CN106595650B - A kind of inexpensive temperature control type inertial measurement system of miniaturization - Google Patents
A kind of inexpensive temperature control type inertial measurement system of miniaturization Download PDFInfo
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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
Abstract
A kind of inexpensive temperature control type inertial measurement system of miniaturization, is related to field of inertia measurement；Minimizing inexpensive temperature control type inertial measurement system includes temperature control inertia measuring module, temperature control modules and used survey computer；Wherein temperature control inertia measuring module includes micromechanical gyro module, micro-mechanical accelerometer module, sensor base, heating module, heat preservation module, gyro AD conversion processing module and pedestal；Inertial measurement system is not only 3 uniaxial micromechanical gyro modules, 3 uniaxial micro-mechanical accelerometer modules offer reference for installation, and gyro and accelerometer are maintained in the constant temperature environment of high temperature, the output performance of gyro and accelerometer is greatly improved.It is an advantage of the invention that the inertial measurement system precision is high, small in size, compact-sized, the accurate control response of temperature is fast, at low cost.
Description
Technical field
The present invention relates to a kind of field of inertia measurement, especially a kind of inexpensive temperature control type inertial measurement system of miniaturization.
Background technique
Micro-mechanical inertia measuring system refers to be surveyed by the inertia that micromechanical gyro module, micro-mechanical accelerometer module form
Amount system.Micromechanical gyro module, micro-mechanical accelerometer module have small in size, light-weight, low in energy consumption, shock resistance, are easy to
The features such as batch production.It has a wide range of applications in fields such as aerospace, guided bomb and consumer electronics.
An important factor for environmental factor is influence micromechanical gyro module, micro-mechanical accelerometer module performance, and temperature
It is to influence micromechanical gyro module, the key factor of micro-mechanical accelerometer Module Reliability and precision again, with environment temperature
Variation, micromechanical gyro module, the thermal expansion and cold contraction effect of micro-mechanical accelerometer inside modules, residual stress effect, system
Various component temperature drifts etc. can all make output generate drift phenomenon in stiffness variation and circuit.Temperature is to micromechanical gyro
Module, the output of micro-mechanical accelerometer module influence significantly, to become it and mention high-precision bottlenecks.
Summary of the invention
It is an object of the invention to overcome the above-mentioned deficiency of the prior art, a kind of inexpensive temperature control type inertia of miniaturization is provided
Measuring system, is greatly improved the output performance of gyro and accelerometer, at the same have precision it is high, it is small in size, compact-sized,
The advantages that accurate control response of temperature is fast, at low cost.
Above-mentioned purpose of the invention is achieved by following technical solution:
A kind of inexpensive temperature control type inertial measurement system of miniaturization, including temperature control load module, measurement and control of temperature module and used
Property metering computer；Wherein temperature control load module include micromechanical gyro module, micro-mechanical accelerometer module, heating module,
Heat preservation module, sensor base, gyro AD conversion processing module and pedestal；Wherein, pedestal is located at the bottom of temperature control load module,
Sensor base is fixedly mounted on the upper end of temperature control load module；Heating module is fixedly mounted on the upper surface of sensor base；
Micromechanical gyro module and micro-mechanical accelerometer module are fixedly mounted on heating module and sensor base forms the interior of cavity
Portion；Gyro AD conversion processing module is installed between sensor base and pedestal；Heat preservation module is fixedly mounted on base upper surface；
Heating module, micromechanical gyro module, micro-mechanical accelerometer module, sensor base and gyro AD conversion processing module are fixed
It is mounted on inside heat preservation module；
Heating module: receiving the thermal control signals that measurement and control of temperature module transmits, and carries out to the inner space of heating module
Heating；Heating sheet temperature signal TP is issued to measurement and control of temperature module；
Heat preservation module: reduce scattering and disappearing for heating module heat, the working environment for maintaining inertial measurement system constant in high temperature；
Micromechanical gyro module: under heating module heating, the gyro temperature signal T of 3 axis of x-axis, y-axis and z-axis is exportedGX、
