18 results about "Inertial platform" patented technology

This invention discloses a temperature control structure for an inertial instrument used in a fiber optic gyroscope inertial platform, comprising: an inner upper spherical cover, an outer upper spherical cover, a platform assembly, an inner lower spherical cover, an outer lower spherical cover, a ring frame, a perforated baffle, and a fan. The outer upper spherical cover is connected to the outer lower spherical cover via the ring frame; the inner upper spherical cover is connected to the inner lower spherical cover via the ring frame; fans are respectively disposed on the inner surface of the outer upper spherical cover, the inner surface of the outer lower spherical cover, and the outer surface of the inner upper spherical cover; the perforated baffle is installed inside the fan mounting surface of the inner upper spherical cover; the platform assembly is disposed within the space formed by the inner upper and inner lower spherical covers; and the ring frame is connected to the platform assembly. This invention reduces the impact of external environmental temperature changes and complex internal thermal fields on the temperature control accuracy of the inertial instrument, and improves the uniformity and stability of the temperature field near the platform.

The application relates to the field of inertial platforms, and particularly discloses an inertial platform health assessment method, which comprises the following steps: scoring a plurality of parameters of an inertial platform, the plurality of inertial platform parameters comprising a first inertial platform parameter group, a second parameter group and a third parameter group, the first parameter group, the second inertial parameter group and the third parameter group corresponding to a first parameter category, a second parameter category and a third parameter category respectively; determining a first score corresponding to the first parameter category according to the score of the first parameter group; determining a second score corresponding to the second parameter category according to the score of the second parameter group; determining a third score corresponding to the third parameter category according to the score of the third parameter group; and determining a comprehensive score of the inertial platform according to the first score, the second score and the third score. The application can provide a scheme for inertial platform health assessment and guide inertial platform health maintenance.

Embodiments of the application disclose a four-loop space-stabilized inertial navigation system attitude decoupling method, device and medium. The method comprises: converting a terrestrial axis coordinate system of an inertial navigation system to an initial terrestrial axis coordinate system to obtain a terrestrial axis conversion matrix; converting an inner axis coordinate system of the inertial navigation system to an initial inner axis coordinate system to obtain an inner axis conversion matrix; converting a middle axis coordinate system of the inertial navigation system to an initial middle axis coordinate system to obtain a middle axis conversion matrix; converting an outer axis coordinate system of the inertial navigation system to an initial outer axis coordinate system to obtain an outer axis conversion matrix; and obtaining a four-loop space-stabilized inertial navigation system attitude decoupling result according to an inertial platform body attitude matrix, the terrestrial axis conversion matrix, the inner axis conversion matrix, the middle axis conversion matrix and the outer axis conversion matrix. The inertial platform body attitude matrix is decoupled to a geographical coordinate system of a four-loop space, and high-precision attitude output of the four-loop space-stabilized inertial navigation system is realized.

A kind of optical fiber gyro inertial platform gyro installation error angle test and compensation method, for testing optical fiber gyro platform optical fiber gyro is installed in platform body after the installation error angle relative to hexahedral coordinate system, using based on instrument installation and instrument error model, error coefficient calibration when gyro installation error is coupled with ground speed in gyroscope output, so as to influence the true value of the calibration result of instrument error coefficient, calibration is carried out in different azimuth, and the ground speed coupled with gyro installation error is different, so the calibration results of four orthogonal azimuths are combined, to realize the gyro installation error angle solution in analytical way.The gyro installation error angle obtained is compensated to error model, to solve the test problem of high-precision optical fiber gyro platform gyro precision.

This invention discloses a high-precision nine-position autonomous calibration method for an inertial platform, belonging to the field of inertial navigation technology. Specifically, it includes the following steps: S1: analyzing the installation error of the gyroscope; S2: analyzing the installation error of the accelerometer; S3: constructing a static error model of the inertial platform system; S4: based on the static error model of the inertial platform system in step S3, constructing a nine-position mathematical model for error coefficient calibration; S5: performing calibration calculations on the nine-position mathematical model for error coefficient calibration in step S4. Based on the characteristics of inertial platform installation errors, this invention analyzes the error model of the platform system considering installation errors, and the proposed calibration method can calibrate both the platform error coefficients and installation errors. Experimental verification shows that this calibration method has good stability and repeatability, and can relax the installation requirements of inertial instruments, ensuring the stability of installation accuracy and improving the accuracy of inertial instruments.

The invention relates to a gyroscope error coefficient calibration method and device, equipment and a storage medium. The method comprises the steps that an inertial platform where a gyroscope is located is controlled to be in a target direction, servo method drift testing is conducted on the inertial platform, frame angle measurement values of the inertial platform at different moments are obtained, and the inertial platform comprises a four-ring three-axis inertial platform; obtaining a frame angular kinematics equation, the frame angular kinematics equation being determined based on a relationship that a first gyroscopic drift angular velocity determined by a frame angle measurement value in a servo state is equal to a second gyroscopic drift angular velocity determined by an error model, the frame angle kinematics equation is used for representing the relation between the frame angle measurement value and the error coefficient in the error model; and determining an error coefficient according to each frame angle measurement value at different moments and a frame angle kinematics equation. By adopting the method, the error coefficient of the gyroscope can be accurately calibrated.

