CN109143942B - Attitude sensor control system - Google Patents
Attitude sensor control system Download PDFInfo
- Publication number
- CN109143942B CN109143942B CN201811235360.4A CN201811235360A CN109143942B CN 109143942 B CN109143942 B CN 109143942B CN 201811235360 A CN201811235360 A CN 201811235360A CN 109143942 B CN109143942 B CN 109143942B
- Authority
- CN
- China
- Prior art keywords
- voltage
- signal
- module
- circuit
- signals
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000006243 chemical reaction Methods 0.000 claims abstract description 42
- 230000001133 acceleration Effects 0.000 claims abstract description 25
- 238000007781 pre-processing Methods 0.000 claims abstract description 25
- 238000012545 processing Methods 0.000 claims abstract description 23
- 238000001914 filtration Methods 0.000 claims abstract description 9
- 238000012937 correction Methods 0.000 claims abstract description 5
- 238000006880 cross-coupling reaction Methods 0.000 claims abstract description 5
- 238000000034 method Methods 0.000 claims abstract description 4
- 238000012360 testing method Methods 0.000 claims description 41
- 238000005070 sampling Methods 0.000 claims description 7
- 230000005484 gravity Effects 0.000 claims description 6
- 230000001629 suppression Effects 0.000 claims description 6
- 230000001052 transient effect Effects 0.000 claims description 6
- 230000003321 amplification Effects 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 5
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 5
- 230000009467 reduction Effects 0.000 claims description 3
- 230000003750 conditioning effect Effects 0.000 claims description 2
- 238000000105 evaporative light scattering detection Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005670 electromagnetic radiation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000011282 treatment Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Manufacturing & Machinery (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Gyroscopes (AREA)
Abstract
The invention discloses a gesture sensor control system which comprises a power supply module, an analog signal preprocessing module, an AD conversion module, a microprocessor, an output interface module, an acceleration sensor and a temperature acquisition module, wherein the power supply module provides working voltage for each module; the method is characterized in that: the temperature acquisition module is used for respectively acquiring temperature signals of the accelerometer, converting the temperature signals into voltage signals and outputting the voltage signals to the analog signal preprocessing module; the analog signal preprocessing module receives signals output by the acceleration sensor and the temperature acquisition module, performs preprocessing and outputs the signals to the AD conversion module; the AD conversion module performs AD conversion on the received signals and outputs the signals to the microprocessor; the microprocessor carries out signal filtering, temperature compensation, cross coupling compensation and error correction processing on the received signals, and sends the processed signals to the upper computer through the output interface module; the invention can be widely applied to various gesture sensors.
Description
Technical Field
The invention relates to an attitude sensor, in particular to an attitude sensor control system.
Background
The attitude sensor is a high-performance three-dimensional motion attitude measurement system based on MEMS technology. The three-dimensional attitude and azimuth data after temperature compensation are obtained through an embedded low-power ARM processor by the aid of motion sensors such as a three-axis gyroscope, a three-axis accelerometer and a three-axis electronic compass. The attitude sensor can be widely embedded into product equipment such as model aeroplane and model ship unmanned aerial vehicle, robot, mechanical cradle head, vehicle and ship, ground and underwater equipment, virtual reality, human motion analysis and the like which need to autonomously measure three-dimensional attitude and azimuth. However, the existing attitude sensor control system has the defects of low control precision, large temperature drift, incapability of detecting the quality of a sensor on line, incapability of directly transmitting a digital signal to an upper computer and the like.
Disclosure of Invention
The invention aims to provide a gesture sensor control system.
In order to solve the technical problems, according to the technical scheme of the invention, the attitude sensor control system comprises a power supply module, an analog signal preprocessing module, an AD conversion module, a microprocessor, an output interface module, an acceleration sensor, a temperature acquisition module and a test interface module, wherein the power supply module provides working voltage for each module.
The method is characterized in that:
The acceleration sensor is used for collecting gravity acceleration signals of an X axis and a Y axis, converting the gravity acceleration signals into voltage signals and outputting the voltage signals to the analog signal preprocessing module; the acceleration sensor comprises an X-axis accelerometer and a Y-axis accelerometer.
The temperature acquisition module is used for respectively acquiring temperature signals of the X-axis accelerometer and the Y-axis accelerometer, converting the temperature signals into voltage signals and outputting the voltage signals to the analog signal preprocessing module.
The analog signal preprocessing module receives signals output by the acceleration sensor and the temperature acquisition module, performs preprocessing and outputs the signals to the AD conversion module.
