CN115218929A - Inertial sensor mapping device and system - Google Patents
Inertial sensor mapping device and system Download PDFInfo
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- CN115218929A CN115218929A CN202211140207.XA CN202211140207A CN115218929A CN 115218929 A CN115218929 A CN 115218929A CN 202211140207 A CN202211140207 A CN 202211140207A CN 115218929 A CN115218929 A CN 115218929A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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Abstract
The invention provides an inertial sensor mapping device and system. The device includes: incubator, wireless communication module and wireless routing module. A first rotating shaft used for placing an inertial sensor to be tested is arranged in the incubator. The first rotating shaft is provided with a wireless communication module. The wireless communication module is used for being electrically connected with the inertial sensor to be tested. The wireless routing module comprises a body, a first antenna and a second antenna, wherein the first antenna and the second antenna are in wired connection with the body. The body and the first antenna are fixed on the shell of the incubator. The second antenna is arranged inside the incubator. The wireless communication module is in wireless connection with the wireless routing module. According to the invention, the wireless communication module is arranged on the rotating shaft in the incubator, the wireless router is arranged on the shell of the incubator, a part of the antenna is arranged in the incubator, and the wireless communication module can transmit the measurement data to the outside through the wireless router module. On the one hand, the problem that the number of slip rings limits the batch mapping number is solved. On the other hand, the problem of shielding the internal wireless signals by the incubator is solved.
Description
Technical Field
The invention relates to the technical field of inertial sensor mapping, in particular to an inertial sensor mapping device and system.
Background
The inertial sensors include gyroscopes, accelerometers, etc., for measuring angular velocity and linear acceleration of the object motion. Inertial sensors are playing an increasingly important role in military fields such as weaponry, navigation measurement and control, and civil fields such as industry and the internet. The calibration and the test of the inertial sensor are important means for obtaining device error parameters, calibrating errors and improving device precision.
The prior art adopts a single-shaft incubator turntable or a double-shaft incubator turntable to measure and measure an inertial sensor. Inside the incubator was located in the pivot of unipolar incubator revolving stage, inertial sensor arranged in the pivot, and the pivot is rotatory to be driven inertial sensor rotatory. The incubator is used for realizing high and low temperature impact test. The other rotating shaft of the double-shaft incubator turntable is arranged outside the incubator and drives the incubator to rotate. Each rotating shaft is provided with a plurality of slip ring wires which can realize the circuit connection of the rotating part and the static part when the rotating shaft rotates. The slip ring line can provide power for the incubator and the inertial sensor, and meanwhile communication between the inertial sensor inside the incubator and the outside is achieved. During calibration test, the inertia data collected by the plurality of inertia sensors are respectively transmitted to the outside through the slip ring lines connected with the inertia sensors.
An inertial sensor is connected for communication with at least one slip ring line. The number of slip ring lines determines the number of inertial sensors that can be tested simultaneously. The slip ring line has a complex structure and a large volume, and the number of the slip ring lines which can be installed on the rotating shaft is limited, generally dozens of rings, so that the number of the slip rings limits the number of the inertial sensors in a single batch calibration test, and the test efficiency is low.
Disclosure of Invention
The embodiment of the invention provides a mapping device and a mapping system for inertial sensors, which aim to solve the problem that the number of slip rings limits the batch mapping number of the inertial sensors in the existing slip ring line communication mode.
In a first aspect, embodiments of the present invention provide an inertial sensor mapping device, including: incubator, wireless communication module and wireless routing module.
And a first rotating shaft used for placing an inertial sensor to be detected is arranged in the incubator. And the first rotating shaft is provided with a wireless communication module. The wireless communication module is used for being electrically connected with the inertial sensor to be tested.
The wireless routing module comprises a body, a first antenna and a second antenna, wherein the first antenna and the second antenna are in wired connection with the body. The body and the first antenna are fixed on the shell of the incubator. The second antenna is arranged inside the incubator.
The wireless communication module is in wireless connection with the wireless routing module.
In a possible implementation manner, a first slip ring line is arranged on the first rotating shaft. One end of the first slip ring line is connected with the power supply end of the inertial sensor to be tested and the power supply end of the wireless communication module. The other end of the first slip ring line is connected with an external power supply.
In a possible implementation manner, a second rotating shaft is further arranged on the outer wall of the incubator. The second rotating shaft drives the incubator to rotate, and the axis direction of the second rotating shaft is perpendicular to the axis direction of the first rotating shaft.
