Inertial navigation system mounting structure and vehicle-mounted inertial navigation test system

Abstract

The utility model relates to an inertial navigation system mounting structure and a vehicle-mounted inertial navigation test system.The inertial navigation system mounting structure comprises a mounting frame, a pitch angle adjusting frame, a roll angle adjusting frame and a course angle adjusting seat, the mounting frame comprises a plurality of stand columns, and lifting assemblies are arranged on the stand columns; the pitch angle adjusting frame is rotatably arranged on the mounting rack around a first direction; the roll angle adjusting frame is rotatably arranged on the pitch angle adjusting frame around a second direction; the course angle adjusting seat is rotatably arranged on the roll angle adjusting frame around a third direction, the first direction, the second direction and the third direction are perpendicular to one another, and a mounting part is arranged on the course angle adjusting seat. The position of the high-precision inertial value system arranged on the mounting part can be adjusted through the lifting assembly, the pitch angle adjusting frame, the roll angle adjusting frame and the course angle adjusting seat, so that the height position and each axial mounting angle of the high-precision inertial value system are kept consistent with the vehicle-mounted inertial measurement element; complex angle conversion is not needed for test data collected by a high-precision inertial value system, and comparative analysis can be directly carried out.

Description

Technical Field

[0001] The present application relates to the field of automobile testing technology, and in particular to an inertial navigation system installation structure and a vehicle-mounted inertial navigation test system. Background Art

[0002] Inertial navigation system, referred to as INS, can measure the acceleration of the carrier (such as a vehicle) itself through inertial elements (such as accelerometers, etc.) without relying on external information (such as GPS signals), and obtain the position, speed, attitude, heading and other parameters of the output carrier through integral calculation and data operation, so as to achieve the effect of navigation and positioning of the carrier, which can make up for the shortcomings of satellite positioning. Therefore, adding on-board inertial measurement elements to vehicles has gradually become a standard configuration of on-board navigation systems. However, due to the error accumulation characteristics of inertial navigation systems, inertial navigation systems have high requirements for data accuracy and installation angles. Therefore, it is necessary to set a high-precision inertial true value system (i.e., a high-precision inertial measurement system) on a real vehicle, and obtain reference data through real vehicle testing with a high-precision inertial true value system, which is used to evaluate the inertial navigation performance of the on-board inertial measurement element in the same vehicle test.

[0003] When conducting vehicle-mounted inertial navigation test, since the installation posture of the high-precision inertial truth value system (including the height position and the installation angle position on each axis) is difficult to be consistent with the installation posture of the actual vehicle-mounted inertial measurement element, a large amount of data conversion is required during the subsequent test data analysis, and it is impossible to directly compare the test data of the high-precision inertial truth value system with the test data of the vehicle-mounted inertial measurement element, which greatly limits the test efficiency of the vehicle-mounted inertial navigation. Utility Model Content

[0004] One of the purposes of the present application is to provide an inertial navigation system installation structure to solve the technical problem in the prior art that the installation posture of a high-precision inertial true value system is difficult to be consistent with the installation posture of a real vehicle-mounted inertial measurement element, and the test data of the two cannot be directly compared, resulting in low test efficiency of the vehicle-mounted inertial navigation; the second purpose is to provide a vehicle-mounted inertial navigation test system.

[0005] In order to achieve the above purpose, the technical solution adopted in this application is as follows:

[0006] An inertial navigation system installation structure, comprising:

[0007] A mounting frame, the mounting frame comprising a plurality of columns, and a lifting assembly is provided on the columns;

[0008] A pitch angle adjustment frame, the pitch angle adjustment frame is rotatably arranged on the mounting frame around a first direction;

[0009] A roll angle adjustment frame, wherein the roll angle adjustment frame is rotatably arranged on the pitch angle adjustment frame around a second direction;

[0010] A heading angle adjustment seat is rotatably arranged on the roll angle adjustment frame around a third direction, the first direction, the second direction and the third direction are perpendicular to each other, and a mounting portion is provided on the heading angle adjustment seat.

[0011] According to the above technical means, after the high-precision inertial truth value system is set on the mounting part, the overall height of the mounting frame can be adjusted by the lifting assembly, and the height positions of the pitch angle adjustment frame, the roll angle adjustment frame and the heading angle adjustment seat connected to the mounting frame are also adjusted, so that the height position of the high-precision inertial truth value system and the vehicle-mounted inertial measurement element on the vehicle under test can be kept consistent. Then, by rotating the pitch angle adjustment frame, the roll angle adjustment frame and the heading angle adjustment seat, the pitch angle, the roll angle and the heading angle adjustment seat of the high-precision inertial truth value system can be adjusted, so that the installation angle of the high-precision inertial truth value system in each axis is consistent with the vehicle-mounted inertial measurement element. During the driving process of the vehicle under test, since the installation posture of the high-precision inertial truth value system and the vehicle-mounted inertial measurement element is consistent, the inertial navigation data obtained by the high-precision inertial truth value system can be used as comparison data (i.e., reference data) to perform comparative measurement and analysis on the measurement data of the vehicle-mounted inertial measurement element. Before analysis, there is no need to convert and process the inertial navigation data obtained by the high-precision inertial truth value system according to different installation postures, thereby improving the efficiency of the vehicle-mounted inertial navigation test.