The AD conversion module performs AD conversion on the received signals and outputs the signals to the microprocessor.
The microprocessor carries out signal filtering, temperature compensation, cross coupling compensation and error correction processing on the received signals, and then sends the processed signals to the upper computer through the output interface module.
The output interface module comprises a serial port chip and is used for providing serial port communication.
The test interface module is used for receiving an external test signal, applying the test signal to a torquer of the accelerometer after pre-amplifying, demodulating, second-order filtering, trapping, calculus compensation processing and power amplifying, converting a current signal at the low end of the torquer into a voltage signal, amplifying the voltage signal in a linear proportion, and outputting a direct-current voltage signal proportional to the test signal to the upper computer.
The temperature acquisition module is used for detecting the temperature of the accelerometer, the microprocessor is used for carrying out signal filtering, temperature compensation, cross coupling compensation, error correction and other treatments on the received data, the control precision is high, the temperature drift is small, the temperature characteristic is good, and the digital communication with the upper computer is realized by arranging the output interface module; by setting the test interface module, the quality parameters of the accelerometer can be detected on line.
According to the preferred scheme of the attitude sensor control system, the system further comprises a test interface module, wherein the test interface module comprises a pre-amplifier, a demodulation circuit, a second-order filter, a wave trap, a calculus compensation circuit, a power amplifier, a current sampling circuit and a signal amplifying circuit.
The pre-amplifier receives the test signal, amplifies the test signal and outputs the amplified test signal to the demodulation circuit.
The demodulation circuit carries out conditioning demodulation on the signals and sends the signals into the second-order filter.
The second-order filter filters the signal and outputs the signal to the trap.
The trap is used for carrying out trap processing on the received signal, and the processed signal is output to the micro-integration compensation circuit; the trap is a two-stage trap point circuit formed by a high-pass filter circuit and a low-pass filter circuit, and the trap point frequency is respectively set to be the mechanical resonance frequency of the accelerometer and the resonance frequency of the test system.
The calculus compensation circuit is used for performing PID adjustment on the received signal and outputting the PID adjustment to the power amplifier; and the calculus compensation circuit is arranged to enable the dynamic performance of the loop to be more stable. The dynamic parameters such as bandwidth, damping and the like of the system can be changed by adjusting the partial parameters.
The power amplifier is used for amplifying the power of the received signal and outputting the amplified signal to the torquer of the acceleration sensor; the response to the test signal is realized, and the test purpose is achieved.
The current sampling circuit is used for converting the driving current of the torquer into a voltage signal and outputting the voltage signal to the signal amplifying circuit, and the signal amplifying circuit amplifies the received signal and outputs the amplified signal to the upper computer.
By setting the test interface module, the quality parameters of the accelerometer can be detected on line.
According to the preferred scheme of the attitude sensor control system, the temperature acquisition module comprises a temperature sensor and a voltage follower, wherein the temperature sensor converts a detected temperature signal into a voltage signal, and the voltage signal is isolated by the voltage follower and then output to the analog signal preprocessing module.
According to the preferred scheme of the attitude sensor control system, the power module comprises a power protection and EMC processing circuit, a DC-DC conversion circuit, a reference voltage generation circuit, a DC-DC voltage reduction circuit and an LDO voltage reduction circuit; the power supply protection and EMC processing circuit performs protection processing and EMC processing on direct-current input voltage and outputs the direct-current input voltage to the DC-DC conversion circuit, and the DC-DC conversion circuit converts the voltage into working voltage required by a system and provides the working voltage for the acceleration sensor, the analog signal preprocessing module and the AD conversion module; the reference voltage generating circuit converts the output voltage of the DC-DC conversion circuit into the reference voltage required by the AD conversion module; the DC-DC voltage reducing circuit is used for reducing the output voltage of the DC-DC conversion circuit and providing working voltage for the AD conversion module, the temperature acquisition module and the output interface module; the LDO step-down circuit steps down the output voltage of the DC-DC step-down circuit to provide working voltage for the microprocessor.
According to the preferred scheme of the attitude sensor control system, the power supply protection and EMC processing circuit comprises a transient suppression diode and a common mode inductor; the transient suppression diode is connected between the voltage input end and the ground and used for carrying out surge and overvoltage protection on direct current input voltage; the voltage input end receives direct current input voltage; the common mode inductor is connected between a voltage input end and a voltage output end, and the voltage output end is connected with the input end of the DC-DC conversion circuit.
