CN201561759U - Inertial attitude and azimuth measuring device - Google Patents

Inertial attitude and azimuth measuring device Download PDF

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Publication number
CN201561759U
CN201561759U CN2009201647403U CN200920164740U CN201561759U CN 201561759 U CN201561759 U CN 201561759U CN 2009201647403 U CN2009201647403 U CN 2009201647403U CN 200920164740 U CN200920164740 U CN 200920164740U CN 201561759 U CN201561759 U CN 201561759U
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CN
China
Prior art keywords
central microprocessor
attitude
measurement
axis
sensor
Prior art date
Application number
CN2009201647403U
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Chinese (zh)
Inventor
魏承赟
尹雄师
李全
殷严刚
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魏承赟
尹雄师
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Application filed by 魏承赟, 尹雄师 filed Critical 魏承赟
Priority to CN2009201647403U priority Critical patent/CN201561759U/en
Application granted granted Critical
Publication of CN201561759U publication Critical patent/CN201561759U/en

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Abstract

The utility model discloses an inertial attitude and azimuth measuring device. The device is characterized in that a circuit board comprises a central microprocessor unit, an attitude sensor, an azimuth sensor and a user interface; and the attitude sensor, the azimuth sensor and the user interface are all connected with the central microprocessor unit, and the circuit board is fixed inside a case through a damping rubber ring. The inertial attitude and azimuth measuring device has the advantages of simple structure, low cost, complete signals, high measurement accuracy, good damping effect, and wide application range.

Description

Inertia attitude orientation measurement mechanism
Technical field
The utility model relates to measurement mechanism, particularly inertia attitude orientation measurement mechanism.
Background technology
Attitude measurement is significant for motion carriers such as aircraft, vehicles.At mini systems such as minute vehicles, mainly contain two kinds of simple inertia attitude measurement methods at present based on the micro-electro-mechanical sensors technology.
One is to use three quadrature gyroscope/groups, the angular speed of measuring is carried out integral operation, can obtain the 3 d pose information of mini system under any motion state in theory, but need the initial attitude benchmark as the initial value for integral in the recursive operation this moment, because of existing zero point drift to increase continuous accumulated error in time, can not work for a long time simultaneously.Second method is utilized accelerometer or obliquity sensor, can measure the roll angle and the angle of pitch of mini system, but they can't distinguish acceleration of motion and acceleration of gravity, only is applicable to plateaus such as static and linear uniform motion; Under the known prerequisite of roll angle and the angle of pitch, can determine the coordinate transformation relation between three-dimensional Magnetic Sensor direction of measurement and the local level, thus the course angle of obtaining.
More than two kinds of methods have separately use defective, application surface is very narrow when using separately.
Motion carrier is accurately controlled, except accurate attitude information, also needed accurate localization information.The location of moving object at present mainly relies on the GPS positioning system, and longitude and latitude can accurately be measured by this system, but it highly measures the influence that is subject to GPS receiver observation satellite number, and it is bigger to fluctuate.
The utility model content
The purpose of this utility model provides a kind of simple in structure, cost is low, signal is complete, measuring accuracy is high inertia attitude orientation measurement mechanism.Its integrated tri-axial rate gyro, three axis accelerometer and three axis magnetometer utilize the sensing data integration technology to compensate the use defective of simple inertia attitude measurement system, and important locating information is provided simultaneously.Aspect the location, utilize barometric altimeter that metastable elevation information is provided.
The utility model circuit board is made up of central microprocessor, attitude sensor, position transducer, user interface, and attitude sensor, position transducer, user interface are connected with central microprocessor respectively, and circuit board is fixed in the box body by the vibration damping cushion rubber.
Described attitude sensor is made up of three rate gyros, three axis accelerometer and three axis magnetometers.
Described position transducer is made up of barometric altimeter, GPS receiver and gps antenna.
Described central microprocessor self has analog to digital converter.
Three rate gyros, three axis accelerometer, three axis magnetometer and barometric altimeters are connected with the analog to digital converter that central microprocessor carries respectively.
The GPS receiver links to each other with central microprocessor.
Described central microprocessor model is ARM Cortex-M3.
The utility model has the advantages that simple in structure, cost is low, signal is complete, measuring accuracy is high, damping effect is good, applied range.
Description of drawings
Fig. 1 is the block diagram of system of the utility model measurement mechanism;
Fig. 2 is the structural representation of the utility model circuit board.
Among the figure: 1. three rate gyro 1-2. of attitude sensor 1-1. three axis accelerometer 1-3. three axis magnetometer, 2. position transducer 2-1. barometric altimeter 2-2.GPS receiver 2-3.GPS antenna 3. central microprocessor 3-1. analog to digital converters, 4. user interfaces (RS232 serial ports)
Embodiment
The utility model circuit board is made up of central microprocessor 3, attitude sensor 1, position transducer 2, user interface 4, attitude sensor 1, position transducer 2, user interface 4 are connected with central microprocessor 3 respectively, and circuit board is fixed in the box body by the vibration damping cushion rubber.
Described attitude sensor 1 is made up of three rate gyro 1-1, three axis accelerometer 1-2, three axis magnetometer 1-3.
Described position transducer 2 is made up of barometric altimeter 2-1 and GPS receiver 2-2, gps antenna 2-3.
Described central microprocessor 3 self has analog to digital converter 3-1.
Three rate gyro 1-1, three axis accelerometer 1-2, three axis magnetometer 1-3 and barometric altimeter 2-1 are connected with the analog to digital converter 3-1 that central microprocessor 3 carries respectively.
GPS receiver 2-2 links to each other with central microprocessor 3.
Described central microprocessor 3 models are ARM Cortex-M3.
Be applied as example with the utility model on the fixed-wing model plane, it is as follows to describe its course of work:
1, system installs: according to installation site mark x, y and the z axle of three rate gyro 1-1 in the utility model, the fixed-wing model plane are that true origin is set up three-dimensional system of coordinate with its centre of gravity place O, heading is an X-axis, the starboard wing direction is a Y-axis, the Z axle is then perpendicular to XOY plane, directed downwards, equipped with the utility model.
2, system initialization:
1) set the benchmark of three-axis gyroscope 1-1: the utility model was left standstill for 5 seconds, and central microprocessor 3 reads three of x, y and the z gyro angular rate data on axially, gets the gyro angular speed benchmark that its mean value makes progress as corresponding axis;
2) calculate initial attitude: in 5 seconds that the utility model leaves standstill, central microprocessor 3 reads the data of three axis accelerometer 1-2, gets the initial attitude that its three the reading averages on are axially calculated the fixed-wing model plane;
3) GPS locatees first: GPS receiver 2-2 analyzes the signal that gps antenna 2-3 receives, and obtains information such as longitude and latitude, course, time, again these information is sent to central microprocessor 3; Central microprocessor 3 carries out respective handling according to the data that GPS receiver 2-2 transmits, when receiver observation satellite number surpasses 3 stars, and the opening entry locating information.
3, operate as normal:
1) three rate gyro 1-1 measure three angular speeds that orthogonal axes makes progress, and pass to central microprocessor 3, and central microprocessor 3 solves first group of 3 d pose data by the hypercomplex number method;
2) simultaneously, three axis accelerometer 1-2 and three axis magnetometer 1-3 measure linear acceleration and the magnetic field strength date that three orthogonal axes make progress respectively, pass to central microprocessor 3, central microprocessor 3 calculates second group of 3 d pose data according to these six amounts matrix relationship each other;
3) two groups of 3 d pose data are put in the Kalman filter carried out data fusion, draw one group of accurate 3 d pose data;
4) the accurate 3 d pose data that obtain as the primary data of attitude algorithm next time.
4, acceleration and deceleration or turning motion:
Change the parameter of kalman filter noise matrix, the harmful effect of rejection of acceleration instrumentation amount data comes recursion to resolve attitude according to 3 step as far as possible.

