CN110440783B - Split type umbrella-shaped mechanical shaking device of laser gyroscope - Google Patents
Split type umbrella-shaped mechanical shaking device of laser gyroscope Download PDFInfo
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- CN110440783B CN110440783B CN201910542911.XA CN201910542911A CN110440783B CN 110440783 B CN110440783 B CN 110440783B CN 201910542911 A CN201910542911 A CN 201910542911A CN 110440783 B CN110440783 B CN 110440783B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/58—Turn-sensitive devices without moving masses
- G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
- G01C19/66—Ring laser gyrometers
- G01C19/68—Lock-in prevention
- G01C19/70—Lock-in prevention by mechanical means
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Abstract
The invention discloses a split type umbrella-shaped mechanical shaking device of a laser gyroscope, which comprises a shaking unit and a laser gyroscope bearing unit, wherein the shaking unit is arranged on the laser gyroscope bearing unit; laser gyroscope bears unit includes the triangle-shaped rack, the center of triangle-shaped rack forms the boss, the even interval of boss is provided with three first fixed block, the screw has been seted up on every first fixed block, every first fixed block passes through the fixed laser gyroscope resonant cavity of screw and screw cooperation, the boss is located triangle-shaped rack central point and puts and has seted up first trompil, the second trompil has been seted up to the three edge of triangle-shaped rack, the shake unit includes that the centre of a circle direction along the ring has connected gradually first shake muscle and second shake muscle, the shake unit passes through the fixed laser gyroscope of through-hole cooperation and bears the unit. The split umbrella-shaped mechanical shaking device of the laser gyroscope improves the navigation measurement precision while reducing the volume and the cost.
Description
Technical Field
The invention belongs to the technical field of inertial navigation, and particularly relates to a split type umbrella-shaped mechanical shaking device of a laser gyroscope.
Background
At present, the application field of the inertial navigation technology is continuously expanding, so that the inertial navigation technology is more and more widely applied to the fields of military use, civil use, interstellar space navigation, scientific exploration and the like. From the structural aspect, the inertial navigation system generally comprises an inertial measurement device, a computer and a controller, wherein the inertial navigation device also comprises a gyro combination and an accelerometer, the traditional gyro combination mainly comprises three resonant cavities of the gyro, a control circuit and the like which are arranged along the X, Y, Z three directions, and is used for measuring the angular motion of an object in the three axial directions and transmitting the position and motion information to the navigation computer by matching with the accelerometer, thereby realizing the autonomous navigation without depending on external information and interference. The existing inertial navigation system has the problems of large volume and mass, high cost and low measurement precision.
Disclosure of Invention
The invention aims to provide a split type umbrella-shaped mechanical shaking device of a laser gyroscope, which solves the problems of larger volume and mass, higher cost and low measurement precision in the conventional inertial navigation system.
The technical scheme adopted by the invention is that,
the split umbrella-shaped mechanical shaking device of the laser gyroscope comprises a shaking unit and a laser gyroscope bearing unit;
the laser gyro bearing unit comprises a triangular rack, a boss is formed in the center of the triangular rack, three first fixing blocks are uniformly arranged on the boss at intervals, a screw hole is formed in each first fixing block, each first fixing block is matched with the screw hole through a screw to fix a laser gyro resonant cavity, a first opening is formed in the boss located in the center of the triangular rack, second openings are formed in three corners of the triangular rack, and the first opening and the second opening are used for fixing the laser gyro bearing unit to the shaking unit;
the shaking unit comprises a circular ring, three third open holes are formed in the circular ring at equal intervals along the circumferential direction, the third open holes are used for fixing the shaking unit to an external system structure, each third open hole is sequentially connected with a first shaking rib and a second shaking rib along the direction of the circle center of the circular ring, a fourth open hole is formed between the first shaking rib and the second shaking rib and corresponds to the second open hole, and a second fixed block is arranged at the position, corresponding to the first open hole, of the circle center of the circular ring.
The present invention is also characterized in that,
the triangular rack is in a regular triangle shape, and the surface of the boss parallel to the triangular rack is also in a regular triangle shape.
The triangular stand forms a sinking platform at the position close to three corners of the triangular stand,
the first fixed block sets up in the side of boss, and first fixed block and heavy platform interval are arranged.
Each first fixing block is respectively positioned between the triangular rack and the middle point of the corresponding side of the two triangles of the boss, and each first fixing block is arranged in a way of inclining to the triangular rack along the direction of the first opening.
The three first fixed blocks are arranged at an inclined angle which is intersected above the first opening along the radial extension line of the three first fixed blocks.
