Course and attitude reference device

Abstract

The utility model provides a heading and attitude reference device, and belongs to the technical field of strapdown inertial navigation. Comprising a mounting bracket which is arranged on an airborne equipment frame and comprises a bracket plate and a locking assembly connected with one end of the bracket plate; the heading and attitude computer is mounted on the bracket plate, and the heading and attitude computer comprises a case, and an inertial instrument assembly, an electronic assembly and a satellite receiving assembly which are arranged in the case; the external storage part is mounted on the bracket plate; the magnetic heading sensor is mounted at the tail of the aircraft; wherein the heading attitude computer is respectively connected with the magnetic heading sensor and the external storage part through coaxial cables. According to the invention, satellite navigation information and attitude information can be obtained, and installation errors of the heading attitude computer and the magnetic heading sensor can be stored, so that the precision of the heading attitude is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of strapdown inertial navigation technology, and particularly relates to a heading attitude reference device. BACKGROUND

[0002] The heading attitude reference device is a system for measuring the heading attitude of a carrier (a spacecraft or an aircraft) and providing a reference signal of the heading attitude to an automatic control system and a navigation computer. However, the existing heading attitude reference device has the following problems.

[0003] Firstly, the existing heading attitude reference device generally includes some single heading and attitude components, and can only provide some attitude information, and cannot transmit the heading information to the outside through a magnetic heading sensor, nor can it obtain satellite navigation information from the outside.

[0004] Secondly, the existing heading attitude reference device does not have a storage function and cannot store the installation error information of the heading attitude computer and the magnetic heading sensor.

[0005] Therefore, it is necessary to propose a scheme to improve one or more problems in the above-mentioned related technical solutions.

[0006] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the present application, and therefore can include information that does not constitute prior art known to those of ordinary skill in the art. CONTENT OF THE INVENTION

[0007] The embodiment of the present application provides a heading attitude reference device, which comprises:

[0008] A mounting bracket is arranged in the airborne equipment cabin, and the mounting bracket comprises a bracket plate and a locking assembly connected to one end of the bracket plate;

[0009] A heading attitude computer is mounted on the bracket plate, and the heading attitude computer comprises a case and an inertial instrument assembly, an electronic assembly and a satellite receiving assembly arranged in the case;

[0010] An external storage component is mounted on the bracket plate;

[0011] A magnetic heading sensor is mounted at the tail of the aircraft;

[0012] The heading attitude computer is connected to the magnetic heading sensor and the external storage component through a coaxial cable respectively.

[0013] In an example embodiment of the present application, a pair of fasteners are arranged on the bracket plate between the heading posture computer and the external storage component, and a pair of positioning holes are arranged on the bottom end of the heat dissipation side plate of the case, and the case is fixed on the bracket plate through the corresponding connection of the fasteners and the positioning holes.

[0014] In an example embodiment of the present application, the fasteners are cylindrical pins, and the positioning holes are pin holes, and the case is fixed on the bracket plate through the corresponding connection of the cylindrical pins and the pin holes.

[0015] In an example embodiment of the present application, the locking assembly includes a pair of swing bolts which are identical in structure, and a pair of fasteners are arranged on the outer side plate of the case and matched with the swing bolts, and the case is fastened on the bracket plate through the corresponding connection of the swing bolts and the fasteners.

[0016] In an example embodiment of the present application, the case includes:

[0017] The case is provided with a plurality of heat dissipation holes on the heat dissipation side plate, and a signal socket is arranged on the outer side plate of the case, and the fasteners are arranged on the outer side plate and above the signal socket;

[0018] The inertial instrument assembly is arranged in the first partition of the case near the heat dissipation side plate, and the electronic assembly is arranged in the second partition of the case near the outer side plate;

[0019] An upper cover plate is arranged on the upper end of the case, and the satellite receiving assembly is arranged on the upper cover plate above the first partition;

[0020] A lower baffle includes a first lower baffle and a second lower baffle, and the first lower baffle and the second lower baffle are respectively connected with the lower end of the case.