Claims (6)

1. inertia attitude orientation measurement mechanism, it is characterized in that: circuit board is made up of central microprocessor, attitude sensor, position transducer and user interface, attitude sensor, position transducer, user interface are connected with central microprocessor respectively, and circuit board is fixed among the box body by the vibration damping cushion rubber.
2. measurement mechanism according to claim 1 is characterized in that: described attitude sensor is made up of three rate gyros, three axis accelerometer and three axis magnetometers.
3. definite device according to claim 1 is characterized in that: described position transducer is made up of barometric altimeter, GPS receiver and gps antenna.
4. measurement mechanism according to claim 1 is characterized in that: described central microprocessor self has analog to digital converter, and analog to digital converter is connected with three rate gyros, three axis accelerometer, three axis magnetometer and barometric altimeters respectively.
5. measurement mechanism according to claim 1 is characterized in that: described GPS receiver links to each other with described central microprocessor.
6. measurement mechanism according to claim 1 is characterized in that: described central microprocessor model is ARMCortex-M3.
CN2009201647403U 2009-10-18 2009-10-18 Inertial attitude and azimuth measuring device CN201561759U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2009201647403U CN201561759U (en) 2009-10-18 2009-10-18 Inertial attitude and azimuth measuring device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2009201647403U CN201561759U (en) 2009-10-18 2009-10-18 Inertial attitude and azimuth measuring device

Publications (1)

Publication Number Publication Date
CN201561759U true CN201561759U (en) 2010-08-25

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CN2009201647403U CN201561759U (en) 2009-10-18 2009-10-18 Inertial attitude and azimuth measuring device

