CN102590876A - Anti-interference robustness three-dimensional space geomagnetic sensing unit and achieving method thereof - Google Patents
Anti-interference robustness three-dimensional space geomagnetic sensing unit and achieving method thereof Download PDFInfo
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- CN102590876A CN102590876A CN201210031697XA CN201210031697A CN102590876A CN 102590876 A CN102590876 A CN 102590876A CN 201210031697X A CN201210031697X A CN 201210031697XA CN 201210031697 A CN201210031697 A CN 201210031697A CN 102590876 A CN102590876 A CN 102590876A
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Abstract
The invention discloses an anti-interference robustness three-dimensional space geomagnetic sensing unit and an achieving method thereof. The geomagnetic sensing unit comprises a microprocessor and a geomagnetic sensor, a gyro sensor and an industrial communication interface which are respectively in signal connection with the microprocessor. The anti-interference robustness three-dimensional space geomagnetic sensing unit and the achieving method thereof can overcome defects of poor stability, low reliability, poor practicality and the like in the prior art so as to have the advantages of good stability, high reliability and good practicality.
Description
Technical field
The present invention relates to field of sensing technologies, particularly, relate to a kind of anti-interference robustness three dimensions earth magnetism sensing unit and its implementation.
Background technology
Usually, the three dimensions geomagnetic sensor is mainly used in the plant equipment that perception is embedded into, perhaps be used for Measuring Object at the earth's surface any old place work as forward angle, and be used for Measuring Object with respect to angle of pitch of some tangent planes of earth surface etc.For example; The HMC transducer series of U.S. Holleywell company (simple sensor production merchant); This technical application scope has: robot motion's attitude control system; Missile attitude directional perception control system, the attitude sensing system of steamer in the navigation, and the angle of pitch, position angle and degree of tilt etc. in the aircraft navigation; Sensor is embedded into the circuit board module the inside, through 3 data of internal communication bus output, the promptly current angle of pitch (pitch), position angle (yaw) and angle of rotation (roll).
In the prior art, single-sensor is embedded in the circuit board module, though can obtain this three data that take measurement of an angle through communication bus; But at first, in physical environment, geomagnetic sensor can receive various interference, and in actual tests, simple original sensing data has tangible instability and undulatory property; In addition; Getting rid of physical environment disturbs; In practical application area, the electronic system that sensor itself is embedded and the metal construction of mechanical system also can have very strong interference to data; Can the full of prunes measurement data of output, because metal itself all can interfere with the measurement result of sensor itself to the magnetic field of the influence in magnetic field or electric current generation.And in high-precision industrial aviation and navigation military applications field, this interference does not allow to take place fully, and absolute robustness also is that of application one of necessarily requires.
In sum, in realizing process of the present invention, the inventor finds to exist at least in the prior art following defectives such as poor stability, measuring accuracy are low, poor reliability:
⑴ poor stability: in natural fully environment, geomagnetic sensor can receive various interference, and in actual tests, simple original sensing data has tangible instability and undulatory property; The electronic system that sensor itself is embedded and the metal construction of mechanical system also can have very strong interference to data;
⑵ reliability is low: the magnetic field that the influence in metal pair magnetic field or electric current produce all can interfere with the measurement result of sensor itself, even can export full of prunes measurement data;
⑶ poor practicability: in high-precision industrial aviation and navigation military applications field, require sensor to have absolute robustness, do not allow to take place the interference of physical environment and metal itself.
Summary of the invention
The objective of the invention is to,, propose a kind of anti-interference robustness three dimensions earth magnetism sensing unit, to realize good stability, reliability height and the good advantage of practicality to the problems referred to above.
For realizing above-mentioned purpose; The technical scheme that the present invention adopts is: a kind of anti-interference robustness three dimensions earth magnetism sensing unit; Comprise microprocessor, and the geomagnetic sensor that is connected with said microprocessor signals respectively, gyro sensor and industrial communication interface.
Further; Said microprocessing unit comprises Kalman filter, memory module and main control module; Said geomagnetic sensor, Kalman filter, gyro sensor are connected with memory module signal successively, and said main control module is connected with memory module and industrial communication interface signal respectively.
Further, above-described anti-interference robustness three dimensions earth magnetism sensing unit also comprises the power module that is used to electric power devices, and said power module is electrically connected with geomagnetic sensor, microprocessor, gyro sensor and industrial communication interface respectively.
Further, said geomagnetic sensor comprises that at least the model of Holleywell company is the geomagnetic sensor of HMC5843.
Further, said microprocessor comprises that at least the model of Ateml company is the microprocessor of MEGA328P.