The gesture sensor control system has the beneficial effects that: the invention has the advantages of high control precision, small temperature drift and good temperature characteristic, realizes the direct communication with an upper computer through the output interface module, can detect the quality parameters of the accelerometer on line through the test interface module, and can be widely applied to various attitude sensors.
Drawings
Fig. 1 is a functional block diagram of an attitude sensor control system according to the present invention.
Fig. 2 is a schematic circuit diagram of the test interface module 8 according to the present invention.
Fig. 3 is a schematic circuit diagram of the temperature acquisition module 7 according to the present invention.
Fig. 4 is a schematic circuit diagram of the power module 1 according to the present invention.
Fig. 5 is a schematic diagram of a power protection and EMC processing circuit according to the present invention.
Fig. 6 is a block flow chart of the microprocessor 4 according to the present invention.
Detailed Description
Referring to fig. 1 to 5, an attitude sensor control system comprises a power module 1, an analog signal preprocessing module 2, an AD conversion module 3, a microprocessor 4, an output interface module 5, a test interface module 8, an acceleration sensor 6 and a temperature acquisition module 7, wherein the power module 1 provides working voltages for the modules.
The acceleration sensor 6 is used for acquiring gravity acceleration signals of an X axis and a Y axis, converting the gravity acceleration signals into voltage signals and outputting the voltage signals to the analog signal preprocessing module 2; the acceleration sensor 6 includes an X-axis accelerometer and a Y-axis accelerometer.
The temperature acquisition module 7 is used for respectively acquiring temperature signals of the X-axis accelerometer and the Y-axis accelerometer, converting the temperature signals into voltage signals and outputting the voltage signals to the analog signal preprocessing module 2.
The analog signal preprocessing module 2 receives signals output by the acceleration sensor 6 and the temperature acquisition module 7, performs preprocessing, and outputs the signals to the AD conversion module 3.
The AD conversion module 3 performs AD conversion on the received signal and outputs the signal to the microprocessor 4; an AD7656 analog-to-digital conversion chip can be selected.
The microprocessor 4 carries out signal filtering, temperature compensation, cross coupling compensation, error correction and other processes on the received signals, and then sends the processed signals to an upper computer through the output interface module 5; the microprocessor may be an STM32F103 chip from an academic semiconductor company. Referring to fig. 6, program software is provided in the microprocessor 4.
The output interface module 5 includes a serial port chip for providing serial port communication. The serial port chip can be selected from an ADM2582E chip, and the chip has ESD protection of + -15 KV, input/output isolation impedance of 1000MΩ and 200mA driving current, so that the anti-interference capability of the output interface is enhanced.
The test interface module 8 is used for receiving an external test signal, applying the test signal to a torquer of the accelerometer after pre-amplifying, demodulating, second-order filtering, notch, calculus compensation processing and power amplifying, converting a current signal at the low end of the torquer into a voltage signal, amplifying the voltage signal in a linear proportion, and outputting a direct-current voltage signal proportional to the test signal to the upper computer.
The test interface module 8 includes a pre-amplifier 81, a demodulation circuit 82, a second order filter 83, a trap 84, a calculus compensation circuit 85, a power amplifier 86, a current sampling circuit 87, and a signal amplification circuit 88.
The preamplifier 81 receives the test signal, amplifies the test signal, and outputs the amplified test signal to the demodulation circuit 82.
The demodulation circuit 82 conditions and demodulates the signal, and then sends the signal to the second-order filter 83.
The second order filter 83 filters the signal and outputs the signal to the trap 84.
The notch filter 84 is configured to notch the received signal, and the processed signal is output to the micro-integration compensation circuit 85; the high-pass filter circuit and the low-pass filter circuit form a two-stage notch point circuit, and the notch point frequency is respectively set to be the mechanical resonance frequency of the accelerometer and the resonance frequency of the test system.
The calculus compensation circuit 85 is used for PID adjustment of the received signal and outputs the signal to the power amplifier 86.
The power amplifier 86 is configured to power-amplify the received signal and output the amplified signal to the torquer 61 of the acceleration sensor 6.
The current sampling circuit 87 is used for converting the torquer driving current into a voltage signal and outputting the voltage signal to the signal amplifying circuit 88, and the signal amplifying circuit 88 amplifies the received signal and outputs the amplified signal to the upper computer.
