阅读说明：本技术 微惯性寻北仪 (Micro-inertia north seeker ) 是由 张天 黎超 刘刚 于 2020-12-03 设计创作，主要内容包括：本发明涉及一种微惯性寻北仪,其包括外壳,以及设置在外壳内的支承架；交叉滚子轴承的外径通过支撑架与外壳固定安装,外壳通过至少两个定位面与外部结构连接,作为方位基准；交叉滚子轴承的内径与旋转座连接,旋转座内设置有高精度微惯性传感器,高精度微惯性传感器至少有一个工作轴随交叉滚子轴承转动做圆周运动；在支承架上部设置有旋转驱动机构和限位机构,旋转驱动机构与旋转座顶部连接,带动旋转座转动,限位机构与旋转座接触,用于在旋转座转动至制定位置后进行制动锁定。本发明大幅减小了寻北仪的体积与成本,并且能适用于多种恶劣工作条件,适用于地下、水下等遮蔽位置的精确无源指向,尤其适用于地下资源勘探、抗卫星信号干扰等应用。(The invention relates to a micro-inertia north seeker, which comprises a shell and a support frame arranged in the shell; the outer diameter of the crossed roller bearing is fixedly installed with the shell through a support frame, and the shell is connected with an external structure through at least two positioning surfaces and used as an azimuth reference; the inner diameter of the crossed roller bearing is connected with a rotating seat, a high-precision micro inertial sensor is arranged in the rotating seat, and at least one working shaft of the high-precision micro inertial sensor makes circular motion along with the rotation of the crossed roller bearing; a rotary driving mechanism and a limiting mechanism are arranged on the upper portion of the supporting frame, the rotary driving mechanism is connected with the top of the rotary seat and drives the rotary seat to rotate, and the limiting mechanism is in contact with the rotary seat and used for braking and locking after the rotary seat rotates to a set position. The invention greatly reduces the volume and the cost of the north finder, can be suitable for various severe working conditions, is suitable for precise passive pointing of shielding positions underground, underwater and the like, and is particularly suitable for application in underground resource exploration, satellite signal interference resistance and the like.)

1. The micro-inertia north seeker is characterized by comprising a shell and a support frame arranged in the shell; the outer diameter of the crossed roller bearing is fixedly installed with the shell through the supporting frame, and the shell is connected with an external structure through at least two positioning surfaces and used as an azimuth reference; the inner diameter of the crossed roller bearing is connected with a rotating seat, a high-precision micro inertial sensor is arranged in the rotating seat, and at least one working shaft of the high-precision micro inertial sensor rotates along with the crossed roller bearing to do circular motion; supporting rack upper portion is provided with rotary driving mechanism and stop gear, rotary driving mechanism with the roating seat top is connected, drives the roating seat rotates, stop gear with the roating seat contact is used for the roating seat rotates to carrying out the braking locking after formulating the position.

2. The micro inertial north seeker of claim 1, wherein the rotary drive mechanism includes an ultrasonic motor, a worm gear, and a worm; the ultrasonic motor is fixedly arranged on one side of the top of the support frame, the output end of the ultrasonic motor is connected with the worm, the worm wheel in transmission connection with the worm is arranged on the top of the rotating seat, and the worm wheel and the inner diameter of the crossed roller bearing are concentric.

3. The micro inertial north seeker of claim 1, wherein the limiting mechanism includes a lift motor, a brake head, and a lift guide post; the lifting motor and the lifting guide pillar are fixedly arranged on the support frame, and the lifting guide pillar is positioned on the output side of the lifting motor; the output end of the lifting motor is connected with the brake head to drive the brake head to move up and down along the lifting guide pillar in the axial direction; one end of the brake head is made of a high-friction-coefficient material and used for compressing the surface of the rotating seat to provide friction force, and the other end of the brake head is made of a low-friction-coefficient material so as to move along the lifting guide pillar.

4. The micro inertial north seeker of claim 1, further comprising a sensor acquisition board and a multi-axis integrated micro inertial sensor; the sensor acquisition board is arranged on the rotary seat, and the multi-axis integrated micro inertial sensor is arranged on the sensor acquisition board; the high-precision micro inertial sensor and the multi-axis integrated micro inertial sensor are both electrically connected with the sensor acquisition board, and data acquisition, encoding and decoding are completed through the sensor acquisition board.