[0021] In an example embodiment of the present application, the inertial instrument assembly includes:

[0022] An instrument support is in a rectangular structure and is internally provided with a calculation circuit;

[0023] A plurality of accelerometers are arranged on the upper end surface of the instrument support;

[0024] A plurality of fiber optic gyroscopes are arranged on the bottom surface and any two opposite side surfaces of the instrument support;

[0025] All the accelerometers and all the fiber optic gyroscopes are connected with the calculation circuit.

[0026] The position of the bracket plate on which the inertial instrument assembly is mounted is provided with a first mounting hole for mounting the inertial instrument assembly into the first partition from the first mounting hole, and the first mounting hole is matched with the first lower baffle.

[0027] In an example embodiment of the present application, the electronic assembly includes a motherboard circuit board transversely arranged on the bracket plate, and a navigation solution circuit board, a secondary power supply circuit board, a discrete quantity conversion circuit board and an interface protection circuit board vertically arranged in sequence along the flight direction on the motherboard circuit board;

[0028] The position of the bracket plate on which the electronic assembly is mounted is provided with a second mounting hole for mounting the motherboard circuit board into the second partition from the second mounting hole, and the second mounting hole is matched with the second lower baffle; the motherboard circuit board is provided with a first connector, a second connector, a third connector and a fourth connector;

[0029] The navigation solution circuit board is provided with interface circuit devices, and the lower end of the navigation solution circuit board is provided with a first plug-in part, and the navigation solution circuit board is plugged into the first connector through the first plug-in part;

[0030] The lower end of the secondary power supply circuit board is provided with a second plug-in part, and the secondary power supply circuit board is plugged into the second connector through the second plug-in part;

[0031] The lower end of the discrete quantity conversion circuit board is provided with a third plug-in part, and the discrete quantity conversion circuit board is plugged into the third connector through the third plug-in part;

[0032] The interface protection circuit board is provided with a plurality of rows of connecting parts with the same structure from top to bottom, and the interface protection circuit board is connected with the external side plate through the plurality of rows of connecting parts; a socket interface matched with the signal socket is arranged between the uppermost row of connecting parts and the lowermost row of connecting parts, one end of the signal socket is connected with the socket interface, and the other end of the signal socket is used for connecting with external devices; the lower end of the interface protection circuit board is provided with a fourth plug-in part, and the interface protection circuit board is plugged into the fourth connector through the fourth plug-in part;

[0033] The upper ends of the navigation solution circuit board, the secondary power supply circuit board, the discrete quantity conversion circuit board and the interface protection circuit board are connected with the upper cover plate respectively.

[0034] In an example embodiment of the present application, a pair of L-shaped sliding grooves are arranged on the opposite inner sides of the box, the L-shaped sliding grooves comprise a vertical groove and a horizontal groove connected with each other, the interface protection circuit board is inserted into the bottom of the box through the opposite vertical grooves, and then is slid along the flight direction through the opposite horizontal grooves until the socket interface is connected with the signal socket.

[0035] In an example embodiment of the present application, the satellite receiving assembly comprises:

[0036] A receiver support is arranged on the lower end surface of the upper cover plate, the receiver support comprises a support plate and a plurality of support columns, the support plate is rectangular, and a connecting hole is arranged at each of the four end corners of the support plate, each of the support columns passes through the corresponding connecting hole and is connected with the boss.

[0037] A satellite receiver is fixedly arranged on the support plate.

[0038] In an example embodiment of the present application, the magnetic heading sensor is fixedly installed on the tail of the airplane through a plurality of anti-magnetic screws.

[0039] Advantages:

[0040] The present application provides a heading and attitude reference device, which has at least the following advantages:

[0041] (1) The present application arranges an external storage component and a heading and attitude computer on the bracket plate, and connects the external storage component with the magnetic heading sensor on the tail of the airplane, so that the heading and attitude reference device has a storage function, can store the information of the heading and attitude computer and the magnetic heading sensor, and facilitates subsequent calculation and installation error;

[0042] (2) The present application simultaneously arranges an inertial instrument assembly, an electronic assembly and a satellite receiving assembly in the heading and attitude computer, optimizes the structural layout of the heading and attitude reference device, makes it have the characteristics of small size, light weight and full function, has all-weather positioning capability, and realizes accurate output of heading information and attitude information;

[0043] (3) The inertial instrument assembly designed in the present application integrally designs the fiber-optic gyroscope and the accelerometer, so that it has the characteristics of small size and high precision;