TGY、TGZTo gyro AD conversion processing module, gyro AD conversion processing module is by the gyro temperature signal of 3 axis of x-axis, y-axis and z-axis
TGX、TGY、TGZIt is converted into digital signal, and by the gyro temperature signal T of 3 axis of x-axis, y-axis and z-axisGX、TGY、TGZDigital signal
It is transmitted to inertia measurement computer；Export gyro angular velocity signal GX、GY、GZTo gyro AD conversion processing module, gyro AD conversion
Processing module is by gyro angular velocity signal GX、GY、GZIt is converted into digital signal, and by gyro angular speed digital data transmission to used
Property metering computer；
Micro-mechanical accelerometer module: under heating module heating, the acceleration temperature letter of output 3 axis of x-axis, y-axis and z-axis
Number TAX、TAY、TAZWith 3 axle acceleration signal Ax, Ay, Az to inertia measurement computer；
Inertia measurement computer: the gyro temperature for 3 axis of x-axis, y-axis and z-axis that gyro AD conversion processing module transmits is received
Signal TGX、TGY、TGZDigital signal；Receive the gyro angular velocity signal G that micromechanical gyro module transmitsX、GY、GZNumber letter
Number；X-axis and z-axis gyro temperature are believed into TGX、TGZDigital signal export to measurement and control of temperature module；Receive micro-mechanical accelerometer
The acceleration temperature signal T for 3 axis of x-axis, y-axis and z-axis that module transmitsAX、TAY、TAZWith 3 axle acceleration signal Ax, Ay, Az；It is used
Survey the acceleration temperature signal T that computer passes through 3 axis of x-axis, y-axis and z-axis that micro-mechanical accelerometer module transmits respectivelyGX、
TGY、TGZDigital signal to respective axial gyro angular velocity signal GX、GY、GZError compensation processing is carried out, after obtaining compensation
Gyro angular velocity signal；Used survey computer passes through 3 axis of x-axis, y-axis and z-axis that micro-mechanical accelerometer module transmits respectively
Acceleration temperature signal TAX、TAY、TAZDigital signal to respective axial acceleration signal AX、AY、AZIt carries out at error compensation
Reason, obtains compensated acceleration signal；
Gyro AD conversion processing module: the gyro temperature for going out 3 axis of x-axis, y-axis and z-axis that micromechanical gyro module transmits is received
Spend signal TGX、TGY、TGZ；By the gyro temperature signal T of 3 axis of x-axis, y-axis and z-axisGX、TGY、TGZIt is converted into digital signal, and by x
The gyro temperature signal T of 3 axis of axis, y-axis and z-axisGX、TGY、TGZDigital data transmission to inertia measurement computer；Receive microcomputer
The gyro angular velocity signal G that tool gyroscope modules transmitX、GY、GZ, gyro angular velocity signal G will be turnedX、GY、GZChange digital signal into,
And by gyro angular velocity signal GX、GY、GZDigital signal export to inertia measurement computer；
Measurement and control of temperature module: thermal control signals are sent to heating module, control frequency is 20HZ~50HZ；It receives used
The x-axis gyro temperature signal T that property metering computer transmitsGXWith the gyro temperature signal T of z-axisGZ；Receive what heating module transmitted
Temperature signal TP；Receive ambient temperature signal TA；According to gyro temperature signal TGX, z-axis gyro temperature signal TGZ, heated mould
Thermal control signals next time are calculated in the temperature signal TP and ambient temperature signal TA of block；And it will believe computer heating control next time
Number it is sent to heating module；By the feedback control of circulation, the constant operation environment of gyro, accelerometer is maintained.
In a kind of above-mentioned miniaturization low cost temperature control type inertial measurement system, the micromechanical gyro module include x-axis,
Y-axis, z-axis 3 orthogonal uniaxial micromechanical gyros；The micro-mechanical accelerometer module include x-axis, y-axis, z-axis 3 it is orthogonal
Uniaxial micro-mechanical accelerometer；The sensor base has carried out black porcelain anodization.
Operating temperature inside a kind of above-mentioned miniaturization low cost temperature control type inertial measurement system, the heat preservation module
Keep 64-66 DEG C of constant temperature.
In a kind of above-mentioned miniaturization low cost temperature control type inertial measurement system, the heating module include heat conducting sleeve and
Electric heating sheets；Heat conducting sleeve is hollow rectangular parallelepiped structure, and heat conducting sleeve is fixedly mounted on the upper surface of sensor base, heat conducting sleeve
Cylinder is duralumin material；Electric heating sheets are coated on the outer surface of heat conducting sleeve.
In a kind of above-mentioned miniaturization low cost temperature control type inertial measurement system, heating module includes top heating sheet and side
Face heating sheet；Wherein, top heating sheet is circular configuration, is horizontally set on heat conducting sleeve outer surface of cupular part；Side heat piece is
Rectangular configuration, around four sides of cladding heat conducting sleeve.
