CN114910059A - Miniaturized MEMS gyro north finder - Google Patents
Miniaturized MEMS gyro north finder Download PDFInfo
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- CN114910059A CN114910059A CN202210662540.0A CN202210662540A CN114910059A CN 114910059 A CN114910059 A CN 114910059A CN 202210662540 A CN202210662540 A CN 202210662540A CN 114910059 A CN114910059 A CN 114910059A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/5642—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using vibrating bars or beams
- G01C19/5656—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using vibrating bars or beams the devices involving a micromechanical structure
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/5642—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using vibrating bars or beams
- G01C19/5649—Signal processing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/5642—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using vibrating bars or beams
- G01C19/5663—Manufacturing; Trimming; Mounting; Housings
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Abstract
The invention relates to a miniaturized MEMS gyro north finder, which comprises: the shell comprises a top cover and a base, and the top cover and the base are closed to form an accommodating space; the center of the integrated symmetrical rotating structure is provided with a bearing, the bearing is matched with a central rotating shaft system structure arranged at the center of the base, and the integrated symmetrical rotating structure is provided with a printed circuit board, a disc type motor, an inertial device and an angular displacement sensor; the conductive slip ring is arranged at the upper part of the bearing and supplies power to the printed circuit board; the disc type motor drives the inertia device to rotate, the angular displacement sensor measures the rotating angle of the disc type motor rotor and feeds the rotating angle back to the motor rotation control module, and the motor rotation control module controls the disc type motor to work; the conductive slip ring supplies power to the inertia device through the printed circuit board, the printed circuit board is used for data transmission and processing, and the processed data and the data of the motor rotation control module are transmitted to external equipment.
Description
Technical Field
The invention relates to the technical field of inertial navigation, in particular to a miniaturized MEMS gyroscope north finder.
Background
According to different system principles, north finders are divided into two main categories. One type adopts the north-seeking technology which is represented by astronomical north-seeking and GPS north-seeking and is assisted by external information. The north seeker is generally high in accuracy, depends on the external environment, has strict requirements on environments such as weather and geographic positions, and is long in north seeking period. The other type adopts the north-seeking technology which does not depend on external information, such as magnetic north-seeking, inertial north-seeking and the like. Magnetic north seeking primarily utilizes magnetic sensors to measure the earth's magnetic field to determine the magnetic north pole. However, the earth magnetic field is weak and is easily interfered by ferromagnetic substances, electronic equipment and the like, so that the application is limited. The inertial north-seeking method mainly depends on a gyroscope and an accelerometer to measure the rotation angular velocity and the gravity vector of the earth to determine the true north direction. The method has the advantages of high precision, complete autonomy, strong concealment, no limitation of natural conditions and the like. The inertia north-seeking technology is an important component in the field of inertia technology.
The gyroscope is used as a core device of the north seeker and is a key factor influencing the development of the north seeker. The traditional high-precision inertial north seeker generally adopts high-precision gyroscopes such as a laser gyroscope, a fiber optic gyroscope, a hemispherical resonator gyroscope and the like, so that higher precision can be achieved in a shorter time, and the use requirement under a specific scene is met. However, the north seeker has the problems of large volume, heavy weight, large power consumption and high price. In some fields with strict requirements on volume, weight, power consumption and cost, the traditional gyro north seeker is no longer suitable.
The Micro Electro Mechanical System (MEMS) gyroscope has the characteristics of high reliability, impact resistance, small volume, low power consumption, low cost and the like, and is one of the mainstream development directions of the gyroscope. However, the precision of the MEMS gyroscope is relatively low at present, and the MEMS gyroscope is more applied to civil fields such as mobile phones, automobile electronics and the like. Aiming at the problems that the MEMS gyroscope has low precision and large noise and affects north-seeking precision, on one hand, the precision of an inertial device can be improved from the process. The method is a fundamental approach for improving the north-seeking precision, but has long period and higher technical difficulty, and is closely related to the level of technology, materials and the like. On the other hand, under the condition of a given inertia device precision, a rotation modulation technology can be used for improving the north seeking precision. The rotation modulation technology is used as an inertial device deviation self-compensation method, and is used for modulating the inertial device deviation and offsetting the influence of the device deviation on the system precision.
