Inertial measurement device for hemispherical resonator gyroscope

Abstract

The utility model provides a hemispherical resonator gyroscope inertial measurement device, which is characterized by comprising a substrate 1, a gyroscope cabin body structure 2 and an electronic cabin body structure 3, the gyroscope cabin body structure 2 comprises a gyroscope cabin cover 21, a table body structure 22, a vibration isolator 23, a gyroscope cabin seat 24 and a gyroscope cabin seat electrical interface mounting plate 25; the electronic cabin body structure 3 comprises an electronic cabin cover 31, a circuit support frame 32, an electronic cabin seat 33 and an electronic cabin seat interface mounting plate 34; the table body structure 22 comprises a table body 221, a hemispherical resonator gyroscope 222, an accelerometer mounting plate 223 and an accelerometer 224; and the gyroscope cabin seat 24 comprises a threaded hole 241, a sealing groove 242, a platform body mounting seat 243, a positioning mounting hole 244 and a constant temperature control device 245.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of hemispherical resonator gyroscopes, in particular to a hemispherical resonator gyroscope inertial measurement device. BACKGROUND

[0002] Inertial navigation utilizes inertial elements (gyroscopes, accelerometers) to measure the angular velocity and angular acceleration of the carrier itself, and the position information is obtained by integration calculation. The inertial measurement device is installed in the carrier, and it works without relying on external information, is not disturbed by the outside world, and does not radiate energy to the outside world, which is a self-contained navigation system. The hemispherical resonator gyroscope is a high-precision Coriolis vibration gyroscope, which has the advantages of small size, low noise, low power consumption, high stability, radiation resistance, and non-sensitivity to acceleration, and has broad application prospects in the field of inertial navigation.

[0003] The inertial measurement device needs to meet the requirements of small size, low weight, etc., and also needs to work at a relatively constant temperature to ensure measurement accuracy and stability. The existing hemispherical resonator gyroscope measurement device arranges the gyroscope and accelerometer in the same plane, resulting in a large volume. The accelerometers are distributed relatively far apart, and the center distance between the two mutually orthogonal groups of accelerometers is large, which affects the compensation of the navigation system algorithm. The hemispherical resonator gyroscope measurement device usually uses a three-point suspension method to support the platform, and the forces and moments acting on each suspension point are different, which can easily cause fatigue fracture. In addition, the circuit board and the gyroscope are placed in the same cabin, and the heat generated by the circuit board has a great temperature effect on the gyroscope. SUMMARY

[0004] The present application provides a hemispherical resonator gyroscope inertial measurement device, which can solve the problems of large volume, heavy mass, circuit board heat dissipation, non-orthogonal center of the accelerometer, and uneven load distribution of the platform support point of the existing device.

[0005] A hemispherical resonator gyroscope inertial measurement device, comprising a base plate 1, a gyroscope cabin structure 2, and an electronic cabin structure 3, wherein:

[0006] The gyroscope cabin structure 2 comprises a gyroscope cabin cover 21, a platform structure 22, a vibration isolator 23, a gyroscope cabin seat 24, and a gyroscope cabin seat electrical interface mounting plate 25; the electronic cabin structure 3 comprises an electronic cabin cover 31, a circuit support frame 32, an electronic cabin seat 33, and an electronic cabin seat electrical interface mounting plate 34, wherein: the platform structure 22 comprises a platform 221, a hemispherical resonator gyroscope 222, an accelerometer mounting plate 223, and an accelerometer 224; the gyroscope cabin seat 24 comprises a threaded hole 241, a sealing groove 242, a platform mounting seat 243, a positioning mounting hole 244, and a constant temperature control device 245.

[0007] Specifically, the gyroscope cabin body structure 2 and the electronic cabin body structure 3 are symmetrically distributed on the substrate 1, eight M5 threaded holes are arranged on the substrate 1, and a total of eight triangular through holes are arranged beside the threaded holes for weight reduction; the gyroscope cabin body structure 2 and the electronic cabin body structure 3 are fixedly connected with the M5 threaded holes on the substrate 1 through M5 bolts.

