A combined inertial measurement device

Abstract

This utility model relates to a combined inertial measurement device, including a cylinder, a mounting bracket located inside the cylinder, and several sensors fixed on the mounting bracket. An end cap is fixedly installed at one end of the cylinder, and a transition cap is fixedly installed at the other end of the cylinder. A first shock absorber is installed at one end of the mounting bracket, and a second shock absorber is installed at the other end of the mounting bracket. The two ends of the first shock absorber are fixed to the mounting bracket and the transition cap, respectively, and the two ends of the second shock absorber are fixed to the end cap and the mounting bracket, respectively. A first fixing plate is fixedly installed inside the transition cap, and the body of the first shock absorber is fixedly installed on one side of the first fixing plate. A connector for connecting external equipment is provided on the other side of the first fixing plate. The combined inertial measurement device of this utility model has a buffer function, high measurement accuracy, stable and reliable operation, and long service life.

Description

Technical Field

[0001] This utility model relates to inertial measurement devices, and more particularly to a combined inertial measurement device. Background Technology

[0002] Inertial measurement units (IMUs) are key components in navigation and control systems widely used in missiles, aerial surveying, spacecraft attitude control, and other applications requiring motion control. Existing IMUs typically employ fiber optic gyroscopes and accelerometers as the measuring components for angular velocity and acceleration, and are generally fixedly mounted inside the device's housing using a bracket. While this fixed-mount IMU works well in normal environments, in environments with high vibration and shock, external vibrations can easily be transmitted to the sensors through the mounting bracket, affecting the sensors' measurement accuracy and lifespan. Under strong impacts, the IMU may even detach and fail. Therefore, it is necessary to design an IMU with vibration buffering capabilities to reduce the impact of external shocks on the sensors, improve their measurement accuracy, and ensure stable and reliable operation. Summary of the Invention

[0003] To solve the above-mentioned technical problems, this utility model provides a combined inertial measurement device with buffer function, high measurement accuracy, stable and reliable operation, and long service life.

[0004] The combined inertial measurement device of this utility model includes a cylinder, a mounting bracket located inside the cylinder, and several sensors fixed on the mounting bracket. An end cap is fixedly provided at one end of the cylinder, and a transition cap is fixedly provided at the other end of the cylinder. A first shock absorber is provided at one end of the mounting bracket, and a second shock absorber is provided at the other end of the mounting bracket. The two ends of the first shock absorber are respectively fixed to the mounting bracket and the transition cap, and the two ends of the second shock absorber are respectively fixed to the end cap and the mounting bracket.

[0005] A first fixing plate is fixedly installed inside the transition cover. The body of the first shock absorber is fixedly installed on one side of the first fixing plate, and a connector for connecting external devices is provided on the other side of the first fixing plate.

[0006] The advantage of this combined inertial measurement unit (IMU) lies in the fact that its mounting bracket is connected to a first shock absorber and a second shock absorber at both ends. The first shock absorber is connected to a transition cover, and the second shock absorber is connected to an end cover. In this way, when subjected to strong impacts, the first and second shock absorbers at both ends of the mounting bracket can significantly reduce the impact of vibration and shock on the mounting bracket and its onboard sensors and other components. This ensures that all components can maintain accurate and stable operation under high vibration and strong impact environments, thereby extending their service life and ensuring that missiles, spacecraft, and other equipment equipped with this combined inertial measurement unit can still operate normally under high-pressure environments.

[0007] Furthermore, in this utility model, the combined inertial measurement device includes three fiber optic gyroscopes with their central axes perpendicular to each other and an accelerometer, which is a triaxial accelerometer.

[0008] The setup of fiber optic gyroscopes and accelerometers enables the sensing of angular acceleration and acceleration, respectively. The three fiber optic gyroscopes with their central axes perpendicular to each other enable the measurement of triaxial angular acceleration, and the setup of triaxial accelerometers enables the measurement of triaxial acceleration.

[0009] Furthermore, in this utility model, the combined inertial measurement device includes a mounting bracket comprising a longitudinal plate and three mounting plates connected to and perpendicular to each other, with three fiber optic gyroscopes respectively fixed on the three mounting plates.

