CN110725888A - IMU lever vibration damper and method thereof - Google Patents
IMU lever vibration damper and method thereof Download PDFInfo
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- CN110725888A CN110725888A CN201911004170.6A CN201911004170A CN110725888A CN 110725888 A CN110725888 A CN 110725888A CN 201911004170 A CN201911004170 A CN 201911004170A CN 110725888 A CN110725888 A CN 110725888A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F7/00—Vibration-dampers; Shock-absorbers
- F16F7/10—Vibration-dampers; Shock-absorbers using inertia effect
- F16F7/104—Vibration-dampers; Shock-absorbers using inertia effect the inertia member being resiliently mounted
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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Abstract
The invention provides an IMU lever vibration damper and a method thereof, relates to the technical field of inertial navigation systems, and solves the technical problem that the vibration of external equipment in the prior art can reduce the data signal-to-noise ratio of an IMU inertial measurement unit. The device comprises a negative weight block, a vibration reduction supporting plate, a vibration reduction connector, a vibration supporting plate and an IMU inertia measuring unit, wherein the maximum distance from the negative weight block to the IMU inertia measuring unit is greater than the maximum distance from a fixed point to the IMU inertia measuring unit; the vibration reduction connector can buffer part of vibration energy from the vibration support plate; the influence degree of the vibration energy of the vibration supporting plate on the data signal to noise ratio of the IMU inertia measurement unit can be changed by changing the distance between the negative weight block or the fixed point and the IMU inertia measurement unit; the load blocks with different masses can be replaced to change the influence degree of the vibration energy of the vibration supporting plate on the data signal to noise ratio of the IMU inertia measurement unit. The invention is used in the unmanned system.
Description
Technical Field
The invention relates to the technical field of inertial navigation systems, in particular to an IMU lever vibration damping device and a method thereof.
Background
The IMU is a short term for an inertial measurement unit, which is a device for measuring the three-axis attitude angle (or angular rate) and acceleration of an object. In general, an IMU includes three single-axis accelerometers and three single-axis gyroscopes, the accelerometers detecting acceleration signals of the object in three independent axes of the carrier coordinate system, and the gyroscopes detecting angular velocity signals of the carrier relative to the navigation coordinate system, measuring the angular velocity and acceleration of the object in three-dimensional space, and calculating the attitude of the object based on the measured angular velocity and acceleration. Has important application value in navigation. IMUs are mostly used in devices requiring motion control, such as automobiles and robots. The method is also used in occasions needing to use the attitude for precise displacement calculation, such as inertial navigation equipment of submarines, airplanes, missiles and spacecrafts.
The data accuracy and precision of the IMU directly affect the performance of the driving system, and in actual operation, the vibration of the external device may reduce the data signal-to-noise ratio (i.e. the ratio of signal to noise in an electronic device or electronic system) of the IMU.
Disclosure of Invention
The invention aims to provide an IMU lever vibration damper and a method thereof, which aim to solve the technical problem that the vibration of external equipment in the prior art can reduce the data signal-to-noise ratio of an IMU inertia measurement unit. The technical effects that can be produced by the preferred technical scheme in the technical schemes provided by the invention are described in detail in the following.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention provides an IMU lever vibration damper, which comprises a negative weight block, a vibration damping support plate, a vibration damping connector, a vibration support plate and an IMU inertia measuring unit, wherein the vibration damping support plate and the vibration support plate are connected through the vibration damping connector, the IMU inertia measuring unit is arranged on the vibration damping support plate, the negative weight block is in contact with the vibration damping support plate and is placed on the vibration damping support plate, or the negative weight block is not in contact with the vibration damping support plate and is connected with the vibration damping support plate through a connecting piece;
the vibration reduction connector is connected to the vibration reduction support plate and forms a fixed point, and the maximum distance from the negative weight block to the IMU inertia measurement unit is larger than the maximum distance from the fixed point to the IMU inertia measurement unit;
the vibration reduction connector can buffer part of vibration energy from the vibration support plate;
changing the distance from the negative weight or the fixed point to the IMU inertial measurement unit can change the degree of influence of the vibration energy of the vibration support plate on the data signal-to-noise ratio of the IMU inertial measurement unit;
and the negative weight blocks with different masses can be replaced to change the influence degree of the vibration energy of the vibration supporting plate on the data signal to noise ratio of the IMU inertia measurement unit.
