阅读说明：本技术 末敏弹线圈-磁阻组合式地磁测姿记录仪及其工作方法 (Terminal-sensitive elastic coil-magnetic resistance combined geomagnetic attitude measurement recorder and working method thereof ) 是由 秦伟 马国梁 李双 于 2021-01-18 设计创作，主要内容包括：一种末敏弹线圈-磁阻组合式地磁测姿记录仪及其工作方法,记录仪包括传感器模块、电源管理模块、处理器模块以及存储器模块。传感器模块包括线圈式和磁阻式地磁传感器以及运放电路,用于采集末敏弹在空中运动过程中的地磁测量信息；电源管理模块包括线性稳压器(LDO)电路、电压转换电路和串联电压基准电路,为整个系统电路提供电压源；处理器模块和存储器模块主要包括一个51单片机电路和Flash存储器电路,用于传感器数据的处理及存储。本记录仪通过将线圈式和磁阻式地磁传感器进行组合设计,既克服了仅采用线圈式地磁传感器无法实现静态测量的不足,又避免了仅采用磁阻传感器时容易受干扰的缺点,提高了地磁测姿记录仪的整体测量性能。(A terminal-sensitive elastic coil-magnetic resistance combined geomagnetic attitude measurement recorder and a working method thereof are provided. The sensor module comprises a coil type geomagnetic sensor, a magnetic resistance type geomagnetic sensor and an operational amplifier circuit, and is used for acquiring geomagnetic measurement information of the terminal sensitive bomb in the air movement process; the power management module comprises a linear voltage regulator (LDO) circuit, a voltage conversion circuit and a series voltage reference circuit and provides a voltage source for the whole system circuit; the processor module and the memory module mainly comprise a 51 single chip microcomputer circuit and a Flash memory circuit, and are used for processing and storing sensor data. The recorder is designed by combining the coil type geomagnetic sensor and the magnetic resistance type geomagnetic sensor, so that the defect that static measurement cannot be realized only by adopting the coil type geomagnetic sensor is overcome, the defect that the recorder is easy to interfere when only adopting the magnetic resistance sensor is avoided, and the overall measurement performance of the geomagnetic posture measurement recorder is improved.)

1. A terminal sensitive elastic coil-magnetic resistance combined geomagnetic attitude measurement recorder is characterized in that: the sensor module is connected with the processor module (4), the memory module (6) is connected with the processor module (4), and the power management module (5) is used for supplying power to the sensor module, the processor module (4) and the memory module (6).

2. The end-sensitive elastic coil-reluctance combined geomagnetic attitude measurement recorder according to claim 1, wherein: the sensor module comprises a coil-type geomagnetic sensor (1), a magnetic resistance-type geomagnetic sensor (2) and an operational amplifier (3) circuit thereof, wherein the operational amplifier (3) circuit comprises an operational amplifier chip AD620 and an INA819, and is used for amplifying signals of the coil-type geomagnetic sensor (1) and the magnetic resistance-type geomagnetic sensor (2) and inputting the signals into an AD sampling channel of the processor.

3. The end-sensitive elastic coil-reluctance combined geomagnetic attitude measurement recorder according to claim 2, wherein: coil-type geomagnetic sensor (1) includes A coil, B coil and C coil, and three coil is formed by the copper enameled wire coiling that the line footpath is 0.8mm, and A coil is perpendicular with the bullet axle axis of last quick bullet, and C coil and A coil mutually perpendicular and with the bullet axle axis of last quick bullet in the coplanar, B coil and two liang of perpendicular of other two coils, simultaneously with play the axle axis in the coplanar.