[0010] The vertical plate and three mutually perpendicular mounting plates enable the installation of three fiber optic gyroscopes and a three-axis accelerometer.

[0011] Furthermore, in the combined inertial measurement device of this utility model, a flange is provided on the inner wall of the transition cover, the first fixing plate is fixed to the inner side of the flange by screws, and the body of the first shock absorber is fixed to the first fixing plate by bolts.

[0012] The flange on the inner wall of the transition cover enables the installation and positioning of the first fixing piece.

[0013] Furthermore, in the combined inertial measurement device of this utility model, a fixed seat is also provided inside the transition cover, which is fixedly connected to the flange. A sealing ring is provided between the fixed seat and the flange. A transmission hole penetrating the fixed seat is provided in the middle of the fixed seat. The connector includes a connector body, which is fixedly disposed in the transmission hole. A sealing ring is also provided between the connector body and the inner wall of the transmission hole.

[0014] The mounting base enables the fixing and installation of the connector body, and the sealing rings between the mounting base and the flange, and between the connector body and the inner wall of the transmission hole, enable the sealing of the cylinder.

[0015] Furthermore, in the combined inertial measurement device of this utility model, the fixed base is provided with a fixed plug that is fixedly connected to the fixed base, and the end of the fixed plug is located inside the transmission hole and presses the connector body against the limiting platform on the inner wall of the transmission hole.

[0016] The fixing plug securely mounts the connector body. Its flange is bolted to the mounting base, and its end is positioned within the transmission hole, pressing the connector body against the limiting platform located on the inner wall of the transmission hole. Metal connecting pins on the connector body connect to wires, which pass through the central hole of the fixing plug and connect to external devices, thus enabling communication and connection between the sensor and external equipment.

[0017] Furthermore, in the combined inertial measurement device of this utility model, the end of the transition cover is provided with a locking cap that is fixed to the transition cover.

[0018] The locking cap protects the components inside the transition cover from external impurities entering the cover and interfering with them.

[0019] Furthermore, in this utility model of a combined inertial measurement device, a connecting pipe is also provided on the outer end face of the end cap and the locking cap.

[0020] The connecting tube enables a fixed connection between the combined inertial measurement device and external equipment, and its outer circumferential surface can be provided with external threads for connecting external equipment.

[0021] The above description is only an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, the following describes the embodiments of this utility model in detail. Attached Figure Description

[0022] Figure 1 This is a three-dimensional diagram of a combined inertial measurement unit.

[0023] Figure 2 This is a cross-sectional view of a combined inertial measurement unit.

[0024] Figure 3 yes Figure 2 A magnified view of part A in the middle.

[0025] Figure 4 It is a 3D view of the mounting bracket.

[0026] Figure 5 It is a 3D diagram showing the sensor and the mounting bracket in action.

[0027] Figure 6 This is a sectional view of the end cap.

[0028] Figure 7 This is a cross-sectional view of the transition cover.

[0029] Figure 8 This is a three-dimensional view of the first fixed piece.

[0030] Figure 9 It is a 3D view of the connecting bolts.

[0031] Figure 10 This is a sectional view of the fixed base.

[0032] Figure 11 This is a cross-sectional view of the locking cap.

[0033] Figure 12 This is a 3D view of the connector.

[0034] In the diagram, 1 is the cylinder, 2 is the mounting bracket, 3 is the end cap, 4 is the transition cap, 5 is the first shock absorber, 6 is the second shock absorber, 7 is the first fixing plate, 8 is the connector, 9 is the mounting groove, 10 is the second fixing plate, 11 is the connecting bolt, 12 is the flange, 13 is the fixing seat, 14 is the transmission hole, 15 is the limiting platform, 16 is the fixing plug, 17 is the connector body, 18 is the connecting pin, 19 is the fiber optic gyroscope, 20 is the accelerometer, 21 is the longitudinal plate, 22 is the mounting plate, 23 is the end plate, 24 is the two horizontal plates, 25 is the first mounting plate, 26 is the second mounting plate, 27 is the locking cap, 28 is the through hole, 29 is the connecting pipe, and 30 is the circuit board. Detailed Implementation

[0035] The specific embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this utility model, but are not intended to limit its scope.