In a possible implementation manner, a second slip ring line is arranged on the second rotating shaft. One end of the second slip ring line is connected with a power supply end of the wireless routing module. The other end of the second slip ring line is connected with an external power supply.
In one possible implementation, the first slipring wire is connected to an external power source through a second slipring wire.
In a possible implementation manner, a data acquisition module is arranged on the first rotating shaft. The wireless communication module is in wired connection with the inertial sensor to be measured through the data acquisition module.
In one possible implementation, the data acquisition module includes a plurality of acquisition units of different communication protocols. Each acquisition unit is used for being in wired connection with the inertial sensor to be detected of the corresponding communication protocol.
In one possible implementation, the wireless routing module is a multiple-input multiple-output wireless router.
In one possible implementation, the wireless routing module is a WiFi6 router.
In a second aspect, embodiments of the present invention provide an inertial sensor mapping system comprising an inertial sensor mapping device according to any one of the first aspect.
The system also includes a data acquisition device. The data acquisition device is connected with the wireless routing module of the inertial sensor mapping device in a networking mode through a wireless router.
The embodiment of the invention provides an inertial sensor mapping device and an inertial sensor mapping system. A first rotating shaft used for placing an inertial sensor to be tested is arranged in the incubator. The first rotating shaft is provided with a wireless communication module. The wireless communication module is used for being electrically connected with the inertial sensor to be tested. The wireless routing module comprises a body, and a first antenna and a second antenna which are in wired connection with the body. The body and the first antenna are fixed on the shell of the incubator. The second antenna is arranged inside the incubator. The wireless communication module is in wireless connection with the wireless routing module. This application sets up in the inside pivot of incubator through the wireless communication module who will connect inertial sensor, sets up wireless routing body and partly antenna on the shell of incubator, places the antenna that another part can be able to bear or endure high low temperature and strike inside the incubator, and wireless communication module can transmit received inertial sensor measured data to the outside through wireless routing module. On one hand, the inertial sensor capable of rotating on the rotating shaft in the incubator can be in wireless communication with the outside, and the problem that the number of the slip rings limits the batch mapping number of the inertial sensor in a slip ring line communication mode is solved. On the other hand has solved the shielded problem of incubator to inside wireless signal, has avoided wireless route setting to be not able to bear or endure high low temperature impact problem when the incubator is inside simultaneously.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the embodiments or the prior art description will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings may be obtained according to these drawings without inventive labor.
FIG. 1 is a schematic structural view of a two-axis incubator turret of the prior art;
fig. 2 is a schematic structural diagram of an inertial sensor mapping device according to an embodiment of the present invention;
fig. 3 is a schematic diagram of wireless communication of an apparatus provided by an embodiment of the invention;
fig. 4 is a schematic structural diagram of an inertial sensor mapping system according to an embodiment of the present invention.
Description of the reference numerals:
1: a temperature box; 11: a first rotating shaft; 12: an inertial sensor; 13: a first slip ring line; 2: a wireless communication module; 3: a wireless routing module; 31: a body; 32: a first antenna; 33: a second antenna; 4: a second rotating shaft; 41: a second slip ring line.
Detailed Description
In order to make the technical solution better understood by those skilled in the art, the technical solution in the embodiment of the present invention will be clearly described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is a part of the embodiment of the present invention, and not a whole embodiment. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present solution.
The terms "include" and any other variations in the description and claims of this document and the above-described figures, mean "include but not limited to", and are intended to cover non-exclusive inclusions and not limited to the examples listed herein. Furthermore, the terms "first" and "second," etc. are used to distinguish between different objects and are not used to describe a particular order.
The following detailed description of implementations of the invention refers to the accompanying drawings in which:
the inertial sensors include gyroscopes, accelerometers, and the like, and are used to measure angular velocity and linear acceleration of the movement of the object. Inertial sensors are playing a greater and greater role in military fields such as weaponry, navigation measurement and control, and civil fields such as industry and the internet. The calibration and the test of the inertial sensor are important means for obtaining device error parameters, calibrating errors and improving device precision. The performance of the inertial sensor, particularly the zero offset, the zero offset stability and other performances are greatly influenced by temperature, and the accurate temperature calibration has a great effect on reducing the measurement error of the inertial sensor. Therefore, comprehensive temperature calibration has great influence on the practical value and the economic value of the inertial sensor.
For temperature calibration of an inertial sensor, a single-axis incubator turntable or a double-axis incubator turntable with an incubator is adopted in the prior art for mapping. The inertial sensor is arranged on a rotating shaft in the incubator, and the rotating shaft drives the inertial sensor to rotate so as to provide angular velocity and/or linear acceleration for the inertial sensor. The incubator is used for realizing high and low temperature impact test.
Fig. 1 is a schematic structural diagram of a two-axis incubator turntable in the prior art. A first pivot 11 for placing inertial sensor 12 that awaits measuring is located incubator 1 inside, and inertial sensor 12 is arranged in on first pivot 11, and first pivot 11 is rotatory to drive inertial sensor 12 rotatory. The other rotating shaft of the double-shaft incubator turntable is arranged outside the incubator 1 and drives the incubator 1 to rotate. Each rotating shaft is provided with a plurality of slip ring wires which can realize the circuit connection of the rotating part and the static part when the rotating shaft rotates. The slip ring line provides power to the incubator 1 and the inertial sensor 12, while enabling communication between the inertial sensor 12 inside the incubator 1 and the outside. During calibration test, the inertial data collected by the inertial sensors 12 are transmitted to the outside through the slip ring lines respectively connected to the inertial sensors.
Referring to the dotted line part in fig. 1, the signal acquired by the inertial sensor 12 is connected to an external device through a slip ring line of the turntable for acquisition, so that data recording is completed during the movement of the turntable, and full-temperature mapping of the sensor is completed. The problem with this approach is that the number of inertial sensors 12 mapped by it is limited by the number of slip-ring lines, and the amount of data collected is also limited by the data transfer capabilities of the slip-ring lines. An inertial sensor 12 is connected for communication with at least one slip ring line. The number of slip ring lines determines the number of inertial sensors 12 that can be tested simultaneously. Due to the fact that the slip ring lines are complex in structure and large in size, the number of the slip ring lines which can be installed on the rotating shaft is limited, generally being dozens of rings, the number of the slip rings limits the number of the inertial sensors 12 which are calibrated and tested in batches at a time, and testing efficiency is low.
In summary, the mapping capability of a batch of inertial sensors 12 is greatly limited by slip rings, creating a significant waste of productivity. Therefore, designing an inertial sensor mapping device that is not limited by the slip ring capability becomes an urgent issue for mass production.
The embodiment of the invention provides an inertial sensor mapping device and system, which aim to solve the problem that the number of slip rings limits the batch mapping number of inertial sensors 12 in the existing slip ring line communication mode.
Fig. 2 is a schematic structural diagram of an inertial sensor mapping device according to an embodiment of the present invention. Referring to fig. 2, the apparatus includes:
A first rotating shaft 11 for placing an inertial sensor 12 to be tested is arranged in the incubator 1. The wireless communication module 2 is arranged on the first rotating shaft 11. The wireless communication module 2 is used for electrically connecting with the inertial sensor 12 to be tested.
The wireless routing module 3 includes a body 31 and a first antenna 32 and a second antenna 33 wired to the body 31. The body 31 and the first antenna 32 are fixed to the housing of the incubator 1. The second antenna 33 is provided inside the incubator 1.
The wireless communication module 2 is wirelessly connected with the wireless routing module 3.
Illustratively, the incubator 1 has a rectangular parallelepiped structure. The first rotating shaft 11 is arranged on one surface of the inner wall of the incubator 1, and the rotating shaft center of the first rotating shaft 11 is vertical to the surface of the inner wall of the incubator 1. Illustratively, the first shaft 11 is connected to the incubator 1 via a bearing. The bearing includes a rotating part and a stationary part, the positional relationship between the stationary part and the incubator 1 is relatively fixed, the positional relationship between the rotating part and the first rotating shaft 11 is relatively fixed, and the rotating part rotates relative to the incubator 1. The shell of the incubator 1 is provided with a motor which can drive the first rotating shaft 11 to rotate. The first rotating shaft 11 is used for placing an inertial sensor 12 to be measured. The relative position of the first rotating shaft 11 and the inertial sensor 12 is fixed. The first rotating shaft 11 drives the inertial sensor 12 and the incubator 1 to rotate relatively.