The motor volume that present north seeker adopted is generally great and reduction gear clearance makes the precision lower, and partial module separation, and does not adopt integrated structure design, leads to the system volume too big, and the quality is heavier, and the precision descends, is unfavorable for portable use.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a miniaturized MEMS gyroscope north seeker, which reduces the volume and mass of the system, reduces the power consumption of the system, and has a higher north seeking precision.
In order to achieve the purpose, the invention adopts the following technical scheme: a miniaturized MEMS gyroscope north finder, comprising: the shell comprises a top cover and a base, and the top cover and the base are closed to form an accommodating space; the integrated symmetrical rotating structure is provided with a bearing at the central position, the bearing is matched with a central rotating shaft system structure arranged at the central position of the base, and the integrated symmetrical rotating structure is provided with a printed circuit board, a disc type motor, an inertial device and an angular displacement sensor; the inertia device is provided in plurality; the conductive slip ring is arranged at the upper part of the bearing of the integrated symmetrical rotating structure and supplies power to the printed circuit board; the disc type motor drives the inertia device to rotate, the angular displacement sensor measures the rotating angle of the disc type motor rotor, the rotating angle is fed back to the motor rotation control module on the printed circuit board, and the motor rotation control module controls the disc type motor to work; the conductive slip ring supplies power to the inertia device through the printed circuit board, the printed circuit board is also used for data transmission and processing, and the processed data and the data of the motor rotation control module are transmitted to external equipment.
Further, the printed circuit board includes:
the horizontal circuit board is connected with the bottom of the conductive slip ring through a thin wire to realize power supply; the inertia device is welded on the lower surface of the horizontal circuit board and used for supplying power to the inertia device and wirelessly transmitting the acquired data of the inertia device;
the vertical circuit board comprises a vertical circuit board for data acquisition and a vertical circuit board for data collection; the inertia device is welded on the inner side of the vertical circuit board for data acquisition and used for supplying power to the inertia device and transmitting the acquired data of the inertia device to the data summarizing vertical circuit board, and the data summarizing vertical circuit board is connected with the horizontal circuit board and used for data transmission and power supply;
the motor circuit board is connected with the top of the conductive slip ring through a thin wire to realize power supply, and is connected with the angular displacement sensor through a thin wire to supply power to the angular displacement sensor; the motor circuit board is also used for supplying power to the disc motor and controlling and driving the disc motor to rotate, receiving data sent by the horizontal circuit board in a wireless mode, and transmitting the data and the data of the motor rotation control module to the external equipment after processing.
Further, the integrated symmetrical rotating structure includes:
the top of the columnar structure is provided with the conductive slip ring, the bearing is arranged in the columnar structure, the bearing is connected with the central rotating shafting structure through a locking nut, and the bottom of the central rotating shafting structure is arranged at the central position of the base;
the bearing chassis is positioned at the lower part of the columnar structure, and the angular displacement sensor is circumferentially arranged at the bottom of the bearing chassis;
the annular structure comprises an inner ring and an outer ring, and the inner ring is connected to the columnar structure through a support beam; the horizontal circuit board is arranged in the inner ring, a groove is arranged between the inner ring and the outer ring, and a permanent magnet of the disc type motor rotor is arranged in the groove; the annular structure is positioned at the upper part of the columnar structure;
the motor circuit board is arranged on the upper layer of the annular structure;
the vertical circuit board for data acquisition welded with the inertia device is respectively arranged on the outer wall surface of the columnar structure, and the inertia device is positioned between the vertical circuit board for data acquisition and the columnar structure and is in a vertical state with the inertia device arranged on the lower surface of the horizontal circuit board;
vertical circuit board is followed for data acquisition column structure's axial sets up to adopt gentle cable with data summarize vertical circuit board and connect, data summarize vertical circuit board warp gentle cable with horizontal circuit board connects.
Furthermore, four upright columns are arranged between the annular structure and the bearing chassis at intervals, and the bottom of the inner ring of the annular structure is connected with the bearing chassis through the upright columns; the vertical circuit boards are arranged in the space between the adjacent stand columns, the vertical circuit boards for data acquisition are fixed on the columnar structures, and the data collection vertical circuit boards are fixed on the stand columns.
Further, the periphery of the motor circuit board is encapsulated with a coil winding of the disc motor stator by adopting a PCB, and the coil winding is positioned below an iron core of the stator.
Further, the circumference of coil winding is provided with the mounting panel, the four corners department of mounting panel sets up the mounting hole respectively, be used for with support column on the base is connected.
