Inertial navigation calibrator mounting structure

Abstract

The utility model discloses an inertial navigation calibrator installation structure which comprises a base, a motor is installed on the base, the bottom of the motor is fixedly connected with an installation plate, the top end of an output shaft of the motor is fixedly connected with a high-precision rotary table, and a limiting groove is formed in the side wall of the high-precision rotary table. The device comprises a high-precision rotary table, limiting mechanisms are arranged on the two sides of the high-precision rotary table, a plurality of measuring bases are fixedly connected to the top of the high-precision rotary table, a measuring groove is formed in the surface of each measuring base, a support is arranged above each measuring base, a through hole is formed in the top of each support, and a positioning piece is installed in each through hole. According to the utility model, the high-precision turntable can be effectively limited so as to prevent the high-precision turntable from generating displacement and vibration in the operation process to influence the simulation precision of an inertial navigation system, the sensor can be mounted and dismounted without screwing or unscrewing a bolt by virtue of a tool, and the rapid dismounting and mounting of the sensor and the rapid adjustment of a measurement position can be realized.

Description

Technical Field

[0001] The utility model belongs to the technical field of inertial navigation calibrators, in particular to an installation structure of an inertial navigation calibrator. Background Art

[0002] An inertial navigation calibrator is a device used to calibrate and verify an inertial navigation system. An inertial navigation system relies on accelerometers and gyroscopes to measure the acceleration and angular velocity of a vehicle, thereby inferring the speed, attitude, and position of the vehicle. In order to ensure the accuracy of these measurements, the inertial navigation system needs to be calibrated regularly, and an inertial navigation calibrator is a tool for this purpose.

[0003] At present, there are some inertial navigation calibrators on the market. For example, an inertial sensor calibration device is disclosed on the China Patent Network, and its announcement number is CN219675122U. This inertial sensor calibration device can solve the problems of the existing inertial sensor calibration equipment, such as complex structure, heavy weight, difficult installation, and limited use site. However, there are some defects and deficiencies that need to be improved: (1) The high-precision turntable is the core component of the inertial navigation calibrator, which is used to simulate various precise rotational motions. However, some existing inertial navigation calibrators have installation structures that are difficult to install on the high-precision turntable. The effective limit makes the foundation of the high-precision turntable not stable enough, which causes displacement and vibration during operation, and then affects the simulation accuracy of the inertial navigation system; (2) When the inertial navigation calibrator is working, it is necessary to install the sensor (such as angle encoder, gyroscope, accelerometer, etc.) on the high-precision turntable, and some existing inertial navigation calibrator installation structures often use bolts and other fasteners to fix the sensor. When installing and disassembling, it is necessary to tighten or loosen the bolts with the help of tools, which is relatively cumbersome and difficult to achieve rapid disassembly and assembly of the sensor and rapid adjustment of the measurement position. Therefore, in view of the above problems, the inertial navigation calibrator installation structure provided by the utility model is of great significance. Utility Model Content

[0004] The utility model provides an inertial navigation calibrator installation structure, which can simulate various motion states that the inertial navigation system may encounter in actual use through a high-precision turntable, and can play a limiting role through a limiting mechanism, so as to improve the basic stability of the high-precision turntable, thereby preventing displacement and vibration during operation from affecting the simulation accuracy of the inertial navigation system; the sensor can be fixed in the measuring groove on the corresponding measuring seat through a positioning piece, and the installation and disassembly process of the sensor does not require the use of tools to tighten or loosen the bolts, thereby greatly simplifying the installation and disassembly of the entire sensor, the sensor can be placed in the measuring groove on different measuring seats, and the sensor can be fixed through the positioning piece in the corresponding through hole, thereby realizing rapid disassembly and assembly of the sensor and rapid adjustment of the measuring position, and in summary, the problems in the background technology are solved.