[0044] (4) The present application arranges a satellite receiving assembly on the upper cover plate, so that the heading and attitude reference device can obtain real-time satellite navigation information from the outside. BRIEF DESCRIPTION OF DRAWINGS

[0045] The accompanying drawings, which are incorporated herein and form a part of the specification, illustrate embodiments consistent with the present application and, together with the description, further serve to explain the principles of the application. It is to be understood that the drawings are designed solely for purposes of illustration to be used in conjunction with the description in

[0046] Figure 1 Fig. 1 shows a schematic diagram of a heading attitude reference device according to an exemplary embodiment of the present application;

[0047] Figure 2 Fig. 2 shows a schematic diagram of a mounting bracket according to an exemplary embodiment of the present application;

[0048] Figure 3 Fig. 3 shows a schematic diagram of a heading attitude computer according to an exemplary embodiment of the present application;

[0049] Figure 4 Fig. 4 shows a schematic diagram of a case according to an exemplary embodiment of the present application;

[0050] Figure 5 Fig. 5 shows a schematic diagram of an inertial instrument package according to an exemplary embodiment of the present application;

[0051] Figure 6 Fig. 6 shows a schematic diagram of an electronics package according to an exemplary embodiment of the present application;

[0052] Figure 7 Fig. 7 shows a schematic diagram of a satellite receiving package and an upper cover plate according to an exemplary embodiment of the present application;

[0053] Figure 8 Fig. 8 shows a schematic diagram of a magnetic heading sensor according to an exemplary embodiment of the present application.

[0054] In the figure, 100, heading attitude reference device; 110, mounting bracket; 111, bracket plate; 1111, fixing piece; 111a, first mounting hole; 111b, second mounting hole; 112, locking assembly; 1121, swing bolt; 120, heading attitude computer; 121, case; 1211, box body; 1211a, heat dissipation side plate; 1211b, heat dissipation hole; 1211c, positioning hole; 1211d, external side plate; 1211e, fastener; 1211f, signal socket; 1211g, first partition; 1211h, second partition; 1211i, L-shaped sliding groove; 1212, upper cover plate; 1212a, boss; 1213, lower baffle; 1213a, first lower baffle; 1213b, second lower baffle; 122, inertial instrument assembly; 1221, instrument support; 1222, accelerometer; 1223, fiber-optic gyroscope; 123, electronic assembly; 1231, mother board circuit board; 1231a, first connector; 1231b, second connector; 1231c, third connector; 1231d, fourth connector; 1232, navigation solution circuit board; 1232a, interface circuit device; 1232b, first plug-in part; 1233, secondary power supply circuit board; 1233a, second plug-in part; 1234, discrete quantity conversion circuit board; 1235, interface protection circuit board; 1235a, connecting part; 1235b, socket interface; 1235c, fourth plug-in part; 124, satellite receiving assembly; 1241, receiver support; 1241a, support plate; 1241b, support column; 1242, satellite receiver; 125, external storage component; 126, magnetic heading sensor; 1261, anti-magnetic screw. DETAILED DESCRIPTION

[0055] Example implementations are now described with reference to the drawings; however, these implementations are merely examples of implementations provided for descriptive purposes only and, thus, are not intended to limit the scope of the application. The descriptions set forth in the specification are described with specific reference to the processes, systems, and apparatuses illustrated in the drawings, which are by way of example only. The descriptions should not be construed as preferred embodiments alone. This description should be read to include all novel features and aspects of the present application which fall within the scope of the claims and equivalents thereof.

[0056] Furthermore, the accompanying drawings are not necessarily drawn to scale. Like reference numerals in different drawings denote like parts, and thus references will not be repeated for these parts. Some of the block diagrams in the drawings are functional entities that do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software, or in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0057] This exemplary embodiment provides a heading attitude reference device 100, such as Figure 1 Shown, including:

[0058] A mounting bracket 110 is provided in the airborne equipment compartment and includes a bracket plate 111 and a locking assembly 112 connected to one end of the bracket plate 111;

[0059] A heading attitude computer 120 is mounted on the bracket plate 111 and includes a chassis 121 , and an inertial instrument assembly 122 , an electronic assembly 123 , and a satellite receiving assembly 124 disposed within the chassis 121 ;

[0060] External storage component 125, the external storage component 125 is mounted on the bracket plate 111;

[0061] A magnetic heading sensor 126 is installed at the tail of the aircraft;

[0062] The external storage component 125 is connected to the heading attitude computer 120 and the magnetic heading sensor 126 respectively by wire or wirelessly; the heading attitude computer 120 and the magnetic heading sensor 126 are connected by wire.

