Double-shaft rotating device of strapdown inertial measurement unit and strapdown inertial measurement unit system

Abstract

The utility model provides a strapdown inertial measurement unit double-shaft rotating device and a strapdown inertial measurement unit system.The double-shaft rotating device comprises an outer frame, an inner frame, a support, a first driving mechanism, a second driving mechanism, a first limiting mechanism and a second limiting mechanism, the first driving mechanism is arranged on the outer frame, is in transmission connection with the inner frame and is used for driving the inner frame to rotate around a main shaft of the first driving mechanism, and the second driving mechanism is arranged on the support. The second driving mechanism is arranged on the inner frame, is in transmission connection with the support and is used for driving the support to rotate around a main shaft of the second driving mechanism, the first limiting mechanism is arranged between the outer frame and the inner frame and is used for limiting the inner frame to rotate forwards / backwards periodically within the range of 0-(180 + A) degrees, and the second limiting mechanism is arranged between the inner frame and the support and is used for limiting the inner frame to rotate forwards / backwards within the range of 0-(180 + A) degrees. The rotation limiting device is used for limiting forward / reverse periodic rotation of the support within the range of 0-(360 + B) degrees, alt; 90 degrees, 0 lt; blt; and 90 degrees. The device can limit the continuous rotation of the strapdown inertial measurement unit under the condition that the rotation of the strapdown inertial measurement unit is greater than 360 degrees, and the manufacturing cost of the double-shaft indexing mechanism can be greatly reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of inertial navigation system preparation, and more particularly to a strapdown inertial navigation system dual-axis rotation device and a strapdown inertial navigation system. Background Art

[0002] The laser gyro is a non-electromechanical medium-to-high-precision inertial sensing device with advantages such as strong stability, high precision, high sensitivity, and a wide dynamic range. It is widely used in civil aviation and military weaponry, particularly in ships and submarines. However, due to flaws in the navigation system's principles, the laser gyro's navigation and positioning errors accumulate over time. The rate of navigation error accumulation is primarily determined by the accuracy of the initial alignment, the errors in the inertial sensing elements, and the dynamic characteristics of the carrier's motion trajectory. Therefore, after long periods of independent operation, the errors quickly diverge. Therefore, for long-duration applications, its navigation accuracy often fails to meet mission requirements. Improving the accuracy of gyros and accelerometers from a process perspective presents significant technical difficulties and long processing cycles. Therefore, once the inertial device accuracy reaches a certain level, compensating for device deviations to further improve system performance is an effective way to achieve higher-precision navigation. The dual-axis rotation device is a system-level error self-compensation technology vehicle. The entire laser gyro inertial measurement unit (IMU) is mounted on the dual-axis rotation device. A transposition mechanism periodically rotates the IMU around two axes, changing the IMU's attitude matrix. This allows the mathematical platform's constant error integral or mean to approach zero over a short period of time, achieving error self-compensation. This device effectively reduces the impact of device errors on navigation accuracy, improving the accuracy and stability of the navigation system and extending the system's readjustment period.

[0003] In order to solve the problem of lines passing through rotating shafts, most of the dual-axis indexing mechanisms currently used in the market adopt a slip ring structure, which is not only complex in structure but also greatly increases the cost of the entire system. Utility Model Content

[0004] In response to the problems in the background technology, the present invention proposes a dual-axis rotation device for a strapdown inertial system (SINS) with a simple structure and low manufacturing cost, as well as a SINS system having the dual-axis rotation device. The dual-axis rotation device can limit the continuous rotation of the SINS while satisfying the requirement that the SINS rotates more than 360°, and can greatly reduce the manufacturing cost of the dual-axis indexing mechanism.

[0005] The utility model adopts the following technical solutions:

[0006] A strapdown inertial unit dual-axis rotation device comprises: an outer frame, an inner frame, a bracket, a first driving mechanism, a second driving mechanism, a first limiting mechanism and a second limiting mechanism.

[0007] The first driving mechanism is provided on the outer frame and is transmission-connected to the inner frame, and is used to drive the inner frame to rotate around the main axis of the first driving mechanism.