Further, said gyro sensor comprises that at least the model of MEMS company is the gyro sensor of ITG-3200.
Further, said industrial communication interface comprises the RS485 interface at least, and corresponding communications protocol comprises ModBus RTU.
Simultaneously, another technical scheme of the present invention's employing is: a kind of implementation method according to above-described anti-interference robustness three dimensions earth magnetism sensing unit comprises:
Adopt geomagnetic sensor, the original state of object to be measured is gathered in real time, obtain raw measurement data;
According to preset duration, the gained raw measurement data is carried out Kalman filtering handle, obtain metastable measured value; Based on the metastable measured value of gained, the three-dimensional relatively Eulerian coordinates of gyro sensor are carried out initialization, obtain initial baseline measurements;
Based on initial baseline measurements, adopt initialized gyro sensor, object to be measured is measured in real time, obtain real-time measurement values.
Further, the implementation method of above-described anti-interference robustness three dimensions earth magnetism sensing unit, said operation of obtaining after the real-time measurement values also comprises: through industrial communication interface and corresponding communication agreement, the gained real-time measurement values is exported.
Further, saidly the gained raw measurement data is carried out the operation that Kalman filtering handles specifically comprise: adopt Kalman filter, Gaussian noise and white noise in the filtering gained raw measurement data.
Anti-interference robustness three dimensions earth magnetism sensing unit and its implementation of various embodiments of the present invention; Because this unit comprises microprocessor; And the geomagnetic sensor that is connected with said microprocessor signals respectively, gyro sensor and industrial communication interface; Can combine microprocessor to the processing of the raw measurement data of geomagnetic sensor and afterwards with being used of gyro sensor, obtain anti-electromagnetic interference (EMI) and the output of magnetic measurement accurately with robustness; Thereby can overcome the low defective with poor practicability of poor stability in the prior art, reliability, with realize good stability, reliability is high and the good advantage of practicality.
Other features and advantages of the present invention will be set forth in instructions subsequently, and, partly from instructions, become obvious, perhaps understand through embodiment of the present invention.The object of the invention can be realized through the structure that in present specification, claims and accompanying drawing, is particularly pointed out and obtained with other advantages.
Through accompanying drawing and embodiment, technical scheme of the present invention is done further detailed description below.
Description of drawings
Accompanying drawing is used to provide further understanding of the present invention, and constitutes the part of instructions, is used to explain the present invention with embodiments of the invention, is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the principle of work synoptic diagram of the anti-interference robustness three dimensions earth magnetism sensing unit according to the present invention;
Fig. 2 is the schematic flow sheet of the implementation method of anti-interference robustness three dimensions earth magnetism sensing unit according to the present invention.
In conjunction with accompanying drawing, Reference numeral is following in the embodiment of the invention:
The 1-geomagnetic sensor; The 2-microprocessor; The 21-Kalman filter; The 22-memory module; The 23-main control module; The 3-gyro sensor; 4-industrial communication interface.
Embodiment
Below in conjunction with accompanying drawing the preferred embodiments of the present invention are described, should be appreciated that preferred embodiment described herein only is used for explanation and explains the present invention, and be not used in qualification the present invention.
Embodiment one
According to the embodiment of the invention, a kind of anti-interference robustness three dimensions earth magnetism sensing unit is provided.As shown in Figure 1; Present embodiment comprises that microprocessor (is Microprocessor with Kalman Filter; The microprocessor that has Kalman filter) 2; The geomagnetic sensor (Magnet sensor) 1 that is connected with microprocessor 2 signals respectively, gyro sensor (gyroscope sensor) 3 and industrial communication interface (Industry Communication Port is transformed into RS485 like I2C) 4 are used to the power module of electric power devices; Power module is electrically connected with geomagnetic sensor 1, microprocessor 2, gyro sensor 3 and industrial communication interface 4 respectively.
In the above-described embodiments; Microprocessing unit comprises Kalman filter 21, memory module 22 and main control module 23; Geomagnetic sensor 1, Kalman filter 21, gyro sensor 3 are connected (as connecting through the I2C internal data bus) with memory module 22 signal successively, main control module 23 is connected (as connecting through the I2C internal data bus) respectively with memory module 22 and industrial communication interface 4 signals.
In the above-described embodiments; Geomagnetic sensor 1 comprises that at least the model of Holleywell company is the geomagnetic sensor of HMC5843; Microprocessor 2 comprises that at least the model of Ateml company is the microprocessor of MEGA328P, and gyro sensor 3 comprises that at least the model of MEMS is the gyro sensor of ITG-3200; Industrial communication interface 4 comprises the RS485 interface at least, and corresponding communications protocol comprises ModBus RTU.