When the quality parameters of the accelerometer are tested on line, test signals are fed back to a torquer of the accelerometer after pre-amplification, demodulation, second-order filtering, notch, calculus compensation and power amplification, and the quality detection block of the accelerometer is kept balanced, so that the system is closed loop. The low-end current signal of the torquer is converted into a voltage signal through a current sampling circuit, amplified through linear proportion and outputs a direct current voltage signal proportional to the test signal. The upper computer can judge each performance index of the accelerometer according to the proportional relation between the input test voltage and the output direct-current voltage signal.
The temperature acquisition module 7 comprises a temperature sensor U1 and a voltage follower U2A, wherein the temperature sensor U1 can be selected from AD590, DS18B20 and the like. The temperature sensor U1 converts the detected temperature signal into a voltage signal, and outputs the voltage signal to the analog signal preprocessing module 2 after being isolated by the voltage follower U2A.
The power module 1 comprises a power protection and EMC processing circuit 11, a DC-DC conversion circuit 12, a reference voltage generation circuit 13, a DC-DC step-down circuit 14 and an LDO step-down circuit 15; the power protection and EMC processing circuit 11 performs protection processing and EMC processing on the DC input voltage, and outputs the DC input voltage to the DC-DC conversion circuit 12, where the DC-DC conversion circuit 12 converts the voltage into a working voltage required by the system, and may use THN30-2423WI to convert the 27V voltage into ±15v voltage, so as to provide the working voltage for the acceleration sensor 6, the analog signal preprocessing module 2, and part of the circuits of the AD conversion module 3; the reference voltage generating circuit 13 converts the output voltage of the DC-DC converting circuit 12 into a reference voltage required by the AD converting module 3; the DC-DC voltage reducing circuit 14 reduces the output voltage of the DC-DC conversion circuit 12, and LTM8021IV is selected, so that the conversion efficiency is high, the heating value is small, 15V voltage is converted into 5V voltage, and working voltage is provided for part of circuits of the AD conversion module 3, the temperature acquisition module 7 and the output interface module 5; the LDO step-down circuit 15 steps down the output voltage of the DC-DC step-down circuit 14, and optionally TPS7333QD is used to convert the 5V voltage into 3.3V voltage, thereby providing the microprocessor 4 with an operating voltage.
The power supply protection and EMC processing circuit 11 comprises a reverse connection protection diode D1, a transient suppression diode D2 and a common mode inductance L1; the transient suppression diode D2 is connected between the voltage input end and the ground and used for carrying out surge and overvoltage protection on the direct current input voltage; the voltage input end receives direct current input voltage; the common mode inductor L1 is connected between the voltage input terminal and the voltage output terminal, and is used for suppressing common mode current and reducing electromagnetic radiation. The voltage output is connected to the input of the DC-DC converter circuit 12.
The present invention is limited to protection of hardware structures. While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (3)
1. The gesture sensor control system comprises a power module (1), an analog signal preprocessing module (2), an AD conversion module (3), a microprocessor (4), an output interface module (5), an acceleration sensor (6), a temperature acquisition module (7) and a test interface module (8), wherein the power module (1) provides working voltage for each module;
The method is characterized in that:
The acceleration sensor (6) is used for acquiring gravity acceleration signals of an X axis and a Y axis, converting the gravity acceleration signals into voltage signals and outputting the voltage signals to the analog signal preprocessing module (2); the acceleration sensor (6) comprises an X-axis accelerometer and a Y-axis accelerometer;
The temperature acquisition module (7) is used for respectively acquiring temperature signals of the X-axis accelerometer and the Y-axis accelerometer, converting the temperature signals into voltage signals and outputting the voltage signals to the analog signal preprocessing module (2);
The analog signal preprocessing module (2) receives signals output by the acceleration sensor (6) and the temperature acquisition module (7), performs preprocessing and outputs the signals to the AD conversion module (3);
The AD conversion module (3) performs AD conversion on the received signal and outputs the signal to the microprocessor (4);
the microprocessor (4) carries out signal filtering, temperature compensation, cross coupling compensation and error correction processing on the received signals, and then sends the processed signals to the upper computer through the output interface module (5);
the output interface module (5) comprises a serial port chip and is used for providing serial port communication;