[0012] Furthermore, the lifting assembly includes a support and a limiting member, the support is slidably connected to the column, and the limiting member is respectively connected to the support and the column.

[0013] According to the above technical means, the lifting and lowering of the mounting frame is realized by manual adjustment, so as to ensure that the height position of the high-precision inertial true value system is consistent with the vehicle-mounted inertial measurement element, and at the same time simplify the control system of the inertial navigation system installation structure.

[0014] Furthermore, the first end of the pitch angle adjustment frame is hinged to the mounting frame, and the second end of the pitch angle adjustment frame is slidably connected to the mounting frame.

[0015] According to the above technical means, the tester only needs to turn the second end of the pitch angle adjustment frame to achieve the rotation of the pitch angle adjustment frame relative to the mounting frame.

[0016] Furthermore, a first arc-shaped slide groove is provided on the column, and the second end of the pitch angle adjustment frame is slidably set on the first arc-shaped slide groove. A first fixing piece is provided on the first arc-shaped slide groove, and the first fixing piece is detachably connected to the second end of the pitch angle adjustment frame.

[0017] According to the above technical means, the second end of the pitch angle adjustment frame is slidably set on the first arc-shaped slide groove, so that the pitch angle adjustment frame as a whole can rotate with the first connecting rod as the rotation axis. The first fixing member and the second end of the pitch angle adjustment frame are detachably connected, and the relative position between the pitch angle adjustment frame and the first arc-shaped slide groove can be fixed after the pitch angle installation position adjustment of the high-precision inertial truth value system is completed, thereby avoiding changes in the pitch angle installation position of the high-precision inertial truth value system during the vehicle-mounted inertial navigation test, which leads to measurement errors.

[0018] Furthermore, the roll angle adjustment frame includes a rotating shaft arranged along its center line, and the rotating shaft is hinged to the middle part of the pitch angle adjustment frame; the pitch angle adjustment frame is provided with a second arc-shaped slide groove, which is used for sliding connection with two sides of the roll angle adjustment frame, and the second arc-shaped slide groove is provided with a second fixing piece, and the second fixing piece is detachably connected to the roll angle adjustment frame.

[0019] According to the above technical means, it is ensured that the roll angle adjustment frame can rotate inside the pitch angle adjustment frame, and second arc-shaped slide grooves are arranged on both sides of the pitch angle adjustment frame for slidingly supporting the two sides of the roll angle adjustment frame; the second fixing member and the roll angle adjustment frame are detachably connected, and after the roll angle installation position adjustment of the high-precision inertial truth value system is completed, the relative position fixation between the roll angle adjustment frame and the pitch angle adjustment frame can be achieved through the second fixing member, thereby avoiding changes in the roll angle installation position of the high-precision inertial truth value system during the vehicle-mounted inertial navigation test, which leads to measurement errors.

[0020] Furthermore, a third arc-shaped slide groove is provided on the roll angle adjustment frame, and the heading angle adjustment seat is a disc structure, and the outer periphery of the disc structure is slidably connected to the third arc-shaped slide groove; a third fixing piece is provided on the third arc-shaped slide groove, and the third fixing piece is detachably connected to the heading angle adjustment seat.

[0021] According to the above technical means, it is easy to realize the rotation of the heading angle adjustment seat relative to the roll angle adjustment frame. The third fixing member and the heading angle adjustment seat are detachably connected. After the heading angle installation position adjustment of the high-precision inertial truth value system is completed, the relative position fixation between the roll angle adjustment frame and the heading angle adjustment seat can be achieved through the third fixing member, thereby avoiding changes in the heading angle installation position of the high-precision inertial truth value system during the vehicle-mounted inertial navigation test, which leads to measurement errors.

[0022] Furthermore, a plurality of rolling bodies are provided along the circumference of the third arc-shaped slide groove for contacting with the heading angle adjustment seat.

[0023] According to the above technical means, the friction between the outer peripheral surface of the heading angle adjustment seat and the third arc-shaped sliding groove can be reduced, so that the heading angle adjustment seat can rotate smoothly.

[0024] Furthermore, the pitch angle adjustment frame, the roll angle adjustment frame and the heading angle adjustment seat are all provided with a sliding portion, and the sliding portion has a curved surface or a spherical surface.

[0025] According to the above technical means, it is convenient to form line contact or point contact between the pitch angle adjustment frame, the roll angle adjustment frame and the heading angle adjustment seat and the arc surface of the arc slide groove, thereby reducing the sliding resistance exerted by the arc surface of the arc slide groove on the pitch angle adjustment frame, the roll angle adjustment frame and the heading angle adjustment seat.

[0026] Furthermore, the first arc-shaped slide groove, the second arc-shaped slide groove and the third arc-shaped slide groove are all provided with scale components.

[0027] According to the above technical means, the rotation angles of the pitch angle adjustment frame, the roll angle adjustment frame and the heading angle adjustment seat can be observed, so that the test personnel can clearly perceive the adjustment angle during the adjustment process.

