CN201897479U

CN201897479U - Triaxial attitude sensor

Info

Publication number: CN201897479U
Application number: CN201020582320XU
Authority: CN
Inventors: 殷芹; 代洪兵; 张道勇; 杨通兰; 邓小群
Original assignee: Guizhou Aerospace Control Technology Co Ltd
Current assignee: Guizhou Aerospace Control Technology Co Ltd
Priority date: 2010-10-29
Filing date: 2010-10-29
Publication date: 2011-07-13
Anticipated expiration: 2020-10-29

Abstract

The utility model discloses a triaxial attitude sensor which comprises a sensitive element, a signal processing plate and a power supply plate; the triaxial attitude sensor is characterized in that: the sensitive element is a micro-mechanical gyroscope and an accelerometer. The triaxial attitude sensor adopts the micro-mechanical gyroscope and the accelerometer to measure the attitude angle of the carrier and the information on the angle movement, and utilizes the error compensation technology of the low-precision micro-mechanical gyroscope acceleration effect to lead the power supply needed by the technical scheme to be only +5 V; meanwhile, a subsequent rebalancing loop is not needed, so that the product structure is greatly simplified; furthermore, the cost of the micro-mechanical gyroscope is 1/5 of the cost of a high-precision mechanical gyro and an optical gyroscope, therefore, the low cost of the product is realized.

Description

Three axis attitude sensor

Technical field

The utility model relates to a kind of attitude sensor, specifically a kind of three axis attitude sensor that adopts micro-mechanical gyroscope and accelerometer.

Background technology

At present, the inertial measurement method that attitude of carrier angle and angular motion information spinner will adopt is to utilize the inertia device of high precision such as laser gyro, restrained gyroscope and flexure gyroscope to carry out the north orientation location, or use satellite positioning tech to determine the carrier north orientation, according to north orientation vector analysis is carried out in the output of gyroscope and accelerometer again, calculate the movable information of system, the deficiency that exists in these technology is used the high accuracy gyroscope instrument for needs, need to adopt complicated power supply system simultaneously, follow-uply also need balanced loop again, so the technical scheme complexity; Because the cost height of high accuracy gyroscope instrument causes price also very high, be unfavorable for realizing cost degradation in addition.

The utility model content

For solving the problems of the technologies described above, the purpose of this utility model is to provide a kind of three axis attitude sensor, can realize the measurement of attitude of carrier angle and angular motion information effectively.

The utility model is achieved by following technical solution.

A kind of three axis attitude sensor comprises sensitive element, signal-processing board and power panel, it is characterized in that: described sensitive element is micro-mechanical gyroscope and accelerometer.

Compared with prior art, the beneficial effect that the utility model reaches is that the utility model adopts micro-mechanical gyroscope and accelerometer to measure the attitude angle and the angular motion information of carrier, utilized the Error Compensation Technology of low precision micro-mechanical gyroscope acceleration effect, the power supply that the technical program need be provided only is+5V, do not need follow-up balanced loop again, simplified the structure of product greatly, in addition, because the micro-mechanical gyroscope price is 1/5th of high-accuracy mechanical gyroscope, an optical gyroscope, therefore realized the cost degradation of product.

Description of drawings

Fig. 1 is a structural drawing of the present utility model;

Fig. 2 is a sensitive element combination assumption diagram in the utility model;

Fig. 3 is a composition block scheme of the present utility model;

Fig. 4 is the fundamental diagram of accelerometer measures attitude angle.

Among the figure: 1-micro-mechanical gyroscope, 2-accelerometer, 3-vibration damper, 4-connector, 5-support, 6-power panel, 7-signal-processing board.

Embodiment

Form by the following examples, content of the present utility model is described in further detail, but the scope that should at this point not be interpreted as theme described in the utility model only limits to following embodiment, do not breaking away under the above-mentioned technological thought situation of the utility model, all various modifications, replacement and changes of making according to ordinary skill knowledge and customary means include in scope of the present utility model.

Fig. 1 is a structural drawing of the present utility model, and three axis attitude sensor described in the utility model comprises sensitive element, signal-processing board and power panel, it is characterized in that: described sensitive element is micro-mechanical gyroscope and accelerometer.A side is equipped with power panel 6 and signal-processing board 7 in the housing of three axis attitude sensor, the base plate of housing is provided with support 5, micromechanical gyro 1 is fixed on the support 5 with accelerometer 2 sensitive elements, also be connected with the out connector 4 of micromechanical gyro 1 and accelerometer 2 simultaneously on the support 5, so that product maintenance.

Fig. 3 and Fig. 4 are respectively the fundamental diagrams of composition block scheme of the present utility model and accelerometer measures attitude angle, the utility model utilizes the principle at accelerometer measures attitude of carrier angle to be: utilize the component of accelerometer measures terrestrial gravitation acceleration on the carrier measurement axis, through resolving the attitude angle that obtains carrier, when the sensitive axes of accelerometer is in surface level, the component of terrestrial gravitation acceleration on the sensitive axes of accelerometer is zero, when having an angle between the sensitive axes of accelerometer and the surface level, accelerometer just has output, angle is a sinusoidal curve relation between the size of output and sensitive axes and the surface level, when the sensitive axes vertical of accelerometer during in surface level, what accelerometer was just responsive is the One Earth One Family gravity acceleration g.The sensitivity amount g1=gsin θ of accelerometer then just can obtain the sensitive axes of accelerometer and the value of the angle between the surface level by the triangle θ=arcsin (g1/g) that negates among Fig. 2.

Generally speaking, measuring the angular speed information of carrier when motion state only needs gyroscope to get final product, measuring the artificial intelligence of carrier when motion state only needs accelerometer to get final product, but because when real work, the installation site of product, not on the centre of gyration of carrier movement, but having necessarily apart from r with the centre of gyration of carrier movement, the result who causes like this is: product is to be that the center of circle, radius are to-and-fro movement on one section circular arc ABC of r with the centre of gyration around carrier movement at the movement locus on the carrier of motion.In the case, product can be subjected to centrifugal action when motion, thereby generation centrifugal acceleration, this centrifugal acceleration meeting and acceleration of gravity are coupled, cause in the measured value of accelerometer to have comprised centrifugal acceleration, directly just there is error in calculating, and this measuring error changes along with the variation of centrifugal acceleration, the size of centrifugal acceleration a is relevant with angular speed ω with centrifugal radius r, i.e. a=r ω 2.According to the working environment of system, be installed in the measuring error that diverse location produced of carrier through the simulation calculation product.Under certain situation of carrier rocking tendency and cycle, centrifugal radius r is big more, then just big more by its test error that causes, must compensate it for this reason, just can reach the requirement of technical indicator, its compensation method is to adopt gyroscope to measure the angular speed information of product around the carrier centre of gyration, through resolving the value that obtains centrifugal acceleration, compensate with the output data of this information at last, thereby obtain the attitude angle information of the relative geographic coordinate system of real carrier accelerometer.

Claims

1. a three axis attitude sensor comprises sensitive element, signal-processing board and power panel, it is characterized in that: described sensitive element is micro-mechanical gyroscope (1) and accelerometer (2).