5. The micro inertial north seeker of claim 4, further comprising a first data conversion plate, an aviation plug second data conversion plate, and an angle sensor; the first data conversion plate is fixedly arranged at the top of the supporting frame, the second data conversion plate is fixedly arranged at the bottom of the supporting frame, and the first data conversion plate and the second data conversion plate are connected with the sensor acquisition plate for data transmission; the first data conversion plate is provided with the aviation plug, and power is supplied and data transmission is carried out between the first data conversion plate and external equipment through the aviation plug; the first data conversion plate is electrically connected with motors in the rotary driving mechanism and the limiting mechanism; the angle sensor is arranged on the upper part of the second data conversion plate and is connected with the second data conversion plate.

6. The micro inertial north seeker of claim 5, wherein the second data converter plate is provided with a conductive slip at a central location.

7. The micro inertial north seeker of claim 5, wherein said angle sensor is comprised of an angle stator mounted and positioned on said support frame by a metal tray and an angle rotor fixed to the bottom of said rotating base.

8. The micro inertial north seeker of claim 1, wherein said high precision micro inertial sensor is disposed at an axial center location of said rotating base.

9. The micro inertial north seeker of claim 1, wherein said support frame is an integrally formed structure with a central circular aperture and four support legs; the circular ring at the central circular hole is a first positioning surface for installing a crossed roller bearing, the end surfaces of the four supporting legs are all arranged into a three-layer step structure, angle measuring stator installing and positioning surfaces are arranged on the first-layer step surface, second data conversion plate installing surfaces are arranged on the second-layer step surface, and a first positioning surface for installing a shell is arranged on the third-layer step surface; the outer side surfaces of the four supporting legs are respectively provided with a second positioning surface for mounting a shell; and a wiring groove and a shell fastening bulge are also arranged on the outer side surface of the supporting frame.

10. The micro inertial north seeker of claim 9, wherein said rotating base is a U-shaped slot with a central outer ring; the central outer ring is a crossed roller bearing mounting second positioning surface and is used for being matched with the crossed roller bearing mounting first positioning surface; a braking surface is arranged on one side, close to the worm wheel, of the central outer ring, knurling is arranged on the braking surface, and the lifting motor drives the braking head to be matched with the knurling for braking and locking, so that the rotating seat and the supporting frame form a rigid body which is fixedly connected; the U-shaped groove is used for placing the high-precision micro inertial sensor and is installed and positioned through a high-precision micro inertial sensor installation positioning surface arranged at the closed end of the U-shaped groove; the blind end of U-shaped groove still is provided with worm wheel installation locating surface, the open end of U-shaped groove is provided with angle measurement rotor installation locating surface.

Technical Field

The invention relates to the technical field of north finders, in particular to a micro-inertia north finder.

Background

The north finder is used as an instrument for indicating the direction, is widely applied to the fields of initial primary alignment of satellites, missiles, high-precision inertial navigation systems and the like, and is also widely applied to civil fields of geophysical exploration, coal mining, geodetic surveying, mines, underground drilling engineering, tunnel excavation, unmanned automobile automatic driving systems, vehicle-mounted positioning and directional navigation systems and the like.

According to different principles, the north seeker is divided into two categories. The first type of north seeker requires external information assistance, such as astronomical north, GPS north, and rearview orientation north. The astronomical north-seeking method is used for seeking north by observing the position of a fixed star by an optical instrument. The north-seeking of the GPS depends on the position information of two points measured by the GPS signal to seek the north. The rear-view orientation north-seeking in the mapping field measures the angle and distance of a point to be solved by a theodolite and the like on the basis of the known accurate coordinate of the point, and then calculates to obtain a north-oriented included angle. The north-seeking method needing assistance of external information is generally high in precision, depends on external conditions, is harsh in requirements on weather, positions and other environments, and is generally long in north-seeking period. The second type of north seeker does not require external information assistance, such as magnetic north seeking and inertial north seeking. Magnetic north seeking determines the magnetic north pole by detecting the earth's magnetic field with a magnetic sensor. Inertial north-seeking relies on gyros and accelerometers to measure the earth's spin vector to determine the geographic north. The electronic magnetic compass in the prior art can achieve higher precision, but is easily interfered by surrounding ferromagnetic substances, electronic equipment and the like due to weaker earth magnetic field, so that the use of the electronic magnetic compass is limited. Compared with the prior art, the inertial north-seeking method has the advantages of strong concealment, high north-seeking orientation precision, short measurement time, complete autonomy, no limitation of weather conditions and the like. The inertial north-seeking is widely applied in the field with higher requirements on precision and use environment.

