Calibration tool for inertial measurement unit

Abstract

The utility model discloses a calibration tool for an inertial measurement unit, which comprises a fixed frame, a fixed base, a fixed base and a movable base, the rotating disc is arranged below the fixing frame and is detachably connected with the fixing frame; the IMU fixing assembly is arranged on the fixing frame and used for fixing an IMU, and the IMU fixing assembly comprises a limiting groove frame which is horizontally arranged in the fixing frame in the width direction of the fixing frame and detachably connected with the bottom of the fixing frame; the limiting block is in an inverted L shape, and the limiting block is vertically arranged in the fixing frame and detachably connected with the left side wall or the right side wall of the fixing frame; the mounting plate is arranged above the limiting groove frame and is detachably connected with the top of the fixing frame; the first pressing block is horizontally arranged between the limiting groove frame and the mounting plate and detachably connected with the mounting plate. The calibration tool has the advantages of being good in compatibility, light in weight, convenient to maintain, accurate in calibration result and the like.

Description

Technical Field

[0001] The utility model relates to the field of calibration equipment, and more specifically, to a calibration tool for an inertial measurement unit. Background Art

[0002] The inertial measurement unit calibration tool is a precision measuring tool, which is widely used in the calibration of inertial measurement units. Existing calibration tools, such as the utility model patent with the authorization number CN 106289324 B, disclose a calibration device for an inertial measurement unit, which includes a mounting frame, an adapter frame and a rotating table. The mounting frame is a hexahedral structure, and the mounting frame is connected to the rotating table through the adapter frame. The inner side wall of the first pair of walls arranged opposite to each other of the mounting frame is provided with a guide groove, one end of the guide groove is set as a through groove, and the other end is set as a blind groove. The inertial measurement unit is connected to the circuit board, and the circuit board is inserted and fixed into the guide groove of the mounting frame through a pair of first sliders and a pair of second sliders symmetrically arranged on its two sides. In the above technical solution, the inertial measurement unit is fixed in the mounting frame by the first slider, the second slider and the guide groove. The stability of this fixing method is poor, and there is room for further improvement. Utility Model Content

[0003] The purpose of the utility model is to provide a calibration tool for an inertial measurement unit, so as to at least solve the above-mentioned problem.

[0004] In order to achieve the purpose and other advantages of the utility model, a calibration tool for an inertial measurement unit is provided, comprising:

[0005] A fixed frame, which is a hollow rectangular parallelepiped frame structure;

[0006] A rotating turntable is disposed below the fixing frame and is detachably connected to the fixing frame;

[0007] An IMU fixing component is arranged on the fixing frame and is used to fix the IMU. The IMU fixing component includes a limit slot frame, which is horizontally arranged in the fixing frame along the width direction of the fixing frame and is detachably connected to the bottom of the fixing frame; a limit block, which is an inverted L-shape, and is vertically arranged in the fixing frame and is detachably connected to the left wall or the right wall of the fixing frame; a mounting plate, which is arranged above the limit slot frame and is detachably connected to the top of the fixing frame; a first clamping block, which is horizontally arranged between the limit slot frame and the mounting plate and is detachably connected to the mounting plate.

[0008] Preferably, in the calibration tool for the inertial measurement unit, the four corners of each surface of the fixing frame are provided with a protruding first reference block, the side of the first reference block away from the fixing frame is a first reference plane, the four first reference planes on the same surface of the fixing frame are coplanar, the first reference planes on two adjacent surfaces are perpendicular to each other, and the first reference planes on two opposite surfaces are parallel to each other.

[0009] Preferably, in the calibration tool for the inertial measurement unit, a plurality of groups of first threaded holes are arranged on the rotating turntable along its circumferential array, each group of first threaded holes includes a plurality of first threaded holes arranged at radial intervals along the rotating turntable, and first connecting holes matching the first threaded holes are respectively provided on the six surfaces of the fixing frame, the first connecting holes and the first threaded holes are detachably connected by first bolts, and when one of the surfaces of the fixing frame is fixed to the rotating turntable by the first bolts, four first reference surfaces arranged on the surface are in contact with the rotating turntable.

