Algorithm verification mechanism based on five-axis inertial navigation system

Abstract

The utility model discloses an algorithm verification mechanism based on a five-axis inertial navigation system. The algorithm verification mechanism comprises a base; the load frame is rotatably mounted on the base; the rotating frame is rotatably mounted on the load frame; the pitching frame is rotatably mounted on the rotating frame; the rolling frame is rotatably mounted on the pitching frame; and the central platform is rotatably installed on the rolling frame, a fifth motor used for driving the central platform to rotate is arranged on the rolling frame, and three accelerometers arranged in the circumferential direction of the rotating axis are arranged on the central platform. Compared with the prior art, the simulation precision is improved, and the accuracy of algorithm verification is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of inertial navigation systems, and particularly relates to an algorithm verification mechanism based on a five-axis inertial navigation system. Background Art

[0002] In order to meet the training needs of professional and technical talents in aspects such as aircraft design, navigation / guidance control, etc., institutions of higher learning have established guidance control laboratories, navigation laboratories or hardware-in-the-loop simulation laboratories, etc., to strengthen the cultivation of students' practical hands-on abilities. In order to effectively verify the algorithms of aircraft inertial navigation systems, it is necessary to use teaching experimental devices for simulation. For example, Chinese Patent CN201110096602.8 discloses a teaching experimental device for aircraft navigation, guidance and control technology, including a missile-borne controller, a real-time task management subsystem, a missile body structure, an electric turntable, a user interface subsystem and a student experiment PC. The modules are connected and communicated by serial ports, digital I / O, Ethernet or radio, etc.; the missile-borne controller can be installed in the electric turntable or the missile body structure and communicate with the real-time task management subsystem by radio or serial port. Through the design of software and hardware, the missile-borne controller and the real-time task management subsystem realize the configuration of experimental resources such as inertial units, servo motors, digital I / O, simulators, serial ports and network ports. This experimental device has the functions of carrying out module experiments such as principle demonstration, sensitive devices, actuators, missile-borne controllers, and control system integration of aircraft, and can also be used as an experimental platform for users to carry out independent design and research.

[0003] Currently, the algorithm verification of inertial navigation systems is usually based on a three-axis turntable. However, in the actual operation process of inertial navigation systems, they are affected by various interference factors and are prone to errors. For example, the inertial navigation system installed on an aircraft is affected by the earth's curvature during operation. The existing three-axis turntables cannot simulate the interference factors received by inertial navigation systems, resulting in low accuracy of inertial navigation system algorithm verification. Summary of the Utility Model

[0004] The purpose of the utility model is to provide an algorithm verification mechanism based on a five-axis inertial navigation system, which improves the simulation accuracy and the accuracy of algorithm verification.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions: An algorithm verification mechanism based on a five-axis inertial navigation system includes:

[0006] A base;

[0007] A load frame, which is rotatably installed on the base, and a first motor for driving the load frame to rotate is arranged on the base;

[0008] A rotating frame, which is rotatably installed on the load frame, and a second motor for driving the rotating frame to rotate is arranged on the load frame;

[0009] A pitching frame rotatably mounted on a rotating frame, and a third motor for driving the pitching frame to rotate is arranged on the rotating frame;

[0010] A rolling frame rotatably mounted on the pitching frame, and a fourth motor for driving the rolling frame to rotate is arranged on the pitching frame;

[0011] A central platform rotatably mounted on the rolling frame, and a fifth motor for driving the central platform to rotate is arranged on the rolling frame. Three accelerometers are arranged on the central platform circumferentially along the rotation axis.

[0012] As a further description of the above technical solution:

[0013] Three first counterweights are further arranged on the central platform circumferentially along the rotation axis. The first counterweights are arranged at intervals from the accelerometers. A first kidney-shaped hole is arranged on the central platform, and a first locking bolt passes through the first kidney-shaped hole and then connects to the first counterweight.

[0014] As a further description of the above technical solution:

[0015] The first counterweights are arranged on the back of the central platform.

