Inertial navigation system fixed wing attitude simulation test bench

Abstract

The utility model discloses an inertial navigation system fixed wing attitude simulation test bench, which comprises a three-axis electric turntable, an inertial measurement sensor, a test bench body, a turntable controller, a test controller and a mounting seat, the three-axis electric turntable is mounted on the test bench body, and the inertial measurement sensor is mounted on the test bench body; the test bench body is further provided with a rotary table controller and a test controller which are electrically connected with each other, the rotary table controller is electrically connected with the three-axis electric rotary table, and the inertial measurement sensor is electrically connected with the test controller. According to the utility model, the mounting seat is fastened with a model of the fixed-wing aircraft, the flight attitude of the aircraft can be visually displayed, the turntable controller is controlled through the test controller, and the three-axis electric turntable is further controlled through the turntable controller, so that the degree-of-freedom adjustment in the X, Y and Z directions is realized; therefore, various attitudes of the aircraft during flight can be simulated.

Description

Technical Field

[0001] This utility model relates to a simulation test bench, and more particularly to a fixed-wing attitude simulation test bench for an inertial navigation system. Background Technology

[0002] To determine whether a fixed-wing aircraft can meet various standards after its design and trial production, and whether it functions normally in flight, various tests are typically conducted. Inertial navigation system tests and attitude simulation tests are two common types. Chinese utility model patent application number 202121260672.8 provides a teaching experimental device for inertial navigation principles, which uses a small two-axis electric turntable. Its degrees of freedom cannot simulate the Z-axis direction, and it cannot visually display the attitude of the fixed-wing aircraft model. It also cannot easily adjust the position of the inertial measurement sensor, making it difficult to simulate the position of the inertial measurement sensor relative to the fixed-wing aircraft model and to closely match the actual flight scenario, highlighting the shortcomings of existing technology. Utility Model Content

[0003] The purpose of this invention is to provide a fixed-wing attitude simulation test bench for an inertial navigation system, so as to solve the technical problems of low simulation degrees of freedom, inability to intuitively display flight attitude, and inconvenience in adjusting the position of inertial measurement sensors in the existing technology.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] An inertial navigation system fixed-wing attitude simulation test bench includes a three-axis electric turntable, an inertial measurement sensor, a test bench body, a turntable controller, a test controller, and a mounting base. The three-axis electric turntable is mounted on the test bench body and is equipped with the inertial measurement sensor. The test bench body is also equipped with the turntable controller and the test controller, which are electrically connected to each other. The turntable controller is electrically connected to the three-axis electric turntable, and the inertial measurement sensor is electrically connected to the test controller. The test controller is connected to an external power supply. The three-axis electric turntable includes a mounting base that is securely mounted to the fuselage of a fixed-wing aircraft model.

[0006] Based on the above technical solution, the three-axis electric turntable includes a base, a first support frame, a second support frame, a rotary table, and an electric rotary drive mechanism. The base is fixed to the test bench body and is rotatably connected to the first support frame. The virtual rotation axis of the first support frame is horizontally arranged in the left-right direction. The first support frame is rotatably connected to the second support frame, which is arranged in the front-back direction and is rotatably connected to the rotary table. The virtual rotation axis of the rotary table is arranged in the up-down direction. The base, the first support frame, and the second support frame are each fixed with an electric rotary drive mechanism. Each of the electric rotary drive mechanisms is used to drive the first support frame, the second support frame, and the rotary table to rotate, and is electrically connected to the turntable controller. The mounting base is fixed to the top of the rotary table.

[0007] Based on the above technical solution, the three-axis electric rotary table further includes a mounting plate, main mounting holes, a first slider, a first lead screw, a first servo motor, a first hexagonal socket head cap, a second support base, a second slider, a second lead screw, a second hexagonal socket head cap, and auxiliary mounting holes. A horizontal mounting plate is fixed to the top center of the mounting base. Multiple main mounting holes are passed through the mounting plate. A first slider is slidably connected to the front and rear of each part of the mounting base, and a first lead screw is rotatably connected to each part. A first servo motor is fixed to the front and rear of each part of the mounting base. The shafts of the two first servo motors are coaxially fixed to the two first lead screws. The two first lead screws are threadedly connected to the first slider and are respectively aligned with the sliding direction of the first slider. The two lead screws are parallel to each other. A hexagonal socket head is coaxially fixed to the axial ends of the two lead screws away from the mounting plate. Two support seats are installed on the left and right sides of the mounting base. Two sliders are slidably connected to the two support seats to the left and right, and each is rotatably connected to a lead screw. The two lead screws are threadedly connected to the two sliders and are parallel to the sliding direction of the two sliders. A hexagonal socket head is coaxially fixed to the axial ends of the two lead screws away from the mounting base. Secondary mounting holes are opened at the top of the first and second sliders. Inertial measurement sensors are detachably and securely mounted on the top of the first and second sliders through the secondary mounting holes. The two servo motors are electrically connected to the turntable controller.

