Moving car experiment testing tool for inertial measurement unit

Abstract

The utility model discloses a sports car experiment test tool for an inertial measurement unit, which comprises a mounting frame, a plurality of vertical connecting screw rods, a plurality of vertical connecting screw rods, a plurality of vertical connecting screw rods, a plurality of vertical connecting screw rods and a plurality of vertical connecting screw rods, and is characterized in that a wheel group is arranged at the bottom of the mounting frame; the leveling panel is arranged above the mounting frame, an inertial measurement unit is detachably arranged on the leveling panel, a plurality of vertical adjusting threaded holes are formed in the leveling panel, adjusting screw rods are inserted into the adjusting threaded holes, the bottom ends of the adjusting screw rods abut against the mounting frame, and the bottom ends of the adjusting screw rods abut against the mounting frame. The top end of the connecting screw rod penetrates through a connecting hole in the leveling panel and is sleeved with a locking nut. According to the utility model, the plane where the inertial measurement unit is located, namely the levelness of the leveling panel, can be flexibly adjusted, so that the inertial measurement unit can accurately capture an initial motion state, and the measurement precision and the accuracy of a test result are effectively improved.

Description

Technical Field

[0001] The utility model relates to the technical field of inertial measurement unit testing equipment, in particular to a sports car experimental testing tool used for an inertial measurement unit. Background Art

[0002] An inertial measurement unit (IMU) is a device that measures the three-axis attitude (or angular rate) and acceleration of an object. Generally, an IMU contains three single-axis accelerometers and three single-axis gyroscopes. The accelerometers detect the acceleration signals of the object in the independent three axes of the carrier coordinate system, while the gyroscopes detect the angular velocity signals of the carrier relative to the navigation coordinate system, measure the angular velocity and acceleration of the object in three-dimensional space, and use this to calculate the attitude of the object. IMU has been widely used in navigation control, geological exploration, industrial measurement and control, aviation flight stability control, strapdown inertial navigation, automotive automatic driving and robot control. In order to ensure the actual accuracy of the IMU and the stability of the measured values, it needs to be dynamically tested to obtain the corresponding data of position, velocity and attitude. The Chinese invention patent with publication number CN101738205A discloses a dynamic test device for an inertial measurement unit, which uses a tool to install an IMU on a sports car, which is installed and runs on a track through a wheel holder. The sports car carries the IMU and runs on the track to produce different running postures, providing the IMU with angular velocity and acceleration of three coordinate axes, and the data acquisition system installed on the sports car collects and records each dynamic test data to complete the dynamic test of the IMU. However, there is no leveling structure on the sports car in this device, so it is difficult to ensure that the plane where the IMU is located is horizontal in the initial state, which will cause the IMU to be unable to accurately capture the initial motion state, resulting in measurement errors and affecting the accuracy of the test results. Utility Model Content

[0003] The utility model provides a sports car experimental test tool for an inertial measurement unit, which can flexibly adjust the heights of various places of a plane where the inertial measurement unit is located, thereby adjusting the horizontality of the plane, and ensuring that the plane is in a horizontal state when the inertial measurement unit is in an initial state.

[0004] In order to achieve these purposes and other advantages according to the utility model, a sports car experimental test fixture for an inertial measurement unit is provided, comprising:

[0005] A mounting frame, a wheel set is arranged at the bottom of the mounting frame, and a plurality of vertical connection screws are arranged on the mounting frame;

[0006] The leveling plate is arranged above the mounting frame, and an inertial measurement unit is detachably arranged on the leveling plate. A plurality of vertical adjustment threaded holes are arranged on the leveling plate, and adjustment screws are inserted into the adjustment threaded holes. The bottom end of the adjustment screw abuts against the mounting frame, and the top end of the connecting screw passes through the connecting hole on the leveling plate and is sleeved with a locking nut.

