CN112484723A - High-dynamic micro-inertial navigation system - Google Patents
High-dynamic micro-inertial navigation system Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—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 combined with non-inertial navigation instruments
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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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Abstract
A high-dynamic micro-inertial navigation system comprises an MEMS inertial sensor module, an analog-to-digital converter module, an ARM processor module and a power management module, wherein the MEMS inertial sensor module is connected with the analog-to-digital converter module, the analog-to-digital converter module is connected with the ARM processor module, the power management module is used for supplying power to the MEMS inertial sensor module, the analog-to-digital converter module and the ARM processor module, the MEMS inertial sensor module is used for collecting acceleration, angular velocity and geomagnetic field information and outputting the acceleration, angular velocity and geomagnetic field information to the analog-to-digital converter module in an analog signal form, the analog-to-digital converter module is used for receiving analog signals and converting the analog signals into digital signals, the analog-to-digital converter module outputs the digital signals to the ARM processor module, and the. The system can measure various parameters such as the attitude, the speed and the like of the carrier in a high dynamic environment through the integrated design of the MEMS accelerometer, the gyroscope and the magnetometer.
Description
Technical Field
The invention belongs to the field of navigation control, and particularly relates to a high-dynamic micro-inertial navigation system.
Background
The micro inertial navigation system is an inertial navigation system based on a Micro Electro Mechanical System (MEMS) sensor technology, can acquire carrier navigation information by measuring data through an inertial sensor without external information, and is an autonomous navigation system which can adapt to various working environments and has strong anti-interference capability. However, the production level of the MEMS inertial devices in China is not high enough, and the micro inertial navigation system based on the MEMS inertial sensor, especially the inertial navigation system applied to a high dynamic environment, has a larger gap compared with the advanced level in foreign countries. Aiming at the problems of low precision, incomplete measured attitude information and the like of an inertial navigation system in a high dynamic application environment required by guided cannonball.
Disclosure of Invention
The invention aims to provide a high-dynamic micro inertial navigation system to realize full-attitude measurement in a high-dynamic environment with small volume and low cost.
The technical solution for realizing the patent purpose of the invention is as follows:
a high dynamic micro inertial navigation system comprises an MEMS inertial sensor module, an analog-to-digital converter module, an ARM processor module and a power management module,
the MEMS inertial sensor module is connected with the analog-to-digital converter module, the analog-to-digital converter module is connected with the ARM processor module, the power supply management module is used for supplying power to the MEMS inertial sensor module, the analog-to-digital converter module and the ARM processor module,
the MEMS inertial sensor module is used for collecting acceleration, angular velocity and geomagnetic field information and outputting the acceleration, the angular velocity and the geomagnetic field information to the analog-to-digital converter module in the form of analog signals, the analog-to-digital converter module is used for receiving the analog signals and converting the analog signals into digital signals, the analog-to-digital converter module outputs the digital signals to the ARM processor module, and the ARM processor module collects the digital signals and carries out navigation calculation.
Furthermore, the MEMS inertial sensor module comprises a three-axis accelerometer, a wide-range single-axis accelerometer, three single-axis gyroscopes and a three-axis magnetometer, analog signals output by the MEMS inertial sensor module are collected and converted through a 24-bit high-precision synchronous sampling ADC, the range of the wide-range single-axis accelerometer is +/-100 g, two ranges of the three single-axis gyroscopes are +/-450 degrees/s, and one range is +/-50000 degrees/s.
Furthermore, the circuit of the three-axis magnetometer comprises a reset/set circuit and an operational amplifier circuit, wherein the reset/set circuit comprises a metal-oxide-semiconductor field effect transistor (MOSFET) chip DNC7001, the reset and set functions are controlled by inputting pulse signals through an advanced reduced instruction set computer (ARM) processor module, and the output end of the reset/set circuit is connected with a capacitor to obtain instant high voltage, so that the reset and set functions of the magnetometer are realized; the operational amplifier circuit includes three operational amplifiers INA819, with the differential signals of the three-axis magnetometer as inputs to the three operational amplifiers INA819, and the outputs of the three operational amplifiers INA819 connected to the ADC input channel.