[0008] Based on the above technical solution, the three-axis electric turntable further includes a No. 3 lead screw, a No. 3 servo motor, and a No. 3 hexagonal head. The left and right parts of the mounting base are slidably connected to two No. 2 support bases, and each of the left and right parts is rotatably connected to a No. 3 lead screw. The two No. 3 lead screws are threadedly connected to the two No. 2 support bases and are parallel to the sliding direction of the No. 2 support bases. The left and right rear ends of the mounting base are each fixed with a No. 3 servo motor. The rotating shafts of the two No. 3 servo motors are coaxially fixed to the two No. 3 lead screws. The two No. 3 servo motors are electrically connected to the turntable controller. The front ends of the two No. 3 lead screws are coaxially fixed with No. 3 hexagonal heads.

[0009] Based on the above technical solution, the electric rotary drive mechanism includes a housing, an output shaft, a worm gear, a second servo motor, and a worm. The output shaft is rotatably connected to the housing, and the worm gear is coaxially fixed to the output shaft. The second servo motor is fixed to the housing, and the worm gear is coaxially fixed to the shaft of the second servo motor, and the shaft is rotatably connected to the housing. The worm gear meshes with the worm gear. Each of the second servo motors is electrically connected to the turntable controller. Each housing is fixed to the base, the first support frame, and the second support frame. Each output shaft is fixed to the first support frame, the second support frame, and the turntable. Each output shaft is coaxial with the virtual rotation axis of the first support frame, the virtual rotation axis of the second support frame, and the virtual rotation axis of the turntable.

[0010] Compared with the prior art, the present invention has the following advantages: The present invention uses a mounting base to fasten the model of a fixed-wing aircraft, which can intuitively display the flight attitude of the aircraft. The test controller controls the turntable controller, and the turntable controller further controls the three-axis electric turntable to realize the adjustment of the degrees of freedom in the XYZ directions, thereby simulating the various attitudes of the aircraft during flight.

[0011] Rotating the first lead screw allows the first slider to slide slowly back and forth along the mounting base, while rotating the second lead screw allows the second slider to slide slowly left and right. This facilitates adjusting the position of the inertial measurement sensor, making it easier to make the position of the inertial measurement sensor relative to the fixed-wing aircraft model more consistent with the actual flight scenario.

[0012] Manually rotating the No. 3 lead screw allows adjustment of the position of the No. 2 support relative to the mounting base, enabling the No. 2 support to be positioned closer to the wing of the fixed-wing aircraft model, facilitating simulation tests on different models of fixed-wing aircraft. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the axonal structure of this utility model.

[0014] Figure 2 This is a schematic diagram of the axonal structure of the three-axis electric turntable of this utility model.

[0015] Figure 3 This is a schematic diagram showing the fit between the worm and the worm wheel after the housing of this utility model has been cut open.

[0016] In the diagram: 1. Three-axis electric rotary table; 2. Inertial measurement sensor; 3. Test bench body; 6. Base; 7. Support frame 1; 8. Support frame 2; 9. Rotary table; 10. Electric rotary drive mechanism; 11. Mounting plate; 12. Main mounting hole; 13. Slider 1; 14. Lead screw 1; 15. Servo motor 1; 16. Socket head 1; 17. Support base 2; 18. Slider 2; 19. Lead screw 2; 20. Socket head 2; 21. Secondary mounting hole; 22. Lead screw 3; 23. Servo motor 3; 24. Socket head 3; 25. Housing; 26. Output shaft; 27. Worm gear; 28. Servo motor 2; 29. ​​Worm; 30. Mounting base. Detailed Implementation