And each fixed block is matched with the screw hole through a screw to fix the laser gyro resonant cavity.
The screw being a nut
Locating pin
And a set screw with threads M3 x 8.
The second fixing block is provided with a through hole corresponding to the first opening.
The split type umbrella-shaped mechanical shaking device of the laser gyroscope has the advantages that the three gyroscopes are directly installed and integrated on the installation rack, so that the mechanical shaking is integrated, the complex mechanical structure and control unit are reduced, the overall structure of the rack becomes more compact, the size and weight of the system are reduced, the cost is reduced, meanwhile, through a space coordinate projection calculation system with a special angle (about 55 degrees), the output information of the three-axis laser gyroscope combination is superposed and projected in an actual orthogonal space coordinate system, the information amount of each axial direction is improved, and the navigation precision is improved.
Drawings
FIG. 1 is a schematic structural diagram of a split umbrella-shaped mechanical shaking device of a laser gyroscope of the present invention;
FIG. 2 is a schematic structural diagram of a triangular rack in the split umbrella-shaped mechanical shaking device of the laser gyroscope of the present invention;
FIG. 3 is a schematic top view of a triangular stand in the split umbrella-shaped mechanical dithering apparatus of the laser gyroscope of the present invention;
FIG. 4 is a schematic structural plan view of a split umbrella-shaped mechanical dithering apparatus of a laser gyroscope according to the present invention;
fig. 5 is a schematic structural diagram of a shaking unit in the split umbrella-shaped mechanical shaking device of the laser gyroscope of the invention.
In the figure, 1, a triangular rack, 2, a boss, 3, a first hole, 4, a first fixing block, 5, a screw hole, 6, a second hole, 7, a sinking platform, 8, a circular ring, 9, a third hole, 10, a second fixing block, 11, a fourth hole, 12, a second vibrating rib, 13, a first vibrating rib, 14, a screw and 15 are laser gyro resonant cavities.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention relates to a split type umbrella-shaped mechanical shaking device of a laser gyroscope, which comprises a shaking unit and a laser gyroscope bearing unit;
the laser gyro bearing unit comprises a triangular rack 1, a boss 2 is formed in the center of the triangular rack 1, three first fixing blocks 4 are uniformly arranged on the boss 2 at intervals, a screw hole 5 is formed in each first fixing block 4, each first fixing block 4 is matched with the screw hole 5 through a screw 14 to fix a laser gyro resonant cavity 15, a first opening 3 is formed in the boss 2 at the center of the triangular rack 1, second openings 6 are formed in three corners of the triangular rack 1, and the first opening 3 and the second opening 6 are used for fixing the laser gyro bearing unit to the shaking unit;
the shaking unit comprises a circular ring 8, the circular ring 8 is provided with three third open holes 9 at even intervals along the circumferential direction, the third open holes 9 are used for fixing the shaking unit to an external system structure, each third open hole 9 is sequentially connected with a first shaking rib 13 and a second shaking rib 12 along the direction of the center of a circle of the circular ring 8, a fourth open hole 11 is formed between the first shaking rib 13 and the second shaking rib 12 corresponding to the second open hole 6, and a second fixing block 10 is arranged at the position of the center of a circle of the circular ring 8 corresponding to the first open hole 3.
As shown in fig. 1 and 2, the bottom of the triangular rack 1 is regular triangle, the center of the top of the triangular rack 1 forms a boss 2, the boss 2 is umbrella-shaped, the whole triangular rack 1 is umbrella-shaped, three triangular sinking platforms 7 are formed between the three corners of the triangular rack 1 and the boss 2, the contact surface between the sinking platform 7 and the boss 2 is also triangle, the top surface of the boss is also triangle, three first fixing blocks 4 are arranged on the side surface of the boss 2 at intervals on the contact surface of the sinking platform 7 and the boss 2, the first fixing blocks 4 are used for fixing a laser gyro resonant cavity 15, a first opening 3 is formed in the center of a triangle on the upper surface of the boss 2, the first opening 3 is a through hole, second openings 6 are formed in three corners of the triangular rack 1, the second openings 6 are also through holes, and the first opening 3 and the second opening 6 are used for fixing the laser gyro bearing unit to the shaking unit;
as shown in fig. 3 and 4, the shaking unit includes a circular ring 8, three third openings 9 are uniformly arranged in the circumferential direction of the circular ring 8 at intervals, the third openings 9 are used for fixing the shaking unit to an external system structure, each third opening 9 is sequentially connected with a first shaking rib 13 and a second shaking rib 12 along the direction of the center of the circular ring 8, the three central ribs are feedback portions, the three outer ribs corresponding to the threaded holes are shaking driving portions, and corresponding portions are bonded with piezoelectric ceramics with corresponding characteristics. A fourth hole 11 is arranged between the first shaking rib 13 and the second shaking rib 12 corresponding to the second hole 6, and a second fixing block 10 is arranged at the position of the center of the circular ring 8 corresponding to the first hole 3.