The invention discloses a multi-ring-number miniature long-life inertial platform slip ring conductive device, which comprises a conductive rod assembly, two groups of brush carrier assemblies, a bracket, a first bearing, a second bearing and an outer cover, the two ends of the conducting rod assembly are installed in the support through the first bearing and the second bearing respectively. The two groups of brush carrier assemblies are symmetrically mounted on the outer side of the bracket; the outer cover is installed on the outer side of the brush holder assembly and used for protecting the internal structure. The multi-ring-number miniature long-service-life slip ring conductive device for the inertial platform can meet the requirements of multiple paths, small size, long-term reliable work under severe environment conditions and the like at the same time.

The application provides an inertial platform fault injection and testing method based on redundancy technology, aiming at an inertial platform accelerometer height measurement and altimeter combined error feedback compensation height measurement system adopting redundancy technology, four faults of platform noise interference fault, platform large interference torque fault signal, altimeter noise fault and altitude redundancy error feedback fault, adopting a time injection function mode, combining an inertial platform mechanical motion model, a direct current torque motor model and a gyroscope measurement model established by a transfer function method, organically combining the above faults and signals into a closed loop closed system, effectively simulating the altitude measurement output signal of the redundancy technology based on the fault state, thereby realizing the fault injection simulation of the inertial platform system and realizing the equivalent function of the testing system.

The application provides an inertial platform and accelerometer fault injection simulation method, which adopts a transfer function method to establish a gyroscope measurement model, adopts a fault injection function mode, and gives simulation methods of an accelerometer bias voltage unstable drift fault, an accelerometer large measurement signal distortion fault, an inertial platform jitter fault, an output signal and high frequency harmonic wave frequency superposition fault, and a piezoelectric coefficient attenuation fault of a sensor sensitive core, so as to complete equivalent functions of testing, can replace a real inertial platform and accelerometer system, and comprehensively simulate one or more faults of the accelerometer, so that the whole simulation function is detailed and accurate.

The application provides a kind of inertial platform test data self-supervision deep processing analysis system, the system is divided into application layer and data processing layer, application layer includes test procedure and result analysis, algorithm verification and precision analysis and inertial information autonomous visualization display unit.The system has the ability of test data self-supervision deep processing analysis, can automatically traverse search and intelligently screen and identify various types of inertial platform test data, and carries out batch processing analysis, completes the template of test procedure and result whole compilation report form;For inertial platform precision test procedure data, automatically call each item system parameter in test data directory and matching modular algorithm, realize the offline verification of inertial platform key algorithm and the calculation and analysis of each precision test;It can adaptively extract the characteristic data of inertial platform key typical inertial information, and complete data visualization display by independently configuring characteristic data visualization strategy.

The application relates to the field of platform type inertial navigation product maintenance, in particular to a high-precision automatic air extraction and charging equipment for an inertial platform and an air extraction and charging method thereof. The automatic air extraction and charging equipment comprises a display control panel and a manual operation screen; a nitrogen cylinder cabinet is used for storing an air pressure extraction device, and the specific steps are as follows: step 1, adjusting pressure; step 2, vacuum extraction; step 3, nitrogen charging; and step 4, improving nitrogen purity in the inertial platform. Through an absolute pressure sensor and a pressure display instrument, the automatic air extraction and charging function is realized, and a user no longer needs to manually disconnect the air extraction and charging switch by observing a pressure gauge. An electric high-vacuum pressure reducing valve is arranged between the air extraction and charging pressure and the vacuum degree pressure of the inertial platform, which can adjust the air charging pressure and ensure that the air pressure in the inertial platform is stable after the air charging valve is disconnected. By adjusting the front-stage air charging pressure value, high-precision control of the nitrogen pressure in the inertial platform is realized.

The invention discloses an active load shedding control method based on adaptive gain, and the method comprises the steps: considering the overall parameters of a carrier rocket, neglecting the influence of secondary factors according to the characteristics of a load shedding problem, and building a small-disturbance linearization model of the carrier rocket based on a small-deviation linearization hypothesis; according to the small disturbance linearization model, utilizing the output of the inertial measurement unit platform and the rate gyroscope to obtain the measurement values of the attitude angle, the attitude angular velocity and the apparent acceleration of the carrier rocket; designing an attitude tracking controller by adopting a PD control method according to the attitude angle and the attitude angular velocity measurement value; and according to the apparent acceleration measurement information, identifying to obtain an aerodynamic acceleration value, realizing active load shedding, and designing an attitude tracking and load shedding controller. And designing a load shedding control gain adjusting strategy for active load shedding control gain in the attitude tracking and load shedding controller according to the actual value, the nominal value and the historical peak value of the pneumatic acceleration, and dynamically adjusting the size of the active load shedding control gain.

