CN205066776U - Nine attitude sensor based on data fusion - Google Patents
Nine attitude sensor based on data fusion Download PDFInfo
- Publication number
- CN205066776U CN205066776U CN201520762462.7U CN201520762462U CN205066776U CN 205066776 U CN205066776 U CN 205066776U CN 201520762462 U CN201520762462 U CN 201520762462U CN 205066776 U CN205066776 U CN 205066776U
- Authority
- CN
- China
- Prior art keywords
- axle
- data fusion
- microcontroller
- attitude sensors
- mems sensing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Gyroscopes (AREA)
Abstract
The utility model discloses a nine attitude sensor based on data fusion, include: nine MEMS sensing chip and microcontroller, nine MEMS sensing chips link to each other with microcontroller, nine MEMS sensing chips directly transmit the signal that detects to microcontroller. Nine attitude sensor based on data fusion, to an external tapping power supply port, the earth, send a signal TX port and received signal RX port, totally 4 lines make things convenient for external extension very much. Can supply power with 3.3V voltage in unison simultaneously, the low power dissipation need not voltage conversion circuit moreover.
Description
Technical field
The utility model relates to nine axle attitude sensors, the particularly novel nine axle attitude sensors based on data fusion.
Background technology
Space tracking locating device of the prior art is usually by Attitute detecting device, comprise induction chip sensor, the three-axle magnetic field flowmeter sensor of 3-axis acceleration sensor, three-axis gyroscope composition, primary processor wireless launcher, the compositions such as power supply, coupled computer realizes.But there is following defect at present:
1) pick-up unit has used two or more sensor chip to gather attitude information, wastes space, adds power consumption, be unfavorable for that circuit is integrated;
2) by the data of I2C bus transfer two sensors, add the burden in communication, the impact of data accuracy subject clock signal is larger;
3) for attitude detection system, no matter be used alone the good gyroscope of dynamic property, be still used alone the good accelerometer of static properties, be all not enough to provide effective information;
4) wireless launcher is not general, and adds cost burden.
Utility model content
In view of this, the purpose of this utility model is to provide one attitude sensing more accurately, and wherein adopt chip few, overall volume is little, saves integrated space, can greatly reduce the data processing work of follow-up system, simultaneously very convenient to external expansion.
Based on a kind of nine axle attitude sensors based on data fusion that above-mentioned purpose the utility model provides, comprise: one nine axle MEMS sensing chip and microcontroller, described nine axle MEMS sensing chips are connected with microcontroller, and the signal of detection is directly delivered to described microcontroller by described nine axle MEMS sensing chips.
In certain embodiments, following feature is also comprised:
Described nine axle MEMS sensing chips are provided with the device for gathering 33 axial vector data.
In nine axle MEMS sensing chips, be provided with 3 axis accelerometers, 3 axle gyroscopes and 3 axle magnetic field sensors, gather 3 axle acceleration signals, 3 axis angular rate signals and 3 axle field signals simultaneously.
The external interface of nine axle attitude sensors is provided with 4 wires.
Described wire connects respectively: power supply port, greatly, send signal TX port and Received signal strength RX port.
On described nine axle MEMS sensing chips, microcontroller, carry out the unified power supply of voltage, voltage range is 3 ~ 5V.
On described nine axle MEMS sensing chips, microcontroller, voltage is unified to power for 3.3V.
Described microcontroller is at least the microprocessor of 8.
Described nine axle MEMS sensing chips are MPU9250 sensing chip.
Described microcontroller, is carry out data fusion with kalman filter method to described accelerometer output signal, output from Gyroscope, directly exports the microcontroller of angle and angular velocity.
The beneficial effects of the utility model:
1) the nine axle attitude sensors based on data fusion of the present utility model, an external interface power supply port, greatly, send signal TX port and Received signal strength RX port, and totally 4 lines, very convenient to external expansion;
2) the nine axle attitude sensors based on data fusion of the present utility model, nine axle MEMS sensing chips and microcontroller can be unified to use 3.3V power voltage supply, low in energy consumption, and without the need to voltage conversion circuit.