[0005] In order to solve the above technical problems, the utility model is realized by the following technical solutions:

[0006] The utility model discloses an inertial navigation calibrator mounting structure, comprising a base, a motor is mounted on the base, a mounting plate is fixedly connected to the bottom of the motor, a plurality of mounting holes are provided on the surface of the mounting plate, a plurality of studs are fixedly connected to the top of the base, nuts matched therewith are threadedly connected to the studs, the number of the studs is the same as the mounting holes, the diameters are equal, and the center of each of the studs corresponds one-to-one with the center of each mounting hole, a high-precision turntable is fixedly connected to the top of the output shaft of the motor, a limiting groove is provided on the side wall of the high-precision turntable, and limiting mechanisms are provided on both sides of the high-precision turntable, a plurality of measuring seats are fixedly connected to the top of the high-precision turntable, a measuring groove is provided on the surface of the measuring seat, and a bracket is provided above each of the measuring seats, the bracket is L-shaped, the bottom of which is fixedly connected to the high-precision turntable, and a through hole is provided on the top of the bracket, and a positioning piece is installed in the through hole;

[0007] The limiting mechanism comprises a fixing plate, the fixing plate is fixedly connected to the base, an electric telescopic rod is installed on one side of the fixing plate, and the end of the output shaft of the electric telescopic rod is fixedly connected to the limiting block;

[0008] The positioning member includes a positioning rod, which is inserted into the through hole, and a pull ring is fixedly connected to the top end of the positioning rod, and a positioning block is fixedly connected to the top of the positioning block, and the spring is fixedly connected to the rod body of the positioning rod, and the top end of the spring is fixedly connected to the top inner wall of the bracket.

[0009] Furthermore, the limiting groove is an annular groove structure, and the limiting block is an arc-shaped block structure, whose thickness and diameter are respectively equal to the groove width and diameter of the limiting groove, and the limiting block and the limiting groove are located at the same height.

[0010] Furthermore, a layer of anti-wear pad is provided on the arc-shaped inner wall surface of the limiting block.

[0011] Furthermore, the measuring seats are distributed in an equidistant annular pattern along the circumferential direction of the high-precision turntable, and each of the measuring seats is located directly below the corresponding through hole.

[0012] Furthermore, a cushion block is fixedly connected to the bottom surface of the measuring groove, and the surface of the cushion block is engraved with herringbone anti-slip patterns.

[0013] Furthermore, a layer of buffer pad is provided on the bottom surface of the positioning block.

[0014] Furthermore, a plurality of counterweight cavities are provided on the base, and the counterweight cavities are linearly distributed at equal distances along the length direction of the base, and a counterweight block is placed in each of the counterweight cavities.

[0015] Compared with the prior art, the utility model has the following beneficial effects:

[0016] (1) When the inertial navigation calibrator installation structure of the utility model is used, the high-precision turntable can simulate various motion states that the inertial navigation system may encounter in actual use, and the limit mechanism can play a limiting role to improve the foundation stability of the high-precision turntable, thereby preventing displacement and vibration during operation from affecting the simulation accuracy of the inertial navigation system;

[0017] (2) When the inertial navigation calibrator installation structure of the utility model is in use, the sensor can be fixed in the measuring groove on the corresponding measuring seat by the positioning piece. The installation and removal process of the sensor does not require the use of tools to tighten or loosen the bolts, thereby greatly simplifying the installation and removal of the entire sensor. The sensor can be placed in the measuring grooves on different measuring seats, and the sensor can be fixed by the positioning piece in the corresponding through hole, thereby realizing the rapid disassembly and assembly of the sensor and the rapid adjustment of the measuring position.

[0018] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for describing the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 This is a structural schematic diagram of an inertial navigation calibrator installation structure of the utility model;

[0021] Figure 2 It is a structural schematic diagram of the base in the utility model;

[0022] Figure 3 This is a schematic diagram of the structure of the high-precision turntable in the utility model;

[0023] Figure 4 It is a structural schematic diagram of the limiting mechanism in the utility model;

[0024] Figure 5 It is a structural schematic diagram of the positioning member in the utility model.