In a kind of above-mentioned miniaturization low cost temperature control type inertial measurement system, the measurement and control of temperature module is exported next
Secondary thermal control signals include top heating sheet thermal control signals PWM_XWith side heat piece thermal control signals PWM_Z；Temperature
Degree control module passes through received x-axis gyro temperature signal TGXOutput top heating sheet thermal control signals PWM_X；Measurement and control of temperature
Module passes through received z-axis gyro temperature signal TGZExport side heating sheet thermal control signals PWM_Z；
Top heating sheet thermal control signals PWM_XCalculation formula are as follows:
In formula:
PWM_XTo export digital quantity；
UsetSupply voltage when for parameter testing；
UinFor supply voltage；
KP1For gyro temperature (TGX) deviation ratio coefficient；
KI1For gyro temperature (TGX) deviation integration coefficient；
KD1For gyro temperature (TGX) deviation differential coefficient；
e1nFor gyro temperature n-th deviation (65 DEG C of-TGX)；
e1n-1For n-1 deviation of gyro temperature control (65 DEG C of-TGX)；
KP2Heating mantles temperature (TP) deviation ratio coefficient；
KD2For heating mantles temperature (TP) differential coefficient；
KD3For environment temperature (TA) differential coefficient；
TPnFor the heating sheet temperature of n-th acquisition；
TPn-1The heating sheet temperature acquired for (n-1)th time；
TAnFor the environment temperature of n-th acquisition；
TAn-1The environment temperature acquired for (n-1)th time；
Side heat piece thermal control signals PWM_ZCalculation formula are as follows:
PWM_ZTo export digital quantity；
UsetSupply voltage when for parameter testing；
UinFor supply voltage；
KP3For gyro temperature (TGZ) deviation ratio coefficient；
KI3For gyro temperature (TGZ) deviation integration coefficient；
KD3For gyro temperature (TGZ) deviation differential coefficient；
e3nFor gyro temperature n-th deviation (65 DEG C of-TGZ)；
e3n-1For n-1 deviation of gyro temperature control (65 DEG C of-TGZ)；
KP2Heating mantles temperature (TP) deviation ratio coefficient；
KD2For heating mantles temperature (TP) differential coefficient；
KD3For environment temperature (TA) differential coefficient；
TPnFor the heating sheet temperature of n-th acquisition；
TPn-1The heating sheet temperature acquired for (n-1)th time；
TAnFor the environment temperature of n-th acquisition；
TAn-1The environment temperature acquired for (n-1)th time.
In a kind of above-mentioned miniaturization low cost temperature control type inertial measurement system, the sensor base is cuboid knot
The outer wall of structure, sensor base four corners is higher than side outer wall；The uniaxial micromechanical gyro of x-axis and the uniaxial micromechanics of x-axis add
Speedometer is fixedly mounted on the side A of sensor base；The uniaxial micro-mechanical accelerometer of z-axis is fixedly mounted on sensor base
The side B；The uniaxial micromechanical gyro of y-axis is fixedly mounted on the side C of sensor base；The uniaxial micromechanical gyro of z-axis is solid
Dingan County is mounted in the side D of sensor base；The uniaxial micro-mechanical accelerometer of y-axis is fixedly mounted on the side E of sensor base.
The invention has the following advantages over the prior art:
(1) the hexahedron type sensor base of inertial measurement system of the present invention is not only gyro, accelerometer offer installation
Benchmark guarantees the orthogonality of three axial directions, and the mounting arrangement of sensor is also comprehensively considering thermo parameters method characteristic on pedestal,
Guarantee the consistency of three axis temperature；
(2) present invention selects 24 high-precision chip AD, ensure that the sampling precision of gyro, gyro temperature, and gyro AD
Signal processing circuit board is mounted in pedestal, and constant temperature works in temperature control, AD sample circuit temperature drift errors is eliminated, into one
Step improves the output accuracy of gyro；
(3) only with the mode of heating and thermal insulation, temperature control temperature is slightly above product and wants for the temperature control of inertial measurement system of the present invention
The operating temperature asked, thermal insulation material have selected the extremely low heat preservation felt of light-weight and thermal coefficient, and the heat of generation is not easy to lose, drop
Low requirement of the product to input power；
(4) temperature control of the present invention exports inertial measurement system X-axis, the temperature of Z axis micromechanical gyro module itself, side
Input quantity of the temperature of heating sheet as control, control object is clear, realizes temperature controlled quick response, reduces super
It adjusts, while can be avoided the mistake thermal damage of heating sheet；
(5) inertial measurement system of the present invention is small in size, internal component is more, is connected by four dampers and ontology
It connects, when design comprehensively considered the Mass Distribution of each component, guarantees the center and entire inertial measurement system center of sensor
Consistency influences the output accuracy of gyro, accelerometer due to force unbalance when avoiding environmental test.