The shaking units are independently controlled by the circuit and are started and stopped with the three axial gyroscopes, and compared with the traditional inertial navigation combination, two groups of mechanical shaking units are reduced, so that the mechanical shaking control steps are reduced and optimized, the problem that three groups of instruments need frequency difference is solved, and the inconvenience caused by maintenance and replacement is reduced because the rack and the shaking units are designed in a split mode.
The triangular rack 1 is in a regular triangle shape, and the surface of the boss 2 parallel to the triangular rack 1 is also in a regular triangle shape. The redundant space of the rack is fully utilized through the arrangement of the triangle.
Triangular rack 1 forms heavy platform 7 in the position of being close to its three corners, and first fixed block 4 sets up in the side of boss 2, and first fixed block 4 arranges with heavy platform 7 interval. The volume of the system is greatly reduced through the umbrella-shaped design.
As shown in fig. 5, each of the first fixing blocks 4 is respectively located between the triangular rack 1 and the midpoint of the two corresponding sides of the triangle of the boss, and each of the first fixing blocks 4 is arranged obliquely to the triangular rack 1 in the direction along the first opening 3. The three first fixing blocks 4 are arranged at an inclination angle intersecting above the first opening 3 along a radial extension thereof. So that the three laser gyro cavities 15 after fixing are orthogonal in space to enhance the accuracy of measurement.
The fixed block 4 is provided with a screw hole 5, and each fixed block 4 is matched with the screw hole 5 through a screw 14 to fix the laser gyro resonant cavity 15. Wherein the screw 14 is a nut
The positioning pin is
And a set screw with threads M3 x 8. Laser gyro resonant cavityThe positioning screws are fixed on the three end faces of the first fixing block, so that the fixing is more reasonable and stable.
In conclusion, the split type umbrella-shaped mechanical shaking device of the laser gyroscope has the advantages that;
the volume is littleer: the laser gyro resonant cavity 15 is directly installed and integrated on the rack, and the rack part is independent from the mechanical shaking part, so that the mechanical shaking units of all cavities are omitted, the circuit board installation area is reassembled, high integration and unified control are realized, the redundant space of the rack is fully utilized, and the system volume is greatly reduced.
The weight is lighter: the mechanical shaking units of the cavities are omitted, the special installation angle of the mechanical shaking units can ensure the stability and reduce the size of the whole longitudinal space of the rack, and the weight of the system is reduced by more than 20% by reasonably arranging the through holes.
The precision is higher: the three-way gyro mounting surface of the umbrella-shaped triangular rack 1 is integrally processed, so that the high-precision tolerance requirement is ensured, and the mounting precision of the laser gyro resonant cavity 15 can be well ensured. The mechanical shaking units of the cavities are omitted, so that the intermediate assembly link of the system is shortened, errors related to the platform system are eliminated, and meanwhile, output information of the three-axis laser gyro combination is superposed and projected in an actual orthogonal space coordinate system through a space coordinate projection calculation system with a special angle (about 55 degrees), so that the information content of each axis is improved, and the navigation precision is improved.
The wiring is more excellent: the design limitation that the circuit board and the laser gyro resonant cavities 15 are arranged nearby is broken through, the principle of volume minimization is fully considered, the circuit boards of the three laser gyro resonant cavities 15 are highly integrated together by utilizing the redundant space of the rack, and wiring channels are designed, so that the circuit distribution is clear, and welding wires are easier to operate.