Optionally, the number of the damping connectors is not less than three, and all the damping connectors are distributed along the circumferential direction of the IMU inertial measurement unit.
Optionally, the number of the weight blocks is not less than one, and all the weight blocks are distributed along the circumferential direction of the IMU inertial measurement unit.
Optionally, the damping connector is the same or both of a spring or a damping ball.
Optionally, the damping connector is a damping ball, and the damping connector is made of the same or various materials in silica gel, rubber, foam, sponge or latex.
Optionally, the number of IMU inertial measurement units is no less than one.
Optionally, the IMU inertial measurement unit is the same or a few of a gyroscope, an accelerometer, a magnetometer, or a pressure sensor.
A method of using an IMU lever dampening device, comprising:
keeping the mass of the negative weight unchanged, changing the distance between the negative weight and the IMU inertial measurement unit, or changing the distance between the fixed point and the IMU inertial measurement unit; or keeping the distance between the negative weight and the IMU inertia measurement unit unchanged, keeping the distance between the fixed point and the IMU inertia measurement unit unchanged, and replacing the negative weight with different mass or changing the mass of the vibration reduction supporting plate.
Optionally, when the vibration energy of the vibration support plate is relatively strong, keeping the mass of the negative weight constant, increasing the distance between the negative weight and the IMU inertial measurement unit, or decreasing the distance between the fixed point and the IMU inertial measurement unit can improve the data signal-to-noise ratio of the IMU inertial measurement unit.
Optionally, when the vibration energy of the vibration support plate is relatively strong, the distance between the negative weight and the IMU inertia measurement unit is kept unchanged, the distance between the fixed point and the IMU inertia measurement unit is kept unchanged, and increasing the mass of the negative weight or increasing the mass of the vibration support plate can improve the data signal-to-noise ratio of the IMU inertia measurement unit.
According to the IMU lever vibration damping device provided by the invention, the vibration damping connector can buffer part of vibration energy from the vibration supporting plate, and the rest vibration energy can be relieved by changing the distance from the load block or the fixed point to the IMU inertia measuring unit or relieving the vibration energy by replacing the load block with different mass, so that the vibration energy transmitted to the IMU inertia measuring unit is reduced, meanwhile, the influence of the vibration energy on the IMU inertia measuring unit can be reduced, and further, the data signal to noise ratio of the IMU inertia measuring unit can be improved, and the technical problem that the data signal to noise ratio of the IMU inertia measuring unit can be reduced due to the vibration of external equipment in the prior art is solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a theoretical structure of an IMU lever damping device according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an IMU lever damping device according to an embodiment of the present invention;
FIG. 3 is another schematic diagram of an IMU lever damping device according to an embodiment of the present invention;
FIG. 4 is another schematic diagram of an IMU lever damping device according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an IMU lever damper without leverage provided by embodiments of the present invention;
FIG. 6 is a graph illustrating the actual effect of vibration noise of a horizontal axis of a gyroscope on different lever parameters and the same mass parameter of a negative mass of an IMU lever damping device according to an embodiment of the present invention;
FIG. 7 is a diagram illustrating the actual effect of vertical axis vibration noise of an accelerometer under the same lever parameters and different weight mass parameters of an IMU lever damping device according to an embodiment of the present invention;
FIG. 1 shows a weight block; 2. a vibration damping support plate; 3. a vibration damping connector; 4. vibrating the support plate; 5. an IMU inertial measurement unit; 6. a fixed point; 201. a first gyroscope horizontal axis noise distribution trace (no negative weight); 202. a second gyroscope horizontal axis noise distribution track (the distance from the negative weight block to the IMU inertial measurement unit is less than the distance from the fixed point to the IMU inertial measurement unit); 203. a third gyroscope horizontal axis noise distribution track (the distance from the negative weight block to the IMU inertial measurement unit is greater than the distance from the fixed point to the IMU inertial measurement unit); 301. a first accelerometer vertical axis noise distribution trace (no negative weight); 302. second accelerometer vertical axis noise distribution trace (light mass negative mass); 303. the third accelerometer vertical axis noise distribution trace (negative mass of the heavy mass).
