CN105651282A - Radio frequency identification based system for detecting trajectory of motion of carrier - Google Patents
Radio frequency identification based system for detecting trajectory of motion of carrier Download PDFInfo
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- CN105651282A CN105651282A CN201510969041.6A CN201510969041A CN105651282A CN 105651282 A CN105651282 A CN 105651282A CN 201510969041 A CN201510969041 A CN 201510969041A CN 105651282 A CN105651282 A CN 105651282A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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Abstract
The invention discloses a radio frequency identification based system for detecting trajectory of motion of a carrier. The system comprises a detection terminal and a remote monitor center connected to the detection terminal. The detection terminal comprises an angular velocity sensor, an acceleration sensor, an amplification shaping circuit, a microcontroller module and a data transmission module. The angular velocity sensor and the acceleration sensor are connected to the microcontroller module by the amplification shaping circuit; the display module and the data transmission module are connected with corresponding ports on the microcontroller module. The remote monitoring center includes a control module, and a display module and a radio frequency identification module, which are connected to the control module. The system provided by the invention has the advantages of small volume, light weight, low power and low cost; and three axial angular velocity information and three axial acceleration information are accurately measured to accurately obtain the trajectory of motion of the carrier.
Description
Technical field
The present invention relates to a kind of motion track detection system, particularly relate to a kind of carrier motion track detection system based on RF identification, belong to Survey control field.
Background technology
Inertial Measurement Unit is the device of Measuring Object three-axis attitude angle and acceleration. General, an IMU contains the jerkmeter of three single shafts and the gyro of three single shafts, jerkmeter inspected object is at the acceleration signal of vertical three axles of carrier coordinate system unification and independence, and gyro detection carrier is relative to the angular velocity signal of navigational coordinate system, Measuring Object circular frequency in three dimensions and acceleration, and the attitude of object is calculated with this. Navigation is used very important using value. IMU is used in the equipment needing to carry out motion control mostly, as, on automobile and robot, being also used in the occasion needing to carry out accurate displacement reckoning by attitude, such as the inertial navigation set etc. of submarine, aircraft, guided missile and spacecraft. Along with the development of technology, less device, less parts, all showing very unique advantage in many, occurred large quantities of miniaturization vehicle in some space flight, aviation field, this just requires, and the volume of their Inertial Measurement Unit is very little, very light in weight.
Along with the development of micro-fabrication technique and MEMS technology, a new generation's miniature MEMS gyrostat and miniature MEMS accelerometer develop rapidly, for design and the development of mini inertia measurement unit provides strong support. Existing mini inertia measurement unit adopts the sensor using same kind on three directions mostly, forms cube shaped structure. The metal sheet that six pieces of working accuracies are very high forms a metal hexahedron as support, six metal coverings of metal hexahedron install gyrostat and jerkmeter, jerkmeter is arranged on three mutually perpendicular centres of hexahedron, to ensure that three accelerometer sensitive axles are vertical between two and intersect at space same point, the installation of gyrostat ensures three gyrostats, sensitive axes is vertical and parallel with corresponding accelerometer sensitive axle between two in space, the shortcoming that the Inertial Measurement Unit of this kind of structure exists is, volume is big, space availability ratio is not high, be unfavorable for microminiaturization. Also having a kind of structure to be the improvement that square shaped combines, compare above-mentioned cubic structure, volume has had certain reduction, but the utilization ratio in space is still not high. Therefore in order to the space availability ratio of raising Inertial Measurement Unit of further higher degree, volume is reduced, it is necessary to set about from the structure of sensor and principle, seek best solution.
Such as application number is a kind of carrier motion track detection system based on RF identification of " 201010250948.4 ", it relates to inertial navigation technology. This invention is started with from the mechanical structure improving inertial measurement unit, a mini inertia measurement system significantly reducing the rigidity shock absorption structures such as inertia measurement system bulk, three-dimensional is provided, overcome three-way rigidity not wait, resonate and encourage and produce the defects such as twisting vibration, to the detrimentally affect that inertial navigation system causes. System comprises the parts such as sensing assembly 1.2, interior vibration damping vibroshock, inertia detection unit housing 1.6, lower lid 1.8, interior vibroshock is made up of some interior damper unit Component units 1.4 with suitable damping characteristic, they are arranged between inertia detection unit housing 1.6 inwall S and 6 planes of sensing assembly 1.2, the deformation mechanical axis of interior damper unit is mutually orthogonal, absorbs with equilibrium and consumes the forced vibration from vehicle.