The anti-interference robustness three dimensions earth magnetism sensing unit of the foregoing description; In order to solve the problem of interference; In conjunction with the processing of 21 pairs of geomagnetic sensor 1 raw data of Kalman filter and with being used of gyro sensor 3, can obtain anti-electromagnetic interference (EMI) and the output of magnetic measurement accurately with robustness; Wherein, Kalman filter 21 can guarantee that initializing signal is stable and near actual value, gyro sensor 3 can guarantee anti-electromagnetic interference (EMI).Specifically comprise:
At first; Angle from signal Processing; Carry out Filtering Processing with 21 pairs of raw measurement datas of Kalman filter; Through the filtration of 21 pairs of real-time measuring datas of Kalman filter, can the interference of natural noises such as unavoidable Gaussian noise, white noise when measuring be filtered out, obtain a quite stable and optimization near the estimation measured value of time of day;
Secondly; In hardware circuit board, embed gyro sensor 3; Because gyro sensor 3 has following characteristics: 1. 3 angles (that is, the current angle of pitch, position angle and angle of rotation) of the three-dimensional relatively Eulerian coordinates of its output system the inside, 2. it needs the relative coordinate that the initial value (offset) of 3 angles comes this sensor of initialization; 3. in the middle of real-time measuring process, gyro sensor 3 has the characteristic that does not receive any high-intensity magnetic field in any external world or metallics to change interference;
Based on above 3 characteristics; The anti-interference robustness three dimensions earth magnetism sensing unit that this has stable anti-electromagnetic interference performance and has robustness; Need the embedding of Kalman filter 21 and gyro sensor 3; And cooperating, can obtain stable do not receive any external environmental interference near the measurement data of time of day.
Embodiment two
According to the embodiment of the invention, a kind of implementation method of anti-interference robustness three dimensions earth magnetism sensing unit is provided.As shown in Figure 2, present embodiment comprises:
Step 100: start power module, adopt geomagnetic sensor, the original state of object to be measured is gathered in real time, obtain raw measurement data;
Step 101: according to preset duration (as about 1 second), step 100 gained raw measurement data is carried out Kalman filtering handle, obtain metastable measured value;
In step 101, the operation of the gained raw measurement data being carried out the Kalman filtering processing specifically comprises: adopt Kalman filter, Gaussian noise and white noise in the filtering gained raw measurement data;
Step 102: based on the metastable measured value of step 101 gained, the three-dimensional relatively Eulerian coordinates of gyro sensor are carried out initialization, obtain initial baseline measurements;
Step 103: based on the initial baseline measurements of step 102 gained, adopt initialized gyro sensor, object to be measured is measured in real time, obtain real-time measurement values, and transfer to microprocessor;
Step 104: through industrial communication interface and corresponding communication agreement, microprocessor is exported step 103 gained real-time measurement values.
In the embodiment that above-mentioned steps 100-step 104 shows, concrete scheme comprises:
After the power module energising starts,, obtain the raw measurement data of original state through geomagnetic sensor; Afterwards, this raw measurement data is sent to microprocessor through internal communication bus (like I2C); In microprocessor, real-time raw measurement data being carried out Kalman filtering handles; By filtering real time data time span probably about 1 second; In the hope of obtaining the most approaching metastable truly measured value of original state, promptly filter out the signal value of Gaussian noise and white noise; Afterwards,, come three angles (that is, the current angle of pitch, position angle and angle of rotation) of the three-dimensional relatively Eulerian coordinates of initialization gyro sensor, obtain initial measuring basis (measurement reference) with the metastable measured value of above-mentioned gained; Then; Based on this initial measuring basis; The measured value of gyro sensor is outputed in the memory module of microprocessor the inside through internal communication bus, and output in the middle of the electronic system of practical application through outside industrial communication interface and certain communication protocol.
In the above-described embodiments; The data of initialization gyro sensor are stable near the data of true measurement; Like this with regard to the position angle in physical environment (four corners of the world) with real measured equipment; The relatively angle of pitch on plane and angle of rotation are for gyro sensor has been set up an actual relative measurement benchmark; Do not need the characteristic of filtering once more because gyro sensor has anti-electromagnetic interference (EMI), signal stabilization again, the output signal of whole anti-interference robustness three dimensions earth magnetism sensing unit is the final output signal of final geomagnetic sensor module with the measured value of gyro sensor just later in initialization.Here, the concrete structure of anti-interference robustness three dimensions earth magnetism sensing unit and performance repeat no more at this referring to the related description of Fig. 1.