[0016] As a further description of the above technical solution:

[0017] A first groove is arranged on the surface of the central platform. The first kidney-shaped hole is arranged on the bottom surface of the first groove, and the head of the first locking bolt is arranged in the first groove.

[0018] As a further description of the above technical solution:

[0019] A second groove matching the shape of the first counterweight is arranged on the back of the central platform. The first kidney-shaped hole penetrates the bottom surface of the second groove, and the first counterweight is clamped in the second groove.

[0020] As a further description of the above technical solution:

[0021] A sensor is arranged on the load frame. A circular turntable is arranged at the end of the rotation axis of the rotating frame, and a notch is arranged on the turntable.

[0022] In summary, due to the adoption of the above technical solution, the beneficial effects of the present utility model are:

[0023] 1. In the present utility model, compared with the traditional three-axis turntable, a load frame and a rotating frame are added in this application. The pitch frame, roll frame, and central platform constitute the traditional three-axis turntable. The settings of the load frame and rotating frame increase the rotation simulation in two-axis directions. Therefore, when using this device to verify the algorithm of the inertial navigation system, on the one hand, the range of attitude change simulation is increased, and on the other hand, considering that when the inertial navigation system installed on equipment such as an aircraft operates, the equipment is affected by the earth's curvature during the movement process. Therefore, the algorithm of the inertial navigation system needs to compensate for it, and the rotation of the load frame on the three-axis turntable can simulate the influence of the earth's curvature on the inertial navigation system, improving the simulation accuracy and the accuracy of algorithm verification.

[0024] 2. In the present utility model, 3 first counterweights arranged circumferentially along the rotation axis are further provided on the central platform, and the first counterweights are arranged at intervals with the accelerometers. The first counterweights on the central platform can adjust their positions through the first kidney-shaped holes. On the one hand, the first counterweights can make the central platform rotate smoothly through position adjustment, and on the other hand, by adjusting the positions of different first counterweights, the errors existing during the operation of the inertial navigation system can be simulated when the central platform rotates.

[0025] 3. In the present utility model, a sensor is provided on the load frame, and a circular turntable is provided at the end of the rotating shaft of the rotating frame, and a notch is provided on the turntable. When the rotating frame is in a vertical state, the notch on the turntable faces upward, and the position of the notch on the turntable corresponds to the sensor, so that the sensor can identify that the rotating frame is in a vertical state. Therefore, the rotating frame can use the cooperation of the sensor and the circular turntable to realize the correction of the initial position and maintain the vertical state. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present utility model, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can also be obtained based on these drawings without creative efforts.

[0027] Figure 1 Structural schematic of an algorithm verification mechanism based on a five-axis inertial navigation system Figure 1 。

[0028] Figure 2 Structural schematic of an algorithm verification mechanism based on a five-axis inertial navigation system Figure 2 。

[0029] Figure 3 is Figure 2 Partial enlarged view at A in

[0030] Figure 4 is Figure 2 a partial enlarged view of position B in

[0031] Figure 5 a schematic structural diagram of an algorithm verification mechanism based on a five-axis inertial navigation system Figure 3 .

[0032] Figure 6 is Figure 5 a partial enlarged view of position C in

[0033] Legend description:

[0034] 1. Base; 11. First motor; 2. Load frame; 21. Second motor; 22. Second counterweight; 23. Third groove; 24. Sensor; 3. Rotating frame; 31. Third motor; 32. Turntable; 4. Pitching frame; 41. Fourth motor; 5. Rolling frame; 51. Fifth motor; 6. Central platform; 61. Accelerometer; 62. First counterweight; 63. First kidney-shaped hole; 64. First locking bolt; 65. First groove; 66. Second groove. Specific implementation manners

[0035] To make the objectives, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are some but not all of the embodiments of the present utility model. Usually, the components of the embodiments of the present utility model described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0036] Therefore, the following detailed description of the embodiments of the present utility model provided in the accompanying drawings is not intended to limit the scope of the claimed present utility model, but merely represents selected embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts fall within the scope of protection of the present utility model.