[0010] Preferably, in the calibration tooling for the inertial measurement unit, the limit slot frame includes two oppositely arranged V-shaped beams and a connecting beam connecting the two V-shaped beams, two second reference blocks are symmetrically arranged at the bottom of the V-shaped beam along the length direction of the fixing frame, the side of each second reference block away from the bottom of the V-shaped beam is a second reference plane, the four second reference planes on the two V-shaped beams are coplanar and parallel to the first reference plane provided on the bottom surface of the fixing frame, the second reference plane is connected to the inclined surface of the V-shaped beam and is arranged at an obtuse angle, the two ends of the V-shaped beam respectively extend horizontally outward to form a connecting portion, the connecting portion is placed on the bottom cross beam of the fixing frame, and is crimped and fixed to the bottom cross beam by an inverted L-shaped second clamping block, and the second clamping block is detachably connected to the bottom cross beam.

[0011] Preferably, in the calibration tool for the inertial measurement unit, the horizontal portion of the limit block faces inside the fixed frame, and the end face of the horizontal portion is a third reference plane, the third reference plane is parallel to the first reference plane provided on the left side wall or the right side wall of the fixed frame, and the vertical portion of the limit block is detachably connected to the lower portion of the left side wall or the right side wall of the fixed frame.

[0012] Preferably, in the calibration tool for the inertial measurement unit, the mounting plate is arranged along the width direction of the fixing frame and is detachably connected to the top crossbeam of the fixing frame, a connecting screw hole is penetrated through the middle part of the mounting plate along the height direction of the fixing frame, a connecting bolt is threadedly connected to the inner thread of the connecting screw hole, and the bottom thread of the connecting bolt is threadedly connected to the first clamping block.

[0013] Preferably, in the calibration tool for the inertial measurement unit, the first pressing block is a quadrangular pyramid structure that is small at the top and large at the bottom, and the bottom surface of the first pressing block is recessed upward to form a cavity.

[0014] Preferably, in the calibration tool for the inertial measurement unit, weight-reducing holes are provided on the beams on the six surfaces of the fixing frame.

[0015] Preferably, the calibration tool for the inertial measurement unit further includes: a power supply mounting plate, which is arranged between the bottom beams of the fixing frame along the width direction of the fixing frame and away from the limit block, and a power supply battery is detachably connected to the power supply mounting plate.

[0016] The utility model at least has the following beneficial effects:

[0017] First, the utility model sets the fixing frame as a hollow rectangular parallelepiped structure, detachably connects the IMU fixing assembly to the fixing frame, and sets the IMU fixing assembly to include a V-shaped limit slot frame to meet the installation of IMUs of different sizes and shapes, thereby providing convenience for the calibration of various IMUs and having good compatibility;

[0018] Second, the utility model provides protruding first reference blocks at the four corners of each face of the fixing frame, and uses the side of the first reference block away from the fixing frame as the first reference surface, that is, the reference surface of the fixing frame, so that the reference surface area of ​​the fixing frame is greatly reduced and has sufficient flatness, which is convenient for processing and maintenance;

[0019] Third, the utility model realizes the lightness of the calibration tool by setting the fixing frame as a hollow rectangular frame structure and opening weight-reducing holes on the beam, thereby improving the balance of the calibration tool during the rotation process and protecting the turntable;

[0020] Fourth, the utility model sets a second reference plane at the bottom of the V-shaped beam and a third reference plane at the horizontal part of the limit block. The second reference plane and the third reference plane are perpendicular to each other and parallel or perpendicular to the reference plane of the fixing frame. During the installation of the IMU, it is only necessary to press the reference plane on the IMU with the second reference plane and the third reference plane respectively, so as to ensure that at least two reference planes of the IMU are perpendicular. The crimping connection method is adopted, and the torque transmission is small, which is conducive to reducing the calibration error.

