CN110186481B - Calibration system and calibration method suitable for inertial component on small-sized guided missile - Google Patents
Calibration system and calibration method suitable for inertial component on small-sized guided missile Download PDFInfo
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- CN110186481B CN110186481B CN201910497218.5A CN201910497218A CN110186481B CN 110186481 B CN110186481 B CN 110186481B CN 201910497218 A CN201910497218 A CN 201910497218A CN 110186481 B CN110186481 B CN 110186481B
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- 238000012544 monitoring process Methods 0.000 claims description 18
- 230000007246 mechanism Effects 0.000 claims description 9
- 238000005259 measurement Methods 0.000 claims description 8
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention discloses a calibration system and a calibration method suitable for an inertia assembly on a small-sized guided missile. The calibration system comprises a joint robot, a clamp, a test platform, a remote control cabinet and the like, wherein the joint robot can clamp and fix the tested missile through a special clamp, and the remote control cabinet controls the joint robot to grab the tested missile to reach different positions and postures. Meanwhile, the joint robot is provided with an angle reference, and the test and calibration of the elastic inertia assembly are realized through the comparison of the angle reference and the output of the inertia assembly. The system can complete the test and calibration of the on-missile inertia assembly under the condition of whole missile, provides a stable, reliable, safe and convenient platform for the test and calibration of the on-missile inertia assembly, and solves the problem of complex calibration process of the existing on-missile inertia assembly.
Description
Technical Field
The invention relates to the technical field of special test equipment, in particular to a calibration system suitable for calibrating an inertia assembly on a small-sized guided missile.
Background
Along with the change of world military and the wide application of high and new technology, the operation form and operation concept of modern war are changing, and the war benefit view of 'effectiveness operation based' is gradually accepted by all countries in the world. The small guided missile has the advantages of small volume, light weight, low combat implementation cost, high hit precision and the like, is widely applied to the current local wars, particularly the anti-terrorism wars, and becomes the key development direction of related scientific research units in China in recent years.
Due to the limitation of cost, volume and other factors, the on-missile inertial components of the small-sized guided missiles at the present stage mostly adopt MEMS inertial devices, such as MEMS accelerometers and MEMS gyroscopes. The MEMS inertial device has the obvious advantages of small volume, low power consumption, high reliability and the like, but has the problem of zero drift in the long-term storage process. The zero drift of the inertia component directly influences the hit precision of the missile, and the operational efficiency of the missile is concerned, so that the on-missile inertia component needs to be calibrated regularly.
At present, the conventional calibration method of the inertia assembly is to disassemble the inertia assembly from a missile and then calibrate the inertia assembly through a high-precision rotary table. The calibration method is difficult to implement, the implementation process is complex, and meanwhile, inevitable potential safety hazards exist in the missile disassembling process. The missile is difficult to maintain due to the problems, and the large-scale application of small guided missiles is restricted.
Disclosure of Invention
In order to solve the problems, the invention aims to provide a calibration system and a calibration method suitable for an inertia assembly on a small-sized guided missile.