3) few based on the chip in nine axle attitude sensors of data fusion, volume is little, saves integrated space;
4) based on nine axle attitude sensor microcontrollers of data fusion,, with kalman filter method, data fusion is carried out to described accelerometer output signal, output from Gyroscope, the microcontroller of direct output angle and angular velocity, directly can export angle and angular velocity more accurately, and be no longer inaccurate angular acceleration and angular velocity, considerably reduce the data processing work of follow-up system.
Accompanying drawing explanation
Fig. 1 is the simple structure schematic diagram based on nine axle attitude sensors of data fusion in the utility model one embodiment.
Fig. 2 is the detailed construction schematic diagram based on nine axle attitude sensors of data fusion in the utility model one embodiment.
Fig. 3 is the structural representation based on nine axle attitude sensors of data fusion in a kind of preferred embodiment of the utility model.
Wherein,
1-nine axle MEMS sensing chip, 2-microcontroller, 3-the earth, 4-power supply port, 5-sends signal TX port, 6-Received signal strength RX port.
Embodiment
For making the purpose of this utility model, technical scheme and advantage clearly understand, below in conjunction with specific embodiment, and with reference to accompanying drawing, the utility model is further described.
As shown in Figure 1, in the utility model one embodiment based on the structural representation of nine axle attitude sensors of data fusion.
The nine axle attitude sensors based on data fusion in the present embodiment, comprise: one nine axle MEMS sensing chip 1 and microcontroller 2, described nine axle MEMS sensing chips 1 are connected with microcontroller 2, and the signal of detection is directly delivered to described microcontroller 2 by described nine axle MEMS sensing chips 1.Few based on the chip in nine axle attitude sensors of data fusion, volume is little, saves integrated space.
As shown in Figure 2, in the utility model one embodiment based on the detailed construction schematic diagram of nine axle attitude sensors of data fusion.
Based on nine axle attitude sensors of data fusion, comprise: one nine axle MEMS sensing chip 1 and microcontroller 2, described nine axle MEMS sensing chips 1 are connected with microcontroller 2, and the signal of detection is directly delivered to described microcontroller 2 by described nine axle MEMS sensing chips 1.The external interface of nine axle attitude sensors 2 is provided with 4 wires.Described wire connects respectively: power supply port 4, the earth 3, transmission signal TX port 5 and Received signal strength RX port 6.An external interface power supply port, greatly, send signal TX port and Received signal strength RX port, totally 4 lines, very convenient to external expansion.
Fig. 3 is the structural representation based on nine axle attitude sensors of data fusion in a kind of preferred embodiment of the utility model.
Based on nine axle attitude sensors of data fusion, comprise: one nine axle MEMS sensing chip 1 and microcontroller 2, described nine axle MEMS sensing chips 1 are connected with microcontroller 2, and the signal of detection is directly delivered to described microcontroller 2 by described nine axle MEMS sensing chips 1.The external interface of sensor 2 is provided with 4 wires.Described wire connects respectively: power supply port 4, the earth 3, transmission signal TX port 5 and Received signal strength RX port 6.In certain embodiments, described nine axle MEMS sensing chips 1 are provided with the device for gathering 33 axial vector data, in nine axle MEMS sensing chips 1, be provided with 3 axis accelerometers, 3 axle gyroscopes and 3 axle magnetic field sensors, gather 3 axle acceleration signals, 3 axis angular rate signals and 3 axle field signals simultaneously.As preferably right embodiment, microcontroller 2,, with kalman filter method, data fusion is carried out to described accelerometer output signal, output from Gyroscope, the microcontroller of direct output angle and angular velocity, directly can export angle and angular velocity more accurately, and be no longer inaccurate angular acceleration and angular velocity, considerably reduce the data processing work of follow-up system.As preferably right embodiment, on described nine axle MEMS sensing chips 1, microcontroller 2, carry out the unified power supply of voltage, voltage range is 3 ~ 5V.Further, on described nine axle MEMS sensing chips 1, microcontroller 2, voltage is unified to power for 3.3V, and nine axle MEMS sensing chips 1 and microcontroller 2 can be unified to use 3.3V power voltage supply, low in energy consumption, and without the need to voltage conversion circuit.Preferred as one, described nine axle MEMS sensing chips are MPU9250 sensing chip.By structure as above, 9 axis signals that nine axle MEMS sensing chips 1 will collect, directly export to microcontroller 2, microcontroller 2 pairs of input signals read, the merging of high-low-position data, the positive negative judgement of vector, filtering and data fusion, export transducing signal more accurately.