[0021] Fifth, the utility model sets the IMU fixing component to include a limit slot frame, a limit block, a mounting plate and a first clamping block, so as to limit the X, Y and Z directions of the IMU at the same time by crimping, thereby ensuring that the movement of the IMU in the X, Y and Z axis directions is effectively restricted, so that the IMU is firmly fixed in the fixing frame, preventing unnecessary shaking or deviation during the calibration process, and improving the accuracy of the calibration result.

[0022] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the overall structure of a calibration tooling according to an embodiment of the utility model;

[0024] Figure 2 It is an exploded view of a calibration tooling of one embodiment of the utility model;

[0025] Figure 3 The figure is a schematic diagram of the structure after the calibration tool and the inertial measurement unit are assembled according to one embodiment of the utility model. DETAILED DESCRIPTION

[0026] The present invention will be further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0027] It should be noted that the experimental methods described in the following embodiments are conventional methods unless otherwise specified, and the reagents and materials are commercially available unless otherwise specified; in the description of the present invention, the terms "lateral", "longitudinal", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0028] like Figure 1 As shown, the utility model provides a calibration tool for an inertial measurement unit, comprising: a fixing frame 1, which is a hollow rectangular frame structure; a rotating turntable 2, which is arranged below the fixing frame 1 and is detachably connected to the fixing frame 1; an IMU fixing assembly, which is arranged on the fixing frame and is used to fix the IMU 4, and the IMU fixing assembly comprises: a limit slot frame 3, which is horizontally arranged in the fixing frame 1 along the width direction of the fixing frame 1 and is detachably connected to the bottom of the fixing frame 1; a limit block 5, which is an inverted L-shape, and the limit block 5 is vertically arranged in the fixing frame 1 and is detachably connected to the left side wall or the right side wall of the fixing frame 1; a mounting plate 6, which is arranged above the limit slot frame 3 and is detachably connected to the top of the fixing frame 1; a first clamping block 7, which is horizontally arranged between the limit slot frame 3 and the mounting plate 6 and is detachably connected to the mounting plate.

[0029] In the above embodiment, the calibration tooling for the inertial measurement unit includes a fixed frame 1, a rotating turntable 2 and an IMU fixed assembly. The fixed frame 1 is a hollow rectangular parallelepiped frame structure. Specifically, the fixed frame 1 includes a left side wall and a right side wall that are arranged opposite to each other, and two bottom beams and two top beams connecting the left side wall and the right side wall. The middle of the left side wall and the right side wall are provided with openings, preferably circular openings. Further, the left side wall and the right side wall can also be square frames surrounded by 4 beams respectively. The rotating turntable 2 is arranged below the fixed frame 1 and is detachably connected to the fixed frame 1. The detachable connection method includes but is not limited to bolt connection, plug-in connection, clamping connection, magnetic connection, etc., the same below. Specifically, the diameter of the rotating turntable 2 is not less than the length of the fixed frame 1. The IMU fixed assembly includes a limit slot frame 3, a limit block 5, a mounting plate 6 and a first clamping block 7. The limit slot frame 3 is horizontally arranged in the fixing frame 1 along the width direction of the fixing frame 1, and is detachably connected to the bottom of the fixing frame 1. The limit slot frame 3 can be pressed with the bottom of the IMU 4 to limit the X direction of the IMU 4. The limit block 5 is an inverted L-shaped, and the limit block 5 is vertically arranged in the fixing frame 1, and is detachably connected to the left wall or the right wall of the fixing frame 1. The limit block 5 can be pressed with the side wall of the IMU 4 to limit the Y direction of the IMU 4. The mounting plate 6 is arranged above the limit slot frame 3 and is detachably connected to the top of the fixing frame 1. A first clamping block 7 is arranged below the mounting plate 6. The first clamping block 7 is detachably connected to the mounting plate 6, and the first clamping block can be pressed with the top of the IMU 4 to limit the Z direction of the IMU 4.