4. The end-sensitive elastic coil-reluctance combined geomagnetic attitude measurement recorder according to claim 2, wherein: the operational amplifier (3) circuit comprises 2 AD620 operational amplifier circuits and 3 INA819 operational amplifier circuits, wherein the connection modes of the 2 AD620 operational amplifier circuits are the same, the connection modes of the 3 INA819 operational amplifier circuits are also the same, the AD620 operational amplifier circuit comprises two integrated chips U9 and U6, three capacitors C13, C10 and C16 and four resistors R4, R5, R8 and R10, one end of the capacitor C13 is connected with a pin No. 2 and a GND of the integrated chip U9, and the other end of the capacitor C13 is connected with a pin No. 3 of the integrated chip U9 and an output end of the coil-type geomagnetic sensor; one end of the resistor R10 is connected with the No. 1 pin of the integrated chip U9, and the other end of the resistor R10 is connected with the No. 8 pin of the integrated chip U9; the No. 7 pin of the integrated chip U9 is connected with +5V voltage, and the No. 4 pin is connected with-5V voltage; one end of the capacitor C10 is connected with the No. 6 pin of the integrated chip U9 and the No. 3 pin of the integrated chip U6, and the other end of the capacitor C10 is connected with the No. 2 pin and GND of the integrated chip U6; one end of the resistor R5 is connected with the No. 1 pin of the integrated chip U6, and the other end of the resistor R5 is connected with the No. 8 pin of the integrated chip U6; the No. 7 pin of the integrated chip U6 is connected with +5V voltage, and the No. 4 pin is connected with-5V voltage; one end of the resistor R8 is connected with the No. 6 pin of the integrated chip U6, and the other end of the resistor R8 is connected with the anode of the capacitor C16; one end of the resistor R4 is connected with +3.3V voltage, and the other end of the resistor R4 is connected with the anode of the capacitor C16; the positive electrode of the capacitor C16 is connected with an AD channel pin of the processor, the negative electrode of the capacitor C16 is connected with GND, the INA819 operational amplifier circuit comprises an integrated chip U14, a resistor R16 and two capacitors C72 and C73, one end of the resistor R16 is connected with a No. 2 pin of the integrated chip U14, and the other end of the resistor R16 is connected with a No. 3 pin of the integrated chip U14; one end of the capacitor C72 is connected with GND, and the other end of the capacitor C72 is connected with +5 voltage and is connected with a No. 8 pin of the integrated chip U14; one end of the capacitor C73 is connected with +2.5V voltage and is connected with the No. 6 pin of the integrated chip U14, and the other end of the capacitor C73 is connected with GND and is connected with the No. 5 pin of the integrated chip U14; pin 7 of the integrated chip U14 is connected with an AD channel pin of the processor.

5. The end-sensitive elastic coil-reluctance combined geomagnetic attitude measurement recorder according to claim 4, wherein: the power management module (5) comprises a linear regulator (LDO) circuit, a voltage conversion circuit and a series voltage reference circuit, wherein the linear regulator (LDO) circuit comprises two LM2937 linear regulator chips which are respectively used for outputting +3.3V and +5V voltages, the voltage conversion circuit comprises a TC7660CPA voltage guide chip which is used for outputting-5V voltage, and the series voltage reference circuit comprises a REF3425 chip which is used for outputting +2.5V voltage.