[0025] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0026] 1. Base; 2. Motor; 3. Mounting plate; 4. Mounting hole; 5. Stud; 6. Nut; 7. High-precision turntable; 8. Limiting groove; 9. Measuring seat; 10. Measuring groove; 11. Bracket; 12. Through hole; 13. Fixed plate; 14. Electric telescopic rod; 15. Limiting block; 16. Positioning rod; 17. Pull ring; 18. Positioning block; 19. Spring; 20. Anti-wear pad; 21. Cushion block; 22. Buffer pad; 23. Counterweight cavity; 24. Counterweight block. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0028] In the description of the present invention, it should be understood that terms such as "relative", "one end", "inside", "lateral", "end", "two ends", "both sides", "front", "one end face", "the other end face" and the like indicating orientation or positional relationship are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0029] See also Figure 1-5As shown, an inertial navigation calibrator installation structure of the utility model includes a base 1, a motor 2 is installed on the base 1, a mounting plate 3 is fixedly connected to the bottom of the motor 2, a plurality of mounting holes 4 are opened on the surface of the mounting plate 3, a plurality of studs 5 are fixedly connected to the top of the base 1, nuts 6 matching therewith are threadedly connected to the studs 5, the number of the studs 5 and the mounting holes 4 are the same, the diameters are equal, and the center of each stud 5 corresponds to the center of each mounting hole 4 one by one, a high-precision turntable 7 is fixedly connected to the top of the output shaft of the motor 2, and when the mounting plate 3 is placed on the base 1, each stud 5 can be aligned with and pass through the corresponding mounting hole 4, at this time, the nut 6 is threadedly connected By tightening each stud 5, the mounting plate 3 together with the motor 2 and the high-precision turntable 7 can be fixedly installed on the base 1. By unscrewing the nut 6, the mounting plate 3 together with the high-precision turntable 7 can be removed from the base 1 so as to perform regular maintenance on the high-precision turntable 7. The motor 2 is externally connected to a control system such as a PLC. The control system is responsible for controlling the movement of the high-precision turntable 7 and executing the calibration procedure. The motor 2 can be driven by the control system to drive the high-precision turntable 7 to perform precise angle rotation, and the motion parameters of the high-precision turntable 7 (such as angle, speed, acceleration, etc.) can be set so that the high-precision turntable 7 can rotate or move according to a predetermined motion trajectory, thereby simulating actual use. In order to cope with various motion states that the inertial navigation system may encounter during use, the side walls of the high-precision turntable 7 are provided with limit grooves 8, and both sides of the high-precision turntable 7 are provided with limit mechanisms. The top of the high-precision turntable 7 is fixedly connected with a plurality of measuring seats 9, and the surface of the measuring seats 9 is provided with measuring grooves 10. Sensors (such as angle encoders, gyroscopes, accelerometers, etc.) are placed in the measuring grooves 10. During the movement of the high-precision turntable 7, the sensors can collect the output data of the inertial navigation system (such as accelerometers and gyroscopes) in real time. The output end of the sensor is connected to a computer, and the output data of the sensor can be read by the computer. The inertial navigation system can be compared with the data acquisition and processing system. The output data of the system and the reference signal of the reference equipment are used to identify various errors of the sensor (such as bias error, scale factor error, alignment error, etc.), and these errors are compensated by mathematical modeling and algorithms. After error compensation, the performance of the inertial navigation system is verified again to ensure that the calibration effect reaches the expected standard. Then, according to the calibration results, the inertial navigation system is adjusted and optimized as necessary to ensure its measurement accuracy and reliability in practical applications. A bracket 11 is arranged above each measuring seat 9. The bracket 11 is L-shaped, and its bottom is fixedly connected to the high-precision turntable 7. A through hole 12 is opened on the top of the bracket 11, and a positioning member is installed in the through hole 12;

[0030] The limiting mechanism includes a fixing plate 13, which is fixedly connected to the base 1, and an electric telescopic rod 14 is installed on one side of the fixing plate 13. The end of the output shaft of the electric telescopic rod 14 is fixedly connected to a limiting block 15. The limiting block 15 can be driven to move by driving the electric telescopic rod 14. When the limiting block 15 extends into the limiting groove 8, it can play a limiting role, so as to improve the foundation stability of the high-precision turntable 7, thereby preventing displacement and vibration during operation from affecting the simulation accuracy of the inertial navigation system;

[0031] The positioning member includes a positioning rod 16, which is inserted into the through hole 12. A pull ring 17 is fixedly connected to the top of the positioning rod 16, and a positioning block 18 is fixedly connected to the bottom end of the positioning rod 16. A spring 19 is fixedly connected to the top of the positioning block 18. The spring 19 is wound around the rod body of the positioning rod 16, and the top of the spring 19 is fixedly connected to the top inner wall of the bracket 11. The positioning block 18 and the positioning rod 16 can be pulled upward by the pull ring 17 to compress the spring 19. When the sensor is placed in the measuring slot 10, the pull ring 17 is released. At this time, the positioning block 18 and the positioning rod 16 will move downward under the elastic reset action of the spring 19 until the positioning block 18 is tightly against the top of the sensor, so that the sensor can be fixed by the positioning block 18. When the sensor needs to be removed, the pull ring 17 is pulled upward to lift the positioning block 18 off the top of the sensor, without the need to tighten or loosen the bolts with the help of tools, thereby greatly simplifying the installation and disassembly of the entire sensor.