[0028] A vehicle-mounted inertial navigation test system includes the above-mentioned inertial navigation system installation structure, and also includes a first inertial navigation system and a second inertial navigation system, wherein the first inertial navigation system is arranged on the installation portion, and the second inertial navigation system and the inertial navigation system installation structure are arranged on a tested vehicle.

[0029] According to the above technical means, it can be ensured that before the actual vehicle test, the height position and the installation angle position of the high-precision inertial truth value system in each axial direction are adjusted through the inertial navigation system installation structure, so that the installation posture of the high-precision inertial truth value system is consistent with the on-board inertial measurement element on the vehicle under test. After completing the actual vehicle test, there is no need to convert and process the data of the high-precision inertial truth value system, and it can be directly used for data analysis, thereby greatly improving the test efficiency of the on-board inertial navigation test.

[0030] Beneficial effects of this application:

[0031] (1) The inertial navigation system installation structure of the present application can realize a rigid connection between a high-precision inertial truth value system and a vehicle under test. Through the lifting assembly, pitch angle adjustment frame, roll angle adjustment frame and heading angle adjustment seat in the inertial navigation system installation structure, the height position and the installation angle position of the high-precision inertial truth value system in each axial direction can be adjusted, so that the installation posture of the high-precision inertial truth value system is consistent with the on-board inertial measurement element on the vehicle under test. The inertial navigation data obtained by the high-precision inertial truth value system can be used as comparison data to perform comparative measurement and analysis on the measurement data of the on-board inertial measurement element. Before analysis, there is no need to convert and process the inertial navigation data obtained by the high-precision inertial truth value system according to different installation postures, thereby improving the efficiency of the on-board inertial navigation test.

[0032] (2) The present application realizes the smooth rotation of the pitch angle adjustment frame, the roll angle adjustment frame and the heading angle adjustment seat by cooperating with the arc-shaped slide groove and the sliding part, and fixes the installation position after adjustment by the fixing parts, thereby avoiding the test error caused by the position change of the high-precision inertial true value system during the actual vehicle test.

[0033] (3) The present application provides a scale assembly on the first arc-shaped slide groove, the second arc-shaped slide groove and the third arc-shaped slide groove, so as to facilitate the test personnel to observe the rotation angle and improve the efficiency of adjusting the installation position. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic diagram of the inertial navigation system installation structure provided in an embodiment of the present application Figure 1 ;

[0035] Figure 2 A schematic diagram of the inertial navigation system installation structure provided in an embodiment of the present application Figure 2 ;

[0036] Figure 3 A partial top view of the inertial navigation system installation structure provided in an embodiment of the present application;

[0037] Figure 4 A schematic diagram of the connection between the pitch angle adjustment frame and the mounting frame provided in an embodiment of the present application;

[0038] Figure 5 A schematic diagram of the connection between the pitch angle adjustment frame and the first arc-shaped slide groove provided in an embodiment of the present application;

[0039] Figure 6 A schematic diagram of the connection between the roll angle adjustment frame and the second arc-shaped slide groove provided in an embodiment of the present application;

[0040] Figure 7 A schematic diagram of the connection between the heading angle adjustment seat and the roll angle adjustment seat provided in an embodiment of the present application;

[0041] Figure 8 A schematic diagram of the structure of the scale assembly provided in an embodiment of the present application;

[0042] Fig. 9 A schematic diagram of the structure of a vehicle-mounted inertial navigation test system provided in an embodiment of the present application;

[0043] Fig.10 This is a workflow diagram of the vehicle-mounted inertial navigation test system provided in an embodiment of the present application.

[0044] Among them, 1-mounting frame; 11-column; 11a-first column; 11b-second column; 111-first arc-shaped slide; 112-first fixing member; 113-bearing; 12-lifting assembly; 121-support; 122-limiting member; 13-beam; 2-pitch angle adjustment frame; 21-second arc-shaped slide; 22-second fixing member; 23-first sliding part; 24-first connecting rod; 25-second connecting rod; 26-first Three connecting rods; 3-roll angle adjustment frame; 31-rotating shaft; 31a-first rotating shaft; 31b-second rotating shaft; 32-third arc-shaped slide groove; 321-rolling body; 33-third fixing member; 34-second sliding part; 35-fourth connecting rod; 36-fifth connecting rod; 37-arc-shaped secondary ruler; 4-heading angle adjustment seat; 41-installation part; 42-third sliding part; 5-first inertial navigation system; 6-second inertial navigation system; 7-tested vehicle. DETAILED DESCRIPTION

[0045] The following will describe the implementation methods of the present application with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for illustrating the present application, not for limiting the scope of protection of the present application.

[0046] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application, and thus the drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0047] At present, most of the collectors on the market, such as GSS6450, cannot perform secondary data processing because the inertial navigation data is coupled with the satellite positioning spectrum signal during collection. When the installation angle difference between the high-precision inertial truth system data and the on-board inertial measurement element is too large, the high-precision inertial truth system data, satellite positioning data, vehicle speed data, and map data will be injected into the on-board computer to play back the simulated road test. There will be problems such as calibration failure and heading calculation error. The collection playback and automated testing are greatly restricted.

