CN116839573A - High overload inertial measurement device for underwater use - Google Patents
High overload inertial measurement device for underwater use Download PDFInfo
- Publication number
- CN116839573A CN116839573A CN202310877421.1A CN202310877421A CN116839573A CN 116839573 A CN116839573 A CN 116839573A CN 202310877421 A CN202310877421 A CN 202310877421A CN 116839573 A CN116839573 A CN 116839573A
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- mems
- inertial measurement
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- acceleration
- accelerometer
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- 238000005259 measurement Methods 0.000 title claims abstract description 42
- 230000001133 acceleration Effects 0.000 claims abstract description 38
- 230000010365 information processing Effects 0.000 claims abstract description 24
- 230000003321 amplification Effects 0.000 claims abstract description 4
- 238000003199 nucleic acid amplification method Methods 0.000 claims abstract description 4
- 239000013078 crystal Substances 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 238000013461 design Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- 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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Gyroscopes (AREA)
Abstract
The invention relates to an underwater high overload inertial measurement device, and belongs to the field of inertial measurement. The circuit board of the inertial measurement device is 2, namely an MEMS board and an information processing board; the MEMS board comprises 3 MEMS gyroscopes and 3 MEMS accelerometers, acquires information of angular velocity and acceleration, and transmits the information to the SoC of the information processing board through an SPI interface; the information processing board includes: soC, piezoelectric accelerometer, op-amp and AD; the piezoelectric accelerometer outputs 4 paths of analog quantities, and the analog quantities respectively represent X, Y, Z acceleration and temperature information, and the analog quantities are converted into digital signals through operational amplification and AD and then sent to the SoC through an SPI interface. The invention solves the problem of high overload and high-precision acceleration measurement of miniature missile weapons. Meanwhile, the strict requirement of the inertial measurement device on the volume is met.
Description
Technical Field
The invention belongs to the field of inertial measurement, and particularly relates to an underwater high overload inertial measurement device.
Background
The inertial measurement device is used for sensing angular speed and acceleration information of the movement of the underwater miniature missile, performing navigation calculation, outputting a control instruction and controlling the gesture and the position of the movement of the miniature missile. The accelerometer is a key component of an inertial measurement device and is used for measuring acceleration information of three axial directions of the miniature missile, and is limited by the space of the miniature missile, so that the accelerometer needs to meet the light and small design requirements. Meanwhile, the acceleration instantaneous quantity of the mini missile reaches more than 600g at the moment of entering water, and the accelerometer needs to meet the requirement of a wide range.
The MEMS accelerometer has small volume and high measurement precision, but the measuring range is generally within 100g, and the accelerometer cannot be sensitive to acceleration above 600 g. The range of the piezoelectric accelerometer reaches 1000g, but the zero drift error is larger, and the requirement of long-time navigation calculation accuracy cannot be met.
Disclosure of Invention
First, the technical problem to be solved
The invention aims to solve the technical problem of how to provide a high overload inertial measurement device for underwater use so as to solve the problem of high overload and high-precision acceleration measurement of miniature missile weapons.
(II) technical scheme
In order to solve the technical problems, the invention provides an underwater high overload inertial measurement device, wherein 2 circuit boards of the inertial measurement device are respectively an MEMS board and an information processing board;
the MEMS board comprises 3 MEMS gyroscopes and 3 MEMS accelerometers, acquires information of angular velocity and acceleration, and transmits the information to the SoC of the information processing board through an SPI interface;
the information processing board includes: soC, piezoelectric accelerometer, op-amp and AD; the piezoelectric accelerometer outputs 4 paths of analog quantities, and the analog quantities respectively represent X, Y, Z acceleration and temperature information, and the analog quantities are converted into digital signals through operational amplification and AD and then sent to the SoC through an SPI interface.
Further, the information processing board further includes: soC, DDR, FLASH, crystal oscillator, reset, DC/DC, debugging interface and RS-422 interface chip.
Further, the information processing board is composed of 3 circular printed boards, namely a board A, a board B and a board C, and the information processing board is connected through a flexible cable and locked through screws and sleeves after being bent for 2 times.
Further, the board A houses pads for the piezoelectric accelerometer, op-amp, AD, and MEMS.
Further, board B houses SoC, DDR, FLASH, crystal, reset and debug interfaces.
Further, board C houses the DC/DC, RS-422 interface chips and connectors.
Further, the MEMS board is composed of 6 small boards 1, 2, 3, 4, 5, 6, and is connected by flexible cables, wherein the boards 1, 2, 3, 4, 5 are locked on the structural body by screws, and the boards 6 are welded with double rows of pins and then are inserted with the information processing board.