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.
The invention provides an IMU lever vibration damper, which comprises a weight block 1, a vibration damping support plate 2, a vibration damping connector 3, a vibration support plate 4 and an IMU inertia measuring unit 5, wherein the vibration damping support plate 2 and the vibration support plate 4 are connected through the vibration damping connector 3, the IMU inertia measuring unit 5 is arranged on the vibration damping support plate 2, the weight block 1 is in contact with the vibration damping support plate 2 and the weight block 1 is placed on the vibration damping support plate 2, or the weight block 1 is not in contact with the vibration damping support plate 2 and the weight block 1 is connected with the vibration damping support plate 2 through a connecting piece; the vibration damping connector 3 is connected to the vibration damping support plate 2 and forms a fixed point 6, the maximum distance from the negative weight block 1 to the IMU inertia measurement unit 5 is greater than the maximum distance from the fixed point 6 to the IMU inertia measurement unit 5, the negative weight block 1 is of a block structure, and the maximum distance from the negative weight block 1 to the IMU inertia measurement unit 5 is the vertex or edge of the negative weight block 1 which is farthest from the IMU inertia measurement unit 5; the vibration damping connector 3 can buffer part of the vibration energy from the vibration support plate 4; the influence degree of the vibration energy of the vibration supporting plate 4 on the data signal to noise ratio of the IMU inertia measurement unit 5 can be changed by changing the distance between the negative weight block 1 or the fixed point 6 and the IMU inertia measurement unit 5; changing the negative weight 1 of different mass can change the influence degree of the vibration energy of the vibration support plate 4 on the data signal-to-noise ratio of the IMU inertial measurement unit 5. According to the IMU lever vibration damping device provided by the invention, the vibration damping connector 3 can buffer part of vibration energy from the vibration supporting plate 4, and the rest vibration energy can be relieved by changing the distance from the weight block 1 or the fixed point 6 to the IMU inertia measuring unit 5 or relieving the rest vibration energy by replacing the weight block 1 with different mass, so that the vibration energy transmitted to the IMU inertia measuring unit 5 is reduced, meanwhile, the influence of the vibration energy on the IMU inertia measuring unit 5 can be reduced, and further, the data signal to noise ratio of the IMU inertia measuring unit 5 can be improved, and the technical problem that the data signal to noise ratio of the IMU inertia measuring unit can be reduced due to the vibration of external equipment in the prior art is solved.
As an alternative embodiment, the number of damping connectors 3 is not less than three, all damping connectors 3 being distributed along the circumferential direction of the IMU inertial measurement unit 5. The number of the negative weights 1 is not less than one, and all the negative weights 1 are distributed along the circumferential direction of the IMU inertia measurement unit 5. The maximum distance of each negative weight 1 from the IMU inertia measurement unit 5 is greater than the maximum distance of all the fixation points 6 of the damping connector 3 to the damping support plate 2 from the IMU inertia measurement unit 5.
As an alternative embodiment, the damping connector 3 may be the same or both of a spring or a damping ball.
As an alternative embodiment, the damping connector 3 may be a damping ball, and the material of the damping connector 3 may be the same or various of silicone, rubber, foam, sponge or latex.
According to the natural frequency formula of the vibration damping device:
wherein m is the total mass of the vibration reduction supporting plate 2, the IMU inertia measurement unit 5 and the load bearing block 1; k is the stiffness coefficient of the vibration damping connector 3.