6. The end-sensitive elastic coil-reluctance combined geomagnetic attitude measurement recorder according to claim 5, wherein: the linear regulator (LDO) circuit comprises two integrated chips U1 and U4, three capacitors C1, C4 and C8, a resistor R12 and two Schottky diodes D1 and D2, wherein one end of the capacitor C1 is connected with a pin No. 1 of the integrated chip U1, and the other end of the capacitor C1 is connected with GND; the positive electrode of the capacitor C4 is connected with the No. 3 pin of the integrated chip U1, and the negative electrode of the capacitor C4 is connected with GND; the No. 2 pin and the No. 4 pin of the integrated chip U1 are connected with GND; the anode of the Schottky diode D1 is connected with a USB voltage, and the cathode of the Schottky diode D1 is connected with a No. 1 pin of the integrated chip U4; the anode of the Schottky diode D2 is connected with +5V voltage, and the cathode of the Schottky diode D2 is connected with a No. 1 pin of the integrated chip U4; one end of the resistor R12 is connected with the anode of the Schottky diode D1, and the other end is connected with GND; the positive electrode of the capacitor C8 is connected with the No. 3 pin of the integrated chip U4, and the negative electrode of the capacitor C8 is connected with GND; the No. 2 pin and the No. 4 pin of the integrated chip U4 are connected with GND, the voltage conversion circuit comprises an integrated chip U7 and two capacitors C11 and C14, the anode of the capacitor C11 is connected with the No. 2 pin of the integrated chip U7, and the cathode of the capacitor C11 is connected with the No. 4 pin of the integrated chip U4; the negative electrode of the capacitor C14 is connected with the No. 5 pin of the integrated chip U4, and the negative electrode is connected with GND; the No. 3 pin of the integrated chip U4 is connected with GND, the No. 8 pin is connected with +5V voltage, the series voltage reference circuit comprises an integrated chip U8, four capacitors C52, C53, C54 and C55, one ends of the capacitors C54 and C55 are connected with the No. 4 pin of the integrated chip U8, and the other end of the capacitors is connected with GND; one end of each of the capacitors C52 and C53 is connected with a No. 6 pin of the integrated chip U8, and the other end of each capacitor is connected with GND; no. 3 pin and No. 4 pin of the integrated chip U8 are connected, No. 5 pin and No. 6 pin are connected, and No. 1 pin and No. 2 pin are connected with GND.

7. The end-sensitive elastic coil-reluctance combined geomagnetic attitude measurement recorder according to claim 2, wherein: the processor module (4) adopts a C8051F320 single chip microcomputer chip as a main control unit of the posture measuring recorder, acquires and converts sensor signals through AD in the processor chip, and transmits data in the Flash memory to an external user PC through a USB communication interface.

8. The end-sensitive elastic coil-reluctance combined geomagnetic attitude measurement recorder according to claim 7, wherein: the memory module (6) comprises a Flash memory M25P32, which is connected with the processor module (4) through an SPI communication interface and is used for storing the measured data.

9. The working method of the end-sensitive elastic coil-reluctance combined type geomagnetic attitude measurement recorder according to claim 8, comprising the following steps:

the method comprises the following steps: data acquisition and storage: geomagnetic signals of the coil-type geomagnetic sensor (1) and the magnetic resistance-type geomagnetic sensor (2) are amplified by the operational amplifier (3) and then are sampled by the AD of the processor module (4) to obtain geomagnetic data, and then the geomagnetic data are stored in the Flash memory through SPI communication;

step two: and transmitting the data in the Flash memory to the PC through the USB communication interface.

Technical Field

The invention belongs to the field of projectile attitude measurement, and particularly relates to a terminal-sensitive-projectile coil-magnetic resistance combined type geomagnetic attitude measurement recorder and a working method thereof.

Background

With the improvement of the geomagnetic theory and the continuous improvement of the performance of the geomagnetic sensor, the geomagnetic attitude measurement technology is rapidly developed, and the missile-borne attitude measurement method based on the geomagnetic sensor has the advantages of low cost, moderate precision, good concealment, high overload resistance and the like. For other ingenious ammunition attitude measurement methods, such as solar azimuth angle sensor attitude measurement, inertia/satellite combined attitude measurement and the like, the use cost is high, the performance of most of the existing inertia devices cannot meet the high dynamic environment requirement during projectile motion, and the selection of related devices is limited. The existing coil-type geomagnetic sensor is used for a geomagnetic recorder to measure geomagnetic information, has the defect of being easily interfered, and cannot measure in a static environment.

Disclosure of Invention

The invention aims to provide a tail-sensing elastic coil-magnetic resistance combined type geomagnetic attitude measurement recorder and a working method thereof, so as to realize a shot attitude measurement recorder which is low in cost and suitable for a high-overload environment.

