CN110823219A - Microminiature low-cost triaxial integrated fiber optic gyroscope inertia measuring device - Google Patents
Microminiature low-cost triaxial integrated fiber optic gyroscope inertia measuring device Download PDFInfo
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- CN110823219A CN110823219A CN201911083605.0A CN201911083605A CN110823219A CN 110823219 A CN110823219 A CN 110823219A CN 201911083605 A CN201911083605 A CN 201911083605A CN 110823219 A CN110823219 A CN 110823219A
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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
Abstract
The invention relates to a microminiature low-cost triaxial integrated fiber optic gyroscope inertia measuring device which comprises a body, a box body, a triaxial common light source, a light source driving and refrigerating circuit, a fiber optic gyroscope signal processing and interface circuit, a system circuit, three fiber optic ring assemblies, three electric connectors and a reference mirror. The invention provides two external output interfaces of a CAN bus and RS-422, which CAN simultaneously output angular velocity information of a measured carrier in three sensitive axial directions and realize the heterogeneous design of a communication interface; the software of the invention provides two instruction interfaces of program comparison and program update, and can respond to external instructions to compare and update the whole program, thereby improving the reliability; all the internal sub-components of the device use components of the national military standard and the grade below, so that the cost is reduced, and the first application of the domestic industrial components in the fiber-optic gyroscope inertia measuring device for aerospace is realized.
Description
Technical Field
The invention relates to a microminiature low-cost triaxial integrated fiber optic gyroscope inertia measuring device, in particular to a microminiature low-cost fiber optic gyroscope inertia measuring device with multiple output interfaces for spacecraft attitude control, and belongs to the technical field of inertia measurement.
Background
The spacecraft is used as a mark for the development of high and new technologies and plays an extremely important role in the modernization construction of China. With the development and transformation of the aerospace field and the whole aerospace ecosystem, the small satellite with the advantages of low investment and operation cost, strong emergency capability and flexibility, short system construction period and the like is widely used for communication, science, technical test, military, education, earth observation and the like, has very wide development prospect in the military and civil fields, is not blocked in the popularization, commercialization and low cost of the small satellite, and is fiercely strived in the market.
As a key device of the attitude control system, the inertial instrument directly affects the accuracy and performance of the system. The rapid development of the small satellite increases the market demand of the small satellite on the miniature attitude sensor, and the fiber-optic gyroscope inertia measurement device is widely applied by virtue of the advantages of the small satellite in various aspects such as volume, power consumption, precision, space environment adaptability and the like.
The fiber optic gyroscope is an all-solid-state inertial instrument and has the advantages that the traditional electromechanical instrument does not have. The gyroscope is a closed-loop detection system consisting of an optical device and an electronic device, determines the rotation angular velocity by detecting the phase difference of two beams of light, has no moving part inside, and is structurally a completely solid gyroscope. The optical fiber gyroscope has obvious advantages in many application fields due to the advantages of the principle and the structure, and the main characteristics are shown in the following aspects: (1) high precision: the precision of the foreign high-precision fiber-optic gyroscope reaches 0.00038 degree/h; (2) all solid state: all components in the fiber-optic gyroscope are solid, and have the characteristics of vacuum resistance, vibration resistance and impact resistance; (3) long service life: the fiber optic gyroscope is internally provided with no rotating part or friction part, and the service life of an optical device is longer; (4) high reliability: the fiber-optic gyroscope has flexible structural design, relatively simple production process, easy adoption of integrated optical path technology and stable and reliable signals.
In the prior art, the fiber optic gyroscope inertia measurement device adopts a design scheme that three-axis independent work or three-axis integration is realized by using high-grade components, so that the attitude of the three axes of the spacecraft relative to the inertia space is measured. However, the design solution has high requirements on volume and weight, and cannot meet the requirements of small commercial satellites on miniaturization, light weight and low cost. In addition, most of the existing fiber-optic gyroscope inertia measuring devices adopt a single external output interface, so that the universality and the interchangeability are limited.
Disclosure of Invention
The technical problem solved by the invention is as follows: the inertia measuring device overcomes the defects in the prior art, and provides a microminiature low-cost triaxial integrated fiber optic gyroscope inertia measuring device which has various output interfaces, light weight and low cost.