[0007] Preferably, in the sports car experimental test fixture for the inertial measurement unit, an adjusting nut is sleeved on the adjusting screw located above the leveling plate.

[0008] Preferably, in the sports car experimental test tooling for the inertial measurement unit, the leveling plate is detachably provided with a V-groove and a pair of blocks, the inertial measurement unit clamped between a pair of blocks is provided at the groove of the V-groove, a limiting member is pressed on the top of the inertial measurement unit, and the limiting member is detachably connected to the leveling plate.

[0009] Preferably, in the sports car experimental test fixture for the inertial measurement unit, the block is L-shaped consisting of a horizontal plate and a vertical plate, the horizontal plate is located on a side of the vertical plate away from the inertial measurement unit, and the horizontal plate is connected to the leveling plate by screws.

[0010] Preferably, in the sports car experimental test fixture for the inertial measurement unit, a limiting boss is provided on the leveling plate, the bottom of the V-shaped groove is horizontal and provided with a limiting slide groove, and the limiting boss is clamped in the limiting slide groove.

[0011] Preferably, in the sports car experimental test fixture for the inertial measurement unit, the limit member is an arched clamp, both ends of the clamp are provided with connecting plates, and the connecting plates are connected to the leveling plate by screws.

[0012] Preferably, in the sports car experimental test fixture for an inertial measurement unit, the wheel set comprises:

[0013] A pair of universal wheels, which are arranged at one end of the mounting frame;

[0014] A pair of mileage wheels are provided at the other end of the mounting frame.

[0015] Preferably, in the sports car experimental test fixture for the inertial measurement unit, a mileage sensor cooperating with the mileage wheel is further provided at the bottom of the mounting frame, a mileage box is provided on the leveling plate, a data processing module is provided in the mileage box, and the data processing module is communicatively connected with the inertial measurement unit and the mileage sensor.

[0016] Preferably, in the sports car experimental test fixture for the inertial measurement unit, a traction chain rope is provided at one end edge of the mounting frame.

[0017] Preferably, in the sports car experimental test fixture for the inertial measurement unit, a handrail is provided on the mounting frame.

[0018] The utility model includes at least the following beneficial effects: in the utility model, the leveling plate is arranged above the mounting frame, and a plurality of vertical adjustment threaded holes are arranged on the leveling plate, and adjusting screws are inserted in the adjusting threaded holes, and the bottom ends of the adjusting screws are abutted against the mounting frame, and an inertial measurement unit is detachably arranged on the leveling plate, and the distance between the mounting frame and the leveling plate can be adjusted by rotating each adjusting screw, and then the height of each part of the leveling plate can be adjusted without moving the mounting frame, so that its upper surface is horizontal, thereby ensuring that the plane where the inertial measurement unit is located (the upper surface of the leveling plate) is horizontal in the initial state, so that the inertial measurement unit can accurately capture the initial motion state, and effectively improve the measurement accuracy and the accuracy of the test results.

[0019] 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

[0020] Figure 1 This is a schematic diagram of the first angle structure of a sports car experimental test tooling for an inertial measurement unit in one of the technical solutions of the utility model;

[0021] Figure 2 It is a second angle structural schematic diagram of a sports car experimental test fixture for an inertial measurement unit in one of the technical solutions of the utility model;

[0022] Figure 3 It is a third angle structural schematic diagram of a sports car experimental test tooling for an inertial measurement unit in one of the technical solutions of the utility model;

[0023] Figure 4 It is a schematic diagram of the exploded structure of a sports car experimental test tooling for an inertial measurement unit in one of the technical solutions of the utility model;

[0024] Among them, 1-universal wheel, 2-traction chain, 3-block, 4-V-groove, 5-inertial measurement unit, 6-handrail, 7-clamp, 8-mileage box, 9-leveling plate, 10-adjusting screw, 11-connecting screw, 12-locking nut, 13-adjusting nut, 14-mounting frame, 15-connecting plate, 16-mileage wheel, 17-mileage sensor, 18-limiting boss. DETAILED DESCRIPTION

[0025] 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.