The technical solution for realizing the purpose of the invention is as follows:

the utility model provides a terminal quick bullet coil-combined formula ground magnetism surveys appearance of appearance, includes sensor module, power management module, processor module and memory module, the sensor module is connected with the processor module, the memory module is connected with the processor module, power management module is used for supplying power for sensor module, processor module, memory module.

The power management module comprises a linear voltage regulator (LDO) circuit, a voltage conversion circuit and a series voltage reference circuit, wherein the linear voltage regulator (LDO) circuit comprises an LM2937IMP-5.0 chip and an LM2937IMP-3.3 chip, the LM2937IMP-5.0 takes an external voltage as an input, and outputs a +5V voltage which is used for providing a voltage source for the geomagnetic sensor, the voltage conversion chip, the operational amplifier, the series voltage reference chip and the other LDO chip; LM2937IMP-3.3 takes +5V voltage as input, and mainly provides a +3.3V voltage source for a single chip, a reset circuit and a Flash memory; the voltage conversion circuit comprises a voltage guide chip TC7660CPA, and is used for providing a-5V voltage source for an operational amplifier of the coil-type geomagnetic sensor; the series voltage reference circuit comprises a REF3425 chip for providing a +2.5V voltage source for an operational amplifier of the magnetoresistive geomagnetic sensor.

Further, the linear regulator (LDO) circuit comprises two integrated chips U1, U4, three capacitors C1, C4, C8, a resistor R12, and two schottky diodes D1, D2, wherein one end of the capacitor C1 is connected to pin No. 1 of the integrated chip U1, and the other end is connected to GND; the positive electrode of the capacitor C4 is connected with the No. 3 pin of the integrated chip U1, and the negative electrode of the capacitor C4 is connected with GND; the No. 2 pin and the No. 4 pin of the integrated chip U1 are connected with GND; the anode of the Schottky diode D1 is connected with a USB voltage, and the cathode of the Schottky diode D1 is connected with a No. 1 pin of the integrated chip U4; the anode of the Schottky diode D2 is connected with +5V voltage, and the cathode of the Schottky diode D2 is connected with a No. 1 pin of the integrated chip U4; one end of the resistor R12 is connected with the anode of the Schottky diode D1, and the other end is connected with GND; the positive electrode of the capacitor C8 is connected with the No. 3 pin of the integrated chip U4, and the negative electrode of the capacitor C8 is connected with GND; and the No. 2 pin and the No. 4 pin of the integrated chip U4 are connected with GND. The voltage conversion circuit comprises an integrated chip U7 and two capacitors C11 and C14, wherein the anode of the capacitor C11 is connected with the No. 2 pin of the integrated chip U7, and the cathode of the capacitor C11 is connected with the No. 4 pin of the integrated chip U4; the negative electrode of the capacitor C14 is connected with the No. 5 pin of the integrated chip U4, and the negative electrode is connected with GND; and a No. 3 pin of the integrated chip U4 is connected with GND, and a No. 8 pin is connected with +5V voltage. The series voltage reference circuit comprises an integrated chip U8, four capacitors C52, C53, C54 and C55, wherein one ends of the capacitors C54 and C55 are connected with a No. 4 pin of the integrated chip U8, and the other ends of the capacitors C54 and C55 are connected with GND; one end of each of the capacitors C52 and C53 is connected with a No. 6 pin of the integrated chip U8, and the other end of each capacitor is connected with GND; no. 3 pin and No. 4 pin of the integrated chip U8 are connected, No. 5 pin and No. 6 pin are connected, and No. 1 pin and No. 2 pin are connected with GND.

The Flash memory module comprises a 32Mbit non-volatile Flash memory M25P32, and the Flash memory module is in data transmission with the processor through the SPI communication interface, is used for recording geomagnetic data sampled by the processor and can be read on external PC user software.

