CN108106615B - Underwater MEMS course gyro capable of setting initial course - Google Patents
Underwater MEMS course gyro capable of setting initial course Download PDFInfo
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- CN108106615B CN108106615B CN201711293421.8A CN201711293421A CN108106615B CN 108106615 B CN108106615 B CN 108106615B CN 201711293421 A CN201711293421 A CN 201711293421A CN 108106615 B CN108106615 B CN 108106615B
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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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- 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
- G01C21/20—Instruments for performing navigational calculations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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Abstract
The invention relates to an underwater MEMS course gyro capable of setting an initial course, which is characterized in that: the system at least comprises a power supply module, a signal acquisition and processing circuit board, an initial course setting switch and an output matching module; the power supply module, the signal acquisition and processing circuit board, the initial course setting switch and the output matching module are fixed in or on the annular mounting base. The invention can meet the actual requirements of the control system for yaw angle measurement in the process of launching water into underwater navigation by some shorter-range underwater heading carriers. The sensor has the advantages of low power consumption, quick start, impact resistance, small volume and the like. When the navigation gyro meets the underwater navigation carrier with a shorter range, the cost is reduced, and the requirements of measuring and controlling the heading of the underwater navigation carrier are met.
Description
Technical Field
The invention relates to an underwater MEMS course gyro technology, in particular to an underwater MEMS course gyro capable of setting an initial course.
Background
MEMS sensors are microelectromechanical sensors fabricated using processes similar to integrated circuit fabrication, and MEMS angular rate gyroscopes and linear accelerometers are common inertial measurement sensors, mainly for sensitive measurement of carrier motion state parameters. The MEMS sensor is an all-solid-state and low-power-consumption sensor and has the advantages of quick start, impact resistance, small volume and the like.
The heading gyroscopes used in conventional underwater navigation vehicles are mechanical frame gyroscopes in a two-degree-of-freedom orientation state. The mechanical heading gyroscope has complex structure, more parts and generally high processing precision, and the gyroscope needs to be externally supplied with a special alternating current gyroscope motor power supply when in work. The defects of high processing difficulty, high manufacturing cost and the like of part parts are exposed in the production process, and the defects of high power consumption, complex operation, easy occurrence of frame inversion faults and the like are found in the practical application. When the testing device works, the electric explosion tube is required to explode to trigger the spring mechanism to push the gyroscope to start at a high speed, and the testing cost is high.
Disclosure of Invention
The invention aims to provide an underwater MEMS heading gyroscope capable of setting an initial heading, which is a heading gyroscope adopting an MEMS inertial sensor and suitable for an underwater navigation carrier, so that when the heading gyroscope meets the underwater navigation carrier with a shorter range, the performance of a product is optimized, the cost is reduced, and the requirements of measuring and controlling the heading of the underwater navigation carrier are better met.
The purpose of the invention is realized in the following way: an underwater MEMS heading gyroscope capable of setting an initial heading is characterized in that: the system at least comprises a power supply module, a signal acquisition and processing circuit board, an initial course setting switch and an output matching module; the power supply module, the signal acquisition and processing circuit board, the initial course setting switch and the output matching module are fixed in or on the annular mounting base, and the signal acquisition and processing circuit board comprises an angular rate gyroscope, an accelerometer, a microprocessor and a CAN communication interface; the angular rate gyroscope and the accelerometer of the signal acquisition and processing circuit board measure the angular rate and acceleration signals of the carrier in real time; the microprocessor of the signal acquisition processing circuit board is electrically connected with the initial course setting switch through the IO port, and reads the code of the initial course setting switch to obtain a course angle set value; the microprocessor of the signal acquisition processing circuit board is electrically connected with the angular rate gyroscope and the accelerometer through the SPI bus interface, so that the reading and decoding processing of the angular rate and acceleration signals are realized; the microprocessor of the signal acquisition processing circuit board is electrically connected with the output matching module through a decoder to give out control codes of the output matching module; the signal acquisition and processing circuit board outputs a course angle through the CAN communication interface; the power end of the signal acquisition and processing circuit board is electrically connected with the power output of the power supply module through a switch.