Claims (3)
1. The split type umbrella-shaped mechanical shaking device of the laser gyroscope is characterized by comprising a shaking unit and a laser gyroscope bearing unit;
the laser gyro bearing unit comprises a triangular rack (1), a boss (2) is formed in the center of the triangular rack (1), three first fixing blocks (4) are uniformly arranged on the boss (2) at intervals, a screw hole (5) is formed in each first fixing block (4), each first fixing block (4) is matched with the screw hole (5) through a screw (14) to fix a laser gyro resonant cavity (15), a first opening (3) is formed in the boss (2) at the center of the triangular rack (1), second openings (6) are formed in three corners of the triangular rack (1), and the first opening (3) and the second openings (6) are used for fixing the laser gyro bearing unit to the shaking unit;
the shaking unit comprises a circular ring (8), three third open holes (9) are uniformly formed in the circular ring (8) at intervals along the circumferential direction, the third open holes (9) are used for fixing the shaking unit to an external system structure, each third open hole (9) is sequentially connected with a first shaking rib (13) and a second shaking rib (12) along the circle center direction of the circular ring (8), a fourth open hole (11) is formed between the first shaking rib (13) and the second shaking rib (12) corresponding to the second open hole (6), and a second fixing block (10) is arranged at the circle center position of the circular ring (8) corresponding to the first open hole (3);
the triangular rack (1) is in a regular triangle shape, and the surface of the boss (2) parallel to the triangular rack (1) is also in a regular triangle shape;
the triangular rack (1) is provided with sinking platforms (7) at positions close to three corners of the triangular rack, the first fixing blocks (4) are arranged on the side surfaces of the bosses (2), and the first fixing blocks (4) and the sinking platforms (7) are arranged at intervals;
each first fixing block (4) is respectively positioned between the triangular rack (1) and the middle point of two corresponding triangular sides of the boss, and each first fixing block (4) is obliquely arranged on the triangular rack (1) along the direction of the first opening (3);
the three first fixing blocks (4) are arranged at an inclined angle which is intersected above the first opening (3) along the radial extension line of the three first fixing blocks.
2. Split umbrella-shaped mechanical dithering apparatus of a laser gyroscope, as claimed in claim 1, wherein the screw (14) is a nut
Locating pin
And a set screw with threads M3 x 8.
3. The split umbrella-shaped mechanical shaking device of the laser gyroscope according to claim 1, wherein the second fixing block (10) is provided with a through hole corresponding to the first hole (3).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910542911.XA CN110440783B (en) | 2019-06-21 | 2019-06-21 | Split type umbrella-shaped mechanical shaking device of laser gyroscope |
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| CN201910542911.XA CN110440783B (en) | 2019-06-21 | 2019-06-21 | Split type umbrella-shaped mechanical shaking device of laser gyroscope |
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| CN110440783B true CN110440783B (en) | 2021-05-14 |
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| CN201910542911.XA Active CN110440783B (en) | 2019-06-21 | 2019-06-21 | Split type umbrella-shaped mechanical shaking device of laser gyroscope |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112284411B (en) * | 2020-09-09 | 2023-07-28 | 北京航天时代激光导航技术有限责任公司 | Jitter control method of laser inertial measurement unit |
| CN112595305B (en) * | 2020-11-25 | 2023-05-09 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Shaking mechanism for driving triaxial orthogonal laser gyro |
Citations (6)
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|---|---|---|---|---|
| US4425040A (en) * | 1981-01-29 | 1984-01-10 | The Singer Company | Ring laser gyroscope cluster for strapped down navigation |
| CN86103129A (en) * | 1985-05-10 | 1986-11-26 | 霍尼韦尔公司 | Support the dither mechanism of ring laser angular rate sensor |
| US5326163A (en) * | 1991-05-10 | 1994-07-05 | Honeywell Inc. | Dither apparatus |
| CN102322860A (en) * | 2011-09-01 | 2012-01-18 | 中国航空工业第六一八研究所 | Sensor tilting inertia measurement unit structure |
| CN102519459A (en) * | 2011-11-25 | 2012-06-27 | 西安航天精密机电研究所 | Multi-cavity platform body for inertia sensitive components |
| CN208505331U (en) * | 2017-12-26 | 2019-02-15 | 四川图林科技发展有限公司 | One kind trembling gyroscopic inertia measuring unit IMU altogether |
-
2019
- 2019-06-21 CN CN201910542911.XA patent/CN110440783B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4425040A (en) * | 1981-01-29 | 1984-01-10 | The Singer Company | Ring laser gyroscope cluster for strapped down navigation |
| CN86103129A (en) * | 1985-05-10 | 1986-11-26 | 霍尼韦尔公司 | Support the dither mechanism of ring laser angular rate sensor |
| US5326163A (en) * | 1991-05-10 | 1994-07-05 | Honeywell Inc. | Dither apparatus |
| CN102322860A (en) * | 2011-09-01 | 2012-01-18 | 中国航空工业第六一八研究所 | Sensor tilting inertia measurement unit structure |
| CN102519459A (en) * | 2011-11-25 | 2012-06-27 | 西安航天精密机电研究所 | Multi-cavity platform body for inertia sensitive components |
| CN208505331U (en) * | 2017-12-26 | 2019-02-15 | 四川图林科技发展有限公司 | One kind trembling gyroscopic inertia measuring unit IMU altogether |
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