The purpose of the invention is realized by the following technical scheme: a microminiature low-cost triaxial integrated fiber optic gyroscope inertia measuring device comprises a triaxial common light source, a Y waveguide, a device box, a fiber optic ring assembly, a light source driving and refrigerating circuit, a fiber optic gyroscope signal processing and interface circuit, a system circuit, an electric connector, a body, a box body, an upper cover, a side cover, a circuit board support, a side cover support, a heat dissipation support and an optical reference mirror;
the three optical fiber ring components are arranged on the side surface and the bottom of the body and are arranged in an orthogonal mode; the Y waveguide is arranged in a groove on the upper surface of the body; the device box provided with the optical path part of the optical fiber gyroscope is arranged on a bracket at the top of the body; a heat dissipation bracket is fixed on the upper surface of the device box; the body and the three-axis common light source are respectively arranged on the inner side of the box body; the optical reference mirror is arranged outside the box body; the light source driving and refrigerating circuit, the optical fiber gyroscope signal processing and interface circuit and the system circuit are respectively connected through the connectors between the boards; the circuit board bracket is fixed in a gap between the fiber-optic gyroscope signal processing and interface circuit and the system circuit and is arranged in a side cover at the upper part of the box body; three electric connectors are arranged on one side of the side cover; the three electric connectors are fixed in relative positions through a side cover bracket; the upper cover is installed at the top of the side cover, and the whole measuring device is structurally sealed.
The system circuit provides two external output interfaces of a CAN bus interface and an RS-422 interface, and simultaneously outputs angular velocity information of a measured carrier in three sensitive axial directions after the system initialization is completed, so that the heterogeneous design of a communication interface is realized;
the CAN bus interface realizes dual-interface redundancy configuration, and responds to command requirements to perform switching or autonomously switch according to regulations.
And the RS-422 interface transmits the related attitude data information of the tested carrier in a broadcasting mode according to the specified communication frequency.
Two instruction interfaces of program comparison and program update are provided in the system initialization process, and the comparison and update operation is carried out on the whole program by responding to an external instruction, and the specific implementation steps are as follows:
(1) after the fiber optic gyroscope inertia measurement device is powered on, a system is initialized, and firstly enters a counter which plays a role of delaying in a bottom layer program, during a delay waiting period, the fiber optic gyroscope inertia measurement device responds to a program comparison instruction or a program updating instruction which is input from the outside, and after the delay is finished, a main program in a first section of fixed address of a Flash chip in a system circuit is carried to an RAM of an ARM chip to run;
(2) if the program comparison result or other representations judge that the program is abnormal, a program updating command is sent through the outside during the delay waiting period of the optical fiber gyroscope inertia measuring device being electrified again, and after the optical fiber gyroscope inertia measuring device receives the program updating command input from the outside, the final program obtained after the comparison of the main program stored in the second, third and fourth sections of fixed addresses of the Flash chip in advance is covered to the first section of fixed address again, so that the updating of the running program is realized.
During the delay waiting period, after the fiber-optic gyroscope inertia measuring device receives a program comparison command input from the outside, main programs stored in second, third and fourth sections of fixed addresses of a Flash chip in advance are compared according to positions, a comparison result is compared with an operation program in a first section of fixed address, a final result is written into a specific address, and after the main program starts to operate after the delay is finished, the comparison result is sent to the outside in a state word form for the outside to judge the system state.
Compared with the prior art, the invention has the following advantages:
(1) the invention adopts two external output interfaces of the CAN bus and the RS-422, realizes the heterogeneous design of a communication interface, CAN simultaneously output the angular velocity information of the measured carrier in three sensitive axial directions, and expands the application adaptability of the product;
(2) the system initialization process of the invention provides two instruction interfaces of program comparison and program update, and the reliability of the product in the working process is improved by responding to the external instruction to compare and update the whole program.
Drawings
FIG. 1 is a schematic view of the present invention;
FIG. 2 is a schematic view of the internal structure of the present invention;
FIG. 3 is a diagram illustrating the system initialization function of the present invention.
Detailed Description
The invention is described in further detail below with reference to the following figures and specific examples:
(1) the overall composition design is as follows: the schematic diagram of the external structure of the fiber-optic gyroscope inertial measurement unit is shown in fig. 1, and the schematic diagram of the internal structure is shown in fig. 2. The fiber-optic gyroscope inertia measuring device comprises a three-axis common light source 5, a Y waveguide 9, a device box 10, three fiber-optic ring assemblies 4, a light source driving and refrigerating circuit 2, a fiber-optic gyroscope signal processing and interface circuit 14, a system circuit 16, three electric connectors 12, a circuit board support 15, a body 8, a box body 7, an upper cover 1, a side cover 3, an optical reference mirror 6, a side cover support 13 and a heat dissipation support 11. In the inertial measurement of the fiber optic gyroscope, three fiber optic ring assemblies 4 are arranged on the side surface and the bottom of a body 8 and are mutually orthogonal; the Y waveguide 9 is arranged in a groove on the upper surface of the body 8; the device box 10 provided with optical path part components of the fiber-optic gyroscope is arranged on a bracket at the top of the body 8; a heat dissipation bracket 11 is fixed on the upper surface of the device box 10; the body 8 and the three-axis common light source 5 are respectively arranged on the inner side of the box body 7; the optical reference mirror 6 is arranged outside the box body 7; the light source driving and refrigerating circuit 2, the optical fiber gyro signal processing and interface circuit 14 and the system circuit 16 are respectively connected through an inter-board connector; the circuit board bracket 15 is fixed in a gap between the fiber-optic gyroscope signal processing and interface circuit 14 and the system circuit 16 and is arranged in the side cover 3 at the upper part of the box body 7; three electric connectors 12 are respectively arranged on one side of the side cover 3; the three electric connectors 12 are fixed in relative positions through a side cover bracket 13; the top of the side cover 3 is provided with an upper cover 1, and the whole measuring device is structurally sealed.