What should explain at last is: the above is merely the preferred embodiments of the present invention; Be not limited to the present invention; Although the present invention has been carried out detailed explanation with reference to previous embodiment; For a person skilled in the art, it still can be made amendment to the technical scheme that aforementioned each embodiment put down in writing, and perhaps part technical characterictic wherein is equal to replacement.All within spirit of the present invention and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. an anti-interference robustness three dimensions earth magnetism sensing unit is characterized in that, comprises microprocessor, and the geomagnetic sensor that is connected with said microprocessor signals respectively, gyro sensor and industrial communication interface.
2. anti-interference robustness three dimensions earth magnetism sensing unit according to claim 1; It is characterized in that; Said microprocessing unit comprises Kalman filter, memory module and main control module; Said geomagnetic sensor, Kalman filter, gyro sensor are connected with memory module signal successively, and said main control module is connected with memory module and industrial communication interface signal respectively.
3. anti-interference robustness three dimensions earth magnetism sensing unit according to claim 1 and 2; It is characterized in that; Also comprise the power module that is used to electric power devices, said power module is electrically connected with geomagnetic sensor, microprocessor, gyro sensor and industrial communication interface respectively.
4. anti-interference robustness three dimensions earth magnetism sensing unit according to claim 1 and 2 is characterized in that said geomagnetic sensor comprises that at least the model of Holleywell company is the geomagnetic sensor of HMC5843.
5. anti-interference robustness three dimensions earth magnetism sensing unit according to claim 1 and 2 is characterized in that said microprocessor comprises that at least the model of Ateml company is the microprocessor of MEGA328P.
6. anti-interference robustness three dimensions earth magnetism sensing unit according to claim 1 and 2 is characterized in that said gyro sensor comprises that at least the model of MEMS company is the gyro sensor of ITG-3200.
7. anti-interference robustness three dimensions earth magnetism sensing unit according to claim 1 and 2 is characterized in that said industrial communication interface comprises the RS485 interface at least, and corresponding communications protocol comprises ModBus RTU.
8. the implementation method of an anti-interference robustness three dimensions earth magnetism sensing unit according to claim 1 is characterized in that, comprising:
Adopt geomagnetic sensor, the original state of object to be measured is gathered in real time, obtain raw measurement data;
According to preset duration, the gained raw measurement data is carried out Kalman filtering handle, obtain metastable measured value; Based on the metastable measured value of gained, the three-dimensional relatively Eulerian coordinates of gyro sensor are carried out initialization, obtain initial baseline measurements;
Based on initial baseline measurements, adopt initialized gyro sensor, object to be measured is measured in real time, obtain real-time measurement values.
9. the implementation method of anti-interference robustness three dimensions earth magnetism sensing unit according to claim 8; It is characterized in that; Said operation of obtaining after the real-time measurement values also comprises: through industrial communication interface and corresponding communication agreement, the gained real-time measurement values is exported.
10. according to Claim 8 or the implementation method of 9 described anti-interference robustness three dimensions earth magnetism sensing units; It is characterized in that; Saidly the gained raw measurement data is carried out the operation that Kalman filtering handles specifically comprise: adopt Kalman filter, Gaussian noise and white noise in the filtering gained raw measurement data.
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| CN116027441A (en) * | 2023-03-29 | 2023-04-28 | 四川省冶勘设计集团有限公司 | Aviation mobile MT weak signal three-component receiving device and control method |
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| CN101839719A (en) * | 2010-05-16 | 2010-09-22 | 中北大学 | Inertial measurement unit based on gyroscope and geomagnetic sensor |
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| CN202471990U (en) * | 2012-02-13 | 2012-10-03 | 无锡泰克塞斯新能源科技有限公司 | An anti-interference robust three-dimensional-space geomagnetic sensing unit |
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Patent Citations (3)
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| CN101839719A (en) * | 2010-05-16 | 2010-09-22 | 中北大学 | Inertial measurement unit based on gyroscope and geomagnetic sensor |
| CN102252689A (en) * | 2010-05-19 | 2011-11-23 | 北京国浩传感器技术研究院(普通合伙) | Electronic compass calibration method based on magnetic sensor |
| CN202471990U (en) * | 2012-02-13 | 2012-10-03 | 无锡泰克塞斯新能源科技有限公司 | An anti-interference robust three-dimensional-space geomagnetic sensing unit |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116027441A (en) * | 2023-03-29 | 2023-04-28 | 四川省冶勘设计集团有限公司 | Aviation mobile MT weak signal three-component receiving device and control method |
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Application publication date: 20120718 |