WO2012150531A1 - A marine inertial navigation system - Google Patents
A marine inertial navigation system Download PDFInfo
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- WO2012150531A1 WO2012150531A1 PCT/IB2012/052082 IB2012052082W WO2012150531A1 WO 2012150531 A1 WO2012150531 A1 WO 2012150531A1 IB 2012052082 W IB2012052082 W IB 2012052082W WO 2012150531 A1 WO2012150531 A1 WO 2012150531A1
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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
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
Definitions
- the present invention relates to a marine inertial navigation system used in every kind of marine vessels.
- Chinese Patent document no CN2519345 discloses a navigation safety system which can collect and record various key data, analogue data, conversations and images through an interface and has ship detection mechanism.
- United States Patent document no US2009043904 discloses a connection system which is connected to a network on a ship identified automatically with a signal on the network. The connection can be provided independently from the platform by detecting the platforms in which the devices on the network operate and selecting a communication for specific to that platform.
- United States Patent document no US2009099764 discloses a system which enables vessel instruments operating on different protocols and including sensors to be connected to the same network and navigation information to be shared through one server.
- Chinese Patent document no CN101808027 discloses a system which can collectively carry out the processes of receiving data through different ports, forwarding and storing them.
- the objective of the present invention is to provide a marine inertial navigation system having a marine navigation devices which enable navigation data with high accuracy, location/direction determination systems which need the said data, and connection interface unit which enables the connection between the said devices and the systems.
- Figure 1 is the schematic view of the inventive marine inertial navigation system.
- Figure 2 is the schematic view of the connection interface unit present in the inventive system.
- the components in the figures are numbered individually, where the numbers refer to the following:
- the inventive marine inertial navigation system (1) essentially comprises
- At least one marine location/direction detection system (3) which has a plurality of units using the data acquired by the navigation device (2), at least one navigation control and display unit (31), at least one alarm instrument panel (32) and at least one vessel data distribution system (33); and detects location and direction by using data acquired by the navigation device (2), and
- connection interface unit (4) which enables the hardware and software protocol interface between navigation device (2) and all kinds of location/direction detection system (3) that can need this data in different marine platforms, which is a single and common product that can meet all current and possible needs of all kinds of marine location/direction detection system (3) and which can meet the data transfer needs of different marine location/direction detection systems (3) without needing to any hardware or software modifications by means its automatic platform recognition ability (Figure 1).
- the navigation device (2) provides global positioning and navigation data with high accuracy with the help of fiber optic gyro technology and embedded GPS support.
- the connection between all other systems (3) that can need the said data in different marine platforms is achieved via the connection interface unit (4).
- connection interface unit (4) recognizes the marine location/direction detection system (3) automatically by means of its features, so that it is used in different vessel classes by shifting without needing any hardware and/or software calibration and/or user interference. Thus, it is possible to shift devices between different vessel classes in emergencies and there will be no need to keep different spare part stock for different vessel classes. By this means, logistic and maintenance and repair costs are reduced.
- connection interface unit (4) continuously tests its own functionality and forwards the result to the navigation control and display unit (31) as serial data or to the alarm instrument panel (32) as separate outputs. By this means, the user can view all error, failure and alarm situations occurring in the system (1) in real-time and can interfere when it is required.
- connection interface unit (4) has separate inputs/outputs in different standards (e.g. RS422, dry contact, 0-28 VDC etc.) that can be used for warning and/or control.
- the automatic platform recognition ability of the connection interface unit (4) is enabled by 8 separate inputs shorting out or not shorting out on the vessel cabling. By means of the said automatic platform recognition ability, when energy is given to the connection interface unit (4), the connection interface unit (4) detects in which platform of maximum 256 (2 8 ) different platforms it is located, and decides which hardware and software interfaces should be activated and used on that platform with which parameters via a configuration file embedded in the software without any interference of the user.
- connection interface unit (4) comprises at least one FPGA (41) (Filed Programmable Gate Arrays).
