阅读说明：本技术 一种小体积高精度惯性测量单元 (Small-size high-precision inertial measurement unit ) 是由 周世纪 于 2020-02-18 设计创作，主要内容包括：本发明公开了一种小体积高精度惯性测量单元,包括结构腔体,在结构腔体设有主控电路板,X,Y轴传感器电路板,在所述主控电路板设有z轴传感器,X,Y轴传感器电路板设有X,Y轴传感器；主控电路板与X,Y轴传感器电路板的连接采用为L型插针连接器连接,形成一个整体后固定；通过通信接口能够接收GPS/北斗信号,在主处理器内部实现信息的融合,进而输出惯导组合的信息等；本发明不仅降低了陀螺加速度计信息噪声,减小了体积,降低了成本,而且实现了较高精度的信息融合,能够接收GPS/北斗信号,能够输出各种惯导组合的信息,实现角速率、加速度、海拔高度、磁航向和姿态测量。(The invention discloses a small-size high-precision inertia measurement unit, which comprises a structural cavity, wherein a main control circuit board and an X-axis and Y-axis sensor circuit board are arranged in the structural cavity, a z-axis sensor is arranged on the main control circuit board, and an X-axis sensor and a Y-axis sensor are arranged on the X-axis and Y-axis sensor circuit boards; the main control circuit board is connected with the X-axis sensor circuit board and the Y-axis sensor circuit board by adopting an L-shaped pin connector to form an integral body and then fixed; the GPS/Beidou signal can be received through the communication interface, information fusion is realized in the main processor, and then the information of the inertial navigation combination is output; the invention not only reduces the information noise of the gyro accelerometer, reduces the volume and the cost, but also realizes the information fusion with higher precision, can receive GPS/Beidou signals, can output the information of various inertial navigation combinations and realizes the measurement of angular rate, acceleration, altitude, magnetic heading and attitude.)

1. A small-size high-precision inertial measurement unit is characterized by comprising a structural cavity, wherein a main control circuit board and an X-axis and Y-axis sensor circuit board are arranged in the structural cavity, a z-axis sensor is arranged on the main control circuit board, and an X-axis sensor and a Y-axis sensor are arranged on the X-axis and Y-axis sensor circuit boards; the X, Y and Z axes are arranged in a gyro array mode; the main control circuit board is connected with the X-axis sensor circuit board and the Y-axis sensor circuit board by adopting an L-shaped pin connector to form an integral body and then fixed; the GPS/Beidou signal can be received through the communication interface, information fusion is realized in the main processor, and then the information of the inertial navigation combination is output.

2. The small-size high-precision inertial measurement unit according to claim 1, wherein the main control circuit board comprises a gyro assembly, an accelerometer assembly, a magnetic sensor, an altimeter, an input interface, a main processor, an output interface, a communication interface, and a secondary power supply module; the magnetic sensor and the altimeter are integrated together; the gyroscope assembly, the accelerometer assembly, the magnetic sensor and the altimeter are respectively connected with an input interface, the input interface is connected with a main processor, the main processor is connected with an input/output interface, and the input/output interface is connected with a communication interface; the secondary power supply supplies power to the input and output section, the main processor section, and the like.

3. A small-volume high-precision inertial measurement unit according to claim 1, characterized by comprising the following working steps:

1) electrifying;

2) the main processor collects the information of the X-axis gyroscope, the Y-axis gyroscope, the accelerometer, the altimeter and the magnetic sensor and carries out information fusion in the main processor;

3) after the main processor processes various information, the course, the attitude, the angular rate and the angular acceleration information are calculated;

4) and outputting the calculated information through an input/output interface.

4. The small-volume high-precision inertial measurement unit according to claim 1, wherein the connection between the main control circuit board and the X-axis and Y-axis sensor circuit boards is an integral structure formed by connecting L-shaped pin connectors, and is stabilized by four screws and silicone gel.

5. The small-volume high-precision inertial measurement unit according to claim 1, wherein the integral structure formed by the structural cavity and the main control circuit board is stabilized with the object to be measured by three M4 x 10 screws arranged in a triangle.