Detailed description of the invention
Fig. 1 is that present invention low cost minimizes temperature control type inertial measurement system functional block diagram；
Fig. 2 is inventive sensor base construction figure.
Specific embodiment
The present invention is described in further detail in the following with reference to the drawings and specific embodiments:
It is as shown in Figure 1 low cost miniaturization temperature control type inertial measurement system functional block diagram, as seen from the figure, a kind of miniaturization
Inexpensive temperature control type inertial measurement system, it is characterised in that: including temperature control load module, measurement and control of temperature module and inertia measurement meter
Calculation machine；Wherein temperature control load module include micromechanical gyro module, micro-mechanical accelerometer module, heating module, heat preservation module,
Sensor base, gyro AD conversion processing module and pedestal；Wherein, pedestal is located at the bottom of temperature control load module, sensor base
Seat is fixedly mounted on the upper end of temperature control load module；Heating module is fixedly mounted on the upper surface of sensor base；Micromechanics top
Spiral shell module and micro-mechanical accelerometer module are fixedly mounted on heating module and sensor base forms the inside of cavity；Sensor
Gyro AD conversion processing module is installed between pedestal and pedestal；Heat preservation module is fixedly mounted on base upper surface；Heating module,
Micromechanical gyro module, micro-mechanical accelerometer module, sensor base and gyro AD conversion processing module are fixedly mounted on guarantor
Warm inside modules；Sensor base absorbs the heat of heat conducting sleeve in a manner of heat radiation, to improve the heat absorption efficiency of sensor simultaneously
The temperature control temperature of balanced each axle sensor, each axle sensor is consistent as far as possible at a distance from heat conducting sleeve, and sensor base carries out
Black oxidation processing, makes sensor rise to stationary temperature in a relatively short period of time and effectively keep.
Heating module: receiving the thermal control signals that measurement and control of temperature module transmits, and carries out to the inner space of heating module
Heating；Heating sheet temperature signal TP is issued to measurement and control of temperature module；
Heat preservation module: reduce scattering and disappearing for heating module heat, the working environment for maintaining inertial measurement system constant in high temperature；
Micromechanical gyro module: under heating module heating, the gyro temperature signal T of 3 axis of x-axis, y-axis and z-axis is exportedGX、
TGY、TGZTo gyro AD conversion processing module, gyro AD conversion processing module is by the gyro temperature signal of 3 axis of x-axis, y-axis and z-axis
TGX、TGY、TGZIt is converted into digital signal, and by the gyro temperature signal T of 3 axis of x-axis, y-axis and z-axisGX、TGY、TGZDigital signal
It is transmitted to inertia measurement computer；Export gyro angular velocity signal GX、GY、GZTo gyro AD conversion processing module, gyro AD conversion
Processing module is by gyro angular velocity signal GX、GY、GZIt is converted into digital signal, and by gyro angular speed digital data transmission to used
Property metering computer；
Micro-mechanical accelerometer module: under heating module heating, the acceleration temperature letter of output 3 axis of x-axis, y-axis and z-axis
Number TAX、TAY、TAZWith 3 axle acceleration signal Ax, Ay, Az to inertia measurement computer；
Inertia measurement computer: the gyro temperature for 3 axis of x-axis, y-axis and z-axis that gyro AD conversion processing module transmits is received
Signal TGX、TGY、TGZDigital signal；Receive the gyro angular velocity signal G that micromechanical gyro module transmitsX、GY、GZNumber letter
Number；X-axis and z-axis gyro temperature are believed into TGX、TGZDigital signal export to measurement and control of temperature module；Receive micro-mechanical accelerometer
The acceleration temperature signal T for 3 axis of x-axis, y-axis and z-axis that module transmitsAX、TAY、TAZWith 3 axle acceleration signal Ax, Ay, Az；It is used
Survey the acceleration temperature signal T that computer passes through 3 axis of x-axis, y-axis and z-axis that micro-mechanical accelerometer module transmits respectivelyGX、
TGY、TGZDigital signal to respective axial gyro angular velocity signal GX、GY、GZError compensation processing is carried out, after obtaining compensation
Gyro angular velocity signal；Used survey computer passes through 3 axis of x-axis, y-axis and z-axis that micro-mechanical accelerometer module transmits respectively
Acceleration temperature signal TAX、TAY、TAZDigital signal to respective axial acceleration signal AX、AY、AZIt carries out at error compensation
Reason, obtains compensated acceleration signal；
Gyro AD conversion processing module: the gyro temperature for going out 3 axis of x-axis, y-axis and z-axis that micromechanical gyro module transmits is received
Spend signal TGX、TGY、TGZ；By the gyro temperature signal T of 3 axis of x-axis, y-axis and z-axisGX、TGY、TGZIt is converted into digital signal, and by x
The gyro temperature signal T of 3 axis of axis, y-axis and z-axisGX、TGY、TGZDigital data transmission to inertia measurement computer；Receive microcomputer
The gyro angular velocity signal G that tool gyroscope modules transmitX、GY、GZ, gyro angular velocity signal G will be turnedX、GY、GZChange digital signal into,
And by gyro angular velocity signal GX、GY、GZDigital signal export to inertia measurement computer；
Measurement and control of temperature module: thermal control signals are sent to heating module, control frequency is 20HZ~50HZ；It receives used
The x-axis gyro temperature signal T that property metering computer transmitsGXWith the gyro temperature signal T of z-axisGZ；Receive what heating module transmitted
Temperature signal TP；Receive ambient temperature signal TA；According to gyro temperature signal TGX, z-axis gyro temperature signal TGZ, heated mould
Thermal control signals next time are calculated in the temperature signal TP and ambient temperature signal TA of block；And it will believe computer heating control next time
Number it is sent to heating module；By the feedback control of circulation, the constant operation environment of gyro, accelerometer is maintained.