- FPGA (41) Filed Programmable Gate Arrays
- the connection interface unit (4) provides a large number of separate inputs/outputs and serial communication channel which normally cannot be present in default microprocessor solutions with a single FPGA (41), and makes it possible to provide this (for example adding new serial channels instead of separate inputs/outputs) by changing hardware description language (HDL) instead of making hardware change by designing a new card for different needs that can arise in the future.
- HDL hardware description language
- hardware description language code determining the hardware sources are stored in at least one storage device (49) located in the interface unit (4), and the said hardware description language code is uploaded from the storage device (49) automatically at the same moment when the energy is given to the connection interface unit (4).
- the storage device (49) is a programmable flash drive. The codes recorded in the storage device (49) can be changed by using test/program interface (43) and additional features can be added to the connection interface unit (4).
- connection interface unit (4) transfers data to the maximum 4 navigation control and display unit (31) and the vessel data distribution system (33) at the different points of the vessel via 4 bidirectional RS422 communication channel, serial channel selector/multiplier carried out in the FPGA (41) and a special client/server protocol developed as well as it enables the navigation device (2) to be controlled simultaneously and live redundant by the navigation control and display unit (31) or the vessel data distribution system (33).
- connection interface unit (4) processes the navigation data it receives through preferably 2 RS422 channel from the navigation device (2) in different data speed, data density and data content in the FPGA (41) and composes data in 16 different protocols which different units located in different vessels (such as Radar, Sonar, Fire Control System, Trace table, NMEA repeater etc.) may need; selects the ones suitable according to the parameters it receives from the configuration file and provides output used by maximum 8 different unit through 8 unidirectional RS422 communication channel in different data speed and data density.
- different units located in different vessels such as Radar, Sonar, Fire Control System, Trace table, NMEA repeater etc.
- connection interface unit (4) has 90V L-L Synchro preferably maximum 6 channels determined according to the parameters the content of which is received from the configuration file in order to be used in vessels having outdated technologies.
- the connection interface unit (4) has a plurality of TTL/RS-422 converter buffer (42) which operate with FPGA (41) included therein, have at least four data inputs/outputs, at least two energy outputs and at least eight data outputs, at least one test/program (43) interface which has at least one data input/output, a plurality of converters/buffers (44) which enable connection with the navigation device (2) and have at least one data input/output and at least one energy output, a plurality of DI/O buffers (45) which has at least one data input, at least one data output, at least one log interface (46) which has at least two data inputs, a plurality of digital/synchro converters (47) which have at least six data outputs, and at least one power supply (48
- connection interface unit (4) provides 24V DC output.
- the connection interface unit (4) is preferably fed by the power supply (48) with 1 10/220V AC 50/60 Hz main power and/or 24V DC auxiliary power such that it can be used in all vessel platforms.
- the connection interface unit (4) meets 24 VDC power requirement of the navigation device (2) and 2 navigation control and display units (31) with 3 isolated outputs, each one them is 50 W.
- connection interface unit (4) has different hardware and software interfaces on the vessels (for example RS422 NMEA 0183, RS422 client defined special protocol, switched dry contact, analogue, 90V L-L Synchro etc.), and transfers the navigation speed information it receives from the log interface (46) selected according to the parameters received from the configuration file to the navigation device (2).
- vessels for example RS422 NMEA 0183, RS422 client defined special protocol, switched dry contact, analogue, 90V L-L Synchro etc.
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
Abstract
The present invention relates to a marine inertial navigation system (1) having a marine navigation device (2) which provides navigation data with high accuracy, a location/direction determination system (3) which uses the said data, and a connection interface unit (4) which enables the connection between the device (2) and the system (3).
Description
A MARINE INERTIAL NAVIGATION SYSTEM
Field of the Invention The present invention relates to a marine inertial navigation system used in every kind of marine vessels.
