Flexible gyrocompass north finder

Abstract

The utility model discloses a flexible gyrocompass north seeker which comprises a mounting seat, a case is mounted at the top of the mounting seat, a flexible gyrocompass assembly is mounted at the bottom of the inner wall of the case, a vibration reduction connecting assembly is arranged below the mounting seat, and the vibration reduction connecting assembly is connected with the mounting seat through a limiting and fixing assembly. According to the utility model, the double vibration damping design is realized through the vibration damper and the buffer spring, the mechanical lag error of the flexible gyroscope assembly is reduced through the composite vibration damping structure, the static north-seeking precision is less than or equal to 0.1 degree and the dynamic north-seeking error is less than or equal to 0.3 degree by matching with the real-time inclination angle compensation of the biaxial accelerometer, and the noise amplitude of vibration transmitted to the signal conditioning circuit is reduced. The accuracy of resolving the north angle by the STM32H7 processing chip is ensured, the limiting and fixing assembly and the vibration reduction connecting assembly can be detached from the mounting seat, so that the mounting seat can be recycled, and the flexibility in use is improved.

Description

Technical Field

[0001] This utility model relates to the field of north-finding instrument technology, specifically a flexible gyrocompass north-finding instrument. Background Technology

[0002] In inertial navigation systems, the north-finding instrument is the core device for determining the orientation relationship between the carrier's coordinate system and the geographic coordinate system.

[0003] According to application number CN201420167337.7, a flexible gyrocompass north-finding instrument includes a chassis, an inertial measurement unit, a control unit, and a signal transmission unit. The inertial measurement unit includes an inertial measurement device, a gyroscope, and an accelerometer. The inertial measurement device is fixed to a platform on one side of the bottom of the chassis, the gyroscope is fixed to the top of the inertial measurement device, and the accelerometer is fixed to the side wall of the inertial measurement device. The gyroscope and accelerometer are connected to a motherboard via wires. The control unit includes a motherboard, a power board, a power board, and a control board, which are vertically arranged side-by-side and fixed to the motherboard. The signal transmission unit includes a filter and an electrical connector. The electrical connector is mounted on the chassis wall and is connected to a filter installed inside the chassis via wires. The filter is connected to the motherboard via wires.

[0004] The flexible gyrocompass north finder in the above case uses a rigid mounting structure without vibration damping components. When the carrier is in a vibrating environment such as vehicle or shipboard, such as road bumps or ship swaying, the flexible gyro component is prone to mechanical hysteresis error due to vibration. This causes the gyro drift rate to increase sharply from the static 0.1° / h to 0.5° / h, and the north finding error to expand to more than 1°. Moreover, the vibration is directly transmitted to the gyro signal conditioning circuit through the mounting base, affecting the accuracy of the angle signal calculation. Some devices have tried to use a single rubber pad for vibration damping, but the damping effect is poor. Therefore, we provide a flexible gyrocompass north finder. Utility Model Content

[0005] The purpose of this invention is to provide a flexible gyrocompass north-finding instrument to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a flexible gyro compass north finder, including a mounting base, a housing mounted on the top of the mounting base, a flexible gyro assembly mounted on the bottom of the inner wall of the housing, a vibration damping connection assembly disposed below the mounting base, and the vibration damping connection assembly and the mounting base being connected by a limiting and fixing assembly.

[0007] Preferably, the vibration damping connection assembly includes a support shell, which is disposed below the mounting base. Vibration dampers are installed at the four corners of the bottom of the inner wall of the support shell. The top of each vibration damper penetrates the support shell and extends to its exterior. The tops of the four vibration dampers are fixedly connected by a fixing plate.

[0008] Preferably, the bottom of the fixing plate is equipped with an inclined plate, the bottom of the inclined plate penetrates the support shell and extends into it, the bottom of the inner wall of the support shell is equipped with a connecting block, and the left and right sides of the connecting block are provided with sliding grooves. The sliding grooves are provided with movable sliders, and three connecting rods are installed on the side of the two sliders that are far away from each other. The end of the connecting rod that is far away from the slider penetrates the sliding groove and extends to its outside.

[0009] Preferably, the side of the three connecting rods located on the same side and away from the slider is fixedly connected by an inclined block adapted to the inclined plate, and the surface of the connecting rod is fitted with a buffer spring.