The power supply module comprises a battery, a coupling coil, a starting power supply locking circuit, a power gating circuit, a rectifier bridge stack, a regulated power supply module and a three-terminal voltage stabilizer; the output of the three-terminal voltage stabilizer is electrically connected with the inlet of the external power supply gating circuit after passing through the voltage stabilizing power supply module, the outlet of the external power supply gating circuit is supplied to the input end of the three-terminal voltage stabilizer, and the output end of the three-terminal voltage stabilizer is supplied to the signal acquisition processing circuit board; the coupling coil is electrically connected with a first relay of the starting power supply locking circuit, the first relay is electrically connected with a second relay of the starting power supply locking circuit, one electrode end of the second relay is electrically connected with the external power supply gating circuit, and the second relay is electrically connected with the output end of the battery.
The battery selects 3.6V miniature lithium battery, the coupling coil is a high-frequency 100KHz mutual inductance coil, the starting power supply locking circuit is composed of a first relay and a second relay, the first relay and the second relay are identical and are FTR-BG3 double-circuit signal relays, the power gating circuit mainly comprises 2 Schottky diodes IN5819, the rectifier bridge stack selects MB2S patch rectifying circuit, the regulated power supply module selects 24S05-1W and the three-terminal voltage stabilizer selects 78D33.
The coupling coil is electrically connected with the first relay, and an external 27V pulse transmitting signal drives the first relay of the power supply locking circuit to start to work after passing through the coupling coil, so that the first relay of the power supply locking circuit is closed; after the first relay is closed, the 1-way contact of the first relay closes the second relay of the electric locking circuit, the other-way contact of the first relay opens the coupling coil input stage, the 1-way contact of the second relay connects the battery into the circuit, the other-way contact of the second relay locks the coil of the second relay, and the battery stably supplies power to the heading gyroscope.
The initial course setting switch is used for manually setting an initial course angle before transmission and is an 8-bit state switch.
The initial course setting switch selects an 8-bit coding switch, and the 8-bit coding switch can divide a course angle of 0-360 degrees into 2 degrees 8 Parts indicate 1 lsb= 1.40625 °.
The angular rate gyroscope on the signal acquisition and processing circuit board is an ADXRS290 double-shaft MEMS gyroscope, the accelerometer is an ADXL345 triaxial MEMS accelerometer, the microprocessor is an STM32F103BT6 embedded microprocessor, the CAN communication interface is an SN65HVD230 CAN drive circuit, and the decoder is a 54LS154 sixteen decoder.
The annular mounting base is a main body of a heading gyroscope mounting structure part, and is made of duralumin 2A12 with the diameter of 57mm; the axial length of the heading gyroscope is 85mm, the rear cover component is arranged on the left side of the annular mounting base, the front cover component is arranged on the right side of the annular mounting base, and the outer diameters of the rear cover component and the front cover component are 50mm; the power supply module is arranged at the bottom end inside the rear cover assembly, the initial course setting switch is adhered to the side surface of the rear cover assembly by using glue, and the plug of the battery is inserted on the power supply module, so that the battery can be replaced conveniently; the output connector plug is glued at the bottom end of the front cover component, and the contact pin faces outwards.
The signal acquisition processing circuit board also comprises a course gyro control, and the course gyro control executes tasks by an initialization module, a sensor data acquisition software module, a course angle calculation software module and an input/output module; the course gyro control program is downloaded in a program memory of a microprocessor of the signal acquisition processing circuit board, a sensor data acquisition software module is electrically connected with the angular rate gyro and the accelerometer through an SPI bus interface, and acquires output signals of the angular rate gyro and the accelerometer, and decodes and compensates the acquired angular rate and acceleration signals; the course angle calculating software module carries out quaternion navigation calculation on the X, Y, Z three axial angular rates and acceleration data to obtain a course angle; the input/output module outputs the course angle through the CAN communication interface, and the control decoder gives out the control code of the output matching module.