Background of the Invention Today, navigation technology is widely used in air and marine platforms. Although the needs of a small coast guard boat and a frigate, or a minesweeper and a corvette are basically similar, the number, the quality and the interface requirements of the systems which will need the said systems are far more different than each other. Marine inertial navigation systems currently used are either designed specifically for certain platforms and comprises its specific connection interface therein and/or they need different connection interfaces and/or software changes in order to be used in different platforms. A similar need can arise in case the devices in the ship are changed because of the modernizations that can be made in the future.
Because of this features it is not possible to change places between different positions or they require different/extra hardware and software interfaces. And this situation causes serious logistic problem and maintenance and repair costs for naval forces having ships in various different classes (and small numbers in each classes). For this reason it is required to keep different spare part stock for each different system.
Chinese Patent document no CN2519345 discloses a navigation safety system which can collect and record various key data, analogue data, conversations and images through an interface and has ship detection mechanism.
United States Patent document no US2009043904 discloses a connection system which is connected to a network on a ship identified automatically with a signal on the network. The connection can be provided independently from the platform by detecting the platforms in which the devices on the network operate and selecting a communication for specific to that platform.
United States Patent document no US2009099764 discloses a system which enables vessel instruments operating on different protocols and including sensors to be connected to the same network and navigation information to be shared through one server.
Chinese Patent document no CN101808027 discloses a system which can collectively carry out the processes of receiving data through different ports, forwarding and storing them.
Summary of the Invention
The objective of the present invention is to provide a marine inertial navigation system having a marine navigation devices which enable navigation data with high accuracy, location/direction determination systems which need the said data, and connection interface unit which enables the connection between the said devices and the systems.
Detailed Description of the Invention
"A Marine Inertial Navigation System" developed to fulfill the objectives of the present invention is illustrated in the accompanying figures, in which:
Figure 1 is the schematic view of the inventive marine inertial navigation system. Figure 2 is the schematic view of the connection interface unit present in the inventive system.
The components in the figures are numbered individually, where the numbers refer to the following:
1. Marine inertial navigation system
2. Navigation device
3. Marine location/direction detection system
31. Navigation control and display unit
32. Alarm instrument panel
33. Vessel data distribution system
4. Connection interface unit
41. FPGA
42. TTL/ RS-422 converter/buffer
43. Test/program interface
44. Converter/buffer
45. DI/O buffer
46. Log interface
47. Digital/synchro converter
48. Power supply
49. Storage device
The inventive marine inertial navigation system (1) essentially comprises
- at least navigation device (2) which provides global positioning and navigation data,
- at least one marine location/direction detection system (3) which has a plurality of units using the data acquired by the navigation device (2), at least one navigation control and display unit (31), at least one alarm instrument panel (32) and at least one vessel data distribution system (33); and detects location and direction by using data acquired by the navigation device (2), and
- at least one connection interface unit (4) which enables the hardware and software protocol interface between navigation device (2) and all kinds of location/direction detection system (3) that can need this data in different marine platforms, which is a single and common product that can meet all
current and possible needs of all kinds of marine location/direction detection system (3) and which can meet the data transfer needs of different marine location/direction detection systems (3) without needing to any hardware or software modifications by means its automatic platform recognition ability (Figure 1).
In the preferred embodiment of the invention, the navigation device (2) provides global positioning and navigation data with high accuracy with the help of fiber optic gyro technology and embedded GPS support. The connection between all other systems (3) that can need the said data in different marine platforms is achieved via the connection interface unit (4).
The connection interface unit (4) recognizes the marine location/direction detection system (3) automatically by means of its features, so that it is used in different vessel classes by shifting without needing any hardware and/or software calibration and/or user interference. Thus, it is possible to shift devices between different vessel classes in emergencies and there will be no need to keep different spare part stock for different vessel classes. By this means, logistic and maintenance and repair costs are reduced.
The connection interface unit (4) continuously tests its own functionality and forwards the result to the navigation control and display unit (31) as serial data or to the alarm instrument panel (32) as separate outputs. By this means, the user can view all error, failure and alarm situations occurring in the system (1) in real-time and can interfere when it is required.