[0036] Example 1: See Figures 1 to 12 The combined inertial measurement device of this embodiment includes a cylinder 1, a mounting bracket 2 located inside the cylinder, and a plurality of sensors fixed on the mounting bracket. An end cap 3 is fixedly provided at one end of the cylinder, and a transition cap 4 is fixedly provided at the other end of the cylinder. A first shock absorber 5 is provided at one end of the mounting bracket, and a second shock absorber 6 is provided at the other end of the mounting bracket. The two ends of the first shock absorber are fixed to the mounting bracket and the transition cap, respectively, and the two ends of the second shock absorber are fixed to the end cap and the mounting bracket, respectively.

[0037] A first fixing plate 7 is fixedly installed inside the transition cover. The body of the first shock absorber is fixedly installed on one side of the first fixing plate, and a connector 8 for connecting external devices is provided on the other side of the first fixing plate.

[0038] The advantage of this combined inertial measurement unit (IMU) lies in the fact that its mounting bracket is connected to a first shock absorber and a second shock absorber at both ends. The first shock absorber is connected to a transition cover, and the second shock absorber is connected to an end cover. In this way, when subjected to strong impacts, the first and second shock absorbers at both ends of the mounting bracket can significantly reduce the impact of vibration and shock on the mounting bracket and its onboard sensors and other components. This ensures that all components can maintain accurate and stable operation under high vibration and strong impact environments, thereby extending their service life and ensuring that missiles, spacecraft, and other equipment equipped with this combined inertial measurement unit can still operate normally under high-pressure environments.

[0039] The cylindrical body serves to support and protect components such as the mounting bracket, the first shock absorber, and the second shock absorber. It is a tubular structure with open ends and a hollow interior, with the mounting bracket and other components housed within its cavity.

[0040] The mounting bracket is used to mount components such as angular velocity sensors, acceleration sensors, and circuit boards. In order to realize the measurement of triaxial angular velocity and acceleration, the mounting bracket may include several mounting cavities or mounting plates for mounting angular velocity sensors and acceleration sensors.

[0041] The sensors are used to measure angular velocity and acceleration. The angular velocity sensor is preferably a single-axis fiber optic gyroscope, and the number of gyroscopes is preferably three, with the central axes of the three gyroscopes perpendicular to each other to achieve triaxial angular velocity measurement. The acceleration sensor is preferably a triaxial accelerometer to achieve triaxial acceleration measurement.

[0042] The end cap is used to seal one end of the cylinder and to install the second shock absorber. In this embodiment, one end of the end cap is fixedly connected to the opening at one end of the cylinder by a thread, and a sealing ring is used to seal it to the cylinder. An installation groove 9 is provided on the end face near the cylinder, and a second fixing plate 10 is fixed in the installation groove by screws. The body of the second shock absorber is fixedly connected to the second fixing plate by screws, and its other end is fixed to one end of the mounting bracket by connecting bolts 11.

[0043] The transition cover is used to install components such as the first shock absorber and connectors. In this embodiment, the transition cover is a tubular structure with openings at both ends. One end is connected to the cylinder via threads, and a sealing ring is used to seal the cylinder. An annular flange 12 is provided on the inner wall of the transition cover. The first fixing plate is fixed to one side of the flange with screws, and the first shock absorber is fixed to the first fixing plate with bolts. The other end of the shock absorber is fixed to the end of the mounting bracket with connecting bolts.

[0044] The first fixing plate and the second fixing plate are used to fix the first shock absorber and the second shock absorber, respectively. The first fixing plate has several arc-shaped holes for wiring.

[0045] The first and second shock absorbers at both ends of the mounting bracket provide shock absorption for the mounting bracket and its components, thereby buffering the impact of external shocks on components such as sensors and ensuring their stable and normal operation.

[0046] The first and second shock absorbers mentioned above can be springs, shock absorber blocks with a certain elasticity, gas springs, or other shock absorption devices.