The damping connector 3 is made of softer material to reduce the stiffness coefficient k, so that the natural frequency f of the damping device can be far away from the vibration frequency of the vibration support plate 4, and resonance is prevented.
The vibration reduction connector 3 made of softer material can further reduce the vibration energy transmitted to the vibration reduction supporting plate 2, and the influence of the vibration on the IMU inertia measuring unit 5 is reduced.
As an alternative embodiment, the number of IMU inertial measurement units 5 is not less than one.
As an alternative embodiment, the IMU inertial measurement unit 5 may be the same or several of a gyroscope, an accelerometer, a magnetometer or a pressure sensor.
A method of using an IMU lever dampening device, comprising:
keeping the mass of the negative weight 1 unchanged, and changing the distance between the negative weight 1 and the IMU inertia measurement unit 5 or changing the distance between the fixed point 6 and the IMU inertia measurement unit 5; or keeping the distance between the negative weight 1 and the IMU inertia measurement unit 5 unchanged, keeping the distance between the fixed point 6 and the IMU inertia measurement unit 5 unchanged, and replacing the negative weight 1 with different mass or changing the mass of the vibration reduction supporting plate 2.
As an alternative embodiment, when the vibration energy of the vibration support plate 4 is relatively strong, keeping the mass of the negative weight 1 constant, increasing the distance between the negative weight 1 and the IMU inertia measurement unit 5, or decreasing the distance between the fixed point 6 and the IMU inertia measurement unit 5 can improve the data signal-to-noise ratio of the IMU inertia measurement unit 5.
As an alternative embodiment, when the vibration energy of the vibration support plate 4 is relatively strong, the distance between the negative weight 1 and the IMU inertia measurement unit 5 is kept constant, the distance between the fixed point 6 and the IMU inertia measurement unit 5 is kept constant, and increasing the mass of the negative weight 1 or increasing the mass of the vibration reduction support plate 2 can improve the data signal-to-noise ratio of the IMU inertia measurement unit 5.
According to fig. 1, the two negative weights 1, the two fixing points 6 of the two vibration damping connectors 3 on the vibration damping support plate 2 and the IMU inertia measurement unit 5 can be used as a lever, and the vibration of the external device is the vibration of the vibration support plate 4, which is attenuated by the vibration damping connectors 3 and then transmitted to the vibration damping support plate 2.
The mechanical vibrations conducted by the vibrating support plate 4 mainly include synchronous vertical vibrations and asynchronous shear vibrations.
Under the influence of vibration, the vibration reduction connector 3 synchronously extends and retracts to enable all the negative weights 1 to ascend or descend simultaneously, and the vibration can be defined as synchronous vertical vibration; the vibration damping connector 3 expands and contracts asynchronously under the influence of vibration, so that all the negative weights 1 do not rise or fall simultaneously, and the vibration can be defined as asynchronous shear vibration.
According to fig. 1, the vibration amplitude of the left negative weight 1 is Ha, the vibration amplitude of the left vibration reduction connector 3 is Hoa, the distance from the left negative weight 1 to the left fixing point 6 is a2, the distance from the left fixing point 6 to the IMU inertia measurement unit 5 is a1, the vibration amplitude of the right negative weight 1 is Hb, the vibration amplitude of the right vibration reduction connector 3 is Hob, the distance from the right negative weight 1 to the right fixing point 6 is B2, the distance from the right fixing point 6 to the IMU inertia measurement unit 5 is B1, and the mass of both negative weights 1 is m1。
When the vibration is asynchronous shearing vibration, if the vibration energy transmitted from the vibration supporting plate 4 to the vibration reduction supporting plate 2 is constant, the mass m of the load bearing block1The Ha and the Hb are unchanged, and the larger the value of (A1+ B1+ A2)/(A1+ B1), the smaller the Hoa by the lever principle due to energy conservation; similarly, the larger the value (A1+ B1+ B2)/(A1+ B1) is, the smaller Hob is, the smaller the vibration amplitude of the vibration damping connector 3 is, and the asynchronous shear vibration amplitude of the IMU inertial measurement unit 5 isThe degree will also decrease and the higher the IMU inertial measurement unit 5 data signal to noise ratio.