[0017] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0018] like Figures 1-3 As shown, an inertial navigation system fixed-wing attitude simulation test bench includes a three-axis electric turntable 1, an inertial measurement sensor 2, a test bench body 3, a turntable controller, a test controller, and a mounting base 30. The three-axis electric turntable 1 is mounted on the test bench body 3 and has the inertial measurement sensor 2 installed on it. The test bench body 3 also has the turntable controller and the test controller, which are electrically connected to each other. The turntable controller is electrically connected to the three-axis electric turntable 1, and the inertial measurement sensor 2 is electrically connected to the test controller. The test controller is powered by an external power supply. The three-axis electric turntable 1 includes a mounting base 30 that is securely mounted to the fuselage of a fixed-wing aircraft model. The test controller is a known prior art technology, such as a computer with control software. The inertial measurement sensor 2 is a known prior art technology, such as the miniature inertial measurement unit described in the patent document in the background art, which can be purchased on the market.

[0019] By fastening the mounting base 30 to the model of the fixed-wing aircraft, the flight attitude of the aircraft can be displayed intuitively. The test controller controls the turntable controller, and the turntable controller further controls the three-axis electric turntable 1 to realize the adjustment of the degrees of freedom in the XYZ directions, thereby simulating the various attitudes of the aircraft during flight. Inertial measurement sensor 2 is used to perform inertial measurement.

[0020] The three-axis electric turntable 1 includes a base 6, a first support frame 7, a second support frame 8, a rotary table 9, and an electric rotary drive mechanism 10. The base 6 is fixed to the test bench body 3, and the first support frame 7 is rotatably connected to its upper part. The virtual rotation axis of the first support frame 7 is horizontally arranged in the left-right direction. The second support frame 8 is rotatably connected to the first support frame 7. The virtual rotation axis of the second support frame 8 is arranged in the front-back direction, and the rotary table 9 is rotatably connected to it. The virtual rotation axis of the rotary table 9 is arranged in the up-down direction. The electric rotary drive mechanism 10 is fixed to the base 6, the first support frame 7, and the second support frame 8, respectively. Each of the electric rotary drive mechanisms 10 is used to drive the first support frame 7, the second support frame 8, and the rotary table 9 to rotate, and is electrically connected to the turntable controller. The mounting base 30 is fixed to the top of the rotary table 9.

[0021] By controlling the various electric rotary drive mechanisms 10 to rotate in different ways, the first support frame 7, the second support frame 8, and the rotary table 9 can be rotated, thereby realizing the simulation of the three directions XYZ.

[0022] The three-axis electric rotary table 1 also includes a mounting plate 11, main mounting holes 12, a first slider 13, a first lead screw 14, a first servo motor 15, a first hexagonal head 16, a second support base 17, a second slider 18, a second lead screw 19, a second hexagonal head 20, and a secondary mounting hole 21. A horizontal mounting plate 11 is fixed to the top center of the mounting base 30. Multiple main mounting holes 12 extend vertically through the mounting plate 11. A first slider 13 is slidably connected to the front and rear of the mounting base 30, and a first lead screw 14 is rotatably connected to each of the front and rear parts. A first servo motor 15 is fixed to the front and rear of the mounting base 30. The shafts of the two first servo motors 15 are coaxially fixed to the two first lead screws 14. The two first lead screws 14 are threadedly connected to the first slider 13, and their sliding directions are parallel to those of the first slider 13. Okay, the two lead screws 14 are respectively coaxially fixed with a hexagonal head 16 at their axial ends away from the mounting plate 11. The mounting base 30 is equipped with two support seats 17 on the left and right sides. The two support seats 17 are respectively slidably connected to the two sliders 18 on the left and right sides, and are respectively rotatably connected to the lead screws 19. The two lead screws 19 are respectively threaded through the two sliders 18 and are parallel to the sliding direction of the two sliders 18. The two lead screws 19 are coaxially fixed with a hexagonal head 20 at their axial ends away from the mounting base 30. The top of the first slider 13 and the second slider 18 are respectively opened with a secondary mounting hole 21. The top of the first slider 13 and the second slider 18 are detachably and securely mounted with an inertial measurement sensor 2 through the secondary mounting hole 21. The two servo motors 15 are respectively electrically connected to the turntable controller.

[0023] Furthermore, by controlling the first servo motor 15 to rotate forward and backward, the first slider 13 can be made to slide rapidly back and forth along the mounting base 30 via the first lead screw 14. By connecting the first hex wrench to the first hex head 16 and the second hex head 20 and then manually rotating it, the first slider 13 can be made to slide slowly back and forth along the mounting base 30 by rotating the first lead screw 14, and the second slider 18 can be made to slide slowly left and right by rotating the second lead screw 19. This facilitates the adjustment of the position of the inertial measurement sensor 2, making the position of the inertial measurement sensor 2 relative to the fixed-wing aircraft model more consistent with the actual flight scenario.

