CN1818556A - Connected inertia measuring device of open-loop fibre-optical - Google Patents
Connected inertia measuring device of open-loop fibre-optical Download PDFInfo
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- CN1818556A CN1818556A CNA2006100115814A CN200610011581A CN1818556A CN 1818556 A CN1818556 A CN 1818556A CN A2006100115814 A CNA2006100115814 A CN A2006100115814A CN 200610011581 A CN200610011581 A CN 200610011581A CN 1818556 A CN1818556 A CN 1818556A
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Abstract
A device for measuring strap down inertia of gyroscope in small volume and open ring optical fiber type consists of three open ring optical fiber gyroscopes, accelerometer, signal collection module, data processing module, data transmission interface and mechanical framework .It is featured as forming mechanical framework by T form structure and base plate, setting X-axis gyroscope on base plate and setting Y-axis gyroscope and Z-axis gyroscope on T form structure, setting accelerometer on said framework and setting signal collection and data processing modules on T form structure .
Description
Technical field
The present invention relates to a kind of strap-down inertial measurement unit based on open-loop optical fiber gyro and silicon micro accerometer, be used to measure the acceleration and the rotation angle speed of carrier, particularly a kind of connected inertia measuring device of open-loop fibre-optical is applicable to small size, strap-down inertial navigation system cheaply.
Background technology
Navigational system has been deep in our life, and wherein inertial navigation receives the concern of various countries as the core of navigational system always, and each state has all dropped into lot of manpower and material resources research.And inertial measuring unit is the core of inertial navigation system, and its precision, volume and cost directly influence every index of navigational system.Development along with the gyro technology, strap-down inertial navigation system because of its with respect to gimbaled inertial navigation system have small size, advantage is developed rapidly cheaply, the strap-down inertial measurement unit technical research has been subjected to the generally attention of various countries, and has a wide range of applications in fields such as Aero-Space, communications and transportation, electric power energies.
Tactical weapon action time is short low cost, miniaturization requirement, this has proposed very high request to inertial measurement system wherein, the conventional inertia measurement mechanism adopts the mechanical type inertia device mostly, and wherein platform-type inertial measuring unit volume is big, weight is big, cost an arm and a leg; The mechanical gyro strap-down inertial measurement unit of present comparative maturity, because there is high speed rotor in the mechanical gyro inertia device, dynamic range is less, shock resistance is poor, and traditional mechanical gyro volume can not satisfy the miniaturization requirement more greatly; At present, the laser gyro strap down inertial measuring unit of domestic development and closed-loop fiber optic gyroscope inertial measuring unit also all exist the problem that volume is big, weight is big, can not satisfy the miniaturization needs.Existing tactical weapon navigational system is owing to adopt these traditional, ripe inertial measuring units, therefore there are the characteristics that volume is big, weight is big, cost is high, so conventional inertia device inertial measuring unit and existing laser gyro, closed-loop fiber optic gyroscope inertial measuring unit can not satisfy the requirement that novel tactical weapon miniaturization develops.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, provide that a kind of volume is little, in light weight, dynamic range is big, shock resistance, strap-down inertial measurement unit that cost is low.
Technical solution of the present invention is: a kind of connected inertia measuring device of open-loop fibre-optical is made up of X-axis open-loop optical fiber gyro, Y-axis open-loop optical fiber gyro and Z axle open-loop optical fiber gyro, accelerometer module, data processing module, signal acquisition module, base plate and T type structure, and T type structure connects firmly the machinery frame of having formed this inertial measuring unit by bolt and base plate.The X-axis open-loop optical fiber gyro is installed on the base plate, and Y-axis open-loop optical fiber gyro and Z axle open-loop optical fiber gyro are installed on the side of T type structure, and the sensitive axes of three gyros is mutually orthogonal, has constituted the measurement coordinate system of this inertial measuring unit.Accelerometer module is fixed on the side of base plate and T type structure, and signal acquisition module and data processing module all are installed on the T type structure.Link to each other by the lead-out terminal of signal wire with gyro, accelerometer.
Described T type structure connects firmly by bolt and base plate forms machinery frame employing aluminum alloy materials, its processing, be equipped with strict tolerance fit and satisfy the integrated design requirement, guarantee that three gyro locating surfaces are orthogonal, simple in structure, easy to process, reduced the volume of this inertial measuring unit.Base plate and T type structure surface scribble insulation course, are embedded in the lining of being made by nylon rod at machinery frame screw nest, isolate gyro housing and machinery frame, have strengthened the reliability of system, have reduced the noise of acquired signal, improve system accuracy.