And for example application number is a kind of new micro Inertial Measurement Unit combination of " 201410536806.2 ", comprise pedestal, described pedestal is welded with the jerkmeter of two comb-tooth-type structures, the jerkmeter of a single fulcrum torsional pendulum type structure, two single gyros of fulcrum angular oscillation structure and the gyro of a linearly coupled structure. The inertial sensor of different structure is adopted to come sense acceleration and the component in angular rate three directions, the position relation considering each sensor sensing axle that like this can be too much, such that it is able to the arrangement making structure is compacter, space availability ratio reaches maximumization, rhythmo structure can be adopted, compact construction, strong shock resistance, is applicable to miniaturization and high overload occasion.
Summary of the invention
Technical problem to be solved by this invention is that the deficiency for background technology provides one and can accurately follow the tracks of moving target, has that volume is little, light weight, the motion track detection system based on carrier that low in energy consumption, cost is low.
The present invention is for solving the problems of the technologies described above by the following technical solutions:
A kind of carrier motion track detection system based on RF identification, comprise sense terminals and connected remote monitoring center, described sense terminals comprises circular frequency sensor, acceleration transducer, detection rectification circuit, micro controller module, transfer module, described circular frequency sensor and acceleration transducer all connect micro controller module by detection rectification circuit, and described display module and transfer model calling are on the corresponding port of micro controller module; Described remote monitoring center comprises control module and connected display module and radio frequency identification module;
Wherein, circular frequency sensor, for detecting the axial circular frequency parameter of three, carrier in real time;
Acceleration transducer, for detecting carrier three axial acceleration parameters in real time;
Detection rectification circuit, for three axial circular frequency parameters of detection and three axial acceleration parameters are carried out detection rectification process, and then transfers to micro controller module;
Micro controller module, draws the motion track of carrier according to the detection rectification received for three axial circular frequency parameters after processing and three axial acceleration parameters and then analysis;
Transfer module, the motion track for carrier micro controller module analysis drawn transfers to remote monitoring center;
Radio frequency identification module, for identifying and receive the motion track of the carrier that micro controller module sends, and then transfers to control center;
Display module, for showing the carrier motion track of radio frequency identification module identification and reception in real time;
Described radio frequency identification module comprises matching circuit, limit width detection circuit, limit width earial drainage circuit, voltage stabilizing circuit; Described matching circuit, limit width detection circuit, limit width earial drainage circuit connect successively, and described voltage stabilizing circuit is connected with limit width earial drainage circuit, limit width detection circuit respectively, and described matching circuit is for being coupled to radio frequency identification module by input signal; Described limit width detection circuit is for detecting the voltage amplitude after rectification; Described limit width earial drainage circuit is for unnecessary electric current of releasing; Described voltage stabilizing circuit for carry out voltage stabilizing process and the voltage of supply of stable output for other circuit module.
As the further preferred version of a kind of carrier motion track detection system based on RF identification of the present invention, the chip model of described acceleration transducer is KXR94.
As the further preferred version of a kind of carrier motion track detection system based on RF identification of the present invention, the chip model of described circular frequency sensor is IDG-300.
As the further preferred version of a kind of carrier motion track detection system based on RF identification of the present invention, described micro controller module adopts AVR series monolithic.
As the further preferred version of a kind of carrier motion track detection system based on RF identification of the present invention, described display module adopts LCD display screen.
The present invention adopts above technical scheme compared with prior art, has following technique effect:
1, volume of the present invention is little, light weight, low in energy consumption, cost is low; The present invention is by accurately measuring 3 axial angular velocity informations of carrier and 3 axial acceleration information and then accurately draws the motion track of carrier;
2, the present invention relates to that a kind of height is integrated, the mini inertia measurement device of low-power consumption and low cost, can accurately calculate the information such as the track angle of carrier, the angle of pitch and position, for tracing of the movement experiment lays the foundation, it is possible to be widely used in the fields such as civil aviation, wagon control, robot, industrial automation, mine locating, toy.