6. The small-volume high-precision inertial measurement unit according to claim 3, wherein in step 2), the main processor collects information of the X-axis gyroscope, the Y-axis gyroscope, the accelerometer, the altimeter and the magnetic sensor, and performs information fusion in the main processor after digital filtering and temperature compensation processing.

7. A small-form factor, high-accuracy inertial measurement unit according to claim 1, wherein said communication interface comprises an RS422 serial interface.

8. The small-volume high-precision inertial measurement unit according to claim 4, wherein the connection between the main control circuit board and the X-axis and Y-axis sensor circuit boards is an integral structure formed by connecting L-shaped pin connectors, and is stabilized by four M2 screws and silicone gel.

Technical Field

The invention relates to the technical field of inertial measurement, in particular to a small-size high-precision inertial measurement unit.

Background

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide a small-size high-precision inertial measurement unit, which not only reduces the information noise of a gyro accelerometer, reduces the size and the cost, but also realizes high-precision information fusion, can receive GPS/Beidou signals, can output information of various inertial navigation combinations and realize the measurement of angular rate, acceleration, altitude, magnetic heading and attitude.

The purpose of the invention is realized by the following technical scheme:

a small-size high-precision inertial measurement unit comprises a structural cavity, wherein a main control circuit board, an X-axis sensor circuit board and a Y-axis sensor circuit board are arranged in the structural cavity, a z-axis sensor is arranged on the main control circuit board, and an X-axis sensor and a Y-axis sensor are arranged on the X-axis sensor circuit board and the Y-axis sensor circuit board; the X, Y and Z axes are arranged in a gyro array mode; the main control circuit board is connected with the X-axis sensor circuit board and the Y-axis sensor circuit board by adopting an L-shaped pin connector to form an integral body and then fixed; the GPS/Beidou signal can be received through the communication interface, information fusion is realized in the main processor, and then the information of the inertial navigation combination is output.

Furthermore, the main control circuit board comprises a gyro assembly, an accelerometer assembly, a magnetic sensor, an altimeter, an input interface, a main processor, an output interface, a communication interface and a secondary power supply module; the magnetic sensor and the altimeter are integrated together; the gyroscope assembly, the accelerometer assembly, the magnetic sensor and the altimeter are respectively connected with an input interface, the input interface is connected with a main processor, the main processor is connected with an input/output interface, and the input/output interface is connected with a communication interface; the secondary power supply supplies power to the input and output section, the main processor section, and the like.

Further, the method comprises the following working steps:

1) electrifying;

2) the main processor collects the information of the X-axis gyroscope, the Y-axis gyroscope, the accelerometer, the altimeter and the magnetic sensor and carries out information fusion in the main processor;

3) after the main processor processes various information, the course, the attitude, the angular rate and the angular acceleration information are calculated;

4) and outputting the calculated information through an input/output interface.

Furthermore, the main control circuit board is connected with the X-axis sensor circuit board and the Y-axis sensor circuit board by adopting an integral structure formed after the L-shaped pin connectors are connected, and four screws and silica gel are adopted for stabilization.

Furthermore, the integral structure formed by the structural cavity and the main control circuit board is stabilized with the measured object by three M4 x 10 screws arranged in a triangle.

Further, in the step 2), the main processor collects information of the X-axis gyroscope, the Y-axis gyroscope, the accelerometer, the altimeter and the magnetic sensor, digital filtering and temperature compensation processing are carried out, and information fusion is carried out in the main processor.

Further, the communication interface comprises an RS422 serial interface.

Furthermore, the main control circuit board and the X-axis and Y-axis sensor circuit boards are connected by adopting an integral structure formed after the L-shaped pin connectors are connected, and four M2 screws and silicone gel are adopted for stabilization.

The invention has the beneficial effects that:

(1) according to the invention, the X, Y and Z axes are arranged in a gyro array mode, so that the information noise of the gyro accelerometer is reduced, the volume is reduced, the cost is reduced, and the information fusion with higher precision is realized due to the adoption of a gyro combination with lower precision and lower cost; the GPS/Beidou signal is received through the communication interface, various information fusion is realized in the main processor, and then various inertial navigation combination information can be output, the accurate output and attitude measurement of information such as angular rate, acceleration, altitude, magnetic heading and the like are realized, and the device can be used for attitude measurement, navigation, guidance and the like of missiles, intelligent ammunitions, unmanned planes, unmanned aircrafts, vehicles, underwater weapons, various stable platforms.