[0032] Among them, the limit groove 8 is an annular groove structure, and the limit block 15 is an arc block structure, whose thickness and diameter are respectively equal to the groove width and diameter of the limit groove 8, and the limit block 15 and the limit groove 8 are located at the same height. When the limit block 15 extends into the limit groove 8, the limit block 15 can be aligned and fit in the limit groove 8, thereby effectively ensuring the stability of the high-precision turntable 7 during movement.

[0033] Among them, a layer of anti-wear pad 20 is provided on the arc-shaped inner wall surface of the limit block 15. The anti-wear pad 20 is made of elastic materials such as rubber and is fixed by glue or other means. The anti-wear pad 20 can play an anti-wear protection role to avoid direct contact between the high-precision turntable 7 and the limit block 15 to cause collision and wear.

[0034] Among them, the measuring seats 9 are distributed in an equidistant ring shape along the circumferential direction of the high-precision turntable 7, and each measuring seat 9 is located directly below the corresponding through hole 12. The sensor can be placed in the measuring slot 10 on different measuring seats 9. At this time, the sensor can be fixed by the positioning parts in the corresponding through hole 12, thereby realizing the rapid disassembly and assembly of the sensor and the rapid adjustment of the measuring position.

[0035] Among them, a pad 21 is fixedly connected to the bottom surface of the measuring slot 10, and the surface of the pad 21 is engraved with a herringbone anti-skid pattern. The pad 21 is made of elastic materials such as sponge and is fixed by glue or other means. When the sensor is placed in the measuring slot 10, the pad 21 can be placed on the bottom of the sensor. At this time, the pad 21 can play a buffering and protective role to avoid direct contact between the bottom of the sensor and the measuring slot 10 to cause collision and wear, and the anti-skid pattern on the surface of the pad 21 can increase the friction between the sensor and the sensor to prevent the sensor from slipping and displacing after being fixed, thereby further improving the stability of the sensor.

[0036] Among them, there is a buffer pad 22 on the bottom surface of the positioning block 18. The buffer pad 22 is made of elastic materials such as rubber and is fixed by glue or other means. When the positioning block 18 is against the top of the sensor, the buffer pad 22 can play a buffering and protective role to avoid direct contact between the top of the sensor and the positioning block 18 to cause collision and wear.

[0037] Among them, a plurality of counterweight cavities 23 are opened on the base 1, and the counterweight cavities 23 are equidistantly linearly distributed along the length direction of the base 1, and a counterweight block 24 is placed in each counterweight cavity 23. The weight of the base 1 can be increased by the counterweight block 24 to improve the stability of the base 1, thereby preventing the base 1 from slipping and displacing after being placed on a horizontal contact surface, thereby preventing the simulation accuracy of the inertial navigation system from being affected.

[0038] The circuits, electronic components and chip modules involved in the utility model are all existing technologies and can be fully implemented by those skilled in the art. Needless to say, the content protected by the utility model does not involve improvements to software and methods.

[0039] The standard parts used in the application documents can all be purchased from the market. All the components in this application document can be customized according to the description in the specification and drawings. The specific connection methods of each part adopt mature conventional means such as bolts, rivets, welding, etc. in the prior art. Machinery, parts and equipment all adopt conventional models in the prior art. The electrical components appearing in this article are all electrically connected to the external main controller and 220V AC power, and the main controller can be a conventional known device that controls the LED lamp body, etc.