The test interface module (8) is used for receiving an external test signal, applying the test signal to a torquer of the accelerometer after pre-amplification, demodulation, second-order filtering, notch, calculus compensation and power amplification, keeping the balance of a mass detection block of the accelerometer, enabling a system to be closed-loop, converting a low-end current signal of the torquer into a voltage signal, amplifying the voltage signal in linear proportion, and outputting a direct-current voltage signal proportional to the test signal to the upper computer; the upper computer judges each performance index of the accelerometer according to the proportional relation between the input test voltage and the output direct-current voltage signal;
The system also comprises a test interface module (8), wherein the test interface module (8) comprises a pre-amplifier (81), a demodulation circuit (82), a second-order filter (83), a wave trap (84), a calculus compensation circuit (85), a power amplifier (86), a current sampling circuit (87) and a signal amplifying circuit (88);
the pre-amplifier (81) receives an external test signal, amplifies the test signal and outputs the amplified test signal to the demodulation circuit (82);
the demodulation circuit (82) is used for conditioning and demodulating the signals and sending the signals to the second-order filter (83);
the second-order filter (83) filters the signal and outputs the signal to the trap filter (84);
the trap (84) is used for carrying out trap processing on the received signal, and the processed signal is output to the micro-integration compensation circuit (85);
the calculus compensation circuit (85) is used for performing PID adjustment on the received signal and outputting the PID adjustment to the power amplifier (86);
The power amplifier (86) is used for amplifying the power of the received signal and outputting the signal to the torquer (61) of the accelerometer;
The current sampling circuit (87) is used for converting the driving current of the torquer into a voltage signal and outputting the voltage signal to the signal amplifying circuit (88), and the signal amplifying circuit (88) amplifies the received signal and outputs the amplified signal to the upper computer;
the temperature acquisition module (7) comprises a temperature sensor and a voltage follower, wherein the temperature sensor converts a detected temperature signal into a voltage signal, and the voltage signal is isolated by the voltage follower and then is output to the analog signal preprocessing module (2).
2. A gesture sensor control system according to claim 1, characterized in that: the power supply module (1) comprises a power supply protection and EMC processing circuit (11), a DC-DC conversion circuit (12), a reference voltage generation circuit (13), a DC-DC step-down circuit (14) and an LDO step-down circuit (15);
The power supply protection and EMC processing circuit (11) performs protection processing and EMC processing on direct current input voltage and outputs the direct current input voltage to the DC-DC conversion circuit (12);
the DC-DC conversion circuit (12) converts the voltage into working voltage required by the system and provides the working voltage for the acceleration sensor (6), the analog signal preprocessing module (2) and the AD conversion module (3);
the reference voltage generating circuit (13) converts the output voltage of the DC-DC conversion circuit (12) into the reference voltage required by the AD conversion module (3);
the DC-DC voltage reduction circuit (14) reduces the output voltage of the DC-DC conversion circuit (12) to provide working voltage for the AD conversion module (3), the temperature acquisition module (7) and the output interface module (5);
the LDO step-down circuit (15) steps down the output voltage of the DC-DC step-down circuit (14) to provide working voltage for the microprocessor (4).
3. A gesture sensor control system according to claim 2, characterized in that: the power supply protection and EMC processing circuit (11) comprises a transient suppression diode and a common mode inductance; the transient suppression diode is connected between the voltage input end and the ground and used for carrying out surge and overvoltage protection on direct current input voltage; the voltage input end receives direct current input voltage; the common mode inductance is connected between a voltage input terminal and a voltage output terminal, and the voltage output terminal is connected with an input terminal of the DC-DC conversion circuit (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811235360.4A CN109143942B (en) | 2018-10-23 | 2018-10-23 | Attitude sensor control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811235360.4A CN109143942B (en) | 2018-10-23 | 2018-10-23 | Attitude sensor control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109143942A CN109143942A (en) | 2019-01-04 |
| CN109143942B true CN109143942B (en) | 2024-05-14 |
Family
ID=64809550
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811235360.4A Active CN109143942B (en) | 2018-10-23 | 2018-10-23 | Attitude sensor control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109143942B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110006426B (en) * | 2019-05-09 | 2023-03-28 | 保定开拓精密仪器制造有限责任公司 | Multi-channel accelerometer data acquisition system and method based on FPGA |
