143 results about "Inertial platform" patented technology

The invention relates to an internal platform hybridized with a GPS receiver. The hybridization is achieved through a Kalman filter through which a new hybrid position D-HYB is estimated on the basis of a noted deviation between pseudo-distance measure by the receiver between the receiver and the various satellites and corresponding distances computed by the inertial platform between the platform and the same satellites. In this filtering, the distance increment from one measurement instant to the next instant, between the pseudo-distance previously measured by the receiver on a satellite axis of a deviation and the new pseudo-distance measured by the receiver on a satellite axis of a deviation and the new pseudo-distance measured by the receiver on this axis, is the phase variation ΔΦ=Φ(t)−ΦI (t−1) of a digital oscillator between the two measurement instants, this variation being referred to distance along the satellite axis. The oscillator is that which makes it possible to slave the local carrier frequency in the receiver to the carrier frequency received from the satellite. Application to the measurement of position.

The invention relates to a one-stop calibration method for arrangement parameters of a vehicle-mounted three-dimensional laser scanning system. The one-stop calibration method comprises the steps of fixing a certain number of artificial marks with a reflective property on objects in a calibration field, and acquiring geocentric coordinates of the artificial mark points; selecting a position where the mark points are distributed to act as a site, enabling a vehicle loaded with the three-dimensional laser scanning system to stop at the site, acquiring a series of mark point clouds by using a three-dimensional acquisition mode, carrying out recognition and positioning on the mark point clouds, and establishing the mark point clouds in a laser scanning coordinate system L; and transforming the geocentric coordinates of the artificial marks from a geocentric coordinate system (WGS84) to an inertial platform coordinate system (I) through coordinate transformation mode, realizing conversion with coordinates in the laser scanning coordinate system (L) through a coordinate transformation model, and solving the arrangement parameters. The method provided by the invention can carry out calibration at one stop, thereby reducing the complexity of a mathematical transformation model, and improving the efficiency of calibration for the arrangement parameters.

The present invention discloses a multichannel attitude controller of an aircraft. The controller comprises an execution mechanism and an inertia platform, and also comprises a calculating unit used for calculating the current angular velocities and the current air-flow angles of the three channels of rolling, yaw and pitching of the aircraft according to the measurement information of the inertia platform, and then feeding back and outputting. An external loop control unit is used to calculate the angular velocity adjustment values of the three channels according to the current air-flow angles and the received air-flow angle control values of the three channels. For the yaw (pitching) channel, the angular velocity adjustment value is added with a yaw (pitching) angular velocity caused by a parallel branch to obtain an angular velocity control value, and the angular velocity adjustment value of the rolling channel is used as the angular velocity control value of the rolling channel. An internal loop control unit is used to generate a control plane deflection instruction to output to the execution mechanism according to the current angular velocities and the current angular velocity control values of the three channels. The multichannel attitude controller of the aircraft of the present invention obtain a stronger channel decoupling effect by compensating the angular velocity control values of the three channels.

The invention relates to a marine inertia-gravity integrated navigation device, which consists of a dual-ring inertial platform system, a gravity sensor, a Doppler log, a deep sounding apparatus, a digital gravity anomaly chart, an integrated navigation computer and a display terminal. The inertial measurement sensor of the dual-ring inertial platform system is a liquid floated gyroscope, a rate fiber optic gyroscope and a quartz flexible pendulous accelerometer. The device not only can be used to position and orient ocean motion carriers, but also can be used to measure marine gravity. Moreover, the device has the advantages of small size, high precision, good reliability, simple structure and easy maintenance, and has a wide scope of application in the technical field of navigation and control.

The invention relates to a real-time testing system and a testing method for an inertial platform. The testing system comprises a real-time data collection module, a real-time communication module anda real-time testing system, wherein the real-time data collection module is used for collecting self-monitoring data, inertial measuring data, analog data and power source data of the inertial platform, and sending to the real-time testing system; the real-time testing system is used for receiving the self-monitoring data and the power source data of the inertial platform and diagnosing faults, receiving and displaying the inertial measuring data and receiving and storing the analog data of the inertial platform. The testing system has the advantages that the online programmable function of testing tasks is realized, an item interaction window is provided, the testing task progress can be programmed on line, the storage function of testing task process is provided, and the automatic testing of the inertial platform is realized; the parameter fault detection and fault treatment functions of the inertial platform are realized, the monitoring data of the inertial platform can be judged,and the effective response can be timely made.

