CN202648654U - Intelligent inclinometer - Google Patents
Intelligent inclinometer Download PDFInfo
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- CN202648654U CN202648654U CN 201220293085 CN201220293085U CN202648654U CN 202648654 U CN202648654 U CN 202648654U CN 201220293085 CN201220293085 CN 201220293085 CN 201220293085 U CN201220293085 U CN 201220293085U CN 202648654 U CN202648654 U CN 202648654U
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Abstract
The utility model discloses an intelligent inclinometer, which comprises an inclination sensor, a filter unit, a processor, a digital-display indexing turntable, a power supply system and a gyroscope unit. The filter unit is used for filtering analog signals output by the inclination sensor; the processor is used for high-accuracy analog-digital conversion of the analog signals subjected to filtration after being output by the inclination sensor, filtration of digital signals is performed in the processor, inclination output information can be reflected truly, and angle conversion can be performed on the signals subjected to digital processing; the digital-display indexing turntable is connected with the processor and is used for testing data required for linear compensation of the inclination sensor and calculating an appropriate linear calibration coefficient; and the gyroscope unit is connected with the processor and is used for providing angular rates of horizontal rolling, pitching and heading of a measurement body. High-accuracy angle measurement can be provided for the quasi-static state and highly-dynamic state of heading, horizontal rolling and pitching, and demands of industrial applications and applications in measurement of institutes and military units can be satisfied.
Description
Technical field
The utility model belongs to field of measuring technique, relates to a kind of intelligent inclinator, relates in particular to a kind of roll, pitching, course measurement and dynamic digitalized intelligent inclinator of self-leveling height done.
Background technology
Digitalized clinometer is to measure object tilt variation and the time dependent instrument of pedal line in time; Gyroscope only is used for measured angular speed, only is suitable for high dynamic angle measurement, and since the time factor such as float cause its measuring accuracy relatively poor; They respectively independently.
Usually lower, Digitalized clinometer only can be measured the quasistatic angle of roll, pitching, and during for higher dynamic measurement, it often is subject to the interference of dynamic acceleration, and measuring accuracy is very poor.Therefore, existing Digitalized clinometer generally only provides single shaft or twin shaft to measure, i.e. roll, luffing angle are measured, and fails to provide course heading to measure.
For the existing requirement of not satisfied actual measurement based on the inclinator of acceleration of gravity principle, single gyroscope or inclinator have not satisfied quasistatic and the requirement of high dynamic angle attitude measurement, method is in the past selected respectively inclinator, gyroscope, and its advantage separately can not be embodied a concentrated reflection of out.Gyroscope and inclinator are combined with innovating, reduce user's burden, in some application places, have obvious technical advantage and using value such as the high-precision attitude fields of measurement in the motions such as automobile, boats and ships.
The utility model content
Technical problem to be solved in the utility model is: a kind of intelligent inclinator is provided, can provide roll, pitching, course dynamically and the static attitude angle, utilize the dynamic advantage of gyroscope to remedy the dynamic deficiency of inclinator, utilize the quasistatic advantage of inclinator remedy gyrostatic static not enough and the time float problem.
For solving the problems of the technologies described above, the utility model adopts following technical scheme:
A kind of intelligent inclinator, described inclinator comprises:
Obliquity sensor is in order to provide high-resolution angle of inclination;
Filter unit is connected with described obliquity sensor, in order to the simulating signal of described obliquity sensor output is carried out filtering;
Processor, be connected with described filter unit, in order to simulating signal obliquity sensor output, process filtering is carried out the high precision analogue conversion, in processor, do digital signal filter, reflect truly inclination angle output information, and the signal after the digital processing is carried out angular transition;
Digital display graduation rotating platform is connected with described processor, tests in order to obliquity sensor is made the required data of linear compensation, calculates suitable linear calibration's coefficient; Linear calibration's coefficient that described processor further utilizes digital display graduation rotating platform to calculate is made linear compensation to the angle-data of measuring;
Gyro unit is connected with described processor, and the angular speed of measuring body roll, pitching, course is provided;
Power-supply system is connected with described obliquity sensor, filter unit, processor, digital display graduation rotating platform, gyro unit, in order to power supply to be provided.
As a kind of preferred version of the present utility model, described filter unit is the hardware filtering unit, in order to filtering in the simulating signal bandwidth that obliquity sensor is exported.
