CN103162685A - Attitude sensor - Google Patents
Attitude sensor Download PDFInfo
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- CN103162685A CN103162685A CN2013100795451A CN201310079545A CN103162685A CN 103162685 A CN103162685 A CN 103162685A CN 2013100795451 A CN2013100795451 A CN 2013100795451A CN 201310079545 A CN201310079545 A CN 201310079545A CN 103162685 A CN103162685 A CN 103162685A
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Abstract
The invention relates to an attitude sensor. A sensing mechanism of the attitude sensor is based on heat exchange between natural convection gas in a sensitive element and a thermistor, and the change of environment temperatures can cause the temperature drift of sensitivity of the sensor. The attitude sensor comprises angle sensors, a sensor power supply and a central processor, wherein the sensor power supply is connected with a 5V voltage stabilizer and a heating module through a direct-current power supply filter; one path of current of the 5V voltage stabilizer is input into the central processor through a 3.3V voltage stabilizer while the other path of current is input into the two vertical angle sensors; signals are input into the central processor after being filtered; and a deviation value output from the central processor is sent to an upper computer through a CAN controller and a CAN isolation transceiver module. The heating module in an attitude sensor circuit is used for performing constant temperature protection on the two vertical angle sensors, so that the influence of temperature change can be corrected effectively, the sensitivity of the angle sensors are ensured, and the detection precision of the attitude sensor is improved.
Description
Technical field
The present invention relates to a kind of attitude sensor.
Background technology
Attitude sensor, finger can be experienced gestures of object (locus of axis to the gravity coordinate system) and convert the sensor of usable output signal to, its sensitive mechanism is based on the interior natural convection gas of responsive original paper and the exchange heat of thermistor, therefore, the variation of environment temperature can cause the redistribution in temperature field in responsive original paper, causes detecting the fluctuation of bridge output voltage and the temperature drift of transducer sensitivity.In some attitude sensors, the serviceability temperature sensor carries out the measurement of temperature, and draws the attitude result by compensation value calculation.The method is subject to choosing of offset, and certain error is arranged.In present attitude sensor circuit, obliquity sensor directly uses filtered supply voltage, if supply voltage produces fluctuation, can not guarantee the accuracy of measurement of attitude sensor.
Summary of the invention
Thereby the purpose of this invention is to provide a kind of heating module that utilizes and angular transducer is carried out the attitude sensor of constant temperature protection Tc variable effect; guarantee that obliquity sensor uses identical voltage reference with A/D converter, guarantee that measured value is not subjected to the impact of mains fluctuations.
The technical solution adopted in the present invention is:
Attitude sensor is provided with angular transducer, probe power and central processing unit, it is characterized in that:
Described probe power is connected with heating module with the 5V voltage stabilizer by DC wave filter;
The electric current of 5V voltage stabilizer is leaded up to 3.3V voltage stabilizer input central processing unit, another road input two angular transducers parallel with one another, the signal of two angular transducers is through two difference input channels of input central processing unit after the digital filtering of passive filter;
Two angular transducers are respectively directions X obliquity sensor and Y-direction obliquity sensor, mutually are vertically mounted on circuit board;
The deviate of central processing unit output is delivered to host computer by CAN controller and CAN isolation transceiver module.
Described central processing unit is mixed signal ISP microcontroller, is connected with parameter register on it.
It is single-chip microcomputer operating voltage 3.3V circuit that 9,10 pins in described mixed signal ISP microcontroller connect, and 31,32 pins connect for producing reference voltage ++ the reference circuit of 5V, 12 connect reset circuit.
Described CAN controller is connected by the reading and writing pin with CAN isolation transceiver module.
Described directions X obliquity sensor is connected with OUT2 by OUT1 with passive filter, and the directions X obliquity sensor obtains reference voltage by 6,7,12 pins ++ 5V;
Described Y-direction obliquity sensor is connected with OUT2 by OUT1 with passive filter, and the Y-direction obliquity sensor obtains reference voltage by 6,7,12 pins ++ 5V;
Described passive filter is comprised of polar capacitor, a polarity free capacitor by 6.
Described heating module is constant-temperature circuit, comprise 1 temperature sensor, triode as well heater heat, an operational amplifier, R16 and R15 carry out the equivalent dividing potential drop, obtain voltage reference;
Operational amplifier compares the magnitude of voltage of 1 and 3 pins, and 3 pin values are when higher, circuit turn-on, and triode heats as well heater; If electric current is too large, the magnitude of voltage that makes R18 is during greater than PN junction voltage, and triode is shunted;
Maximum current in R19 resistance limits circuit makes it be no more than the maximum output current value of operational amplifier;
The integrating circuit that R17 and C1 form postpones signal, and clutter is filtered.