The connection interface unit (4) has separate inputs/outputs in different standards (e.g. RS422, dry contact, 0-28 VDC etc.) that can be used for warning and/or control. The automatic platform recognition ability of the connection interface unit (4) is enabled by 8 separate inputs shorting out or not shorting out on the vessel cabling. By means of the said automatic platform recognition ability, when energy is given to
the connection interface unit (4), the connection interface unit (4) detects in which platform of maximum 256 (28) different platforms it is located, and decides which hardware and software interfaces should be activated and used on that platform with which parameters via a configuration file embedded in the software without any interference of the user.
In order to provide flexibility that can meet varying hardware interface needs, the connection interface unit (4) comprises at least one FPGA (41) (Filed Programmable Gate Arrays). Thus, the connection interface unit (4) provides a large number of separate inputs/outputs and serial communication channel which normally cannot be present in default microprocessor solutions with a single FPGA (41), and makes it possible to provide this (for example adding new serial channels instead of separate inputs/outputs) by changing hardware description language (HDL) instead of making hardware change by designing a new card for different needs that can arise in the future. In the preferred embodiment of the invention, in addition to task management software of the FPGA (41), hardware description language code determining the hardware sources are stored in at least one storage device (49) located in the interface unit (4), and the said hardware description language code is uploaded from the storage device (49) automatically at the same moment when the energy is given to the connection interface unit (4). By this means, by uploading different test software and hardware description language codes to the connection interface unit (4) apart from task management software, product verification tests performed after productions are enabled to be performed as "loop-back" test without needing to any additional test infrastructure. In the preferred embodiment of the invention, the storage device (49) is a programmable flash drive. The codes recorded in the storage device (49) can be changed by using test/program interface (43) and additional features can be added to the connection interface unit (4).
In the preferred embodiment of the invention, the connection interface unit (4) transfers data to the maximum 4 navigation control and display unit (31) and the vessel data distribution system (33) at the different points of the vessel via 4 bidirectional RS422 communication channel, serial channel selector/multiplier carried
out in the FPGA (41) and a special client/server protocol developed as well as it enables the navigation device (2) to be controlled simultaneously and live redundant by the navigation control and display unit (31) or the vessel data distribution system (33).
In the preferred embodiment of the invention, the connection interface unit (4) processes the navigation data it receives through preferably 2 RS422 channel from the navigation device (2) in different data speed, data density and data content in the FPGA (41) and composes data in 16 different protocols which different units located in different vessels (such as Radar, Sonar, Fire Control System, Trace table, NMEA repeater etc.) may need; selects the ones suitable according to the parameters it receives from the configuration file and provides output used by maximum 8 different unit through 8 unidirectional RS422 communication channel in different data speed and data density. Furthermore, in the preferred embodiment of the invention, the connection interface unit (4) has 90V L-L Synchro preferably maximum 6 channels determined according to the parameters the content of which is received from the configuration file in order to be used in vessels having outdated technologies. In the preferred embodiment of the invention the connection interface unit (4) has a plurality of TTL/RS-422 converter buffer (42) which operate with FPGA (41) included therein, have at least four data inputs/outputs, at least two energy outputs and at least eight data outputs, at least one test/program (43) interface which has at least one data input/output, a plurality of converters/buffers (44) which enable connection with the navigation device (2) and have at least one data input/output and at least one energy output, a plurality of DI/O buffers (45) which has at least one data input, at least one data output, at least one log interface (46) which has at least two data inputs, a plurality of digital/synchro converters (47) which have at least six data outputs, and at least one power supply (48) which provides electric power supply, has at least one energy inputs and at least one energy output (Figure 2). In the preferred embodiment of the invention, the energy outputs included by the connection interface unit (4) provide 24V DC output. The connection interface unit
(4) is preferably fed by the power supply (48) with 1 10/220V AC 50/60 Hz main power and/or 24V DC auxiliary power such that it can be used in all vessel platforms. In addition to this, in the preferred embodiment of the invention, the connection interface unit (4) meets 24 VDC power requirement of the navigation device (2) and 2 navigation control and display units (31) with 3 isolated outputs, each one them is 50 W.