Further, a heat-conducting silica gel pad for heat dissipation is arranged between the inertia device and the outer wall surface of the columnar structure.
Further, the angular displacement sensor comprises an angular displacement sensor rotor and an angular displacement sensor stator;
the angular displacement sensor rotor is arranged at the bottom circumference of the bearing chassis of the integrated symmetrical rotating structure;
the angular displacement sensor stator is fixedly arranged on the base.
Furthermore, a large circular hole is formed in the middle of the base, a small circular boss is arranged on the periphery of the large circular hole, and a threaded hole used for connecting the central rotating shaft system structure is formed in the small circular boss;
the angular displacement sensor stator is positioned outside the circumference of the small circular ring boss, a plurality of columnar bosses are arranged on the base at intervals, and the angular displacement sensor stator of the angular displacement sensor is fixed on the base through the columnar bosses.
Further, an external interface is arranged on the top cover; the inside of external interface is through gentle cable and the interface connection of setting on motor circuit board, for motor circuit board power supply and data transmission, the outside of external interface with external equipment is connected.
Due to the adoption of the technical scheme, the invention has the following advantages:
1. the invention adopts the disc type plane motor, thereby reducing the volume. The PCB encapsulation is selected to the motor stator winding, has reduced external environment and has disturbed, makes its stability higher, compares in the form of coil, and the more symmetry reduces the error that the winding brought.
2. The invention adopts an integrated symmetrical rotating structure, reduces the assembling process among the structural members, thereby reducing errors brought by the assembling link. The design of four symmetrical stand columns enables the structural part to be stressed symmetrically and uniformly, and the strength and the reliability of the rotating structure are improved.
3. The invention adopts a wireless data transmission mode, the capacitive angular displacement sensor with thin thickness and the sinking groove space are fully utilized, thereby reducing the volume and the weight.
4. The invention adopts the locking nut to fix the shafting structure, thereby reducing the whirling interference of the shafting.
5. The circuit of the invention adopts the layout of the modularized PCB, thereby not only meeting the functional requirements of the north-seeking system, but also optimizing the spatial layout.
6. The invention adopts a single-axis rotation modulation mode to modulate the zero offset component of the inertial device perpendicular to the direction of the rotating shaft, thereby improving the north-seeking precision.
In conclusion, the method can be widely applied to the field of inertial navigation.
Drawings
FIG. 1 is an exploded view of the overall structure of a miniaturized MEMS gyroscope north finder in one embodiment of the present invention;
FIG. 2 is a diagram of a vertical circuit board structure according to an embodiment of the present invention;
FIG. 3 is a block diagram of a disc-type flat motor according to an embodiment of the present invention;
FIG. 4 is a cross-sectional view of an integrated symmetrical rotating structure in accordance with an embodiment of the present invention;
FIG. 5 is a block diagram of a base and stator components of an angular displacement sensor in accordance with an embodiment of the present invention;
FIG. 6 is a schematic diagram of a single axis rotation four-position north-seeking scheme employed in one embodiment of the present invention;
FIG. 7 is a schematic block diagram of the overall hardware design in one embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention, are within the scope of the invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The invention provides a miniaturized MEMS gyroscope north seeker, wherein a shell of the miniaturized MEMS gyroscope north seeker comprises a top cover and a base, and the top cover and the base are closed to form an accommodating space; the central rotating shaft system structure of the integrated symmetrical rotating structure is arranged at the central position of the base, and the integrated symmetrical rotating structure is provided with a printed circuit board, a disc type motor, an inertia device and an angular displacement sensor; the conductive slip ring is arranged on the bearing and supplies power to the printed circuit board; the disc type motor drives the inertia device to rotate, an angular displacement sensor measures the rotation angle of a disc type motor rotor and feeds the rotation angle back to the motor rotation control module, and the motor rotation control module controls the disc type motor to work; the conductive slip ring supplies power to the inertia device through the printed circuit board, the printed circuit board is also used for data transmission and processing, and the processed data and the data of the motor rotation control module are transmitted to external equipment. The inertia device is fixed in the integrated rotating structure and is driven to rotate by the motor rotor, so that the uniaxial rotation modulation of the inertia device is realized, and the influence of errors such as zero offset and low-frequency drift on the system is eliminated, thereby improving the north-seeking precision. The invention adopts wireless communication and integrated technology, reduces the volume, weight and power consumption of the system, and has wide application prospect in the fields of small unmanned aerial vehicles, pedestrian navigation, tunnel construction and the like. The north finder of the invention can be used as an instrument for indicating the direction, and has very wide application prospect in civil fields of geodetic survey, tunnel construction, mining, resource survey and the like.