[0010] Preferably, the limiting and fixing assembly includes a limiting plate and a limiting frame. There are two limiting plates, which are respectively arranged on the left and right sides of the top of the fixing plate. The left and right sides of the top of the fixing plate are provided with fixing grooves. The left and right sides of the inner wall of the fixing groove are fixedly connected by fixing rods. The surface of the fixing rods is slidably connected with moving blocks.

[0011] Preferably, the limiting frame is disposed on the surface of the fixing plate, and the front side of the limiting frame is provided with fastening bolts that are threadedly connected to the fixing plate.

[0012] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0013] This invention achieves a dual vibration reduction design through a vibration damper and a buffer spring. The composite vibration reduction structure reduces the mechanical hysteresis error of the flexible gyroscope component. Combined with the real-time tilt angle compensation of the dual-axis accelerometer, the static north-finding accuracy is ≤0.1° and the dynamic north-finding error is ≤0.3°. Moreover, the noise amplitude transmitted from vibration to the signal conditioning circuit is reduced, ensuring the accuracy of the north angle calculated by the STM32H7 processing chip. By setting a limit fixing component, the vibration reduction connection component can be separated from the mounting base, allowing it to be reused and improving the flexibility of use. Attached Figure Description

[0014] Figure 1 This is a structural cross-sectional view of the front view of this utility model;

[0015] Figure 2 This is a three-dimensional structural diagram of the vibration damping connection assembly and the limiting and fixing assembly of this utility model;

[0016] Figure 3 This is a three-dimensional structural diagram of the inclined plate, inclined block, and roller of this utility model, separated from each other.

[0017] Figure 4 This is a structural cross-sectional view of the front view of the vibration damping connection assembly of this utility model;

[0018] Figure 5 This is a structural cross-sectional view of the front view of the limiting and fixing component of this utility model.

[0019] In the diagram: 1 Mounting base, 101 Chassis, 102 Flexible gyroscope assembly, 2 Vibration damping connection assembly, 21 Support shell, 22 Vibration damper, 23 Fixing plate, 24 Inclined plate, 25 Connecting block, 26 Slide groove, 27 Slider, 28 Connecting rod, 29 Inclined block, 210 Buffer spring, 211 Roller, 3 Limiting and fixing assembly, 31 Limiting plate, 32 Fixing groove, 33 Fixing rod, 34 Moving block, 35 Limiting frame, 36 Fastening bolt, 37 Positioning groove, 38 Positioning block, 4 Dual-axis accelerometer, 5 STM32H7 processing chip, 6 Insertion block, 7 Slot. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0021] Please see Figure 1-5 A flexible gyro compass north finder includes a mounting base 1, a housing 101 fixedly connected to the top of the mounting base 1, a flexible gyro assembly 102 fixedly connected to the bottom of the inner wall of the housing 101, a vibration damping connection assembly 2 provided below the mounting base 1, and a limiting and fixing assembly 3 connecting the vibration damping connection assembly 2 and the mounting base 1.

[0022] A dual-axis accelerometer 4 is attached to the right side of the flexible gyroscope assembly 102 with conductive adhesive. An STM32H7 processing chip 5 is fixedly connected to the left side of the bottom of the inner wall of the chassis 101. The flexible gyroscope assembly 102 consists of a dynamically tuned flexible gyroscope body, a signal conditioning circuit, an FPGA chip, and an electromagnetic shielding shell.

[0023] Connect the data lines of the flexible gyroscope component 102, the dual-axis accelerometer 4, and the STM32H7 processing chip 5 to ensure stable signal transmission. Power on the device and initiate the calibration program via the host computer software. Place the device horizontally and allow the gyroscope to warm up for 5 minutes. The dual-axis accelerometer 4 detects the carrier's tilt angle and automatically compensates. Using a known north reference, such as a GPS north signal, perform initial alignment with an error ≤0.02°. After calibration, save the initial parameters and activate the adaptive Kalman filter algorithm of the STM32H7 processing chip 5. The flexible gyroscope component 102 measures the Earth's rotational angular velocity component, and the dual-axis accelerometer 4 monitors the carrier's tilt angle in real time. An external power supply, such as a vehicle-mounted 12V power supply, and a built-in 2000mAh lithium battery pack are used, automatically switching between them. In case of power failure, seamlessly switch to battery power to ensure uninterrupted north-finding data.