[0008] The second driving mechanism is provided on the inner frame and is connected to the bracket in a transmission manner, and is used to drive the bracket to rotate around the main axis of the second driving mechanism.

[0009] The first limiting mechanism is set between the outer frame and the inner frame, and is used to limit the inner frame to rotate in the positive / reverse direction within the range of 0-(180+A)°. The second limiting mechanism is set between the inner frame and the bracket, and is used to limit the bracket to rotate in the range of 0-(180+A)°.

[0010] Positive / reverse periodic rotation within the range of (360+B)°, wherein the main axis of the first driving mechanism is arranged perpendicular to the main axis of the second driving mechanism, 0 <A<90°,0<B<90°。

[0011] Optionally, the first limiting mechanism includes a first arc-shaped groove and a first limiting column.

[0012] The first arcuate groove is formed on the outer wall surface of the frame segment of the inner frame perpendicular to the main axis of the first driving mechanism, and the arc angle of the first arcuate groove is (180+A) degrees. One end of the first limiting post is fixed to the inner wall surface of the frame segment of the outer frame that is most adjacent to the first arcuate groove, and the other end thereof extends into the first arcuate groove. When the inner frame is in the initial position, the first limiting post corresponds to the starting position of the first arcuate groove; or,

[0013] The first arc groove is opened on the inner wall surface of the frame section of the outer frame perpendicular to the main axis of the first driving mechanism. The arc angle of the first arc groove is (180+A)°. One end of the first limiting column is fixed on the outer wall of the frame section of the inner frame that is most adjacent to the first arc groove, and the other end thereof extends into the first arc groove. When the inner frame is in the initial position, the first limiting column corresponds to the starting position of the first arc groove.

[0014] Optionally, the first arc-shaped slot is coaxially arranged with the first driving mechanism.

[0015] Optionally, the end of the frame segment of the inner frame / outer frame in which the first arcuate groove is opened, which is facing away from the opening of the first arcuate groove, shrinks inward as a whole until the first arcuate groove shrinks to consist of two symmetrically arranged arcuate groove segments.

[0016] Optionally, the second limiting mechanism includes a second arc-shaped groove, a second limiting column, a first stopping portion, a second stopping portion and a limiting needle.

[0017] The second arc groove is provided on the outer wall surface of the frame section of the bracket perpendicular to the main axis of the second driving mechanism, the arc angle of the second arc groove is 360°, one end of the second limit column is fixed to the inner wall surface of the frame section of the inner frame most adjacent to the second arc groove, and the other end thereof extends into the second arc groove, the first stop portion, the second stop portion and the limit pin are all provided on the outer wall surface of the frame section of the bracket where the second arc groove is provided, the limit pin is hinged to the bracket, the first stop portion and the second stop portion are provided on both sides of the rotation direction of the limit pin, the bracket can be rotated until the second limit column contacts the limit pin and pushes the limit pin to rotate around the hinge point until the limit pin is stopped by the first stop portion or the second stop portion, and the maximum arc that the limit pin can rotate is B°; or,

[0018] The second arc groove is opened on the inner wall surface of the frame section of the inner frame perpendicular to the main axis of the second driving mechanism, and the arc angle of the second arc groove is 360°. One end of the second limit column is fixed on the outer wall surface of the frame section most adjacent to the bracket and the second arc groove, and the other end thereof extends into the second arc groove. The first stop part, the second stop part and the limit pin are all arranged on the inner wall surface of the frame section of the inner frame where the second arc groove is opened. The limit pin is hinged to the inner frame, and the first stop part and the second stop part are arranged on both sides of the rotation direction of the limit pin. The bracket can be rotated until the second limit column contacts the limit pin and pushes the limit pin to rotate around the hinge point until the limit pin is stopped by the first stop part or the second stop part. The maximum arc that the limit pin can rotate is B°.

[0019] Optionally, a limit groove is further provided on the outer wall surface of the frame section of the bracket where the second arc groove is provided, or a limit groove is further provided on the inner wall surface of the frame section of the inner frame where the second arc groove is provided.

[0020] The limiting groove intersects with the second arc groove, the limiting pin is located in the limiting groove, and the side walls of the limiting groove at both ends along the rotation direction of the limiting pin respectively form a first stop portion and a second stop portion.