If the values of A1, B1, A2 and B2 are unchanged, weight 1 has a mass m1The larger the amplitude of the vibration damping connector 3 is, the smaller the Ha, Hoa, Hb and Hob are, the smaller the amplitude of the synchronous vertical vibration and the asynchronous shear vibration of the IMU inertial measurement unit 5 is, and the data signal to noise ratio of the IMU inertial measurement unit 5 is improved.
Therefore, by means of the lever principle, in a limited space, the vibration amplitude of the IMU inertia measurement unit 5 is reduced and the data signal to noise ratio of the IMU inertia measurement unit 5 is improved by adjusting the values of A1, B1, A2 and B2 and the weight of the load block 1.
According to the above theoretical method, it is preferable that the vibration damping connectors 3 are provided in number of four, as shown in fig. 2, 3, 4, and the four vibration damping connectors 3 are fixed to the vibration damping support plate 2 at the upper ends thereof and to the vibration damping support plate 4 at the lower ends thereof.
As the positions and sizes of the negative weights 1 in fig. 2, 3 and 4 are different, but the maximum distance from the negative weights 1 to the inertial measurement unit 5 of the IMU is larger than the distance from the fixed point 6 to the inertial measurement unit 5 of the IMU, and the vibration influence is reduced by utilizing the principle of leverage in a limited space.
The experiment verifies that:
experiment 1: since gyroscopes are most sensitive to asynchronous shear vibration, FIG. 6 is a graph of the actual effect of vibration noise on the horizontal axis of a gyroscope for different lever parameters and the same mass parameter of the negative mass. The first gyroscope horizontal axis noise distribution trace 201 was tested without a negative weight 1; the second gyroscope horizontal axis noise distribution trace 202 was tested under the condition that the distance from the weight block 1 to the IMU inertial measurement unit 5 was less than the distance from the fixed point 6 to the IMU inertial measurement unit 5, as shown in fig. 5; the third gyroscope horizontal axis noise distribution trace 203 was tested under the condition that the weight block 1 to IMU inertial measurement unit 5 distance was greater than the fixed point 6 to IMU inertial measurement unit 5 distance, as shown in fig. 3. Therefore, when the distance from the negative weight 1 to the IMU inertia measurement unit 5 is greater than the distance from the fixed point 6 to the IMU inertia measurement unit 5, the noise vibration amplitude is suppressed very well, and the vibration reduction effect is better, as shown in fig. 6, a third gyroscope horizontal axis noise distribution trace 203, and a lever vibration reduction conclusion is verified.
Experiment 2: since the accelerometer is most sensitive to synchronous vertical vibration, fig. 7 is a graph of the actual effect of vertical axis vibration noise of the accelerometer under the same lever parameters and different weight mass parameters. The first accelerometer vertical axis noise distribution trace 301 was tested with negative mass 1 removed in figure 3; the second accelerometer vertical axis noise distribution trace 302 was tested under the conditions of fig. 3 using a light-weight negative weight 1; the third accelerometer vertical axis noise distribution trace 303 was tested under the conditions of fig. 3 using a heavy mass negative weight 1. The weight is heavier and can suppress the vibration amplitude of vertical noise more effectively, as shown in fig. 7, and a vertical axis noise distribution trace 303 of the third accelerometer.
Therefore, the IMU lever vibration damper designed by the proper weight of the negative weight block 1 and the proper lever parameters has excellent vibration damping effect.