The application relates to the field of inertial measurement, and particularly discloses a method for taking the positive of a four-axis inertial platform table body, which comprises the following steps: acquiring the projection of a gravity vector in a table body coordinate system of the four-axis inertial platform; determining the projection of the gravity vector in a base coordinate system of the four-axis inertial platform according to the projection of the gravity vector in the table body coordinate system and frame angle information of the four-axis inertial platform; determining a target frame angle for platform taking the positive according to the projection of the gravity vector in the base coordinate system; and generating a rotation trajectory of the four-axis inertial platform according to the target frame angle. The scheme has the advantages that the precision jump and precision over tolerance of a three-floating gyroscope after long-time storage can be avoided.

This invention proposes a method for inertial platform system rotation without activating gyroscopes. Based on the target frame position information and the acquired real-time frame position information, the inertial platform system rotates the four frames sequentially using a frame rotation trajectory method and a PID control algorithm designed for each frame, without activating the gyroscopes. The rotation is complete when the real-time positions of all four frames deviate from their corresponding target positions within (-3.5°, 3.5°). This invention solves the problem of relying solely on manual rotation for frame rotation in scenarios where gyroscopes cannot be activated. By using frame angle data instead of gyroscope data as the input for inertial platform system rotation, and through a well-designed frame rotation trajectory method and PID control algorithm, precise frame angle rotation can be achieved quickly and with high control accuracy.

The application discloses a kind of optical fiber gyro inertial platform angular vibration transmission characteristic test methods, including synchronous acquisition position angular vibration table excitation angle signal and the frame angle signal of optical fiber gyro inertial platform;According to the frame angle signal of optical fiber gyro inertial platform, the method for obtaining optical fiber gyro inertial platform attitude angle signal is adopted navigation solution, and it is relevantly operated, and relevant characteristic function is obtained;According to the relevant characteristic function, the amplitude-phase characteristic solution of stable loop is carried out, and the amplitude of stable loop and the phase of stable loop in optical fiber gyro inertial platform are obtained;The application also discloses a kind of optical fiber gyro inertial platform angular vibration transmission characteristic test system, including position angular vibration table, optical fiber gyro inertial platform, optical fiber platform ground test system, position angular vibration table control cabinet and electric control box.The application can be applied to the transmission characteristic evaluation of optical fiber gyro inertial platform angular vibration, with higher accuracy and flexibility.

The invention relates to an inertial platform equipment health state trend prediction method and prediction system, and belongs to the technical field of inertial platform data analysis. Collecting test parameters of the inertial platform, and performing feature extraction and preprocessing to obtain standardized feature values; based on the standardized characteristic value, calculating through a performance evaluation model to obtain a quantitative index value representing the health state of the equipment; inputting into an ARMA time sequence prediction model, and generating a prediction curve of the equipment performance indexes; calculating a real-time health index of the equipment by adopting a fuzzy logic decision tree algorithm and combining confidence interval analysis and trend derivative analysis; health levels are divided, and meanwhile the remaining service life of the equipment is predicted; issuing the quantitative index value, the prediction curve, the health index and the remaining service life data through an API (Application Program Interface); according to the method, the problems of difficulty in fault feature extraction, insufficient degradation modeling precision and accurate health state prediction under the condition of sample scarcity in a complex environment are solved.

The utility model relates to the technical field of earth dam rolling construction of water conservancy projects, and particularly discloses a rolling track control device of a vibrating roller. According to the device, the distance between the device and a target device, such as a horizontal pull rope, on the side of a preset grinding track is measured in real time through a distance measuring device installed on the vibrating roller, a double-threshold comparator in an electric control device is combined, audible and visual alarms with different frequencies are triggered, and real-time early warning of grinding track deviation is achieved. The double-threshold comparator is connected with the adjustable potentiometer to set the upper and lower limits of the safety distance. The device is further provided with a stabilizing mechanism comprising a vibration isolator and an inertial platform, and the distance measuring precision is improved. The target device can be provided with a plurality of pull ropes to enlarge the surface area of the target. Compared with traditional manual control or GPS control, the system has the advantages of being simple in structure, low in cost, free of signal delay, high in environmental adaptability, convenient and fast to maintain and the like, pressure leakage / overpressure can be effectively avoided, and the rolling quality and the construction efficiency are improved.

This invention relates to a machining apparatus and method for machining grooves and holes in the inner cavity of an inertial platform frame workpiece, belonging to the field of precision machining technology. The machining apparatus includes a main spindle connecting rod, a small spindle connecting rod 8, and a small spindle, driven by a machine tool spindle. The overall length of the machining apparatus can be adjusted to fit the inner cavity of the workpiece by moving bolts within a locking groove. During machining, the machining apparatus is first installed and adjusted to the required length. The verticality of the small spindle is then checked using a mandrel and a dial indicator. The workpiece is then clamped onto the worktable. By controlling the rotation angle of the machine tool spindle, the small spindle and its cutting tool are driven to sequentially machine the cross groove at the bottom of the workpiece's inner cavity, the 45° inclined grooves on the bottom and top sides, and the holes at the bottom of each groove. This invention has a simple structure, good rigidity, and can complete the machining of complex features in multiple directions of the inner cavity in a single clamping operation, significantly improving machining efficiency, reducing the cost of specialized tooling, and offering strong versatility.