The wireless communication module 2 is arranged on the first rotating shaft 11. The first rotating shaft 11 is fixed in position relative to the wireless communication module 2. The first rotating shaft 11 drives the wireless communication module 2 and the incubator 1 to rotate relatively. The wireless communication module 2 is used for electrically connecting with the inertial sensor 12 to be tested. Illustratively, the wireless communication module 2 is used for wired electrical connection with the inertial sensor under test 12. The wireless communication module 2 can convert the wired signal collected by the inertial sensor 12 into a wireless signal for transmission.
The wireless routing module 3 includes a body 31 and an antenna. The body 31 of the wireless routing module 3 has a complex circuit structure, is greatly influenced by temperature, and generally cannot bear high and low temperature impact in the incubator 1. Illustratively, if the body 31 of the wireless router module is placed inside the incubator 1, the body 31 cannot withstand long-term high and low temperature impacts and cannot work normally. The side wall of the common incubator 1 is made of metal materials and heat insulation materials, the thickness can reach more than 5 cm, and the side wall has a strong shielding effect on wireless signals. Exemplarily, if the whole wireless router module is placed in the incubator 1, on the one hand, the body 31 cannot bear high and low temperature impact, and on the other hand, due to the shielding effect of the incubator 1, the wireless signal cannot be normally transmitted to the outside of the incubator 1. The antenna has simple structure and can bear large high and low temperature impact generally. According to the inertial sensor mapping device provided by the embodiment of the invention, the body 31 and the first antenna 32 are fixed on the shell of the incubator 1, and the second antenna 33 is arranged inside the incubator 1, so that the problem that the body 31 cannot bear high and low temperature impact is solved, and the problem of signal shielding of the incubator 1 is also solved.
Illustratively, the first antenna 32 includes a plurality of antennas and the second antenna 33 includes a plurality of antennas. Illustratively, the first antenna 32 includes four antennas, and the second antenna 33 includes four antennas. Illustratively, the second antenna 33 is placed inside the incubator 1 through a through hole provided in a side wall of the incubator 1. Illustratively, the second antenna 33 may be connected to the body 31 of the wireless routing module 3 by an extension cable. It is convenient to locate the second antenna 33 at a suitable position inside the incubator 1.
The wireless communication module 2 is wirelessly connected with the wireless routing module 3. The wireless communication module 2 can convert the received measurement data of the inertial sensor 12 into a wireless signal to be sent, the second antenna 33 of the wireless routing module 3 receives the wireless signal and transmits the wireless signal to the body 31 of the wireless routing module 3, and the body 31 sends the wireless signal to the outside through the first antenna 32. Illustratively, the wireless communication module 2 is coupled to a plurality of inertial sensors 12. Illustratively, the wireless communication module 2 is plural. The plurality of inertial sensors 12 wirelessly communicate with the outside through the wireless communication module 2 and the wireless routing module 3. The sum of the communication bandwidths of the inertial sensors 12 is not greater than the communication bandwidth of the wireless routing module 3. The number of inertial sensors 12 that can be mapped simultaneously is limited only by the communication bandwidth of the wireless routing module 3.
The embodiment of the invention provides an inertial sensor mapping device, wherein a wireless communication module 2 connected with an inertial sensor 12 is arranged on a rotating shaft in an incubator 1, a wireless router and a part of antennas are arranged on a shell of the incubator 1, the other part of antennas capable of resisting high and low temperature impact is arranged in the incubator 1, and the wireless communication module 2 can transmit received data measured by the inertial sensor 12 to the outside through a wireless router module 3. On one hand, the inertial sensor 12 which rotates on the rotating shaft in the incubator 1 can be in wireless communication with the outside, and the problem that the number of the slip rings limits the batch mapping number of the inertial sensors 12 in a slip ring line communication mode is solved. On the other hand has solved incubator 1 to inside wireless signal's shielding problem, has avoided wireless route to set up when incubator 1 is inside not to endure high low temperature impact problem simultaneously.
In a possible implementation, a first slip ring line 13 is provided on the first rotation shaft 11. One end of the first slip ring wire 13 is connected to the power supply end of the inertial sensor 12 to be measured and the power supply end of the wireless communication module 2. The other end of the first slip ring line 13 is connected to an external power source.