The present invention has the following advantages:
The present invention is provided with heating module two orthogonal angular transducers is carried out the constant temperature protection in the attitude sensor circuit, effectively the Tc variable effect, guaranteed the sensitivity of angular transducer, improved the accuracy of detection of attitude sensor.A/D converter of the present invention and sensor use same voltage reference.Due to the variation of external temperature, time etc., the supply voltage size of input may change a lot.Because the supply voltage of voltage reference and input is linear, A/D converter conversion figure place is constant, so same benchmark can guarantee that the transfer admittance of A/D converter is constant, the accuracy of measurement of sensor is constant.
Description of drawings
Fig. 1 is attitude sensor circuit working theory diagram.
Fig. 2 is mixed signal ISP microcontroller connection layout.
Fig. 3 is CAN controller connection layout.
Fig. 4 is the directions X obliquity sensor.
Fig. 5 is the Y-direction obliquity sensor.
Fig. 6 is heater circuit.
Fig. 7 is the attitude sensor circuit connection diagram.
Embodiment
The present invention will be described in detail below in conjunction with embodiment.
Referring to Fig. 1 and Fig. 7, a kind of attitude sensor involved in the present invention, be provided with angular transducer, probe power and central processing unit, probe power is connected with heating module with the 5V voltage stabilizer by DC wave filter, probe power is connected with the DC wave filter wave filter, can prevent two-way interference.The reference power supply of probe power and A/D converter is identical, all for by the power supply signal after the voltage stabilizing of 5V voltage stabilizer.The electric current of 5V voltage stabilizer is leaded up to 3.3V voltage stabilizer input central processing unit, eliminates voltage fluctuation; Another road input two angular transducers parallel with one another, these two angular transducers are respectively directions X obliquity sensor and Y-direction obliquity sensor, mutually are vertically mounted on circuit board.The signal of two angular transducers is through two difference input channels of input central processing unit after the digital filtering of passive filter.When the testee position changes, when angled with horizontal line, two angular transducer inspected object and horizontal misalignment angle flow to central processing unit with this angle value.Central processing unit carries out digital filtering with the signal of two angular transducers, and utilizes root mean square algorithm to process, then multiply by the deviate that related coefficient obtains attitude.The deviate of central processing unit output is delivered to host computer by CAN controller and CAN isolation transceiver module.
Central processing unit is mixed signal ISP microcontroller, is connected with parameter register on it.
Referring to Fig. 2, it is single-chip microcomputer operating voltage 3.3V circuit that 9,10 pins in mixed signal ISP microcontroller connect, and 31,32 pins connect for producing reference voltage ++ the reference circuit of 5V, 12 connect reset circuit.
Referring to Fig. 3, the CAN controller is connected by the reading and writing pin with CAN isolation transceiver module.
Referring to Fig. 4 and Fig. 5, the directions X obliquity sensor is connected with OUT2 by OUT1 with passive filter, and the directions X obliquity sensor obtains reference voltage by 6,7,12 pins ++ 5V; The Y-direction obliquity sensor is connected with OUT2 by OUT1 with passive filter, and the Y-direction obliquity sensor obtains reference voltage by 6,7,12 pins ++ 5V; Passive filter is comprised of polar capacitor, a polarity free capacitor by 6.
Referring to Fig. 6, heating module is constant-temperature circuit, comprise 1 temperature sensor, triode as well heater heat, an operational amplifier, R16 and R15 carry out the equivalent dividing potential drop, obtain voltage reference; Operational amplifier compares the magnitude of voltage of 1 and 3 pins, and 3 pin values are when higher, circuit turn-on, and triode heats as well heater; If electric current is too large, the magnitude of voltage that makes R18 is during greater than PN junction voltage, and triode is shunted; Maximum current in R19 resistance limits circuit makes it be no more than the maximum output current value of operational amplifier; The integrating circuit that R17 and C1 form postpones signal, and clutter is filtered.
It is cited that content of the present invention is not limited to embodiment, and the conversion of any equivalence that those of ordinary skills take technical solution of the present invention by reading instructions of the present invention is claim of the present invention and contains.