[0063] The embodiment of the present application proposes a heading attitude reference device 100, which has at least the following

[0064] Beneficial effects:

[0065] (1) The present application provides an external storage component 125 and a heading attitude computer 120 on the bracket plate 111, and connects the external storage component 125 to the magnetic heading sensor 126 at the tail of the aircraft, thereby enabling the heading attitude reference device 100 to have a storage function, and to store information of the heading attitude computer 120 and the magnetic heading sensor 126, thereby facilitating subsequent calculation of installation errors;

[0066] (2) This application optimizes the structural layout of the heading attitude reference device 100 by simultaneously arranging the inertial instrument component 122, the electronic component 123, and the satellite receiving component 124 in the heading attitude computer 120, making it small in size, light in weight, and fully functional, and having all-weather positioning capabilities, thereby achieving accurate output of heading information and attitude information;

[0067] (3) The inertial instrument assembly 122 designed in this application integrates the fiber optic gyroscope 1223 and the accelerometer 1222 into an integrated design, so that it has the characteristics of both miniaturization and high precision;

[0068] (4) The application can obtain satellite navigation information in real time by setting the satellite receiving component 124 on the upper cover plate 1212.

[0069] The heading attitude reference device 100 proposed in the present example embodiment will be described in more detail below.

[0070] In the present embodiment, the mounting bracket 110 is mounted in the on-board equipment compartment of an aircraft, and the mounting bracket 110 can be fastened in the on-board equipment compartment by screw connection.

[0071] In one embodiment, as shown in Figure 2 A pair of fixing members 1111, preferably cylindrical pins, are matched on the two side edges of the bracket plate 111 between the heading attitude computer 120 and the external storage component 125. A pair of positioning holes 1211c, preferably pin holes, are provided on the bottom end of the heat dissipation side plate 1211a of the case 121 to match the fixing members 1111. The case 121 can be fixed on the bracket plate 111 by corresponding connection of the fixing members 1111 and the positioning holes 1211c.

[0072] Further, by Figure 2 It can also be seen that a pair of slide rails are provided on the two sides of the bracket plate 111, which facilitates sliding of the heading attitude computer 120 into the designated installation position during installation, making the installation more convenient.

[0073] In one embodiment, the locking assembly 112 is specifically designed. As shown in Figure 2 The locking assembly 112 is connected to one side end of the bracket plate 111, and in the present embodiment, the locking assembly 112 is preferably a pair of swing bolts 1121 with the same structure. A pair of fastening members 1211e, preferably snap hooks, are provided on the external side plate 1211d of the case 121 to match the swing bolts 1121. Figure 2 It can be seen that the two swing bolts 1121 are respectively fixed on the external side plate 1211d by corresponding snap hooks, and a cylindrical pin is provided between the two swing bolts 1121, and a matching pin hole is provided on the corresponding bracket plate 111, which is provided to cooperate with the snap hooks and play a positioning role. In this way, the heading attitude computer 120 fixed on the bracket plate 111 is further fastened.

[0074] In one embodiment, as shown in Figure 3 The heading attitude computer 120 includes the case 121, and the inertial instrument assembly 122, the electronic assembly 123, and the satellite receiving component 124 provided in the case 121. Figure 3 The satellite receiving component 124 is not installed

[0075] In one embodiment, as shown in Figure 4 The structure of the case 121 is specifically limited. The case 121 includes a box body 1211, an upper cover plate 1212, and a lower baffle 1213.

[0076] Further, a plurality of heat dissipation holes 1211b are arranged on the heat dissipation side plate 1211a of the box body 1211, and a signal socket 1211f is arranged on the external connection side plate 1211d of the box body 1211. A fastener 1211e is arranged on the external connection side plate 1211d and is located below the signal socket 1211f.