The technical scheme adopted by the invention is as follows: the utility model provides a calibration system suitable for inertia subassembly on small-size guidance missile bullet, includes measuring platform, joint robot, anchor clamps, remote control cabinet, one set of video monitoring system, one set of host computer that is used for man-machine to exchange, its characterized in that: the measuring platform and the joint robot are fixed on the bottom plate, the front end and the rear end of the measuring platform are both provided with V-shaped supports, and a limiting mechanism is arranged behind the V-shaped supports at the rear ends; the camera bracket is fixedly connected with the measuring platform, and the monitoring camera is arranged on the camera bracket; a clamp is arranged at the foremost end of the joint robot arm, and comprises a left clamping jaw and a right clamping jaw;
the joint robot clamps and fixes the missile to be measured through the clamp; the clamp comprises a left clamping jaw and a right clamping jaw, and the left clamping jaw and the right clamping jaw clamp the slide block of the missile to be tested by using the handle to adjust the clamp screw rod so as to fix the missile to be tested;
the measuring platform is used for supporting the measured missile and positioning the initial position of the measured missile through the V-shaped supporting and limiting mechanism;
an angle sensor is arranged on the clamp and used as an angle reference of the posture of the measured missile, the angle measurement range is 0-90 degrees, and the measurement precision is 0.005 degrees;
the system comprises a set of video monitoring system, a camera support and a measuring platform, wherein the video monitoring system is used for carrying out remote video monitoring on the state of a measured missile;
the upper computer software for man-machine communication can perform real-time control and state display of the joint robot and test and calibration of the tested missile, and realize remote operation and informatization processing;
the remote control cabinet controls the joint robot to grab the tested missile to different positions and postures, and the angle sensor measures the posture angle of the tested missile at the moment; and the upper computer software calculates calibration parameters by comparing the outputs of the angle sensor and the on-missile inertia component, so that the on-missile inertia component is tested and calibrated.
The invention has the characteristics that:
1. the calibration system can test and calibrate the on-missile inertia assembly under the condition of whole missile, thereby avoiding the disassembly process of the inertia assembly in the traditional calibration method, improving the calibration efficiency and avoiding the potential safety hazard of missile disassembly.
2. The design of the clamping jaws of the adjusting clamp can be suitable for calibrating inertia components on different types of small guided missiles, and the calibration system disclosed by the invention is wide in application range.
3. The angle measurement precision is high, the measurement precision is 0.005 degrees, and the calibration requirements of various inertia assemblies can be met.
4. The industrial joint robot is used as a basic equipment platform of the calibration system, the cost performance, the automation degree and the safety of the calibration system are superior to those of the traditional high-precision turntable calibration scheme, the use and maintenance difficulty is low, the test efficiency is high, and the system is convenient to popularize and apply widely.
5. The calibration system is provided with an upper computer and can carry out remote operation and information processing.
6. And the inertia component calibration software is integrated, so that the calibration parameters can be automatically calculated, and the calibration of the inertia component is completed.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the calibration system.
FIG. 2 is a schematic diagram of a calibration system fixture configuration.
Fig. 3 is a schematic diagram of the structure of the left and right clamping jaws of the calibration system.
The reference numbers illustrate: the device comprises a camera support 1, a monitoring camera 2, a measured missile 3, a V-shaped support 4, a measuring platform 5, a bottom plate 6, a clamp 7, an angle sensor 8, a joint robot 9, a limiting mechanism 10, a left clamping jaw 11, a clamp screw 12, a right clamping jaw 13, a measured missile sliding block 14 and a handle 15.
Detailed Description
In order to make the objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
As shown in figures 1, 2 and 3, the calibration system suitable for the inertia component on the small-sized guided missile comprises a measuring platform, a joint robot, a clamp, a remote control cabinet, a set of video monitoring system and a set of upper computer for man-machine communication,
the measuring platform 5 and the joint robot 9 are fixed on the bottom plate 6, the front end and the rear end of the measuring platform 5 are both provided with V-shaped supports 4, and a limiting mechanism 10 is arranged behind the V-shaped supports 4 at the rear end; the camera support 1 is fixedly connected with the measuring platform 5, and the monitoring camera 2 is arranged on the camera support 1; a clamp 7 is arranged at the foremost end of the arm of the joint robot 9, and the clamp 7 comprises a left clamping jaw 11 and a right clamping jaw 13;
the joint robot 9 clamps and fixes the missile 3 to be tested through the clamp 7; the clamp 7 comprises a left clamping jaw 11 and a right clamping jaw 13, and the left clamping jaw 11 and the right clamping jaw 13 clamp the missile slider 14 to be tested by adjusting a clamp screw 12 through a handle 15 so as to fix the missile 3 to be tested.