[0026] It should be understood that the terms such as “having”, “including” and “comprising” used herein do not exclude the existence or addition of one or more other elements or combinations thereof.

[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 can be obtained from commercial sources unless otherwise specified; in the description of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "set" should be understood in a broad sense, for example, they can be fixedly connected, set, or detachably connected, set, or connected and set in one piece. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood in specific circumstances. The orientation or position relationship indicated by the terms "transverse", "longitudinal", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present utility model.

[0028] like Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, the utility model provides a sports car experimental test tool for an inertial measurement unit, comprising:

[0029] A mounting frame 14, a wheel set is disposed at the bottom thereof, and a plurality of vertical connection screw rods 11 are disposed on the mounting frame 14;

[0030] The leveling plate 9 is arranged above the mounting frame 14. The inertial measurement unit 5 is detachably arranged on the leveling plate 9. The leveling plate 9 is provided with a plurality of vertical adjustment threaded holes. Adjustment screws 10 are inserted into the adjustment threaded holes. The bottom ends of the adjustment screws 10 abut against the mounting frame 14. The top ends of the connecting screws 11 pass through the connecting holes on the leveling plate 9 and are sleeved with locking nuts 12.

[0031] The sports car experimental test tooling for an inertial measurement unit provided by the present technical solution is mainly composed of a mounting frame 14 and a leveling plate 9 located above the mounting frame 14 for carrying the inertial measurement unit 5. A plurality of vertical connecting screws 11 are arranged on the mounting frame 14. The top ends of the connecting screws 11 pass through corresponding connecting holes on the adjusting panel 9. A plurality of vertical adjusting threaded holes are arranged on the leveling plate 9. An adjusting screw 10 is inserted into the adjusting threaded hole through a threaded structure. The bottom end of the adjusting screw 10 abuts against the mounting frame 14. By rotating the adjusting screw 10, the depth of the adjusting screw 10 inserted into the adjusting threaded hole can be adjusted, thereby adjusting the length of the adjusting screw 10 between the mounting frame 14 and the leveling plate 9 and the height of the leveling plate 9 relative to the mounting frame 14. A locking nut 12 is sleeved on the top end of the connecting screw 11 to fix the relative position of the adjusting panel 9 and the mounting frame 14. The number of the adjusting threaded holes is at least three. A wheel group is arranged at the bottom of the mounting frame 14 to facilitate the movement of the test tooling.

[0032] The leveling method of the sports car experimental test fixture for the inertial measurement unit provided by the present technical solution is: firstly place the leveling plate 9 on the mounting frame 14 and make each connecting screw 11 pass through the connecting hole correspondingly, then rotate each adjusting screw 10, adjust the height of each part of the leveling plate 9 for leveling, and continuously measure with a high-precision dividing scale to determine that the upper surface of the leveling plate 9 is completely horizontal, after the upper surface of the leveling plate 9 is horizontal, install the locking nut 12 on the connecting screw 11 above the leveling plate 9 to lock and fix the position of the leveling plate 9 and the mounting frame 14, and finally install the inertial measurement unit 5 on the leveling plate 9; or first install the inertial measurement unit 5 on the leveling plate 9, and then adjust and install the leveling plate 9 on the mounting frame 14.