[0008] Specifically, the gyroscope cabin cover 21 is fixed with the gyroscope cabin seat 24 through M5 bolts; the vibration isolator 23 and the table body structure 22 are connected with the table body mounting seat 243 through M3 bolts; and the gyroscope cabin seat electrical interface mounting plate 25 is mounted on the side surface of the gyroscope cabin seat 24 through M3 bolts, so that the two outer surfaces are flush.

[0009] Specifically, the table body 221 is a frame hollow structure as a whole, wherein the bottom surface is a complete surface for mounting the accelerometer mounting plate 223, the top surface and the two side surfaces are connected with the peripheral frame through cross beams for mounting the hemispherical resonator gyro 222, and the other two side surfaces are through holes; four mounting holes are arranged at the four corners of the table body 221 for connection with the gyroscope cabin seat 24; the accelerometer mounting plate 223 is a three-sided adapter plate, the accelerometer 224 is connected with the accelerometer mounting plate 223 through M2 bolts; and the accelerometer mounting plate 223 is fixed with the table body 221 through M3 screws, wherein two M3 screws are normal mounting, and the other two M3 screws are inverted mounting.

[0010] Specifically, the gyroscope cabin seat 24 is provided with a ring-shaped sealing groove 242 on the top surface for placing a rubber ring to achieve sealing and prevent water vapor and dust from entering; four cylindrical table body mounting seats 243 are symmetrically distributed in the gyroscope cabin seat 24, the top surfaces of the table body mounting seats 243 are provided with a circular groove for positioning of the sleeve of the vibration isolator 23; the bottom surface and the side surface of the gyroscope cabin seat 24 are provided with a constant temperature control device 245 to achieve constant temperature control; and the gyroscope cabin seat electrical interface mounting plate 25 is mounted on the side surface of the gyroscope cabin seat 24 through M3 bolts, so that the two outer surfaces are flush.

[0011] Specifically, at least two square holes are arranged on the two side surfaces of the electronic cabin cover 31 for heat dissipation, and the electronic cabin cover 31 is fixed with the electronic cabin seat 33 through M5 bolts; the circuit support frame 32 is connected with the electronic cabin seat 33 through M3 bolts; the two surfaces of the circuit support frame 32 are designed with ribs to increase the structural strength; mounting screw holes are arranged on the ribs respectively, and the circuit support frame 32 is connected with the circuit board and the signal receiver through M3 bolts; and the electronic cabin seat electrical interface mounting plate 34 is mounted on the side surface of the electronic cabin seat 33 through M3 bolts, so that the two outer surfaces are flush.

[0012] This application designs a gyroscope cabin structure, with the gyroscope and accelerator signals led out via a side adapter plate on the base, resulting in a more aesthetically pleasing appearance. A platform structure is designed, with mounting pins at the four corners to evenly distribute the load across all mounting positions. The platform size is minimized based on the dimensions of the hemispherical resonator gyroscope, achieving a small size and light weight. An electronics cabin structure is designed, with a support plate fixed to the base, vertically placing the circuit board and signal receiver, increasing volume utilization. Several small holes are made in the electronics cabin cover to increase heat convection and facilitate circuit heat dissipation. The device proposed in this application can be used for inertial measurement of hemispherical resonator gyroscopes. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of a hemispherical resonant gyroscope inertial measurement device.

[0014] Figure 2 This is a schematic diagram of the substrate structure.

[0015] Figure 3 This is a schematic diagram of the gyroscope housing structure.

[0016] Figure 4 This is a schematic diagram of the platform structure.

[0017] Figure 5 This is a schematic diagram of the gyroscope cabin.

[0018] Figure 6 This is a schematic diagram of the electronic cabin structure.