[0037] It should be noted that: similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0038] In the description of the embodiments of the present utility model, it should be noted that the orientation or positional relationship indicated by terms such as "upper", "inner", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the products of this utility model are habitually placed during use. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model.

[0039] In the description of the present utility model, it should also be noted that unless otherwise clearly specified and defined, the terms "set", "installed", "connected", "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0040] Embodiment 1

[0041] Please refer to Figures 1-6 , the present utility model provides a technical solution: an algorithm verification mechanism based on a five-axis inertial navigation system, including:

[0042] Base 1;

[0043] Load frame 2, which is rotatably installed on base 1, and a first motor 11 for driving load frame 2 to rotate is arranged on base 1;

[0044] Rotation frame 3, which is rotatably installed on load frame 2, and a second motor 21 for driving rotation frame 3 to rotate is arranged on load frame 2;

[0045] Pitch frame 4, which is rotatably installed on rotation frame 3, and a third motor 31 for driving pitch frame 4 to rotate is arranged on rotation frame 3;

[0046] Roll frame 5, which is rotatably installed on pitch frame 4, and a fourth motor 41 for driving roll frame 5 to rotate is arranged on pitch frame 4;

[0047] Central platform 6, which is rotatably installed on roll frame 5, and a fifth motor 51 for driving central platform 6 to rotate is arranged on roll frame 5. Three accelerometers 61 are arranged on central platform 6 circumferentially along the rotation axis.

[0048] On the central platform 6, there are also 3 first counterweights 62 arranged circumferentially along the rotation axis. The first counterweights 62 are arranged at intervals from the accelerometers 61. On the central platform 6, there is a first kidney-shaped hole 63. After the first locking bolt 64 passes through the first kidney-shaped hole 63, it is connected to the first counterweight 62. The first counterweights 62 on the central platform 6 can achieve position adjustment through the first kidney-shaped hole 63. On the one hand, the first counterweights 62 can make the rotation of the central platform 6 stable through position adjustment. On the other hand, by adjusting the positions of different first counterweights 62, the central platform 6 can simulate the errors existing in the operation of the inertial navigation system when rotating.

[0049] The first counterweights 62 are arranged on the back of the central platform 6. The first counterweights 62 and the accelerometers 61 are respectively arranged on the upper and lower surfaces of the central platform 6 to prevent the first counterweights 62 from colliding and damaging the accelerometers 61 when the installation of the first counterweights 62 becomes loose.

[0050] On the surface of the central platform 6, there is a first groove 65. The first kidney-shaped hole 63 is arranged on the bottom surface of the first groove 65. The head of the first locking bolt 64 is arranged in the first groove 65. The first groove 65 prevents the head of the first locking bolt 64 from protruding beyond the surface of the central platform 6, prevents the installation of the first locking bolt 64 from becoming loose, and thus prevents it from colliding and damaging the accelerometers 61.

[0051] On the back of the central platform 6, there is a second groove 66 that matches the shape of the first counterweight 62. The first kidney-shaped hole 63 penetrates the bottom surface of the second groove 66. The first counterweight 62 is snap-fitted in the second groove 66 to further prevent the installation of the first counterweight 62 from becoming loose.

[0052] On both sides of the load frame 2, there are symmetrically arranged second counterweights 22. On the load frame 2, there is a second kidney-shaped hole. After the second locking bolt passes through the second kidney-shaped hole, it is threadedly connected to the second counterweight 22. On the back of the load frame 2, there is a third groove 23 that matches the shape of the second counterweight 22. The installation structure and function of the second counterweights 22 can refer to those of the first counterweights 62. The second counterweights 22 on both sides of the rotating shaft of the load frame 2 also adjust the smooth rotation and error simulation of the load frame 2 through position adjustment.