[0024] The vibration damping connection assembly 2 includes a support shell 21, which is located below the mounting base 1. Vibration dampers 22 are fixedly connected to the four corners of the bottom of the inner wall of the support shell 21. The top of the vibration damper 22 passes through the support shell 21 and extends to its outside. The tops of the four vibration dampers 22 are fixedly connected by a fixing plate 23. An inclined plate 24 is fixedly connected to the bottom of the fixing plate 23. The bottom of the inclined plate 24 passes through the support shell 21 and extends to its interior. A connecting block 25 is fixedly connected to the bottom of the inner wall of the support shell 21. Slide grooves 26 are provided on both the left and right sides of the connecting block 25. Movable sliders 27 are provided inside the slide grooves 26. Three connecting rods 28 are fixedly connected to the side of the two sliders 27 that are far away from each other. The end of the connecting rod 28 that is far away from the slider 27 passes through the slide groove 26 and extends to its outside. The side of the three connecting rods 28 on the same side that is far away from the slider 27 is fixedly connected by an inclined block 29 that matches the inclined plate 24. A buffer spring 210 is sleeved on the surface of the connecting rod 28.

[0025] Insert blocks 6 are fixedly connected to the left and right sides of the bottom of the mounting base 1. The top of the fixing plate 23 and the corresponding position of the insert blocks 6 are provided with slots 7. The bottom of the insert block 6 passes through the slot 7 and extends into it to contact the inner wall of the slot 7. By setting the insert blocks 6 and slots 7, the stability of the mounting base 1 placed on the fixing plate 23 is improved, which plays a role in laterally limiting the mounting base 1 and fixing it to the carrier platform, such as vehicle chassis and ship deck.

[0026] Two rollers 211 are rotatably connected in the grooves at the top and bottom of the inclined block 29. The roller 211 at the top makes rolling contact with the bottom of the inclined plate 24, and the roller 211 at the bottom makes rolling contact with the bottom of the inner wall of the support shell 21. By setting the rollers 211, the rollers 211 between the inclined block 29 and the inclined plate 24 convert sliding friction into rolling friction, and the rollers 211 between the inclined block 29 and the support shell 21 convert sliding friction into rolling friction, thereby reducing the frictional force when the inclined block 29 moves, and further reducing the transmission of vibration. By reducing the frictional loss at the contact interface and the energy transfer efficiency, the generation and transmission of vibration are suppressed.

[0027] Mounting blocks are fixedly connected to both the left and right sides of the support shell 21. Two mounting holes are opened on the top of the mounting blocks, so that the support shell 21 can be easily installed in a suitable position through the mounting holes.

[0028] The limiting and fixing assembly 3 includes a limiting plate 31 and a limiting frame 35. There are two limiting plates 31, which are respectively set on the left and right sides of the top of the fixing plate 23. The side of the limiting plate 31 closest to the mounting base 1 is in contact with the mounting base 1. The left and right sides of the top of the fixing plate 23 are provided with fixing grooves 32. The left and right sides of the inner wall of the fixing groove 32 are fixedly connected by fixing rods 33. The surface of the fixing rods 33 is slidably connected with a moving block 34. The side of the moving block 34 closest to the limiting plate 31 is fixedly connected to the limiting plate 31. The limiting frame 35 is set on the surface of the fixing plate 23. The inner wall of the limiting frame 35 is in slidable contact with the surface of the fixing plate 23. The inner wall of the limiting frame 35 is in contact with the limiting plate 31. The limiting frame 35 has the effect of limiting the limiting plate 31. The front of the limiting frame 35 is provided with a fastening bolt 36 that is threadedly connected to the fixing plate 23. The fastening bolt 36 has the effect of limiting the limiting frame 35.

[0029] The fixed plate 23 has positioning grooves 37 on both the left and right sides. The inner walls of the limiting frame 35 are fixedly connected to positioning blocks 38 that slide in contact with the inner walls of the positioning grooves 37. By setting the positioning grooves 37 and positioning blocks 38, the stability of the limiting frame 35 when moving up and down is improved.

