CN101413798A - Multiple-combined angular rate gyroscope - Google Patents
Multiple-combined angular rate gyroscope Download PDFInfo
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- CN101413798A CN101413798A CN 200810232517 CN200810232517A CN101413798A CN 101413798 A CN101413798 A CN 101413798A CN 200810232517 CN200810232517 CN 200810232517 CN 200810232517 A CN200810232517 A CN 200810232517A CN 101413798 A CN101413798 A CN 101413798A
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Abstract
The invention discloses a multi-combination angular speed gyroscope, comprising six angular speed gyroscopes for measuring the angular speed along the direction of Z axis in space, an A/D sampling circuit and a processor; wherein, the A/D sampling circuit is in charge of analog-to-digital conversion on the analog signal output by the six angular speed gyroscopes, and the processor is in charge of emerging the six digital signals output by the A/D sampling circuit and outputting an accurate and real-tine detecting signal. The invention has the advantages of simple structure, small volume, light weight, low cost and convenient use; besides, the invention has self detecting function, high reliability, long service life and wide application range.
Description
Technical field
The present invention relates to the inertial measurement system technical field, especially relate to a kind of multiple-combined angular rate gyroscope that is used for the angular speed of an axle of measurement plane coordinate system.
Background technology
At present, control at guided missile, geological exploration, Industry Control, the stable control of aviation aircraft, inertial navigation, the angular rate gyroscope that generally uses in the industry fields such as automatic driving and robot control, its product overwhelming majority all is mechanical, and is floating or half liquid floating, the flexible angular rate gyroscope that rotation motor is arranged etc. as liquid.The outstanding shortcoming that these old-fashioned angular rate gyroscopes exist in actual applications is: volume is big, cost an arm and a leg, fragile, impact-resistant acceleration is low, life-span is short, little (only 500 ° of the old-fashioned angular rate gyroscope greatest measurement/s) of measurement range, frequency response low (mostly being 100Hz most) and how not possessing from detecting (self-Test) function etc., even current advanced optical fiber or lasergyro, also be since its cost an arm and a leg and volume big etc. former thereby be difficult to be widely used.
Summary of the invention
Technical matters to be solved by this invention is at above-mentioned deficiency of the prior art, a kind of multiple-combined angular rate gyroscope is provided, it is simple in structure, volume is little, in light weight, cost is low and it is easy and simple to handle to use, and possess self-checking function, reliability height, long service life and applied range.
For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of multiple-combined angular rate gyroscope is characterized in that: comprise that six are used for the angular rate gyroscope of measurement space Z-direction angular speed, respectively six simulating signals that angular rate gyroscope is exported are carried out analog-to-digital A/D sample circuit and the six way word signals of being exported through A/D sample circuit conversion are carried out fusion treatment and the output processor of detection signal really time the surely.
Described processor comprises and joins with the A/D sample circuit respectively and A/D digital signal that sample circuit is exported is carried out the fpga chip of Kalman filtering, and fpga chip exported six road signals carry out fusion treatment and the output DSP treatment circuit of detection signal really time the surely.
The output signal of described DSP treatment circuit is exported behind interface circuit; Described DSP treatment circuit is made up of input circuit five, dsp processor, clock circuit and reset circuit, and input circuit five connects dsp processor; The output signal of described dsp processor divides three the tunnel, the one tunnel to connect the input end of dsp processor through clock circuit, and one the tunnel connects the input end of dsp processor, the input end of another road connection interface circuit through reset circuit.
Described A/D sample circuit is made up of input circuit four, calibration loop four, arithmetical unit two, A/D converter and backfeed loop four, and described input circuit four connects A/D converter; The output signal of described A/D converter is divided three tunnel, one tunnel input end that connects A/D converter after arithmetical unit two and calibration loop four, and one the tunnel connects the input end of A/D converter through backfeed loop four, and another road connects fpga chip.
Described angular rate gyroscope is chip ADXRS150, and described A/D converter is chip ADS1251, and described fpga chip is chip EP2C20, and described dsp processor is dsp chip TMS320.
Described angular rate gyroscope comprises sensitive circuit, signal processor and the main amplifier of serial connection successively; Described main amplifier also is connected to respectively its zero offset controller, range expander and bandwidth extender of controlling, described zero offset controller, range expander and bandwidth extender is in parallel and three's common output end all connects the input end of main amplifier.