[0033] The utility model at least includes the following beneficial effects: the leveling plate 9 is arranged above the mounting frame 14, and a plurality of vertical adjustment threaded holes are arranged on the leveling plate 9, and an adjustment screw 10 is inserted into the adjustment threaded hole, and the bottom end of the adjustment screw 10 abuts against the mounting frame 14, and the leveling plate 9 is detachably provided with an inertial measurement unit 5, and the distance between the mounting frame 14 and the leveling plate 9 can be adjusted by rotating each adjustment screw 10, and then the height of each part of the leveling plate 9 can be adjusted to be level without moving the mounting frame 14, thereby ensuring that the plane where the inertial measurement unit 5 is located (the upper surface of the leveling plate 9) in the initial state is level, so that the inertial measurement unit 5 can accurately capture the initial motion state, and there is The measurement accuracy and the accuracy of the test results are effectively improved; a plurality of vertical connecting screws 11 are arranged on the mounting frame 14, the top ends of the connecting screws 11 pass through the connecting holes on the leveling plate 9 and are sleeved with locking nuts 12. By rotating the locking nuts 12, the relative positions of the mounting frame 14 and the leveling plate 9 can be fixed so that the two do not move relative to each other, thereby making the structure stable; a wheel set is arranged at the bottom of the mounting frame 14 to facilitate the movement of the test tooling; the test tooling of the utility model does not require complicated operating steps and high professional skills for installation, debugging or use, and is simple and convenient to operate, so that the test tooling can be widely used in various experimental environments, which not only improves the test efficiency but also reduces the operating cost.

[0034] In another technical solution, Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, in the sports car experimental test fixture for the inertial measurement unit, an adjusting nut 13 is sleeved on the adjusting screw 10 located above the leveling plate 9. The length of the adjusting screw 10 inserted into the adjusting threaded hole is limited, thereby limiting the height of the leveling plate 9 at that location.

[0035] In another technical solution, Figure 1 , Figure 2 , Figure 3 , Figure 4As shown, in the sports car experimental test fixture for the inertial measurement unit, the leveling plate 9 is detachably provided with a V-groove 4 and a pair of blocks 3, the groove of the V-groove 4 is provided with the inertial measurement unit 5 sandwiched between the pair of blocks 3, and a limiter is pressed on the top of the inertial measurement unit 5, and the limiter is detachably connected to the leveling plate 9. The pair of blocks 3 is used to limit the position of the inertial measurement unit 5 in the X-axis direction, the V-groove 4 is used to limit the position of the inertial measurement unit 5 in the Y-axis direction, and the limiter is used to limit the position of the inertial measurement unit 5 in the Z-axis direction, and the inertial measurement unit 5 is firmly fixed on the leveling plate 9 to ensure that the inertial measurement unit 5 will not shake during the dragging and moving of the test fixture, thereby ensuring the stability and accuracy of the test results; the limiter is detachably connected to the leveling plate 9, and after the limiter is removed, the inertial measurement unit 5 can be taken out from the V-groove 4 and between the pair of blocks 3, which is convenient for the disassembly and assembly of the inertial measurement unit 5.

[0036] The V-shaped groove 4 in the present technical solution includes two V-shaped beams arranged opposite to each other 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 its extension direction. 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 arranged coplanarly. 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 extend horizontally outward to form a connecting portion, and the connecting portion is detachably connected to the leveling plate.

[0037] By setting the V-shaped groove to include two V-shaped beams, and symmetrically setting two second reference blocks at the bottom of the V-shaped beam, setting the side of the second reference block away from the bottom of the V-shaped beam as the second reference plane, and connecting the second reference plane to the inclined plane of the V-shaped beam with an obtuse angle, during the installation of the inertial measurement unit 5, by abutting the reference plane at the bottom of the inertial measurement unit 5 with the second reference plane, or abutting the reference plane of the side wall of the inertial measurement unit 5 with the inclined plane of the V-shaped beam, the Y-axis direction of the inertial measurement unit 5 can be limited. In addition, the V-shaped beam structure can also adapt to inertial measurement units 5 of different sizes and shapes, and has good compatibility. By setting connecting parts at both ends of the V-shaped beam, and detachably connecting the connecting parts to the leveling plate 9, such as the connecting parts can be connected to the connecting structure on the leveling plate 9 through a screw structure or directly connected to the leveling plate 9, the stability of the structure is improved.