As a kind of preferred version of the present utility model, described inclinator further comprises high low temperature sweat box, does compensation in order to the temperature at zero point of inclinator is floated.
As a kind of preferred version of the present utility model, described inclinator further comprises high low temperature sweat box, does compensation in order to the Sensitivity Temperature of inclinator is floated.
As a kind of preferred version of the present utility model, described inclinator further comprises one or more in 232 output interfaces, 485 output interfaces, 422 output interfaces, V/I output interface, LCD output interface, the CAN interface.
As a kind of preferred version of the present utility model, described processor is the MCU of built-in 24bit analog-to-digital conversion unit AD.
As a kind of preferred version of the present utility model, described gyroscope is built-in gyroscope modules, connects by digital SPI interface MCU.
As a kind of preferred version of the present utility model, described gyro unit is connected with described processor, in order to roll, pitching, course angle rate information to be provided, and roll, pitching, course angle rate information be sent to processor, integral operation goes out the dynamic attitude angle in roll, pitching, course to angular speed by processor.
The beneficial effects of the utility model are: the intelligent inclinator that the utility model proposes, the quasistatic of course, roll, pitching, high dynamic high precision measurement of angle can be provided, can satisfy commercial Application, study the in one's power measurement application demand of military project unit.Simultaneously, the utility model provides the angular speed of measuring body roll, pitching, course with gyroscope and obliquity sensor perfect adaptation together, realizes powerful measurement function, relatively has Digital Dipmeter now and has a clear superiority in.
This digital inclinator can provide abundant interface, and such as digital quantity RS232, RS485, RS422, CAN, LCD shows, the digital interface software protocol is optional, such as Modbus, and CAN2.0a or Can2.0b etc., analog quantity voltage and electric current, the analog output scope can arrange.
In addition, the utility model Digital Dipmeter in house software is integrated from calibration algorithm, and externally shirtsleeve operation realizes the digital automatic Calibration of Digital Dipmeter itself.
Description of drawings
Fig. 1 is the composition schematic diagram of the utility model Digitalized intelligent clinometer.
Fig. 2 is the process flow diagram of the utility model dipmeter survey method.
Embodiment
Describe preferred embodiment of the present utility model in detail below in conjunction with accompanying drawing.
Embodiment one
The utility model has disclosed a kind of intelligent inclinator, comprises obliquity sensor, filter unit, processor, digital display graduation rotating platform, power-supply system, gyro unit.Obliquity sensor is in order to provide high-resolution angle of inclination; Filter unit is connected with described obliquity sensor, in order to the simulating signal of described obliquity sensor output is carried out filtering; Processor is connected with described filter unit, in order to the simulating signal through filtering of obliquity sensor output is carried out the high precision analogue conversion, in processor, do digital signal filtering, reach and reflect truly inclination angle output information, and the signal after the digital processing is carried out angular transition; Digital display graduation rotating platform is connected with described processor, tests in order to biography inclination angle sensor is made the required data of linear compensation, calculates suitable linear calibration's coefficient; Linear calibration's coefficient that described processor further utilizes digital display graduation rotating platform to calculate is made linear compensation to the angle-data of measuring; Gyro unit is connected with described processor, and the angular speed of measuring body roll, pitching, course is provided; Power-supply system is connected with described obliquity sensor, filter unit, processor, digital display graduation rotating platform, gyro unit, in order to power supply to be provided.
See also Fig. 1, in the present embodiment, described inclinator comprises MCU 4, digital display graduation rotating platform (not shown), a plurality of output interface (comprising 232 output interfaces 5,485 output interfaces 6,422 output interfaces 7, V/I output interface 8, LCD output interface 9, CAN interface 10) of core high precision MEMS obliquity sensor 1, hardware filtering unit 2, power-supply system 3, built-in 24Bit analog-to-digital conversion unit AD.Described MCU4 connects hardware filtering unit 2, power-supply system 3, digital display graduation rotating platform, each output interface, and described power-supply system 3 connects obliquity sensor 1, hardware filtering unit 2, digital display graduation rotating platform, each output interface.Described gyro unit 11 connects MCU4.