[0077] Further, the inertial instrument assembly 122 is arranged in the first partition 1211g of the box body 1211 on the side close to the heat dissipation side plate 1211a. The electronic assembly 123 is arranged in the second partition 1211h of the box body 1211 on the side close to the external connection side plate 1211d.

[0078] Further, the upper cover plate 1212 is arranged on the upper end of the box body 1211, and the satellite receiving assembly 124 is arranged on the inner end surface of the upper cover plate 1212 above the first partition 1211g.

[0079] Further, the lower baffle 1213 includes a first lower baffle 1213a and a second lower baffle 1213b, which are respectively connected with the lower end of the box body 1211.

[0080] Further, a pair of L-shaped sliding grooves 1211i are arranged on the opposite inner side surfaces of the box body 1211. The L-shaped sliding grooves 1211i include a vertical groove and a horizontal groove connected with each other. During installation, the interface protection circuit board 1235 is first inserted into the bottom of the box body 1211 through the opposite vertical grooves, and then is slid along the flight direction through the opposite horizontal grooves until the socket interface 1235b is connected with the signal socket 1211f.

[0081] In one embodiment, as shown in Figure 5 The inertial instrument assembly 122 is specifically described. In this embodiment, the inertial instrument assembly 122 is the core component of the heading attitude computer 120, which is used for sensing and measuring the angular velocity and acceleration in three axial directions, including:

[0082] The instrument support 1221 is a rectangular structure, and a calculation circuit is arranged in the instrument support 1221;

[0083] The three accelerometers 1222 are arranged on the upper end surface of the instrument support 1221;

[0084] 3 optical fiber gyros 1223, one optical fiber gyro 1223 is arranged on the bottom surface and two opposite side surfaces of the instrument support 1221.

[0085] Further, all the accelerometers 1222 and all the optical fiber gyros 1223 are connected with the calculation circuit.

[0086] Further, as shown in Figure 2 and Figure 5 , a first mounting hole 111a is arranged on the bracket plate 111 at the position where the inertial instrument assembly 122 is installed. During installation, the inertial instrument assembly 122 is installed into the first partition 1211g from the first mounting hole 111a, and after installation, the first lower baffle 1213a is installed at the first mounting hole 111a, and the first lower baffle 1213a is matched with the shape and size of the first mounting hole 111a.

[0087] Further, in the embodiment, the optical fiber gyro 1223 and the accelerometer 1222 are designed as a whole, which has the characteristics of small size and high precision. The inertial instrument assembly 122 adopts a frame type mechanism design, and all the optical devices, circuit boards, fiber rings and product mounting flanges are installed on the instrument support 1221. The instrument support 1221 is used as a bearing part and is processed from a whole piece of light metal, preferably aluminum, and a mounting pillar is processed at the lower end of the instrument support 1221 through high-precision machining. The inertial instrument assembly 122 is connected with the box 1211 through the mounting pillar, so as to ensure the installation precision of the inertial instrument assembly 122 and reduce the influence of the inertial instrument assembly 122 caused by the external vibration environment.

[0088] In one embodiment, as shown in Figure 6 , in the embodiment, the electronic assembly 123 includes a mother board circuit board 1231, and a navigation calculation circuit board 1232, a secondary power supply circuit board 1233, a discrete quantity conversion circuit board 1234 and an interface protection circuit board 1235 which are vertically arranged in sequence along the flight direction on the mother board circuit board 1231. The upper ends of the navigation calculation circuit board 1232, the secondary power supply circuit board 1233, the discrete quantity conversion circuit board 1234 and the interface protection circuit board 1235 are connected with the upper cover plate 1212 respectively.

[0089] Further, as shown in Figure 2 and Figure 6As shown, the position of the bracket plate 111 on which the electronic assembly 123 is mounted is provided with a second mounting hole 111b, and when mounted, the motherboard circuit board 1231 is loaded from the second mounting hole 111b and transversely arranged in the second partition 1211h, and after loading, the second lower baffle 1213b is mounted at the second mounting hole 111b, and the second lower baffle 1213b matches the shape and size of the second mounting hole 111b. The motherboard circuit board 1231 is provided with a first connector 1231a, a second connector 1231b, a third connector 1231c and a fourth connector 1231d.