[0048] In order to make the installation posture of the high-precision inertial truth value system consistent with the on-board inertial measurement element on the vehicle under test, the first aspect of the embodiment of the present application provides an inertial navigation system installation structure for realizing the installation of the high-precision inertial truth value system on the vehicle under test. The inertial navigation system installation structure provided by the embodiment of the present application can adjust the height position and the installation angle position in each axial direction of the high-precision inertial truth value system, so that the installation posture of the high-precision inertial truth value system is consistent with the on-board inertial measurement element on the vehicle under test. After completing the actual vehicle test, there is no need to convert the data of the high-precision inertial truth value system and it can be directly used for data analysis, thereby greatly improving the test efficiency of the on-board inertial navigation test.

[0049] See also Figures 1 to 10 The embodiment of the present application proposes an inertial navigation system installation structure, including: a mounting frame 1, a pitch angle adjustment frame 2, a roll angle adjustment frame 3 and a heading angle adjustment seat 4. The mounting frame 1 includes a plurality of columns 11, which can be rigidly connected to the vehicle 7 under test; a lifting assembly 12 is provided on the column 11, which is used to adjust the overall height of the mounting frame 1 so that the height position of the high-precision inertial value system is consistent with the height position of the vehicle-mounted inertial measurement element; the pitch angle adjustment frame 2 is rotatably arranged on the mounting frame 1 around a first direction; the roll angle adjustment frame 3 is rotatably arranged on the pitch angle adjustment frame 2 around a second direction; the heading angle adjustment seat 4 is rotatably arranged on the roll angle adjustment frame 3 around a third direction, and the first direction, the second direction and the third direction are perpendicular to each other, and a mounting portion 41 is provided on the heading angle adjustment seat 4 for connecting with the high-precision inertial value system. Specifically, a plurality of screw holes are provided on the mounting portion 41, which can be used to be fixedly connected with the high-precision inertial value system to prevent the high-precision inertial value system from moving relative to the mounting portion 41 during the test, resulting in errors in the test data.

[0050] In a specific embodiment of the present application, the first direction is Figure 1 The X direction in the second direction is Figure 1 The Y direction in the third direction is Figure 1 In the Z direction, the pitch angle of the high-precision inertial truth value system can be adjusted by rotating the pitch angle adjustment frame 2 around the X direction, the roll angle of the high-precision inertial truth value system can be adjusted by rotating the roll angle adjustment frame 3 around the Y direction, and the heading angle of the high-precision inertial truth value system can be adjusted by rotating the heading angle adjustment seat 4 around the Z direction, so that the installation angle of the high-precision inertial truth value system in each axial direction is consistent with the vehicle-mounted inertial measurement element.

[0051] After the high-precision inertial truth value system is set on the mounting portion 41, the overall height of the mounting frame 1 can be adjusted by the lifting assembly 12, and the height positions of the pitch angle adjustment frame 2, the roll angle adjustment frame 3 and the heading angle adjustment seat 4 connected to the mounting frame 1 are also adjusted, so that the height position of the high-precision inertial truth value system and the vehicle-mounted inertial measurement element on the vehicle under test 7 can be kept consistent. Then, by rotating the pitch angle adjustment frame 2, the roll angle adjustment frame 3 and the heading angle adjustment seat 4, the pitch angle, roll angle and heading angle adjustment of the high-precision inertial truth value system can be achieved, so that the installation angle of the high-precision inertial truth value system in each axial direction is consistent with the vehicle-mounted inertial measurement element. During the driving process of the vehicle under test 7, since the installation posture of the high-precision inertial truth value system and the vehicle-mounted inertial measurement element is consistent, the inertial navigation data obtained by the high-precision inertial truth value system can be used as comparison data (reference data) to perform comparative measurement and analysis on the measurement data of the vehicle-mounted inertial measurement element. Before analysis, there is no need to convert and process the inertial navigation data obtained by the high-precision inertial truth value system according to different installation postures, thereby improving the efficiency of the vehicle-mounted inertial navigation test.

[0052] It should be noted that the lifting component 12 can adopt linear actuators such as cylinders and hydraulic cylinders. In order to simplify the control system of the inertial navigation system installation structure, manual adjustment is adopted in some embodiments of the present application to realize the lifting of the mounting frame 1. Specifically, the lifting component 12 includes a support 121 and a limiter 122. The bottom of the support 121 is provided with a mounting hole, which can be used to form a rigid connection with the vehicle 7 under test. The support 121 is slidably connected to the column 11, so that the height position of the column 11 can be changed, thereby adjusting the height position of the high-precision inertial true value system; the limiter 122 is respectively connected to the support 121 and the column 11, and is used to fix the relative position between the support 121 and the column 11 after the height position adjustment is completed. Figure 2 and Figure 4 In some preferred embodiments of the present application, the length of the support 121 is 1 / 2 of the length of the column 11 .

[0053] In some embodiments of the present application, the limiter 122 may be a latch pin, in which case both the support 121 and the column 11 are provided with a pin hole that cooperates with the latch pin, but the adjustment accuracy of this structure depends on the spacing between adjacent mounting holes, and fine adjustment cannot be performed. Therefore, in other embodiments of the present application, the limiter 122 is a butterfly screw, and a vertical slide groove is provided on one of the support 121 and the column 11, and a threaded hole is provided on the other. The butterfly screw can be fastened and connected to any height position of the vertical slide groove, which can greatly improve the height adjustment accuracy of the mounting frame 1, such as Figure 2 and Figure 4 shown.