Claims (1)
1. attitude sensor, be provided with angular transducer, probe power and central processing unit, it is characterized in that:
Described probe power is connected with heating module with the 5V voltage stabilizer by DC wave filter; The electric current of 5V voltage stabilizer is leaded up to 3.3V voltage stabilizer input central processing unit, another road input two angular transducers parallel with one another, the signal of two angular transducers is through two difference input channels of input central processing unit after the digital filtering of passive filter; Two angular transducers are respectively directions X obliquity sensor and Y-direction obliquity sensor, mutually are vertically mounted on circuit board; The deviate of central processing unit output is delivered to host computer by CAN controller and CAN isolation transceiver module;
Described central processing unit is mixed signal ISP microcontroller, is connected with parameter register on it;
It is single-chip microcomputer operating voltage 3.3V circuit that 9,10 pins in described mixed signal ISP microcontroller connect, and 31,32 pins connect for producing reference voltage ++ the reference circuit of 5V, and 12 connect reset circuit;
Described CAN controller is connected by the reading and writing pin with CAN isolation transceiver module;
Described directions X obliquity sensor is connected with OUT2 by OUT1 with passive filter, and the directions X obliquity sensor obtains reference voltage by 6,7,12 pins ++ 5V; The Y-direction obliquity sensor is connected with OUT2 by OUT1 with passive filter, and the Y-direction obliquity sensor obtains reference voltage by 6,7,12 pins ++ 5V; Passive filter is comprised of polar capacitor, a polarity free capacitor by 6;
Described heating module is constant-temperature circuit, comprise 1 temperature sensor, triode as well heater heat, an operational amplifier, R16 and R15 carry out the equivalent dividing potential drop, obtain voltage reference; Operational amplifier compares the magnitude of voltage of 1 and 3 pins, and 3 pin values are when higher, circuit turn-on, and triode heats as well heater; If electric current is too large, the magnitude of voltage that makes R18 is during greater than PN junction voltage, and triode is shunted; Maximum current in R19 resistance limits circuit makes it be no more than the maximum output current value of operational amplifier; The integrating circuit that R17 and C1 form postpones signal, and clutter is filtered.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013100795451A CN103162685A (en) | 2013-03-13 | 2013-03-13 | Attitude sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013100795451A CN103162685A (en) | 2013-03-13 | 2013-03-13 | Attitude sensor |
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| CN103162685A true CN103162685A (en) | 2013-06-19 |
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| CN2013100795451A Pending CN103162685A (en) | 2013-03-13 | 2013-03-13 | Attitude sensor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111693019A (en) * | 2020-05-20 | 2020-09-22 | 西安交通大学 | Attitude sensing device and data fusion and attitude calculation method |
Citations (5)
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| CN102075142A (en) * | 2010-12-30 | 2011-05-25 | 东莞市金振电子有限公司 | High-precision temperature-controlled crystal oscillator |
| US20110256709A1 (en) * | 2008-07-07 | 2011-10-20 | Beijing Information Technology Institute | Level posture sensing chip and its manufacturing method, level posture sensor |
| CN102620719A (en) * | 2012-04-17 | 2012-08-01 | 西安精准测控有限责任公司 | Obliquity sensor with high accuracy and temperature compensation and dynamic compensation method thereof |
| CN202393384U (en) * | 2011-12-28 | 2012-08-22 | 北京星网宇达科技股份有限公司 | Micromechanical accelerometer tilt sensor adopting temperature-controlled manner to improve measuring accuracy |
| CN203116750U (en) * | 2013-03-13 | 2013-08-07 | 西安工业大学 | Posture sensor |
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2013
- 2013-03-13 CN CN2013100795451A patent/CN103162685A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110256709A1 (en) * | 2008-07-07 | 2011-10-20 | Beijing Information Technology Institute | Level posture sensing chip and its manufacturing method, level posture sensor |
| CN102075142A (en) * | 2010-12-30 | 2011-05-25 | 东莞市金振电子有限公司 | High-precision temperature-controlled crystal oscillator |
| CN202393384U (en) * | 2011-12-28 | 2012-08-22 | 北京星网宇达科技股份有限公司 | Micromechanical accelerometer tilt sensor adopting temperature-controlled manner to improve measuring accuracy |
| CN102620719A (en) * | 2012-04-17 | 2012-08-01 | 西安精准测控有限责任公司 | Obliquity sensor with high accuracy and temperature compensation and dynamic compensation method thereof |
| CN203116750U (en) * | 2013-03-13 | 2013-08-07 | 西安工业大学 | Posture sensor |
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| 李士钊: "基于AVR单片机的双轴倾角仪的设计与实现", 《中国优秀硕士学位论文全文数据库》, 15 September 2009 (2009-09-15) * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111693019A (en) * | 2020-05-20 | 2020-09-22 | 西安交通大学 | Attitude sensing device and data fusion and attitude calculation method |
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Application publication date: 20130619 |