The sensor operational amplifier circuit comprises an AD620 operational amplifier and an INA819 operational amplifier which are respectively used for amplifying output signals of the coil-type geomagnetic sensor and the magnetic resistance-type geomagnetic sensor, wherein each path of signal of the coil-type geomagnetic sensor is amplified by two stages and then is connected to an AD sampling channel of the microcontroller.

Furthermore, the AD620 operational amplifier circuit comprises two integrated chips U9 and U6, three capacitors C13, C10 and C16, and four resistors R4, R5, R8 and R10, wherein one end of the capacitor C13 is connected to the pin No. 2 and GND of the integrated chip U9, and the other end of the capacitor C13 is connected to the pin No. 3 of the integrated chip U9 and the output terminal of the coil-type geomagnetic sensor; one end of the resistor R10 is connected with the No. 1 pin of the integrated chip U9, and the other end of the resistor R10 is connected with the No. 8 pin of the integrated chip U9; the No. 7 pin of the integrated chip U9 is connected with +5V voltage, and the No. 4 pin is connected with-5V voltage; one end of the capacitor C10 is connected with the No. 6 pin of the integrated chip U9 and the No. 3 pin of the integrated chip U6, and the other end of the capacitor C10 is connected with the No. 2 pin and GND of the integrated chip U6; one end of the resistor R5 is connected with the No. 1 pin of the integrated chip U6, and the other end of the resistor R5 is connected with the No. 8 pin of the integrated chip U6; the No. 7 pin of the integrated chip U6 is connected with +5V voltage, and the No. 4 pin is connected with-5V voltage; one end of the resistor R8 is connected with the No. 6 pin of the integrated chip U6, and the other end of the resistor R8 is connected with the anode of the capacitor C16; one end of the resistor R4 is connected with +3.3V voltage, and the other end of the resistor R4 is connected with the anode of the capacitor C16; the positive pole of the capacitor C16 is connected with the AD channel pin of the processor, and the negative pole is connected with GND. The INA819 operational amplifier circuit comprises an integrated chip U14, a resistor R16 and two capacitors C72 and C73, wherein one end of the resistor R16 is connected with a No. 2 pin of the integrated chip U14, and the other end of the resistor R16 is connected with a No. 3 pin of the integrated chip U14; one end of the capacitor C72 is connected with GND, and the other end of the capacitor C72 is connected with +5 voltage and is connected with a No. 8 pin of the integrated chip U14; one end of the capacitor C73 is connected with +2.5V voltage and is connected with the No. 6 pin of the integrated chip U14. The other end is connected with GND and is connected with No. 5 pin of the integrated chip U14; pin 7 of the integrated chip U14 is connected with an AD channel pin of the processor.

The data acquisition and storage system processes and stores the signals of each channel as follows:

(1) analog signals output by the coil type geomagnetic sensor are amplified by the operational amplifier and then input to an AD sampling channel of the processor, the processor finishes data acquisition and storage according to a certain time interval, and the sampled data are stored in an FLASH memory in an SPI communication mode;

(2) when the recorder system acquires a data reading command sent by the PC software, the system sends data stored in Flash to the PC software through the USB communication program.

Compared with the prior art, the invention has the following remarkable advantages:

(1) the recorder overcomes the defect that static measurement cannot be realized only by adopting the coil type geomagnetic sensor through the combined design of the coil type geomagnetic sensor and the magnetic resistance geomagnetic sensor, overcomes the defect that the coil type geomagnetic sensor is easy to interfere when only adopting the magnetic resistance sensor, and can be effectively applied to a high dynamic environment of high-speed rotating bullets.

(2) The C8051F320 single chip is used as a main control unit, has the characteristics of high integration level and simplicity in development, is low in design cost, and can achieve the purposes of quick response and data processing.

(3) This record appearance carries out data transmission through USB interface and PC, and is faster than ordinary serial ports transmission's speed, and stability is stronger.