In one embodiment of the invention, a miniaturized MEMS gyro north finder is provided. In this embodiment, as shown in fig. 1, the north seeker 10 includes:
the shell comprises a top cover 101 and a base 102, wherein the top cover 101 and the base 102 are closed to form a containing space;
the integrated symmetrical rotating structure 130 is provided with a bearing 151 at the center, the bearing 151 is matched with a central rotating shaft system structure 153 arranged at the center of the base 102, and the integrated symmetrical rotating structure 130 is provided with a printed circuit board 110, a disc type motor 120, an inertial device 170 and an angular displacement sensor 140; the inertial device 170 is provided in plurality; in the present embodiment, the bearing 151 is an angular contact bearing;
the conductive slip ring 150 is arranged at the upper part of the bearing 151 of the integrated symmetrical rotating structure 130 and supplies power to the printed circuit board 110;
the disc motor 120 drives the inertia device 170 to rotate, the angular displacement sensor 140 measures the rotation angle of the rotor of the disc motor 120, and feeds the rotation angle back to the motor rotation control module on the printed circuit board 110, and the motor rotation control module controls the disc motor 120 to work; the conductive slip ring 150 supplies power to the inertia device 170 through the printed circuit board 110, and the printed circuit board 110 is also used for data transmission and processing, and the processed data and the data of the motor rotation control module are transmitted to an external device.
In the above embodiment, the printed circuit board 110 includes:
the horizontal circuit board 111 is connected with the bottom of the conductive slip ring 150 through a thin wire to realize power supply; the lower surface of the horizontal circuit board 111 is welded with an inertia device 170, and is used for supplying power to the inertia device 170 and wirelessly transmitting the acquired data of the inertia device 170;
a vertical circuit board 112 including a vertical circuit board 1121 for data acquisition and a vertical circuit board 1122 for data summarization (as shown in fig. 2); the inertia device 170 is welded on the inner side of the vertical circuit board 1121 for data acquisition and used for supplying power to the inertia device 170 and transmitting the acquired data of the inertia device 170 to the vertical circuit board 1122 for data summarization, and the vertical circuit board 1122 for data summarization is connected with the horizontal circuit board 111 and used for data transmission and power supply;
a motor circuit board 113 which is connected with the top of the conductive slip ring 150 through a thin wire to realize power supply and is connected with the angular displacement sensor 140 through a thin wire to supply power to the angular displacement sensor; the motor circuit board 113 is further configured to supply power to the disc motor 120 and control the disc motor 120 to rotate, receive data sent by the horizontal circuit board 111 in a wireless manner, and transmit the data and data of the motor rotation control module to an external device after processing.
In the present embodiment, the horizontal circuit board 111 is provided with a first interface for power supply and data transmission; the vertical circuit board 1121 for data collection and the vertical circuit board 1122 for data collection are respectively provided with a second interface for power supply and data transmission, the flexible cable 190 collects data of the vertical circuit board 1121 for data collection to the vertical circuit board 1122 for data collection through the second interface, and the second interface on the vertical circuit board 1122 for data collection is connected with the first interface through the flexible cable 190, so that power supply and data transmission are achieved. The motor circuit board 113 is provided with a third interface for power supply and data transmission, and the flexible cable 190 is connected with the external interface 160 arranged on the top cover 101 through the third interface, so as to realize power supply and transmit data to external equipment. Data transmission between the motor circuit board 113 and the horizontal circuit board 111 adopts a wireless transmission mode, and wireless transmission modules are arranged on the motor circuit board 113 and the horizontal circuit board 111.
In the above embodiment, the disc motor 120 is a disc type permanent magnet synchronous motor, which includes a motor stator and a motor rotor. The motor stator comprises a coil winding and a stator core 121, and the motor rotor comprises a permanent magnet 122 and a rotor core made of neodymium iron boron magnet, and has 24 pairs of magnetic poles. The disc motor 120 adopts a disc type planar structure, and the coil winding of the motor stator is encapsulated at the periphery of the motor circuit board 113 by adopting a PCB, as shown in fig. 3.