The invention can meet the actual requirements of the control system for yaw angle measurement in the process of launching water into underwater navigation by some shorter-range underwater heading carriers. The sensor has the advantages of low power consumption, quick start, impact resistance, small volume and the like. When the navigation gyro meets the underwater navigation carrier with a shorter range, the cost is reduced, and the requirements of measuring and controlling the heading of the underwater navigation carrier are met.
Drawings
FIG. 1 is a general functional block diagram of the present invention;
FIG. 2 is a general layout of the present invention;
FIG. 3 is a block diagram of a circuit hardware implementation of the present invention
Fig. 4 is a software block diagram of the present invention.
In the figure 1, a power supply module; 2. a signal acquisition and processing circuit board; 3. an angular rate gyro; 4. an accelerometer; 5. a microprocessor; 6. a CAN communication interface; 7. an initial heading setting switch; 8. an output matching module; 9. a battery; 10. a rear cover assembly; 11. an annular mounting base; 12. a front cover assembly; 13. an output connector plug; 14. a coupling coil; 15. starting a power supply locking circuit; 16. A power gating circuit; 17. a rectifier bridge stack; 18. a regulated power supply module; 19. a three-terminal voltage regulator; 20. an output connector receptacle; 22. a decoder; 23. initializing a module; 24. a sensor data acquisition software module; 25. a course angle calculating software module; 26. and an input/output module.
Detailed Description
The invention is described in more detail below, by way of example, with reference to the accompanying drawings:
referring to fig. 1, an underwater MEMS heading gyro capable of setting an initial heading at least includes: the system comprises a power supply module 1, a signal acquisition and processing circuit board 2, an initial course setting switch 7 and an output matching module 8; the power supply module 1, the signal acquisition and processing circuit board 2, the initial heading setting switch 7 and the output matching module 8 are fixed in or on the annular mounting base 11, the signal acquisition and processing circuit board 2 is the core of the heading gyroscope, and the signal acquisition and processing circuit board 2 comprises an angular rate gyroscope 3, an accelerometer 4, a microprocessor 5 and a CAN communication interface 6; the angular rate gyro 3 and the accelerometer 4 of the signal acquisition and processing circuit board 2 measure the angular rate and acceleration signals of the carrier in real time; the microprocessor 5 of the signal acquisition processing circuit board 2 is electrically connected with the initial course setting switch 7 through an IO port, and reads the code of the initial course setting switch 7 to obtain a course angle set value; the microprocessor 5 of the signal acquisition processing circuit board 2 is electrically connected with the angular rate gyroscope 3 and the accelerometer 4 through an SPI bus interface, so that the reading and decoding processing of the angular rate and acceleration signals are realized; the microprocessor 5 of the signal acquisition processing circuit board 2 is electrically connected with the output matching module 8 through a decoder to give out control codes of the output matching module 8. The signal acquisition and processing circuit board 2 outputs the course angle through the CAN communication interface 6. The power supply end of the signal acquisition and processing circuit board 2 is electrically connected with the power supply output of the power supply module 1 through a switch.
Referring to fig. 3, the power supply module 1 includes a battery 9, a coupling coil 14, a start power supply locking circuit 15, a power gating circuit 16, a rectifier bridge 17, a regulated power supply module 18, and a three-terminal regulator 19; the output of the three-terminal voltage stabilizer 19 is electrically connected with the inlet of the power gating circuit 16 after passing through the stabilized voltage power supply module 18, the output of the power gating circuit 16 is supplied to the input end of the three-terminal voltage stabilizer 19, and the output end of the three-terminal voltage stabilizer 19 is supplied to the signal acquisition processing circuit board 2; the coupling coil 14 is electrically connected with a first relay A, the first relay A is electrically connected with a second relay B, one electrode end of the second relay B is electrically connected with the power gating circuit 16, and the second relay B is electrically connected with the output end of the battery 9.