The invention provides a double-DSP redundancy inertial-platform controller and belongs to the field of platform stable loop control, follow-up ring follow-up control and follow-up ring locked control. The double-DSP redundancy inertial-platform controller aims to solve the problem that when a processor of an existing inertial navigation system breaks down, operation cannot be conducted due to a lack of a standby controller. The double-DSP redundancy inertial platform controller comprises an AD conversion circuit, an IO circuit, a bus module, a power output module, a switching module, a judging module, a first DSP and a second DSP. The AD conversion circuit is in communication with the two DSPs at the same time. An IO circuit is in communication with the two DSPs at the same time through an optocoupler. The second DSP monitors the work state of the first DSP through a McBSP. The judging module is used for judging the state of the judging module and the work state of the first DSP. The switching module conducts switching on the first DSP and the second DSP according to signals of the judgment module. The power output module outputs PWM signals according to switching signals. The bus module is used for receiving data of the power outputting module, the first DSP and the second DSP. The double-DSP redundancy inertial-platform controller is used for an inertial platform of the inertial navigation system.

The invention discloses a laser radar coordinate conversion method based on a vehicle body coordinate system, and the method comprises the specific steps: converting an instant laser beam coordinate system into a laser scanning reference coordinate system; solving the coordinates of a laser foot point relative to the laser radar coordinate system according to an inclined angle between the instant laser beam coordinate system and the laser radar coordinate system and a laser flight distance; converting the laser scanning reference coordinate system into an inertia platform reference coordinate system; measuring an installation inclined angle between a laser radar and an inertia navigation platform, and the displacements; solving the coordinates of the laser foot point relative to the inertia platform reference coordinate system according to a rotation and translation formula; and converting the inertia platform reference coordinate system into a period start instant coordinate system. The method does not need to convert laser foot point data into the WGS-84 coordinate system, converts the data into a vehicle carrier instant coordinate system at a starting moment of scanning, reduces the operation quantity and data dependence, and also can maintain the relative coordinates of the point relative to a vehicle. The method does not depend on GPS data, and especially avoids interpolation or prediction errors caused by GPS failures.

The invention discloses an inertial platform leveling aiming error self-detection method. The method comprises the following steps: allowing an inertial platform to enter a leveling-off state after leveling aiming of the inertial platform, calculating the relatively-local real time attitude of the inertial platform according to measured information of the inertial platform in the state within a period of time, and reckoning the attitude of the platform by combining with a leveling-off time difference until leveling aiming ends in order to realize the method for examining the leveling aiming error of the inertial platform through a self-measurement value. The method has the advantages of simple operation, and realization of accurate leveling aiming error detection.

A three-frame four-axis inertial platform error calibration method based on a navigation datum system comprises the following steps: with an X accelerometer input shaft as a datum axis, establishing a datum coordinate system OXYZ calibrated by a platform system; based on the datum coordinate system, establishing a platform system accelerometer output error model including an accelerometer installation error, a gyroscope drift error model and a frame angle output error model; and then according to the above three models, completing a calibration work of a three-frame four-axis inertial platform. Relying on a high-precision accelerometer on the platform, the navigation method is adopted to achieve self-calibration, and thus the calibration method is greatly simplified, the calibration cost is reduced, and the calibration accuracy is improved.

The present invention relates to a hybrid inertial platform system, wherein the gyroscope combination of the platform uses the hybrid working mode of three orthogonally arranged single-freedom integrating gyroscopes and three orthogonally arranged MEMS gyroscopes so as to control and monitor the motion of the inertial space opposite to the platform body, and each frame and the base of the platform are respectively provided with three orthogonal MEMS gyroscopes so as to measure the complete information of the attitude angle actions of each part of the platform. According to the present invention, the inertial platform body, the frame and the base angular rate are measured by using the hybrid working mode of different types of the gyroscopes, such that the working modes of the platform system and the strapdown system are effectively unified, the use requirements of complete attitude motion and high reliability of the carrier can be met, and the test means and the data support can be provided for the multi-information fusion control of the platform system.