[0019] Among them, 1 is the base plate, 2 is the gyroscope cabin structure, and 3 is the electronic cabin structure. 21 is the gyroscope cabin cover, 22 is the platform structure, 23 is the vibration isolator, 24 is the gyroscope cabin base, and 25 is the gyroscope cabin base electrical interface mounting plate. 221 is the platform, 222 is the hemispherical resonant gyroscope, 223 is the accelerometer mounting plate, and 224 is the accelerometer. 241 is the threaded hole, 242 is the sealing groove, 243 is the platform mounting base, 244 is the positioning mounting hole, and 245 is the constant temperature control device. 31 is the electronic cabin cover, 32 is the circuit support frame, 33 is the electronic cabin base, and 34 is the electronic cabin base electrical interface mounting plate. Detailed Implementation

[0020] The present application will now be described in further detail with reference to the accompanying drawings and embodiments.

[0021] Example 1

[0022] like Figure 1 As shown, this application provides a hemispherical resonant gyroscope inertial measurement device, comprising a substrate 1, a gyroscope housing structure 2, and an electronic housing structure 3, wherein:

[0023] The gyro cabin body structure 2 comprises a gyro cabin cover 21, a table body structure 22, a vibration isolator 23, a gyro cabin seat 24, and a gyro cabin seat electrical interface mounting plate 25; the electronic cabin body structure 3 comprises an electronic cabin cover 31, a circuit support frame 32, an electronic cabin seat 33, and an electronic cabin seat electrical interface mounting plate 34, wherein: the table body structure 22 comprises a table body 221, a hemispherical resonator gyro 222, an accelerometer mounting plate 223, and an accelerometer 224; the gyro cabin seat 24 comprises threaded holes 241, a sealing groove 242, a table body mounting seat 243, a positioning mounting hole 244, and a constant temperature control device 245.

[0024] Specifically, as shown in Figure 2 , the gyro cabin body structure 2 and the electronic cabin body structure 3 are symmetrically distributed on the substrate 1, and eight M5 threaded holes are provided on the substrate 1, and a total of eight triangular through holes are provided beside the threaded holes for weight reduction.

[0025] In actual application, the thickness of the substrate 1 is 2-3 mm. The gyro cabin body structure 2 and the electronic cabin body structure 3 are fixedly connected to the M5 threaded holes on the substrate 1 through M5 bolts.

[0026] Specifically, as shown in Figure 3 , the gyro cabin cover 21 and the gyro cabin seat 24 are fixed by M5 bolts. The vibration isolator 23 and the table body structure 22 are connected to the table body mounting seat 243 through M3 bolts. The gyro cabin seat electrical interface mounting plate 25 is mounted on the side surface of the gyro cabin seat 24 through M3 bolts, and the two outer surfaces are flush.

[0027] In actual application, J30J connectors are installed on the gyro cabin seat electrical interface mounting plate 25.

[0028] Specifically, as shown in Figure 4 , the table body 221 is a frame hollow structure as a whole, wherein the bottom surface is a complete surface for mounting the accelerometer mounting plate 223, the top surface and the two side surfaces are connected to the peripheral frame through cross beams for mounting the hemispherical resonator gyro 222, and the other two side surfaces are through holes. Four mounting holes are provided at the four corners of the table body 221 for connection with the gyro cabin seat 24. The accelerometer mounting plate 223 is a three-sided adapter plate, and the accelerometer 224 is connected to the accelerometer mounting plate 223 through M2 bolts. The accelerometer mounting plate 223 is fixed to the table body 221 through M3 screws, two of which are installed in the normal direction and the other two are installed in the reverse direction.

[0029] In actual application, the thickness of each cross beam of the table body 221 is 4-5 mm. The flatness and perpendicularity of the three mounting surfaces of the table body 221 and the accelerometer mounting plate 223 are better than 0.1 mm.