In certain embodiments, described microcontroller 2 is at least the microprocessor of 8, to pursue lower cost, the processor of 16 or 32 also can be adopted to process, carry out filtering and data fusion to sensing data.This programme carries out data merging to acceleration output signal most-significant byte and least-significant byte, and the method taked secondary high 7 (most significant digit is positive and negative zone bit) is multiplied by 218 be added on least-significant byte, is merged into new data.Also first the most significant digit of most-significant byte can be got 0, then most-significant byte is multiplied by 256 and be added on least-significant byte, and then positive and negative according to the positive negative judgement generated data of original most significant digit.As one preferably embodiment, described microcontroller 2, is carry out data fusion with kalman filter method to described accelerometer output signal, output from Gyroscope, directly exports the microcontroller of angle and angular velocity.
Those of ordinary skill in the field are to be understood that: more than; describedly be only specific embodiment of the utility model; be not limited to the utility model; all within spirit of the present utility model and principle; any amendment of making, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.
Claims (10)
1. nine axle attitude sensors based on data fusion, it is characterized in that, comprise: one nine axle MEMS sensing chip and microcontroller, described nine axle MEMS sensing chips are connected with microcontroller, and the signal of detection is directly delivered to described microcontroller by described nine axle MEMS sensing chips.
2. the nine axle attitude sensors based on data fusion according to claim 1, is characterized in that, described nine axle MEMS sensing chips are provided with the device for gathering 33 axial vector data.
3. the nine axle attitude sensors based on data fusion according to claim 1, it is characterized in that, in nine axle MEMS sensing chips, be provided with 3 axis accelerometers, 3 axle gyroscopes and 3 axle magnetic field sensors, gather 3 axle acceleration signals, 3 axis angular rate signals and 3 axle field signals simultaneously.
4. the nine axle attitude sensors based on data fusion according to claim 1 and 2, is characterized in that, the external interface of nine axle attitude sensors is provided with 4 wires.
5. the nine axle attitude sensors based on data fusion according to claim 4, it is characterized in that, described wire connects respectively: power supply port, greatly, send signal TX port and Received signal strength RX port.
6. the nine axle attitude sensors based on data fusion according to claim 1, is characterized in that, on described nine axle MEMS sensing chips, microcontroller, carry out the unified power supply of voltage, voltage range is 3 ~ 5V.
7. the nine axle attitude sensors based on data fusion according to claim 6, is characterized in that, on described nine axle MEMS sensing chips, microcontroller, voltage is unified to power for 3.3V.
8. the nine axle attitude sensors based on data fusion according to claim 1, it is characterized in that, described microcontroller is at least the microprocessor of 8.
9. the nine axle attitude sensors based on data fusion according to claim 1, is characterized in that, described nine axle MEMS sensing chips are MPU9250 sensing chip.
10. the nine axle attitude sensors based on data fusion according to claim 3, it is characterized in that, described microcontroller, is carry out data fusion with kalman filter method to described accelerometer output signal, output from Gyroscope, directly exports the microcontroller of angle and angular velocity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520762462.7U CN205066776U (en) | 2015-09-30 | 2015-09-30 | Nine attitude sensor based on data fusion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520762462.7U CN205066776U (en) | 2015-09-30 | 2015-09-30 | Nine attitude sensor based on data fusion |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205066776U true CN205066776U (en) | 2016-03-02 |
Family
ID=55393320
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520762462.7U Expired - Fee Related CN205066776U (en) | 2015-09-30 | 2015-09-30 | Nine attitude sensor based on data fusion |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205066776U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105890593A (en) * | 2016-04-06 | 2016-08-24 | 浙江大学 | MEMS inertial navigation system and track reconstruction method based on same |