Further, the ARM processor module comprises an STM32H743VIT6 chip, an FRAM circuit, an external crystal oscillator circuit, an RS-422 communication interface circuit and a digital thermometer circuit, wherein the FRAM circuit is used for storing calibration parameters and initial navigation values, the external crystal oscillator circuit is used for providing external clock frequency for the STM32H743VIT6 chip, the RS-422 communication interface circuit is used for achieving information interaction between the STM32H743VIT6 chip and external equipment, and the digital thermometer circuit is used for temperature compensation of the inertial sensor.
Further, the power management module includes a DC-DC regulator circuit, an LDO regulator circuit, and a series voltage reference circuit.
Further, the DC-DC voltage stabilizer circuit comprises a DC-DC voltage stabilizer TPS63070, wherein +5V voltage is introduced through a connector assembly to serve as input, and is boosted to +8V to serve as input of the LDO voltage stabilizer circuit and the series voltage reference circuit; the LDO regulator circuit comprises five LDO regulator chips, the models of the five LDO regulator chips comprise TPS7A4533, TPS709, LP2988 and TPS7A2650, the series voltage reference circuit comprises two voltage reference chips REF3450 and REF3425, the REF3450 and REF3425 take +8V voltage as input, the REF3450 outputs +5V voltage as gyroscope reference voltage, and the REF3425 outputs +2.5V voltage as reference voltage of an operational amplifier INA 819.
Further, the number of the TPS7A4533, the LP2988 and the TPS7A2650 is one respectively, the number of the TPS709 is two, the +5V voltage introduced by the connector is used as the input of a TPS7A4533, the +8V voltage output by the DC-DC voltage stabilizer is used as the input of the TPS709, the LP2988 and the TPS7A2650, the +3.3V output by the TPS7A4533 is used as the voltage source for an STM32H743VIT6 chip, a three-axis accelerometer, a digital thermometer, an FRAM and an active crystal oscillator and is used as the reference voltage of an RS-422 receiver chip, meanwhile, the two TPS709 respectively output +5V and +6V voltages as voltage sources of the three single-axis gyroscopes, the +5V voltage is used as a voltage source of the X-axis gyroscope, +6V voltage is used as voltage sources of the Y-axis gyroscope and the Z-axis gyroscope, the TPS7A2650 outputs +5V voltage as a voltage source of the RS-422 receiver chip, and the LP2988 outputs +5V voltage as voltage sources of the three-axis magnetometer circuit, the ADC and the wide-range single-axis accelerometer.
Compared with the prior art, the invention has the following remarkable advantages:
(1) the micro inertial navigation hardware system can measure various parameters such as the attitude, the speed and the like of a carrier in a high dynamic environment through the integrated design of an MEMS accelerometer, a gyroscope and a magnetometer;
(2) the ARM processor based on the Contex-M7 kernel is used as the MCU, so that the data processing efficiency is improved, the real-time performance of the system is enhanced, the ARM processor has the characteristics of high integration level and simplicity in development, and can be jointly developed with a satellite receiver and a multi-source information fusion platform in subsequent design.
Drawings
FIG. 1 is a general block diagram of a high dynamic micro inertial navigation system.
Figure 2 is an ARM processor circuit.
Fig. 3 is an RS-422 communication interface circuit.
Fig. 4 is a FRAM memory circuit.
FIG. 5 is a digital thermometer circuit.
FIG. 6 is a DC-DC regulator circuit.
FIG. 7 shows an LDO regulator circuit of TPS7A4533 chip.
FIG. 8 shows an LDO regulator circuit of the TPS709 chip.
FIG. 9 shows an LDO regulator circuit of the LP2988 chip.
FIG. 10 shows an LDO regulator circuit of the TPS7A2650 chip.
FIG. 11 is a series voltage reference circuit of the REF3450 chip.