Core high precision MEMS obliquity sensor 1 can provide very high angular resolution, by filtering in 2 couples of high precision MEMS of hardware filtering obliquity sensor, the 1 outputting analog signal bandwidth, the MCU of built-in 24BitAD carries out the high precision analogue conversion to the simulating signal of core high precision MEMS obliquity sensor 1 output, in the MCU in house software, do digital signal filtering, reach and reflect truly inclination angle output information.
4 pairs of gyro units 11 of the MCU of built-in 24bit AD obtain the angular speed of measuring body roll, pitching, course, and MCU 4 integral operationes went out high dynamic angle when height was dynamic, and take quasi-static angle as init state.
The MCU 4 of built-in 24bit AD can carry out angular transition to signal after the digital processing, then can utilize outside high-precision digital display graduation rotating platform that obliquity sensor is made the required data of linear compensation and test.The MCU 4 of built-in 24bit AD utilizes inner least square method algorithm to the on-line testing data operation, calculates suitable linear calibration's coefficient, and is stored in the Flash Data storage space of opening up MCU inside.After measuring each time, linear calibration's coefficient that the MCU 4 of built-in 24bit AD utilizes calculated in advance to go out is made linear compensation to the angle-data of measuring, and reaches the purpose of the linearity that improves measurement of dip angle.
The linear compensation method of described processor comprises: to one group of standard value a
1, a
2, a
3..., a
k, and the actual measurement gained one class value b to organizing standard value
1, b
2, b
3..., b
k, simulate a polynomial expression a according to two class values
i=F (b
i), i=1...k, i.e. f=k
0+ k
1C+k
2C
2+ k
3C
3+ ...+k
mC
m, k
0, k
1, k
2, k
3..., k
mBe multinomial coefficient, C=a
1, a
2, a
3..., a
kUtilize the least square method algorithm, find the solution the coefficient k of fitting of a polynomial
0, k
1, k
2, k
3..., k
m, the MCU program of processor is solidified this polynomial expression wherein, and utilizes this polynomial expression that the data that gather are carried out polynomial computation, i.e. compensation data.
As shown in Figure 1, inside circuit is provided with 232 output interfaces 5,485 output interfaces 6,422 output interfaces 7, V/I output interface 8, LCD output interface 9, CAN interface 10, multiple output interface is provided, wherein inside circuit is constructed 232 output interfaces 5,485 output interfaces 6,422 output interfaces 7 and can be provided output according to user's needs custom communication agreement or according to standard agreement, such as ModBus etc.; CAN interface 10 can be realized Can2.0a/b or the output of Can Open agreement.V/I output interface 8 can provide voltage and current output, but output voltage unipolarity or bipolarity, output voltage range reaches-10VDC～+ 10VDC, can adjust voltage output range by software inhouse.Electric current output can reach 0～24mA scope, and the electric current output area can be by the software inhouse adjustment.
In addition, described Digitalized intelligent clinometer further comprises high low temperature sweat box, does compensation in order to the temperature at zero point of inclinator is floated float with Sensitivity Temperature.Utilize the high low temperature experimental box of external unit that core high precision MEMS obliquity sensor 1 is done temperature compensation test (Sensitivity Temperature is floated, zero point temperature float), built-in 24bitMCU 4 utilize inner least square method algorithm to online to test data process, computing, calculate temperature compensation coefficient, and be stored in the storage space of opening up inside, later on every-inferior measurement data output all can by the temperature compensation coefficient correction, can reduce temperature to the impact of sensor well.
The zero point temperature drift compensation method comprises: humid test is done in the output at zero point to inclinator, export the variation of temperature influence the zero point of measuring inclinator, utilize least square fitting to go out polynomial relation formula between zero point output and the temperature variation, Z=Z (T), i.e. Z (T)=k
0+ k
1T+k
2T
2+ k
3T
3+ ...+k
mT
m, wherein, k
0, k
1, k
2, k
3..., k
mBe multinomial coefficient; Utilize the least square method algorithm, find the solution the coefficient k of fitting of a polynomial
0, k
1, k
2, k
3..., k
n, the MCU program of processor is solidified this polynomial expression wherein, and utilizes this relational expression that compensation is done in output at zero point.