In the above embodiment, as shown in fig. 4, the integrated symmetrical rotating structure 130 includes:
the top of the columnar structure 132 is provided with a conductive slip ring 150, the inside of the columnar structure is provided with a bearing 151, the bearing 151 is connected with a central rotating shaft system structure 153 through a lock nut 152, and the bottom of the central rotating shaft system structure 153 is arranged at the central position of the base 102;
the bearing chassis 134 is positioned at the lower part of the columnar structure 132, and an angular displacement sensor 140 is circumferentially arranged at the bottom of the bearing chassis 134;
a ring structure 131 comprising an inner ring and an outer ring, the inner ring being connected to the column structure 132 by support beams 135; a horizontal circuit board 111 is arranged in the inner ring, a groove is arranged between the inner ring and the outer ring, and a permanent magnet 122 of a rotor of the disc motor 120 is arranged in the groove; the ring structure 131 is located on the upper portion of the pillar structure 132;
the motor circuit board 113 is disposed on an upper layer of the ring structure 131;
the vertical circuit boards 1121 welded with the inertia devices 170 are respectively arranged on the outer wall surfaces of the columnar structures 132, and the inertia devices 170 are positioned between the vertical circuit boards 1121 and the columnar structures 132 and are vertical to the inertia devices 170 arranged on the lower surfaces of the horizontal circuit boards 111;
the vertical circuit board 1121 for data acquisition is disposed along the axial direction of the columnar structure 132, and is connected to the vertical circuit board 1122 for data collection by using a flexible cable 190, and the vertical circuit board 1122 for data collection is connected to the horizontal circuit board by the flexible cable 190.
In the above embodiment, the outer periphery of the motor circuit board 113 is encapsulated with the coil winding of the stator of the disc motor 120 by using the PCB, and the coil winding is located below the iron core 121 of the stator.
When the motor rotor permanent magnet structure is used, the motor rotor permanent magnet 122 fixed on the annular structure 131 drives the integrated symmetrical rotating structure 130 to rotate, so that the inertia device 170 is driven to rotate, and the error modulation effect of the inertia device is realized.
In the above embodiment, the coil winding is circumferentially provided with the mounting plates, and the four corners of the mounting plates are respectively provided with the mounting holes for connecting with the support columns on the base 102. Four support columns are arranged around the base 102, and threaded holes are formed in the support columns and used for fixing and supporting the motor stator.
In the above embodiment, four columns 133 are arranged between the annular structure 131 and the load-bearing chassis 134 at intervals, and the bottom of the inner ring of the annular structure 131 is connected with the load-bearing chassis 134 through the columns 133; vertical circuit boards 112 are provided in spaces provided between adjacent columns 133, vertical circuit boards 1121 for data collection are fixed to the columnar structures 132, and vertical circuit boards 1122 for data collection are fixed to the columns 133.
In the above embodiment, a thermally conductive silicone pad 180 for heat dissipation is disposed between the inertial device 170 and the outer wall surface of the pillar structure 132.
In the above embodiments, as shown in fig. 4 and 5, angular displacement sensor 140 includes angular displacement sensor rotor 141 and angular displacement sensor stator 142;
the angular displacement sensor rotor 141 is arranged at the bottom circumference of the bearing chassis 134 of the integrated symmetrical rotating structure 130;
the angular displacement sensor stator 142 is fixedly disposed on the base 102 for measuring the rotation angle of the motor rotor.
In the present embodiment, the angular displacement sensor 140 is a capacitive angular displacement sensor with a thinner thickness, and the cylindrical structure 132 for fixing the horizontal circuit board 111 is installed through a sunken groove by using the space in the center of the angular displacement sensor rotor 141, so as to reduce the height and volume of the system. The preferred angular displacement sensor 140 of this embodiment is a capacitive angular displacement sensor with an angular resolution of 0.001 and a static error of less than 0.02.
In the above embodiment, the inertial device 170 is an accelerometer or a gyroscope. The preferred micro-electromechanical accelerometer in this embodiment is ADXL355 triaxial accelerometer available from ADI, and the micro-electromechanical gyroscope is an angular random walk smaller than
In the above embodiment, the conductive slip ring 150 mounted on the top of the bearing 151 for supplying power to the horizontal circuit board 111, the vertical circuit board 112 and the motor circuit board 113 can reliably and continuously transmit power signals in the integrated symmetrical rotating structure 130. Compared with the flyback circuit designed in the prior art for wireless power supply, the commercial power chip is more reliable in slip ring power supply, and the workload of design can be reduced.