The gyroscope is a core component in the inertial north seeker, and the use of the gyroscope is the key for the development of the inertial north seeker. The traditional inertial north seeker generally adopts high-precision gyroscopes such as a laser gyroscope, a fiber optic gyroscope, a flexible gyroscope and the like. The north seeker can achieve higher precision within the specified north seeking time, and meet specific use requirements. However, the north seeker has the problems of high price, large volume, heavy weight, large power consumption, long starting time and the like.

On the other hand, a micro-mechanical (MEMS) gyroscope has the characteristics of pure solid state, high reliability, small size, and low cost. The method is developed rapidly in the last two decades, the performance is greatly improved, and the method is expected to be applied in the field of inertial north finding in a large range. However, in terms of the development of the current common micromechanical gyroscope, the precision of the micromechanical gyroscope is still low, and the micromechanical gyroscope cannot be directly used in application occasions with high requirements on the precision of the gyroscope, such as a gyroscope north finder. The error of the gyroscope can be automatically compensated by a system-level method such as a rotation modulation technology, so that the low-precision gyroscope can be used in high-precision occasions. The core of the rotary modulation technology is the design of the load structure in the rotary system and the electrical connection of the rotary structure with the fixed structure.

The load structure part and the driving part in the existing north seeker are both externally arranged, that is, the installation of a sensitive element (gyroscope) and a motor belongs to a 'laminated' structure. The system is necessarily overlarge in volume, and the motor driving module is separated from the north-seeking calculating module and the display driving module, so that the system is overlarge in volume and heavy in mass. Furthermore, the electrical connection between the fixed part and the rotating part in the existing north seeker is generally a conductive slip ring connection or a direct wire connection. The volume of the system is increased due to the connection of the conductive slip ring, the cost and the power consumption of the system are increased, the system needs to be maintained regularly, the conductive slip ring is abraded, and the reliability and the service life of the system are reduced. The rotating structure directly connected by the wire needs to be provided with a mechanical limiting mechanism, so that the system volume and the cost are increased, the continuous rotation function cannot be realized, the rotation modulation effect is reduced, the improvement on the precision of the low-precision micro-mechanical gyroscope is limited, and the low-precision micro-mechanical gyroscope cannot be applied to the inertial north finder of the gyroscope.

Disclosure of Invention

In view of the above problems, it is an object of the present invention to provide a micro-inertial north finder capable of effectively finding north and performing dead reckoning.

In order to achieve the purpose, the invention adopts the following technical scheme: a micro inertial north seeker includes a housing, and a support frame disposed within the housing; the outer diameter of the crossed roller bearing is fixedly installed with the shell through the supporting frame, and the shell is connected with an external structure through at least two positioning surfaces and used as an azimuth reference; the inner diameter of the crossed roller bearing is connected with a rotating seat, a high-precision micro inertial sensor is arranged in the rotating seat, and at least one working shaft of the high-precision micro inertial sensor rotates along with the crossed roller bearing to do circular motion; supporting rack upper portion is provided with rotary driving mechanism and stop gear, rotary driving mechanism with the roating seat top is connected, drives the roating seat rotates, stop gear with the roating seat contact is used for the roating seat rotates to carrying out the braking locking after formulating the position.

Further, the rotary driving mechanism comprises an ultrasonic motor, a worm wheel and a worm; the ultrasonic motor is fixedly arranged on one side of the top of the support frame, the output end of the ultrasonic motor is connected with the worm, the worm wheel in transmission connection with the worm is arranged on the top of the rotating seat, and the worm wheel and the inner diameter of the crossed roller bearing are concentric.

Furthermore, the limiting mechanism comprises a lifting motor, a brake head and a lifting guide pillar; the lifting motor and the lifting guide pillar are fixedly arranged on the support frame, and the lifting guide pillar is positioned on the output side of the lifting motor; the output end of the lifting motor is connected with the brake head to drive the brake head to move up and down along the lifting guide pillar in the axial direction; one end of the brake head is made of a high-friction-coefficient material and used for compressing the surface of the rotating seat to provide friction force, and the other end of the brake head is made of a low-friction-coefficient material so as to move along the lifting guide pillar.

