CN202002653U - Miniature attitude reference system - Google Patents
Miniature attitude reference system Download PDFInfo
- Publication number
- CN202002653U CN202002653U CN2010206516980U CN201020651698U CN202002653U CN 202002653 U CN202002653 U CN 202002653U CN 2010206516980 U CN2010206516980 U CN 2010206516980U CN 201020651698 U CN201020651698 U CN 201020651698U CN 202002653 U CN202002653 U CN 202002653U
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- circuit board
- reference system
- attitude reference
- module
- mems
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Abstract
A miniature attitude reference system belongs to the technical field of navigation, guidance and control, and comprises a base, an outer casing and an internal circuit. A triaxial mutual orthogonal MEMS (micro-electromechanical system) gyroscope, a DC/DC (direct current/direct current) power module, an A/D (analog/digital) module, a CPU (central processing unit) combination module, a serial communication module and the like are respectively mounted on the base through circuit boards, and the circuit boards are connected through connectors or cables. The high-precision A/D module is utilized to sample output of MEMS sensors and power supply voltage of the MEMS sensors, and output of the MEMS sensors is compensated in real time by monitoring fluctuation of the power supply voltage, so that precision of the attitude reference system is improved.
Description
Technical field
The utility model relates to a kind of miniature attitude reference system, can provide the linear acceleration information, angular velocity information of three axles in the inertial space and the attitude information in the regulation navigation coordinate system etc. for carrier.The utility model belongs to the Navigation, Guidance and Control technical field, can be widely used in the association areas such as attitude control of small-sized carriers such as Aeronautics and Astronautics, geologic prospecting, industrial measurement and control, robot, robot pilot, satellite earth antenna.
Background technology
Attitude reference system can provide linear acceleration information, angular velocity information, attitude information etc. for carrier, and the speed and the positional information of carrier can also be provided when embedding navigation software in system.Attitude reference system is the inertial navigation system most important component, wherein is used for the inertial sensor spare of slotted line acceleration and angular velocity: accelerometer and gyroscope are again the most important Sensitive Apparatuses of attitude reference system.
MEMS (micro electro mechanical system) (MEMS-Micro Electro-Mechanical Systems) is to grow up on the basis of microelectric technique at the end of last century, it utilizes the little processing of silicon, electroplates multiple micro-processing technologies such as template duplicating (LIGA) and precision optical machinery processing, and uses the intelligent micro device or the system that integrate micro mechanism, microsensor, miniature actuator and signal Processing and control circuit, communication interface and power supply etc. that modern information technologies constitute.Make inertial sensor spare with the MEMS technology, have only the finger nail size, and can make SMD structure and be welded direct on the circuit board, overturned the volume notion of conventional inertia Sensitive Apparatus.The inertial measuring unit that utilizes MEMS inertial sensor spare to form, as attitude reference system, its volume is little, and is in light weight, low in energy consumption, is subjected to increasing attention, becomes a new direction of Navigation, Guidance and Control technical field development.This series products has all obtained in the dual-use field of the U.S. widely using, and China adds the low restriction of MEMS inertial sensor spare precision owing to start late, on using also and developed country far apart.How to utilize the MEMS inertial sensor spare of low precision, reach the higher inertial measuring unit of precision and just become the great difficult problem that needs overcome.The utility model is selected the MEMS inertial sensor spare (mems accelerometer and MEMS gyroscope) of low precision for use, utilize structural design, circuit design, software compensation, special mode such as choose, develop miniature attitude reference system, satisfied the demand of degree of precision application conditions.
Summary of the invention
The purpose of this utility model provides the attitude reference system that a kind of volume is little, in light weight, low-cost, precision is high, be convenient to use.
The utility model adopts the 10V～40V direct current supply of widespread usage, standard RS232 serial communication interface.
The utility model collection MEMS sensor technology, high-precision digital data acquisition and storage, processing and structural design are one, the attitude information of linear acceleration information, rotational angular velocity information and the regulation navigation coordinate system of motion carrier three axles in inertial space can be provided, can in CPU, embed navigation algorithm, the speed of output movement carrier and positional information in addition.
Structure of the present utility model is made up of pedestal and shell.3 mems accelerometers, 3 MEMS gyroscopes, DC/DC power module, A/D module, CPU composite module and serial communication modules etc. are installed on the pedestal by circuit board, connect by connector or cable between the circuit board, and are fixed by securing member.Mounting means has been realized the alignment of 3 acceleration transducers and 3 angular-rate sensors, has improved the precision of attitude reference system.
The utility model is sampled to the variation of 2 kinds of MEMS sensor outputs and supply voltage thereof by high-precision A/D module on hardware design, utilize 2 kinds of MEMS sensor outputs of fluctuation real-Time Compensation of supply voltage, the performance that has overcome low-cost MEMS sensor has improved the output accuracy of attitude reference system with the shortcoming that the fluctuation of supply voltage reduces.
Consider that in addition the position angle is not having to be in divergent state under the auxiliary situation of external information, azimuth axis of the present utility model has upwards used high-precision gyroscope, disperses owing to gyrostatic zero drift causes thereby suppressed the position angle.