In the above embodiment, as shown in fig. 5, a large circular hole 1021 is arranged in the middle of the base 102 for placing the chassis structure protruding from the central shafting, a small circular boss 1022 is arranged around the large circular hole 1021, and a threaded hole for connecting the central rotating shafting structure 153 is arranged on the small circular boss 1022; the structure can realize the fixation or separation debugging of the rotating part and the stator part by fixing or disassembling the screw, and is convenient for adjusting the air gap between the stator and the rotor of the angular displacement sensor. The angular displacement sensor stator 142 of the angular displacement sensor 140 is fixed on the base 102 through the column-shaped bosses 1023, and the air gap between the angular displacement sensor stator and the rotor can be adjusted by increasing or decreasing gaskets and the like.
In the above embodiment, the top cover 101 is provided with the external interface 160. The inner side of the external interface 160 is connected with a third interface arranged on the motor circuit board 113 through a flexible cable 190, and supplies power and transmits data to the motor circuit board 113; the external interface 160 is connected to external devices on the outside and provides an interface for power supply and data transmission of the MEMS gyroscope north finder 10.
In the above embodiment, the horizontal circuit board 111 and the motor circuit board 113 are both provided with data signal transmission and processing modules. The data signal transmission and processing module on the motor circuit board 113 comprises a motor control chip, a motor driving chip and a wireless transmission chip, wherein the motor control chip can be a low-power consumption chip STM32L452CE of ST company, the motor driving chip is a double H-bridge chip DRV8835 of TI company, and the wireless transmission chip is a radio frequency communication chip nRF24L01 of Nordic company. The above chip is only used as an alternative, and other chips with the same function can be adopted in the invention.
In the embodiment, data acquisition, processing and transmission, motor control and driving and a power supply circuit in the whole system are all arranged by adopting the modularized PCB, so that the functional requirements of the north-seeking system are met, and the spatial layout is optimized.
In summary, when the present invention is used, as shown in fig. 6 and 7, the working process is as follows: after the north seeker 10 is powered on, according to an instruction of the motor rotation control module, the motor driving module drives the disc type permanent magnet synchronous motor 120 to drive the inertia device 170 to rotate, and meanwhile, the angular displacement sensor 140 measures a rotation angle of a motor rotor and feeds the rotation angle back to the motor rotation control module. The slip ring power supply module supplies power to the vertical circuit board 112 and the inertia device 170 through the horizontal circuit board 111, the data acquisition module of the horizontal circuit board 111 acquires data of the inertia device and then transmits the data to the motor circuit board 113 through the wireless data transmission module for data processing, and the processed data and the data of the motor rotation control module are transmitted to external equipment through the external interface 160.
The single-shaft north-seeking rotation scheme comprises a single-shaft continuous rotation scheme, a single-shaft forward and reverse rotation scheme and a multi-position rotation and stop scheme. The embodiment provides a four-position rotation-stop scheme, that is, the inertial device 170 is driven by the motor to rotate 90 ° each time and then is stationary for a period of time to acquire accelerometer and gyroscope data. Therefore, data are still acquired at four positions in one rotation, the initial position 1 can be arbitrarily selected, and the rotation direction can also be arbitrarily selected, as shown in fig. 6.
For a horizontal base, course angle
The calculation is as follows:
wherein, ω is y1 ,ω y2 ,ω y3 ,ω y4 The angular velocities measured by the y-axis gyroscope at positions 1,2,3,4, respectively.
For a tilting base, the pitch angle theta and the roll angle gamma are calculated as follows:
wherein f is x1 ,f x2 ,f x3 ,f x4 The acceleration measured by the x-axis accelerometer at positions 1,2,3,4, respectively, and g is the local gravitational acceleration. The heading angle is calculated according to the following formula.
ω N The north component, omega, of the rotational angular velocity of the earth at the geographic latitude L U The direction of the earth rotation angular velocity is the geographic latitude L. The calculation method is as follows:
a plurality of sets of repeatability experiments are carried out at two different initial positions, the repeatability accuracies of the pitch angle, the roll angle and the course angle at the initial position 1 are 0.015 degree, 0.012 degree and 0.25 degree, the repeatability accuracies of the pitch angle, the roll angle and the course angle at the initial position 2 are 0.018 degree, 0.012 degree and 0.36 degree, and the experiment result shows that the invention can realize the north seeking function superior to 0.5 degree.