The battery 9 is a 3.6V miniature lithium battery, the coupling coil 14 is a high-frequency 100KHz mutual inductance coil, the starting power supply locking circuit 15 adopts 2 FTR-BG3 two-way signal relays, the power gating circuit 16 mainly comprises 2 Schottky diodes IN5819, the rectifier bridge stack 17 adopts an MB2S patch rectifier circuit, the regulated power supply module 18 adopts 24S05-1W, and the three-terminal voltage regulator 19 adopts 78D33.
The input ends of the coupling coil 14 and the rectifier bridge stack 17 are electrically connected with an output connector 20 respectively. The output connector 13 is a J30J-20 ZK miniature connector.
The power supply module 1 comprises a coupling coil 14 for receiving an external 27V pulse transmitting signal, wherein the coupling coil 14 is electrically connected with the first relay A, and the external 27V pulse transmitting signal drives the first relay A of the power supply locking circuit 15 to start to work after passing through the coupling coil 14 so as to enable the first relay A of the power supply locking circuit 15 to be closed; after the first relay A is closed, the second relay B is closed by the 1-way contact point of the first relay A, the input stage of the coupling coil 14 is disconnected by the other-way contact point of the first relay A, the battery 9 is connected into a circuit by the 1-way contact point of the second relay B, the coil of the second relay B is locked by the other-way contact point of the second relay B, and the battery 9 stably supplies power to the heading gyroscope.
After the aircraft enters water, the external 27V/400Hz power supply is effective, the 27V/400Hz power supply is rectified by the rectifier bridge stack 17 and the regulated power supply module 18 is regulated to 5V direct current, and the power gating circuit 16 automatically switches to the external power supply for power supply because the external power supply loop voltage is higher than the battery 9 voltage.
When the power supply module 1 works, after receiving a transmitting signal, the power supply module 1 accesses a battery into a gyro circuit, the battery supplies power to the heading gyro, the power supply mode is automatically switched after the external alternating current power supply is effective, and the external power supply supplies power to the heading gyro. The signal acquisition processing circuit board 2 is a data acquisition, processing and output system combining software and hardware. The initial course setting switch 7 is used to manually set the initial course angle before transmission, and is an 8-bit state switch. The output matching module 8 is two 12 relay arrays, and is driven by the control codes given by the signal acquisition and processing circuit board 2 to simulate the subsection representation of the heading angle of the mechanical heading gyroscope in the range of 0-360 degrees.
Referring to fig. 3, the initial heading setting switch 7 selects an 8-bit coding switch, and the 8-bit coding switch can divide the heading angle of 0-360 degrees into 2 degrees 8 Parts indicate 1 lsb= 1.40625 °.
Referring to fig. 1 and 3, the angular rate gyro 3 on the signal acquisition and processing circuit board 2 is an ADXRS290 dual-axis MEMS gyroscope, the accelerometer 4 is an ADXL345 tri-axis MEMS accelerometer, the microprocessor 5 is an STM32F103BT6 embedded microprocessor, the CAN communication interface 6 is an SN65HVD230 CAN driving circuit, and the decoder 22 is a 54LS154 sixteen decoder.
Referring to fig. 2, the annular mounting base 11 is a main body of a heading gyroscope mounting structure part, and is made of duralumin 2a12 with a diameter of 57mm; the axial length of the heading gyroscope is 85mm, the rear cover assembly 10 is arranged on the left side of the annular mounting base 11, the front cover assembly 12 is arranged on the right side of the annular mounting base 11, and the outer diameters of the rear cover assembly 10 and the front cover assembly 12 are 50mm; the power supply module 1 is arranged at the bottom end inside the rear cover assembly 10, the initial course setting switch 7 is adhered to the side surface of the rear cover assembly 10 by glue, and the plug of the battery 9 is inserted into the power supply module 1, so that the battery can be replaced conveniently; the output connector 13 is glued to the bottom end of the front cover assembly 12 with the pins facing outwards.