The invention provides a satellite fault diagnosis and prediction method based on evidential reasoning (ER). An analytic ER method is applied to satellite fault diagnosis, a fault diagnosis result at former p time and a fault diagnosis result at the current time respectively serve as input and output of a neural network to train the neural network, correlation between the former p time and the current time is found out, and fault prediction is thus completed. The invention provides a nonlinear complicated system fault diagnosis and prediction method in a multi-parameter condition, feature parameters outputted by the fault diagnosis are used for prediction and modeling, and the health condition of an inertial platform at the next time can be reflected more intuitively and effectively.

An inertia control system includes an integrated inertial measurement unit coupled to an inertial platform. The integrated inertial measurement unit includes three accelerometer gimbals/axes (first, second, and third) respectively, each including a pair of flexure plate accelerometers. First and second accelerometers are coupled to the first gimbal, third and fourth accelerometers are coupled to the second gimbal, and fifth and sixth accelerometers are coupled to the third gimbal. The system further includes a processor utilizing outputs from the inertial measurement unit in three processor modes, including a leveling mode, a compass mode, and an operational mode.

The invention relates to an inertial platform system accelerometer installation error accurate calibration method. The method can be used for accurately calibrating the accelerometer installation error of an inertial platform system under the condition of no accurate horizontal reference and vertical reference. The method mainly comprises the steps that 1, every two accelerometers in the three accelerometer are installed on an inertial platform body in an orthogonal mode, and an accelerometer calibration position arranging scheme is designed; 2, the accelerometer calibration position arrangingscheme is utilized to complete data acquisition, an accelerometer zero position, an accelerometer scale factor and an accelerometer installation error are calculated through an accelerometer error model; 3, the accelerometer output is compensated by utilizing the calculated accelerometer installation error; and 4, the accelerometer installation error compensation effect is verified.

The invention relates to an all-attitude three-frame four-axis inertial platform servo ring control method. The method includes the steps of: (1) closing the stability loop of a four-axis inertial platform system; (2) bringing a controller into a servo work mode, when the outer ring axis angle reaches a limited range, letting the controller enter a current position locking mode, otherwise, maintaining the servo work mode; (3) under the current position locking mode, when the outer ring axis angle and the inner ring axis angle reach turnover conditions, bringing the controller into a 90-degree turnover mode; otherwise, when the outer ring axis angle reaches the limited range, maintaining the current position locking mode, when the outer ring axis angle does not reach the limited range, switching the controller to the servo work mode; and (4) under the 90-degree turnover mode, turning the servo ring over from the current servo axis angle position forward or backward by 90 degrees by the controller, and switching the controller to the servo work mode. The method provided by the invention overcomes the disadvantages of the prior art, and endows the four-axis inertial platform with all-attitude working ability.

This invention disclose a 6 dof perpendicularity discoupling RSS acceleration transducer, the characteristic: inertial platform (1) join with fixed platform (3) by 3 groups branched chain, each group branched chain include Left Side branched chain ( 2) and right side branched chain ( 3) left and right branched chain have same structural phase but different gesture. Branched chain at fixed platform (4) submit circle symmetry disposal. Each strip branched chain (2) has two elasticity sphere deputy (2 - 2) and one elasticity turn deputy ( 2 - 5). on top of turn deputy perch (2-4), there has elasticity turn deputy ( 2-5) that cross section is rectangular. two surface of elasticity turn deputy (2 - 5) adhibit strain gauge ( 2 - 6). The elastomer in this invention quite right respond to corresponding parallel institution mechanical model, has normal and adult design philosophy, thus theoretical design error is smallness;owing to institution model possess favorable discoupling quality, the sendout synthesizing and decomposition algorithm are simplicity, response quickly; And has good isotropy.

