CN105608865A - IMU data acquisition and processing system associated with meteorological data - Google Patents
IMU data acquisition and processing system associated with meteorological data Download PDFInfo
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- CN105608865A CN105608865A CN201510956439.6A CN201510956439A CN105608865A CN 105608865 A CN105608865 A CN 105608865A CN 201510956439 A CN201510956439 A CN 201510956439A CN 105608865 A CN105608865 A CN 105608865A
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
Abstract
The present invention discloses an IMU data acquisition and processing system associated with meteorological data. The system comprises an IMU data acquisition and processing module, a signal processing module, a communication module and a lithium power module. The IMU data processing module is used to collect IMU data and carry out operation processing; the IMU data includes azimuth, elevation angle, pressure altitude and instant acceleration; and a signal processing module of the communication module is connected to the IMU data processing module. The IMU data acquisition and processing system associated with meteorological data not only collects traditional IMU data such as azimuth, elevation angle and instant acceleration, but also collects pressure altitude; and depending on different pressure altitudes, the collected azimuth, elevation angle and instant acceleration can be analyzed. When the system is used in an artificial rainfall device, the system can calculate the number of fired artillery, azimuth and elevation angle of the artificial rainfall device; and then according to the collected data, the trajectory of artillery can be determined, thereby improving the accuracy of artificial rainfall forecast.
Description
Technical field
The present invention relates to data analysis technique field, relate in particular to a kind of IMU data acquisition of associated meteorological dataCollection treatment system.
Background technology
Along with scientific and technological development, the application of electromagnetic technique emerges in an endless stream, as vehicle, aircraft, robot etc.In order to ensure to use safety, generally adopt the instrument of electromagnetic technique in use all will examine in real timeSurvey, the especially manned carrier of this class of vehicle aircraft, its security performance is shown great attention to especially. At present,Aspect vehicle aspect motion detection, mainly adopt IMU (Inertialmeasurementunit,Inertial Measurement Unit), gather its historical movement track and body characteristics and carry out motion analysis, to pacifyFull driving. But current IMU data acquisition aspect is not also applied in rain making data acquisition aspect.Rain making is at present all to adjust equipment availability after observing according to actual weather condition; This just cannot accurate recordingSafety margin problem after the use bullet amount of azimuth, the elevation angle and the single operation of shell transmitting and transmitting; ThisBright is exactly to address this problem.
Summary of the invention
Based on the technical problem of background technology existence, the present invention proposes a kind of IMU number of associated meteorological dataAccording to acquisition processing system.
The IMU data acquisition processing system of a kind of associated meteorological data that the present invention proposes, comprising: IMU dataAcquisition processing module, communication module, signal processing module and lithium power supply module;
IMU data processing module is used for gathering the row operation processing of going forward side by side of IMU data, IMU data comprise azimuth,The elevation angle, pressure altitude and transient acceleration;
Communication module is connected with IMU data processing module by signal processing module; Signal processing module is used forAfter the data processing will IMU data processing module sending, send by communication module, and for by communicationAfter the data processing that module sends, be transferred to IMU data processing module;
Power module is used to IMU data processing module, communication module and signal processing module power supply.
Preferably, IMU data processing module comprises processor, three-axis gyroscope, 3-axis acceleration device, air pressureAltimeter and geomagnetic sensor; Three-axis gyroscope is for detection of azimuth and the elevation angle, and 3-axis acceleration device is used forDetect transient acceleration, barometertic altimeter is for detection of pressure altitude, processor respectively with three-axis gyroscope,3-axis acceleration device, barometertic altimeter and geomagnetic sensor are connected to receive and detect the data row operation processing of going forward side by side.
Preferably, processor adopting Quaternion Method and Kalman filter algorithm add three-axis gyroscope, three axlesThe detection data of speed device and geomagnetic sensor are processed, calculate horizontal course angle, three axle roll angle,The acceleration of each axle in the angle of pitch and three axles, and prominent according to the rate of change of the transient acceleration in Preset TimeBecome number of times and calculate action frequency.
Preferably, three-axis gyroscope and 3-axis acceleration device become one, and adopt IMPU6050.
Preferably, barometertic altimeter adopts BMP180.
Preferably, geomagnetic sensor adopts three axle geomagnetic sensors, and its model is HMC5883.
Preferably, communication module adopts wireless communication module.
Preferably, signal processing module respectively by asynchronism transceiver connect IMU digital sampling and processing andCommunication module connects.
Preferably, power module is by main control chip, lithium battery interface, LED indicating member, voltage regulation unit and lithiumBattery protection unit composition, lithium battery interface, LED indicating member, voltage regulation unit and li-ion cell protection unit divideBe not connected to main control chip periphery, lithium battery interface is used for installing lithium battery, and LED indicating member comprises and being no less thanOne is used to indicate the LED lamp of electric quantity of lithium battery, and voltage regulation unit and li-ion cell protection unit all connect with lithium batteryMouth connects.