The present invention compared with prior art has the following advantages: 1, not only simple in structure, processing and fabricating is convenient, and uses easy to operately, and possesses self-checking function, accurately the state in the measurement plane coordinate system; 2, angular rate gyroscope belongs to the solid-state angular rate sensor of motor without spin, the its internal circuit working component adopts the chip of micro-mechanical-electronic system (MEMS) technology and all adopts the production of ambipolar metal-oxide semiconductor (MOS) (BIMOS) technology and the current-carrying welder technology of ball grid arrangement to carry out processing and manufacturing, thereby product has high reliability and high encapsulation soundness; 3, volume is little, in light weight, cost is low and long service life, simultaneously, use easy and simple to handle, easy to utilize, thereby range of application in practice is very extensive, can be widely used in guided missile control, geological exploration, Industry Control, the stable control of aviation aircraft, inertial navigation, industry fields such as automatic driving and robot control; 4, the accuracy height of Ce Lianging, by six single shaft angular rate gyroscopes the angular speed of Z axle in the space coordinates is measured respectively, the output signal of six angular rate gyroscopes is that digital signal and six way word signals are transferred to is handled in the processor through A/D change-over circuit conversion back, processor is handled six road signals of being imported according to data anastomosing algorithm and Kalman filtering algorithm, and then obtain angle rate signal more accurately, spread out of by the communication interface circuit then; In addition, the present invention has self-checking function, thereby can realize detection (BIT) in the machine; 5, the present invention also is provided with zero offset controller, range expander and bandwidth extender, make this product have measurement range and bandwidth capability that calibration, broad are put in drift, simultaneously, also make the present invention have that operating temperature range is wide, volume is little, in light weight, start fast, the life-span is long and characteristics such as impact-resistant acceleration height.
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
Description of drawings
Fig. 1 is an overall circuit theory diagram of the present invention.
Fig. 2 is the schematic block circuit diagram of angular rate gyroscope of the present invention.
Fig. 3 is the circuit theory diagrams of sensitive circuit, signal processor and main amplifier among Fig. 2.
Fig. 4 is the schematic block circuit diagram of zero offset controller of the present invention.
Fig. 5 is the circuit theory diagrams of Fig. 4.
Fig. 6 is the schematic block circuit diagram of range expander of the present invention.
Fig. 7 is the circuit theory diagrams of Fig. 6.
Fig. 8 is the schematic block circuit diagram of bandwidth extender of the present invention.
Fig. 9 is the circuit theory diagrams of Fig. 8.
Figure 10 is the schematic block circuit diagram of A/D sample circuit of the present invention.
Figure 11 is the schematic block circuit diagram of DSP treatment circuit of the present invention.
Description of reference numerals:
1-angular rate gyroscope; 2-A/D sample circuit; 2-1-input circuit four;
2-2-calibration loop four; 2-3-arithmetical unit two; 2-4-A/D converter;
2-5-backfeed loop four; 3-fpga chip; 4-sensitive circuit;
4-1-discrete controller; 4-2-ST interface circuit; 4-3-sensor;
4-4-resonator; 4-5-driver; 5-signal processor;
6-main amplifier; 7-input circuit one; 8-amplifier one;
9-arithmetical unit one; 10-calibration loop one; 11-backfeed loop one;
12-input circuit two; 13-amplifier two; 14-Range Extension loop;
15-backfeed loop two; 16-input circuit three; 17-amplifier three;
18-bandwidth expanded circuit; 19-backfeed loop three; 21-zero offset controller;
22-range expander; 23-bandwidth extender; 24-processor;
26-DSP treatment circuit; 26-1-input circuit five; 26-2-dsp processor;
26-3-clock circuit; 26-4-reset circuit; 27-interface circuit.
