count value of the gyroscope control circuit corresponding to the debugging circuit, and records the second output value A2. S3 Determine whether the difference between the first output value A1 and the second output value A2 meets the preset precision requirement; if it does, proceed to step S5. If not satisfied, proceed to step S4; S4 Rotate the adjustment knob corresponding to the adjustment circuit to change the resistance value of the strain gauge, and then return to step S1; S5 controls the flexible inertial navigation system under test to run under the third test condition, and tests the pulse count value of the gyroscope control circuit corresponding to the debugging circuit, and records the third output value A3. S6 Determine whether the difference between the first output value A1 and the third output value A3 meets the preset precision requirement; if it does, proceed to step S8. If not satisfied, proceed to step S7; S7 Rotate the adjustment knob corresponding to the adjustment circuit to change the resistance value of the strain gauge, and then return to step S5; S8 Disconnect the debugging circuit from the corresponding stiffness center adjustment resistor, measure the total resistance value at both ends of the debugging circuit, select an adjustment resistor that matches the total resistance value, and solder the two ends of the adjustment resistor to the two ends of the corresponding stiffness center adjustment resistor.

5. The method for adjusting the stiffness of a flexible inertial navigation system according to claim 4, characterized in that, Step S1 includes the following steps: S11 Adjust the frequency of the inverter power supply of the flexible inertial navigation system under test to X Hz as the first test condition. The S12 test and debugging circuit, corresponding to the gyroscope control circuit, acquires multiple sets of pulse count values ​​output by the corresponding gyroscope control circuit within a predetermined sampling time T. S13 Calculate the average value of multiple pulse counts acquired by the test software under the first test condition as the first output value and record it as A1.

6. The method for adjusting the stiffness of a flexible inertial navigation system according to claim 4, characterized in that, Step S2 includes the following steps: S21 Adjust the frequency of the inverter power supply of the flexible inertial navigation system under test to X + ΔX Hertz as the second test condition; The S22 test and debugging circuit, corresponding to the gyroscope control circuit, acquires multiple sets of pulse count values ​​output by the corresponding gyroscope control circuit within a predetermined sampling time T. S23 Calculates the average value of multiple pulse counts acquired by the test software under the second test condition as the second output value and records it as A2.

7. The method for adjusting the stiffness of a flexible inertial navigation system according to claim 4, characterized in that, Step S5 includes the following steps: S51 Adjust the frequency of the inverter power supply of the flexible inertial navigation system under test to X - ΔX Hertz as the third test condition; The gyroscope control circuit corresponding to the S52 test and debugging circuit acquires multiple sets of pulse count values ​​output by the corresponding gyroscope control circuit within a predetermined sampling time T. S53 calculates the average value of multiple pulse counts acquired by the test software under the third test condition as the third output value and records it as A3.

8. The method for adjusting the stiffness of a flexible inertial navigation system according to claim 4, characterized in that: Step S3 is as follows: Determine whether the difference between the first output value A1 and the second output value A2 satisfies |(A2 / T)-(A1 / T)|≤1pulse / s; if it satisfies, proceed to step S5; if it does not satisfy, proceed to step S4. Step S6 is as follows: Determine whether the difference between the first output value A1 and the third output value A3 satisfies |(A3 / T)-(A1 / T)|≤1pulse / s; if it satisfies, proceed to step S8; if it does not satisfy, proceed to step S7.

9. The method for adjusting the stiffness of a flexible inertial navigation system according to claim 4, characterized in that: Step S4 is as follows: Rotate the adjustment knob corresponding to the debugging circuit along the first direction to a predetermined angle to change the resistance value of the strain gauge. Then return to step S1 and compare the trend of the difference between the first output value A1 and the second output value A2. If the difference decreases, it is determined that the first direction is correct. Continue to rotate the corresponding adjustment knob along the first direction for fine adjustment, and then return to step S1. If the difference increases, it is determined that the first direction is incorrect. Instead, rotate the corresponding adjustment knob along the second direction opposite to the first direction for fine adjustment, and then return to step S1. Step S7 is as follows: Rotate the adjustment knob corresponding to the debugging circuit along the first direction to a predetermined angle to change the resistance value of the strain gauge. Then return to step S5 and compare the trend of the difference between the first output value A1 and the third output value A3. If the difference decreases, it is determined that the first direction is correct. Continue to rotate the corresponding adjustment knob along the first direction for fine adjustment, and then return to step S5. If the difference increases, it is determined that the first direction is incorrect. Instead, rotate the corresponding adjustment knob along the second direction opposite to the first direction for fine adjustment, and then return to step S5.

10. A method for adjusting the stiffness of a flexible inertial navigation system according to any one of claims 5-7, characterized in that: In steps S12, S22 and S52, the predetermined sampling time T is 10s; In steps S21 and S51, ΔX = 10 Hz.

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