The invention adopts wireless communication and integrated technology, reduces the volume, weight and power consumption of the system, and can be applied to the fields of small unmanned aerial vehicles, pedestrian navigation, tunnel construction and the like.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A miniaturized MEMS gyro north seeker comprising:
the shell comprises a top cover (101) and a base (102), wherein the top cover (101) and the base (102) are closed to form a containing space;
the integrated symmetrical rotating structure (130) is provided with a bearing (151) at the center, the bearing (151) is matched with a central rotating shaft system structure (153) arranged at the center of the base (102), and the integrated symmetrical rotating structure (130) is provided with a printed circuit board (110), a disc type motor (120), an inertial device (170) and an angular displacement sensor (140); the inertial device (170) is provided in plurality;
the conductive slip ring (150) is arranged at the upper part of the bearing (151) of the integrated symmetrical rotating structure (130) and is used for supplying power to the printed circuit board (110);
the disc type motor (120) drives the inertia device (170) to rotate, the angular displacement sensor (140) measures the rotating angle of the rotor of the disc type motor (120), the rotating angle is fed back to a motor rotation control module on the printed circuit board (110), and the motor rotation control module controls the disc type motor (120) to work; the conductive slip ring (150) supplies power to the inertia device (170) through the printed circuit board (110), and the printed circuit board (110) is also used for data transmission and processing, and the processed data and the data of the motor rotation control module are transmitted to external equipment.
2. The miniaturized MEMS gyroscope north seeker of claim 1, wherein the printed circuit board (110) comprises:
the horizontal circuit board (111) is connected with the bottom of the conductive slip ring (150) through a thin wire to realize power supply; the inertia device (170) is welded on the lower surface of the horizontal circuit board (111) and used for supplying power to the inertia device (170) and wirelessly transmitting the acquired data of the inertia device (170);
a vertical circuit board (112) including a vertical circuit board for data acquisition (1121) and a vertical circuit board for data collection (1122); the inertia device (170) is welded on the inner side of the vertical circuit board (1121) for data acquisition and used for supplying power to the inertia device (170), the acquired data of the inertia device (170) is transmitted to the data summarizing vertical circuit board (1122), and the data summarizing vertical circuit board (1122) is connected with the horizontal circuit board (111) and used for data transmission and power supply;
the motor circuit board (113) is connected with the top of the conductive slip ring (150) through a thin wire to realize power supply, and is connected with the angular displacement sensor (140) through a thin wire to supply power to the angular displacement sensor; the motor circuit board (113) is also used for supplying power to the disc motor (120) and controlling and driving the disc motor (120) to rotate, receiving data sent by the horizontal circuit board (111) in a wireless mode, and transmitting the data and data of the motor rotation control module to the external equipment after processing.
3. The miniaturized MEMS gyroscope north finder of claim 2, wherein the integrated symmetrical rotating structure (130) comprises:
the top of the columnar structure (132) is provided with the conductive slip ring (150), the bearing (151) is arranged in the columnar structure, the bearing (151) is connected with the central rotating shafting structure (153) through a lock nut (152), and the bottom of the central rotating shafting structure (153) is arranged at the central position of the base (102);
the bearing chassis (134) is positioned at the lower part of the columnar structure (132), and the angular displacement sensor (140) is circumferentially arranged at the bottom of the bearing chassis (134);
a ring-like structure (131) comprising an inner ring and an outer ring, said inner ring being connected to said cylindrical structure (132) by means of a support beam (135); the horizontal circuit board (111) is arranged in the inner ring, a groove is arranged between the inner ring and the outer ring, and a permanent magnet (122) of the rotor of the disc type motor (120) is arranged in the groove; the annular structure (131) is positioned at the upper part of the columnar structure (132);
the motor circuit board (113) is arranged on the upper layer of the annular structure (131);
the vertical circuit boards (1121) welded with the inertia devices (170) for data acquisition are respectively arranged on the outer wall surfaces of the columnar structures (132), and the inertia devices (170) are positioned between the vertical circuit boards (1121) for data acquisition and the columnar structures (132) and are vertical to the inertia devices (170) arranged on the lower surfaces of the horizontal circuit boards (111);
the vertical circuit board (1121) for data acquisition is arranged along the axial direction of the columnar structure (132), a flexible cable (190) is adopted to be connected with the vertical circuit board for data collection (1122), and the vertical circuit board for data collection (1122) is connected with the horizontal circuit board (111) through the flexible cable (190).