Embodiment
As shown in Figure 1, the present invention includes and comprise that six are used for the angular rate gyroscope 1 of measurement space Z-direction angular speed, respectively six angular rate gyroscope 1 simulating signals of exporting are carried out analog-to-digital A/D sample circuit 2 and the six way word signals of being exported through A/D sample circuit 2 conversion are carried out fusion treatment and the output processor 24 of detection signal really time the surely.Described processor 24 comprises and joins with A/D sample circuit 2 respectively and A/D sample circuit 2 digital signal of exporting is carried out the fpga chip 3 (being the field programmable gate array family chip) of Kalman filtering, and fpga chip 3 six road signals of exporting are carried out fusion treatment and the output DSP treatment circuit 26 of detection signal really time the surely.In addition, by an adaptive transit line plate input end of angular rate gyroscope 1 and the signal output part after Kalman filtering and DSP treatment circuit 26 handled are connected with outgoing cable.Wherein, described angular rate gyroscope 1 comprises sensitive circuit 4, signal processor 5 and the main amplifier 6 of serial connection successively; Described main amplifier 6 also is connected to respectively its zero offset controller 21 of controlling, range expander 22 and bandwidth extender 23, and described zero offset controller 21, range expander 22 and bandwidth extender 23 are in parallel and three's common output end all connects the input end of main amplifier 6.In the present embodiment, described angular rate gyroscope 1 is chip ADXRS150, and described A/D change-over circuit 2 is chip ADS1251, and described fpga chip 3 is chip EP2C20.
As shown in Figure 2, described sensitive circuit 4 is the sensitive circuit of being made up of discrete controller 4-1, ST interface circuit 4-2, sensor 4-3, resonator 4-4 and driver 4-5, described discrete controller 4-1 and driver 4-5 all meet sensor 4-3 respectively behind ST interface circuit 4-2 resonator 4-4, described sensor 4-3 connects signal processor 5.In conjunction with Fig. 3, described sensor 4-3 is chip U1 for chip P0-XRS, its input end U
InConnect the angular speed input signal; Resonator 4-4 is in series by two operational amplifier A 1 and A2 and forms, and described operational amplifier A 1 and A2 are chip LTC2053, and wherein, the normal phase input end of operational amplifier A 1 and A2 all meets U
R, the inverting input of operational amplifier A 2 meets the output terminal U of chip P0-XRS
02, the inverting input of the output termination operational amplifier A 1 of operational amplifier A 2.The output terminal of discrete controller 4-1 is connected to two input end ST1, the ST2 of chip P0-XRS respectively behind ST1, ST2 interface circuit.And the charge pump regulator of driver 4-5 for constituting by chip REG711-5 (being chip U3), the input end U of the output chip termination P0-XRS of described chip REG711-5
I3Described signal processor 5 is composed in series by chip LTC2053 (being operational amplifier A 3-1) and chip LB8207 (being chip U4-1), specifically is two output terminal U of chip P0-XRS
01+ and U
01-connect positive and the negative-phase input of operational amplifier A 3-1 respectively.In addition, the main amplifier 6 of angular rate gyroscope 1 is chip LTC2053 (being operational amplifier A 4-1).The output terminal U of chip U4-1
0Behind resistance R 1-1, resistance R 2-1, connect the inverting input of operational amplifier A 4-1, between the output terminal of operational amplifier A 4-1 and its inverting input and be connected to resistance R 3-1 and capacitor C 5-1.
As shown in Figure 4, described zero offset controller 21 is made up of input circuit 1, amplifier 1, arithmetical unit 9, calibration loop 10 and backfeed loop 1; The output signal of amplifier 1 is divided three tunnel, one tunnel input end that connects amplifier 1 after arithmetical unit 1 and calibration loop 10, and one the tunnel connects the input end of amplifier 1 behind described backfeed loop 1, and another road connects the input end of main amplifier 6.In conjunction with Fig. 5, amplifier 1 is chip LTC2053 (being operational amplifier A 5), and arithmetical unit 1 is chip LM339 (being chip A6), and calibration loop 10 is composed in series by a resistance R 6 and an electronic switch K4.Input circuit 1 is made up of resistance R 4, R5 and capacitor C 7, and backfeed loop 1 is made up of resistance R 7.That is to say, the input end of the output termination amplifier 1 of input circuit 1, and the output signal one tunnel of amplifier 1 branches to backfeed loop 1 and the tieback input end to amplifier 1.Being provided with of zero offset controller 21 can make each zero unanimity partially in the present invention, reaches 2.5 ± 0.1V, so that user's use.