The utility model is mainly used in the angular velocity and the attitude control of Navigation, Guidance and Control technical field motion carrier.
Description of drawings
Accompanying drawing 1 is the inner structure synoptic diagram of the miniature attitude reference system of the utility model.
Accompanying drawing 2 is left views of the miniature attitude reference system of the utility model.
Accompanying drawing 3 is vertical views of the miniature attitude reference system of the utility model.
Embodiment
Miniature attitude reference system is made up of pedestal (8), shell (7) and internal circuit.
Mems accelerometer and MEMS gyroscope inertial sensor spare are installed in respectively on the pedestal (8) by circuit board (1), circuit board (2) and circuit board (3) respectively, and mounting base (8) has guaranteed the quadrature installation of circuit board (1), circuit board (2) and circuit board (3).
On circuit board (4), be integrated with DC/DC power module, CPU composite module and serial communication module.The DC/DC power module provides needed operating voltage for the circuit part of whole attitude reference system, and the CPU module then is responsible for the collection and the processing of data, and serial communication module has been realized unify mutual communication between the external unit of attitude reference system.
On circuit board (3), be integrated with high-precision A/D module, be used for gathering output signal from sensor output signal on circuit board (1) and the circuit board (2) and sensor (5).High-precision A/D module is sampled to the output and the supply voltage thereof of MEMS sensor, and by the fluctuation of monitoring supply voltage real-Time Compensation is carried out in the output of MEMS sensor, to improve the precision of attitude reference system.
Connect by connector or cable between circuit board (1), circuit board (2), circuit board (3) and the circuit board (4), and be fixed on the pedestal (8) by securing member.
Cable (10) is the external interface cable, is used for power supply and supplies with and data transmission, and attitude reference system adopts the direct supply of general 10V～40V to power, and carries out PERCOM peripheral communication by standard RS232 serial communication interface.
Shell (7) is fastened on the mounting base (8) by screw, and shell (7) is gone up adhesive label (9).
The physical dimension of miniature attitude reference system is not more than 80mm * 60mm * 50mm, and quality is not more than 100g.
Claims (6)
1. a miniature attitude reference system is made up of pedestal (8) and shell (7); 3 mutually orthogonal mems accelerometers, 3 mutually orthogonal MEMS gyroscopes, the DC/DC power module, the A/D module, CPU composite module and serial communication module etc. are installed in respectively on the pedestal (8) by circuit board (1), circuit board (2), circuit board (3) and circuit board (4), connect by connector or cable between the circuit board and are fixed by securing member.
2. miniature attitude reference system according to claim 1 is characterized in that physical dimension is not more than 80mm * 60mm * 50mm, and quality is not more than 100g.
3. miniature attitude reference system according to claim 1 is characterized in that selecting for use mems accelerometer and MEMS gyroscope inertial sensor spare, and is installed in respectively on the pedestal (8) by circuit board (1), circuit board (2) and circuit board (3).
4. miniature attitude reference system according to claim 1 is characterized in that mounting base (8) has guaranteed the quadrature installation of circuit board (1), circuit board (2) and circuit board (3).
5. miniature attitude reference system according to claim 1 is characterized in that connecting by connector or cable between circuit board (1), circuit board (2), circuit board (3) and the circuit board (4), and is fixed on the pedestal (8) by securing member.
6. miniature attitude reference system according to claim 1 is characterized in that adopting high-precision A/D module that the output and the supply voltage thereof of MEMS sensor are sampled, and by the fluctuation of monitoring supply voltage real-Time Compensation is carried out in the output of MEMS sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206516980U CN202002653U (en) | 2010-12-10 | 2010-12-10 | Miniature attitude reference system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206516980U CN202002653U (en) | 2010-12-10 | 2010-12-10 | Miniature attitude reference system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202002653U true CN202002653U (en) | 2011-10-05 |
Family
ID=44705390
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010206516980U Expired - Fee Related CN202002653U (en) | 2010-12-10 | 2010-12-10 | Miniature attitude reference system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202002653U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105517341A (en) * | 2014-09-26 | 2016-04-20 | 中国航空工业第六一八研究所 | MEMS navigation system electronic line novel configuration |
| CN107289934A (en) * | 2017-08-03 | 2017-10-24 | 重庆市皓颖科技发展有限公司 | A kind of attitude transducer of low-cost and high-precision |
-
2010
- 2010-12-10 CN CN2010206516980U patent/CN202002653U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105517341A (en) * | 2014-09-26 | 2016-04-20 | 中国航空工业第六一八研究所 | MEMS navigation system electronic line novel configuration |
| CN105517341B (en) * | 2014-09-26 | 2018-07-06 | 中国航空工业第六一八研究所 | MEMS navigation system electronic circuit configurations |
| CN107289934A (en) * | 2017-08-03 | 2017-10-24 | 重庆市皓颖科技发展有限公司 | A kind of attitude transducer of low-cost and high-precision |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20111005 Termination date: 20131210 |