Preferably, LED indicating member is made up of four LED lamps.
The IMU data acquisition processing system of associated meteorological data provided by the invention, is gathering not only collection sideTraditional IMU data such as parallactic angle, the elevation angle and transient acceleration, also gather pressure altitude, so, and can basisDifferent pressure altitudes is analyzed the azimuth collecting, the elevation angle and transient acceleration etc., can avoid notThe error of the IMU data analysis that same meteorological atmospheric pressure state causes, is conducive in conjunction with meteorological air pressure, vehicle be flownThe in real time dynamic Accurate Analysis of workpiece of travelling such as machine, further for driver provides the instrument driver behavior ginseng of travellingExamine, ensure driving safety. The present invention can be applied in aircraft, vehicle, robot etc. and direction and appearanceThe detection field that state is relevant, can implement the accurate current action that detects target of grasping.
In addition, the IMU data acquisition processing system of associated meteorological data provided by the invention can also be used for peopleWork rainfall equipment, so that quantity, azimuth etc. that statistics rain maker fires shells, then according to thisThe data that invention gathers, can judge shell movement locus, thereby improve the accuracy of rain making.
Brief description of the drawings
Fig. 1 is the IMU data acquisition processing system topological diagram of a kind of associated meteorological data of proposing of the present invention;
Fig. 2 is IMU data processing module circuit diagram;
Fig. 3 is the IMU data acquisition processing system power module electricity of a kind of associated meteorological data of invention propositionLu Tu.
Detailed description of the invention
With reference to Fig. 1, the IMU data acquisition processing system of a kind of associated meteorological data that the present invention proposes, comprising:IMU digital sampling and processing, communication module, signal processing module and power module.
With reference to Fig. 2, IMU data processing module comprises processor, three-axis gyroscope, 3-axis acceleration device, gasPress altimeter and geomagnetic sensor. In the present invention, three-axis gyroscope and 3-axis acceleration device become one,And adopting IMPU6050, it is for detection of azimuth, the elevation angle and transient acceleration. Barometertic altimeter adoptsBMP180, it is for detection of pressure altitude value. Geomagnetic sensor adopts three axle geomagnetic sensor HMC5883, itsFor detection of the real-time status of target.
Processor adopting Micro-processor MCV, it passes through respectively I2C bus and three-axis gyroscope, 3-axis accelerationDevice, barometertic altimeter and geomagnetic sensor are connected, and receive IMPU6050 three-axis gyroscope 3-axis acceleration device,BMP180 barometertic altimeter is connected the data that collection comes with HMC5883 geomagnetic sensor.
Processor adopting Quaternion Method and Kalman filter algorithm to three-axis gyroscope, 3-axis acceleration device andThe detection data of geomagnetic sensor are processed, calculate horizontal course angle, three axle roll angle, the angle of pitch withAnd the acceleration of the each axle of XYZ. Three axles in the present invention, refer to XYZ axle in three-dimensional coordinate system. ProcessorHave or not and jerk according to the rate of change mutation analysis of the transient acceleration in Preset Time, if transient accelerationRate of change sudden change be designated as action once, i.e. the rate of change of transient acceleration sudden change number of times equals action frequency.The employing of Quaternion Method and Kalman filter algorithm, is conducive to ensure the accurate and efficient of calculating.
Communication module is connected with IMU data processing module by signal processing module. Processor directly reads gasThe barometric information of pressing altimeter to detect, then turns over barometric information and the horizontal course angle, three axles that calculateRoll the acceleration association store of angle, the angle of pitch and the each axle of XYZ and send to signal processing module. Signal placeReason module converts the signal of reception the signal that can identify by module to and sends out by communication moduleGo; In addition, the information that signal processing module can also receive communication module is processed, then transmissionGive IMU data processing module. In present embodiment, communication module adopts wireless communication module, specifically can adoptUse WiFi communication mode. Signal processing module can adopt processor, and it passes through respectively asynchronism transceiver(UniversalAsynchronousReceiver/Transmitter, asynchronous receiving-transmitting transmitter) connects IMUDigital sampling and processing is connected with communication module.
In present embodiment, processor has the characteristic of electrification reset, and after processor electrification reset, three axlesGyroscope 3-axis acceleration device, barometertic altimeter and the equal electrification reset of geomagnetic sensor, only have electrification reset to becomeAfter merit, just can enter work. So, can avoid the residual of historical data, the correctness that impact detects.