Because the first rotating shaft 11 drives the inertial sensor 12 and the incubator 1 to rotate relatively, the inertial sensor 12 and the acquisition equipment outside the incubator 1 cannot be directly connected in a wired manner. Generally, a portion of the first rotating shaft 11 connected to the incubator 1 is provided with a slip ring line. The slip-ring wire may electrically connect the two relatively rotating parts, maintaining the electrical connection during the relative rotation. The slip ring wire is used for realizing circuit connection between the inertial sensor 12 inside the incubator 1 and the acquisition equipment outside the incubator 1.
And a first slip ring line 13 arranged on the first rotating shaft 11 and used for providing power for the inertial sensor 12 and the wireless communication module 2. Illustratively, the number of the first slip ring wires 13 is plural. One end of each first slip ring wire 13 is connected to the power supply end of the inertial sensor 12 to be measured and/or the power supply end of the wireless communication module 2, and the other end is connected to an external power supply. The number of slip ring wires is usually tens of rings, while the power supply of the inertial sensor 12 and the wireless communication module 2 can be shared, and the existing number of slip ring wires can meet the power supply requirement. Illustratively, the incubator of the single-shaft incubator turntable does not need to rotate, and the heating power supply of the incubator 1, the motor power supply of the first rotating shaft 11, and the power supply of the wireless routing module 3 can be connected in a wired manner without being connected by slip-ring wires. The incubator 1 of the double-shaft incubator turntable needs to rotate, and the connection modes of all power supplies are different.
In a possible implementation manner, a second rotating shaft 4 is further arranged on the outer wall of the incubator 1. The second rotating shaft 4 drives the incubator 1 to rotate, and the axis direction of the second rotating shaft 4 is perpendicular to the axis direction of the first rotating shaft 11.
The relative position of the second rotating shaft 4 and the incubator 1 is fixed, and the incubator 1 is driven to rotate when the second rotating shaft 4 rotates. Illustratively, the second rotating shaft 4 is connected with a fixed base through a bearing. The base is used for supporting the whole inertial sensor mapping device. The second rotary shaft 4 rotates relative to the base for fixing.
Exemplarily, the device further comprises a third rotating shaft for realizing a three-shaft incubator turntable. And only a slip ring wire is required to be added on the third rotating shaft to realize power supply.
In a possible implementation, the second rotating shaft 4 is provided with a second slip ring wire 41. One end of the second slip ring wire 41 is connected to the power supply terminal of the wireless routing module 3. The other end of the second slip ring wire 41 is connected to an external power source.
Illustratively, the second slip ring wire 41 is plural. Illustratively, the heating power of the incubator 1 and the motor power of the first rotating shaft 11 may be wired to an external power source through the second slip ring wire 41. Illustratively, the heating power supply of the incubator 1, the motor power supply of the first rotating shaft 11 and/or the power supply of the wireless routing module 3 can also be connected with a battery fixed on the outer shell of the incubator 1 by a wired manner.
In one possible implementation, the first slip ring wire 13 is connected to an external power source through the second slip ring wire 41.
The first slip ring line 13 may be used to connect the inertial sensor 12 and the power supply end of the wireless communication module 2, and provide power for the inertial sensor 12 and the wireless communication module 2. Incubator 1 of biax incubator revolving stage needs rotary motion, and incubator 1 drives first slip ring line 13 rotary motion, and first slip ring line 13 can't directly be connected external power source through wired mode. The first slip ring wire 13 realizes the wired connection between the first slip ring wire 13 in the rotating state and the external power supply by connecting the second slip ring wire 41. That is, in the case of the two-axis incubator turret, the first slip ring wire 13 is connected to an external power source through the second slip ring wire 41 to supply power to the inertial sensor 12 and the wireless communication module 2.
Illustratively, the first slip ring wire 13 supplies power to the inertial sensor 12 and the wireless communication module 2 by connecting with a battery fixed on the outer shell of the incubator 1. This is not restricted by the rotation of the second shaft 4.
In a possible implementation manner, a data acquisition module is provided on the first rotating shaft 11. The wireless communication module 2 is in wired connection with the inertial sensor 12 to be measured through the data acquisition module.
The data acquisition module can transmit the acquired measurement data of the inertial sensor 12 to the wireless communication module 2 in a wired manner. The wireless communication module 2 converts the wired signal into a wireless signal to be transmitted. Compared with the functions of the wireless routing module 3, the functions of the data acquisition module and the wireless communication module 2 are relatively simple, the circuit structure is relatively simple, and the size is small. The data acquisition module and the wireless communication module 2 are easy to resist high and low temperature impact, so that the situation that the work cannot be performed in the incubator 1 due to the high and low temperature impact is avoided.