Micromechanical gyro module includes x-axis, y-axis, z-axis 3 orthogonal uniaxial micromechanical gyros；The micro-machine acceleration
Counting module includes x-axis, y-axis, z-axis 3 orthogonal uniaxial micro-mechanical accelerometers；The sensor base has carried out black porcelain
Anodization.
Operating temperature inside heat preservation module keeps 64-66 DEG C of constant temperature.
Heating module includes heat conducting sleeve and electric heating sheets；Heat conducting sleeve is hollow rectangular parallelepiped structure, and heat conducting sleeve is fixed
It is mounted on the upper surface of sensor base, heat conducting sleeve is duralumin material；Electric heating sheets are coated on the outer surface of heat conducting sleeve.Add
Thermal modules include top heating sheet and side heat piece；Wherein, top heating sheet is circular configuration, is horizontally set on heat conducting sleeve
Outer surface of cupular part；Side heat piece is rectangular configuration, around four sides of cladding heat conducting sleeve.
The pedestal supports entire inertial measurement system, and base height 21.5mm, diameter 109mm, whole is in groove
Property structure, there is the equally distributed circular hole of 4 Ф 4 in centre, passes through M3 × 12 and starts sunk screw and connects sensor base；Outside pedestal
Edge design arch outlet hole, gyro, accelerometer, heating sheet all kinds of conducting wires interconnected by the outlet hole；On the circle of pedestal Ф 81
8 1.6 screw holes of Ф are uniformly distributed, sunk screw is started by M1.6 × 5 and connects upper heat-insulated outer cover；To keep overall structure center of gravity flat
Weighing apparatus, four 10 circular holes of Ф are evenly distributed in pedestal top outer rim, and 4 10 circular holes of Ф connect damper, pass through damper and structure
Ontology is connected；Pedestal selects high-strength rigid aluminum material, and 8 semicircle reinforcing ribs are uniformly distributed on the circle of Ф 79, improves pedestal
Rigidity meets system stiffness requirement.
The thermal control signals next time of the measurement and control of temperature module output include top heating sheet thermal control signals
PWM_XWith side heat piece thermal control signals PWM_Z；Measurement and control of temperature module passes through received x-axis gyro temperature signal TGXOutput
Top heating sheet thermal control signals PWM_X；Measurement and control of temperature module passes through received z-axis gyro temperature signal TGZOutput side adds
Backing thermal control signals PWM_Z；
Top heating sheet thermal control signals PWM_XCalculation formula are as follows:
In formula:
PWM_XTo export digital quantity；
UsetSupply voltage when for parameter testing；
UinFor supply voltage；
KP1For gyro temperature (TGX) deviation ratio coefficient；
KI1For gyro temperature (TGX) deviation integration coefficient；
KD1For gyro temperature (TGX) deviation differential coefficient；
e1nFor gyro temperature n-th deviation (65 DEG C of-TGX)；
e1n-1For n-1 deviation of gyro temperature control (65 DEG C of-TGX)；
KP2Heating mantles temperature (TP) deviation ratio coefficient；
KD2For heating mantles temperature (TP) differential coefficient；
KD3For environment temperature (TA) differential coefficient；
TPnFor the heating sheet temperature of n-th acquisition；
TPn-1The heating sheet temperature acquired for (n-1)th time；
TAnFor the environment temperature of n-th acquisition；
TAn-1The environment temperature acquired for (n-1)th time；
Side heat piece thermal control signals PWM_ZCalculation formula are as follows:
PWM_ZTo export digital quantity；
UsetSupply voltage when for parameter testing；
UinFor supply voltage；
KP3For gyro temperature (TGZ) deviation ratio coefficient；
KI3For gyro temperature (TGZ) deviation integration coefficient；
KD3For gyro temperature (TGZ) deviation differential coefficient；
e3nFor gyro temperature n-th deviation (65 DEG C of-TGZ)；
e3n-1For n-1 deviation of gyro temperature control (65 DEG C of-TGZ)；
KP2Heating mantles temperature (TP) deviation ratio coefficient；
KD2For heating mantles temperature (TP) differential coefficient；
KD3For environment temperature (TA) differential coefficient；
TPnFor the heating sheet temperature of n-th acquisition；
TPn-1The heating sheet temperature acquired for (n-1)th time；
TAnFor the environment temperature of n-th acquisition；
TAn-1The environment temperature acquired for (n-1)th time.