With reference to Fig. 3, power module is used to IMU data processing module and communication module power supply, present embodimentMiddle power module is by main control chip, lithium battery interface, LED indicating member, voltage regulation unit and li-ion cell protection listUnit's composition. Main control chip adopts HT4906, lithium battery interface, LED indicating member, voltage regulation unit and lithium electricityPond protected location is connected to main control chip periphery. Lithium battery interface is used for installing lithium battery, voltage regulation unitBe connected with lithium battery interface, lithium battery is given the IMU data acquisition of this association meteorological data by voltage regulation unit voltage stabilizingThe power supply of collection treatment system, voltage regulation unit adopts MIC5205 voltage stabilizing chip; Li-ion cell protection unit and lithium batteryInterface connects, and it adopts integrated component DW01+ and 8205MOS, to prevent in charge and discharge process for electrical shortAnd overshoot. LED indicating member is made up of four LED lamps, and main control chip detects in real time electric quantity of lithium battery and passes throughLED indicating member shows electric weight, and in present embodiment, a LED lamp represents 25% electric weight.
The above, be only preferably detailed description of the invention of the present invention, but not office of protection scope of the present inventionBe limited to this, any be familiar with those skilled in the art the present invention disclose technical scope in, according to thisThe technical scheme of invention and inventive concept thereof are equal to replaces or changes, and all should be encompassed in protection of the present inventionWithin scope.
Claims (10)
1. an IMU data acquisition processing system for associated meteorological data, is characterized in that, comprising: IMUDigital sampling and processing, communication module, signal processing module and lithium power supply module;
IMU data processing module is used for gathering the row operation processing of going forward side by side of IMU data, IMU data comprise azimuth,The elevation angle, pressure altitude and transient acceleration;
Communication module is connected with IMU data processing module by signal processing module; Signal processing module is used forAfter the data processing will IMU data processing module sending, send by communication module, and for by communicationAfter the data processing that module sends, be transferred to IMU data processing module;
Lithium power supply module is used to IMU data processing module, communication module and signal processing module power supply.
2. the IMU data acquisition processing system of associated meteorological data as claimed in claim 1, its feature existsIn, IMU data processing module comprises processor, three-axis gyroscope, 3-axis acceleration device, barometertic altimeterAnd geomagnetic sensor; Three-axis gyroscope is for detection of azimuth and the elevation angle, and 3-axis acceleration device is for detection of winkBetween acceleration, barometertic altimeter is for detection of pressure altitude, processor adds with three-axis gyroscope, three axles respectivelySpeed device, barometertic altimeter and geomagnetic sensor are connected to receive and detect the data row operation processing of going forward side by side.
3. the IMU data acquisition processing system of associated meteorological data as claimed in claim 2, its feature existsIn, processor adopting Quaternion Method and Kalman filter algorithm to three-axis gyroscope, 3-axis acceleration device andThe detection data of geomagnetic sensor are processed, calculate horizontal course angle, three axle roll angle, the angle of pitch withAnd the acceleration of three each axles in axle, and according to the rate of change sudden change number of times meter of the transient acceleration in Preset TimeCalculate action frequency.
4. the IMU data acquisition processing system of associated meteorological data as claimed in claim 2, its feature existsIn, three-axis gyroscope and 3-axis acceleration device become one, and adopt IMPU6050.
5. the IMU data acquisition processing system of associated meteorological data as claimed in claim 2, its feature existsIn, barometertic altimeter adopts BMP180.
6. the IMU data acquisition processing system of associated meteorological data as claimed in claim 2, its feature existsIn, geomagnetic sensor adopts three axle geomagnetic sensors, and its model is HMC5883.
7. the IMU data acquisition processing system of associated meteorological data as claimed in claim 1, its feature existsIn, communication module adopts wireless communication module.
8. the IMU data acquisition processing system of associated meteorological data as claimed in claim 1, its feature existsIn, signal processing module connects IMU digital sampling and processing and communication module by asynchronism transceiver respectivelyConnect.
9. the IMU data acquisition processing system of associated meteorological data as claimed in claim 1, its feature existsIn, lithium power supply module is by main control chip, lithium battery interface, LED indicating member, voltage regulation unit and lithium electricityPond protected location composition, lithium battery interface, LED indicating member, voltage regulation unit and li-ion cell protection unit divideBe not connected to main control chip periphery, lithium battery interface is used for installing lithium battery, and LED indicating member comprises muchIn a LED lamp that is used to indicate electric quantity of lithium battery, voltage regulation unit and li-ion cell protection unit are all and lithium batteryInterface connects.
10. the IMU data acquisition processing system of associated meteorological data as claimed in claim 9, its featureBe, LED indicating member is made up of four LED lamps.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114001602A (en) * | 2021-10-26 | 2022-02-01 | 东北大学秦皇岛分校 | Rocket gun disturbance detection method based on quaternion Kalman filtering denoising fusion |
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Application publication date: 20160525 |