[0030] When in use, first fix the fixing frame on the rotating turntable, then install the limit slot frame and the limit block on the fixing frame, put in the IMU, and crimp the bottom and side wall of the IMU with the limit slot frame and the limit block respectively. Finally, install the mounting plate on the fixing frame, and make the first clamping block connected to the mounting plate press the top of the IMU, so that the IMU is crimped and fixed in the fixing frame. Finally, connect the rotating turntable to the turntable, and then the IMU can be calibrated.

[0031] The utility model is used for the calibration tool of the inertial measurement unit. By setting the fixing frame as a hollow rectangular frame structure, the hollow design is conducive to heat dissipation and ventilation, ensuring that the IMU can maintain a good temperature environment when working for a long time, improving the accuracy of calibration, and secondly, reducing the weight of the fixing frame and improving the calibration efficiency. By setting the fixing frame as a hollow rectangular structure and detachably connecting the IMU fixing component to the fixing frame, the hollow rectangular structure can accommodate IMUs of different sizes and shapes. According to the size and shape of the IMU, the IMU can be fixed on the fixing frame by replacing the IMU fixing component adapted thereto. The fixed frame provides convenience for the calibration of various IMUs and has good compatibility. The IMU fixing assembly is set to include a limit slot frame, a limit block, a mounting plate and a first clamping block, so that the X, Y and Z directions of the IMU are limited at the same time by crimping, ensuring that the movement of the IMU in the three axes of X, Y and Z is effectively restricted, so that the IMU is firmly fixed in the fixed frame to prevent unnecessary shaking or deviation during the calibration process, thereby improving the accuracy of the calibration result. The fixing frame, the rotating turntable and the IMU fixing assembly are all detachably connected and modularly arranged to facilitate the maintenance and care of each component.

[0032] In another embodiment, four corners of each surface of the fixing frame 1 are provided with a protruding first reference block 17, and the side of the first reference block 17 away from the fixing frame 1 is a first reference plane. The four first reference planes on the same surface of the fixing frame 1 are coplanar, the first reference planes on two adjacent surfaces are perpendicular to each other, and the first reference planes on two opposite surfaces are parallel to each other.

[0033] In the above embodiment, by providing protruding first reference blocks at the four corners of each surface of the fixing frame, and using the side of the first reference block away from the fixing frame as the first reference surface, that is, the reference surface of the fixing frame, the area of ​​the reference surface of the fixing frame is greatly reduced and has sufficient flatness, which is convenient for processing and maintenance.

[0034] In another embodiment, a plurality of groups of first threaded holes 8 are arranged along a circumferential array on the rotating turntable 2, and each group of first threaded holes 8 includes a plurality of first threaded holes 8 arranged at radial intervals along the rotating turntable 2. First connecting holes 9 matching with the first threaded holes 8 are respectively provided on the six surfaces of the fixing frame 1, and the first connecting holes 9 and the first threaded holes 8 are detachably connected by first bolts. When one of the surfaces of the fixing frame 1 is fixed to the rotating turntable 2 by the first bolts, the four first reference surfaces arranged on the surface are in contact with the rotating turntable.

[0035] In the above embodiment, the fixed frame and the rotating turntable are detachably connected through the first connecting hole, the first threaded hole and the first bolt, so that the fixed frame and the rotating turntable are easy to disassemble and assemble, and when the fixed frame and the rotating turntable are connected, the first reference surface is directly crimped on the rotating turntable. The crimping connection method is used, and the torque transmission is small, which is conducive to reducing the calibration error and improving the accuracy of the calibration result.