With reference to fig. 4, the signal acquisition and processing circuit board 2 further includes a heading gyro control, where the heading gyro control performs tasks by an initialization module 23, a sensor data acquisition software module 24, a heading angle calculation software module 25, and an input/output module 26; the course gyro control program is downloaded in a program memory of a microprocessor 5 of the signal acquisition and processing circuit board 2, a sensor data acquisition software module 24 is electrically connected with the angular rate gyro 3 and the accelerometer 4 through an SPI bus interface, acquires output signals of the angular rate gyro 3 and the accelerometer 4, and decodes, compensates and the acquired angular rate and acceleration signals; the course angle calculating software module 25 carries out quaternion navigation calculation on the X, Y, Z three axial angular rates and acceleration data to obtain a course angle; the input/output module 26 outputs the heading angle through the CAN communication interface 6, and the control decoder gives out the control code of the output matching module 8.
The invention can be used as a course gyro design scheme which is suitable for underwater navigation carriers and adopts an MEMS inertial sensor, and meets the actual requirements of some shorter course underwater course carriers on yaw angle measurement of a control system in the process of launching water into underwater navigation. The components, structures and software methods of this embodiment, which are not described in detail, are well known in the art, commonly used structures or commonly used means, and are not described here.
Claims (6)
1. An underwater MEMS heading gyroscope capable of setting an initial heading is characterized in that: the system at least comprises a power supply module (1), a signal acquisition and processing circuit board (2), an initial course setting switch (7) and an output matching module (8); the power supply module (1), the signal acquisition and processing circuit board (2), the initial course setting switch (7) and the output matching module (8) are fixed in or on the annular mounting base (11), and the signal acquisition and processing circuit board (2) comprises an angular rate gyroscope (3), an accelerometer (4), a microprocessor (5) and a CAN communication interface (6); an angular rate gyro (3) and an accelerometer (4) of the signal acquisition and processing circuit board (2) measure the angular rate and acceleration signals of the carrier in real time; the microprocessor (5) of the signal acquisition processing circuit board (2) is electrically connected with the initial course setting switch (7) through an IO port, and reads the code of the initial course setting switch (7) to obtain a course angle set value; the microprocessor (5) of the signal acquisition processing circuit board (2) is electrically connected with the angular rate gyroscope (3) and the accelerometer (4) through an SPI bus interface, so that the reading and decoding processing of the angular rate and acceleration signals are realized; the microprocessor (5) of the signal acquisition and processing circuit board (2) is electrically connected with the output matching module (8) through a decoder to give out control codes of the output matching module (8); the signal acquisition and processing circuit board (2) outputs a course angle through the CAN communication interface (6); the power end of the signal acquisition and processing circuit board (2) is electrically connected with the power output of the power supply module (1) through a switch;
the power supply module (1) comprises a battery (9), a coupling coil (14), a starting power supply locking circuit (15), a power gating circuit (16), a rectifier bridge stack (17), a regulated power supply module (18) and a three-terminal voltage regulator (19); the output of the three-terminal voltage stabilizer (19) is electrically connected with the inlet of the external power supply gating circuit (16) after passing through the voltage stabilizing power supply module (18), the outlet of the external power supply gating circuit (16) is supplied to the input end of the three-terminal voltage stabilizer (19), and the output end of the three-terminal voltage stabilizer (19) is supplied to the signal acquisition and processing circuit board (2); the coupling coil (14) is electrically connected with a first relay (A) of the starting power supply locking circuit (15), the first relay (A) is electrically connected with a second relay (B) of the starting power supply locking circuit (15), one electrode end of the second relay (B) is electrically connected with an external power supply gating circuit (16), and the second relay (B) is electrically connected with the output end of the battery (9);
the battery (9) is a 3.6V miniature lithium battery, the coupling coil (14) is a high-frequency 100KHz mutual inductance coil, the starting power supply locking circuit (15) is composed of a first relay (A) and a second relay (B), the first relay (A) and the second relay (B) are identical and are FTR-BG3 two-way signal relays, the power gating circuit (16) is mainly composed of 2 Schottky diodes IN5819, the rectifier bridge stack (17) is an MB2S patch rectifier circuit, the regulated power supply module (18) is a 24S05-1W three-terminal voltage regulator (19) is a 78D33;
the coupling coil (14) is electrically connected with the first relay (A), and an external 27V pulse transmitting signal drives the first relay (A) of the starting power supply locking circuit (15) to work after passing through the coupling coil (14), so that the first relay (A) of the starting power supply locking circuit (15) is closed; after the first relay (A) is closed, a second relay (B) of a power supply locking circuit (15) is started to be closed by a 1-way contact of the first relay (A), an input stage of a coupling coil (14) is opened by another-way contact of the first relay (A), a battery (9) is connected to the circuit by the 1-way contact of the second relay (B), the coil of the second relay (B) is locked by another-way contact of the second relay (B), and the battery (9) is used for stably supplying power to the heading gyroscope.