[0021] Optionally, one end of the limiting pin is hinged to the inner frame / bracket via a hinge pin, and a receiving groove for receiving the hinge pin is provided on the inner frame / bracket, and the receiving groove extends to communicate with the fan-shaped groove.

[0022] Optionally, the second arc-shaped slot is coaxially arranged with the second driving mechanism.

[0023] Optionally, both ends of the frame segment of the inner frame / outer frame in the width direction where the second arc-shaped groove is opened are integrally contracted inwards until the second arc-shaped groove is contracted to consist of two symmetrically arranged arc-shaped groove segments.

[0024] As a general inventive concept, the present invention also provides a strapdown inertial unit (SUTU) system, comprising a SUTU and the aforementioned SUTU dual-axis rotation device, wherein the SUTU is fixed in a bracket of the SUTU dual-axis rotation device.

[0025] Compared with the prior art, the advantages of the present utility model are as follows:

[0026] The strapdown inertial measurement unit (IMU) dual-axis rotating device of the present utility model is designed with an outer frame, an inner frame rotatably connected to the outer frame through a first driving mechanism, and a bracket rotatably connected to the inner frame through a second driving mechanism. The bracket is used to fix the strapdown IMU. The main shafts of the first driving mechanism and the second driving mechanism are arranged perpendicular to each other, so as to meet the requirements of the strapdown IMU for dual-axis rotation. By providing a first limiting mechanism between the outer frame and the inner frame, the inner frame is restricted to rotate in a positive / negative periodic manner within the range of 0 - (180 + A)°, and a second limiting mechanism is provided between the inner frame and the bracket to restrict the bracket to rotate in a positive / negative periodic manner within the range of 0 - (360 + B)°, where 0 < A < 90° and 0 < B < 90°. This can limit the continuous rotation of the rotating components, enable wire winding in the rotating shaft holes, avoid the risk of wire breakage caused by the continuous rotation of the rotating components, and at the same time meet the requirement that the rotation angle of one axis is ≥ 360°, satisfy the rotation angle requirements of the indexing mechanism. Compared with the dual-axis indexing mechanism with a slip ring structure, the manufacturing cost is greatly reduced. Brief Description of the Drawings

[0027] To make it easier to understand the present utility model, the present utility model will be described in more detail by referring to the specific embodiments shown in the attached drawings. These drawings only depict the typical embodiments of the present utility model and should not be considered as limiting the protection scope of the present utility model.

[0028] Figure 1 Shown is a three-dimensional structural schematic diagram of the strapdown IMU dual-axis rotating device according to an embodiment of the present utility model.

[0029] Figure 2 Shown is a front view structural schematic diagram of the strapdown IMU dual-axis rotating device according to an embodiment of the present utility model.

[0030] Figure 3 Shown is a cross-sectional structural schematic diagram of the strapdown IMU dual-axis rotating device according to an embodiment of the present utility model.

[0031] Figure 4 For Figure 2 the Q-Q cross-sectional view.

[0032] Figure 5 For Figure 2 the P-P cross-sectional view.

[0033] Reference Signs

[0034] 1. Outer frame; 2. Inner frame; 3. Bracket; 5. First drive mechanism; 4. Second drive mechanism; 6. Strapdown inertial unit; 7. Shaft end cover; 8. Second limit post; 9. Second arc-shaped groove; 11. Limit pin; 12. First limit post; 13. First arc-shaped groove; 14. Limit groove. DETAILED DESCRIPTION

[0035] The following describes the implementation methods of the present invention with reference to the accompanying drawings so that those skilled in the art can better understand the present invention and implement it. However, the enumerated embodiments are not intended to limit the present invention. Unless there is a conflict, the following embodiments and the technical features in the embodiments can be combined with each other, and the same components are represented by the same figure marks.

[0036] Example 1:

[0037] like Figure 1-Figure 5 As shown, the strapdown inertial unit dual-axis rotation device of this embodiment includes: an outer frame 1, an inner frame 2, a bracket 3, a first driving mechanism 5, and a second driving mechanism 4.