[0036] In another embodiment, the limit groove frame 3 includes two oppositely arranged V-shaped beams 31 and a connecting beam 32 connecting the two V-shaped beams 31, and two second reference blocks 33 are symmetrically arranged at the bottom of the V-shaped beam 31 along the length direction of the fixing frame 1, and the side of each second reference block 33 away from the bottom of the V-shaped beam 31 is a second reference plane, and the four second reference planes on the two V-shaped beams 31 are coplanar and parallel to the first reference plane arranged on the bottom surface of the fixing frame 1, and the second reference plane is connected to the inclined surface of the V-shaped beam 31 and is set at an obtuse angle, and the two ends of the V-shaped beam 31 extend horizontally outward to form a connecting portion 33, and the connecting portion 33 is placed on the bottom cross beam of the fixing frame 1, and is crimped and fixed to the bottom cross beam by an inverted L-shaped second clamping block 10, and the second clamping block 10 is detachably connected to the bottom cross beam.

[0037] In the above embodiment, by setting the limit groove frame to include two V-shaped beams, and symmetrically arranging two second reference blocks at the bottom of the V-shaped beam, the side of the second reference block away from the bottom of the V-shaped beam is set as the second reference plane, and the second reference plane is connected to the inclined surface of the V-shaped beam with an obtuse angle. During the installation of the IMU, by crimping the reference plane at the bottom of the IMU with the second reference plane, or crimping the reference plane of the side wall of the IMU with the inclined surface of the V-shaped beam, the X direction of the IMU can be limited. In addition, the V-shaped beam structure can also adapt to IMUs of different sizes and shapes, and has good compatibility. By arranging connecting parts at both ends of the V-shaped beam, and crimping and fixing the connecting parts to the bottom beam of the fixing frame through the second clamping block, the torque transmission between the V-shaped beam and the bottom beam is small, which is beneficial to reducing the calibration error and improving the accuracy of the calibration result.

[0038] Furthermore, the second clamping blocks 10 located on the same bottom cross beam are arranged opposite to each other, each second clamping block 10 is provided with a second connection hole 11 penetrating its vertical portion, the bottom cross beam is provided with a second threaded hole 12 corresponding to the second connection hole 11, and the second connection hole 11 is detachably connected to the second threaded hole 12 via a second bolt. The second clamping block is detachably connected to the bottom cross beam via the second connection hole, the second threaded hole and the second bolt, so as to facilitate the installation and removal of the second clamping block.

[0039] Furthermore, a positioning hole is provided at the bottom of the connecting portion 33, and a positioning column is provided on the bottom crossbeam to cooperate with the positioning hole. By providing the positioning hole and the positioning column, the two V-shaped beams are initially fixed on the bottom crossbeam to avoid relative movement between the V-shaped beam and the bottom crossbeam during the pressing process of the pressing block.

[0040] In another embodiment, the horizontal portion of the limit block 5 faces the inside of the fixing frame 1, and the end face of the horizontal portion is a third reference plane, the third reference plane is parallel to the first reference plane provided on the left side wall or the right side wall of the fixing frame 1, and the vertical portion of the limit block 5 is detachably connected to the lower portion of the left side wall or the right side wall of the fixing frame 1.

[0041] In the above embodiment, by arranging the horizontal portion of the limit block toward the inside of the fixed frame and using the end face of the horizontal portion as the third reference plane, during the installation of the IMU, by crimping the reference plane of the end face of the IMU with the third reference plane, the Y direction of the IMU can be limited. Specifically, the IMU can be placed on the V-beam first, and then the reference plane on the IMU can be crimped with the second reference plane and the third reference plane respectively by pushing and pulling the IMU, so that the X and Y directions of the IMU can be limited simultaneously.