Described accelerometer module mainly is made up of X-axis silicon micro accerometer, Y-axis silicon micro accerometer, Z axle silicon micro accerometer, three silicon micro accerometers and peripheral circuit thereof are welded on the circuit board, three circuit boards are linked into an integrated entity by connector, output signal to signal acquisition module by lead.
Described signal acquisition module is mainly finished the sampling to the output signal of temperature, X-axis open-loop optical fiber gyro, Y-axis open-loop optical fiber gyro and Z axle open-loop optical fiber gyro and accelerometer module, adopt difference, ratio, biasing to amplify pre-process, through analog to digital conversion, analog filtering, obtain the high precision collecting data.This module is gathered 8 tunnel simulating signals altogether, except three road gyro signals, three tunnel accelerometer signal, also gathers accelerometer chip temperature and environment temperature simultaneously so that system carries out temperature compensation.
Described data processing module is mainly finished the control to analog to digital converter, and to the digital filtering of the gyro gathered and accelerometer signal, error compensation etc., and the data after will handling are exported to navigational computer.
Open-loop optical fiber gyro strap-down inertial measurement unit of the present invention, adopt small size open-loop optical fiber gyro and silicon micro accerometer as inertia sensitive element, overcome that mechanical gyro inertia device dynamic range is less, the shortcoming of shock resistance difference, made that inertial measuring unit has that dynamic range is big, shock resistance, performance cheaply; By Optimal Structure Designing, adopt T type structure and base plate to form machinery frame, make inertial measuring unit reduce volume, reduced weight; Adopt gyro housing and machinery frame isolation structure and insulating Design altogether, improved anti-noise ability, precision and the reliability of inertial measuring unit.
Advantage of the present invention: (1) adopts small size open-loop optical fiber gyro and silicon micro accerometer as inertia sensitive element, has both reduced the volume of inertial measuring unit, has guaranteed measuring accuracy again; (2) by Optimal Structure Designing, adopt T type structure and base plate to form machinery frame, effectively utilized the space, further reduced volume and quality; (3) adopt insulating Design, eliminated gyro shell and machinery frame influence altogether, improved the precision and the reliability of system; (4) adopt gyro housing and machinery frame isolation structure altogether, improved the anti-noise ability of system; (5) the C6000 series DSP chip that adopts Ti company to produce processes device, has high speed, floating-point, high performance characteristics, the high precision that is easy to get inertia device data.
Description of drawings
Fig. 1 is a kind of fiber strapdown measurement mechanism one-piece construction synoptic diagram of the present invention;
Fig. 2 is black box explosion figure of the present invention;
Fig. 3 is a machinery frame synoptic diagram of the present invention;
Fig. 4 is a gyro housing of the present invention and machinery frame isolation structure synoptic diagram altogether;
Fig. 5 is an accelerometer module synoptic diagram of the present invention;
Fig. 6 is a data acquisition and processing (DAP) structural representation of the present invention;
Fig. 7 is signal acquisition module circuit theory diagrams of the present invention;
Fig. 8 (A), Fig. 8 (B), Fig. 8 (C) are data processing module circuit theory diagrams of the present invention.
Embodiment
As shown in Figure 1, the present invention is a kind of small size strap-down inertial measurement unit structural representation based on open-loop optical fiber gyro and silicon micro accerometer.
Referring to shown in Figure 2, the present invention is made up of base plate 1, T type structure 2, X-axis open-loop optical fiber gyro 31, Y-axis open-loop optical fiber gyro 32, Z axle open-loop optical fiber gyro 33, accelerometer module 4, data processing module 5 and signal acquisition module 6.T type structure connects firmly on base plate 1 with bolt.X-axis open-loop optical fiber gyro 31 is fixed on the upper surface of base plate 1, and Y-axis open-loop optical fiber gyro 32 and Z axle open-loop optical fiber gyro 33 are installed in 2 two mutually perpendicular side surfaces of T type structure respectively.Accelerometer module 4 is made up of three silicon micro accerometers and supporting mimic channel, is installed on base plate 1 and the T type structure 2.Data processing module 5 and signal acquisition module 6 all are installed on the T type structure 2, link to each other by the lead-out terminal of lead with open-loop optical fiber gyro, silicon micro accerometer.
