Inertial navigation device

Abstract

The utility model discloses an inertial navigation device, belongs to the technical field of inertial navigation, and solves the problems that the existing inertial navigation system is large in size and cannot realize light weight. The device specifically comprises a base, the base is a rectangular frame, and an upper cover plate and a lower cover plate are installed at the top and the bottom of the rectangular frame respectively; one side surface of the rectangular frame body is internally provided with a satellite guiding receiver plate and a secondary power supply plate, and the satellite guiding receiver plate and the secondary power supply plate are externally provided with a side cover plate; a table body assembly is arranged in the base. According to the utility model, inertial navigation calculation can be carried out by utilizing the platform body assembly, the platform body assembly has an accurate attitude measurement function, information such as pitching, rolling and heading can be output, and integrated navigation can be carried out by utilizing satellite positioning information received by the satellite navigation receiver board; the base is designed to be of a vertically-through frame structure, and the machining manufacturability of the base is improved. In addition, parts inside the base are convenient to assemble, the size can be made smaller, and miniaturization and light weight are achieved.

Description

Technical Field

[0001] This utility model relates to the field of inertial navigation technology, and in particular to an inertial navigation device. Background Technology

[0002] An inertial navigation device is a fully autonomous navigation system that does not rely on any external signals or external reference points. It has strong autonomy, high stealth, and all-weather operation capabilities. It can be used in environments where signals are interfered with (such as underwater, underground, indoor, and environments with strong electromagnetic interference). Therefore, it is widely used in military fields such as aerospace, navigation, land vehicles and robots, and positioning systems.

[0003] As inertial navigation technology continues to develop and mature, while meeting functional and performance requirements, inertial navigation devices are increasingly demanding miniaturization to meet the need for lightweight overall systems. Current inertial navigation devices, due to their numerous internal hardware circuits and sensors, are relatively large, making them unusable in applications with limited space and size constraints. This places higher demands on the modularization and integration of inertial navigation systems, necessitating the optimization and reduction of unnecessary components and connections, and the simplification of system structure to achieve the goal of reducing size.

[0004] Therefore, this invention provides a compact inertial navigation device. Utility Model Content

[0005] In view of the shortcomings of the existing technology, this utility model provides an inertial navigation device that solves the problem that the existing inertial navigation system is too large and cannot be lightweight.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0007] An inertial navigation device includes a base, which is a rectangular frame. An upper cover plate and a lower cover plate are respectively installed on the top and bottom of the rectangular frame. A satellite navigation receiver board and a secondary power supply board are installed inside one side of the rectangular frame, and a side cover plate is installed outside the satellite navigation receiver board and the secondary power supply board. A platform assembly is arranged inside the base.

[0008] In this solution, the platform components can be used for inertial navigation calculations, providing accurate attitude measurement capabilities and outputting information such as pitch, roll, and heading. Simultaneously, it can utilize satellite positioning information received from the satellite navigation receiver board for integrated navigation. The base is designed as a vertically integrated frame structure, which significantly improves the manufacturability of the base and reduces processing costs. In addition, the assembly of internal parts of the base is relatively convenient, allowing for a smaller size and achieving miniaturization and lightweighting.

[0009] Furthermore, the platform assembly includes a platform, with a Z-axis fiber optic gyroscope mounted on the bottom of the platform, and an X-axis fiber optic gyroscope and a Y-axis fiber optic gyroscope mounted on the two sides of the platform, respectively; the X-axis fiber optic gyroscope, the Y-axis fiber optic gyroscope, and the Z-axis fiber optic gyroscope are orthogonal to each other in pairs;

[0010] The platform is equipped with a mounting frame, on which are mounted X-axis, Y-axis, and Z-axis accelerations; the X-axis, Y-axis, and Z-axis accelerations are all orthogonal to each other.

[0011] The top of the platform is equipped with a navigation computer board, and the side of the platform is equipped with an IF module.

[0012] In this scheme, the X-axis, Y-axis, and Z-axis fiber optic gyroscopes are responsible for measuring the angular velocity information of the carrier, while the X-axis, Y-axis, and Z-axis accelerometers are responsible for measuring the acceleration information of the carrier. These measurements are then sent to the navigation computer board, which uses the measured acceleration and angular velocity information for navigation calculation. The three accelerometers are installed perpendicularly to each other, and their sensitive axes intersect at a single point that coincides with the geometric center of the base. This ensures that the origin of the navigation coordinate system coincides with the geometric center of the base, thereby reducing the influence of lever arm effects on the accuracy of inertial navigation and improving the measurement accuracy of inertial navigation.

[0013] Furthermore, four ear plates are provided around the platform, and the four ear plates are respectively installed on four mounting bosses inside the base by screws.