[0038] The first driving mechanism 5 is provided on the outer frame 1 and is in transmission connection with the inner frame 2, and is used to drive the inner frame 2 to rotate around the main axis of the first driving mechanism 5.

[0039] The second driving mechanism 4 is provided on the inner frame 2 and is in transmission connection with the bracket 3, and is used to drive the bracket 3 to rotate around the main axis of the second driving mechanism 4.

[0040] The first limiting mechanism is provided between the outer frame 1 and the inner frame 2, and is used to limit the positive / negative periodic rotation of the inner frame 2 within the range of 0-(180+A)°, that is, the inner frame 2 can perform positive-negative periodic rotation, and the maximum angle of the inner frame 2 in the positive rotation is (180+A)°, and the maximum angle of the reverse rotation is also (180+A)°; the second limiting mechanism is provided between the inner frame 2 and the bracket 3, and is used to limit the positive / negative periodic rotation of the bracket 3 within the range of 0-(360+B)°, that is, the bracket 3 can perform positive-negative periodic rotation, and the maximum angle of the bracket 3 in the positive rotation is (360+B)°, and the maximum angle of the reverse rotation is also (360+B)°, wherein the main axis of the first driving mechanism 5 is arranged perpendicular to the main axis of the second driving mechanism 4, 0 <A<90°,0<B<90°。

[0041] Therefore, the utility model can realize the dual-axis rotation function of the strapdown inertial unit and can limit the continuous rotation of the rotating parts, such as Figure 3As shown, the wire can be coiled in the rotating shaft hole (opened on the frame section of the outer frame 1 / inner frame 2 opposite to the corresponding driving mechanism), avoiding the risk of wire breakage caused by continuous rotation of the rotating parts, while taking into account the requirement that the IMU rotation angle is ≥360°, meeting the rotation angle needs of the indexing mechanism, and at the same time, compared with the dual-axis indexing mechanism with a slip ring structure, the manufacturing cost is greatly reduced.

[0042] In this embodiment, Figure 4 As shown, in order to simply, conveniently and cost-effectively limit the inner frame 2 to a forward / reverse periodic rotation within the range of 0-(180+A)°, the first limiting mechanism includes a first arc-shaped groove 13 and a first limiting column 12.

[0043] The first arcuate groove 13 is formed on the outer wall surface of the frame section of the inner frame 2 perpendicular to the main axis of the first driving mechanism 5. The arc angle of the first arcuate groove 13 is (180+A) degrees. One end of the first limiting post 12 is fixed to the inner wall surface of the frame section of the outer frame 1 that is most adjacent to the first arcuate groove 13, and the other end thereof extends into the first arcuate groove 13. When the inner frame 2 is in the initial position, the first limiting post 12 corresponds to the starting position of the first arcuate groove 13; or,

[0044] The first arc groove is opened on the inner wall surface of the frame section of the outer frame 1 perpendicular to the main axis of the first driving mechanism 5. The arc angle of the first arc groove is (180+A)°. One end of the first limiting column is fixed on the outer wall of the frame section of the inner frame 2 that is most adjacent to the first arc groove, and the other end thereof extends into the first arc groove. When the inner frame 2 is in the initial position, the first limiting column corresponds to the starting position of the first arc groove.

[0045] In this embodiment, in order to achieve compact installation of the strapdown inertial unit, the first arc-shaped slot is coaxially arranged with the first driving mechanism 5 .

[0046] In this embodiment, to reduce the weight and volume of the strapdown inertial system, the end of the frame segment of the inner frame 2 / outer frame 1 where the first arcuate slot is opened, facing away from the opening of the first arcuate slot, is entirely contracted inward until the first arcuate slot is contracted to consist of two symmetrically arranged arcuate slot segments.

[0047] In this embodiment, Figure 5 As shown, in order to achieve simple, convenient and low-cost implementation, the bracket 3 is limited to a positive / reverse periodic rotation within the range of 0-(360+B)°.

[0048] The second limiting mechanism includes a second arc-shaped groove 9, a second limiting column 8, a first stopper, a second stopper and a limiting needle 11.