In the preferred embodiment of the invention, the connection interface unit (4) has different hardware and software interfaces on the vessels (for example RS422 NMEA 0183, RS422 client defined special protocol, switched dry contact, analogue, 90V L-L Synchro etc.), and transfers the navigation speed information it receives from the log interface (46) selected according to the parameters received from the configuration file to the navigation device (2). Within the framework of these basic concepts, it is possible to develop a wide variety of embodiments of the inventive marine inertial navigation system (1). The invention can not be limited to the examples described herein and it is essentially as defined in the claims.
Claims
A marine inertial navigation system (1) essentially comprises
- at least navigation device (2) which provides global positioning and navigation data,
- at least one marine location/direction detection system (3) which has a plurality of units using the data acquired by the navigation device (2), at least one navigation control and display unit (31), at least one alarm instrument panel (32) and at least one vessel data distribution system (33); and detects location and direction by using data acquired by the navigation device (2), and characterized by
- at least one connection interface unit (4) which enables the hardware and software protocol interface between navigation device (2) and all kinds of location/direction detection system (3) that can need this data in different marine platforms, which is a single and common product that can meet all current and possible needs of all kinds of marine location/direction detection system (3) and which can meet the data transfer needs of different marine location/direction detection systems (3) without needing to any hardware or software modifications by means its automatic platform recognition ability.
A marine inertial navigation system (1) according to claim 1, characterized by navigation device (2) which provides global positioning and navigation data with high accuracy with the help of fiber optic gyro technology and embedded GPS support in the preferred embodiment of the invention.
A marine inertial navigation system (1) according to claim 1 or 2, characterized by connection interface unit (4) which automatically recognizes the marine location/direction detection system (3) on which it is used by means of its features, therefore which is used in different vessel classes without needing any hardware and/or software calibration and/or user interference.
A marine inertial navigation system (1) according to any one of the preceding claims, characterized by connection interface unit (4) which continuously tests its own functionality and transfers the results to the navigation control and display unit (31) as serial data and to the alarm instrument panel (32) as separate outputs.
A marine inertial navigation system (1) according to any one of the preceding claims, characterized by connection interface unit (4) which has separate inputs/outputs in different standards that can be used as warning and/or control purposes.
A marine inertial navigation system (1) according to any one of the preceding claims, characterized by connection interface unit (4) which detects in which platform of maximum 256 (28) different platforms it is located , and decides which hardware and software interfaces should be activated and used on that platform with which parameters via a configuration file embedded in the software without any interference of the user, when energy is given to the connection interface unit (4) by means of the automatic platform recognition ability that is provided by shorting out or not shorting out the eight separate inputs on the vessel cabling.
A marine inertial navigation system (1) according to any one of the preceding claims, characterized by connection interface unit (4) which comprises at least one FPGA (41) in order to provide flexibility that can meet the varying hardware interface needs and thus enables a large number of separate input/output and serial communication channel that cannot normally be present in default microprocessor solutions with FPGA (41), and makes it possible to provide this by only changing hardware description language instead of making hardware change by designing a new card for different needs that can arise in the future.
A marine inertial navigation system (1) according to any one of the preceding claims, characterized by connection interface unit (4) which transfers data to the maximum 4 navigation control and display unit (31) and the vessel data distribution system (33) at the different points of the vessel via 4 bi-directional RS422 communication channel, serial channel selector/multiplier carried out in the FPGA (41) and a special client/server protocol developed as well as enables the navigation device (2) to be controlled simultaneously and live redundant by the navigation control and display unit (31) or the vessel data distribution system (33).