[0047] The connector is used to connect and power components such as sensors to external devices. In this embodiment, a fixing seat 13 is provided inside the transition cover and fixed to the transition cover. The fixing seat is fixed to the other side of the flange by screws. The fixing seat has a transmission hole 14 that passes through the fixing seat. The transmission hole has a limiting platform 15 that contacts the connector body. A fixing plug 16 is also provided inside the transmission hole. The end of the fixing plug is fixed to the surface of the fixing seat by screws. Its end extends into the transmission hole and presses the connector body against the limiting platform, thereby fixing the connector.

[0048] The connector includes a connector body 17, within which are connecting pins 18 made of metal. One end of each connecting pin is located inside the connector body and connects to a sensor or interface inside the housing via a wire. The other end of the connecting pin connects to an external device via a wire. During operation, data sensed by the sensor is transmitted to the connector via the corresponding module and interface on the circuit board, and then transmitted to the host computer via the connector's connecting pins and the wires connected to those pins. The host computer uses appropriate algorithms to calculate angular velocity and acceleration, thereby achieving inertial measurement.

[0049] Preferably, the sensor includes three fiber optic gyroscopes 19 with their central axes perpendicular to each other and an accelerometer 20, wherein the accelerometer is a triaxial accelerometer.

[0050] The setup of fiber optic gyroscopes and accelerometers enables the sensing of angular acceleration and acceleration, respectively. The three fiber optic gyroscopes with their central axes perpendicular to each other enable the measurement of triaxial angular acceleration, and the setup of triaxial accelerometers enables the measurement of triaxial acceleration.

[0051] Preferably, the mounting bracket includes a longitudinal plate 21 and three mounting plates 22 connected to the longitudinal plate and perpendicular to each other, with three fiber optic gyroscopes fixed on the three mounting plates respectively.

[0052] The vertical plate and three mutually perpendicular mounting plates enable the installation of three fiber optic gyroscopes and a three-axis accelerometer.

[0053] In this embodiment, the longitudinal plate is parallel to the central axis of the cylinder, and end plates 23 are fixed to both ends of the longitudinal plate. The end plates are connected to end caps and transition plates by connecting bolts. Two horizontal plates 24, fixed to the longitudinal plate and parallel to each other, are arranged between the two end plates, and are perpendicular to the longitudinal plate. A first mounting plate 25, perpendicular to the horizontal plates, is also arranged between the two horizontal plates. A second mounting plate 26, parallel to the longitudinal plate, is arranged between one of the horizontal plates and the end plate. One of the horizontal plates serves as a mounting plate for mounting a fiber optic gyroscope, while the other two fiber optic gyroscopes are mounted on the first and second mounting plates respectively. Since the three mounting plates are perpendicular to each other, the central axes of the three fiber optic gyroscopes are ensured to be perpendicular to each other, thereby enabling the measurement of triaxial angular acceleration. The acceleration sensor and circuit board 30 are respectively mounted on the other side of the two mounting plates.

[0054] Preferably, the inner wall of the transition cover is provided with a flange, the first fixing plate is fixed to the inner side of the flange by screws, and the body of the first shock absorber is fixed to the first fixing plate by bolts.

[0055] The flange on the inner wall of the transition cover enables the installation and positioning of the first fixing piece.

[0056] Preferably, the transition cover is further provided with a fixing seat that is fixedly connected to the flange, a sealing ring is provided between the fixing seat and the flange, and a transmission hole is provided in the middle of the fixing seat. The connector includes a connector body, which is fixedly disposed in the transmission hole, and a sealing ring is also provided between the connector body and the inner wall of the transmission hole.

[0057] The mounting base enables the fixing and installation of the connector body, and the sealing rings between the mounting base and the flange, and between the connector body and the inner wall of the transmission hole, enable the sealing of the cylinder.

[0058] Preferably, the fixing seat is provided with a fixing plug that is fixedly connected to the fixing seat, and the end of the fixing plug is located inside the transmission hole and presses the connector body against the limiting platform on the inner wall of the transmission hole.

[0059] The fixing plug securely mounts the connector body. Its flange is bolted to the mounting base, and its end is positioned within the transmission hole, pressing the connector body against the limiting platform located on the inner wall of the transmission hole. Metal connecting pins on the connector body connect to wires, which pass through the central hole of the fixing plug and connect to external devices, thus enabling communication and connection between the sensor and external equipment.