Further, the device also comprises a sensor acquisition board and a multi-axis integrated micro-inertial sensor; the sensor acquisition board is arranged on the rotary seat, and the multi-axis integrated micro inertial sensor is arranged on the sensor acquisition board; the high-precision micro inertial sensor and the multi-axis integrated micro inertial sensor are both electrically connected with the sensor acquisition board, and data acquisition, encoding and decoding are completed through the sensor acquisition board.

The aviation plug further comprises a first data conversion plate, an aviation plug second data conversion plate and an angle sensor; the first data conversion plate is fixedly arranged at the top of the supporting frame, the second data conversion plate is fixedly arranged at the bottom of the supporting frame, and the first data conversion plate and the second data conversion plate are connected with the sensor acquisition plate for data transmission; the first data conversion plate is provided with the aviation plug, and power is supplied and data transmission is carried out between the first data conversion plate and external equipment through the aviation plug; the first data conversion plate is electrically connected with motors in the rotary driving mechanism and the limiting mechanism; the angle sensor is arranged on the upper part of the second data conversion plate and is connected with the second data conversion plate.

Further, a conductive slider is arranged at the center of the second data conversion plate.

Furthermore, the angle sensor is composed of an angle measuring stator and an angle measuring rotor, the angle measuring stator is installed and positioned on the supporting frame through a metal tray, and the angle measuring rotor is fixed to the bottom of the rotating seat.

Further, the high-precision micro inertial sensor is disposed at an axial center position of the rotary base.

Furthermore, the support frame adopts an integrally processed structure with a central round hole and four support legs; the circular ring at the central circular hole is a first positioning surface for installing a crossed roller bearing, the end surfaces of the four supporting legs are all arranged into a three-layer step structure, angle measuring stator installing and positioning surfaces are arranged on the first-layer step surface, second data conversion plate installing surfaces are arranged on the second-layer step surface, and a first positioning surface for installing a shell is arranged on the third-layer step surface; the outer side surfaces of the four supporting legs are respectively provided with a second positioning surface for mounting a shell; and a wiring groove and a shell fastening bulge are also arranged on the outer side surface of the supporting frame.

Furthermore, the rotating seat adopts a U-shaped groove structure with a central outer ring; the central outer ring is a crossed roller bearing mounting second positioning surface and is used for being matched with the crossed roller bearing mounting first positioning surface; a braking surface is arranged on one side, close to the worm wheel, of the central outer ring, knurling is arranged on the braking surface, and the lifting motor drives the braking head to be matched with the knurling for braking and locking, so that the rotating seat and the supporting frame form a rigid body which is fixedly connected; the U-shaped groove is used for placing the high-precision micro inertial sensor and is installed and positioned through a high-precision micro inertial sensor installation positioning surface arranged at the closed end of the U-shaped groove; the blind end of U-shaped groove still is provided with worm wheel installation locating surface, the open end of U-shaped groove is provided with angle measurement rotor installation locating surface.

Due to the adoption of the technical scheme, the invention has the following advantages: 1. the invention can independently search north, and the self-rotation angular velocity of the earth is sensed by a multi-position method or a continuous rotation method to project in the horizontal direction, thereby calculating the true value of the north direction. 2. The invention can be connected with an external receiver or other navigation equipment to realize the integrated navigation function. 3. The invention takes the high-precision MEMS gyroscope as a core device, realizes the function of the north seeker through the creative compact structural designs such as a crossed roller bearing axle center structure, a miniature ultrasonic motor worm gear transmission structure, a three-dimensional space layout and the like, has strong rotation stability, ensures that the north seeking precision shortens the north seeking time, and greatly reduces the volume.

In conclusion, the invention is suitable for the precise passive pointing of shielding positions under the ground, water and the like, and is particularly suitable for the applications of underground resource exploration, satellite signal interference resistance and the like.

Drawings

Fig. 1 is a sectional view of the overall structure of the present invention.

Fig. 2 is a cross-sectional view of the structure of fig. 1 rotated 90 degrees.

Fig. 3 is a schematic view of the overall structure of the present invention.

Fig. 4 is a schematic bottom structure of the present invention.

FIG. 5 is a schematic view of a support shelf of the present invention.

Fig. 6 is a schematic view of the structure of the rotary base of the present invention.