| CN111365064A (en) * | 2020-04-30 | 2020-07-03 | 陕西太合智能钻探有限公司 | Mining ann's type trompil direction finder |
| CN113687677A (en) * | 2020-05-19 | 2021-11-23 | 易微行（北京）科技有限公司 | Novel wireless radio frequency simulation relay and method for controlling vehicle to be opened |
| CN112631358A (en) * | 2020-12-28 | 2021-04-09 | 陕西烽火电子股份有限公司 | Grid voltage stabilizing circuit of LDMOS power amplifier tube |
| CN113686772A (en) * | 2021-09-13 | 2021-11-23 | 国机传感科技有限公司 | Comprehensive external detection device for buried steel long oil and gas pipeline |
| CN115755849A (en) * | 2022-11-18 | 2023-03-07 | 广西电网有限责任公司电力科学研究院 | Transformer temperature control device detector and power supply system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004010081A1 (en) * | 2002-07-23 | 2004-01-29 | National Institute Of Advanced Industrial Science And Technology | Method and device for accurately detecting attitude of movable body |
| CN202008367U (en) * | 2010-12-10 | 2011-10-12 | 北京中兵泰克科技有限公司 | Parameter resolving circuit of micro-attitude reference system |
| CN102279584A (en) * | 2011-05-13 | 2011-12-14 | 广东工业大学 | Overhead crossbeam three-dimensional small deformation calculation method based on triaxial acceleration transducer |
| CN102620719A (en) * | 2012-04-17 | 2012-08-01 | 西安精准测控有限责任公司 | Obliquity sensor with high accuracy and temperature compensation and dynamic compensation method thereof |
| CN208673112U (en) * | 2018-10-23 | 2019-03-29 | 重庆天箭惯性科技股份有限公司 | A kind of attitude transducer control module |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6480152B2 (en) * | 2000-07-20 | 2002-11-12 | American Gnc Corporation | Integrated GPS/IMU method and microsystem thereof |
-
2018
- 2018-10-23 CN CN201811235360.4A patent/CN109143942B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004010081A1 (en) * | 2002-07-23 | 2004-01-29 | National Institute Of Advanced Industrial Science And Technology | Method and device for accurately detecting attitude of movable body |
| CN202008367U (en) * | 2010-12-10 | 2011-10-12 | 北京中兵泰克科技有限公司 | Parameter resolving circuit of micro-attitude reference system |
| CN102279584A (en) * | 2011-05-13 | 2011-12-14 | 广东工业大学 | Overhead crossbeam three-dimensional small deformation calculation method based on triaxial acceleration transducer |
| CN102620719A (en) * | 2012-04-17 | 2012-08-01 | 西安精准测控有限责任公司 | Obliquity sensor with high accuracy and temperature compensation and dynamic compensation method thereof |
| CN208673112U (en) * | 2018-10-23 | 2019-03-29 | 重庆天箭惯性科技股份有限公司 | A kind of attitude transducer control module |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109143942A (en) | 2019-01-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109143942B (en) | Attitude sensor control system | |
| CN204808043U (en) | Micro air vehicle machine carries ambient air quality detecting system | |
| WO2017016140A1 (en) | Digital measurement system for measuring lightning electric field change signal, and measurement method thereof | |
| CN106940388A (en) | A kind of MHD angular-rate sensors dynamic noise measurement apparatus and method | |
| CN109342805B (en) | High-precision microampere current detection circuit | |
| CN205049136U (en) | Unmanned aerial vehicle flight height measuring device | |
| CN106323263B (en) | Silicon micro-gyroscope electric-mechanic control system band logical sigma-delta closed-loop detection circuit | |
| CN105676303A (en) | Terrestrial magnetism data collector | |
| CN105891779A (en) | Indoor positioning navigation receiving system based on LED illumination | |
| Gao et al. | Design of distributed three component seismic data acquisition system based on LoRa wireless communication technology | |
| CN208673112U (en) | A kind of attitude transducer control module | |
| CN201754088U (en) | Digital tilt sensor | |
| CN208383294U (en) | A kind of triple axle vibrating sensor | |
| CN202815012U (en) | Digital three-axis micro-acceleration sensor | |
| CN207832309U (en) | Load ratio bridging switch vibration signal acquisition device and analysis system | |
| Yuan et al. | Research of zigbee and big data analysis based pulse monitoring system for efficient physical training | |
| CN104713579A (en) | Universal type sensor signal processing system | |
| CN115290993A (en) | Omnidirectional electrostatic field detection device for spherical electrode | |
| CN112857349B (en) | High-precision signal acquisition system and method applied to liquid floated gyroscope | |
| CN204214462U (en) | A kind of universal sensor signal processing system | |
| CN209692779U (en) | It is a kind of for capturing the receiving module of high speed weak optical signal | |
| CN107966207A (en) | Load ratio bridging switch vibration signal acquisition device and analysis system | |
| CN103575277B (en) | A kind of boat of the light inertial navigation for high-altitude unmanned vehicle integrated apparatus | |
| CN113092820A (en) | High-precision acceleration sensor noise performance analysis method and device | |
| CN206479651U (en) | A kind of air-ground TEM reception systems with posture writing function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |