Calibration platform and calibration method for six-dimensional acceleration sensor

Abstract

The invention discloses a calibration platform and a calibration method for a six-dimensional acceleration sensor, and belongs to the field of multidimensional acceleration sensors or strap-down inertial navigation. Two horizontal turntables with cylindrical pins drive two sliding platforms with sliding chutes to reciprocally move along own guide rails respectively. Two gears are arranged on one sliding platform, and the end faces of rotating shafts fixedly connected to the gears are connected with a standard acceleration sensor and the six-dimensional acceleration sensor to be calibrated through inclined blocks respectively. A rack is arranged on the other sliding platform. A fine adjustment mechanism can be used for adjusting distances between the gears and the rack. The six-dimensional acceleration sensor can be comprehensively calibrated in different working modes by controlling the fitting and separation states of the gears and the rack and the running and stopping states of two motors.

Description

technical field [0001] The invention belongs to the field of multi-dimensional acceleration sensors or the field of strapdown inertial navigation, and relates to a six-dimensional acceleration sensor calibration platform and a calibration method thereof, more specifically, relates to the linear acceleration of the six-dimensional acceleration sensor in three orthogonal directions in space and Calibration technique of angular acceleration. Background technique [0002] The calibration of the sensor refers to the calibration of the value of the sensor by using a certain standard instrument through experiments under the premise of clarifying the transformation relationship between the input and output of the signal to be measured, and then conducts a comprehensive technical appraisal of the newly developed or produced sensor. Aerospace, robotics, biomedical and other fields urgently need to provide comprehensive information on the acceleration of the moving carrier to achieve a...

AI Technical Summary

Problems solved by technology

Through analysis, the invention has the following three disadvantages: (1) When the angular acceleration is calibrated, the motor needs to rotate at a constant angular acceleration. Due to the large heat generation, the motor is seriously damaged; (2) Due to the difference in the corresponding installation position, the use of The platform cannot realize the synchronous calibration of linear acceleration and angular acceleration, that is, it lacks complete calibration information; (3) only one sensor can be placed on the pose transformation platform, and the comparison information is completely from the input of the rotary platform, and there is no other reference output. Therefore, the calibration accuracy is low

Through analysis, this method has the following two disadvantages: (1) Linear acceleration calibration and angular acceleration calibration are performed on different calibration devices, and the corresponding static output drifts are different, so the calibration effect is not ideal; (2) due to the calibration platform It is unable to output six-dimensional spatial motion, and can only calibrate each single-axis accelerometer, so the scale coefficient and coupling relationship between units cannot be calibrated

In summary, there are generally three difficulties in the calibration process of the six-dimensional acceleration sensor by the relative method: (1) The installation coordinate systems of the standard sensor and the sensor to be calibrated on the calibration platform cannot keep coincident, resulting in the six-dimensional accelerometers sensed by the two. (2) The calibration process usually requires the excitation of single-frequency or multi-frequency standard sine-cosine function acceleration, and the driving motor will be severely damaged due to frequent reciprocating and variable speed rotation; (3) the line Acceleration and angular acceleration need to be excited separately, and it is impossible to realize the synchronous calibration of the six-dimensional acceleration sensor

Some scholars try to use the existing six-dimensional force sensor calibration platform to calibrate the six-dimensional acceleration sensor, but only the static calibration can be achieved, and the dynamic calibration of the six-dimensional acceleration sensor cannot be realized.

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