[0090] Further, the navigation solution circuit board 1232 is provided with an interface circuit device 1232a, and the lower end of the navigation solution circuit board 1232 is provided with a first plug-in device 1232b, and the navigation solution circuit board 1232 is plugged into the first connector 1231a through the first plug-in device 1232b.

[0091] Further, the lower end of the secondary power supply circuit board 1233 is provided with a second plug-in device 1233a, and the secondary power supply circuit board 1233 is plugged into the second connector 1231b through the second plug-in device 1233a.

[0092] Further, the lower end of the discrete quantity conversion circuit board 1234 is provided with a third plug-in device, and the discrete quantity conversion circuit board 1234 is plugged into the third connector 1231c through the third plug-in device.

[0093] Further, the interface protection circuit board 1235 is sequentially provided with a plurality of rows of connecting devices 1235a of the same structure from top to bottom, and the interface protection circuit board 1235 is connected with the external side plate 1211d through the plurality of rows of connecting devices 1235a, and the uppermost row of connecting devices 1235a and the lowermost row of connecting devices 1235a are provided with a socket interface 1235b matched with the signal socket 1211f, one end of the signal socket 1211f is connected with the socket interface 1235b, and the other end of the signal socket 1211f is used for connecting with external devices. The lower end of the interface protection circuit board 1235 is provided with a fourth plug-in device 1235c, and the interface protection circuit board 1235 is plugged into the fourth connector 1231d through the fourth plug-in device 1235c.

[0094] In one embodiment, as shown in Figure 7 The satellite receiving assembly 124 includes a receiver support 1241 and a satellite receiver 1242 arranged on the receiver support 1241.

[0095] Furthermore, a plurality of bosses 1212a are provided on the lower end surface of the upper cover plate 1212, and the receiver bracket 1241 includes a support plate 1241a and a plurality of support columns 1241b. The support plate 1241a is rectangular, and connection holes are respectively provided at the four end corners of the support plate 1241a. Each support column 1241b passes through the corresponding connection hole and is connected to the boss 1212a.

[0096] Furthermore, the satellite receiver 1242 is fixedly mounted on the support plate 1241 a.

[0097] In one embodiment, Figure 8 As shown, the magnetic heading sensor 126 is fixedly mounted on the tail of the aircraft by a plurality of anti-magnetic screws 1261. Thus, the heading information can be transmitted to the outside through the magnetic heading sensor 126.

[0098] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of this application, the meaning of "plurality" is two or more, unless otherwise clearly specified.

[0099] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification.

[0100] The above is only a specific implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with this technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the scope of protection of the present application.

[0101] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of this application and include common knowledge or customary techniques in the art that are not disclosed herein.

Claims

1. A heading attitude reference device, characterized in that: include: A mounting bracket, the mounting bracket being disposed in the airborne equipment compartment, the mounting bracket comprising a bracket plate and a locking assembly connected to one end of the bracket plate; A heading attitude computer, the heading attitude computer being mounted on the bracket plate, the heading attitude computer comprising a chassis, and an inertial instrument assembly, an electronic assembly, and a satellite receiving assembly disposed within the chassis; an external storage component mounted on the carriage plate; A magnetic heading sensor, wherein the magnetic heading sensor is installed at the tail of the aircraft; Wherein, the heading attitude computer is connected to the magnetic heading sensor and the external storage component respectively through coaxial cables.

2. The heading attitude reference device according to claim 1, characterized in that: A pair of fixings are provided on the bracket plate between the heading attitude computer and the external storage component, and a pair of positioning holes matching the fixings are provided at the bottom end of the heat dissipation side plate of the chassis. The chassis is fixed to the bracket plate through the corresponding connection between the fixings and the positioning holes.

3. The heading attitude reference device according to claim 2, characterized in that: The fixing member is a cylindrical pin, and the positioning hole is a pin hole. The chassis is fixed to the bracket plate through the corresponding connection between the cylindrical pin and the pin hole.

4. The heading attitude reference device according to claim 2, characterized in that: The locking assembly includes a pair of swing bolts with the same structure. A pair of fasteners matching the swing bolts are provided on the external side panels of the chassis. The chassis is fastened to the bracket plate through the corresponding connection between the swing bolts and the fasteners.