[0014] Furthermore, two RF sockets are installed on the side of the base; one is the main RF socket and the other is the slave RF socket. The main RF socket and the slave RF socket are connected to the satellite receiver board via RF cables.

[0015] In this design, the main RF socket is used to connect the main antenna, and the secondary RF socket is used to connect the secondary antenna; the dual-antenna mode improves the redundancy design of the inertial navigation device and enhances its reliability.

[0016] Furthermore, both the main RF socket and the slave RF socket adopt a bend-angle design, with the angle between the outgoing line direction of the main RF socket and the vertical direction being 90 degrees; the angle between the slave RF socket and the vertical direction is 120 degrees.

[0017] In this design, the RF socket adopts an angled design, with the main RF socket and the secondary RF socket having angled exit directions, which facilitates the RF cable to connect to the MMCX RF socket port of the satellite receiver board via the shortest path.

[0018] Furthermore, communication sockets and power sockets are also installed on the sides of the base.

[0019] The beneficial effects of this utility model are:

[0020] The inertial navigation device provided by this utility model has a compact overall structure, small size, and high space utilization. Appropriate wiring space and reasonable gaps are provided around the platform components relative to the base on all sides and top and bottom to ensure convenient installation and meet the high precision requirements of inertial navigation. The sides of the base are designed with side cover plates for easy installation and debugging of the satellite navigation receiver board and secondary power supply board. By adjusting the installation position of the platform, the origin of the navigation coordinate system coincides with the geometric center of the base, reducing the impact of lever arm effect on the measurement accuracy of the inertial navigation. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of an inertial navigation device according to the present invention;

[0022] Figure 2 This is an exploded view of an inertial navigation device according to the present invention;

[0023] Figure 3 This is a schematic diagram of the structure of the platform component of this utility model;

[0024] Figure 4 This is an exploded view of the platform component of this utility model;

[0025] Figure 5 This is a schematic diagram of the base structure in this utility model.

[0026] Figure label:

[0027] 1. Base; 11. Top cover plate; 12. Bottom cover plate; 13. Side cover plate; 14. RF socket; 15. Communication socket; 16. Power supply socket; 17. Mounting boss; 2. Platform assembly; 21. Platform; 22. Z-axis fiber optic gyroscope; 23. X-axis fiber optic gyroscope; 24. Y-axis fiber optic gyroscope; 25. Mounting bracket; 26. X-axis accelerometer; 27. Y-axis accelerometer; 28. Z-axis accelerometer; 29. ​​Ear plate; 3. Satellite receiver board; 4. Secondary power supply board; 5. IF module; 6. Navigation computer board; Detailed Implementation

[0028] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. The specific embodiments of the present invention are described below to facilitate understanding by those skilled in the art. However, it should be understood that the present invention is not limited to the scope of the specific embodiments. For those skilled in the art, various changes are obvious as long as they fall within the spirit and scope of the present invention as defined and determined by the appended claims. All inventions utilizing the concept of the present invention are protected.

[0029] like Figure 1 and Figure 2 As shown, this embodiment provides an inertial navigation device with a compact internal structure and small overall size, achieving miniaturization and weight reduction; specifically, it includes:

[0030] Base 1, upper cover plate 11, lower cover plate 12, side cover plate 13, platform assembly 2, satellite receiver board 3, and secondary power supply board 4;

[0031] The base 1 is a rectangular frame, with an upper cover plate 11 and a lower cover plate 12 installed on the top and bottom of the rectangular frame, respectively; a satellite receiver board 3 and a secondary power supply board 4 are installed inside one side of the rectangular frame, and a side cover plate 13 is installed outside the satellite receiver board 3 and the secondary power supply board 4; a platform assembly 2 is provided inside the base 1.

[0032] like Figure 3 and Figure 4 As shown. The platform assembly 2 includes a platform 21, an X-axis fiber optic gyroscope 23, a Y-axis fiber optic gyroscope 24, a Z-axis fiber optic gyroscope 22, a mounting bracket 25, an X-axis accelerometer 26, a Y-axis accelerometer 27, a Z-axis accelerometer 28, a navigation computer board 6, and an IF module 5; the Z-axis fiber optic gyroscope 22 is installed at the bottom of the platform 21, and the X-axis fiber optic gyroscope 23 and the Y-axis fiber optic gyroscope 24 are installed on the two sides of the platform 21 respectively; the X-axis fiber optic gyroscope 23, the Y-axis fiber optic gyroscope 24, and the Z-axis fiber optic gyroscope 22 are orthogonal to each other in pairs. The platform 21 houses a mounting bracket 25, on which are mounted X-axis accelerometers 26, Y-axis accelerometers 27, and Z-axis accelerometers 28. These three accelerometers are mutually orthogonal. Their mounting positions are mutually perpendicular, and their sensitive axes intersect at a single point, which coincides with the geometric center of the base 1. This ensures the origin of the navigation coordinate system coincides with the geometric center of the base 1, thereby reducing the influence of lever arm effects on inertial navigation accuracy and improving measurement accuracy. A navigation computer board 6 is also mounted on the top of the platform 21, and an IF module 5 is mounted on the side of the platform 21.