Drawings

FIG. 1 is a block diagram of the overall design of a tail-sensing elastic coil-magnetic resistance combined geomagnetic attitude measurement recorder.

Fig. 2 is a schematic view illustrating the installation of the home-made coil-type geomagnetic sensor.

FIG. 3 shows a linear regulator (LDO) circuit of LM2937IMP-5.0 chip.

FIG. 4 shows a linear regulator (LDO) circuit of LM2937IMP-3.3 chip.

Fig. 5 is a voltage conversion circuit.

Fig. 6 is a series voltage reference circuit.

Fig. 7 shows an operational amplifier circuit of the coil-type geomagnetic sensor.

Fig. 8 shows an operational amplifier circuit of the magnetoresistive geomagnetic sensor.

FIG. 9 is a schematic diagram of the main program of the MCU.

FIG. 10 is a schematic diagram of a USB communication interface process.

Detailed Description

The invention is further described with reference to the following figures and embodiments.

Fig. 1 is a block diagram of the overall design of a tail-sensing elastic coil-magnetic resistance combined geomagnetic attitude measurement recorder, which mainly comprises a sensor module, a power management module 5, a processor module 4 and a memory module 6. The sensor module comprises a coil type geomagnetic sensor 1, a magnetic resistance type geomagnetic sensor 2 and an operational amplifier circuit 3, and is used for measuring geomagnetic information in the motion process of the terminal-sensitive bomb; the power management module 5 comprises a linear regulator (LDO) circuit, a voltage conversion circuit and a series voltage reference circuit, and is used for providing +3.3V, + -5V and +2.5 voltage sources for the system circuit; the processor module 4 mainly comprises a 51 single chip microcomputer, a reset circuit thereof and a USB communication interface circuit, and is used for AD sampling of sensor signals, data transmission with an external Flash memory and interaction with a PC; the memory module 6 includes a non-volatile Flash memory for storing geomagnetic sensor data collected by the microcontroller.

The processor module comprises a C8051F320 singlechip chip produced by CYGNAL corporation in America, and the processor is mainly connected with a communication interface circuit, a memory circuit and an operational amplifier circuit of the sensor. The processor acquires AD conversion data through AD in the chip at a certain sampling interval and stores the data into Flash at a certain time interval; the PC machine can read and process the stored data by using corresponding user software, and stores the processed data and the calibration information into a Flash memory in the singlechip.

The USB communication port type adopts a USB 2.0 interface, and the USB interface program comprises a USB driver and a USB communication program. The USB driver is developed by adopting a USBXpress toolkit provided by Silicon Laboratories, and is used for identifying the USB port of the recorder by the PC to ensure that USB communication works normally. The USB communication program mainly comprises a USB interface initialization program, a USB interrupt program and a data transmission program and is used for information interaction between the geomagnetic posture measurement recorder and the PC.

Fig. 2 is an installation diagram of the coil-type geomagnetic sensor 1, which is composed of three groups of coils, namely an a coil, a B coil and a C coil, wherein the three coils are formed by winding copper enameled wires with the wire diameter of 0.8 mm. The coil A is perpendicular to the axis of the bullet shaft of the last sensitive bullet, the coil C is perpendicular to the coil A and in the same plane with the axis of the bullet shaft of the last sensitive bullet, and the coil B is perpendicular to the other two coils in pairs and in the same plane with the axis of the bullet shaft.