| CN105975989A (en) * | 2016-05-10 | 2016-09-28 | 东南大学 | Elbow motion state identification method based on nine-axis motion sensor |
| CN106201022A (en) * | 2016-06-24 | 2016-12-07 | 维沃移动通信有限公司 | The processing method of a kind of mobile terminal and mobile terminal |
| CN106370186A (en) * | 2016-09-18 | 2017-02-01 | 时瑞科技（深圳）有限公司 | Rapid low-power-consumption fusion system and method for sensor |
| CN107990894A (en) * | 2017-12-15 | 2018-05-04 | 路军 | A kind of athletic posture sensor chip |
| CN110345905A (en) * | 2019-07-17 | 2019-10-18 | 陈呈世 | Puncture needle angle recognition device |
| CN111561926A (en) * | 2020-06-04 | 2020-08-21 | 成都亿佰特电子科技有限公司 | Portable posture detection device and article posture detection method |
-
2015
- 2015-09-30 CN CN201520762462.7U patent/CN205066776U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105890593A (en) * | 2016-04-06 | 2016-08-24 | 浙江大学 | MEMS inertial navigation system and track reconstruction method based on same |
| CN105975989A (en) * | 2016-05-10 | 2016-09-28 | 东南大学 | Elbow motion state identification method based on nine-axis motion sensor |
| CN105975989B (en) * | 2016-05-10 | 2019-03-19 | 东南大学 | A kind of ancon moving state identification method based on nine axis movement sensors |
| CN106201022A (en) * | 2016-06-24 | 2016-12-07 | 维沃移动通信有限公司 | The processing method of a kind of mobile terminal and mobile terminal |
| CN106370186A (en) * | 2016-09-18 | 2017-02-01 | 时瑞科技（深圳）有限公司 | Rapid low-power-consumption fusion system and method for sensor |
| CN106370186B (en) * | 2016-09-18 | 2019-12-20 | 时瑞科技（深圳）有限公司 | Rapid low-power-consumption fusion system and method for sensor |
| CN107990894A (en) * | 2017-12-15 | 2018-05-04 | 路军 | A kind of athletic posture sensor chip |
| CN110345905A (en) * | 2019-07-17 | 2019-10-18 | 陈呈世 | Puncture needle angle recognition device |
| CN111561926A (en) * | 2020-06-04 | 2020-08-21 | 成都亿佰特电子科技有限公司 | Portable posture detection device and article posture detection method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205066776U (en) | Nine attitude sensor based on data fusion | |
| CN104132663A (en) | FPGA based navigation computer co-processor | |
| CN103678211B (en) | The method for transmitting signals of USB interface and device thereof | |
| CN106289256A (en) | Signal calculated processing system based on two CSTR Yu FPGA architecture | |
| CN105179013A (en) | Coal illegal mining monitoring method based on vibration monitoring and positioning | |
| CN203949716U (en) | A kind of digital weighing sensor | |
| CN206074000U (en) | A kind of underwater hiding-machine inertial navigation system aided in based on gravity | |
| CN104199343A (en) | Micro data collection system based on serial storage mode | |
| CN106771362A (en) | A kind of single shaft, integral type strapdown acceleration measurement device | |
| CN205484831U (en) | Vehicle navigation information system | |
| CN203687956U (en) | SD (secure digital memory) card control circuit in strapdown inertial navigation system | |
| CN204392586U (en) | For the radio sensing network terminal installation of mine monitoring | |
| CN109830095B (en) | Data concentrator | |
| CN202815012U (en) | Digital three-axis micro-acceleration sensor | |
| CN202693122U (en) | Blasting recorder of sensor with triaxial digital gyroscope orientation function | |
| CN202974475U (en) | Storage battery temperature measuring equipment | |
| CN204241452U (en) | A kind of with storing and four gas-detecting devices of parameter adjustment | |
| CN102494671A (en) | Intrinsically safe type digital tilt angle sensor for mine | |
| CN204166330U (en) | There is the digital versatile measure and control device of communication function | |
| CN210181110U (en) | Low-voltage electricity stealing prevention switch | |
| CN206930360U (en) | A kind of industrial wireless weighing system | |
| CN203323762U (en) | High-precision gyroscope circuit of intelligent terminal | |
| CN205958139U (en) | Temperature transmitter that accuracy is high | |
| CN206115220U (en) | Transaction information processing system based on FPGA | |
| CN206057366U (en) | A kind of SCM Based wind speed and direction measuring device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170220 Address after: Room 2, block D, No. 100085, road, Haidian District, Beijing Patentee after: BEIJING IRONMAN TECHNOLOGY CO.,LTD. Address before: Room 2, block D, No. 100085, road, Haidian District, Beijing Patentee before: Zhang Rui |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160302 Termination date: 20210930 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |