CN202008367U - Parameter resolving circuit of micro-attitude reference system - Google Patents
Parameter resolving circuit of micro-attitude reference system Download PDFInfo
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- CN202008367U CN202008367U CN 201020651708 CN201020651708U CN202008367U CN 202008367 U CN202008367 U CN 202008367U CN 201020651708 CN201020651708 CN 201020651708 CN 201020651708 U CN201020651708 U CN 201020651708U CN 202008367 U CN202008367 U CN 202008367U
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- attitude reference
- gyroscope
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Abstract
A parameter resolving circuit of a micro-attitude reference system belongs to the technical field of navigation, guidance and control and consists of a gyroscope module, an accelerometer module, a DC/DC power module, a reverse connection preventive circuit, an A/D module, a voltage compensating module, an ARM (advanced RISC machine) combination module and a serial communication module. An external power source is connected to the gyroscope module, the accelerometer module and the DC/DC power module, outputs of the gyroscope module and the accelerometer module are respectively connected to the A/D module, are outputted to the CPU (central processing unit) combination module after A/D conversion of the outputs and then are outputted to the external via the serial communication module, and the DC/DC power module is respectively connected to the A/D module, the CPU combination module and the serial communication module, and provides power supply to the corresponding modules. The parameter resolving circuit is characterized by compensating output of a sensor at real time by means of acquiring change of temperatures of a gyroscope and an accelerometer via the A/D module, overcomes the shortcoming that performances of a low-cost sensor is reduced along with temperature fluctuation, and increases output precision of the attitude reference system.
Description
Technical field
The utility model belongs to the Navigation, Guidance and Control technical field, be particularly related to the circuit design of attitude reference system, 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
Along with science and technology development, existing at present various attitude reference systems also respectively have advantage and characteristic on its core attitude algorithm circuit, but intrinsic weak point are also arranged.The advantage of comprehensive various attitude algorithm circuit overcomes shortcoming wherein, has formed a kind of new attitude algorithm circuit.
The attitude algorithm circuit can be gathered the voltage output of inertial sensor spares such as gyroscope, accelerometer, carries out analog to digital conversion one by one by multi-channel gating switch and A/D conversion chip, is converted into to send into the ARM chip behind the digital quantity and handle.Carry out temperature compensation and attitude algorithm in the ARM chip after, the attitude of carrier parameter that obtains outputs to computing machine by serial port communication chip.
The attitude algorithm circuit mainly is the precision that has improved attitude reference system, is the core of attitude reference system.Its feature be low in energy consumption, precision is high, antijamming capability is strong, debugging is flexible.
Summary of the invention
The purpose of this utility model provide a kind of low in energy consumption, precision is high, little attitude reference system parameter calculation circuit of applied range.
The utility model adopts 10V～40V direct current supply, serial communication interfaces such as standard RS-422 or RS-485.
The high-precision digital data acquisition of the utility model collection and storage, temperature compensation are treated to 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, in ARM, embed navigation algorithm in addition, the speed of output movement carrier and positional information.
Of the present utility model being characterised in that by gyroscope group, accelerometer group, DC/DC power module, reverse-connection preventing circuit, A/D module, voltage compensation module, CPU composite module and serial communication module formed.External power source is connected to gyroscope group, accelerometer group, DC/DC power module by reverse-connection preventing circuit, the output of gyroscope group, accelerometer group outputs to the CPU composite module after being connected respectively to A/D module, process A/D conversion, externally export by serial communication module again, the DC/DC power module is connected respectively to A/D module, CPU composite module and serial communication module, for corresponding module provides the power supply supply.Key of the present utility model is by the variation of A/D module collection gyroscope and ACTE sensor to be exported to carry out real-Time Compensation, overcome low-cost sensor performance with the shortcoming that the fluctuation of temperature reduces, improved the output accuracy of attitude reference system.
The utility model is mainly used in the attitude algorithm of Navigation, Guidance and Control technical field motion carrier.
Description of drawings
Fig. 1 is an overall circuit theory diagram of the present utility model.
Fig. 2 is the schematic block circuit diagram of 3 mutually orthogonal accelerometers.
Fig. 3 is 3 mutually orthogonal gyrostatic schematic block circuit diagram.
Fig. 4 is the schematic block circuit diagram of reverse-connection preventing circuit.
Fig. 5 is the schematic block circuit diagram of A/D module.
Fig. 6 is the schematic block circuit diagram of voltage compensation module.
Fig. 7 is the schematic block circuit diagram of CPU composite module.
Fig. 8 is the schematic block circuit diagram of serial communication module.
Embodiment
Referring to accompanying drawing, overall circuit theory diagram of the present utility model mainly is made up of accelerometer group, gyroscope group, DC/DC power module, reverse-connection preventing circuit, A/D module, CPU composite module and serial communication module as shown in Figure 1.Wherein the DC/DC power module is selected the high precision DC/DC power module of ripple less than 10mV for use, and stable working power can be provided.