[0053] On the load frame 2, there is a sensor 24. At the end of the rotating shaft of the rotating frame 3, there is a circular turntable 32. There is a notch on the turntable 32. When the rotating frame 3 is in the vertical state, the notch on the turntable 32 faces upward, and the position of the notch on the turntable 32 corresponds to the sensor 24, so that the sensor 24 can identify that the rotating frame 3 is in the vertical state. Therefore, the rotating frame 3 can utilize the cooperation of the sensor 24 and the circular turntable 32 to achieve the correction of the initial position and maintain the vertical state.

[0054] Working principle: Compared with the traditional three-axis turntable, a load frame 2 and a rotating frame 3 are added in this application. The pitching frame 4, the rolling frame 5 and the central platform 6 constitute the traditional three-axis turntable. The setting of the load frame 2 and the rotating frame 3 increases the rotation simulation in two-axis directions. Therefore, when using this device to verify the algorithm of the inertial navigation system, on the one hand, the range of attitude change simulation is increased. On the other hand, considering that when the inertial navigation system installed in equipment such as an aircraft operates, the equipment is affected by the earth curvature during the movement process. Therefore, the algorithm of the inertial navigation system needs to compensate for it. The rotation of the load frame 2 on the three-axis turntable can simulate the influence of the earth curvature on the inertial navigation system, improve the simulation accuracy, and improve the accuracy of algorithm verification.

[0055] The above is only a preferred specific embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present utility model, according to the technical solution of the present utility model and its inventive concept, makes equivalent substitutions or changes, and should be covered within the protection scope of the present utility model.

Claims

1. An algorithm verification mechanism based on a five-axis inertial navigation system, characterized in that Comprising: Base; Load frame, rotatably mounted on the base, and a first motor for driving the rotation of the load frame is provided on the base; Rotating frame, rotatably mounted on the load frame, and a second motor for driving the rotation of the rotating frame is provided on the load frame; Pitch frame, rotatably mounted on the rotating frame, and a third motor for driving the rotation of the pitch frame is provided on the rotating frame; Roll frame, rotatably mounted on the pitch frame, and a fourth motor for driving the rotation of the roll frame is provided on the pitch frame; Central platform, rotatably mounted on the roll frame, and a fifth motor for driving the rotation of the central platform is provided on the roll frame. Three accelerometers are arranged circumferentially along the rotation axis on the central platform.

2. The algorithm verification mechanism based on a five-axis inertial navigation system according to claim 1, characterized in that, Three first counterweights are further arranged circumferentially along the rotation axis on the central platform. The first counterweights are arranged at intervals from the accelerometers. A first waist-shaped hole is provided on the central platform. A first locking bolt passes through the first waist-shaped hole and then connects the first counterweight.

3. The algorithm verification mechanism based on a five-axis inertial navigation system according to claim 2, wherein, The first counterweights are arranged on the back surface of the central platform.

4. An algorithm verification mechanism based on a five-axis inertial navigation system according to claim 3, characterized in that, A first groove is provided on the surface of the central platform. The first waist-shaped hole is provided on the bottom surface of the first groove. The head of the first locking bolt is arranged in the first groove.

5. An algorithm verification mechanism based on a five-axis inertial navigation system according to claim 3, characterized in that A second groove matching the shape of the first counterweight is provided on the back surface of the central platform. The first waist-shaped hole penetrates the bottom surface of the second groove. The first counterweight is snap-fitted in the second groove.

6. The algorithm verification mechanism based on a five-axis inertial navigation system according to claim 1, characterized in that Symmetrically arranged second counterweights are provided on both sides of the load frame. A second waist-shaped hole is provided on the load frame. A second locking bolt passes through the second waist-shaped hole and is then threadedly connected to the second counterweight.

7. An algorithm verification mechanism based on a five-axis inertial navigation system according to claim 6, characterized in that, A third groove matching the shape of the second counterweight is provided on the back surface of the load frame.

8. An algorithm verification mechanism based on a five-axis inertial navigation system according to claim 1, characterized in that, A sensor is provided on the load frame. A circular turntable is provided at the end of the rotation axis of the rotating frame. A notch is provided on the turntable.

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