CN106556390A - A kind of laser gyro inertial navigation instrument signal Acquisition Circuit - Google Patents
A kind of laser gyro inertial navigation instrument signal Acquisition Circuit Download PDFInfo
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- CN106556390A CN106556390A CN201510631639.4A CN201510631639A CN106556390A CN 106556390 A CN106556390 A CN 106556390A CN 201510631639 A CN201510631639 A CN 201510631639A CN 106556390 A CN106556390 A CN 106556390A
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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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- Radar, Positioning & Navigation (AREA)
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Abstract
The present invention devises a kind of improved signal acquisition circuit for being applied to the laser inertial design fields such as laser gyro inertial navigation instrument, and the circuit includes three parts：Constant-current source circuit, I/F integrating circuit and lock unit employ MAX6250 conduct+5V reference voltage sources with gating circuit switch constant-current source part, and operational amplifier OPA277U and peripheral components can produce reference voltage source.Constant-current source circuit part causes that circuit structure is simple, output impedance is higher.I/F change-over circuits adopt voltage comparator LM339.The precision that signal is gathered in overcoming existing lasergyro Acquisition Circuit is relatively low, the shortcoming that volume is excessively huge, filtering time is longer of Acquisition Circuit, improves the noiseproof feature of laser gyro inertial navigation system Acquisition Circuit, improves its acquisition precision and reduce its circuit volume.
Description
Technical field
The present invention relates to a kind of improved signal acquisition circuit, is applied to the laser inertial design fields such as laser gyro inertial navigation instrument.
Background technology
Traditional lasergyro output signal carries out phase demodulation and reversible counting using FPGA, and count value is sent to DSP then carries out FIR filtering, and the fusion of gyro data, accelerometer data and gps data is carried out integrated navigation by navigational computer finally.But in the inertial navigation system of high-speed motion, due to existence time time delay between FPGA and DSP signal transmissions, the synchronicity of attitude algorithm is impacted, so that affecting navigation accuracy, although FIR filtering is carried out with good filter effect using DSP, increase the volume and filtering time of data acquisition circuit plate；Still an alternative is that the IP stones using FPGA are filtered, this method needs for the filter factor that Matlab is produced to carry out quantization expansion, the resource that FIR filter takes FPGA is so virtually increased, and the internal structure of IP stones determines that its precision cannot meet laser gyro filtering requirements.Said method obviously cannot meet the precision that lasergyro gathers signal, or the volume of Acquisition Circuit is excessively huge, filtering time is longer.And in laser inertial system design, the characteristics of inertial navigation instrument signal Acquisition Circuit needs to have high precision collecting inertia type instrument signal and small volume.Therefore in order to meet indices requirement of the Laser navigation system to signal acquisition circuit, a kind of small volume is designed, the signal acquisition circuit of high precision is particularly significant.
The content of the invention
In order to overcome, existing signal acquisition circuit volume is larger, acquisition precision is relatively low, be easily subject to influence of noise, the shortcomings of circuit open loop is not sufficiently stable, the noiseproof feature of laser gyro inertial navigation system Acquisition Circuit is improved, its acquisition precision is improved and is reduced its circuit volume, the present invention devises a kind of improvement signal acquisition circuit for being applied to laser gyro inertial navigation instrument.
The technical solution adopted for the present invention to solve the technical problems is：
Important three part is devised in the improvement signal acquisition circuit of laser gyro inertial navigation instrument：Constant-current source circuit, I/F integrating circuit and lock unit and gating circuit switch.First, the stable constant-current source circuit of design output, the electric current output accuracy of constant-current source determine the success or failure of L/F circuit designs, and stable constant-current source can provide the standard for comparing that accurately current source is used as referring to L/F circuits.Secondly laser gyro output signal is acquired using FPGA and FIR filtering, the current signal that quartz flexible accelerometer is exported is changed using L/F circuits, finally reversible counting is carried out so as to be changed into accelerometer signal value using FPGA.
Wherein constant-current source part employs MAX6250 conduct+5V reference voltage sources, and operational amplifier OPA277U and peripheral components can produce reference voltage source.Constant-current source circuit part causes that circuit structure is simple, output impedance is higher；I/F change-over circuits form anti-integral charge amount by normalized current source ± 5V, continue input normalized current source to correct the integral charge amount of accelerometer electric current AX input circuits by MAX314 gating switches.