Reference numerals: 101 a first data conversion board, 102 an aviation plug, 103 a rotating base, 104 a high-precision micro inertial sensor, 105 a worm wheel, 106 a shell, 107 an ultrasonic motor, 108 a worm, 109 a supporting frame, 110 a crossed roller bearing, 111 a sensor acquisition board, 112 a multi-axis integrated micro inertial sensor, 113 a goniometric rotor, 114 a goniometric stator, 115 a conductive slip ring, 116 a second data conversion board, 201 a brake head, 202 a lifting motor, 203 a lifting guide pillar, 501 a shell fastening, 502 a crossed roller bearing installation first positioning surface, 503 a goniometric stator installation positioning surface, 504 a shell installation first positioning surface, 505 a second data conversion board installation surface, 506 a shell installation second positioning surface, 507 a wiring groove, 601 a worm wheel installation positioning surface, 602 a high-precision micro inertial sensor installation positioning surface, 603 a brake surface, 604 a crossed bearing installation second positioning surface, 605 a goniometric rotor installation positioning surface.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention, are within the scope of the invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "inside", "outside", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

As shown in fig. 1 and 2, the present invention provides a micro inertial north seeker including a housing 106 and a support 109 disposed within the housing 106. The outer diameter of the crossed roller bearing 110 is fixedly mounted with the housing 106 through a support bracket 109, and the housing 106 is connected with an external structure through at least two positioning surfaces (generally, a bottom surface and a side surface) as an orientation reference; the inner diameter of the crossed roller bearing 110 is connected with a rotating seat 103, a high-precision micro inertial sensor 104 is arranged in the rotating seat 103, and at least one working shaft of the high-precision micro inertial sensor 104 can rotate along with the crossed roller bearing 110 to do circular motion. A rotary driving mechanism and a limiting mechanism are arranged on the upper part of the supporting frame 109, and the rotary driving mechanism is connected with the top of the rotary seat 103 to drive the rotary seat 103 to rotate; the limiting mechanism is in contact with the rotating base 103 and used for braking and locking after the rotating base 103 rotates to a set position.

In the above embodiments, the high-precision micro inertial sensor 104 may be a single-axis gyroscope or a multi-axis gyroscope.

In the above embodiment, the rotation driving mechanism includes the ultrasonic motor 107, the worm wheel 105, and the worm 108. The ultrasonic motor 107 is fixedly arranged on one side of the top of the support frame 109, and the output end of the ultrasonic motor 107 is connected with the worm 108 to drive the worm 108 to rotate; a worm wheel 105 drivingly connected to a worm 108 is disposed on top of the rotary base 103, and the worm wheel 105 is held concentric with the inner diameter of the cross roller bearing 110. When the micro inertial north seeker is used, the ultrasonic motor 107 drives the worm 108 and the worm wheel 105 to rotate, and further driving force is provided for internal rotation of the micro inertial north seeker.

In the above embodiment, the limiting mechanism includes the lifting motor 202, the brake head 201, and the lifting guide column 203. The lifting motor 202 and the lifting guide column 203 are both fixedly arranged on the supporting frame 109, and the lifting guide column 203 is positioned on the output side of the lifting motor 202. The output end of the lifting motor 202 is connected with the brake head 201, and drives the brake head 201 to move up and down along the lifting guide column 203 in the axial direction, and the lifting guide column 203 provides radial stability for the brake head 201. One end of the brake head 201 is made of a high-friction-coefficient material, and can press the surface of the rotating seat 103 to provide friction force; the other end of the brake head 201 is a low friction material to move along the lift pin 203.

In the above embodiments, the present invention further includes a sensor acquisition board 111 and a multi-axis integrated micro inertial sensor 112. The sensor acquisition board 111 is arranged on the rotary base 103 and is positioned at the middle lower part of the rotary base 103; the multi-axis integrated micro inertial sensor 112 is disposed on the sensor acquisition board 111. The high-precision micro inertial sensor 104 and the multi-axis integrated micro inertial sensor 112 are both electrically connected with the sensor acquisition board 111, and data acquisition, encoding and decoding are completed through the sensor acquisition board 111.

In the above embodiments, the present invention further includes the first data conversion plate 101, the aviation plug 102, the second data conversion plate 116, and the angle sensor. The first data conversion plate 101 is fixedly arranged at the top of the supporting frame 109, the second data conversion plate 116 is fixedly arranged at the bottom of the supporting frame 109, and the first data conversion plate 101 and the second data conversion plate 116 are both connected with the sensor acquisition plate 111 for data transmission. An air plug 102 is disposed on the first data conversion board 101, and power is supplied and data is transmitted to an external device through the air plug 102. The ultrasonic motor 107 and the lifting motor 202 are electrically connected with the first data conversion board 101, so that power supply and control of the motors are realized. The angle sensor is disposed at an upper portion of the second data-conversion plate 116 and is connected to the second data-conversion plate 116.