4. The miniaturized MEMS gyroscope north finder of claim 3, wherein between the ring-shaped structure (131) and the load-bearing chassis (134), four pillars (133) are provided at intervals, and an inner ring bottom of the ring-shaped structure (131) is connected with the load-bearing chassis (134) through the pillars (133); the vertical circuit board (112) is arranged in a space between the adjacent upright posts (133), the vertical circuit board (1121) for data acquisition is fixed on the columnar structure (132), and the vertical circuit board for data collection (1122) is fixed on the upright posts (133).
5. The miniaturized MEMS gyro north finder of claim 3, wherein the outer periphery of the motor circuit board (113) is encapsulated with a PCB with coil windings of the stator of the disc motor (120), the coil windings being located below the core (121) of the stator.
6. The miniaturized MEMS gyro north finder of claim 5, wherein mounting plates are circumferentially arranged on the coil winding, and mounting holes are respectively arranged at four corners of the mounting plates for connecting with support columns on the base (102).
7. The miniaturized MEMS gyroscope north seeker of claim 3, wherein a heat-conducting silicone pad (180) for heat dissipation is disposed between the inertial device (170) and the outer wall surface of the columnar structure (132).
8. The miniaturized MEMS gyro north finder of claim 1, wherein the angular displacement sensor (140) includes an angular displacement sensor rotor (141) and an angular displacement sensor stator (142);
the angular displacement sensor rotor (141) is arranged at the bottom circumference of a bearing chassis (134) of the integrated symmetrical rotating structure (130);
the angular displacement sensor stator (142) is fixedly arranged on the base (102).
9. The miniaturized MEMS gyro north finder of claim 1, wherein a large circular hole (1021) is arranged at the middle position of the base (102), a small circular boss (1022) is arranged at the circumference of the large circular hole (1021), and a threaded hole for connecting the central rotation shafting structure (153) is arranged on the small circular boss (1022);
the angular displacement sensor stator is located outside the circumference of the small circular boss (1022), a plurality of cylindrical bosses (1023) are arranged on the base (102) at intervals, and the angular displacement sensor stator (142) of the angular displacement sensor (140) is fixed on the base (102) through the cylindrical bosses (1023).
10. The miniaturized MEMS gyroscope north finder of claim 1, wherein an external interface (160) is provided on the top cover (101); the inside of external interface (160) is through gentle cable (190) and the interface connection who sets up on motor circuit board (113), for motor circuit board (113) power supply and data transmission, the outside of external interface (160) with external equipment is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210662540.0A CN114910059A (en) | 2022-06-13 | 2022-06-13 | Miniaturized MEMS gyro north finder |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210662540.0A CN114910059A (en) | 2022-06-13 | 2022-06-13 | Miniaturized MEMS gyro north finder |
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| CN114910059A true CN114910059A (en) | 2022-08-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210662540.0A Pending CN114910059A (en) | 2022-06-13 | 2022-06-13 | Miniaturized MEMS gyro north finder |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115493590A (en) * | 2022-11-16 | 2022-12-20 | 湖南天羿领航科技有限公司 | Micro-inertia north seeker and application method thereof |
| CN117629174A (en) * | 2024-01-25 | 2024-03-01 | 深圳市瑞芬科技有限公司 | Gyroscope north-seeking device based on induction earth rotation principle |
-
2022
- 2022-06-13 CN CN202210662540.0A patent/CN114910059A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115493590A (en) * | 2022-11-16 | 2022-12-20 | 湖南天羿领航科技有限公司 | Micro-inertia north seeker and application method thereof |
| CN117629174A (en) * | 2024-01-25 | 2024-03-01 | 深圳市瑞芬科技有限公司 | Gyroscope north-seeking device based on induction earth rotation principle |
| CN117629174B (en) * | 2024-01-25 | 2024-04-05 | 深圳市瑞芬科技有限公司 | Gyroscope north-seeking device based on induction earth rotation principle |
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