2. The underwater MEMS heading gyroscope capable of setting an initial heading as in claim 1, wherein: the initial course setting switch (7) is used for manually setting an initial course angle before transmission and is an 8-bit state switch.
3. The underwater MEMS heading gyroscope capable of setting an initial heading as in claim 1, wherein: the initial course setting switch (7) is an 8-bit coding switch, and the 8-bit coding switch can divide a course angle of 0-360 degrees into 2 degrees 8 Parts indicate 1 lsb= 1.40625 °.
4. The underwater MEMS heading gyroscope capable of setting an initial heading as in claim 1, wherein: the angular rate gyroscope (3) on the signal acquisition and processing circuit board (2) is an ADXRS290 double-shaft MEMS gyroscope, the accelerometer (4) is an ADXL345 triaxial MEMS accelerometer, the microprocessor (5) is an STM32F103BT6 embedded microprocessor, the CAN communication interface (6) is an SN65HVD230 CAN driving circuit, and the decoder (22) is a 54LS154 sixteen decoder.
5. The underwater MEMS heading gyroscope capable of setting an initial heading as in claim 1, wherein: the annular mounting base (11) is a main body of a heading gyroscope mounting structure part, and is made of duralumin 2A12 with the diameter of 57mm; the axial length of the heading gyroscope is 85mm, the rear cover component (10) is arranged on the left side of the annular mounting base (11), the front cover component (12) is arranged on the right side of the annular mounting base (11), and the outer diameters of the rear cover component (10) and the front cover component (12) are 50mm; the power supply module (1) is arranged at the bottom end inside the rear cover assembly (10), the initial course setting switch (7) is glued on the side surface of the rear cover assembly (10), and the plug of the battery (9) is plugged on the power supply module (1) so as to facilitate the replacement of the battery; the output connector plug (13) is adhered to the bottom end of the front cover assembly (12) by using glue, and the contact pins face outwards.
6. The underwater MEMS heading gyroscope capable of setting an initial heading as in claim 1, wherein: the signal acquisition processing circuit board (2) further comprises a course gyro control, and the course gyro control executes tasks by an initialization module (23), a sensor data acquisition software module (24), a course angle resolving software module (25) and an input/output module (26); the course gyro control program is downloaded in a program memory of a microprocessor (5) of the signal acquisition and processing circuit board (2), a sensor data acquisition software module (24) is electrically connected with the angular rate gyro (3) and the accelerometer (4) through an SPI bus interface, and acquires output signals of the angular rate gyro (3) and the accelerometer (4) and decodes and compensates the acquired angular rate and acceleration signals; the course angle calculating software module (25) carries out quaternion navigation calculation on the X, Y, Z three axial angular rates and acceleration data to obtain a course angle; the input/output module (26) outputs the course angle through the CAN communication interface (6), and the control decoder gives out the control code of the output matching module (8).
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