It is illustrated in figure 2 sensor base structure chart, as seen from the figure, sensor base is rectangular parallelepiped structure, sensor base
The outer wall of seat four corners is higher than side outer wall；The uniaxial micromechanical gyro of x-axis and the fixed peace of the uniaxial micro-mechanical accelerometer of x-axis
Mounted in the side A of sensor base；The uniaxial micro-mechanical accelerometer of z-axis is fixedly mounted on the side B of sensor base；Y-axis
Uniaxial micromechanical gyro be fixedly mounted on the side C of sensor base；The uniaxial micromechanical gyro of z-axis is fixedly mounted on sensing
The side D of device pedestal；The uniaxial micro-mechanical accelerometer of y-axis is fixedly mounted on the side E of sensor base.
The digital quantity signal of 3 axis gyros, 3 axis gyro temperature that inertial measurement system exports is by external gyroscope signal process
The microcontroller of circuit receives, and microcontroller isolates X-axis, Z axis gyro temperature signal and is transmitted to temperature by RS422 differential signal
Control circuit board is spent, differential signal is converted to rs 232 serial interface signal and received in interrupt routine in serial ports and obtained by temperature control circuit board
Gyro temperature signal, at the same time, temperature-control circuit acquire the temperature of side heat piece with the A/D module being internally integrated in real time
Signal, supply voltage signal read ambient temperature signal with temperature sensor on plate.The microcontroller of temperature-control circuit is to upper
It states signal to be handled, be added by X-axis gyro temperature, heating sheet temperature, environment temperature, supply voltage compensation calculation control top
The current value PWM_X of backing；Side is controlled by Z axis gyro temperature, heating sheet temperature, environment temperature, supply voltage compensation calculation
The current value PWM_Z of face heating sheet, respectively driving power triode is heating sheet power supply to two-way control amount, final to realize 3 axis tops
The control target of spiral shell, 65 DEG C of 3 axis accelerometer.
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.
Claims (7)
1. a kind of inexpensive temperature control type inertial measurement system of miniaturization, it is characterised in that: including temperature control load module, measurement and control of temperature
Module and inertia measurement computer；Wherein temperature control load module includes micromechanical gyro module, micro-mechanical accelerometer module, adds
Thermal modules, heat preservation module, sensor base, gyro AD conversion processing module and pedestal；Wherein, pedestal is located at temperature control load module
Bottom, sensor base is fixedly mounted on the upper end of pedestal；Heating module is fixedly mounted on the upper surface of sensor base；It is micro-
Mechanical gyro module and micro-mechanical accelerometer module are fixedly mounted on heating module and sensor base forms the inside of cavity；
Gyro AD conversion processing module is installed between sensor base and pedestal；Heat preservation module is fixedly mounted on base upper surface；Add
The fixed peace of thermal modules, micromechanical gyro module, micro-mechanical accelerometer module, sensor base and gyro AD conversion processing module
Inside heat preservation module；
Heating module: the thermal control signals that measurement and control of temperature module transmits are received, the inner space of heating module is heated；
Heating sheet temperature signal TP is issued to measurement and control of temperature module；
Heat preservation module: reduce scattering and disappearing for heating module heat, the working environment for maintaining inertial measurement system constant in high temperature；
Micromechanical gyro module: under heating module heating, the gyro temperature signal T of 3 axis of x-axis, y-axis and z-axis is exportedGX、TGY、
TGZTo gyro AD conversion processing module, gyro AD conversion processing module is by the gyro temperature signal T of 3 axis of x-axis, y-axis and z-axisGX、
TGY、TGZIt is converted into digital signal, and by the gyro temperature signal T of 3 axis of x-axis, y-axis and z-axisGX、TGY、TGZDigital data transmission
To inertia measurement computer；Export gyro angular velocity signal GX、GY、GZTo gyro AD conversion processing module, the processing of gyro AD conversion