[0049] The second arc groove 9 is provided on the outer wall surface of the frame section of the bracket 3 perpendicular to the main axis of the second driving mechanism 4, and the arc angle of the second arc groove 9 is 360°. One end of the second limit column 8 is fixed on the inner wall surface of the frame section of the inner frame 2 that is most adjacent to the second arc groove 9, and the other end thereof extends into the second arc groove 9. The first stop portion, the second stop portion and the limit pin 11 are all provided on the outer wall surface of the frame section of the bracket 3 where the second arc groove 9 is provided. The limit pin 11 is hinged to the bracket 3, and the first stop portion and the second stop portion are provided on both sides of the rotation direction of the limit pin 11. The bracket 3 can be rotated until the second limit column 8 contacts the limit pin 11 and pushes the limit pin 11 to rotate around the hinge point until the limit pin 11 is stopped by the first stop portion or the second stop portion. The maximum arc that the limit pin 11 can rotate is B°; or,

[0050] The second arc groove is opened on the inner wall surface of the frame section of the inner frame 2 perpendicular to the main axis of the second driving mechanism 4, and the arc angle of the second arc groove is 360°. One end of the second limit column is fixed on the outer wall surface of the frame section of the bracket 3 that is most adjacent to the second arc groove, and the other end thereof extends into the second arc groove. The first stop part, the second stop part and the limit needle are all arranged on the inner wall surface of the frame section of the inner frame 2 where the second arc groove is opened. The limit needle is hinged to the inner frame 2, and the first stop part and the second stop part are arranged on both sides of the rotation direction of the limit needle. The bracket 3 can be rotated until the second limit column contacts the limit needle and pushes the limit needle to rotate around the hinge point until the limit needle is stopped by the first stop part or the second stop part. The maximum arc that the limit needle can rotate is B°.

[0051] In this embodiment, the outer wall surface of the frame section of the bracket 3 where the second arc groove 9 is formed is further provided with a limiting groove 14, or the inner wall surface of the frame section of the inner frame 2 where the second arc groove is formed is further provided with a limiting groove 14.

[0052] The limiting groove 14 intersects with the second arc groove 9 , and the limiting pin 11 is located in the limiting groove 14 . Side walls of the limiting groove 14 at both ends along the rotation direction of the limiting pin 11 form a first stop portion and a second stop portion respectively.

[0053] In this embodiment, the limit groove is a fan-shaped groove, and the outer arc segment and the inner arc segment of the fan-shaped groove are respectively arranged on both sides of the second arc-shaped groove. One end of the limit pin is hinged to the inner frame 2 / bracket 3 near the small end of the fan-shaped groove, and the other end extends to pass through the second arc-shaped groove.

[0054] In this embodiment, one end of the limiting pin is hinged to the inner frame 2 / bracket 3 through a hinge pin 10. A receiving groove for receiving the hinge pin 10 is provided on the inner frame 2 / bracket 3, and the receiving groove extends to communicate with the fan-shaped groove.

[0055] In this embodiment, in order to further achieve compact installation of the strapdown inertial unit, the second arc-shaped slot is coaxially arranged with the second driving mechanism 4 .

[0056] In this embodiment, in order to further reduce the weight and volume of the strapdown inertial unit system, both ends of the frame segment of the inner frame 2 / outer frame 1 in the width direction of the frame segment where the second arcuate groove is opened are contracted inward as a whole, until the second arcuate groove is contracted to consist of two symmetrically arranged arcuate groove segments.

[0057] The first drive mechanism 5 and the second drive mechanism 4 of this embodiment are integrated drive motors, which have driving capabilities, angle measurement capabilities, and locking capabilities, greatly reducing the complexity of the mechanical structure, and can facilitate electrical control and assembly use, simplifying the structure of the existing dual-axis rotation device. In addition, the outer wall of the frame section of the outer frame 1 opposite to the first drive mechanism 5 is provided with a shaft end cover 7 for pre-tightening the shaft system.

[0058] In addition, due to structural limitations, the existing dual-axis indexing mechanism can generally only adapt to one type of IMU. The present invention can adapt to different types of strapdown inertial units (IMUs) by reserving multiple sets of mounting interfaces on the bracket 3, thereby greatly improving versatility.