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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102435167A (en) * 2011-09-15 2012-05-02 北京自动化控制设备研究所 Method for pre-processing control information of imaging load stabilizing system based on complementary filter
CN102707725A (en) * 2012-06-12 2012-10-03 桂林飞宇电子科技有限公司 Fixed-wing automatic navigation flight control system and using method thereof
CN103020598A (en) * 2012-12-11 2013-04-03 杭州电子科技大学 Method for identifying attitude variation when people performing specific actions
CN103092200A (en) * 2011-11-08 2013-05-08 上海新世纪机器人有限公司 Direction controlling device and direction controlling method using the same direction controlling device
CN103383260A (en) * 2013-07-12 2013-11-06 美新半导体(无锡)有限公司 Unmanned aerial vehicle navigation system and cooperative navigation system thereof
CN103490163A (en) * 2013-09-29 2014-01-01 星动通讯科技(苏州)有限公司 High-precision directional tracking device of mobile satellite antenna servo system
CN103721422A (en) * 2013-12-19 2014-04-16 桂林飞宇电子科技有限公司 Model airplane remote control handle with automatic attitude control function
CN103776448A (en) * 2014-02-17 2014-05-07 刘超军 Posture course reference system
CN104316080A (en) * 2014-10-13 2015-01-28 许志修 Device for resolving tilt compensation quaternion of attitude gyroscope
CN106840088A (en) * 2017-02-27 2017-06-13 武汉理工大学 A kind of onboard combined navigation roadbed subsidence method for fast measuring
CN107004945A (en) * 2016-10-18 2017-08-01 深圳市大疆创新科技有限公司 Antenna module and unmanned plane
CN110313973A (en) * 2019-07-05 2019-10-11 北京积水潭医院 Long bone rotary osteotomy operation angle measurement system and data processing method

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102435167A (en) * 2011-09-15 2012-05-02 北京自动化控制设备研究所 Method for pre-processing control information of imaging load stabilizing system based on complementary filter
CN103092200B (en) * 2011-11-08 2015-11-18 上海新世纪机器人有限公司 Direction-control apparatus and the method utilizing this device travel direction to control
CN103092200A (en) * 2011-11-08 2013-05-08 上海新世纪机器人有限公司 Direction controlling device and direction controlling method using the same direction controlling device
CN102707725B (en) * 2012-06-12 2014-10-29 桂林飞宇电子科技有限公司 Fixed-wing automatic navigation flight control system and using method thereof
CN102707725A (en) * 2012-06-12 2012-10-03 桂林飞宇电子科技有限公司 Fixed-wing automatic navigation flight control system and using method thereof
CN103020598B (en) * 2012-12-11 2015-08-19 杭州电子科技大学 A kind ofly carry out knowledge method for distinguishing for attitude variation when people being completed to specific action
CN103020598A (en) * 2012-12-11 2013-04-03 杭州电子科技大学 Method for identifying attitude variation when people performing specific actions
CN103383260A (en) * 2013-07-12 2013-11-06 美新半导体(无锡)有限公司 Unmanned aerial vehicle navigation system and cooperative navigation system thereof
CN103490163A (en) * 2013-09-29 2014-01-01 星动通讯科技(苏州)有限公司 High-precision directional tracking device of mobile satellite antenna servo system
CN103721422B (en) * 2013-12-19 2016-03-09 桂林飞宇电子科技有限公司 A kind of model airplane remote control handle that can realize attitude and automatically control
CN103721422A (en) * 2013-12-19 2014-04-16 桂林飞宇电子科技有限公司 Model airplane remote control handle with automatic attitude control function
CN103776448A (en) * 2014-02-17 2014-05-07 刘超军 Posture course reference system
CN103776448B (en) * 2014-02-17 2016-08-31 武汉元生创新科技有限公司 A kind of attitude heading reference system
CN104316080A (en) * 2014-10-13 2015-01-28 许志修 Device for resolving tilt compensation quaternion of attitude gyroscope
CN104316080B (en) * 2014-10-13 2017-06-13 许志修 A kind of attitude gyroscope slope compensation quaternary number resolver
CN107004945A (en) * 2016-10-18 2017-08-01 深圳市大疆创新科技有限公司 Antenna module and unmanned plane
CN107004945B (en) * 2016-10-18 2019-07-23 深圳市大疆创新科技有限公司 Antenna module and unmanned plane
CN106840088A (en) * 2017-02-27 2017-06-13 武汉理工大学 A kind of onboard combined navigation roadbed subsidence method for fast measuring
CN110313973A (en) * 2019-07-05 2019-10-11 北京积水潭医院 Long bone rotary osteotomy operation angle measurement system and data processing method

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GR01 Patent grant
C14 Grant of patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20100825

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