[0030] When it is necessary to separate the vibration damping connection assembly 2 from the mounting base 1, loosen the fastening bolt 36, then pull down the limiting frame 35. The limiting frame 35 separates from the limiting plate 31. Then pull the limiting plate 31, and the limiting plate 31 moves away from the mounting base 1, causing the limiting plate 31 and the mounting base 1 to separate. Pull the mounting base 1 upward, and the mounting base 1 causes the insert 6 and the slot 7 to separate, thus separating the vibration damping connection assembly 2 from the mounting base 1.

[0031] The dual vibration damping design is achieved through the vibration damper 22 and the buffer spring 210. The composite vibration damping structure reduces the mechanical hysteresis error of the flexible gyroscope component. Combined with the real-time tilt angle compensation of the dual-axis accelerometer 4, the static north-finding accuracy is ≤0.1° and the dynamic north-finding error is ≤0.3°. Moreover, the noise amplitude of vibration transmitted to the signal conditioning circuit is reduced, ensuring the accuracy of the north angle calculation by the STM32H7 processing chip 5. By setting the limit fixing component 3, the vibration damping connection component 2 can be separated from the mounting base 1, so that it can be used repeatedly, improving the flexibility of use.

[0032] When in use, when vibration occurs, the damper 22 achieves the effect of vibration reduction. The inclined plate 24 moves closer to the connecting block 25. The inclined plate 24 drives the inclined block 29 to move closer to the connecting block 25 through the roller 211. The inclined block 29 drives the two sliders 27 to move closer to each other through the connecting rod 28. The inclined block 29 squeezes the buffer spring 210 to move, which achieves the effect of vibration reduction again.

[0033] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A flexible gyrocompass north-finding instrument, characterized in that: The device includes a mounting base (1), a housing (101) is mounted on the top of the mounting base (1), a flexible gyroscope assembly (102) is mounted on the bottom of the inner wall of the housing (101), a vibration damping connection assembly (2) is provided below the mounting base (1), and the vibration damping connection assembly (2) and the mounting base (1) are connected by a limiting and fixing assembly (3).

2. The flexible gyro compass north-finding instrument according to claim 1, characterized in that: The vibration damping connection assembly (2) includes a support shell (21), which is located below the mounting base (1). Vibration dampers (22) are installed at the four corners of the bottom of the inner wall of the support shell (21). The top of the vibration damper (22) penetrates the support shell (21) and extends to its outside. The tops of the four vibration dampers (22) are fixedly connected by a fixing plate (23).

3. The flexible gyro compass north-finding instrument according to claim 2, characterized in that: The bottom of the fixed plate (23) is equipped with an inclined plate (24). The bottom of the inclined plate (24) penetrates the support shell (21) and extends into it. The bottom of the inner wall of the support shell (21) is equipped with a connecting block (25). The left and right sides of the connecting block (25) are provided with sliding grooves (26). The sliding groove (26) is provided with a movable slider (27). Three connecting rods (28) are installed on the side of the two sliders (27) that are far away from each other. The end of the connecting rod (28) that is far away from the slider (27) penetrates the sliding groove (26) and extends to its outside.

4. The flexible gyrocompass north-finding instrument according to claim 3, characterized in that: The side of the three connecting rods (28) located on the same side and away from the slider (27) is fixedly connected by an inclined block (29) adapted to the inclined plate (24), and the surface of the connecting rod (28) is fitted with a buffer spring (210).

5. The flexible gyrocompass north-finding instrument according to claim 4, characterized in that: The limiting and fixing component (3) includes a limiting plate (31) and a limiting frame (35). There are two limiting plates (31) and they are respectively set on the left and right sides of the top of the fixing plate (23). The left and right sides of the top of the fixing plate (23) are provided with fixing grooves (32). The left and right sides of the inner wall of the fixing groove (32) are fixedly connected by fixing rods (33). The surface of the fixing rods (33) is slidably connected with moving blocks (34).

6. The flexible gyrocompass north-finding instrument according to claim 5, characterized in that: The limiting frame (35) is disposed on the surface of the fixing plate (23), and the front side of the limiting frame (35) is provided with fastening bolts (36) that are threadedly connected to the fixing plate (23).

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