[0024] The three-axis electric turntable 1 also includes a No. 3 lead screw 22, a No. 3 servo motor 23, and a No. 3 hexagonal head 24. The left and right parts of the mounting base 30 are respectively slidably connected to two No. 2 support bases 17, and each of the left and right parts is rotatably connected to a No. 3 lead screw 22. The two No. 3 lead screws 22 are respectively threaded through to the two No. 2 support bases 17 and are parallel to the sliding direction of the No. 2 support bases 17. The left and right rear ends of the mounting base 30 are each fixed with a No. 3 servo motor 23. The rotating shafts of the two No. 3 servo motors 23 are respectively coaxially fixed to the two No. 3 lead screws 22. The two No. 3 servo motors 23 are respectively electrically connected to the turntable controller. The front ends of the two No. 3 lead screws 22 are respectively coaxially fixed with a No. 3 hexagonal head 24.

[0025] By connecting the Allen wrench to the No. 3 Allen head 24 and then manually rotating the No. 3 lead screw 22, the position of the No. 2 support 17 relative to the mounting base 30 can be adjusted, so that the position of the No. 2 support 17 can be closer to the wing of the fixed-wing aircraft model, which is convenient for simulation tests of different models of fixed-wing aircraft.

[0026] The electric rotary drive mechanism 10 includes a housing 25, an output shaft 26, a worm gear 27, a second servo motor 28, and a worm 29. The output shaft 26 is rotatably connected to the housing 25. The worm gear 27 is coaxially fixed to the output shaft 26. The second servo motor 28 is fixed to the housing 25. The worm 29 is coaxially fixed to the shaft of the second servo motor 28 and is rotatably connected to the housing 25. The worm 29 meshes with the worm gear 27. Each of the second servo motors 28 is electrically connected to the turntable controller. Each housing 25 is fixed to the base 6, the first support frame 7, and the second support frame 8. Each output shaft 26 is fixed to the first support frame 7, the second support frame 8, and the turntable 9. Each output shaft 26 is coaxial with the virtual rotation axis of the first support frame 7, the virtual rotation axis of the second support frame 8, and the virtual rotation axis of the turntable 9.

[0027] By controlling the rotation of the second servo motor 28, the meshing of the worm gear 29 and the worm wheel 27 enables the output shaft 26 to rotate, thereby causing the first support frame 7, the second support frame 8, and the rotary table 9 to rotate. The self-locking property of the worm wheel 27 and the worm gear 29 can effectively prevent the first support frame 7, the second support frame 8, and the rotary table 9 from rotating accidentally, thus making the test more accurate and reliable.

[0028] The above description is a preferred embodiment of the present utility model. For those skilled in the art, any changes, modifications, substitutions and variations made to the implementation methods without departing from the principles and spirit of the present utility model, based on the teachings of the present utility model, still fall within the protection scope of the present utility model.

Claims

1. A fixed-wing attitude simulation test bench for an inertial navigation system, comprising a three-axis electric turntable (1), an inertial measurement sensor (2), a test bench body (3), a turntable controller, a test controller, and a mounting base (30), characterized in that: The three-axis electric turntable (1) is mounted on the test bench body (3) and is equipped with an inertial measurement sensor (2). The test bench body (3) is also equipped with a turntable controller and a test controller that are electrically connected to each other. The turntable controller is electrically connected to the three-axis electric turntable (1), and the inertial measurement sensor (2) is electrically connected to the test controller. The test controller is powered by an external power supply. The three-axis electric turntable (1) includes a mounting base (30) that is fastened to the fuselage of the fixed-wing aircraft model.

2. The inertial navigation system fixed-wing attitude simulation test rig according to claim 1, characterized in that: The three-axis electric turntable (1) includes a base (6), a first support frame (7), a second support frame (8), a turntable (9), and an electric rotary drive mechanism (10). The base (6) is fixed to the test bench body (3) and is rotatably connected to the first support frame (7) on its upper part. The virtual rotation axis of the first support frame (7) is set horizontally in the left-right direction. The first support frame (7) is rotatably connected to the second support frame (8). The virtual rotation axis of the second support frame (8) is set in the front-back direction and is rotatably connected to the turntable (9). The virtual rotation axis of the turntable (9) is set in the up-down direction. The base (6), the first support frame (7), and the second support frame (8) are respectively fixed with electric rotary drive mechanisms (10). Each electric rotary drive mechanism (10) is used to drive the first support frame (7), the second support frame (8), and the turntable (9) to rotate, and is electrically connected to the turntable controller. The mounting base (30) is fixed on the top of the turntable (9).