[0059] The application process of the strapdown inertial unit dual-axis rotation device of this embodiment is as follows:

[0060] like Figure 2 As shown, the strapdown inertial unit 6 (IMU) is assembled into the bracket 3, and the IMU connector is plugged into the external connector. Since the bracket 3 can reserve multiple sets of installation interfaces, it can adapt to different models of IMU products.

[0061] The first drive mechanism 5 and the second drive mechanism 4 are controlled to rotate so that the IMU rotates to the desired angle. The inner frame and the bracket can rotate at the same time without the problem of rotational interference.

[0062] like Figure 5 As shown, when the bracket 3 rotates, the second limit column 8 rotates in the second arc groove 9. When the second limit column 8 contacts the limit pin 11, it pushes the limit pin 11 to rotate around the hinge pin 10. When it rotates to the other side of the limit groove 14, it reaches the limit limit position. By swinging the limit pin 11 left and right, the bracket 3 can rotate by more than 360°, but it will not rotate continuously.

[0063] Inner frame 2 limit as Figure 4 As shown, one end of the first limiting column 12 is in the first arc groove 13. When the inner frame 2 rotates, the first limiting column 12 rotates in the first arc groove 13. The structure of the first arc groove 13 determines the limiting angle. Figure 3 As shown, the limiting angle of the inner frame 2 is greater than 180° and less than 360°.

[0064] Example 2:

[0065] like Figure 2As shown, this embodiment provides a strapdown inertial unit system, including a strapdown inertial unit 6 and the strapdown inertial unit dual-axis rotation device of embodiment 1. The strapdown inertial unit 6 is fixed in the bracket 3 of the strapdown inertial unit dual-axis rotation device.

[0066] The embodiments described above are only preferred specific implementation methods of the present invention. Common changes and substitutions made by those skilled in the art within the scope of the technical solution of the present invention should be included in the protection scope of the present invention.

Claims

1. A strapdown inertial unit dual-axis rotation device, characterized in that: include: Outer frame (1), inner frame (2), bracket (3), first driving mechanism (5), second driving mechanism (4), The first driving mechanism (5) is provided on the outer frame (1) and is connected to the inner frame (2) in a transmission manner, and is used to drive the inner frame (2) to rotate around the main axis of the first driving mechanism (5). The second driving mechanism (4) is provided on the inner frame (2) and is connected to the bracket (3) in a transmission manner, and is used to drive the bracket (3) to rotate around the main axis of the second driving mechanism (4). The first limiting mechanism is provided between the outer frame (1) and the inner frame (2) and is used to limit the positive / negative periodic rotation of the inner frame (2) within the range of 0-(180+A)°. The second limiting mechanism is provided between the inner frame (2) and the bracket (3) and is used to limit the positive / negative periodic rotation of the bracket (3) within the range of 0-(360+B)°. The main shaft of the first driving mechanism (5) and the main shaft of the second driving mechanism (4) are arranged perpendicularly. <A<90°,0<B<90°。 2. The strapdown inertial unit dual-axis rotation device according to claim 1, characterized in that: The first limiting mechanism comprises a first arc-shaped groove (13) and a first limiting column (12). The first arc groove (13) is formed on the outer wall surface of the frame section of the inner frame (2) perpendicular to the main axis of the first driving mechanism (5), the arc angle of the first arc groove (13) is (180+A) degrees, one end of the first limiting column (12) is fixed to the inner wall surface of the frame section of the outer frame (1) that is most adjacent to the first arc groove (13), and the other end thereof extends into the first arc groove (13), and when the inner frame (2) is in the initial position, the first limiting column (12) corresponds to the starting position of the first arc groove (13); or, The first arc groove is formed on the inner wall surface of the frame section of the outer frame (1) perpendicular to the main axis of the first driving mechanism (5), and the arc angle of the first arc groove is (180+A) degrees. One end of the first limiting column is fixed to the outer wall of the frame section of the inner frame (2) that is most adjacent to the first arc groove, and the other end thereof extends into the first arc groove. When the inner frame (2) is in the initial position, the first limiting column corresponds to the starting position of the first arc groove.

3. The strapdown inertial unit dual-axis rotation device according to claim 2, characterized in that: The first arc-shaped slot is coaxially arranged with the first driving mechanism (5).