Fig. 12 is a series voltage reference circuit of the REF3425 chip.
Fig. 13 shows an analog-to-digital converter circuit of the ADS1299 chip.
Fig. 14 shows an analog-to-digital converter circuit of the ADS1299 chip.
FIG. 15 is a three-axis magnetometer reset/set circuit.
FIG. 16 is a three-axis magnetometer op-amp circuit.
Detailed Description
The invention is further described with reference to the following figures.
Fig. 1 is a general block diagram of a high-dynamic micro inertial navigation hardware system, which mainly includes a MEMS sensor module 2, an analog-to-digital converter module 3, a power management module 4, and an ARM processor module 1. The MEMS sensor module 2 consists of a triaxial accelerometer, a uniaxial accelerometer, three uniaxial gyroscopes and a triaxial magnetometer and is used for measuring carrier acceleration, angular velocity and magnetic field information; the analog-to-digital converter module 3 consists of two 8-channel 24-bit high-precision synchronous sampling ADCs and is used for collecting analog signals of the MEMS inertial sensor, converting the analog signals into digital signals and inputting the digital signals into the ARM processor; the power management module consists of a DC-DC voltage stabilizer, an LDO voltage stabilizer and a series voltage reference chip and provides 5V, 6V, 3.3V and 2.5V voltage sources for the whole circuit module; the ARM processor module 1 consists of an FRAM circuit 5, a digital thermometer 6, an RS-422 communication interface circuit and a processor circuit; and the high dynamic micro inertial navigation hardware system can be combined with a multi-source information processor and a missile-borne GPS receiver for design.
FIG. 2 is an ARM processor and its external crystal oscillator circuit, where the ARM processor uses STM32H743VIT6 from ST corporation, and SPI1, SPI2, and SPI3 communication interfaces of the processor are connected to FRAM and two ADCs respectively for data interaction; the I2C communication interface and the ALERT are connected with the digital thermometer and are respectively used for data interaction and detecting over-temperature alarm and data ready signals; the USART serial port, 422_ DE and 422_ RE are connected with the RS-422 transceiver chip and are respectively used for communication transmission and enabling the input and output of the receiver; ST1_ ACC, ST2_ ACC, ST1_ GYRO and ST2_ GYRO are respectively connected with the self-test terminals of the accelerometer and the gyroscope and used for providing self-test signals; the RANGE _ ACC is connected with the three-axis accelerometer and used for selecting the measuring RANGE of the three-axis accelerometer; the STBY _ ACC is connected with the two accelerometers and is used for controlling the standby function of the accelerometers; the OR _ ACC is connected with the single-axis accelerometer and used for detecting an over-range signal of the accelerometer; ADC _ PWDN and ADC _ RESET are connected with the two ADCs and used for controlling power-down RESET of the ADCs; the ADC1_ START, the ADC2_ START, the ADC1_ DRDY and the ADC2_ DRDY are respectively connected with the two ADCs, and respectively control the two ADC signals to START conversion and detect whether data converted by the ADCs are ready; the external crystal oscillator provides 25MHz clock frequency for the ARM processor; SWDIO and SWCLK are connected to the connector for program download.
FIG. 3 is a RS-422 communication interface circuit, the RS-422 transceiver adopts ADM3068, and supports data two-way communication, and TX +, TX-, RX + and RX-are respectively connected with the connector assembly for communicating with external devices; fig. 4 is an FRAM circuit, which performs data transmission through the SPI communication interface, and is used to store information such as calibration parameters and initial navigation values. FIG. 5 is a digital thermometer circuit with data transfer via I2C for temperature compensation of the inertial sensor.