[0054] In order to facilitate the rotation of the pitch angle adjustment frame 2 relative to the mounting frame 1 to achieve the pitch angle installation angle adjustment of the high precision true value system, in some embodiments of the present application, refer to Figure 1 and Figure 2 The first end of the pitch angle adjustment frame 2 is hinged to the mounting frame 1, and the second end of the pitch angle adjustment frame 2 is slidably connected to the mounting frame 1. The tester only needs to pull the second end of the pitch angle adjustment frame 2 to realize the rotation of the pitch angle adjustment frame 2 relative to the mounting frame 1.

[0055] It should be noted that, in order to respectively realize the hinged connection and the sliding connection with the pitch angle adjustment frame 2, the column 11 on the mounting frame 1 has two structural forms, namely, a first column 11a and a second column 11b, and the adjacent columns 11 are connected by a crossbeam 13, wherein a bearing 113 is provided in the middle of the first column 11a for hinged connection with the first connecting rod 24 on the pitch angle adjustment frame 2, such as Figure 4 As shown, a first arc-shaped slide groove 111 is provided in the middle of the second column 11b, and the second end of the pitch angle adjustment frame 2 is slidably arranged on the first arc-shaped slide groove 111, so that the pitch angle adjustment frame 2 as a whole can rotate with the first connecting rod 24 as the rotation axis 31. A first fixing member 112 is provided on the first arc-shaped slide groove 111, and the first fixing member 112 and the second end of the pitch angle adjustment frame 2 are detachably connected, so that the relative position between the pitch angle adjustment frame 2 and the first arc-shaped slide groove 111 can be fixed after the pitch angle installation position adjustment of the high-precision inertial true value system is completed, as shown in FIG. Figure 1 and Figure 5 As shown, the pitch angle installation position of the high-precision inertial navigation system is prevented from changing during the vehicle-mounted inertial navigation test, which may lead to measurement errors.

[0056] In order to facilitate the rotation of the roll angle adjustment frame 3 relative to the pitch angle adjustment frame 2, in some embodiments of the present application, please refer to Figure 1 , Figure 2 , Figure 3 and Figure 6 The roll angle adjustment frame 3 includes a rotating shaft 31 arranged along its center line, and the axis of the rotating shaft 31 is Figure 1 The rotation shaft 31 is parallel to the Y direction in the pitch angle adjustment frame 2, and the roll angle adjustment frame 3 can be rotated inside the pitch angle adjustment frame 2; the pitch angle adjustment frame 2 is provided with a second arc-shaped slide groove 21, which is used for sliding connection with both sides of the roll angle adjustment frame 3. Specifically, the second arc-shaped slide groove 21 is provided on the second connecting rod 25 on both sides of the pitch angle adjustment frame 2, which is used for sliding support on both sides of the roll angle adjustment frame 3, such as Figure 1 and Figure 2As shown; a second fixing piece 22 is provided on the second arc-shaped slide groove 21, and the second fixing piece 22 and the roll angle adjustment frame 3 are detachably connected. After the roll angle installation position adjustment of the high-precision inertial truth value system is completed, the relative position fixation between the roll angle adjustment frame 3 and the pitch angle adjustment frame 2 can be achieved through the second fixing piece 22, so as to avoid changes in the roll angle installation position of the high-precision inertial truth value system during the vehicle-mounted inertial navigation test, resulting in measurement errors.

[0057] It should be noted that when the heading angle adjustment seat 4 is installed in the middle of the roll angle adjustment frame 3, in order to avoid interference between the heading angle adjustment seat 4 and the rotating shaft 31, it is preferred to set two rotating shafts 31 on both sides of the roll angle adjustment frame 3, namely the first rotating shaft 31a and the second rotating shaft 31b, and the first rotating shaft 31a and the second rotating shaft 31b are respectively hinged to the first connecting rod 24 and the third connecting rod 26 in the pitch angle adjustment frame 2, so that the roll angle adjustment frame 3 is in the shape of a "center", and the smooth rotation of the roll angle adjustment frame 3 will not affect the rotation of the heading angle adjustment seat 4 inside the roll angle adjustment frame 3.

[0058] In order to facilitate the rotation of the heading angle adjustment seat 4 relative to the roll angle adjustment frame 3, in some embodiments of the present application, please refer to Figure 1 and Figure 3 , the roll angle adjustment frame 3 is provided with a third arc-shaped slide groove 32, the heading angle adjustment seat 4 is a disc structure, and the outer circumference of the disc structure is slidably connected to the third arc-shaped slide groove 32; the third arc-shaped slide groove 32 is provided with a third fixing member 33, and the third fixing member 33 is detachably connected to the heading angle adjustment seat 4. After the heading angle installation position adjustment of the high-precision inertial true value system is completed, the relative position between the roll angle adjustment frame 3 and the heading angle adjustment seat 4 can be fixed by the third fixing member 33, so as to avoid the heading angle installation position of the high-precision inertial true value system changing during the vehicle-mounted inertial navigation test, resulting in measurement errors. Specifically, the third arc-shaped slide groove 32 is fixedly connected to the fourth connecting rod 35 and the fifth connecting rod 36 in the roll angle adjustment frame 3, so that the third arc-shaped slide groove 32 can rotate with the roll angle adjustment frame 3, thereby realizing the roll angle adjustment of the mounting portion 41 in the heading angle mounting seat.

