CN107255479A - A kind of four redundancy-type SINS IMU stage bodies - Google Patents

Abstract

The invention provides a four-redundant strapdown inertial navigation system IMU platform, comprising: a tetrahedral frame and three L-shaped support legs; it is characterized in that the tetrahedral frame includes three inclined surfaces and a bottom surface; the tetrahedral frame There are three installation reference feet on each plane, and the centers of the three installation reference feet form an equilateral triangle. The upper surfaces of the three installation reference feet are coplanar and parallel to the plane of the tetrahedral frame where they are located; The central axes of the two threaded holes are perpendicular to the installation plane and distributed symmetrically about the center of the installation reference foot; the tetrahedral frame is symmetrical about the three beams and is a hollow structure; the L-shaped support foot has a triangular groove, and the center of the triangular groove is tapped. Thread; There are two threaded holes on the sole of the L-shaped support foot. The invention is easy to install, has small installation error of the inertial measurement unit, is easy to dissipate heat, and has small mass and volume of the table body.

Description

A four-redundant strapdown inertial navigation system IMU body

technical field

The invention belongs to the technical field of inertial navigation systems, in particular to a four-redundant strapdown inertial navigation system IMU body.

Background technique

The traditional strapdown inertial navigation system measures the angular velocity by three gyroscopes installed orthogonally to each other. When any one of the gyroscopes fails, the system will not work properly. There are two main methods to solve this problem: one is to replace the faulty gyroscope, which often occurs during use, and a fault will affect the working efficiency of the system. Another method is to use redundancy technology. Compared with the method of replacing the gyroscope, the use of redundancy technology can solve potential problems at the design stage, so that the reliability of the system is greatly improved.

The existing SINS redundancy technology can be divided into system-level redundancy and component-level redundancy. At present, the research on domestic redundancy technology mainly focuses on component-level redundancy, and the research on component-level redundancy technology mainly focuses on Focus on redundant configuration schemes. The realization of component-level redundancy requires the support of the redundant SINS inertial measurement unit (Inertial Measurement Unit, IMU) body. Therefore, the design of the SINS IMU body is particularly important.

At present, Zhang Chunxi and others have designed a six-redundant fiber optic gyroscope IMU body in the invention patent "A Six-redundant Fiber Optic Gyroscope IMU Body" (authorization number: ZL201310315129.7), which is a six-redundant type The engineering realization of the scheme provides technical support. For the four-redundant SINS, there is no data on the IMU body of the four-redundant SINS. Therefore, a four-redundant type strapdown inertial navigation system IMU platform designed by the present invention is very meaningful.

Contents of the invention

The object of the present invention is to provide a four-redundant strapdown inertial navigation system IMU body with simple structure and easy assembly of inertial measurement units.

The purpose of the present invention is achieved in this way, including: a tetrahedron frame, three L-shaped supporting feet;

The tetrahedral frame includes three slopes and a bottom surface; each plane of the tetrahedral frame has three installation reference feet, the centers of the three installation reference feet form an equilateral triangle, and the upper surfaces of the three installation reference feet are coplanar and aligned with the The plane of the tetrahedral frame is parallel; each installation reference foot has two threaded holes, the central axes of the two threaded holes are perpendicular to the installation plane and symmetrically distributed about the center of the installation reference foot; the tetrahedron frame is symmetrical about three beams and is a hollow structure ;

The L-shaped supporting foot has a triangular groove, and the center of the triangular groove is tapped with threads; the bottom surface of the L-shaped supporting foot has two threaded holes.

The present invention may also include:

1. The tetrahedron mounting frame and L-shaped support feet are integrally formed.

2. A gap of 1 mm to 2 mm is left between the L-shaped support foot and the adjacent installation reference foot.

The present invention has following beneficial effect:

1. The tetrahedral installation frame is formed in one piece to avoid the installation error of the installation reference foot relative to the tetrahedron frame;

2. Three installation reference feet are distributed on each face of the tetrahedral frame, which can realize the same modular installation and facilitate the assembly and maintenance of the inertial measurement unit;

3. The tetrahedron frame is a hollow structure, which is helpful for heat dissipation and reduces the mass of the platform;

4. The four joints of the tetrahedral frame are flattened to reduce the volume and quality of the platform;

Description of drawings

Figure 1 shows the IMU platform structure of the four-redundant strapdown inertial navigation system;