3. The inertial navigation system fixed-wing attitude simulation test rig according to claim 2, characterized in that: The three-axis electric rotary table (1) also includes a mounting plate (11), a main mounting hole (12), a first slider (13), a first lead screw (14), a first servo motor (15), a first internal hex head (16), a second support base (17), a second slider (18), a second lead screw (19), a second internal hex head (20), and a secondary mounting hole (21). A horizontal mounting plate (11) is fixed at the top center of the mounting base (30). Multiple main mounting holes are passed through the mounting plate (11) vertically. The mounting base (30) has a mounting hole (12), and each of its front and rear parts is slidably connected to a slider (13), and each of its front and rear parts is rotatably connected to a lead screw (14). Each of the front and rear parts of the mounting base (30) is fixed with a servo motor (15). The shafts of the two servo motors (15) are respectively fixed to the same axis as the two lead screws (14). The two lead screws (14) are respectively threaded through to the sliders (13), and are respectively connected to the sliders (13) via sliding holes (12). The two lead screws (14) are parallel in direction. A hexagonal head (16) is coaxially fixed at the axial ends of each lead screw (14) away from the mounting plate (11). A second support seat (17) is installed on each of the left and right sides of the mounting base (30). The two second support seats (17) are slidably connected to second sliders (18) on the left and right sides respectively, and are rotatably connected to lead screws (19). The two lead screws (19) are threadedly connected to the two second sliders (18) respectively, and are also threadedly connected to the two second sliders (18). The sliding directions of the two screw rods (18) are parallel. The axial ends of the two screw rods (19) away from the mounting base (30) are coaxially fixed with the second internal hexagon head (20). The tops of the first slider (13) and the second slider (18) are respectively opened with secondary mounting holes (21). The tops of the first slider (13) and the second slider (18) are detachably and securely mounted with inertial measurement sensors (2) through the secondary mounting holes (21). The two first servo motors (15) are electrically connected to the turntable controller respectively.

4. The fixed-wing attitude simulation test rig for an inertial navigation system according to claim 3, characterized in that: The three-axis electric turntable (1) also includes a No. 3 lead screw (22), a No. 3 servo motor (23), and a No. 3 internal hexagon head (24). The left and right parts of the mounting base (30) are respectively slidably connected to the two No. 2 support bases (17), and each of the left and right parts is rotatably connected to a No. 3 lead screw (22). The two No. 3 lead screws (22) are respectively threadedly connected to the two No. 2 support bases (17), and are parallel to the sliding direction of the No. 2 support bases (17). The left and right parts of the rear end of the mounting base (30) are each fixed with a No. 3 servo motor (23). The rotating shafts of the two No. 3 servo motors (23) are respectively coaxially fixed with the two No. 3 lead screws (22). The two No. 3 servo motors (23) are respectively electrically connected to the turntable controller. The front ends of the two No. 3 lead screws (22) are respectively coaxially fixed with a No. 3 internal hexagon head (24).

5. A fixed-wing attitude simulation test rig for an inertial navigation system according to any one of claims 2-4, characterized in that: The electric rotary drive mechanism (10) includes a housing (25), an output shaft (26), a worm gear (27), a second servo motor (28), and a worm (29). The housing (25) is rotatably connected to the output shaft (26), and the worm gear (27) is coaxially fixed to the output shaft (26). The second servo motor (28) is fixed to the housing (25), and the worm (29) is coaxially fixed to the shaft of the second servo motor (28), and the shaft is rotatably connected to the housing (25). The worm (29) and the worm gear (27) are connected to each other. 27) meshing, each of the second servo motors (28) is electrically connected to the turntable controller, each of the housings (25) is fixed to the base (6), the first support frame (7) and the second support frame (8), each of the output shafts (26) is fixed to the first support frame (7), the second support frame (8) and the turntable (9), and each of the output shafts (26) is coaxial with the virtual rotation axis of the first support frame (7), the virtual rotation axis of the second support frame (8) and the virtual rotation axis of the turntable (9).

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