[0030] Specifically, as shown in Figure 5As shown, the top surface of the gyro cabin seat 24 is provided with a circle of sealing groove 242 for placing rubber ring to realize sealing and prevent water vapor and dust from entering. Four cylindrical table body mounting seats 243 are symmetrically distributed in the gyro cabin seat 24, the top surface of which is provided with a circular groove for positioning the sleeve in the vibration isolator 23. The bottom surface and the side surface of the gyro cabin seat 24 are provided with constant temperature control device 245 to realize constant temperature control. The gyro cabin seat electrical interface mounting plate 25 is installed on the side surface of the gyro cabin seat 24 by M3 bolts, keeping the two outer surfaces flush.

[0031] In practical application, the height of the table body mounting seat 243 is 6-8 mm. The width and thickness of the sealing ring are 2-3 mm.

[0032] Specifically, as shown in the figure, Figure 6 The electronic cabin cover 31 is fixed on the electronic cabin seat 33 through M5 bolts. The circuit support frame 32 is connected with the electronic cabin seat 33 through M3 bolts. The two surfaces of the circuit support frame 32 are designed with ribs to increase the structural strength. The ribs are respectively designed with mounting screw holes, which are connected with the circuit board and the signal receiver through M3 bolts. The electronic cabin seat electrical interface mounting plate 34 is installed on the side surface of the electronic cabin seat 33 by M3 bolts, keeping the two outer surfaces flush.

[0033] In practical application, J30J and SMA connectors are installed on the gyro cabin seat electrical interface mounting plate 25.

[0034] Embodiment two

[0035] The embodiment of the application provides a mounting method of a hemispherical resonator gyro inertial measurement device, which comprises the following steps:

[0036] Step 1: mounting the accelerometer 224 on the accelerometer mounting plate 223, and mounting the accelerometer mounting plate 223 on the table body 221, wherein one side is normal mounting and the other side is inverted mounting;

[0037] Step 2: mounting the hemispherical resonator gyro 222 on the table body 221;

[0038] Step 3: mounting the table body 221 and the vibration isolator 23 on the table body mounting seat 243;

[0039] Step 4: mounting the J30J connector on the gyro cabin seat electrical interface mounting plate 25, and mounting the gyro cabin seat electrical interface mounting plate 25 on the gyro cabin seat 24;

[0040] Step 5: connecting the hemispherical resonator gyro 222, the accelerometer 224 and the J30J connector;

[0041] Step 6: mounting the sealing ring, and connecting the gyro cabin cover 21 and the gyro cabin seat 24;

[0042] Step 7: Install the circuit board on the circuit support frame 32, and then install the circuit support frame 32 on the electronic cabin seat 34;

[0043] Step 8: Install the J30J, SMA connector on the electronic cabin seat electrical interface mounting plate 34, and then install the electronic cabin seat electrical interface mounting plate 34 on the electronic cabin seat 33;

[0044] Step 9: Connect the circuit board and signal receiver with the J30J, SMA connector respectively;

[0045] Step 10: Connect the electronic cabin cover 31 with the electronic cabin seat 33;

[0046] Step 11: Install the gyro cabin body structure 2 and the electronic cabin body structure 3 on the base plate 1;

[0047] Step 12: Connect the J30J interface of the two cabin bodies.

[0048] In summary, the application provides a kind of hemispherical resonator gyro inertial measurement device, which mainly adopts split design, separates the platform cabin and electronic cabin, reduces the influence of circuit board working heat in electronic cabin on gyro. Four symmetrical platform mounting seats are designed to make the load of each support arm and vibration isolator evenly distributed. A constant temperature control device is designed on the base to achieve constant temperature control during gyro operation. A through hole is opened on the side of the base, which is connected with the adapter plate to realize quick electrical interface insertion. The platform structure is designed ingeniously, and the gyro and accelerometer are all installed in the platform, which reduces the volume and weight. At the same time, a plurality of small holes are opened on the two sides of the electronic cabin cover, which play a role in heat dissipation.