The compensation of α TCS method comprises: humid test is done in the sensitivity to inclinator, measure the variation of the sensitivity temperature influence of inclinator, utilize least square fitting to go out polynomial relation formula between sensitivity and the temperature variation, S=S(T), i.e. S (T)=k
0+ k
1T+k
2T
2+ k
3T
3+ ...+k
mT
m, wherein, k
0, k
1, k
2, k
3..., k
mBe multinomial coefficient; Utilize the least square method algorithm, find the solution the coefficient k of fitting of a polynomial
0, k
1, k
2, k
3..., k
m, the MCU program of processor is solidified this polynomial expression wherein, and utilizes this relational expression that compensation is done in sensitivity.
Above-mentioned three compensation process have used least square method; In three compensation process, polynomial coefficient k
0, k
1, k
2, k
3... k
mCalculate polynomial coefficient k in three compensation process according to actual conditions
0, k
1, k
2, k
3..., k
mAnd do not require equal.
More than introduced the composition of the utility model Digitalized intelligent clinometer, the utility model also discloses a kind of measuring method of being combined with gyroscope of above-mentioned Digitalized intelligent clinometer when disclosing above-mentioned Digitalized intelligent clinometer; See also Fig. 2, described measuring method comprises the steps:
[step S1] obliquity sensor provides high-resolution angle of inclination, and filter unit is to the simulating signal filtering of obliquity sensor output;
[step S2] processor carries out the high precision analogue conversion to the simulating signal through filtering of obliquity sensor output, does digital signal filtering in processor, reaches to reflect truly inclination angle output information;
The signal of [step S3] processor after to digital processing carries out angular transition, utilizing outside high-precision digital display graduation rotating platform that obliquity sensor is made the required data of linear compensation tests, described processor utilizes the least square method algorithm to the on-line testing data operation, calculate suitable linear calibration's coefficient, and be stored in the storage space in the processor;
After [step S4] measured each time, linear calibration's coefficient that processor utilizes calculated in advance to go out was made linear compensation to the angle-data of measuring, and reaches the purpose of the linearity that improves measurement of dip angle.
After [step S5] measures each time, processor judge dynamically according to gyrostatic angular speed and static switch reach provide inclinator dynamically, the purpose of static measurement performance.
[step S6] selects corresponding angle to resolve mode according to dynamic and static judged result, reaches the course heading that inclinator is provided and measures, reaches and improve dynamically and the purpose of static measurement precision.
In sum, the intelligent inclinator that the utility model proposes can provide the quasistatic of course, roll, pitching, high dynamic high precision measurement of angle, can satisfy commercial Application, study the in one's power measurement application demand of military project unit.Simultaneously, the utility model provides the angular speed of measuring body roll, pitching, course with gyroscope and obliquity sensor perfect adaptation together, realizes powerful measurement function, relatively has Digital Dipmeter now and has a clear superiority in.
Rigid good, not yielding, the high-low temperature resistant of the utility model Digitalized intelligent clinometer, good airproof performance; Simultaneously can provide abundant interface, such as digital quantity RS232, RS485, RS422, CAN, the LCD demonstration, the digital interface software protocol is optional, such as Modbus, CAN2.0a or Can2.0b etc., analog quantity voltage and electric current, the analog output scope can arrange.
In addition, the utility model Digital Dipmeter in house software is integrated from calibration algorithm, and externally shirtsleeve operation realizes the digital automatic Calibration of Digital Dipmeter itself.
Here description of the present utility model and application is illustrative, is not to want with scope restriction of the present utility model in the above-described embodiments.Here the distortion of disclosed embodiment and change is possible, and the various parts of the replacement of embodiment and equivalence are known for those those of ordinary skill in the art.Those skilled in the art are noted that in the situation that do not break away from spirit of the present utility model or essential characteristic, and the utility model can be with other form, structure, layout, ratio, and realize with other assembly, material and parts.In the situation that do not break away from the utility model scope and spirit, can carry out other distortion and change to disclosed embodiment here.
Claims (8)
1. an intelligent inclinator is characterized in that, described inclinator comprises:
Obliquity sensor is in order to provide high-resolution angle of inclination;
Filter unit is connected with described obliquity sensor, in order to the simulating signal of described obliquity sensor output is carried out filtering;
Processor, be connected with described filter unit, in order to simulating signal obliquity sensor output, process filtering is carried out the high precision analogue conversion, in processor, do digital signal filter, reflect truly inclination angle output information, and the signal after the digital processing is carried out angular transition;
Digital display graduation rotating platform is connected with described processor, tests in order to obliquity sensor is made the required data of linear compensation, calculates suitable linear calibration's coefficient; Linear calibration's coefficient that described processor further utilizes digital display graduation rotating platform to calculate is made linear compensation to the angle-data of measuring;
Gyro unit is connected with described processor, and the angular speed of measuring body roll, pitching, course is provided;
Power-supply system is connected with described obliquity sensor, filter unit, processor, digital display graduation rotating platform, gyro unit, in order to power supply to be provided.