The invention discloses an inertial platform residual stress release simulating method based on a finite element, which comprises the steps of: 1, modeling an initial platform entity, integrally obtaining an initial platform entity model by applying entity drawing software, then guiding the initial platform entity model into finite element simulating software; 2, modeling an air column, establishing initial platform peripheral air into an air column model; 3, assigning initial platform and air column material attributes, inputting the initial platform and air column material attributes according to the requirement on the finite element simulating software; 4, modeling an initial platform and an air column finite element grid, wherein two procedures of selecting a unit type and dividing the grid are included; and 5, coupling and analyzing an initial platform heat-structure, wherein two procedures of transient heat analysis and structure analysis are included: the transient heat analysis is as follows: a temperature cycle stress is loaded on the outer surface of the air column so as to provide heat conditions for the inertial platform residual stress release simulating analysis, andthe structure analysis is as follows: an initial platform transient heat analysis result is loaded to the heat-structure coupling analysis to obtain a rule of releasing the inertial platform residualstress with the temperature cycle stress.

The invention belongs to the technical field of inertial navigation and particularly relates to an initial self-aligning method for an inertial platform under a static base. The method disclosed by the invention adopts a 'rough aligning' + 'fine aligning' thought and utilizes the characteristics of self-stable loop of the inertial platform to realize the quick initial self aligning under the static base. The method comprises the following steps: firstly, on the basis of the natural characteristics of gravity vector following the earth rotation, by utilizing the output information of the system under the navigation working mode of the inertial platform, the rotational angular velocity of the earth, and the like, quickly acquiring the rough information of the initial gesture of the inertial platform, thereby completing the rough aligning for the system. On the basis, a torque increasing scheme is designed and a Kalman filter technique is utilized to realize the fine alignment of the inertial platform. The method provided by the invention is capable of effectively increasing the speed and precision of the initial alignment of the inertial platform, supplies a basis and a method support for improving the performances of the navigation system of the inertial platform and has relatively high economic benefit and engineering application value.

This invention disclose a sort of 6 dof paralleling structure sps acceleration transducer, refer automatic control engineering region. The characteristic: inertial platform (1) join with fixed platform (4) by 3 groups branched chain, each group branched chain include Left Side branched chain ( 2) and right side branched chain ( 3) left and right branched chain have same structural phase but different gesture. Branched chain at fixed platform (4) submit circle symmetry disposal. Each strip branched chain has two elasticity sphere deputy (2 - 4) and one elasticity remove deputy (2 - 2). elasticity remove deputy ( 2 - 2) has a pair parallel plate, on the surface of parallel plate has pasted strain gauge ( 2 - 3). The elastomer in this invention quite right respond to corresponding parallel institution mechanical model; has normal and adult design philosophy; thus theoretical design error is smallness;owing to institution model possess favorable discoupling quality; the sendout synthesizing and decomposition algorithm are simplicity;response quickly; And has good isotropy.

The invention relates to a method and device for measuring ascending and descending speeds output by an inertial navigation system. The device comprises a high-accuracy grating ruler and a swinging platform, wherein the high-accuracy grating ruler is vertically arranged on a bracket; a vertical carrier rod is arranged on a support plate on the lower part of the bracket in a guiding way, is connected with a grating reading head of the high-accuracy grating ruler through a connecting line and is connected with the swinging platform through a connecting frame; one end of the connecting frame is fixed with the platform surface of the swinging platform; and a rolling body is arranged at the other end of the connecting frame and is arranged in an installation groove at the lower end of the carrier rod. In the invention, the method and the device for measuring the ascending and descending speeds of the inertial navigation system are realized by the grating ruler. Through the method and the device, ascending and descending movement of a tested inertial platform can be separated from composite movement and be transformed into upward and downward movement of the reading head of the grating ruler, so that dynamic measuring accuracy of the ascending and descending speeds is ensured, and assessment on the measuring accuracy of the ascending and descending movement of a ship by the inertial navigation system is greatly facilitated.

The invention discloses an angular rate calculation and compensation method for table drift caused by a base motion. The method is applied to a three-axis inertial platform system, and comprises the following steps: measuring to obtain a Y1-axis angular rate omega y1 and a Z1-axis angular rate omega z1 of the base according to an external angular rate sensor on the base on which the three-axis inertial platform system is arranged; acquiring an internal relative rotation angle of the three-axis inertial platform system; and resolving according to the measured angular rate of the base and the internal relative rotation angle so as to obtain a drifting angular rate component, and compensating in a navigation equation. According to the method disclosed by the invention, the production mechanism of the table drift caused by the base motion in the three-axis inertial platform system is analyzed, so that the drifting angular rate is calculated to be used for compensation, and the navigation and guidance accuracy is improved.