As shown in Figure 3, machinery frame mainly is made up of base plate 1 and T type structure 2, adopts aluminum alloy materials, has alleviated physical construction weight, the processing of base plate 1 and T type structure 2, be equipped with strict tolerance fit and satisfy the integrated design requirement, guarantee the orthogonal of three gyro locating surfaces.Because the gyro housing altogether, can produce noise during energising, and reduce system reliability, therefore scribble insulation course, in gyro mounting screw nest, add insulating bushing on the machinery frame surface.Machinery frame is embedded in the V-arrangement lining of being made by nylon rod 7 as shown in Figure 4, so just gyro housing and machinery frame is separated, and has strengthened the reliability of system, has reduced the noise of acquired signal, improves system accuracy.
As shown in Figure 5, accelerometer module mainly is made up of X-axis silicon micro accerometer 41, Y-axis silicon micro accerometer 42, Z axle silicon micro accerometer 43, three silicon micro accerometers are welded on the circuit board, and three circuit boards are linked into an integrated entity by connector, output signal to signal acquisition module 6 by lead.
As shown in Figure 6, the present invention gathers and passes to DSP behind open-loop optical fiber gyro, silicon micro accerometer and the temperature signal and carry out data processing, is transferred to other equipment by interface circuit again.Wherein signal acquisition module 6 circuit theory diagrams as shown in Figure 7, be made up of differential amplifier circuit, filtering circuit, ADS8345 and peripheral circuit thereof, signal acquisition module 6 of the present invention is mainly finished the functions such as sampling, analog filtering, amplification and analog to digital conversion to the output signal of temperature, 31,32,33 and three silicon micro accerometers 41,42,43 of three open-loop optical fiber gyros.For improving the precision of this inertial measuring unit, open-loop optical fiber gyro and silicon micro accerometer output have designed pre-amplification circuit.For giving full play to the performance of gyro, its signal output is carried out difference with simulation ground amplifies, and then utilize the one-level amplifier bipolarity output is converted into 0～+ output of 5V unipolarity, to carry out the A/D conversion; The silicon micro accerometer that the present invention adopts is difference output, is converted to single-ended bipolarity output through the one-level amplifier, equally again through the one-level amplifier be converted to 0～+ carry out the A/D conversion after the output of 5V unipolarity.This module is gathered 8 tunnel simulating signals altogether, except three road gyro signals, three tunnel accelerometer signal, also gathers accelerometer chip temperature and environment temperature simultaneously so that system carries out temperature compensation.That the A/D conversion chip is selected for use is the ADS8345 of TI company.This chip has: 16 conversion accuracies; The single-ended input of 8 passages; Switching rate up to 100K; The 5V single power supply; With DSP compatible synchronous serial line interface.It can realize seamless interfacing with the C6000DSP platform of TI with less software overhead, and is simple to operate.For improving the A/D conversion accuracy, the advantage that performance DSP high-speed digital signal is handled can adopt oversampling technique to improve the A/D conversion resolution.
Fig. 8 (A), Fig. 8 (B), Fig. 8 (C) are data processing module 5 circuit theory diagrams, data processing module 5 of the present invention is mainly finished the control to analog to digital converter ADS8345, and to the digital filtering of the gyro gathered and accelerometer signal, error compensation etc., and the data after will handling are exported by communication module navigation computing machine.That native system is selected for use is high speed digital signal processor-TMS320C6711, it is 32 a high-end floating type dsp chips that TI company releases, during dominant frequency 100MHz, the instruction cycle is 10ns, and highest point reason speed can reach 900MFLOPS (1,000,000 floating-point operation/seconds).6711 on-chip memory resource is less relatively, and the buffer memory L2 of the program of a 8K byte, metadata cache L1 and 64K byte does not have the spendable ROM of user.Need extend out the high-speed SRAM that is used for working procedure, and stored program FLASH.SRAM selects the IDT71V416S10 of IDT company for use, and read or write speed is 10ns, and capacity is 256K * 16bit, adopts the mode of two parallel connections; FLASH is a slow devices, and speed has not been its leading indicator, and its capacity meets the demands and gets final product, and selects the AM29LV800 of AMD for use, and capacity is 1M * 8bit, and speed is 90ns.Utilize another multichannel buffered serial port (McBSP) of DSP to expand serial data FLASH, be used to store some important parameters.Setting again of penalty coefficient behind the feasible system periodic calibrating.Also have logical circuit of clock on the data processing module circuit board, it utilizes system clock, has designed the high precision frequency divider and has obtained 4ms pps pulse per second signal and 8ms timing signal.Wherein the 4ms pps pulse per second signal is exported after light-coupled isolation, and the 8ms timing signal is introduced DSP and produced the external definition interruption.Logical circuit of clock is also realized functions such as logic decoding and sequential control; Adopt the asynchronous serial port communication with the communication of outside, realize the RS422 high-speed serial communication by expansion asynchronous communication chip.The asynchronous serial port expansion normally is made up of UART chip and level transferring chip.That native system adopts is the TL16C550 of TI company and the level transferring chip MAX1490 that has light-coupled isolation of MAXIM company, and baud rate is 115200bps.