[0038] In another technical solution, Figure 1 , Figure 2 , Figure 4As shown, in the sports car experimental test fixture for the inertial measurement unit, the stopper 3 is L-shaped and consists of a horizontal plate and a vertical plate, the horizontal plate is located on the side of the vertical plate away from the inertial measurement unit 5, and the horizontal plate is connected to the leveling plate 9 by screws. The disassembly and assembly of the stopper 3 is convenient, and the horizontal plate will not interfere with the installation of the inertial measurement unit 5.

[0039] In the present technical solution, the side of the vertical plate close to the inertial measurement unit 5 is the third reference plane. During the installation of the inertial measurement unit 5, the X-axis direction of the inertial measurement unit 5 can be limited by abutting the reference plane of the end face of the inertial measurement unit 5 with the third reference plane. Specifically, the inertial measurement unit 5 can be placed on the V-beam first, and then the position of the stop block 3 or the inertial measurement unit 5 on the leveling plate 9 is adjusted by moving, and the reference plane on the inertial measurement unit 5 is respectively abutted with the second reference plane and the third reference plane, and the stop block 3 is connected to the leveling plate 9 by screws, so that the X-axis and Y-axis directions of the inertial measurement unit 5 can be limited synchronously.

[0040] In another technical solution, Figure 4 As shown, in the sports car experimental test fixture for the inertial measurement unit, a limiting boss 18 is arranged on the leveling plate 9, and the bottom of the V-shaped groove 4 is horizontal and provided with a limiting slide groove, and the limiting boss 18 is clamped in the limiting slide groove. The limiting boss 18 and the limiting slide groove are both long strips extending along the X-axis direction. The limiting boss 18 can move along the limiting slide groove to facilitate the adjustment of the contact position between the V-shaped groove 4 and the inertial measurement unit 5, so as to facilitate the adaptation and installation of different types of inertial measurement units 5; the limiting boss 18 is also used to limit the position of the V-shaped groove 4 in the Y-axis direction to prevent it from moving in the Y-axis direction at will. A stepped hole can also be provided on the V-shaped groove 4, and a connecting screw is provided in the stepped hole to connect with the leveling plate 9 to fix the V-shaped groove 4.

[0041] In another technical solution, Figure 1 , Figure 2 , Figure 4 As shown, in the sports car experimental test fixture for the inertial measurement unit, the limiting member is an arched clamp 7, and both ends of the clamp 7 are provided with connecting plates 15, and the connecting plates 15 are connected to the leveling plate 9 by screws. The clamp 7 is pressed on the inertial measurement unit 5, and the two ends of the clamp 7 extend downward and are provided with connecting plates 15. According to the different heights of different inertial measurement units 5, screws of different lengths can be selected to connect with the leveling plate 9; the connecting plate 15 facilitates the connection and limiting of the arched clamp 7 and the leveling plate 9; during the installation of the inertial measurement unit 5, after the inertial measurement unit 5 is abutted against the V-beam and the stopper 3, the top of the inertial measurement unit 5 is pressed by the clamp 7 to limit the Z-axis direction of the inertial measurement unit 5, so that the inertial measurement unit 5 can be stably fixed on the leveling plate 9.

[0042] In another technical solution, Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, in the sports car experimental test fixture for the inertial measurement unit, the wheel set includes:

[0043] A pair of universal wheels 1, which are arranged at one end of the mounting frame 14;

[0044] A pair of odometer wheels 16 is arranged at the other end of the mounting frame 14. The universal wheel 1 can flexibly change the moving direction of the test fixture; the pair of universal wheels 1 and the pair of odometer wheels 16 ensure the stability of the movement of the test fixture.