Module is by gyro angular velocity signal GX、GY、GZIt is converted into digital signal, and gyro angular speed digital data transmission to inertia is surveyed
Measure computer；
Micro-mechanical accelerometer module: under heating module heating, the acceleration temperature signal of 3 axis of x-axis, y-axis and z-axis is exported
TAX、TAY、TAZWith 3 axle acceleration signal Ax, Ay, Az to inertia measurement computer；
Inertia measurement computer: the gyro temperature signal for 3 axis of x-axis, y-axis and z-axis that gyro AD conversion processing module transmits is received
TGX、TGY、TGZDigital signal；Receive the gyro angular velocity signal G that gyro AD conversion processing module transmitsX、GY、GZNumber letter
Number；X-axis and z-axis gyro temperature are believed into TGX、TGZDigital signal export to measurement and control of temperature module；Receive micro-mechanical accelerometer
The acceleration temperature signal T for 3 axis of x-axis, y-axis and z-axis that module transmitsAX、TAY、TAZWith 3 axle acceleration signal Ax, Ay, Az；It is used
Survey the gyro temperature signal T that computer passes through 3 axis of x-axis, y-axis and z-axis that gyro AD conversion processing module transmits respectivelyGX、TGY、
TGZDigital signal to respective axial gyro angular velocity signal GX、GY、GZError compensation processing is carried out, compensated top is obtained
Spiral shell angular velocity signal；The used acceleration surveyed computer and pass through 3 axis of x-axis, y-axis and z-axis that micro-mechanical accelerometer module transmits respectively
Spend temperature signal TAX、TAY、TAZDigital signal to respective axial acceleration signal AX、AY、AZError compensation processing is carried out, is obtained
To compensated acceleration signal；
Gyro AD conversion processing module: the gyro temperature letter for going out 3 axis of x-axis, y-axis and z-axis that micromechanical gyro module transmits is received
Number TGX、TGY、TGZ；By the gyro temperature signal T of 3 axis of x-axis, y-axis and z-axisGX、TGY、TGZIt is converted into digital signal, and by x-axis, y
The gyro temperature signal T of 3 axis of axis and z-axisGX、TGY、TGZDigital data transmission to inertia measurement computer；Receive micromechanics top
The gyro angular velocity signal G that spiral shell module transmitsX、GY、GZ, by gyro angular velocity signal GX、GY、GZIt is converted into digital signal, and will
Gyro angular velocity signal GX、GY、GZDigital signal export to inertia measurement computer；
Measurement and control of temperature module: thermal control signals are sent to heating module, control frequency is 20HZ~50HZ；Inertia is received to survey
The x-axis gyro temperature signal T that amount computer transmitsGXWith the gyro temperature signal T of z-axisGZ；Receive the temperature that heating module transmits
Signal TP；Receive ambient temperature signal TA；According to gyro temperature signal TGX, z-axis gyro temperature signal TGZ、The temperature of heating module
Thermal control signals next time are calculated in degree signal TP and ambient temperature signal TA；And it thermal control signals will send next time
To heating module；By the feedback control of circulation, the constant operation environment of gyro, accelerometer is maintained.
2. the inexpensive temperature control type inertial measurement system of a kind of miniaturization according to claim 1, it is characterised in that: described micro-
Mechanical gyro module includes x-axis, y-axis, z-axis 3 orthogonal uniaxial micromechanical gyros；The micro-mechanical accelerometer module includes
X-axis, y-axis, z-axis 3 orthogonal uniaxial micro-mechanical accelerometers；The sensor base has carried out at black porcelain anodization
Reason.
3. the inexpensive temperature control type inertial measurement system of a kind of miniaturization according to claim 1, it is characterised in that: the guarantor
The operating temperature of warm inside modules keeps 64-66 DEG C of constant temperature.
4. the inexpensive temperature control type inertial measurement system of a kind of miniaturization according to claim 1, it is characterised in that: described to add
Thermal modules include heat conducting sleeve and electric heating sheets；Heat conducting sleeve is hollow rectangular parallelepiped structure, and heat conducting sleeve is fixedly mounted on sensing
The upper surface of device pedestal, heat conducting sleeve are duralumin material；Electric heating sheets are coated on the outer surface of heat conducting sleeve.