2. intelligent inclinator according to claim 1 is characterized in that:
Described filter unit is the hardware filtering unit, in order to filtering in the simulating signal bandwidth that obliquity sensor is exported.
3. intelligent inclinator according to claim 1 is characterized in that:
Described inclinator further comprises high low temperature sweat box, does compensation in order to the temperature at zero point of inclinator is floated.
4. intelligent inclinator according to claim 1 is characterized in that:
Described inclinator further comprises high low temperature sweat box, does compensation in order to the Sensitivity Temperature of inclinator is floated.
5. intelligent inclinator according to claim 1 is characterized in that:
Described inclinator further comprises one or more in 232 output interfaces, 485 output interfaces, 422 output interfaces, V/I output interface, LCD output interface, the CAN interface.
6. intelligent inclinator according to claim 1 is characterized in that:
Described processor is the MCU of built-in 24bit analog-to-digital conversion unit AD.
7. intelligent inclinator according to claim 1 is characterized in that:
Described gyroscope is built-in gyroscope modules, connects by digital SPI interface MCU.
8. intelligent inclinator according to claim 1 is characterized in that:
Described gyro unit is connected with described processor, in order to roll, pitching, course angle rate information to be provided, and roll, pitching, course angle rate information be sent to processor, integral operation goes out the dynamic attitude angle in roll, pitching, course to angular speed by processor.
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|---|---|---|---|
| CN 201220293085 CN202648654U (en) | 2012-06-20 | 2012-06-20 | Intelligent inclinometer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220293085 CN202648654U (en) | 2012-06-20 | 2012-06-20 | Intelligent inclinometer |
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| CN202648654U true CN202648654U (en) | 2013-01-02 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104176634A (en) * | 2013-05-21 | 2014-12-03 | 上海航鼎电子科技发展有限公司 | Method and device for real-time detection of tower-type crane body verticality |
| CN104792323A (en) * | 2015-04-01 | 2015-07-22 | 北京爱科迪通信技术股份有限公司 | Dynamic gradienter and attitude-angle calculating method |
| CN105277196A (en) * | 2015-12-08 | 2016-01-27 | 重庆华渝电气集团有限公司 | Mine navigation inertia measurement system and method for measuring carrier attitude information |
| CN110849342A (en) * | 2019-11-20 | 2020-02-28 | 中国船舶重工集团公司第七0七研究所 | North-seeking error compensation method |
| CN112683257A (en) * | 2020-12-07 | 2021-04-20 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Active tilt control system and method for four-pulse cold atom interference gyroscope |
-
2012
- 2012-06-20 CN CN 201220293085 patent/CN202648654U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104176634A (en) * | 2013-05-21 | 2014-12-03 | 上海航鼎电子科技发展有限公司 | Method and device for real-time detection of tower-type crane body verticality |
| CN104792323A (en) * | 2015-04-01 | 2015-07-22 | 北京爱科迪通信技术股份有限公司 | Dynamic gradienter and attitude-angle calculating method |
| CN104792323B (en) * | 2015-04-01 | 2018-10-23 | 北京爱科迪通信技术股份有限公司 | Dynamic Water level and attitude angle computational methods |
| CN105277196A (en) * | 2015-12-08 | 2016-01-27 | 重庆华渝电气集团有限公司 | Mine navigation inertia measurement system and method for measuring carrier attitude information |
| CN110849342A (en) * | 2019-11-20 | 2020-02-28 | 中国船舶重工集团公司第七0七研究所 | North-seeking error compensation method |
| CN110849342B (en) * | 2019-11-20 | 2022-06-10 | 中国船舶重工集团公司第七0七研究所 | North-seeking error compensation method |
| CN112683257A (en) * | 2020-12-07 | 2021-04-20 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Active tilt control system and method for four-pulse cold atom interference gyroscope |
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|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130102 Termination date: 20150620 |
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| EXPY | Termination of patent right or utility model |