(2) The system circuit mainly comprises a signal processing module and a secondary power supply module. The signal processing module takes an industrial ARM chip as a core device, and a CAN bus interface module and a serial port communication module are configured on the periphery of the signal processing module. When the signal processing module works, the three-path gyroscope data and the two-path temperature sensor data which are processed by the optical fiber gyroscope signals and sent by the interface circuit are received through the serial port. After the compensation operation of the gyro data is finished, the signal processing module communicates with the outside through the CAN bus interface and the serial port at the same time. The rated input voltage of the secondary power supply module is 5.5V, and the overcurrent and short circuit of the secondary power supply are protected by adopting a protection scheme that double fuses are connected in parallel at the input end, so that permanent damage to an external power supply bus is avoided. The +5V output of the secondary power supply module is provided by a three-terminal voltage regulator, and the-5V output is provided by a surface-mounted power supply chip.
(3) The optical fiber gyro signal processing and interface circuit is composed of a detector, an amplifier, a digital-to-analog/analog-to-digital converter and a digital logic circuit, is mainly used for generating offset modulation and digital phase step wave signals and applying the signals to a Y waveguide to realize modulation of optical phase difference signals, and simultaneously, digital demodulation of optical fiber gyro interference signals is completed, closed-loop control of an optical fiber gyro system is realized, the phase difference signals of the optical fiber gyro are detected and converted into digital signals to be output.
(4) The fiber-optic gyroscope inertia measurement device provides two instruction interfaces of program comparison and program update in the system initialization process, and can compare and update the whole program by responding to an external instruction. Fig. 3 shows a schematic diagram of a system initialization process, which includes the following specific steps:
after the fiber optic gyroscope inertia measurement device is powered on, a system initialization process firstly enters a counter playing a role of delaying in a bottom layer program, during a delay waiting period, the fiber optic gyroscope inertia measurement device can respond to an externally input program comparison instruction or a program update instruction, and after the delay is finished, a main program in a first section of fixed address of an internal Flash chip can be carried to an RAM of an ARM chip for operation;
during the time delay, after the fiber optic gyroscope inertia measurement device receives a program comparison command input from the outside, main programs stored in second, third and fourth sections of fixed addresses of a Flash chip in advance are compared according to positions, then a comparison result is compared with an operation program in a first section of fixed address, a final result is written into a specific address, and after the main program starts to operate after the time delay is finished, the comparison result is sent to the outside in a state word form for the outside to judge the state of the system;
if the program comparison result or other representations judge that the program is abnormal, a program updating command is sent through the outside during the delay waiting period of the optical fiber gyroscope inertia measuring device being electrified again, and after the optical fiber gyroscope inertia measuring device receives the program updating command input from the outside, the final program obtained after the comparison of the main program stored in the second, third and fourth sections of fixed addresses of the Flash chip in advance is covered to the first section of fixed address again, so that the updating of the running program is realized.
(4) The system circuit of the fiber optic gyroscope inertia measuring device adopts a circuit which takes an industrial ARM chip as a core device, and is provided with a resistor, a capacitor, an integrated circuit chip and the like at the periphery which are not higher than the national military standard grade, receives three paths of angular velocity information and two paths of temperature information which are sent by a fiber optic gyroscope signal processing and interface circuit through an RS-422 serial port, carries out compensation operation on the output of the fiber optic gyroscope, and then sends the output of the fiber optic gyroscope to the outside through a CAN bus and the RS-422 serial port.