[0042] Furthermore, a third connection hole 18 is provided at the lower part of the vertical part of the limit block 5 and passes through the vertical part, and a third threaded hole 19 corresponding to the third connection hole 18 is provided at the bottom of the left side wall or the right side wall of the fixing frame 1, and the third connection hole 18 is detachably connected to the third threaded hole 19 through a third bolt. The limit block is detachably connected to the left side wall or the right side wall of the fixing frame through the third connection hole, the third threaded hole and the third bolt, so as to facilitate the installation and removal of the limit block.

[0043] In another embodiment, the mounting plate 6 is arranged along the width direction of the fixing frame 1 and is detachably connected to the top cross beam of the fixing frame 1. A connecting screw hole is penetrated through the middle part of the mounting plate 6 along the height direction of the fixing frame 1. The connecting screw hole is threadedly connected with a connecting bolt 14, and the bottom of the connecting bolt 14 is threadedly connected with the first clamping block 7.

[0044] In the above embodiment, the mounting plate is detachably connected to the top crossbeam of the fixing frame, and the mounting plate is connected to the first clamping block through connecting screw holes and connecting bolts to fix the first clamping block in the fixing frame, and the height thereof is adjusted through the connecting bolts. During the IMU installation process, after the IMU is crimped with the V-beam and the limit block, the top of the IMU is clamped by the first clamping block to limit the Z direction of the IMU, so that the IMU can be firmly fixed in the fixing frame.

[0045] Further, the mounting plate 6 includes a horizontally arranged support plate 61 and connecting plates 62 arranged at both ends of the support plate 61, the connecting plate 62 is provided with a fourth connecting hole 13, the top crossbeam is provided with a fourth threaded hole corresponding to the fourth connecting hole 13, and the fourth connecting hole 13 is detachably connected to the fourth threaded hole through a fourth bolt. The mounting plate and the top crossbeam are detachably connected through the fourth connecting hole, the fourth threaded hole and the fourth bolt, so as to facilitate the installation and removal of the mounting plate.

[0046] In another embodiment, the first clamping block 7 is a quadrangular pyramid structure that is small at the top and large at the bottom, and the bottom surface of the first clamping block 7 is recessed upward to form a cavity. The quadrangular pyramid cavity structure of the first clamping block can improve the clamping effect of the first clamping block on the IMU while reducing the weight of the first clamping block, thereby reducing the weight of the calibration tooling.

[0047] In another embodiment, weight-reducing holes 20 are provided on the beams of the six surfaces of the fixing frame 1. By providing the weight-reducing holes, the weight of the calibration tool is further reduced to achieve lightweight, thereby improving the balance of the calibration tool during the rotation process and protecting the turntable.

[0048] In another embodiment, it also includes: a power supply mounting plate 15, which is arranged between the bottom cross beams of the fixing frame 1 along the width direction of the fixing frame 1 and away from the limit block 5, and the power supply mounting plate 15 is detachably connected with a power supply battery 16 to power the IMU through the power supply battery. Specifically, the two ends of the power supply mounting plate 15 are provided with vertically arranged bending parts, and the bending parts are detachably connected to the bottom cross beam of the fixing frame 1 through the fifth bolt, and the outer periphery of the power supply battery 16 is provided with a cable tie, and the two ends of the cable tie are detachably connected to the power supply mounting plate 15 through the sixth bolt, so as to facilitate the installation and removal of the power supply mounting plate and the power supply battery.

[0049] The number of devices and processing scales described here are used to simplify the description of the utility model. The application, modification and variation of the calibration tool for inertial measurement unit of the utility model are obvious to those skilled in the art.

[0050] Although the implementation scheme of the utility model has been disclosed as above, it is not limited to the applications listed in the specification and implementation modes. It can be fully applied to various fields suitable for the utility model. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the utility model is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A calibration tool for an inertial measurement unit, characterized in that: include: A fixed frame, which is a hollow rectangular parallelepiped frame structure; A rotating turntable is disposed below the fixing frame and is detachably connected to the fixing frame; An IMU fixing component is arranged on the fixing frame and is used to fix the IMU. The IMU fixing component includes a limit slot frame, which is horizontally arranged in the fixing frame along the width direction of the fixing frame and is detachably connected to the bottom of the fixing frame; a limit block, which is an inverted L-shape, and is vertically arranged in the fixing frame and is detachably connected to the left wall or the right wall of the fixing frame; a mounting plate, which is arranged above the limit slot frame and is detachably connected to the top of the fixing frame; a first clamping block, which is horizontally arranged between the limit slot frame and the mounting plate and is detachably connected to the mounting plate.