[0059] In the above embodiment, the first fixing member 112, the second fixing member 22 and the third fixing member 33 are preferably butterfly screws. In order to facilitate the position fixation of the pitch angle adjustment frame 2, the roll angle adjustment frame 3 and the heading angle adjustment seat 4 by the butterfly screws, through grooves are provided on the first arc-shaped slide groove 111, the second arc-shaped slide groove 21 and the third arc-shaped slide groove 32. The butterfly screws extend into the through grooves to connect and fix the pitch angle adjustment frame 2, the roll angle adjustment frame 3 or the heading angle adjustment seat 4. When adjusting the installation position, the butterfly screws can be loosened, and the pitch angle adjustment frame 2, the roll angle adjustment frame 3 or the heading angle adjustment seat 4 can rotate. After the installation position adjustment is completed, the butterfly screws are tightened to prevent the pitch angle adjustment frame 2, the roll angle adjustment frame 3 or the heading angle adjustment seat 4 from rotating, thereby ensuring that the installation angle of the high-precision inertial truth value system will not change during the test process.

[0060] Since the outer circumference of the heading angle adjustment seat 4 and the third arc-shaped slide groove 32 have a large contact surface, the resistance is large during relative sliding. In order to solve this problem, in some embodiments of the present application, please refer to Figure 7 A plurality of rolling bodies 321 are arranged along the circumference of the third arc-shaped slide groove 32, which are used to contact the heading angle adjustment seat 4, and can reduce the friction between the outer circumference of the heading angle adjustment seat 4 and the third arc-shaped slide groove 32, so that the heading angle adjustment seat 4 can rotate smoothly. When the position of the heading angle adjustment seat 4 needs to be fixed, the third fixing member 33 is inserted between two adjacent rolling bodies 321, and the third fixing member 33 is fastened to the heading angle adjustment seat 4, so that the third fixing member 33 cannot move relative to the third arc-shaped slide groove 32, and forms a block to the rolling body 321.

[0061] It should be noted that a support portion for limiting the heading angle adjustment seat 4 may be provided at the bottom of the third arc-shaped slide groove 32, such as Figure 7 As shown, the heading angle adjustment seat 4 is prevented from falling out from the bottom of the third arc-shaped sliding groove 32 .

[0062] In some embodiments of the present application, semicircular grooves matching the rolling elements 321 are provided on the inner circumference of the third arc-shaped slide groove 32 and the outer circumference of the heading angle adjustment seat 4. A plurality of rolling elements 321 are embedded between the third arc-shaped slide groove 32 and the heading angle adjustment seat 4 through a connection method similar to that of a bearing. This limiting method can also prevent the heading angle adjustment seat 4 from falling out of the bottom of the third arc-shaped slide groove 32.

[0063] In order to reduce the sliding resistance of the pitch angle adjustment frame 2, the roll angle adjustment frame 3 and the heading angle adjustment seat 4 during the adjustment process, in some embodiments of the present application, please refer to Figure 1 , Figure 3 , Figure 5 and Figure 6The pitch angle adjustment frame 2, the roll angle adjustment frame 3 and the heading angle adjustment seat 4 are all provided with sliding parts, and the sliding parts have an arc surface or a spherical surface, so as to form a line contact or a point contact with the arc surface of the arc chute (the first arc chute 111, the second arc chute 21 or the third arc chute 32), thereby reducing the sliding resistance exerted by the arc surface of the arc chute on the pitch angle adjustment frame 2, the roll angle adjustment frame 3 and the heading angle adjustment seat 4. Specifically, the second connecting rod 25 of the pitch angle adjustment frame 2 is provided with a first sliding part 23, and the first sliding part 23 has a spherical surface, and a screw hole for connecting with the first fixing member 112 is provided on the spherical surface, such as Figure 5 The fourth connecting rod 35 of the roll angle adjustment frame 3 is provided with a second sliding portion 34 at both ends, the second sliding portion 34 has a spherical surface, the spherical surface is provided with a screw hole for connecting with the second fixing member 22, such as Figure 6 The outer peripheral surface of the heading angle adjustment seat 4 is provided with a third sliding portion 42, the third sliding portion 42 has an arc surface (or a cylindrical surface), the third sliding portion 42 is provided with a screw hole for connecting with the third fixing member 33, such as Figure 3 shown.

[0064] In order to facilitate the test personnel to clearly perceive the adjustment angle during the adjustment process, in some embodiments of the present application, scale components are provided on the first arc-shaped slide groove 111, the second arc-shaped slide groove 21 and the third arc-shaped slide groove 32, which are respectively used to observe the rotation angles of the pitch angle adjustment frame 2, the roll angle adjustment frame 3 and the heading angle adjustment seat 4.