The invention has the beneficial effects as follows：Constant-current source part employs MAX6250 conduct+5V reference voltage sources, and operational amplifier OPA277U and peripheral components can produce reference voltage source.Constant-current source circuit part causes that circuit structure is simple, output impedance is higher.I/F change-over circuits adopt voltage comparator LM339.The precision that signal is gathered in overcoming existing lasergyro Acquisition Circuit is relatively low, the shortcoming that volume is excessively huge, filtering time is longer of Acquisition Circuit, improves the noiseproof feature of laser gyro inertial navigation system Acquisition Circuit, improves its acquisition precision and reduce its circuit volume.
Description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is laser inertial instrument signal acquisition process circuit theory diagrams.
Fig. 2 constant-current source circuit figures.
Fig. 3 is I/F integrating circuit.
Fig. 4 is lock unit and gating circuit switch.
In Fig. 2, U1 is MAX6250, and U2 is OPA277U, and Y1 is audion SS9013.
Specific embodiment
In Fig. 1, laser gyro two arranges sinusoidal (cosine) pulse signal to be needed after photoelectric coupling is isolated into FPGA, by carrying out phase demodulation, reversible counting to which, being then input to FPGA embedded mmdbs carries out FIR filtering, temperature-compensating is carried out after calculating magnitude of angular velocity, zero is partially demarcated with orthogonal correction, calibration factor, being finally output to navigational computer carries out attitude algorithm.Quartz flexible.
The current signal that accelerometer is exported is converted to pulse duration frequency signal by L/F conversion methods by accelerometer, and then pulse signals carry out high-precision frequency reversible counting, obtains corresponding acceleration analysis signal value.Integrating circuit, voltage comparator circuit, thresholding gating circuit and constant-current source circuit that L/F circuit modules are constituted comprising gating circuit switch, amplifier device.
In Fig. 2, in L/F circuit design process, the electric current output accuracy of constant-current source determines the success or failure of L/F circuit designs, and constant-current source can provide constant current source to load, and stable constant-current source can provide the standard for comparing that accurately current source is used as referring to L/F circuits.Constant-current source circuit module adopts+5 VREF voltage source of MAX6250 conducts, can then produce+5 V of current source of benchmark from operational amplifier 0PA277U and a small amount of peripheral discrete component.3 feet of wherein U1 meet electric capacity C2，The other end of electric capacity C2 is directly grounded，4 feet of voltage stabilizing chip U1 are GND feet，It is directly grounded，2 feet of U1 connect+15V power supplys，Electric capacity C1 connects+15V power supplys，The C1 other ends are grounded，Electric capacity C3 connects 6 feet of U1，The other end is grounded，Electric capacity C4 is in parallel with C3，Resistance R1 is connected between voltage stabilizing chip and operational amplifier，3 foot of in-phase input end of R3 concatenation operation amplifier OPA277U，4 feet of U2 connect -15V power supplys，7 feet connect+15V power supplys，Resistance R2 connects 6 foot of output pin of U2，Another termination audion V1 base stages，Transistor collector connecting resistance R5，Another termination+15V power supplys of resistance R5，The emitter stage connecting resistance R4 of audion，The R4 other ends are grounded，Electric capacity C7 is connected in parallel on resistance R4 two ends，And transistor emitter termination+5V power supplys，Mono- section of street -15V power supply of electric capacity C6，The other end is grounded，Electric capacity C5 mono- terminates+15V power supplys，The other end is grounded.
In Fig. 3, L/F change-over circuits are exactly, into anti-integral charge amount, to be continuously input into normalized current source by MAX314 gating switches to correct the integral charge amount of accelerometer electric current AX input circuits by normalized current source ± 5 V-arrangement.Main Basiss charge balance concept and integrator principle is changed realizing using L/F.AX is the current signal of accelerometer output, and Ll is the gating signal of gating switch MAX314, is mainly produced by the I/O pin of FPGA.