Claims

1. A hemispherical resonator gyro inertial measurement device, characterized by, It includes a base plate (1), a gyro cabin structure (2), an electronic cabin structure (3), wherein: The gyro cabin structure (2) includes a gyro cabin cover (21), a table body structure (22), a vibration isolator (23), a gyro cabin seat (24), and a gyro cabin seat electrical interface mounting plate (25); the electronic cabin structure (3) includes an electronic cabin cover (31), a circuit support frame (32), an electronic cabin seat (33), an electronic cabin seat electrical interface mounting plate (34), wherein: the table body structure (22) includes a table body (221), a hemispherical resonator gyro (222), an accelerometer mounting plate (223), and an accelerometer (224); the gyro cabin seat (24) includes threaded holes (241), sealing grooves (242), table body mounting seats (243), positioning mounting holes (244), and a constant temperature control device (245).

2. The hemispherical resonator gyro inertial measurement device of claim 1, wherein, The base plate (1) is symmetrically provided with the gyro cabin structure (2) and the electronic cabin structure (3), eight M5 threaded holes are arranged on the base plate (1), and a total of eight triangular through holes are arranged beside the threaded holes for weight reduction; the gyro cabin structure (2) and the electronic cabin structure (3) are fixedly connected to the base plate (1) through M5 bolts and M5 threaded holes.

3. The hemispherical resonator gyroscope inertial measurement device of claim 2, wherein, The gyro cabin cover (21) and the gyro cabin seat (24) are fixed through M5 bolts; the vibration isolator (23) and the table body structure (22) are connected to the table body mounting seat (243) through M3 bolts; and the gyro cabin seat electrical interface mounting plate (25) is mounted on the side surface of the gyro cabin seat (24) through M3 bolts, so that the two outer surfaces are flush.

4. The hemispherical resonator gyroscope inertial measurement device of claim 2, wherein, The table body (221) is a frame hollow structure as a whole, the bottom surface is a complete surface for mounting the accelerometer mounting plate (223), the top surface and two side surfaces are connected to the peripheral frame through cross beams for mounting the hemispherical resonator gyro (222), and the other two side surfaces are through holes; four mounting holes are arranged at the four corners of the table body (221) for connection with the gyro cabin seat (24); the accelerometer mounting plate (223) is a three-sided adapter plate, the accelerometer (224) is connected to the accelerometer mounting plate (223) through M2 bolts; and the accelerometer mounting plate (223) is fixed to the table body (221) through M3 screws, wherein two M3 screws are normal mounting, and the other two M3 screws are inverted mounting.

5. The hemispherical resonator gyroscope inertial measurement device of claim 2, wherein, The gyro cabin seat (24) is provided with a ring of sealing grooves (242) on the top surface for placing a rubber ring to realize sealing and prevent water vapor and dust from entering; four cylindrical table body mounting seats (243) are symmetrically distributed in the gyro cabin seat (24), the top surface of each table body mounting seat is provided with a circular groove for positioning of a sleeve in the vibration isolator (23); the bottom surface and the side surface of the gyro cabin seat (24) are provided with the constant temperature control device (245) to realize constant temperature control; and the gyro cabin seat electrical interface mounting plate (25) is mounted on the side surface of the gyro cabin seat (24) through M3 bolts, so that the two outer surfaces are flush.

6. The hemispherical resonator gyroscope inertial measurement device of claim 2, wherein, The electronic cabin cover (31) is provided with at least two square holes on both sides for heat dissipation and is fixed to the electronic cabin seat (33) by M5 bolts; the circuit support frame (32) is connected to the electronic cabin seat (33) by M3 bolts; the two surfaces of the circuit support frame (32) are designed with ribs to increase the structural strength; the mounting screw holes are respectively designed on the ribs and are connected to the circuit board and the signal receiver by M3 bolts; and the electronic cabin seat electrical interface mounting plate (34) is mounted on the side surface of the electronic cabin seat (33) by M3 bolts and keeps the two outer surfaces flush.

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