For example, a closed thermal insulation housing is arranged on the first rotating shaft 11, and the data acquisition module and/or the wireless communication module 2 is arranged in the thermal insulation housing. The heat preservation casing can reduce inside temperature variation, reduces the influence of temperature variation to data acquisition module and/or wireless communication module 2. Illustratively, the heat-insulating housing is provided with a semiconductor cooling fin for reducing the temperature of the data acquisition module and/or the wireless communication module 2. Electronic devices are generally poorly resistant to high temperatures. When the temperature in incubator 1 is too high, the temperature of data acquisition module and/or wireless communication module 2 is reduced through the cooling effect of semiconductor refrigeration piece, the heat preservation effect of heat preservation casing, can further reduce the influence of temperature variation to data acquisition module and/or wireless communication module 2.
Fig. 3 is a schematic diagram of wireless communication of an apparatus provided by an embodiment of the present invention; referring to fig. 3:
in one possible implementation, the data acquisition module includes a plurality of acquisition units of different communication protocols. Each acquisition unit is used for being in wired connection with the inertial sensor 12 to be measured corresponding to the communication protocol.
The communication protocols for different inertial sensors 12 may be different. The acquisition units of different communication protocols in the data acquisition module are correspondingly connected with the inertial sensors 12 of different communication protocols. Each acquisition unit may be connected to a plurality of inertial sensors 12 of the same communication protocol. Illustratively, the acquisition unit includes an I2C protocol acquisition unit, a UART protocol acquisition unit, an SPI protocol acquisition unit, and/or a CAN protocol acquisition unit. According to the data bandwidth measurement and calculation, a basic data acquisition unit CAN simultaneously meet the communication of 128I 2C protocol inertial sensors 12, 32 UART protocol inertial sensors 12, 256 SPI protocol inertial sensors 12 or 32 CAN protocol inertial sensors 12. Illustratively, an FPGA is used as a basic acquisition unit. Illustratively, the data acquisition module and the plurality of inertial sensors 12 are arranged in a vertical strip shape parallel to the axis of the first rotating shaft 11. The requirements of the maximum installation amount and the shortest installation line can be met, and meanwhile, the long-strip-shaped data acquisition module based on the FPGA can be placed conveniently. Exemplary, for general wide temperature requirements: -40 to 85 ℃, the collection units are designed as follows: basic data acquisition unit and wireless communication module 2 adopt wide temperature, little volume design, and it mainly constitutes for power module, FPGA core chip, active crystal oscillator, external RAM and miniature WIFI module. Each module adopts a wide-temperature chip with the temperature of-40 to 85 ℃, wherein the wide-temperature range of the WIFI module is an ESP32-C3-MINI-1 model module with the temperature of-40 to 105 ℃, and the volume of the WIFI module is 16.6 x 13.2mm. The FPGA selects an ICE40UP5K-SG48 type low-power-consumption product, the volume of the product is 3 x 3mm, and the volume of the product is the minimum on the premise that resources can meet data acquisition. The RAM is PSRAM with the capacity of 8MB, so that the use of cache is met. The crystal oscillator adopts a temperature compensation crystal oscillator, the temperature drift is minimum under the wide temperature condition, and the volume can still be ensured to be not more than 3225 for packaging. The junction temperature of the power supply is 125 ℃ to provide enough temperature-resistant allowance for the high temperature caused by the incubator 1.
In one possible implementation, the wireless routing module 3 is a multiple input multiple output wireless router.
A Multiple Input Multiple Output (MIMO) wireless router is a MIMO wireless router. The mimo wireless router can implement both transmit and receive functions on the same antenna. Illustratively, the second antenna 33 disposed inside the incubator 1 can perform a sending and receiving function, and the second antenna 33 can be used for transmitting wired signals collected by the inertial sensor 12 to the outside and transmitting external control signals to the inertial sensor 12. The adoption of slip ring wires is avoided to realize control signal transmission, and the use of the slip ring wires is reduced.
In one possible implementation, the wireless routing module 3 is a WiFi6 router.