[0045] In another technical solution, Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, in the sports car experimental test fixture for the inertial measurement unit, a mileage sensor 17 cooperating with the mileage wheel 16 is also provided at the bottom of the mounting frame 14, and a mileage box 8 is provided on the leveling plate 9. A data processing module is provided in the mileage box 8, and the data processing module is communicatively connected with the inertial measurement unit 5 and the mileage sensor 17. A magnet is installed on the mileage wheel 16, and the mileage sensor 17 identifies the specific rotation mileage of the mileage wheel 16 by sensing the corresponding magnet, and transmits the data to the data processing module to provide mileage data to the inertial measurement unit 5.

[0046] In another technical solution, Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, in the sports car experimental test fixture for the inertial measurement unit, a traction chain 2 is provided at one end edge of the mounting frame 14. The traction chain 2 is used to connect with other driving devices so that the other driving devices drive the test fixture to move.

[0047] In another technical solution, Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, in the sports car experimental test tooling for the inertial measurement unit, a handrail frame 6 is provided on the mounting frame 14 to facilitate personnel to hold and move the test tooling.

[0048] The number of devices and processing scales described here are used to simplify the description of the utility model. Applications, modifications and variations of the utility model are obvious to those skilled in the art.

[0049] 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 sports car experimental test fixture for an inertial measurement unit, characterized in that: include: A mounting frame, a wheel set is arranged at the bottom of the mounting frame, and a plurality of vertical connection screws are arranged on the mounting frame; The leveling plate is arranged above the mounting frame, and an inertial measurement unit is detachably arranged on the leveling plate. A plurality of vertical adjustment threaded holes are arranged on the leveling plate, and adjustment screws are inserted into the adjustment threaded holes. The bottom end of the adjustment screw abuts against the mounting frame, and the top end of the connecting screw passes through the connecting hole on the leveling plate and is sleeved with a locking nut.

2. The sports car experimental test fixture for an inertial measurement unit according to claim 1, characterized in that: An adjusting nut is sleeved on the adjusting screw rod located on the leveling plate.

3. The sports car experimental test fixture for an inertial measurement unit according to claim 1, characterized in that: The leveling plate is detachably provided with a V-shaped groove and a pair of blocks, the groove of the V-shaped groove is provided with the inertial measurement unit sandwiched between the pair of blocks, a limiting piece is pressed on the top of the inertial measurement unit, and the limiting piece is detachably connected to the leveling plate.

4. The sports car experimental test fixture for an inertial measurement unit as claimed in claim 3, characterized in that: The stopper is L-shaped and consists of a horizontal plate and a vertical plate. The horizontal plate is located on a side of the vertical plate away from the inertial measurement unit. The horizontal plate is connected to the leveling plate through screws.

5. The sports car experimental test fixture for an inertial measurement unit as claimed in claim 3, characterized in that: The leveling plate is provided with a limiting boss, the bottom of the V-shaped groove is horizontal and provided with a limiting slide groove, and the limiting boss is clamped in the limiting slide groove.

6. The sports car experimental test fixture for an inertial measurement unit as claimed in claim 3, characterized in that: The limiting member is an arched clamp, and connecting plates are arranged at both ends of the clamp. The connecting plates are connected to the leveling plate by screws.

7. The sports car experimental test fixture for an inertial measurement unit according to claim 1, characterized in that: The wheel set comprises: A pair of universal wheels, which are arranged at one end of the mounting frame; A pair of mileage wheels are provided at the other end of the mounting frame.

8. The sports car experimental test fixture for an inertial measurement unit as claimed in claim 7, characterized in that: A mileage sensor cooperating with the mileage wheel is also provided at the bottom of the mounting frame, a mileage box is provided on the leveling plate, a data processing module is provided in the mileage box, and the data processing module is communicatively connected with the inertial measurement unit and the mileage sensor.

9. The sports car experimental test fixture for an inertial measurement unit according to claim 1, characterized in that: A traction chain is arranged at one end edge of the installation frame.

10. The sports car experimental test fixture for an inertial measurement unit according to claim 1, characterized in that: A handrail frame is arranged on the installation frame.

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