[0040] The working principle of the utility model is:

[0041] When the utility model is in use, the sensor (such as an angle encoder, a gyroscope, an accelerometer, etc.) can be placed in the measuring groove 10 on the surface of the measuring seat 9. Before placement, the positioning block 18 and the positioning rod 16 are pulled upward by the pull ring 17 and the spring 19 is compressed. When the sensor is placed in the measuring groove 10, the pull ring 17 is released. At this time, the positioning block 18 and the positioning rod 16 will move downward under the elastic reset action of the spring 19 until the positioning block 18 is tightly against the top of the sensor, so that the sensor can be fixed by the positioning block 18, and then the motor 2 is driven by an external control system such as a PLC to drive the high-precision turntable 7 to perform precise angular rotation, and the motion parameters (such as angle, speed, acceleration, etc.) of the high-precision turntable 7 are set, so that the high-precision turntable 7 can rotate or move according to a predetermined motion trajectory, thereby Simulating various motion states that the inertial navigation system may encounter in actual use, during the movement of the high-precision turntable 7, the sensor can collect the output data of the inertial navigation system (such as accelerometer and gyroscope) in real time, the output end of the sensor is connected to the computer, and the output data of the sensor can be read by the computer. The output data of the inertial navigation system can be compared with the reference signal of the reference equipment through the data acquisition and processing system, and various errors of the sensor (such as bias error, scale factor error, alignment error, etc.) can be identified, and these errors can be compensated by mathematical modeling and algorithms. After error compensation, the performance of the inertial navigation system is verified again to ensure that the calibration effect meets the expected standard. Then, according to the calibration results, the inertial navigation system is adjusted and optimized as necessary to ensure its measurement accuracy and reliability in actual applications.

[0042] The preferred embodiments of the utility model disclosed above are only used to help explain the utility model. The preferred embodiments do not describe all the details in detail, nor do they limit the utility model to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the utility model, so that technicians in the relevant technical field can well understand and use the utility model. The utility model is limited only by the claims and their full scope and equivalents.

Claims

1. An inertial navigation calibrator installation structure, characterized in that: The invention comprises a base, wherein a motor is mounted on the base, a mounting plate is fixedly connected to the bottom of the motor, a plurality of mounting holes are provided on the surface of the mounting plate, a plurality of studs are fixedly connected to the top of the base, nuts matching the studs are threadedly connected to the studs, the number of the studs is the same as the mounting holes, the diameters are equal, and the center of each stud corresponds to the center of each mounting hole one by one, a high-precision turntable is fixedly connected to the top of the output shaft of the motor, a limiting groove is provided on the side wall of the high-precision turntable, and limiting mechanisms are provided on both sides of the high-precision turntable, a plurality of measuring seats are fixedly connected to the top of the high-precision turntable, a measuring groove is provided on the surface of the measuring seat, and a bracket is provided above each of the measuring seats, the bracket is L-shaped, the bottom of which is fixedly connected to the high-precision turntable, and a through hole is provided on the top of the bracket, and a positioning piece is installed in the through hole; The limiting mechanism comprises a fixing plate, the fixing plate is fixedly connected to the base, an electric telescopic rod is installed on one side of the fixing plate, and the end of the output shaft of the electric telescopic rod is fixedly connected to the limiting block; The positioning member includes a positioning rod, which is inserted into the through hole, and a pull ring is fixedly connected to the top end of the positioning rod, and a positioning block is fixedly connected to the top of the positioning block, and the spring is fixedly connected to the rod body of the positioning rod, and the top end of the spring is fixedly connected to the top inner wall of the bracket.

2. The inertial navigation calibrator installation structure according to claim 1, characterized in that: The limiting groove is an annular groove structure, and the limiting block is an arc-shaped block structure, whose thickness and diameter are respectively equal to the groove width and diameter of the limiting groove, and the limiting block and the limiting groove are located at the same height.

3. The inertial navigation calibrator installation structure according to claim 1, characterized in that: A layer of anti-wear pad is arranged on the arc-shaped inner wall surface of the limiting block.

4. The inertial navigation calibrator installation structure according to claim 1, characterized in that: The measuring seats are distributed in an equidistant annular pattern along the circumferential direction of the high-precision turntable, and each of the measuring seats is located directly below the corresponding through hole.

5. The inertial navigation calibrator installation structure according to claim 1, characterized in that: A cushion block is fixedly connected to the bottom surface of the measuring groove, and a herringbone anti-skid pattern is engraved on the surface of the cushion block.

6. The inertial navigation calibrator installation structure according to claim 1, characterized in that: The bottom surface of the positioning block is provided with a buffer pad.

7. The inertial navigation calibrator installation structure according to claim 1, characterized in that: The base is provided with a plurality of counterweight cavities, which are linearly distributed at equal distances along the length direction of the base, and a counterweight block is placed in each of the counterweight cavities.

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