[0065] It should be noted that the scale range on the scale assembly can be determined according to the rotation range required by the pitch angle adjustment frame 2, the roll angle adjustment frame 3 and the heading angle adjustment seat 4, which is generally not more than 40°. Therefore, scale markings with an angle range of less than 40° can be set on the outer peripheral surface of the first arc-shaped slide groove 111, the second arc-shaped slide groove 21 and the third arc-shaped slide groove 32 or on the surface adjacent to the arc surface of the slide groove, such as Figure 3 The minimum accuracy of the scale mark can be determined according to actual needs, usually 1°.

[0066] In some embodiments of the present application, in order to further improve the accuracy of the scale component, please refer to Figure 8 An arc-shaped secondary scale 37 is also provided in the scale assembly. The arc-shaped secondary scale 37 can slide relative to the arc-shaped slide groove with an accuracy of up to 0.1°. The adjustment accuracy of the rotation angle can be improved by cooperating with the arc-shaped secondary scale 37 and the scale markings.

[0067] The second aspect of the present application embodiment provides a vehicle-mounted inertial navigation test system. Fig. 9, including the inertial navigation system installation structure described in the above embodiment, and also including a first inertial navigation system 5 and a second inertial navigation system 6, wherein the first inertial navigation system 5 is a high-precision inertial truth value system, and the second inertial navigation system 6 is a vehicle-mounted inertial measurement element. The first inertial navigation system 5 is arranged on the installation portion 41, and can be used to realize the connection between the high-precision inertial truth value system and the inertial navigation system installation structure. The second inertial navigation system 6 and the inertial navigation system installation structure are arranged on the vehicle under test 7, so that the first inertial navigation system 5 (i.e., the high-precision inertial truth value system) and the second inertial navigation system 6 (i.e., the vehicle-mounted inertial measurement element) are moved along a predetermined route by the vehicle under test 7, so that the first inertial navigation system 5 (i.e., the high-precision inertial truth value system) and the second inertial navigation system 6 (i.e., the vehicle-mounted inertial measurement element) are subjected to actual vehicle testing in a consistent installation posture, so that the vehicle-mounted inertial navigation performance can be evaluated by comparing the test data.

[0068] See also Fig.10 In some embodiments of the present application, the steps of performing a vehicle-mounted inertial navigation test experiment and obtaining reference data through an inertial navigation system installation structure are as follows:

[0069] Step 1: The second inertial navigation system 6 (i.e., the vehicle-mounted inertial measurement element) is set at a predetermined installation position of the vehicle under test 7. Based on the principle of close position and small offset of the vehicle body coordinate system, the inertial navigation system installation structure is set on the vehicle under test 7 to ensure that the first inertial navigation system 5 (i.e., the high-precision inertial true value system) can be rigidly connected to the vehicle under test 7. Specifically, the support 121 at the bottom of the mounting frame 1 is fixedly installed on the vehicle under test 7, and the lifting assembly 12 is adjusted to make the height position of the mounting portion 41 consistent with the installation position of the second inertial navigation system 6 on the vehicle under test 7.

[0070] Step 2: Perform zero adjustment on the inertial navigation system mounting structure, and fix the first inertial navigation system 5 to the mounting portion 41. Specifically, loosen the first fixing member 112, the second fixing member 22 and the third fixing member 33 to allow the pitch angle adjustment frame 2, the roll angle adjustment frame 3 and the heading angle adjustment seat 4 to rotate, and respectively rotate the pitch angle adjustment frame 2, the roll angle adjustment frame 3 and the heading angle adjustment seat 4 to the position corresponding to the 0 scale line. At this time, the pitch angle adjustment frame 2, the roll angle adjustment frame 3 and the heading angle adjustment seat 4 are all in a horizontal state, which is convenient for the installation of a high-precision inertial truth value system. Tighten the first fixing member 112, the second fixing member 22 and the third fixing member 33, and then install the first inertial navigation system 5 on the mounting portion 41 with screws.

[0071] Step 3: After the installation of the first inertial navigation system 5 is completed, the first fixing member 112, the second fixing member 22 and the third fixing member 33 are loosened, and the pitch angle adjustment frame 2, the roll angle adjustment frame 3 and the heading angle adjustment seat 4 are rotated to make the installation angles of each axial direction of the first inertial navigation system 5 consistent with the second inertial navigation system 6. During the adjustment process, the lifting assembly 12 can be fine-tuned to ensure that the height position of the first inertial navigation system 5 is consistent with the height position of the second inertial navigation system 6. After the adjustment is completed, the coordinate origin of the inertial module of the first inertial navigation system 5 and the coordinate origin of the inertial module of the second inertial navigation system 6 are at the same height. At the same time, the line connecting the coordinate origins of the two inertial modules is parallel to the forward direction of the measured vehicle 7, ensuring that the offsets of the coordinate origins of the two inertial modules in the X direction and the Z direction are 0 (the X direction is the body width direction of the measured vehicle 7); at the same time, the pitch angle, roll angle and heading angle of the first inertial navigation system 5 are consistent with the second inertial navigation system 6.