Embodiment
Below the technical scheme of the present invention is described in further detail:
A kind of carrier motion track detection system based on RF identification, comprise sense terminals and connected remote monitoring center, described sense terminals comprises circular frequency sensor, acceleration transducer, detection rectification circuit, micro controller module, transfer module, described circular frequency sensor and acceleration transducer all connect micro controller module by detection rectification circuit, and described display module and transfer model calling are on the corresponding port of micro controller module; Described remote monitoring center comprises control module and connected display module and radio frequency identification module;
Wherein, circular frequency sensor, for detecting the axial circular frequency parameter of three, carrier in real time;
Acceleration transducer, for detecting carrier three axial acceleration parameters in real time;
Detection rectification circuit, for three axial circular frequency parameters of detection and three axial acceleration parameters are carried out detection rectification process, and then transfers to micro controller module;
Micro controller module, draws the motion track of carrier according to the detection rectification received for three axial circular frequency parameters after processing and three axial acceleration parameters and then analysis;
Transfer module, the motion track for carrier micro controller module analysis drawn transfers to remote monitoring center;
Radio frequency identification module, for identifying and receive the motion track of the carrier that micro controller module sends, and then transfers to control center;
Display module, for showing the carrier motion track of radio frequency identification module identification and reception in real time;
Described radio frequency identification module comprises matching circuit, limit width detection circuit, limit width earial drainage circuit, voltage stabilizing circuit; Described matching circuit, limit width detection circuit, limit width earial drainage circuit connect successively, and described voltage stabilizing circuit is connected with limit width earial drainage circuit, limit width detection circuit respectively, and described matching circuit is for being coupled to radio frequency identification module by input signal; Described limit width detection circuit is for detecting the voltage amplitude after rectification; Described limit width earial drainage circuit is for unnecessary electric current of releasing; Described voltage stabilizing circuit for carry out voltage stabilizing process and the voltage of supply of stable output for other circuit module.
Wherein, the chip model of described acceleration transducer is KXR94, and the chip model of described circular frequency sensor is IDG-300, and described micro controller module adopts AVR series monolithic, and described display module adopts LCD display screen.
Volume of the present invention is little, light weight, low in energy consumption, frequency acquisition and acquisition precision height, cost are low and strong shock resistance, and the hardware of micro-inertia measuring device forms primarily of micro-inertia sensor unit MEMS and micro controller module. Micro-inertia sensor unit is made up of micromechanical gyro and micro-acceleration gauge, can accurately measure 3 axial angular velocity informations and 3 axial acceleration information of carrier.
Jerkmeter is an important sensor of class of inertial navigation and inertial guidance system, is used for measuring the acceleration of the relative inertia space motion of vehicle, just can obtain the position in carrier space through the computing that anomalous integral is relevant. Jerkmeter is a direct measuring sensor, and the acceleration of its energy continuously measured vehicle, then calculates vehicle speed, longitude and latitude and voyage etc. through machine solution. The KXR94 accelerometer chip that native system adopts is the 3-axis acceleration meter that Kionix company produces. The deviation that temperature and voltage fluctuation have been caused by this jerkmeter inside has carried out design compensation, therefore owing to the deviation that voltage and temperature cause is less. This device useful range is �� 2g, and sensitivity coefficient is 560mV/g, and non-linear degree is 0.1%, zero acceleration drift is �� 150mg; 2.8��3.3V all can work; Power consumption is very low, and quiescent current is about 1.1mA.
The features such as mini inertia measurement device MIMU (MicroInertialMeasure-mentUnit) is little with its size, cost is low are not only applied in tradition Application Areas. The inventive design mini inertia measurement device of highly integrated a, low-power consumption and low cost, can accurately calculate the information such as the track angle of carrier, the angle of pitch and position, for tracing of the movement experiment lays the foundation, it is possible to be widely used in the fields such as civil aviation, wagon control, robot, industrial automation, mine locating, toy.
AVR single chip has pre-instruction fetch function, namely when performing an instruction, in advance next instruction fetch is come in so that instruction can perform within a clock period; Many cumulative types, data processing speed is fast; AVR single chip has 32 general operations registers, is equivalent to there are 32 viaducts, it is possible to fast passing; Response time is fast. AVR single chip has multiple fixing interrupt vector to enter port address, can respond interruption fast; AVR single chip power consumption is low. For typical case's power consumption situation, it is 100nA when WDT closes, it is more suitable for the application apparatus of powered battery; The minimum 1.8V of some devices gets final product work; AVR single chip security performance is good.