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, and 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 these drawings without creative efforts.

FIG. 1 is a block diagram of the present invention;

FIG. 2 is a schematic structural diagram according to a first embodiment of the present invention;

FIG. 3 is a schematic view of a first configuration and installation dimensions of the first embodiment of the present invention;

FIG. 4 is a schematic view of a second configuration and mounting dimensions of the first embodiment of the present invention;

FIG. 5 is a schematic view of a third configuration and installation dimensions of the first embodiment of the present invention;

FIG. 6 is a schematic view of a fourth configuration and installation dimensions according to a first embodiment of the present invention;

in the figure, 32-X-axis sensor, 33-fixing screw, 34-main circuit board, 35-signal input and output connector, 36-Y-axis sensor.

Detailed Description

The technical solutions of the present invention are further described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the following. All of the features disclosed in this specification, or all of the steps of a method or process so disclosed, may be combined in any combination, except combinations where mutually exclusive features and/or steps are used.

Any feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Before describing the embodiments, some necessary terms need to be explained. For example:

if the terms "first," "second," etc. are used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. Thus, a "first" element discussed below could also be termed a "second" element without departing from the teachings of the present invention. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements present.

The various terms appearing in this application are used for the purpose of describing particular embodiments only and are not intended as limitations of the invention, with the singular being intended to include the plural unless the context clearly dictates otherwise.

When the terms "comprises" and/or "comprising" are used in this specification, these terms are intended to specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence and/or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

As shown in fig. 1, a small-sized high-precision inertial measurement unit includes a structural cavity, a main control circuit board is disposed in the structural cavity, and a z-axis sensor, an X-axis sensor, and a Y-axis sensor are disposed on the main control circuit board; the X, Y and Z axes are arranged in a gyro array mode; the main control circuit board is connected with the X-axis sensor circuit board and the Y-axis sensor circuit board by adopting an L-shaped pin connector to form an integral body and then fixed; the GPS/Beidou signal can be received through the communication interface, information fusion is realized in the main processor, and then the information of the inertial navigation combination is output.

Furthermore, the main control circuit board comprises a gyro assembly, an accelerometer assembly, a magnetic sensor, an altimeter, an input interface, a main processor, an output interface, a communication interface and a secondary power supply module; the magnetic sensor and the altimeter are integrated together; the gyroscope assembly, the accelerometer assembly, the magnetic sensor and the altimeter are respectively connected with an input interface, the input interface is connected with a main processor, the main processor is connected with an input/output interface, and the input/output interface is connected with a communication interface; the secondary power supply supplies power to the input and output section, the main processor section, and the like.

Further, the method comprises the following working steps:

1) electrifying;

2) the main processor collects the information of the X-axis gyroscope, the Y-axis gyroscope, the accelerometer, the altimeter and the magnetic sensor and carries out information fusion in the main processor;

3) after the main processor processes various information, the course, the attitude, the angular rate and the angular acceleration information are calculated;

4) and outputting the calculated information through an input/output interface.

Furthermore, the main control circuit board is connected with the X-axis sensor circuit board and the Y-axis sensor circuit board by adopting an integral structure formed after the L-shaped pin connectors are connected, and four screws and silica gel are adopted for stabilization.

Furthermore, the integral structure formed by the structural cavity and the main control circuit board is stabilized with the measured object by three M4 x 10 screws arranged in a triangle.

Further, in the step 2), the main processor collects information of the X-axis gyroscope, the Y-axis gyroscope, the accelerometer, the altimeter and the magnetic sensor, digital filtering and temperature compensation processing are carried out, and information fusion is carried out in the main processor.

Further, the communication interface comprises an RS422 serial interface.

Furthermore, the main control circuit board and the X-axis and Y-axis sensor circuit boards are connected by adopting an integral structure formed after the L-shaped pin connectors are connected, and four M2 screws and silicone gel are adopted for stabilization.