[0033] The platform 21 has four ear plates 29 around its perimeter. These four ear plates 29 are respectively mounted on four mounting bosses 17 inside the base 1 using screws. Figure 5 As shown.

[0034] Two RF sockets 14 are also installed on the side of the base 1; one is the main RF socket and the other is the slave RF socket. The main RF socket and the slave RF socket are connected to the satellite navigation receiver board 3 via RF cables. The main RF socket is used to connect the main antenna and the slave RF socket is used to connect the slave antenna. The dual-antenna mode improves the redundancy design of the inertial navigation device and enhances its reliability.

[0035] Both the main RF socket and the slave RF socket adopt a bend-angle design. The angle of the outgoing line direction of the main RF socket relative to the vertical direction is 90 degrees, and the angle of the slave RF socket relative to the vertical direction is 120 degrees. This facilitates the connection of the RF cable to the MMCX RF socket port of the satellite receiver board 3 with the shortest path.

[0036] Communication socket 15 and power socket 16 are also installed on the side of the base 1; both communication socket 15 and power socket 16 are J599 type aerospace sockets.

[0037] The working principle of this embodiment is as follows:

[0038] The inertial navigation device provided by this utility model has an inertial / satellite integrated navigation mode and a pure inertial navigation mode. In the inertial / satellite integrated navigation mode, it can perform integrated navigation using satellite positioning information received by the satellite navigation receiver board 3, and output information such as the vehicle's pitch, roll, heading, position, velocity, and time. When the signal is lost, it outputs the position, velocity, and attitude calculated by inertia. Among them, pitch and roll are required to remain accurate, and it has a certain heading-keeping function for a short time, with meter-level positioning accuracy. In the inertial / satellite integrated navigation mode, it can output post-processing information for NovAtel's IE post-processing software to process.

[0039] In pure inertial mode, it has precise attitude measurement capabilities and can output information such as pitch, roll, and heading. In pure inertial mode, it can statically find north.

[0040] Those skilled in the art will recognize that the embodiments described herein are intended to help the reader understand the principles of this invention, and should be understood that the scope of protection of this invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific modifications and combinations based on these technical teachings disclosed in this invention without departing from the essence of this invention, and these modifications and combinations are still within the scope of protection of this invention.

Claims

1. An inertial navigation device, characterized in that: Includes a base (1), which is a rectangular frame. The top and bottom of the rectangular frame are respectively equipped with an upper cover plate (11) and a lower cover plate (12). A satellite receiver board (3) and a secondary power supply board (4) are installed inside one side of the rectangular frame. A side cover plate (13) is installed outside the satellite receiver board (3) and the secondary power supply board (4). A platform assembly (2) is provided inside the base (1).

2. The inertial navigation device according to claim 1, characterized in that: The platform assembly (2) includes a platform (21), a Z-axis fiber optic gyroscope (22) is mounted on the bottom of the platform (21), and an X-axis fiber optic gyroscope (23) and a Y-axis fiber optic gyroscope (24) are mounted on the two sides of the platform (21), respectively; the X-axis fiber optic gyroscope (23), the Y-axis fiber optic gyroscope (24) and the Z-axis fiber optic gyroscope (22) are orthogonal to each other; The platform (21) is equipped with a mounting frame (25), on which an X-axis acceleration (26), a Y-axis acceleration (27) and a Z-axis acceleration (28) are mounted; the X-axis acceleration (26), the Y-axis acceleration (27) and the Z-axis acceleration (28) are mutually orthogonal.

3. The inertial navigation device according to claim 2, characterized in that: The platform (21) is provided with four ear plates (29) around its perimeter. The four ear plates (29) are respectively installed on the four mounting bosses (17) inside the base (1) by screws.

4. The inertial navigation device according to claim 1, characterized in that: Two radio frequency (RF) sockets (14) are also installed on the side of the base (1); one of them is a main RF socket and the other is a slave RF socket. The main RF socket and the slave RF socket are respectively connected to the satellite receiver board (3) via RF cables.

5. The inertial navigation device according to claim 4, characterized in that: Both the main RF socket and the slave RF socket are angled. The angle between the outgoing line direction of the main RF socket and the vertical direction is 90 degrees, and the angle between the outgoing line direction of the slave RF socket and the vertical direction is 120 degrees.

6. The inertial navigation device according to claim 1, characterized in that: A communication socket (15) and a power supply socket (16) are also installed on the side of the base (1).

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