The measuring platform 5 is used for supporting the missile 3 to be measured and positioning the initial position of the missile 3 to be measured through the V-shaped support 4 and the limiting mechanism 10;
an angle sensor 8 is arranged on the clamp 7 and used as an angle reference of the posture of the missile 3 to be measured;
the video monitoring system is used for carrying out remote video monitoring on the state of the tested missile 3;
the upper computer is used for man-machine communication, real-time control and state display are carried out on the joint robot 9, the tested missile is tested and calibrated, and remote operation and information processing are realized;
the remote control cabinet controls the joint robot 9 to grab the tested missile 3 to reach different positions and postures, and the angle sensor 8 measures the posture angle of the tested missile 3 at the moment; and comparing the output of the angle sensor 8 and the on-missile inertia component of the missile 3 to be measured by the upper computer, calculating a calibration parameter, and completing calibration of the on-missile inertia component.
The monitoring camera 2 is arranged on the camera support 1, and the camera support 1 is fixedly connected with the measuring platform 5.
An angle sensor 8 is arranged on the clamp 7 and used as an angle reference of the posture of the measured missile, the angle measurement range is 0-90 degrees, and the measurement precision is 0.005 degrees;
when the on-board inertia assembly is calibrated, the specific operation process is as follows:
1) The joint robot 9 is controlled by a remote control cabinet to place the clamp 7 at a specified position of the measuring platform 5;
2) An operator places a missile to be measured 3 on a V-shaped support 4 of a measuring platform 5 and performs primary positioning through a limiting mechanism 10;
3) An operator pushes the tested missile sliding block 14 into the clamp 7, and adjusts the clamp screw 12 by using the handle 15, so that the left clamping jaw 11 and the right clamping jaw 13 clamp the tested missile sliding block 14;
4) Connecting the missile test cable, and leaving the site for the operator after the missile test cable is checked to be correct;
5) The joint robot 9 is controlled by the remote control cabinet to drive the clamp 7, the tested missile 3 is grabbed to sequentially reach eight fixed postures shown in the table 1, and the angle sensor 8 arranged on the clamp 7 can accurately measure the posture angle of the missile body at the moment;
TABLE 1 projectile attitude successively reached by the missile under test
| Serial number | Direction of rolling | Pitch direction | Course direction |
| 1 | 0° | 0° | 0° |
| 2 | 90° | 0° | 0° |
| 3 | 180° | 0° | 0° |
| 4 | 270° | 0° | 0° |
| 5 | 0° | 90° | 0° |
| 6 | 0° | -90° | 0° |
| 7 | 0° | 0° | 0° |
6) When a fixed attitude is reached, reading and recording the output of the angle sensor 8 and the missile-borne inertia assembly of the missile 3 to be measured through the remote control cabinet;
7) After the test of all the postures is finished, comparing the output of the angle sensor 8 and the missile-mounted inertia assembly of the missile 3 to be tested by inertia assembly calibration software of the upper computer, calculating calibration parameters, and finishing the calibration of the missile-mounted inertia assembly;
8) After calibration is finished, the joint robot 9 is controlled by the remote control cabinet to drive the clamp 7, and the missile to be measured 3 is placed back to the V-shaped support 4 of the measuring platform 5;
9) And (4) an operator enters the site, separates the tested missile 3 from the clamp 7 and conveys the tested missile 3 to a specified position.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (4)
1. The utility model provides a calbiration system suitable for inertia subassembly on small-size guidance missile which characterized in that: the system comprises a measuring platform, a joint robot, a clamp, a remote control cabinet, a set of video monitoring system and a set of upper computer for man-machine communication, wherein the measuring platform (5) and the joint robot (9) are fixed on a bottom plate (6), V-shaped supports (4) are arranged at the front end and the rear end of the measuring platform (5), and a limiting mechanism (10) is arranged behind the V-shaped supports (4) at the rear end; the camera support (1) is fixedly connected with the measuring platform (5), and the monitoring camera (2) is installed on the camera support (1); a clamp (7) is arranged at the foremost end of an arm of the joint robot (9), and the clamp (7) comprises a left clamping jaw (11) and a right clamping jaw (13);