FIG. 6 is a DC-DC regulator circuit, which uses TPS63070 chip, and introduces external +5V voltage as chip input through connector, and adjusts output voltage by changing R9 and R10 resistances, and now boosts to +8V to provide voltage source for subsequent power circuit; FIG. 7 shows an LDO regulator circuit, which uses a TPS7A4533 chip, and outputs +3.3V by introducing external +5V voltage as chip input through a connector; FIG. 8 shows an LDO regulator circuit, using TPS709, outputting +5V and +6V voltages, respectively, through two of the chips, using +8V as input, to power the gyroscope separately; FIG. 9 shows an LDO regulator circuit, which uses LP2988 to provide voltage source for the three-axis magnetometer circuit, ADC and single-axis accelerometer, with +8V as input and +5V as output; FIG. 10 shows an LDO regulator circuit using a TPS7A2650 chip with +8V as input and +5V as output to provide a voltage source for the RS-422 receiver chip; fig. 11 and 12 are both series voltage reference circuits, both having +8V as input, REF3450 outputting +5V as gyro reference voltage, REF3425 outputting +2.5V as reference voltage for the operational amplifier.
Fig. 13 and 14 show an analog-to-digital converter circuit, which employs a 24-bit high-precision synchronous sampling analog-to-digital converter ADS1299, and a data transmission channel of a first ADC chip is connected to an output end of a triaxial accelerometer, an output end of a uniaxial gyroscope, a temperature output end of the uniaxial gyroscope, and an output end of a triaxial magnetometer, respectively; the second ADC chip is respectively connected with the output end of the single-axis accelerometer, the temperature output end of the three-axis accelerometer, the output ends of the other two single-axis gyroscopes and the temperature output ends of the other two single-axis gyroscopes; the VCAP port is connected with the corresponding capacitor to be grounded; the GPIO port is connected with a corresponding resistor and then grounded.
Fig. 15 shows a three-axis magnetometer set/reset circuit, which employs a MOSFET chip NDC7001 having an NMOS and a PMOS inside, two gates of the chip are connected to an ARM processor I/O port for inputting set/reset driving signals, a source of the NMOS is connected to +5V through a pull-up resistor, a source of the PMOS is grounded, and two drains are connected to a three-axis magnetometer set/reset port through a capacitor, respectively. Fig. 16 is a three-axis magnetic strength operational amplifier circuit, which uses an INA819 operational amplifier chip, and connects the differential signals of the magnetometer to the positive and negative input ends of the operational amplifier, respectively, sets the amplification factor through R15, and connects the output to the ADC, and three identical operational amplifier circuits are needed to process the output signals of the three-axis magnetometer.
The above are only preferred embodiments of the present invention, and are not intended to limit the present invention, and it will be apparent to those skilled in the art that various modifications and substitutions can be made without departing from the design concept of the present invention, and these modifications and substitutions fall within the scope of the present invention.
Claims (7)
1. A high dynamic micro inertial navigation system, comprising: comprises an MEMS inertial sensor module (2), an analog-to-digital converter module (3), an ARM processor module (1) and a power management module (4),
the MEMS inertial sensor module (2) is connected with the analog-to-digital converter module (3), the analog-to-digital converter module (3) is connected with the ARM processor module (1), the power supply management module (4) is used for supplying power to the MEMS inertial sensor module (2), the analog-to-digital converter module (3) and the ARM processor module (1),
the MEMS inertial sensor module (2) is used for collecting acceleration, angular velocity and geomagnetic field information and outputting the acceleration, the angular velocity and the geomagnetic field information to the analog-to-digital converter module (3) in an analog signal form, the analog-to-digital converter module (3) is used for receiving the analog signal and converting the analog signal into a digital signal, the analog-to-digital converter module (3) outputs the digital signal to the ARM processor module (1), and the ARM processor module (1) collects the digital signal and performs navigation calculation.
2. The high dynamic micro inertial navigation system according to claim 1, characterized in that: the MEMS inertial sensor module (2) comprises a three-axis accelerometer, a wide-range single-axis accelerometer, three single-axis gyroscopes and a three-axis magnetometer, analog signals output by the MEMS inertial sensor module (2) are collected and converted through a 24-bit high-precision synchronous sampling ADC, the measuring range of the wide-range single-axis accelerometer is +/-100 g, two measuring ranges in the three single-axis gyroscopes are +/-450 degrees/s, and one measuring range is +/-50000 degrees/s.