As shown in Figure 6, described range expander 22 is made up of input circuit 2 12, amplifier 2 13, Range Extension loop 14 and backfeed loop 2 15; The output signal of amplifier 2 13 is divided three tunnel, one tunnel input end that connects amplifier 2 13 behind described Range Extension loop 14, and one the tunnel connects the input end of amplifier 2 13 behind described backfeed loop 2 15, and another road connects the input end of main amplifier 6.In conjunction with Fig. 7, described amplifier 2 13 is chip LTC2053 (being operational amplifier A 7), and input circuit 2 12 is made up of resistance R 9, R11 and capacitor C 9, and Range Extension loop 14 is by resistance R X
1Constitute, backfeed loop 2 15 is made up of resistance R 10.In the actual application,, by range expander each axial range among the present invention can be set, to satisfy the requirement of user's different measuring scope according to the requirement of market user to range.
As shown in Figure 8, described bandwidth extender 23 is made up of input circuit 3 16, amplifier 3 17, bandwidth expanded circuit 18 and backfeed loop 3 19; The output signal of input circuit 3 16 is divided three tunnel, one tunnel input end that connects amplifier 3 17 behind bandwidth expanded circuit 18, and one the tunnel connects the input end of amplifier 3 17 behind backfeed loop 3 19, and another road connects the input end of main amplifier 6.In conjunction with Fig. 9, described amplifier 3 17 is by being chip LTC2053 (being operational amplifier A 8), and bandwidth expanded circuit 18 is by capacitor C
XCompose in parallel with C12, backfeed loop 3 19 is composed in parallel by resistance R x and R14, and input circuit 3 16 is made up of resistance R 12, R13 and capacitor C 11.That is to say, the input end of the output termination amplifier 3 17 of input circuit 3 16, the output signal of amplifier 3 17 branches to the input end of bandwidth expanded circuit 18 and backfeed loop 3 19 and the equal tieback of the output terminal of the two input end to amplifier 3 17 respectively.
As shown in figure 10, described A/D sample circuit 2 is made up of input circuit four 2-1, calibration loop four 2-2, arithmetical unit two 2-3, A/D converter 2-4 and backfeed loop four 2-5, and described input circuit four 2-1 meet A/D converter 2-4; The output signal of described A/D converter 2-4 is divided three tunnel, one tunnel input end that meets A/D converter 2-4 behind arithmetical unit two 2-3 and calibration loop four 2-2, and one the tunnel connects the input end of A/D converter 2-4 through backfeed loop four 2-5, and another road connects fpga chip 3.In the present embodiment, A/D converter 2-4 is chip ADS1251.
As shown in figure 11, described DSP treatment circuit 26 is made up of input circuit five 26-1, dsp processor 26-2, clock circuit 26-3 and reset circuit 26-4, and input circuit five 26-1 meet dsp processor 26-2; The output signal of described dsp processor 26-2 divides three the tunnel, the one tunnel to connect the input end of dsp processor 26-2 through clock circuit 26-3, and one the tunnel connects the input end of dsp processor 26-2, the input end of another road connection interface circuit 27 through reset circuit 26-4.In conjunction with Figure 13, in the present embodiment, described dsp processor 26-2 is dsp chip TMS320.
The above; it only is preferred embodiment of the present invention; be not that the present invention is imposed any restrictions, everyly any simple modification that above embodiment did, change and equivalent structure changed, all still belong in the protection domain of technical solution of the present invention according to the technology of the present invention essence.
Claims (6)
1. multiple-combined angular rate gyroscope is characterized in that: comprise that six are used for the angular rate gyroscope (1) of measurement space Z-direction angular speed, respectively six angular rate gyroscopes (1) simulating signal of exporting are carried out analog-to-digital A/D sample circuit (2) and the six way word signals of being exported through A/D sample circuit (2) conversion are carried out fusion treatment and the output processor (24) of detection signal really time the surely.
2. according to the described multiple-combined angular rate gyroscope of claim 1, it is characterized in that: described processor (24) comprises and joins with A/D sample circuit (2) respectively and A/D sample circuit (2) digital signal of exporting is carried out the fpga chip (3) of Kalman filtering, and fpga chip (3) six road signals of exporting are carried out fusion treatment and the output DSP treatment circuit (26) of detection signal really time the surely.
3. according to the described multiple-combined angular rate gyroscope of claim 2, it is characterized in that: the output signal of described DSP treatment circuit (26) is exported behind interface circuit (27); Described DSP treatment circuit (26) is made up of input circuit five (26-1), dsp processor (26-2), clock circuit (26-3) and reset circuit (26-4), and input circuit five (26-1) connects dsp processor (26-2); The output signal of described dsp processor (26-2) divides three the tunnel, one the tunnel connects the input end of dsp processor (26-2) through clock circuit (26-3), one the tunnel connects the input end of dsp processor (26-2), the input end of another road connection interface circuit (27) through reset circuit (26-4).