5. The heading attitude reference device according to claim 4, characterized in that: The chassis includes: A box body, wherein the heat dissipation side panel of the box body is provided with a plurality of heat dissipation holes, the external side panel of the box body is provided with a signal socket, the fastener is matched and provided on the external side panel, and the signal socket is located above the fastener; The inertial instrument assembly is arranged in a first partition of the box body close to the heat dissipation side plate, and the electronic assembly is arranged in a second partition of the box body close to the external side plate; an upper cover plate, the upper cover plate being arranged on the upper end of the box body, and the satellite receiving assembly being arranged on the upper cover plate above the first partition; The lower baffle includes a first lower baffle and a second lower baffle; the first lower baffle and the second lower baffle are respectively connected to the lower end of the box body.

6. The heading attitude reference device according to claim 5, characterized in that: The inertial instrument assembly comprises: The instrument bracket is a rectangular structure and is equipped with a solution circuit; a plurality of accelerometers, all of which are disposed on the upper end surface of the instrument bracket; a plurality of fiber optic gyroscopes, each of which is provided on the bottom surface and any two opposite side surfaces of the instrument bracket; Wherein, all of the accelerometers and all of the fiber optic gyroscopes are connected to the solution circuit; A first mounting hole is provided on the bracket plate at a position where the inertial instrument assembly is mounted, for mounting the inertial instrument assembly into the first partition through the first mounting hole, and the first mounting hole matches the first lower baffle.

7. The heading attitude reference device according to claim 6, characterized in that: The electronic assembly includes: a motherboard circuit board arranged horizontally on the bracket board, and a navigation solution circuit board, a secondary power supply circuit board, a discrete quantity conversion circuit board and an interface protection circuit board arranged vertically on the motherboard circuit board in sequence along the flight direction; A second mounting hole is provided on the bracket plate at a location where the electronic component is mounted, for mounting the motherboard circuit board into the second partition through the second mounting hole, and the second mounting hole matches the second lower baffle; a first connector, a second connector, a third connector, and a fourth connector are provided on the motherboard circuit board; An interface circuit device is provided on the navigation and resolution circuit board, and a first connector is provided at the lower end of the navigation and resolution circuit board, and the navigation and resolution circuit board is plugged into the first connector through the first connector; A second plug-in connector is provided at the lower end of the secondary power supply circuit board, and the secondary power supply circuit board is plugged into the second connector through the second plug-in connector; A third connector is provided at the lower end of the discrete quantity conversion circuit board, and the discrete quantity conversion circuit board is plugged into the third connector through the third connector; An interface protection circuit board, wherein the interface protection circuit board is provided with multiple rows of connectors of the same structure from top to bottom, the interface protection circuit board is connected to the external side panel through the multiple rows of connectors, a socket interface matching the signal socket is provided between the top row of connectors and the bottom row of connectors, one end of the signal socket is connected to the socket interface, and the other end of the signal socket is used to connect to an external device; a fourth plug-in component is provided at the lower end of the interface protection circuit board, and the interface protection circuit board is plugged into the fourth connector through the fourth plug-in component; The upper ends of the navigation solution circuit board, the secondary power supply circuit board, the discrete quantity conversion circuit board and the interface protection circuit board are respectively connected to the upper cover plate.

8. The heading attitude reference device according to claim 7, characterized in that: A pair of L-shaped slide grooves are provided on the relative inner sides of the box body, and the L-shaped slide grooves include connected vertical grooves and horizontal grooves. The interface protection circuit board is inserted into the bottom of the box body through the relative vertical grooves, and then slides along the flight direction through the two relative horizontal grooves until the socket interface is docked with the signal socket.

9. The heading attitude reference device according to claim 5, characterized in that: The satellite receiving assembly comprises: A receiver bracket, wherein a plurality of bosses are provided on the lower end surface of the upper cover plate, and the receiver bracket comprises a support plate and a plurality of support columns. The support plate is rectangular, and connection holes are respectively provided at the four end corners of the support plate. Each of the support columns passes through the corresponding connection hole and is connected to the boss; A satellite receiver is fixedly arranged on the supporting plate.

10. The heading attitude reference device according to claim 1, characterized in that: The magnetic heading sensor is fixedly mounted on the tail of the aircraft through a plurality of anti-magnetic screws.

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