The invention discloses a pulse signal test device of an inertial platform for a launch vehicle. The pulse signal test device comprises a pulse isolation conditioning board, FPGA (field programmable gata array), a PCI (programmable communication interface) bus controller and an upper computer, wherein the pulse isolation conditioning board is provided with an expansion slot; a multi-channel pulse insulation conditioning circuit is arranged on the pulse isolation conditioning board; each counter is arranged in the FPGA and is used for independently counting the digital logic level of the corresponding input channels and locking the self enumeration data to a latch corresponding to the input channel through the pre-set time interval; a handshake mode is adopted to communicate the PCI bus controller and the FPGA; the data bus of the FPGA is used for reading the current stored data of each latch to the self FIFO (first-in-first-out) in parallel; and the upper computer is used for obtaining data from the FIFO of the PCI bus controller according to the method of a cPCI bus protocol. The pulse signal test device of the inertial platform for the launch vehicle has good expansibility and instantaneity.

The invention discloses an inertial platform hybrid servo control loop which comprises a gyroscope, a rebalancing loop controller, a gain compensation circuit, a servo loop decoupling controller, a platform body and a torque motor. The platform body is used for outputting angular velocity under the effect of disturbance torque. The gyroscope is used for sensing the angular velocity and outputting a voltage signal. The rebalancing loop controller is used for receiving the voltage signal, outputting a current signal, feeding the output current signal back to the gyroscope, and outputting an adjusting current signal when the output voltage signal of the gyroscope is close to zero. The gain compensation circuit subjects the adjusting current signal to gain compensation and then outputs measured angular velocity. The servo loop decoupling controller is used for receiving the measured angular velocity and outputting decoupling data. The torque motor is used for offsetting disturbance torque acting on the platform body according to the decoupling data. The inertial platform hybrid servo control loop realizes the measurability of the relative space variation of the platform body and improves the linearity accuracy of the angular velocity measurement.

The invention provides a modeling and testing method for platform body mass unbalanced torque. A kinetic model of the platform body mass unbalanced torque is established and is simplified, and the mass unbalance torque of the platform body is tested through the model. According to the invention, the constant disturbance torque of the platform body is quantitatively given, and the rotating precision of the inertia platform can be higher. The method for testing the platform body mass unbalanced torque is provided, and a dynamic mode is creatively used for measuring the inertia platform body massunbalanced torque, a torque motor is used for driving the platform body to rotate, the rotating angular speed output of the platform is measured, and the parameter identification of the angular velocity is carried out, and the disturbance torque is quantitatively given. The mass eccentricity is determined; the principle is simple, the test is convenient, and the engineering implementation is easy. The interference torque is considered, the comprehensive precision of factors is considered, further simplification is carried out, and the solving speed is increased.

The invention discloses a rapid generation method for a starlight/inertial composite guidance missile-borne fixed star database, the rapid generation method fully considers storage and calculation speed conditions of a missile-borne computer, the missile-borne fixed star database is generated according to an order of nebula/star cluster, inertial platform limitation, ground level avoidance and strong light source avoidance, a celestial pole transformation method is used to achieve the ground level avoidance, less memory is occupied, and the calculation speed is faster. The avoidance calculation of the nebula/star cluster is completed before loading of a fixed star database onto a missile, the amount of calculation on the missile is reduced; when the missile-borne fixed star database is generated on the missile, the missile-borne fixed star database is generated according to the order of inertial platform limitation, ground level avoidance and strong light source avoidance, the amount of calculation of the missile-borne computer is minimized, and the storage limit of the computer is reduced; and the celestial pole transformation method is used to achieve the ground level avoidance,reduces the computational complexity of the existing algorithm and improves the calculation accuracy.

The invention relates to a system of analyzing and quantifying a user's posture and gait, characterized in that it includes a pair 10 of soles 11, 12 each provided with an electronic box 100, 101, 102, each box comprising: an inertial platform, a data processing module 120, 121, 122, a data storage module 130, 131, 132, a means of communication 140, 141, 142, a power source 150.