It should be appreciated that unless otherwise defined, all terms used herein have the meaning identical with the general understanding of the those of ordinary skill in art of the present invention to those skilled in the art of the present technique. It should be further understood that those terms of definition should be understood to have the meaning consistent with the meaning in the context of prior art in such as general dictionary, and unless defined as here, can not explain by idealized or too formal implication.
Above embodiment is only the technological thought that the present invention is described, can not limit protection scope of the present invention with this, and every technological thought proposed according to the present invention, any change done on technical scheme basis, all falls within protection domain of the present invention. Above embodiments of the present invention are explained in detail, but the present invention is not limited to above-mentioned enforcement mode, in the ken that those of ordinary skill in the art possess, it is also possible to make a variety of changes under or else departing from the prerequisite of objective of the present invention.
Claims (5)
1. the carrier motion track detection system based on RF identification, it is characterized in that: comprise sense terminals and connected remote monitoring center, described sense terminals comprises circular frequency sensor, acceleration transducer, detection rectification circuit, micro controller module, transfer module, described circular frequency sensor and acceleration transducer all connect micro controller module by detection rectification circuit, and described display module and transfer model calling are on the corresponding port of micro controller module; Described remote monitoring center comprises control module and connected display module and radio frequency identification module;
Wherein, circular frequency sensor, for detecting the axial circular frequency parameter of three, carrier in real time;
Acceleration transducer, for detecting carrier three axial acceleration parameters in real time;
Detection rectification circuit, for three axial circular frequency parameters of detection and three axial acceleration parameters are carried out detection rectification process, and then transfers to micro controller module;
Micro controller module, draws the motion track of carrier according to the detection rectification received for three axial circular frequency parameters after processing and three axial acceleration parameters and then analysis;
Transfer module, the motion track for carrier micro controller module analysis drawn transfers to remote monitoring center;
Radio frequency identification module, for identifying and receive the motion track of the carrier that micro controller module sends, and then transfers to control center;
Display module, for showing the carrier motion track of radio frequency identification module identification and reception in real time;
Described radio frequency identification module comprises matching circuit, limit width detection circuit, limit width earial drainage circuit, voltage stabilizing circuit; Described matching circuit, limit width detection circuit, limit width earial drainage circuit connect successively, and described voltage stabilizing circuit is connected with limit width earial drainage circuit, limit width detection circuit respectively, and described matching circuit is for being coupled to radio frequency identification module by input signal; Described limit width detection circuit is for detecting the voltage amplitude after rectification; Described limit width earial drainage circuit is for unnecessary electric current of releasing; Described voltage stabilizing circuit for carry out voltage stabilizing process and the voltage of supply of stable output for other circuit module.
2. a kind of carrier motion track detection system based on RF identification according to claim 1, it is characterised in that: the chip model of described acceleration transducer is KXR94.
3. a kind of carrier motion track detection system based on RF identification according to claim 1, it is characterised in that: the chip model of described circular frequency sensor is IDG-300.
4. a kind of carrier motion track detection system based on RF identification according to claim 1, it is characterised in that: described micro controller module adopts AVR series monolithic.
5. a kind of carrier motion track detection system based on RF identification according to claim 1, it is characterised in that: described display module adopts LCD display screen.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510969041.6A CN105651282A (en) | 2015-12-22 | 2015-12-22 | Radio frequency identification based system for detecting trajectory of motion of carrier |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510969041.6A CN105651282A (en) | 2015-12-22 | 2015-12-22 | Radio frequency identification based system for detecting trajectory of motion of carrier |
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| CN104516381A (en) * | 2013-09-26 | 2015-04-15 | 上海华虹集成电路有限责任公司 | Rectification and voltage stabilization circuit for radio frequency identification |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101038616A (en) * | 2006-03-17 | 2007-09-19 | 上海华虹集成电路有限责任公司 | Limiting amplitude protection circuit used in non-contact IC card and radio frequency identification label |
| CN1912545A (en) * | 2006-08-25 | 2007-02-14 | 北京航空航天大学 | Low cost, small volum plate micro-inertial measuring system based on MEMS |
| US20090217757A1 (en) * | 2008-02-29 | 2009-09-03 | Seiko Epson Corporation | Physical quantity measuring apparatus and electronic device |
| CN104516381A (en) * | 2013-09-26 | 2015-04-15 | 上海华虹集成电路有限责任公司 | Rectification and voltage stabilization circuit for radio frequency identification |
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Application publication date: 20160608 |