9. A marine inertial navigation system (1) according to any one of the preceding claims, characterized by connection interface unit (4) which processes the navigation data it receives through preferably 2 RS422 channel from the navigation device (2) in different data speed, data density and data content in the FPGA (41) and composes data in 16 different protocols which different units located in different vessels may need; selects the ones suitable according to the parameters it receives from the configuration file and provides output used by maximum 8 different unit through 8 unidirectional RS422 communication channel in different data speed and data density.
10. A marine inertial navigation system (1) according to any one of the preceding claims, characterized by connection interface unit (4) which has maximum 90V
L-L Synchro output determined according to the parameters the content of which is received from the configuration file in order to be used in vessels having outdated technology.
11. A marine inertial navigation system (1) according to any one of the preceding claims, characterized by connection interface unit (4) which has a plurality of TTL/RS-422 converter/buffer (42) which operate with FPGA (41) included therein, have at least four data inputs/outputs, at least two energy outputs and at least eight data outputs, at least one test/program (43) interface which has at least one data input/output, a plurality of converters/buffers (44) which enable connection with the navigation device (2) and have at least one data input/output and at least one energy output, a plurality of DI/O buffers (45) which has at least one data input, at least one data output, at least one log interface (46) which has at least two data inputs, a plurality of digital/synchro converters (47) which have at least six data outputs, and at least one power supply (48) which provides electric power supply, has at least one energy inputs and at least one energy output.
12. A marine inertial navigation system (1) according to any one of the preceding claims, characterized by at least one storage device (49) which is located in the connection interface unit (4), stores the hardware description language code determining the hardware sources besides the task manager software of the
FPGA (41), and uploads the said hardware description language code to the connection interface unit (4) automatically when the energy is given to the connection interface unit (4), by this means, enables product verification tests performed after productions to be performed as "loop-back" test by uploading different test softwares and hardware description language codes to the connection interface unit (4) apart from task management software without needing to any additional test infrastructure
13. A marine inertial navigation system (1) according to claim 12, characterized by storage device (49) which is a programmable flash drive.
14. A marine inertial navigation system (1) according to claim 12 or 13, characterized by test/program interface (43) which changes the codes recorded in the storage device (49) by using, and provides additional features to the connection interface unit (4).
15. A marine inertial navigation system (1) according to any one of the preceding claims, characterized by connection interface unit (4) which has energy outputs providing 24V DC output.
16. A marine inertial navigation system (1) according to any one of the preceding claims, characterized by connection interface unit (4) which is fed by the power supply (48) with 1 10/220V AC 50/60 Hz main supply and/or 24V DC auxiliary power such that it can be used in all vessel platforms.
17. A marine inertial navigation system (1) according to any one of the preceding claims, characterized by connection interface unit (4) which meets 24 VDC power requirement of the navigation device (2) and 2 navigation control and display units (31) with 3 isolated outputs, each one of them is 50W.
18. A marine inertial navigation system (1) according to any one of the preceding claims, characterized by connection interface unit (4) which has different hardware and software interfaces, transfers navigation speed information it receives from the log interface (46) selected according to the parameters received from the configuration file to the navigation device (2).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TR2011/04321 | 2011-05-03 | ||
| TR201104321 | 2011-05-03 |
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| Publication Number | Publication Date |
|---|---|
| WO2012150531A1 true WO2012150531A1 (en) | 2012-11-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/IB2012/052082 Ceased WO2012150531A1 (en) | 2011-05-03 | 2012-04-26 | A marine inertial navigation system |
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| WO (1) | WO2012150531A1 (en) |
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| CN105388815A (en) * | 2015-12-27 | 2016-03-09 | 哈尔滨米米米业科技有限公司 | Information interface processing device based on Vxworks system |
| CN107677293A (en) * | 2017-09-28 | 2018-02-09 | 北京中天星控科技开发有限公司 | The used group general-utility test platform system of one kind |
| CN107677293B (en) * | 2017-09-28 | 2023-12-15 | 北京中天星控科技开发有限公司 | Universal test platform system for inertial measurement unit |
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