Figure 2 is a front view of the L-shaped support feet of the IMU platform of the four-redundant strapdown inertial navigation system;

Figure 3 is a top view of the L-shaped support feet of the IMU platform of the four-redundant strapdown inertial navigation system.

detailed description

The present invention will be described in more detail below in conjunction with accompanying drawing:

A four-redundant strapdown inertial navigation system IMU body, as shown in Figure 1, includes: a tetrahedron frame 1, an installation reference foot 2, and an L-shaped support foot 4;

Tetrahedron frame 1 comprises three slopes and a bottom surface; Each plane of tetrahedron frame 1 all has three installation datum feet 2, and the center of three installation datum feet 2 forms equilateral triangle, and the upper surface of three installation datum feet altogether and parallel to the plane of the tetrahedron frame where it is located; each installation reference foot has two threaded holes, the central axes of the two threaded holes are perpendicular to the installation plane and symmetrically distributed about the center of the installation reference foot;

In order to reduce the weight of the tetrahedral frame 1, the tetrahedral frame 1 is designed as a hollow structure; the tetrahedral frame 1 is symmetrical along the centerlines of the three beams, so that the tetrahedral frame structure is stable and not easily damaged.

In conjunction with Fig. 2 and Fig. 3, the L-shaped support foot 4 has a triangular groove 6, and the center of the triangular groove 6 has a central thread 5; the L-shaped support foot bottom surface has two surface threaded holes 7. The triangular groove achieves the goal of reducing weight while ensuring the strength of the supporting foot. The connection relationship between the IMU platform is as follows: with the help of the triangular groove 6 central threaded hole 5 of the L-shaped supporting foot 4, the tetrahedral frame 1 and the L-shaped supporting foot 4 are fixedly connected together, and the tetrahedral frame 1 and the platform mounting base are realized. Isolate the target and facilitate the heat dissipation of the redundant SINS. A gap of 1 mm to 2 mm is left between the L-shaped support foot 4 and the adjacent installation reference foot.

The tetrahedral frame 1 and the L-shaped supporting foot 4 are produced and processed by one-piece molding technology, so that the parts meet the structural strength requirements, and the installation error of the installation reference foot 2 relative to the tetrahedral frame 1 can be avoided;

The tetrahedron frame has the following characteristics: in the four faces, the midpoint of the center line of the two threaded holes 3 on each installation reference foot, and the two threaded holes on the other two installation reference feet different from this installation reference foot The midpoint of the line connecting the threaded hole centers 3, the three points form an equilateral triangle; the three installation reference feet 2 on each surface are perpendicular to the surface, and the two threaded holes 3 on each installation reference foot 2 are parallel The two midlines on the tetrahedral frame face are in symmetrical positions. Based on the four-redundant configuration scheme, the angle between the slope and the bottom of the tetrahedron frame 1 in Figure 1 is determined. Since the triangular pyramid frame is symmetrical, the angles between the three slopes and the bottom are equal. Therefore, according to the IMU platform shown in Figure 1, the four inertial measurement units are connected to the four faces of the tetrahedral frame by bolts to construct a four-redundant strapdown inertial navigation system based on the triangular pyramid configuration scheme.

Claims (3)

1. A four-redundant type strapdown inertial navigation system IMU platform body, comprising: a tetrahedron frame, three L-shaped support feet; it is characterized in that, The tetrahedral frame includes three slopes and a bottom surface; each plane of the tetrahedral frame has three installation reference feet, the centers of the three installation reference feet form an equilateral triangle, and the upper surfaces of the three installation reference feet are coplanar and aligned with the The plane of the tetrahedral frame is parallel; each installation reference foot has two threaded holes, the central axes of the two threaded holes are perpendicular to the installation plane and symmetrically distributed about the center of the installation reference foot; the tetrahedron frame is symmetrical about three beams and is a hollow structure ; The L-shaped supporting foot has a triangular groove, and the center of the triangular groove is tapped with threads; the bottom surface of the L-shaped supporting foot has two threaded holes. 2. A four-redundant strapdown inertial navigation system IMU platform as claimed in claim 1, wherein the tetrahedral mounting frame and the L-shaped support feet are integrally formed. 3. A four-redundant type strapdown inertial navigation system IMU platform as claimed in claim 1 or 2, wherein there is a gap of 1 mm to 2mm gap.