Quartz flexible accelerometer output signal needs just obtain higher precision with L/F conversion regimes, the current signal that accelerometer is exported is changed into into pulse duration frequency signal namely, by being counted to frequency pulse signal, corresponding acceleration signal value can be obtained.The defeated people's gating signal of constant-current source.When Ll is logic low, MAX314 gating S2, accelerometer AX signals are changed into voltage signal Uo, are input to the positive input terminal of voltage comparator LM339 by integrating circuit conversion.When accelerometer electric current AX output voltage Uo reach the threshold voltage of voltage comparator LM339, LM339 just produces the defeated people of output signal high level B+ to the lock unit input D ports being made up of d type flip flop 7,4HC,T74 4, under the synchronised clock effect of l MHz, d type flip flop produces high level AX+, and the signal is exactly the output signal of I/F circuit；Two grades of d type flip flops are under reverse 1 MHz of clock-NOT effects, while producing low level D mono-, now low level control commutation gating switch gates one 5 V of reference current source of standard, and the normalized current of gating is always contrary with the electric current AX of accelerometer input.1 foot of FPGA is connected with 16 feet，2 feet are D1 outfans，15、10、7 feet are respectively D2、D3、D4 output pins，12 feet connect+5V power supplys，Electric capacity C1 is grounded after connecing+5V power supplys，13 feet connect+15V power supplys，3 feet are connected with 14 feet，AX signals are input into from 3 feet，11 feet are connected with 6 feet，Connect the signal of 10KHz，5 feet are grounded，4 feet are grounded after meeting electric capacity C11，Series resistance R10 and resistance R17 are followed by the 15 of FPGA to two operational amplifier OPA27 respectively、7 pins，The connected mode of amplifier is the same，After amplifier output signal，Input to comparator LM339，Wherein resistance R13 connects comparator out-phase input，Its other end is grounded，4 foot of comparator connects -15V power supplys，8 feet connect+15V power supplys，C16、C17 one end is grounded，The other end connects+15 respectively、- 15V power supplys，Resistance R14 connects 1 foot of comparator output terminal，Signal AXOUT is output signal，Mono- terminating resistor R14 of resistance R15，Another termination+5V power supplys，Resistance R16 connects comparator output terminal.Wherein resistance R20 connects comparator out-phase input, its other end is grounded, 4 foot of U8A comparators connects -15V power supplys, 8 feet connect+15V power supplys, and C22, C23 one end ground connection, the other end connect+15, -15V power supplys respectively, resistance R21 connects 1 foot of comparator output terminal, mono- terminating resistor R21 of resistance R22, another termination+5V power supplys, resistance R21 connect comparator output terminal.
In Fig. 4, when AX output voltage Uo reach the threshold voltage of voltage comparator LM339, LM339 just produces the defeated people of output signal high level B+ to the lock unit input D ports being made up of d type flip flop 74HCT74.When threshold voltages of the standard input signal voltage U less than voltage comparator, threshold voltage returns to mono- states of former low level B, and when the clock of 1 MHz is along arrival, signal is changed into low level from high level.Commutation gating switch returns to original state, and under the charge and discharge electro ultrafiltration of electric capacity, input signal AX is just changed into pulse duration frequency signal Uf, and the frequency accuracy of output signal depends primarily on normalized current source and charging-discharging cycle T.1 foot of FPGA is connected with 16 feet, 2 feet be D1 outfans, 15,10,7 feet be respectively D2, D3, D4 output pin, 12 feet connect+5V power supplys, and electric capacity C1 is grounded after connecing+5V power supplys, and 13 feet connect+15V power supplys, 3 feet are connected with 14 feet, and AX signals are input into from 3 feet, and 11 feet are connected with 6 feet, connect the signal of 10KHz, 5 feet are grounded, and 4 feet are grounded after meeting electric capacity C11, and its 1 foot, 8 feet connect 9 feet of U25B, U26B lock unit 74HCT74 respectively, four lock unit 74HCT74 directly connect, and 9 feet of U22B connect 12 feet of U25B.
Claims (7)
1. a kind of laser gyro inertial navigation instrument signal Acquisition Circuit, is characterized in that：The laser gyro inertial navigation instrument signal Acquisition Circuit includes important three part：Constant-current source circuit, I/F integrating circuit and lock unit and gating circuit switch.
2. laser gyro inertial navigation instrument signal Acquisition Circuit according to claim 1, is characterized in that:The laser gyro inertial navigation instrument signal Acquisition Circuit is changed to the current signal that quartz flexible accelerometer is exported using L/F circuits, carries out reversible counting so as to be changed into accelerometer signal value using FPGA.