(5) The system circuit of the fiber-optic gyroscope inertia measurement device simultaneously provides two external output interfaces of a CAN bus and an RS-422, and CAN simultaneously output angular velocity information of a measured carrier in three sensitive axial directions, wherein the CAN bus interface realizes double-interface redundancy configuration, CAN respond to command requirements to switch or automatically switch according to regulations, and the RS-422 interface CAN transmit related attitude data information of the measured carrier in a broadcasting mode according to the regulated communication frequency.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (6)
1. A microminiature low-cost triaxial integrated fiber optic gyroscope inertia measurement device is characterized in that: the device comprises a three-axis common light source (5), a Y waveguide (9), a device box (10), a fiber ring assembly (4), a light source driving and refrigerating circuit (2), a fiber-optic gyroscope signal processing and interface circuit (14), a system circuit (16), an electric connector (12), a body (8), a box body (7), an upper cover (1), a side cover (3), a circuit board support (15), a side cover support (13), a heat dissipation support (11) and an optical reference mirror (6);
the three optical fiber ring assemblies (4) are arranged on the side surface and the bottom of the body (8) and are mutually orthogonally arranged; the Y waveguide (9) is arranged in a groove on the upper surface of the body (8); a device box (10) provided with optical path part components of the fiber-optic gyroscope is arranged on a bracket at the top of the body (8); a heat dissipation bracket (11) is fixed on the upper surface of the device box (10); the body (8) and the three-axis common light source (5) are respectively arranged on the inner side of the box body (7); the optical reference mirror (6) is arranged on the outer side of the box body (7); the light source driving and refrigerating circuit (2), the optical fiber gyroscope signal processing and interface circuit (14) and the system circuit (16) are respectively connected through an inter-board connector; the circuit board bracket (15) is fixed in a gap between the fiber-optic gyroscope signal processing and interface circuit (14) and the system circuit (16) and is arranged in the side cover (3) at the upper part of the box body (7); three electric connectors (12) are arranged on one side of the side cover (3); the three electric connectors (12) are fixed at relative positions through a side cover bracket (13); an upper cover (1) is arranged at the top of the side cover (3) to realize structural sealing of the whole measuring device.
2. The inertial measurement unit of a microminiature low-cost triaxial integrated fiber-optic gyroscope according to claim 1, wherein: the system circuit (16) provides two external output interfaces of a CAN bus interface and an RS-422 interface, and outputs angular velocity information of the measured carrier in three sensitive axial directions simultaneously after system initialization is completed, so that heterogeneous design of a communication interface is realized.
3. The inertial measurement unit of a microminiature low-cost triaxial integrated fiber optic gyroscope according to claim 2, wherein: the CAN bus interface realizes dual-interface redundancy configuration, and responds to command requirements to perform switching or autonomously switch according to regulations.
4. The inertial measurement unit of a microminiature low-cost triaxial integrated fiber optic gyroscope according to claim 2, wherein: and the RS-422 interface transmits the related attitude data information of the tested carrier in a broadcasting mode according to the specified communication frequency.
5. The inertial measurement unit of a microminiature low-cost triaxial integrated fiber-optic gyroscope according to claim 1, wherein: two instruction interfaces of program comparison and program update are provided in the system initialization process, and the comparison and update operation is carried out on the whole program by responding to an external instruction, and the specific implementation steps are as follows:
(1) after the fiber optic gyroscope inertia measurement device is powered on, a system is initialized, and firstly enters a counter which plays a role of delaying in a bottom layer program, during a delay waiting period, the fiber optic gyroscope inertia measurement device responds to a program comparison instruction or a program updating instruction which is input from the outside, and after the delay is finished, a main program in a first section of fixed address of a Flash chip in a system circuit (16) is carried to an RAM of an ARM chip to operate;
(2) if the program comparison result or other representations judge that the program is abnormal, a program updating command is sent through the outside during the delay waiting period of the optical fiber gyroscope inertia measuring device being electrified again, and after the optical fiber gyroscope inertia measuring device receives the program updating command input from the outside, the final program obtained after the comparison of the main program stored in the second, third and fourth sections of fixed addresses of the Flash chip in advance is covered to the first section of fixed address again, so that the updating of the running program is realized.
6. The inertial measurement unit of a microminiature low-cost triaxial integrated fiber-optic gyroscope according to claim 5, wherein: during the delay waiting period, after the fiber-optic gyroscope inertia measuring device receives a program comparison command input from the outside, main programs stored in second, third and fourth sections of fixed addresses of a Flash chip in advance are compared according to positions, a comparison result is compared with an operation program in a first section of fixed address, a final result is written into a specific address, and after the main program starts to operate after the delay is finished, the comparison result is sent to the outside in a state word form for the outside to judge the system state.
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| CN112304308A (en) * | 2020-09-30 | 2021-02-02 | 北京航天时代光电科技有限公司 | Miniaturized high-precision fiber-optic gyroscope inertial navigation unit |
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