Wherein, a conductive slip ring 115 is further disposed at the center of the second data conversion plate 116 for supplying power to the rotation driving mechanism.

When the ultrasonic motor is used, the power supply and control of the ultrasonic motor 107 and the lifting motor 202 can be realized through the first data conversion plate 101 and the second data conversion plate 116; and is communicated or connected with the sensor acquisition board 111 through wireless transmission or a slip ring.

In the above embodiments, the angle sensor may be of a capacitive grating type or a grating type. The angle sensor is composed of an angle measuring stator 114 and an angle measuring rotor 113, and is used for providing absolute position information for the rotation angle of the north seeker. The angle measuring stator 114 is mounted and positioned on the supporting frame 109 through a metal tray, and the angle measuring rotor 113 is fixed at the bottom of the rotating base 103. The angle measuring rotor 113 and the angle measuring stator 114 can adjust relative positions in a small range, mainly displacement relative to the horizontal direction, so as to ensure the angle measuring precision.

In a preferred embodiment, as shown in fig. 3 and 4, the core sensitive structure high-precision micro inertial sensor 104 is arranged at the axial center position of the rotary base 103. The rotary base 103 is provided with an installation positioning hole for positioning and installing the angle measuring rotor 113.

In a preferred embodiment, as shown in fig. 5, the support bracket 109 may be formed as a single piece with a central circular hole and four support legs. Wherein, the circular ring at the central circular hole is a first positioning surface 502 for installing a crossed roller bearing. The end surfaces of the four supporting legs are all arranged into a three-layer step structure, and angle measuring stator mounting and positioning surfaces 503 are arranged on the first-layer step surface and are used for mounting the angle measuring stator 114; second data conversion plate mounting surfaces 505 are arranged on the step surfaces of the second layer, so that the second data conversion plates 116 can be mounted; and a shell mounting first positioning surface 504 is arranged on the third step surface. Outer shell installation second positioning surfaces 506 are further arranged on the outer side surfaces of the four supporting legs respectively, namely eight outer shell positioning surfaces are arranged on the four supporting legs, the four outer shell installation first positioning surfaces 504 are on the same plane, and the four outer shell installation second positioning surfaces 506 are perpendicular to each other; the accurate positioning of the supporting frame 109 and the housing 106 is realized by the above positioning surface. A wiring groove 507 and a shell fastening bulge 501 are further arranged on the outer side surface of the supporting frame 109, so that the electric connection line and the shell can be conveniently fixed.

In the above embodiment, based on the structure of the supporting frame 109, the rotary base 103 adopts a U-shaped groove structure with a central outer ring, as shown in fig. 6.

The central outer ring of the rotary base 103 is a cross roller bearing mounting second locating surface 604 for cooperating with the cross roller bearing mounting first locating surface 502. One side of the central outer ring, which is close to the worm wheel 105, is provided with a braking surface 603, the braking surface 603 is provided with knurls, and braking locking can be performed by matching the braking head 201 driven by the lifting motor 202 with the knurls, so that the rotating base 103 and the supporting frame 109 become a rigid body fixedly connected. The U-shaped groove is used for placing the high-precision micro-inertial sensor 104 and is installed and positioned through a high-precision micro-inertial sensor installation positioning surface 602 arranged at the closed end of the U-shaped groove; the closed end of the U-shaped groove is further provided with a worm wheel mounting and positioning surface 601 for mounting and positioning the worm wheel 105, and the open end of the U-shaped groove is provided with an angle measurement rotor mounting and positioning surface 605 for mounting and positioning the angle measurement rotor 113.

In summary, when the present invention is used, the sensor data of the high-precision micro inertial sensor 104 and the multi-axis integrated micro inertial sensor 112 are stored on the first data conversion board 101 and the second data conversion board 116, and the external navigation processor can use the sensor data to perform north-seeking, dead reckoning, etc.; an external input source can also be read through the aviation plug 102, and the navigation processor is combined with the sensor data to realize the combined navigation function.

The above embodiments are only for illustrating the present invention, and the structure, size, arrangement position and shape of each component can be changed, and on the basis of the technical scheme of the present invention, the improvement and equivalent transformation of the individual components according to the principle of the present invention should not be excluded from the protection scope of the present invention.