The gyroscope and the accelerometer are inertial navigation sensors of the unmanned aerial vehicle core, vibration noise in the flight process of the unmanned aerial vehicle can reduce the signal-to-noise ratio of data output by the inertial navigation sensors and influence flight safety, and the IMU lever vibration damping device can effectively reduce the influence of vibration on the gyroscope, the accelerometer and other sensors and provide more powerful safety guarantee for the flight operation of the unmanned aerial vehicle.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. An IMU lever vibration damper is characterized by comprising a negative weight block (1), a vibration damping support plate (2), a vibration damping connector (3), a vibration support plate (4) and an IMU inertia measurement unit (5), wherein,
the vibration reduction support plate (2) is connected with the vibration support plate (4) through the vibration reduction connector (3), the IMU inertia measurement unit (5) is arranged on the vibration reduction support plate (2), the negative weight block (1) is in contact with the vibration reduction support plate (2) and the negative weight block (1) is placed on the vibration reduction support plate (2), or the negative weight block (1) is not in contact with the vibration reduction support plate (2) and the negative weight block (1) is connected with the vibration reduction support plate (2) through a connecting piece;
the vibration damping connector (3) is connected to the vibration damping support plate (2) and forms a fixed point (6), and the maximum distance from the negative weight block (1) to the IMU inertia measurement unit (5) is larger than the maximum distance from the fixed point (6) to the IMU inertia measurement unit (5);
the vibration reduction connector (3) can buffer part of vibration energy from the vibration support plate (4);
changing the distance of the negative weight (1) or the fixed point (6) from the IMU inertial measurement unit (5) can change the degree of influence of the vibration energy of the vibration support plate (4) on the data signal-to-noise ratio of the IMU inertial measurement unit (5);
the degree of influence of the vibration energy of the vibration supporting plate (4) on the data signal to noise ratio of the IMU inertia measurement unit (5) can be changed by replacing the negative weight blocks (1) with different masses.
2. The IMU lever damping device according to claim 1, characterized in that the number of damping connectors (3) is not less than three, all damping connectors (3) being distributed along the circumferential direction of the IMU inertial measurement unit (5).
3. The IMU lever vibration damper according to claim 1, characterized in that the number of the negative weights (1) is not less than one, all the negative weights (1) being distributed along the circumferential direction of the IMU inertial measurement unit (5).
4. The IMU lever damping device according to claim 1, characterized in that the damping connector (3) is the same or both of a spring or a damping ball.
5. The IMU lever damping device according to claim 1 or 4, characterized in that the damping connector (3) is a damping ball, the damping connector (3) being of the same or different material from silicone, rubber, foam, sponge or latex.
6. The IMU lever damping device according to claim 1, characterized in that the number of IMU inertial measurement units (5) is not less than one.
7. IMU lever damping device according to claim 1, characterized in that the IMU inertial measurement unit (5) is the same or several of a gyroscope, accelerometer, magnetometer or pressure sensor.
8. A method of using the IMU lever damper of any of claims 1-7, comprising:
-keeping the mass of the negative weight (1) constant, changing the distance between the negative weight (1) and the IMU inertial measurement unit (5), or changing the distance between the fixed point (6) and the IMU inertial measurement unit (5); or keeping the distance between the negative weight (1) and the IMU inertia measurement unit (5) constant, keeping the distance between the fixed point (6) and the IMU inertia measurement unit (5) constant, and replacing the negative weight (1) with different mass or changing the mass of the vibration reduction support plate (2).
9. The method according to claim 8, wherein keeping the mass of the negative weight (1) constant, increasing the distance between the negative weight (1) and the IMU inertial measurement unit (5), or decreasing the distance between the fixed point (6) and the IMU inertial measurement unit (5) improves the data signal-to-noise ratio of the IMU inertial measurement unit (5) when the vibrational energy of the vibrating support plate (4) is relatively strong.
10. The method according to claim 8, characterized in that when the vibration energy of the vibration support plate (4) is relatively strong, keeping the distance between the negative weight (1) and the IMU inertial measurement unit (5) constant, keeping the distance between the fixed point (6) and the IMU inertial measurement unit (5) constant, increasing the mass of the negative weight (1) or increasing the mass of the vibration-damped support plate (2) can improve the data signal-to-noise ratio of the IMU inertial measurement unit (5).
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