3. laser gyro inertial navigation instrument signal Acquisition Circuit according to claim 1, is characterized in that：The constant-current source circuit its electric current output accuracy determines the success or failure of L/F circuit designs, and constant-current source can provide constant current source to load, and stable constant-current source can provide the standard that compare that accurately current source is used as referring to L/F circuits.
4. laser gyro inertial navigation instrument signal Acquisition Circuit according to claim 1, is characterized in that：The constant-current source circuit module adopts+5 VREF voltage source of MAX6250 conducts, can then produce+5 V of current source of benchmark from operational amplifier 0PA277U and a small amount of peripheral discrete component.
5. laser gyro inertial navigation instrument signal Acquisition Circuit according to claim 1, is characterized in that：The L/F change-over circuits are by normalized current source ± 5
V-arrangement is continuously input into normalized current source to correct the integral charge amount of accelerometer electric current AX input circuits into anti-integral charge amount, by MAX314 gating switches.
6. laser gyro inertial navigation instrument signal Acquisition Circuit according to claim 1, is characterized in that：The resistance R20 of the laser gyro inertial navigation instrument signal Acquisition Circuit connects comparator out-phase input, its other end is grounded, 4 foot of U8A comparators connects -15V power supplys, 8 feet connect+15V power supplys, and C22, C23 one end ground connection, the other end connect+15, -15V power supplys respectively, resistance R21 connects 1 foot of comparator output terminal, mono- terminating resistor R21 of resistance R22, another termination+5V power supplys, resistance R21 connect comparator output terminal.
7. laser gyro inertial navigation instrument signal Acquisition Circuit according to claim 1, is characterized in that：The lock unit and gating circuit switch，When AX output voltage Uo reach the threshold voltage of voltage comparator LM339，The defeated people of LM339 one output signal high level B+ of generation are to the lock unit input D ports being made up of d type flip flop 74HCT74，1 foot of FPGA is connected with 16 feet，2 feet are D1 outfans，15、10、7 feet are respectively D2、D3、D4 output pins，12 feet connect+5V power supplys，Electric capacity C1 is grounded after connecing+5V power supplys，13 feet connect+15V power supplys，3 feet are connected with 14 feet，AX signals are input into from 3 feet，11 feet are connected with 6 feet，Connect the signal of 10KHz，5 feet are grounded，4 feet are grounded after meeting electric capacity C11，Its 1 foot、8 feet meet U25B respectively、9 feet of U26B lock unit 74HCT74，Four lock unit 74HCT74 directly connect，9 feet of U22B connect 12 feet of U25B.
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| CN201510631639.4A CN106556390A (en) | 2015-09-29 | 2015-09-29 | A kind of laser gyro inertial navigation instrument signal Acquisition Circuit |
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| CN201510631639.4A CN106556390A (en) | 2015-09-29 | 2015-09-29 | A kind of laser gyro inertial navigation instrument signal Acquisition Circuit |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110261658A (en) * | 2019-06-21 | 2019-09-20 | 卡瓦科尔牙科医疗器械（苏州）有限公司 | A kind of medical instrument sample circuit structure and the method for sampling for isolation detection |
| CN111174810A (en) * | 2019-12-31 | 2020-05-19 | 中国船舶重工集团公司第七一七研究所 | High-precision IF conversion module applied to inertial navigation system |
| CN112946456A (en) * | 2021-01-28 | 2021-06-11 | 湖南航天机电设备与特种材料研究所 | I/F circuit and calibration method and calibration device thereof |
-
2015
- 2015-09-29 CN CN201510631639.4A patent/CN106556390A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110261658A (en) * | 2019-06-21 | 2019-09-20 | 卡瓦科尔牙科医疗器械（苏州）有限公司 | A kind of medical instrument sample circuit structure and the method for sampling for isolation detection |
| CN111174810A (en) * | 2019-12-31 | 2020-05-19 | 中国船舶重工集团公司第七一七研究所 | High-precision IF conversion module applied to inertial navigation system |
| CN112946456A (en) * | 2021-01-28 | 2021-06-11 | 湖南航天机电设备与特种材料研究所 | I/F circuit and calibration method and calibration device thereof |
| CN112946456B (en) * | 2021-01-28 | 2022-07-15 | 湖南航天机电设备与特种材料研究所 | I/F circuit and calibration method and calibration device thereof |
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