FIGS. 3 and 4 are linear regulator (LDO) circuits, wherein FIG. 3 employs an LM2937IMP-5.0 chip, which takes an external voltage as an input through a connector, outputs a +5V voltage, and provides voltages for a geomagnetic sensor, a voltage conversion chip, an operational amplifier, a series voltage reference chip, and the LDO shown in FIG. 4; FIG. 4 illustrates an LM2937IMP-3.3 chip, the input of which is connected to +5V voltage and USB bus voltage via two Schottky diodes, respectively, to implement the power supply voltage selection function, and the chip outputs +3.3V voltage to provide voltage sources for the single chip, the reset circuit and the memory chip; FIG. 5 is a voltage conversion circuit using a TC7660CPA voltage steering chip to provide-5V voltage to the operational amplifier of the coil-type geomagnetic sensor with +5V voltage as input; fig. 6 shows a series reference circuit using a REF3425 chip, which has +5V as an input and supplies a +2.5 reference voltage to an operational amplifier of a magnetoresistive geomagnetic sensor.

Further, the linear regulator (LDO) circuit comprises two integrated chips U1, U4, three capacitors C1, C4, C8, a resistor R12, and two schottky diodes D1, D2, wherein one end of the capacitor C1 is connected to pin No. 1 of the integrated chip U1, and the other end is connected to GND; the positive electrode of the capacitor C4 is connected with the No. 3 pin of the integrated chip U1, and the negative electrode of the capacitor C4 is connected with GND; the No. 2 pin and the No. 4 pin of the integrated chip U1 are connected with GND; the anode of the Schottky diode D1 is connected with a USB voltage, and the cathode of the Schottky diode D1 is connected with a No. 1 pin of the integrated chip U4; the anode of the Schottky diode D2 is connected with +5V voltage, and the cathode of the Schottky diode D2 is connected with a No. 1 pin of the integrated chip U4; one end of the resistor R12 is connected with the anode of the Schottky diode D1, and the other end is connected with GND; the positive electrode of the capacitor C8 is connected with the No. 3 pin of the integrated chip U4, and the negative electrode of the capacitor C8 is connected with GND; and the No. 2 pin and the No. 4 pin of the integrated chip U4 are connected with GND. The voltage conversion circuit comprises an integrated chip U7 and two capacitors C11 and C14, wherein the anode of the capacitor C11 is connected with the No. 2 pin of the integrated chip U7, and the cathode of the capacitor C11 is connected with the No. 4 pin of the integrated chip U4; the negative electrode of the capacitor C14 is connected with the No. 5 pin of the integrated chip U4, and the negative electrode is connected with GND; and a No. 3 pin of the integrated chip U4 is connected with GND, and a No. 8 pin is connected with +5V voltage. The series voltage reference circuit comprises an integrated chip U8, four capacitors C52, C53, C54 and C55, wherein one ends of the capacitors C54 and C55 are connected with a No. 4 pin of the integrated chip U8, and the other ends of the capacitors C54 and C55 are connected with GND; one end of each of the capacitors C52 and C53 is connected with a No. 6 pin of the integrated chip U8, and the other end of each capacitor is connected with GND; no. 3 pin and No. 4 pin of the integrated chip U8 are connected, No. 5 pin and No. 6 pin are connected, and No. 1 pin and No. 2 pin are connected with GND.

Fig. 7 is an operational amplifier circuit of the coil-type geomagnetic sensor 1, where each path of signal is amplified by two cascaded AD620 operational amplifiers, first, the output of the geomagnetic sensor is connected to the positive input terminal of one operational amplifier, the amplification gain is set by a resistor, the amplified signal is used as the input of the next operational amplifier, two-stage amplification is implemented, and finally, the output terminal is connected to the AD sampling channel of the processor; fig. 8 shows an operational amplifier circuit of the magnetoresistive geomagnetic sensor 2, in which differential signals output by the sensor are respectively input to positive and negative input terminals of the INA819, and an output terminal of the operational amplifier is connected to an AD sampling channel of the processor.