Further, the TOP surface of the plate 1 is the X axis of the gyroscope, and the BOTTOM surface is the Z axis of the accelerometer; the TOP surface of the plate 2 is the accelerometer X-axis; the TOP surface of the plate 3 is the accelerometer Y-axis; the TOP surface of the plate 4 is the Y axis of the gyroscope; the TOP surface of the plate 5 is the gyroscope Z-axis.
Further, after power-on, firstly initializing the MEMS accelerometer and the piezoelectric accelerometer, and then selecting the output of the MEMS accelerometer for navigation; and judging the value of the MEMS acceleration, and if the value is between-50 g and +50g, the output precision of the MEMS acceleration is better, and the output of the MEMS accelerometer is selected for navigation.
Further, if the value of the MEMS acceleration is more than or equal to +50g or less than or equal to-50 g, the value of the MEMS acceleration is out of range at the moment and cannot display a real acceleration value, the output of the piezoelectric accelerometer is switched to navigate, and meanwhile, the value of the MEMS acceleration is continuously judged.
(III) beneficial effects
The invention provides an underwater high overload inertial measurement device, which mainly comprises the following key points:
1. the MEMS accelerometer and the piezoelectric accelerometer are designed in double redundancy, and the design is a key point of the invention for realizing high overload and high precision acceleration detection.
2. Specific configurations of the information processing board and the MEMS board, and the workflow are described.
The invention solves the problem of high overload and high-precision acceleration measurement of miniature missile weapons by designing a high overload inertial measurement device for underwater and adopting a double redundancy scheme of an MEMS accelerometer and a piezoelectric accelerometer. Meanwhile, the strict requirement of the inertial measurement device on the volume is met.
Drawings
FIG. 1 is a functional block diagram of an under water high overload inertial measurement unit of the present invention;
FIG. 2 is a circuit layout of an information processing board;
FIG. 3 is a circuit layout of a MEMS board;
FIG. 4 is a flow chart of an inertial measurement unit.
Detailed Description
To make the objects, contents and advantages of the present invention more apparent, the following detailed description of the present invention will be given with reference to the accompanying drawings and examples.
The invention provides an underwater high overload inertial measurement device, which combines the advantages of an MEMS accelerometer and a piezoelectric accelerometer, designs the high overload and high precision inertial measurement device, and meets the navigation and control requirements of underwater miniature missile weapons.
The functional block diagram of the invention is shown in figure 1, and 2 circuit boards of the underwater high overload inertial measurement device are respectively a MEMS board and an information processing board. The MEMS board comprises 3 MEMS gyroscopes and 3 MEMS accelerometers, acquires information of angular velocity and acceleration, and transmits the information to the SoC of the information processing board through the SPI interface.
The information processing board includes: soC, DDR, FLASH, crystal oscillator, reset, DC/DC, debugging interface, piezoelectric accelerometer, operational amplifier, AD, RS-422 interface chip, etc. The piezoelectric accelerometer outputs 4 paths of analog quantities, and the analog quantities respectively represent X, Y, Z acceleration and temperature information, and the analog quantities are converted into digital signals through operational amplification and AD and then sent to the SoC through an SPI interface.
The information processing board is composed of 3 circular printed boards A, B and C, and is connected through a flexible cable, and is locked through screws and sleeves after being bent for 2 times. The plate A is provided with devices such as a piezoelectric accelerometer, an operational amplifier, an AD, a bonding pad inserted with the MEMS and the like; the board B is provided with SoC, DDR, FLASH devices, crystal oscillator devices, reset devices, debugging interfaces and the like; the board C is provided with devices such as DC/DC, RS-422 interface chips, connectors and the like. The specific distribution is shown in fig. 2:
the MEMS board comprises 6 small plates including a board 1, a board 2, a board 3, a board 4, a board 5 and a board 6, and is connected through a flexible cable, wherein the board 1, the board 2, the board 3, the board 4 and the board 5 are locked on a structural body through screws, and the board 6 is welded with double rows of contact pins and then is inserted with an information processing board.
The TOP surface of the plate 1 is the X axis of the gyroscope, and the BOTTOM surface is the Z axis of the accelerometer; the TOP surface of the plate 2 is the accelerometer X-axis; the TOP surface of the plate 3 is the accelerometer Y-axis; the TOP surface of the plate 4 is the Y axis of the gyroscope; the TOP surface of the plate 5 is the gyroscope Z-axis. The specific distribution is shown in fig. 3:
in order to meet the requirements of an inertial measurement device on high dynamic and high precision of acceleration measurement, after power-on, an MEMS accelerometer and a piezoelectric accelerometer are initialized, and then the output of the MEMS accelerometer is selected for navigation; judging the value of the MEMS acceleration, if the value is between-50 g and +50g, the output precision of the MEMS acceleration is better, and selecting the output of the MEMS accelerometer for navigation;
if the value of the MEMS acceleration is more than or equal to +50g or less than or equal to-50 g, the value of the MEMS acceleration is out of range at the moment and cannot display a real acceleration value, the output of the piezoelectric accelerometer is switched to navigate, meanwhile, the value of the MEMS acceleration is continuously judged, and the process is repeated, wherein the specific working flow is shown in figure 4.