2. The calibration tool for an inertial measurement unit according to claim 1, characterized in that: The four corners of each surface of the fixing frame are provided with a protruding first reference block, the side of the first reference block away from the fixing frame is a first reference plane, the four first reference planes on the same surface of the fixing frame are coplanar, the first reference planes on two adjacent surfaces are perpendicular to each other, and the first reference planes on two opposite surfaces are parallel to each other.

3. The calibration tool for an inertial measurement unit according to claim 2, characterized in that: The rotating turntable is provided with a plurality of groups of first threaded holes along its circumferential array, each group of first threaded holes includes a plurality of first threaded holes arranged at radial intervals along the rotating turntable, and the six surfaces of the fixing frame are respectively provided with first connecting holes matching with the first threaded holes, and the first connecting holes and the first threaded holes are detachably connected by first bolts, and when one of the surfaces of the fixing frame is fixed to the rotating turntable by the first bolts, the four first reference surfaces arranged on the surface are in contact with the rotating turntable.

4. The calibration tool for an inertial measurement unit according to claim 3, characterized in that: The limiting groove frame includes two oppositely arranged V-shaped beams and a connecting beam connecting the two V-shaped beams, two second reference blocks are symmetrically arranged at the bottom of the V-shaped beam along the length direction of the fixing frame, and the side of each second reference block away from the bottom of the V-shaped beam is a second reference surface, the four second reference surfaces on the two V-shaped beams are coplanar and parallel to the first reference surface arranged on the bottom surface of the fixing frame, the second reference surface is connected to the inclined surface of the V-shaped beam and is arranged at an obtuse angle, and the two ends of the V-shaped beam extend horizontally outward to form a connecting portion, which is placed on the bottom cross beam of the fixing frame and is crimped and fixed to the bottom cross beam by an inverted L-shaped second clamping block, and the second clamping block is detachably connected to the bottom cross beam.

5. The calibration tool for an inertial measurement unit according to claim 3, characterized in that: The horizontal portion of the limit block faces the inside of the fixing frame, and the end surface of the horizontal portion is a third reference plane, the third reference plane is parallel to the first reference plane arranged on the left side wall or the right side wall of the fixing frame, and the vertical portion of the limit block is detachably connected to the lower portion of the left side wall or the right side wall of the fixing frame.

6. The calibration tool for an inertial measurement unit according to claim 3, characterized in that: The mounting plate is arranged along the width direction of the fixing frame and is detachably connected to the top crossbeam of the fixing frame. A connecting screw hole is penetrated through the middle part of the mounting plate along the height direction of the fixing frame. A connecting bolt is threadedly connected to the inner thread of the connecting screw hole, and the bottom of the connecting bolt is threadedly connected to the first clamping block.

7. The calibration tool for an inertial measurement unit according to claim 6, characterized in that: The first pressing block is a quadrangular pyramid structure that is smaller at the top and larger at the bottom, and the bottom surface of the first pressing block is recessed upward to form a cavity.

8. The calibration tool for an inertial measurement unit according to claim 3, characterized in that: The beams on the six surfaces of the fixing frame are all provided with weight-reducing holes.

9. The calibration tool for an inertial measurement unit according to claim 3, characterized in that: Also includes: A power supply mounting plate is arranged between the bottom cross beams of the fixing frame along the width direction of the fixing frame and away from the limiting block. A power supply battery is detachably connected to the power supply mounting plate.

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