The schematic block circuit diagram of accelerometer group is seen Fig. 2, is made of 3 mutually orthogonal accelerometers and signal amplifier thereof, treatment circuit.
The schematic block circuit diagram of gyroscope group is seen Fig. 3, by 3 mutually orthogonal gyroscopes and signal amplifier thereof, treatment circuit.
The schematic block circuit diagram of reverse-connection preventing circuit is seen Fig. 4, selects for use 2 diodes to form reverse-connection preventing circuit, connects inverse time protection total system circuit at power positive cathode and is not damaged.
The schematic block circuit diagram of A/D module is seen Fig. 5, selects the multi channel selecting A/D module of being made up of analog switch chip and modulus conversion chip for use, has solved the circuit problem of multi-channel A/D conversion.
The schematic block circuit diagram of voltage compensation module is seen Fig. 6, thereby by the fluctuation of A/D pick-up transducers temperature gyroscope and acceierometer sensor output is carried out real-Time Compensation.
The schematic block circuit diagram of CPU composite module is seen Fig. 7, selects for use the ARM chip to form the CPU composite module, is used to receive gyroscope and acceierometer sensor output after the digitizing, and it is carried out temperature compensation and demarcate to handle obtaining physical quantity corresponding.
The schematic block circuit diagram of serial communication module is seen Fig. 8, selects for use the MAX490 chipset to become serial communication module, by the output valve of RS-422 communications protocol transmitting system.
Claims (7)
1. little attitude reference system parameter calculation circuit is characterized in that being made up of gyroscope group, accelerometer group, DC/DC power module, reverse-connection preventing circuit, A/D module, voltage compensation module, CPU composite module and serial communication module; External power source is connected to gyroscope group, accelerometer group, DC/DC power module by reverse-connection preventing circuit, the output of gyroscope group, accelerometer group outputs to the CPU composite module after being connected respectively to A/D module, process A/D conversion, externally export by serial communication module again, the DC/DC power module is connected respectively to A/D module, CPU composite module and serial communication module, for corresponding module provides the power supply supply.
2. little attitude reference system parameter calculation circuit according to claim 1 is characterized in that selecting for use the high precision DC/DC power module of ripple less than 10mV.
3. little attitude reference system parameter calculation circuit according to claim 1 is characterized in that selecting for use 2 diodes to form reverse-connection preventing circuit.
4. little attitude reference system parameter calculation circuit according to claim 1 is characterized in that selecting for use the multi channel selecting analog to digital conversion circuit of being made up of analog switch chip and modulus conversion chip.
5. little attitude reference system parameter calculation circuit according to claim 1, thus it is characterized in that gyroscope and acceierometer sensor output being carried out real-Time Compensation by the fluctuation of A/D pick-up transducers temperature.
6. little attitude reference system parameter calculation circuit according to claim 1 is characterized in that selecting for use the ARM chip to form the CPU composite module.
7. little attitude reference system parameter calculation circuit according to claim 1 is characterized in that selecting for use the MAX490 chipset to become serial communication module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201020651708 CN202008367U (en) | 2010-12-10 | 2010-12-10 | Parameter resolving circuit of micro-attitude reference system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201020651708 CN202008367U (en) | 2010-12-10 | 2010-12-10 | Parameter resolving circuit of micro-attitude reference system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202008367U true CN202008367U (en) | 2011-10-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201020651708 Expired - Fee Related CN202008367U (en) | 2010-12-10 | 2010-12-10 | Parameter resolving circuit of micro-attitude reference system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103790583A (en) * | 2014-02-27 | 2014-05-14 | 河南理工大学 | Geological prediction method based on inertia measurement parameters |
| CN107328414A (en) * | 2017-07-03 | 2017-11-07 | 芜湖市海联机械设备有限公司 | A kind of gyroscope |
| CN109143942A (en) * | 2018-10-23 | 2019-01-04 | 重庆天箭惯性科技股份有限公司 | A kind of attitude transducer control system |
-
2010
- 2010-12-10 CN CN 201020651708 patent/CN202008367U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103790583A (en) * | 2014-02-27 | 2014-05-14 | 河南理工大学 | Geological prediction method based on inertia measurement parameters |
| CN103790583B (en) * | 2014-02-27 | 2017-02-08 | 河南理工大学 | Geological prediction method based on inertia measurement parameters |
| CN107328414A (en) * | 2017-07-03 | 2017-11-07 | 芜湖市海联机械设备有限公司 | A kind of gyroscope |
| CN109143942A (en) * | 2018-10-23 | 2019-01-04 | 重庆天箭惯性科技股份有限公司 | A kind of attitude transducer control system |
| CN109143942B (en) * | 2018-10-23 | 2024-05-14 | 重庆天箭惯性科技股份有限公司 | Attitude sensor control system |
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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: 20111012 Termination date: 20131210 |