It is known that the content that is not described in detail in the instructions of the present invention belongs to this area professional and technical personnel
Prior art.
Claims (8)
1, a kind of connected inertia measuring device of open-loop fibre-optical, it is characterized in that: it is by X-axis open-loop optical fiber gyro (31), Y-axis open-loop optical fiber gyro (32) and Z axle open-loop optical fiber gyro (33), accelerometer module (4), data processing module (5), signal acquisition module (6), base plate (1) and T type structure (2) are formed, T type structure (2) connects firmly the machinery frame of having formed this inertial measuring unit by bolt and base plate (1), X-axis open-loop optical fiber gyro (31) is installed on the base plate (1), Y-axis open-loop optical fiber gyro (32) and Z axle open-loop optical fiber gyro (33) are installed on the side of T type structure (2), the sensitive axes of three gyros is mutually orthogonal, has constituted the measurement coordinate system of this inertial measuring unit; Accelerometer module (4) is fixed on the side of base plate (1) and T type structure (2), and signal acquisition module (6) and data processing module (5) all are installed on the T type structure (2), link to each other by the lead-out terminal of signal wire with gyro, accelerometer.
2, a kind of connected inertia measuring device of open-loop fibre-optical according to claim 1, it is characterized in that: the machinery frame that described T type structure (2) and base plate (1) connect firmly composition all adopts aluminum alloy materials processing, base plate (1) and T type structure (2) surface scribble insulation course, be embedded in the lining of making by nylon rod (7) at machinery frame screw nest, isolate gyro housing and machinery frame.
3, a kind of connected inertia measuring device of open-loop fibre-optical according to claim 1, it is characterized in that: described accelerometer module (4) mainly is made up of X-axis silicon micro accerometer (41), Y-axis silicon micro accerometer (42), Z axle silicon micro accerometer (43), three silicon micro accerometers and peripheral circuit thereof are welded on the circuit board, three circuit boards are linked into an integrated entity by connector, output signal to signal acquisition module by lead.
4, a kind of connected inertia measuring device of open-loop fibre-optical according to claim 1, it is characterized in that: described signal acquisition module (6) is mainly finished the sampling to the output signal of temperature, X-axis open-loop optical fiber gyro (31), Y-axis open-loop optical fiber gyro (32) and Z axle open-loop optical fiber gyro (33) and accelerometer module (4), adopt difference, ratio, biasing to amplify pre-process, through analog to digital conversion, analog filtering, obtain the high precision collecting data.This module is gathered 8 tunnel simulating signals altogether, except three road gyro signals, three tunnel accelerometer signal, also gathers accelerometer chip temperature and environment temperature simultaneously so that system carries out temperature compensation.
5, a kind of connected inertia measuring device of open-loop fibre-optical according to claim 1, it is characterized in that: described data processing module (5) is mainly finished the control to analog to digital converter, and to the digital filtering of the gyro gathered and accelerometer signal, error compensation etc., and the data after will handling are exported to navigational computer.
6, a kind of connected inertia measuring device of open-loop fibre-optical according to claim 1 is characterized in that: the C6000 series DSP chip that described data processing module (5) adopts Ti company to produce processes device.
7, a kind of connected inertia measuring device of open-loop fibre-optical according to claim 1 is characterized in that: described X-axis open-loop optical fiber gyro (31), Y-axis open-loop optical fiber gyro (32) and Z axle open-loop optical fiber gyro (33) all adopt the open-loop optical fiber gyro VG941-3AM of small size.
8, a kind of connected inertia measuring device of open-loop fibre-optical according to claim 3 is characterized in that: described three silicon micro accerometers adopt Model1221.