[0060] Preferably, the end of the transition cover is provided with a locking cap 27 that is fixed to the transition cover.

[0061] The locking cap protects the components inside the transition cover from external impurities entering the cover and interfering with them.

[0062] In this embodiment, the locking cap is fixedly connected to the end of the transition cover by threads, and a through hole 28 is opened on its top wall for cable entry and exit.

[0063] Preferably, a connecting tube 29 is also provided on the outer end face of the end cap and the locking cap.

[0064] The connecting tube enables a fixed connection between the combined inertial measurement device and external equipment, and its outer circumferential surface can be provided with external threads for connecting external equipment.

[0065] In summary, this combined inertial measurement unit employs three fiber optic gyroscopes with their central axes perpendicular to each other and a three-axis integrated accelerometer as its core inertial measurement unit. It boasts high accuracy and reliability, and can provide real-time three-axis angular velocity and acceleration information of an object under completely independent conditions, unrestricted by specific environments or locations, and calculate attitude information. Combined with satellite navigation data and leveraging next-generation precision calibration and multi-sensor data fusion technologies, the system's reliability, accuracy, and dynamics are significantly improved.

[0066] The above description is merely a preferred embodiment of this utility model, used to assist those skilled in the art in implementing the corresponding technical solutions, and is not intended to limit the scope of protection of this utility model. The scope of protection of this utility model is defined by the appended claims. It should be noted that, for those skilled in the art, several equivalent improvements and modifications can be made based on the technical solutions of this utility model, and these improvements and modifications should also be considered within the scope of protection of this utility model. Furthermore, it should be understood that although this specification describes the embodiments as described above, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions of each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A combined inertial measurement device, comprising a cylinder (1), a mounting bracket (2) located inside the cylinder, and a plurality of sensors fixed on the mounting bracket, characterized in that: One end of the cylinder is fixedly provided with an end cap (3), and the other end of the cylinder is fixedly provided with a transition cap (4). One end of the mounting bracket is provided with a first shock absorber (5), and the other end of the mounting bracket is provided with a second shock absorber (6). The two ends of the first shock absorber are fixed to the mounting bracket and the transition cap respectively, and the two ends of the second shock absorber are fixed to the end cap and the mounting bracket respectively. The transition cover is fixedly provided with a first fixing plate (7), the body of the first shock absorber is fixedly provided on one side of the first fixing plate, and the other side of the first fixing plate is provided with a connector (8) for connecting external equipment.

2. The combined inertial measurement device according to claim 1, characterized in that: The sensor includes three fiber optic gyroscopes (19) with their central axes perpendicular to each other and an accelerometer (20), the accelerometer being a triaxial accelerometer.

3. The combined inertial measurement device according to claim 2, characterized in that: The mounting bracket includes a longitudinal plate (21) and three mounting plates (22) connected to the longitudinal plate and perpendicular to each other, with three fiber optic gyroscopes fixed on the three mounting plates respectively.

4. The combined inertial measurement device according to claim 1, characterized in that: The inner wall of the transition cover is provided with a flange, the first fixing plate is fixed to the inner side of the flange by screws, and the body of the first shock absorber is fixed to the first fixing plate by bolts.

5. The combined inertial measurement device according to claim 4, characterized in that: The transition cover is also provided with a fixing seat that is fixedly connected to the flange. A sealing ring is provided between the fixing seat and the flange. A transmission hole is provided in the middle of the fixing seat. The connector includes a connector body, which is fixedly installed in the transmission hole. A sealing ring is also provided between the connector body and the inner wall of the transmission hole.

6. The combined inertial measurement device according to claim 5, characterized in that: The fixed base is provided with a fixed plug that is fixedly connected to the fixed base. The end of the fixed plug is located inside the transmission hole and presses the connector body against the limiting platform on the inner wall of the transmission hole.

7. The combined inertial measurement device according to claim 1, characterized in that: The end of the transition cover is provided with a locking cap (27) that is fixed to the transition cover.

8. The combined inertial measurement device according to claim 7, characterized in that: A connecting tube (29) is also provided on the outer end face of the end cap and locking cap.

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