[0072] Step 4: Conduct real vehicle testing and data analysis. Specifically, the first inertial navigation system 5 and the second inertial navigation system 6 collect data simultaneously during the driving process of the tested vehicle 7. After the test is completed, since the first inertial navigation system 5 and the second inertial navigation system 6 are installed at the same angle, there is no need for complex angle conversion for the test data collected by the high-precision inertial truth system, and no additional data reprocessing is required during data analysis, which simplifies the data processing process and ensures the consistency of the tested system. The test results can be directly connected to the tested vehicle 7, and the actual vehicle positioning performance can be tested and evaluated by comparing the differences between the two sets of data. In addition, when performing the collection and injection test, since the high-precision inertial truth system and the vehicle-mounted inertial measurement element are installed at the same angle, the high-precision reference signal collected by the high-precision inertial truth system can be directly injected into the tested vehicle 7 for testing and comparative analysis.

[0073] The present application ensures that the installation posture of the high-precision inertial truth system is consistent with the vehicle-mounted inertial measurement element through the inertial navigation system installation structure, ensures data consistency from the data source, and has strong applicability. By adjusting the lifting component 12, the pitch angle adjustment frame 2, the roll angle adjustment frame 3, and the heading angle adjustment seat 4, it can adapt to different inertial navigation layout schemes and is suitable for different real vehicle collection and testing.

[0074] The above embodiments are only preferred embodiments for fully illustrating the present application, and the protection scope of the present application is not limited thereto. Any equivalent substitution or change made by a person skilled in the art based on the present application is within the protection scope of the present application.

Claims

1. An inertial navigation system installation structure, characterized in that: include: A mounting frame (1), the mounting frame (1) comprising a plurality of columns (11), the columns (11) being provided with lifting components (12); a pitch angle adjustment frame (2), the pitch angle adjustment frame (2) being arranged on the mounting frame (1) so as to rotate around a first direction; A roll angle adjustment frame (3), the roll angle adjustment frame (3) being arranged on the pitch angle adjustment frame (2) so as to rotate around a second direction; A heading angle adjustment seat (4), the heading angle adjustment seat (4) is arranged on the roll angle adjustment frame (3) so as to rotate around a third direction, the first direction, the second direction and the third direction are perpendicular to each other, and a mounting portion (41) is provided on the heading angle adjustment seat (4).

2. The inertial navigation system installation structure according to claim 1, characterized in that: The lifting assembly (12) comprises a support (121) and a limiting member (122); the support (121) is slidably connected to the column (11); and the limiting member (122) is respectively connected to the support (121) and the column (11).

3. The inertial navigation system installation structure according to claim 1 or 2, characterized in that: The first end of the pitch angle adjustment frame (2) is hinged to the mounting frame (1), and the second end of the pitch angle adjustment frame (2) is slidably connected to the mounting frame (1).

4. The inertial navigation system installation structure according to claim 3, characterized in that: The column (11) is provided with a first arc-shaped slide groove (111), the second end of the pitch angle adjustment frame (2) is slidably arranged on the first arc-shaped slide groove (111), the first arc-shaped slide groove (111) is provided with a first fixing member (112), and the first fixing member (112) and the second end of the pitch angle adjustment frame (2) are detachably connected.

5. The inertial navigation system installation structure according to claim 4, characterized in that: The roll angle adjustment frame (3) comprises a rotating shaft (31) arranged along its center line, and the rotating shaft (31) is hinged to the middle part of the pitch angle adjustment frame (2); the pitch angle adjustment frame (2) is provided with a second arc-shaped sliding groove (21) for sliding connection with two sides of the roll angle adjustment frame (3), and the second arc-shaped sliding groove (21) is provided with a second fixing member (22), and the second fixing member (22) is detachably connected to the roll angle adjustment frame (3).

6. The inertial navigation system installation structure according to claim 5, characterized in that: The roll angle adjustment frame (3) is provided with a third arc-shaped slide groove (32); the heading angle adjustment seat (4) is a disc structure, and the outer periphery of the disc structure is slidably connected to the third arc-shaped slide groove (32); the third arc-shaped slide groove (32) is provided with a third fixing member (33), and the third fixing member (33) and the heading angle adjustment seat (4) are detachably connected.

7. The inertial navigation system installation structure according to claim 6, characterized in that: A plurality of rolling bodies (321) are provided along the circumference of the third arc-shaped sliding groove (32) for contacting the heading angle adjustment seat (4).

8. The inertial navigation system installation structure according to claim 6, characterized in that: The pitch angle adjustment frame (2), the roll angle adjustment frame (3) and the heading angle adjustment seat (4) are all provided with sliding parts, and the sliding parts have a curved surface or a spherical surface.

9. The inertial navigation system installation structure according to claim 6, characterized in that: The first arc-shaped slide groove (111), the second arc-shaped slide groove (21) and the third arc-shaped slide groove (32) are all provided with scale components.

10. A vehicle-mounted inertial navigation test system, comprising the inertial navigation system installation structure according to any one of claims 1 to 9, characterized in that: It also includes a first inertial navigation system (5) and a second inertial navigation system (6), wherein the first inertial navigation system (5) is arranged on the mounting portion (41), and the second inertial navigation system (6) and the inertial navigation system mounting structure are arranged on the vehicle (7) under test.

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