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| CN100449317C (en) * | 2006-11-08 | 2009-01-07 | 浙江大学 | High distinguishability subnanosecond magnitude optical three-dimensional accelerometer |
| CN101750065A (en) * | 2008-11-28 | 2010-06-23 | 国营三四○五厂 | High-density floated gyro strap-down inertial measurement unit |
| CN101349564B (en) * | 2008-06-13 | 2010-12-08 | 北京航空航天大学 | Inertial measurement apparatus |
| CN103471588A (en) * | 2013-09-06 | 2013-12-25 | 北京航天控制仪器研究所 | Asynchronous communication synchronization method for inertial measurement device based on error compensation |
| CN103674004A (en) * | 2012-09-07 | 2014-03-26 | 中国航空工业第六一八研究所 | Triaxial fiber gyroscope assembly and mounting bracket thereof |
| CN105910635A (en) * | 2016-06-23 | 2016-08-31 | 北京合众思壮科技股份有限公司 | Inertial measurement unit (IMU) mounting seat |
| CN106052682A (en) * | 2016-05-13 | 2016-10-26 | 北京航空航天大学 | Mixed inertial navigation system and navigation method |
| CN106289251A (en) * | 2016-08-24 | 2017-01-04 | 中船重工西安东仪科工集团有限公司 | A kind of microminiature inertial Combined structure of sensor |
| CN110553637A (en) * | 2019-09-11 | 2019-12-10 | 上海航天控制技术研究所 | Optical fiber gyroscope combination |
| CN112146652A (en) * | 2020-09-25 | 2020-12-29 | 上海航天控制技术研究所 | Micro-mechanical inertial measurement combination for satellite |
| CN112241131A (en) * | 2020-09-07 | 2021-01-19 | 河北汉光重工有限责任公司 | AD7609 multichannel analog signal synchronous acquisition system based on FPGA |
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- 2006-03-29 CN CNB2006100115814A patent/CN1322312C/en not_active Expired - Fee Related
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| CN100449317C (en) * | 2006-11-08 | 2009-01-07 | 浙江大学 | High distinguishability subnanosecond magnitude optical three-dimensional accelerometer |
| CN101349564B (en) * | 2008-06-13 | 2010-12-08 | 北京航空航天大学 | Inertial measurement apparatus |
| CN101750065A (en) * | 2008-11-28 | 2010-06-23 | 国营三四○五厂 | High-density floated gyro strap-down inertial measurement unit |
| CN103674004A (en) * | 2012-09-07 | 2014-03-26 | 中国航空工业第六一八研究所 | Triaxial fiber gyroscope assembly and mounting bracket thereof |
| CN103471588A (en) * | 2013-09-06 | 2013-12-25 | 北京航天控制仪器研究所 | Asynchronous communication synchronization method for inertial measurement device based on error compensation |
| CN103471588B (en) * | 2013-09-06 | 2016-02-10 | 北京航天控制仪器研究所 | A kind of inertial measuring unit asynchronous communication synchronous method based on error compensation |
| CN106052682B (en) * | 2016-05-13 | 2018-12-11 | 北京航空航天大学 | A kind of hybrid inertial navigation system and air navigation aid |
| CN106052682A (en) * | 2016-05-13 | 2016-10-26 | 北京航空航天大学 | Mixed inertial navigation system and navigation method |
| CN105910635A (en) * | 2016-06-23 | 2016-08-31 | 北京合众思壮科技股份有限公司 | Inertial measurement unit (IMU) mounting seat |
| CN105910635B (en) * | 2016-06-23 | 2019-04-26 | 北京合众思壮科技股份有限公司 | A kind of Inertial Measurement Unit mounting body |
| CN106289251A (en) * | 2016-08-24 | 2017-01-04 | 中船重工西安东仪科工集团有限公司 | A kind of microminiature inertial Combined structure of sensor |
| CN110553637A (en) * | 2019-09-11 | 2019-12-10 | 上海航天控制技术研究所 | Optical fiber gyroscope combination |
| CN112241131A (en) * | 2020-09-07 | 2021-01-19 | 河北汉光重工有限责任公司 | AD7609 multichannel analog signal synchronous acquisition system based on FPGA |
| CN112146652A (en) * | 2020-09-25 | 2020-12-29 | 上海航天控制技术研究所 | Micro-mechanical inertial measurement combination for satellite |
| CN114166220A (en) * | 2021-12-06 | 2022-03-11 | 广州导远电子科技有限公司 | Fiber-optic gyroscope combined navigation device and method |
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