The WiFi6 router is a sixth generation wireless network technology that employs the IEEE 802.11.Ax standard. Since the delay of the WIFI6 router is in the millisecond level, the real-time performance of data in the mapping system can meet the requirement. The data transfer rate of a WiFi6 router can theoretically reach 6756.75 Mbit/s, while the data size of inertial devices is usually less than 1Mbit/s. I.e., the theoretical bandwidth can cover 6000 inertial sensors 12. Whereas the limit transmission rate of conventional mapping systems is about 20Mbit/s. The theoretical bandwidth of the inertial sensor mapping device provided by the embodiment of the invention is more than 300 times of that of the traditional system, and the bandwidth of the mapping system is greatly improved.
Fig. 4 is a schematic structural diagram of an inertial sensor mapping system according to an embodiment of the present invention. Referring to fig. 4: embodiments of the present invention provide an inertial sensor mapping system including any one of the inertial sensor mapping devices as provided by embodiments of the present invention. The system also includes a data acquisition device. The data acquisition device is connected with the wireless routing module 3 of the inertial sensor mapping device through the wireless router in a networking mode.
The wireless routing module 3 of the inertial sensor mapping device is fixed on one surface of the shell of the incubator 1, and the incubator 1 may be positioned between the wireless routing module 3 and the data acquisition device, so that the wireless signals are shielded and influenced. Especially, under the condition of a double-shaft incubator turntable, the wireless routing module 3 rotates along with the incubator 1, the position is not fixed, and wireless signals between the wireless routing module 3 and the data acquisition device can influence signal transmission due to shielding of the incubator 1. The wireless routing module 3 of the inertial sensor mapping device is connected with the data acquisition device in a networking mode, so that signal transmission is more stable. Illustratively, the networking method includes: MESH networking mode and relay networking mode. Illustratively, the wireless routing module 3 of the inertial sensor mapping device is connected as an intermediate node with the main router of the data acquisition device.
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. An inertial sensor mapping device is characterized by comprising an incubator, a wireless communication module and a wireless routing module;
a first rotating shaft for placing an inertial sensor to be detected is arranged in the incubator; a wireless communication module is arranged on the first rotating shaft; the wireless communication module is used for being electrically connected with the inertial sensor to be tested;
the wireless routing module comprises a body, a first antenna and a second antenna, wherein the first antenna and the second antenna are in wired connection with the body; the body and the first antenna are fixed on the shell of the incubator; the second antenna is arranged inside the incubator;
the wireless communication module is in wireless connection with the wireless routing module.
2. The inertial sensor mapping device of claim 1, wherein the first spool has a first slip ring line; one end of the first slip ring line is connected with a power supply end of the inertial sensor to be tested and a power supply end of the wireless communication module; the other end of the first slip ring line is connected with an external power supply.
3. The inertial sensor mapping device according to claim 2, wherein a second rotating shaft is further disposed on an outer wall of the incubator; the second rotating shaft drives the incubator to rotate, and the axis direction of the second rotating shaft is perpendicular to the axis direction of the first rotating shaft.
4. The inertial sensor mapping device of claim 3, wherein a second slip ring line is disposed on the second shaft; one end of the second slip ring line is connected with a power supply end of the wireless routing module; the other end of the second slip ring line is connected with an external power supply.
5. The inertial sensor mapping device of claim 4, wherein the first slipring wire is connected to an external power source via a second slipring wire.
6. The inertial sensor mapping device of claim 1, wherein a data acquisition module is disposed on the first shaft; the wireless communication module is in wired connection with the inertial sensor to be measured through the data acquisition module.
7. The inertial sensor mapping device of claim 6, wherein the data acquisition module comprises a plurality of acquisition units of different communication protocols; each acquisition unit is used for being in wired connection with the inertial sensor to be detected of the corresponding communication protocol.
8. The inertial sensor mapping device of claim 1, wherein the wireless routing module is a multiple-input multiple-output wireless routing.
9. The inertial sensor mapping device of claim 8, wherein the wireless routing module is a WiFi6 router.
10. An inertial sensor mapping system, comprising an inertial sensor mapping device according to any one of claims 1-9;
the system also includes a data acquisition device; the data acquisition device is connected with the wireless routing module of the inertial sensor mapping device in a networking mode through a wireless router.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211140207.XA CN115218929A (en) | 2022-09-20 | 2022-09-20 | Inertial sensor mapping device and system |
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| CN202211140207.XA CN115218929A (en) | 2022-09-20 | 2022-09-20 | Inertial sensor mapping device and system |
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