Furthermore, the AD620 operational amplifier circuit comprises two integrated chips U9 and U6, three capacitors C13, C10 and C16, and four resistors R4, R5, R8 and R10, wherein one end of the capacitor C13 is connected to the pin No. 2 and GND of the integrated chip U9, and the other end of the capacitor C13 is connected to the pin No. 3 of the integrated chip U9 and the output terminal of the coil-type geomagnetic sensor; one end of the resistor R10 is connected with the No. 1 pin of the integrated chip U9, and the other end of the resistor R10 is connected with the No. 8 pin of the integrated chip U9; the No. 7 pin of the integrated chip U9 is connected with +5V voltage, and the No. 4 pin is connected with-5V voltage; one end of the capacitor C10 is connected with the No. 6 pin of the integrated chip U9 and the No. 3 pin of the integrated chip U6, and the other end of the capacitor C10 is connected with the No. 2 pin and GND of the integrated chip U6; one end of the resistor R5 is connected with the No. 1 pin of the integrated chip U6, and the other end of the resistor R5 is connected with the No. 8 pin of the integrated chip U6; the No. 7 pin of the integrated chip U6 is connected with +5V voltage, and the No. 4 pin is connected with-5V voltage; one end of the resistor R8 is connected with the No. 6 pin of the integrated chip U6, and the other end of the resistor R8 is connected with the anode of the capacitor C16; one end of the resistor R4 is connected with +3.3V voltage, and the other end of the resistor R4 is connected with the anode of the capacitor C16; the positive pole of the capacitor C16 is connected with the AD channel pin of the processor, and the negative pole is connected with GND. The INA819 operational amplifier circuit comprises an integrated chip U14, a resistor R16 and two capacitors C72 and C73, wherein one end of the resistor R16 is connected with a No. 2 pin of the integrated chip U14, and the other end of the resistor R16 is connected with a No. 3 pin of the integrated chip U14; one end of the capacitor C72 is connected with GND, and the other end of the capacitor C72 is connected with +5 voltage and is connected with a No. 8 pin of the integrated chip U14; one end of the capacitor C73 is connected with +2.5V voltage and is connected with the No. 6 pin of the integrated chip U14. The other end is connected with GND and is connected with No. 5 pin of the integrated chip U14; pin 7 of the integrated chip U14 is connected with an AD channel pin of the processor.

FIG. 9 is a schematic block diagram of the MCU main program, which includes two modes of real-time measurement and data acquisition. In a real-time measurement mode, the processor collects sensor data at a certain sampling interval and stores the data in Flash at a certain time interval; in the data acquisition mode, when the recorder system establishes a connection with the PC software and receives a read data command, the recorder system sends data to the PC software through the USB communication interface program.

The coil-type geomagnetic sensor has the advantages of wide measurement range, strong anti-interference capability and low cost, is suitable for geomagnetic measurement in high-speed spinning bombs, solves the problem that the coil-type geomagnetic sensor cannot work in a static environment through the combined design with the magnetic resistance type geomagnetic sensor, simultaneously avoids the defect that the magnetic resistance sensor is easily interfered, and enhances the reliability of the geomagnetic attitude measurement recorder.

Fig. 10 is a schematic diagram of a USB communication interface program, which is designed by using an API function and a corresponding firmware library file in the USB xpress development kit that support USB communication of C8051F320 devices, and includes a USB communication program and a USB driver. The USB communication program comprises a USB interface initialization program, a USB interrupt program and a USB data transmission program, wherein the USB interface initialization program is used for initializing a USB port and a clock thereof and detecting an instruction sent by the PC; the USB interrupt program is used for triggering the entering of an interrupt service function when the data sent by the recorder equipment reaches a specified quantity and the data is written in by the PC; the USB data transmission program is used for reading the data measured by the recorder by the PC and storing the data processed by the user software on the PC. The USB driver is provided by a USBXpress development kit, and calls the dynamic link library file through an API function to complete the communication between the communication program and the driver, so as to realize the data communication between the PC and the processor.

The above are only preferred embodiments of the present invention, and are not intended to limit the present invention, and it will be apparent to those skilled in the art that various modifications and substitutions can be made without departing from the design concept of the present invention, and these modifications and substitutions fall within the scope of the present invention.