The constitution and the workflow of the underwater high overload inertial measurement device are proprietary.
The key points of the invention mainly include the following points:
1. the MEMS accelerometer and the piezoelectric accelerometer are designed in double redundancy, and the design is a key point of the invention for realizing high overload and high precision acceleration detection.
2. Specific configurations of the information processing board and the MEMS board, and the workflow are described.
The invention solves the problem of high overload and high-precision acceleration measurement of miniature missile weapons by designing a high overload inertial measurement device for underwater and adopting a double redundancy scheme of an MEMS accelerometer and a piezoelectric accelerometer. Meanwhile, the strict requirement of the inertial measurement device on the volume is met.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (10)
1. The underwater high overload inertial measurement device is characterized in that 2 circuit boards of the inertial measurement device are respectively an MEMS board and an information processing board;
the MEMS board comprises 3 MEMS gyroscopes and 3 MEMS accelerometers, acquires information of angular velocity and acceleration, and transmits the information to the SoC of the information processing board through an SPI interface;
the information processing board includes: soC, piezoelectric accelerometer, op-amp and AD; the piezoelectric accelerometer outputs 4 paths of analog quantities, and the analog quantities respectively represent X, Y, Z acceleration and temperature information, and the analog quantities are converted into digital signals through operational amplification and AD and then sent to the SoC through an SPI interface.
2. The underwater high overload inertial measurement unit of claim 1, wherein the information processing board further comprises: soC, DDR, FLASH, crystal oscillator, reset, DC/DC, debugging interface and RS-422 interface chip.
3. The underwater high overload inertial measurement unit as claimed in claim 2, wherein the information processing board is composed of 3 circular printed boards, namely board a, board B and board C, which are connected by flexible cables, and are locked by screws and sleeves after being bent for 2 times.
4. A high overload inertial measurement unit for underwater use as claimed in claim 3 wherein the plate a houses piezoelectric accelerometers, op-amps, AD, pads interposed with MEMS.
5. A high overload inertial measurement unit for underwater use as claimed in claim 3 wherein board B houses SoC, DDR, FLASH, crystal, reset and debug interfaces.
6. A high overload inertial measurement unit for underwater use as claimed in claim 3 wherein the board C houses the DC/DC, RS-422 interface chips and connectors.
7. An under water high overload inertial measurement unit according to any one of claims 1 to 6, characterised in that the MEMS plates consist of 6 small plates 1, 2, 3, 4, 5, 6 connected by flexible cables, wherein the plates 1, 2, 3, 4, 5 are screwed onto the structural body, the plates 6 are soldered with double rows of pins and then are inserted against the information processing plate.
8. The underwater high overload inertial measurement unit as claimed in claim 7, wherein the TOP surface of the plate 1 is the gyroscope X-axis and the botom surface is the accelerometer Z-axis; the TOP surface of the plate 2 is the accelerometer X-axis; the TOP surface of the plate 3 is the accelerometer Y-axis; the TOP surface of the plate 4 is the Y axis of the gyroscope; the TOP surface of the plate 5 is the gyroscope Z-axis.
9. The underwater high overload inertial measurement unit of claim 8 wherein after powering up, the MEMS accelerometer and the piezoelectric accelerometer are initialized first, and then the output of the MEMS accelerometer is selected for navigation; and judging the value of the MEMS acceleration, and if the value is between-50 g and +50g, the output precision of the MEMS acceleration is better, and the output of the MEMS accelerometer is selected for navigation.
10. The underwater high overload inertial measurement unit of claim 9, wherein if the value of the MEMS acceleration is greater than or equal to +50g, or the value of the MEMS acceleration is less than or equal to-50 g, the value of the MEMS acceleration is out of range, the real acceleration value cannot be displayed, the output of the piezoelectric accelerometer is switched to navigate, and the value of the MEMS acceleration is continuously determined.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310877421.1A CN116839573A (en) | 2023-07-18 | 2023-07-18 | High overload inertial measurement device for underwater use |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310877421.1A CN116839573A (en) | 2023-07-18 | 2023-07-18 | High overload inertial measurement device for underwater use |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116839573A true CN116839573A (en) | 2023-10-03 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310877421.1A Pending CN116839573A (en) | 2023-07-18 | 2023-07-18 | High overload inertial measurement device for underwater use |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116839573A (en) |
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2023
- 2023-07-18 CN CN202310877421.1A patent/CN116839573A/en active Pending
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