5. the inexpensive temperature control type inertial measurement system of a kind of miniaturization according to claim 4, it is characterised in that: heated mould
Block includes top heating sheet and side heat piece；Wherein, top heating sheet is circular configuration, is horizontally set at the top of heat conducting sleeve
Outer surface；Side heat piece is rectangular configuration, around four sides of cladding heat conducting sleeve.
6. the inexpensive temperature control type inertial measurement system of a kind of miniaturization according to claim 5, it is characterised in that: the temperature
The thermal control signals next time for spending control module output include top heating sheet thermal control signals PWM_XWith side heat piece
Thermal control signals PWM_Z；Measurement and control of temperature module passes through received x-axis gyro temperature signal TGXThe heating sheet heating control of output top
Signal PWM processed_X；Measurement and control of temperature module passes through received z-axis gyro temperature signal TGZExport side heating sheet thermal control signals
PWM_Z；
Top heating sheet thermal control signals PWM_XCalculation formula are as follows:
In formula:
PWM_XTo export digital quantity；
UsetSupply voltage when for parameter testing；
UinFor supply voltage；
KP1For gyro temperature TGXDeviation ratio coefficient；
KI1For gyro temperature TGXDeviation integration coefficient；
KD1For gyro temperature TGXDeviation differential coefficient；
e1nFor 65 DEG C of-T of gyro temperature n-th deviationGX；
e1n-1For 65 DEG C of-T of n-1 deviation of gyro temperature controlGX；
KP2Heating mantles temperature TP deviation ratio coefficient；
KD2For heating mantles temperature TP differential coefficient；
KD3For environment temperature TA differential coefficient；
TPnFor the heating sheet temperature of n-th acquisition；
TPn-1The heating sheet temperature acquired for (n-1)th time；
TAnFor the environment temperature of n-th acquisition；
TAn-1The environment temperature acquired for (n-1)th time；
Side heat piece thermal control signals PWM_ZCalculation formula are as follows:
PWM_ZTo export digital quantity；
UsetSupply voltage when for parameter testing；
UinFor supply voltage；
KP3For gyro temperature TGZDeviation ratio coefficient；
KI3For gyro temperature TGZDeviation integration coefficient；
KD3For gyro temperature TGZDeviation differential coefficient；
e3nFor 65 DEG C of-T of gyro temperature n-th deviationGZ；
e3n-1For 65 DEG C of-T of n-1 deviation of gyro temperature controlGZ；
KP2Heating mantles temperature TP deviation ratio coefficient；
KD2For heating mantles temperature TP differential coefficient；
KD3For environment temperature TA differential coefficient；
TPnFor the heating sheet temperature of n-th acquisition；
TPn-1The heating sheet temperature acquired for (n-1)th time；
TAnFor the environment temperature of n-th acquisition；
TAn-1The environment temperature acquired for (n-1)th time.
7. the inexpensive temperature control type inertial measurement system of a kind of miniaturization according to claim 2, it is characterised in that: described
Sensor base is rectangular parallelepiped structure, and the outer wall of sensor base four corners is higher than side outer wall；The uniaxial micromechanical gyro of x-axis
The side A of sensor base is fixedly mounted on the uniaxial micro-mechanical accelerometer of x-axis；The uniaxial micro-mechanical accelerometer of z-axis
It is fixedly mounted on the side B of sensor base；The uniaxial micromechanical gyro of y-axis is fixedly mounted on the side C of sensor base；z
The uniaxial micromechanical gyro of axis is fixedly mounted on the side D of sensor base；The uniaxial micro-mechanical accelerometer of y-axis is fixedly mounted
In the side E of sensor base.
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| CN107966144B (en) * | 2017-11-20 | 2020-10-20 | 北京航天控制仪器研究所 | Assembly body structure of inertia measurement combination based on MEMS sensor |
| CN108827294A (en) * | 2018-07-12 | 2018-11-16 | 湖南科众兄弟科技有限公司 | The temperature-compensation method of inertial navigation system |
| CN109827570B (en) * | 2019-02-22 | 2021-08-31 | 上海戴世智能科技有限公司 | Inertial measurement module |
| CN110658865B (en) * | 2019-09-30 | 2020-12-22 | 杭州师范大学钱江学院 | Temperature control method based on inertial model |
| CN112146652A (en) * | 2020-09-25 | 2020-12-29 | 上海航天控制技术研究所 | Micro-mechanical inertial measurement combination for satellite |
| CN218628364U (en) * | 2022-07-28 | 2023-03-14 | 亿航智能设备（广州）有限公司 | Inertia measuring device of three-axis mechanical holder |
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