the joint robot (9) clamps and fixes the missile (3) to be measured through the clamp (7);
the measuring platform (5) is used for supporting the missile (3) to be measured and positioning the initial position of the missile (3) to be measured through the V-shaped support (4) and the limiting mechanism (10);
an angle sensor (8) is arranged on the clamp (7) and used as an angle reference of the posture of the missile (3) to be measured;
the video monitoring system is used for carrying out remote video monitoring on the state of the tested missile (3);
the upper computer is used for man-machine communication, real-time control and state display are carried out on the joint robot (9), and the tested missile is tested and calibrated to realize remote operation and information processing;
the remote control cabinet controls the joint robot (9) to grab the tested missile (3) to reach different positions and postures, and the angle sensor (8) measures the posture angle of the tested missile (3) at the moment; the upper computer compares the output of the on-missile inertia component of the angle sensor (8) and the missile (3) to be tested, calculates calibration parameters and completes calibration of the on-missile inertia component; when the on-board inertia assembly is calibrated, the specific operation process is as follows:
1) The joint robot (9) is controlled by a remote control cabinet to place the clamp (7) at a specified position of the measuring platform (5);
2) An operator places a measured missile (3) on a V-shaped support (4) of a measuring platform (5) and performs primary positioning through a limiting mechanism (10);
3) An operator pushes the tested missile sliding block (14) into the clamp (7), and the screw (12) is adjusted by using the handle (15) to enable the left clamping jaw (11) and the right clamping jaw (13) to clamp the tested missile sliding block (14);
4) Connecting the missile test cable, and leaving the site for the operator after the operator checks the missile test cable without errors;
5) The joint robot (9) is controlled by the remote control cabinet to drive the clamp (7) to grab the tested missile (3) to sequentially reach eight fixed postures, and an angle sensor (8) arranged on the clamp (7) can accurately measure the posture angle of the missile body at the moment;
6) When a fixed attitude is reached, the output of the angle sensor (8) and the missile-borne inertia assembly of the missile (3) to be measured is read and recorded through the remote control cabinet;
7) After the test of all the postures is finished, comparing the output of the angle sensor (8) and the missile-borne inertia assembly of the missile (3) to be tested by inertia assembly calibration software of the upper computer, calculating calibration parameters and finishing the calibration of the missile-borne inertia assembly;
8) After calibration is finished, the joint robot (9) is controlled by the remote control cabinet to drive the clamp (7), and the missile to be measured (3) is placed back to the V-shaped support (4) of the measuring platform (5);
9) And (3) separating the tested missile (3) from the clamp (7) when an operator enters the field, and conveying the tested missile (3) to a specified position.
2. The system for calibrating the inertia components on the small-sized guided missile according to claim 1, wherein the video monitoring system comprises a monitoring camera (2), the monitoring camera (2) is arranged on a camera support (1), and the camera support (1) is fixedly connected with the measuring platform (5).
3. The system for calibrating the inertia component on the small-sized guided missile according to claim 1, wherein the angle measurement range of the angle sensor (8) is 0 to 90 degrees, and the measurement precision is 0.005 degrees.
4. The system for calibrating the upper inertia component of the small-sized guided missile according to claim 1 is characterized in that the clamp (7) comprises a left clamping jaw (11) and a right clamping jaw (13), and the left clamping jaw (11) and the right clamping jaw (13) clamp the sliding block (14) of the missile to be tested to fix the missile to be tested by adjusting a clamp screw rod (12) through a handle (15).
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| JP2007192585A (en) * | 2006-01-17 | 2007-08-02 | Develo:Kk | Method of calibrating and producing survey unit, and method producing of device for performing moving body survey |
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