4. according to claim 2 or 3 described multiple-combined angular rate gyroscopes, it is characterized in that: described A/D sample circuit (2) is made up of input circuit four (2-1), calibration loop four (2-2), arithmetical unit two (2-3), A/D converter (2-4) and backfeed loop four (2-5), and described input circuit four (2-1) connects A/D converter (2-4); The output signal of described A/D converter (2-4) divides three the tunnel, one the tunnel connects the input end of A/D converter (2-4) after arithmetical unit two (2-3) and calibration loop four (2-2), one the tunnel connects the input end of A/D converter (2-4) through backfeed loop four (2-5), and another road connects fpga chip (3).
5. according to the described multiple-combined angular rate gyroscope of claim 4, it is characterized in that: described angular rate gyroscope (1) is chip ADXRS150, described A/D converter (2-4) is chip ADS1251, described fpga chip (3) is chip EP2C20, and described dsp processor (26-2) is dsp chip TMS320.
6. according to claim 1,2 or 3 described multiple-combined angular rate gyroscopes, it is characterized in that: described angular rate gyroscope (1) comprises sensitive circuit (4), signal processor (5) and the main amplifier (6) of serial connection successively; Described main amplifier (6) also is connected to respectively its zero offset controller (21) of controlling, range expander (22) and bandwidth extender (23), and described zero offset controller (21), range expander (22) and bandwidth extender (23) are in parallel and three's common output end all connects the input end of main amplifier (6).
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102540902A (en) * | 2011-12-27 | 2012-07-04 | 西安电子科技大学 | Single-platform multi-sensor information integration processor and experimental system |
| CN104316054A (en) * | 2014-11-14 | 2015-01-28 | 电子科技大学 | High-precision MEMS gyroscope device and inertial navigation device |
| CN104457784A (en) * | 2013-09-16 | 2015-03-25 | 刘危 | Simulator capable of simulating function and fault of TC-9A vertical gyro |
| CN110426028A (en) * | 2019-08-09 | 2019-11-08 | 湖南航天机电设备与特种材料研究所 | A kind of data processing control method of optical fibre gyro |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1089160C (en) * | 1998-08-07 | 2002-08-14 | 清华大学 | Method for three dimension position measurement using miniature inertia measurement combination |
| CN1851407A (en) * | 2006-05-30 | 2006-10-25 | 梁保山 | High-precision micro electromechanical combined inertial nevigation apparatus |
| CN101206536B (en) * | 2006-12-22 | 2010-11-10 | 财团法人工业技术研究院 | Inertia sensing six axial direction input device and usage method thereof |
| CN201293646Y (en) * | 2008-12-02 | 2009-08-19 | 西安中星测控有限公司 | Multi-combination angular rate gyroscopes |
-
2008
- 2008-12-02 CN CN 200810232517 patent/CN101413798B/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102540902A (en) * | 2011-12-27 | 2012-07-04 | 西安电子科技大学 | Single-platform multi-sensor information integration processor and experimental system |
| CN104457784A (en) * | 2013-09-16 | 2015-03-25 | 刘危 | Simulator capable of simulating function and fault of TC-9A vertical gyro |
| CN104316054A (en) * | 2014-11-14 | 2015-01-28 | 电子科技大学 | High-precision MEMS gyroscope device and inertial navigation device |
| CN110426028A (en) * | 2019-08-09 | 2019-11-08 | 湖南航天机电设备与特种材料研究所 | A kind of data processing control method of optical fibre gyro |
| CN110426028B (en) * | 2019-08-09 | 2022-09-13 | 湖南航天机电设备与特种材料研究所 | Data processing control method of fiber-optic gyroscope |
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Date of cancellation: 20180523 Granted publication date: 20110720 Pledgee: Xi'an innovation financing Company limited by guarantee Pledgor: Xi'an ChinaStar M&C Ltd. Registration number: 2017990000847 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Multiple-combined angular rate gyroscope Effective date of registration: 20180523 Granted publication date: 20110720 Pledgee: Xi'an innovation financing Company limited by guarantee Pledgor: Xi'an ChinaStar M&C Ltd. Registration number: 2018990000389 |