4. The strapdown inertial unit dual-axis rotation device according to claim 3, characterized in that: The end of the frame section of the inner frame (2) / outer frame (1) in which the first arc groove is opened is entirely contracted inward in the width direction facing away from the opening of the first arc groove, until the first arc groove is contracted to consist of two symmetrically arranged arc groove sections.

5. The strapdown inertial unit dual-axis rotation device according to any one of claims 1 to 4, characterized in that: The second limiting mechanism comprises a second arc-shaped groove (9), a second limiting column (8), a first stopper, a second stopper and a limiting needle (11). The second arc groove (9) is formed on the outer wall surface of the frame section of the bracket (3) perpendicular to the main axis of the second driving mechanism (4). The arc angle of the second arc groove (9) is 360 degrees. One end of the second limiting column (8) is fixed to the inner wall surface of the frame section of the inner frame (2) that is most adjacent to the second arc groove (9). The other end of the second limiting column (8) extends into the second arc groove (9). The first stopper, the second stopper and the limiting pin (11) are all provided on the bracket (3) where the second arc groove is formed. On the outer wall surface of the frame section of (9), the limit pin (11) is hinged to the bracket (3), and the first stop portion and the second stop portion are provided on both sides of the rotation direction of the limit pin (11). The bracket (3) can be rotated until the second limit column (8) contacts the limit pin (11) and pushes the limit pin (11) to rotate around the hinge point until the limit pin (11) is stopped by the first stop portion or the second stop portion. The maximum arc that the limit pin (11) can rotate is B°; or, The second arc groove is provided on the inner wall surface of the frame section of the inner frame (2) perpendicular to the main axis of the second driving mechanism (4), and the arc angle of the second arc groove is 360 degrees. One end of the second limit column is fixed on the outer wall surface of the frame section of the bracket (3) that is most adjacent to the second arc groove, and the other end thereof extends into the second arc groove. The first stop portion, the second stop portion and the limit needle are all provided on the inner wall surface of the frame section of the inner frame (2) where the second arc groove is provided. The limit needle is hinged to the inner frame (2), and the first stop portion and the second stop portion are provided on both sides of the rotation direction of the limit needle. The bracket (3) can be rotated until the second limit column contacts the limit needle and pushes the limit needle to rotate around the hinge point until the limit needle is stopped by the first stop portion or the second stop portion. The maximum arc angle that the limit needle can rotate is B degrees.

6. The strapdown inertial unit dual-axis rotation device according to claim 5, characterized in that: The outer wall surface of the frame section of the bracket (3) on which the second arc groove (9) is formed is further provided with a limiting groove (14), or the inner wall surface of the frame section of the inner frame (2) on which the second arc groove is formed is further provided with a limiting groove (14). The limiting groove (14) intersects with the second arc-shaped groove (9), the limiting pin (11) is located in the limiting groove (14), and the side walls of the limiting groove (14) at both ends along the rotation direction of the limiting pin (11) respectively form a first stop portion and a second stop portion.

7. The strapdown inertial unit dual-axis rotation device according to claim 6, characterized in that: One end of the limiting pin is hinged to the inner frame (2) / bracket (3) via a hinge pin, and a receiving groove for receiving the hinge pin is provided on the inner frame (2) / bracket (3), and the receiving groove extends to communicate with the limiting groove.

8. The strapdown inertial unit dual-axis rotation device according to claim 5, characterized in that: The second arc-shaped groove is coaxially arranged with the second driving mechanism (4).

9. The strapdown inertial unit dual-axis rotation device according to claim 8, characterized in that: The two ends of the frame section of the inner frame (2) / outer frame (1) in the width direction of the second arc-shaped groove are integrally contracted inwards until the second arc-shaped groove is contracted to consist of two symmetrically arranged arc-shaped groove sections.

10. A strapdown inertial unit system, comprising a strapdown inertial unit (6), characterized in that: It also comprises the strapdown inertial unit dual-axis rotation device according to any one of claims 1 to 9, wherein the strapdown inertial unit (6) is fixed in a bracket (3) of the strapdown inertial unit dual-axis rotation device.

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