3. The high dynamic micro inertial navigation system according to claim 2, characterized in that: the circuit of the three-axis magnetometer comprises a reset/set circuit and an operational amplifier circuit, wherein the reset/set circuit comprises a Metal Oxide Semiconductor Field Effect Transistor (MOSFET) chip DNC7001, the reset and set functions are controlled by inputting pulse signals through an advanced reduced instruction set computer (ARM) processor module (1), and the output end of the reset/set circuit is connected with a capacitor to obtain instant high voltage, so that the reset and set functions of the magnetometer are realized; the operational amplifier circuit includes three operational amplifiers INA819, with the differential signals of the three-axis magnetometer as inputs to the three operational amplifiers INA819, and the outputs of the three operational amplifiers INA819 connected to the ADC input channel.
4. The high dynamic micro inertial navigation system according to claim 3, characterized in that: the ARM processor module (1) comprises an STM32H743VIT6 chip, an FRAM circuit (5), an external crystal oscillator circuit, an RS-422 communication interface circuit and a digital thermometer circuit (6), wherein the FRAM circuit (5) is used for storing calibration parameters and navigation initial values, the external crystal oscillator circuit is used for providing external clock frequency for the STM32H743VIT6 chip, the RS-422 communication interface circuit is used for achieving information interaction between the STM32H743VIT6 chip and external equipment, and the digital thermometer circuit (6) is used for temperature compensation of an inertial sensor.
5. The high dynamic micro inertial navigation system according to claim 4, characterized in that: the power management module (4) comprises a DC-DC voltage regulator circuit, an LDO voltage regulator circuit and a series voltage reference circuit.
6. The high dynamic micro inertial navigation system of claim 5, wherein: the DC-DC voltage stabilizer circuit comprises a DC-DC voltage stabilizer TPS63070, wherein +5V voltage is introduced through a connector assembly to be used as input, and the voltage is boosted to +8V to be used as input of the LDO voltage stabilizer circuit and the series voltage reference circuit; the LDO regulator circuit comprises five LDO regulator chips, the models of the five LDO regulator chips comprise TPS7A4533, TPS709, LP2988 and TPS7A2650, the series voltage reference circuit comprises two voltage reference chips REF3450 and REF3425, the REF3450 and REF3425 take +8V voltage as input, the REF3450 outputs +5V voltage as gyroscope reference voltage, and the REF3425 outputs +2.5V voltage as reference voltage of an operational amplifier INA 819.
7. The high dynamic micro inertial navigation system of claim 6, wherein: the number of the TPS7A4533, the number of the LP2988 and the number of the TPS7A2650 are respectively one, the number of the TPS709 is two, the +5V voltage introduced by the connector is used as the input of a TPS7A4533, the +8V voltage output by the DC-DC voltage stabilizer is used as the input of the TPS709, the LP2988 and the TPS7A2650, the +3.3V output by the TPS7A4533 is used as the voltage source for an STM32H743VIT6 chip, a three-axis accelerometer, a digital thermometer, an FRAM and an active crystal oscillator and is used as the reference voltage of an RS-422 receiver chip, meanwhile, the two TPS709 respectively output +5V and +6V voltages as voltage sources of the three single-axis gyroscopes, the +5V voltage is used as a voltage source of the X-axis gyroscope, +6V voltage is used as voltage sources of the Y-axis gyroscope and the Z-axis gyroscope, the TPS7A2650 outputs +5V voltage as a voltage source of the RS-422 receiver chip, and the LP2988 outputs +5V voltage as voltage sources of the three-axis magnetometer circuit, the ADC and the wide-range single-axis accelerometer.
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| CN115597596A (en) * | 2022-12-13 | 2023-01-13 | 湖南高至科技有限公司（Cn） | Aircraft flight parameter measuring device |
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