CN202757612U - Digitalizing tilt meter - Google Patents
Digitalizing tilt meter Download PDFInfo
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- CN202757612U CN202757612U CN 201220347230 CN201220347230U CN202757612U CN 202757612 U CN202757612 U CN 202757612U CN 201220347230 CN201220347230 CN 201220347230 CN 201220347230 U CN201220347230 U CN 201220347230U CN 202757612 U CN202757612 U CN 202757612U
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- processor
- angle
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- inclinator
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Abstract
The utility model discloses a digitalizing tilt meter which comprises a tilt angle sensor, a filter unit, a processor, a digital readout index table and an electronic compass. The tilt angle sensor is used to provide a tilt angle of high resolution. The filter unit is used to filter simulating signals which are output by the tilt angle sensor. The processor is used to conduct high-precision analog-to-digital conversion for the simulating signals which are output by the tilt angle sensor and filtered, digital signals are filtered in the processor, and the digital signals which are processed are converted in angle. The digital readout index table is used to test data which is required for linear compensation of the tilt angle sensor, and a proper linear calibration coefficient is calculated. The electronic compass is used to provide a course angle for a measuring body, and send data to the processor. A barrel roll angle, a pitching angle and a course gesture angle can be provided, the electronic compass is used to compensate insufficient course measurement of a tilt meter, and the problem of compass deviation of the electronic compass is solved by measurement of the barrel roll angle, the pitching angle and the course gesture angle.
Description
Technical field
The utility model belongs to field of measuring technique, relates to a kind of inclinator, relates in particular to a kind of roll, pitching, course measurement and self-leveling Digitalized clinometer done.
Background technology
Digitalized clinometer is to measure object tilt variation and the time dependent instrument of pedal line in time; The electronic compass unit only is used for measuring course heading, when independent the use and inclinator fit together and can relate to the alignment error problem; They are respectively independently.
Usually lower, Digitalized clinometer only can be measured the attitude angle of roll, pitching, can not provide course heading to measure.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 Electron compass or inclinator have not satisfied angular pose and have measured requirement, method is in the past selected respectively inclinator, electronic compass, 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 attitude measurement field such as auto navigation, marine navigations.
The utility model content
Technical problem to be solved in the utility model is: a kind of Digitalized clinometer is provided, roll, pitching, course attitude angle can be provided, the course that utilizes electronic compass to remedy inclinator is measured not enough, utilizes the roll of inclinator, luffing angle to measure the magnetic deviation problem that solves electronic compass.
For solving the problems of the technologies described above, the utility model adopts following technical scheme:
A kind of Digitalized clinometer, 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;
The electronic compass unit is connected with described processor, measures the body course heading in order to provide, and measurement data is sent to processor.
As a kind of preferred version of the present utility model, described inclinator also comprises power-supply system, is connected with described obliquity sensor, filter unit, processor, digital display graduation rotating platform, electronic compass 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 electronic compass unit is the built-in electronic compass module, connects by digital serial interface MCU.
As a kind of preferred version of the present utility model, described electronic compass unit is connected with described processor, obtain roll, the pitch attitude information of inclinator, be used for revising the magnetic deviation of compass, then course heading information is sent to processor, is sent with various external interface information by the attitude angle information of processor to roll, pitching, course.
The beneficial effects of the utility model are: the Digitalized clinometer that the utility model proposes, the high precision measurement of angle of course, roll, pitching can be provided, and can satisfy commercial Application, study the in one's power measurement application demand of military project unit.Simultaneously, the utility model provides the angle of measuring body roll, pitching, course with electronic compass 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, electronic compass 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 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; The electronic compass unit is connected with described processor, and the angle of measuring the body course is provided; Power-supply system is connected with described obliquity sensor, filter unit, processor, digital display graduation rotating platform, electronic compass unit, in order to power supply to be provided.
See also Fig. 1, in the present embodiment, described inclinator comprises MCU4, 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 electronic compass 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.
Electronic compass unit 11 obtains roll, the pitch attitude information of inclinator, is used for revising the magnetic deviation of compass, then course heading information is sent to the MCU4 of built-in 24bitAD.
The MCU4 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 MCU4 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 MCU4 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 24bitMCU4 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
nCalculate 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 electronic compass 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] measured each time, the electronic compass unit obtained roll, the luffing angle information of inclinator, was used for revising the magnetic deviation of electronic compass, improved the purpose that course heading is measured to reach.
[step S6] processor can obtain course heading information from the electronic compass unit again, the purpose that roll, pitching, course heading information are sent with the form of various interface.
In sum, the Digitalized clinometer that the utility model proposes can provide the high precision measurement of angle of course, roll, pitching, can satisfy commercial Application, study the in one's power measurement application demand of military project unit.Simultaneously, the utility model provides the angle of measuring body roll, pitching, course with electronic compass 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 (9)
1. a Digitalized clinometer 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;
The electronic compass unit is connected with described processor, measures the body course heading in order to provide, and measurement data is sent to processor.
2. Digitalized clinometer according to claim 1 is characterized in that:
Described inclinator also comprises power-supply system, is connected with described obliquity sensor, filter unit, processor, digital display graduation rotating platform, electronic compass unit, in order to power supply to be provided.
3. Digitalized clinometer 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.
4. Digitalized clinometer 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.
5. Digitalized clinometer 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.
6. Digitalized clinometer 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.
7. Digitalized clinometer according to claim 1 is characterized in that:
Described processor is the MCU of built-in 24bit analog-to-digital conversion unit AD.
8. Digitalized clinometer according to claim 1 is characterized in that:
Described electronic compass unit is the built-in electronic compass module, connects by digital serial interface MCU.
9. Digitalized clinometer according to claim 1 is characterized in that:
Described electronic compass unit is connected with described processor, obtain roll, the pitch attitude information of inclinator, be used for revising the magnetic deviation of compass, then course heading information is sent to processor, is sent with various external interface information by the attitude angle information of processor to roll, pitching, course.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220347230 CN202757612U (en) | 2012-07-17 | 2012-07-17 | Digitalizing tilt meter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220347230 CN202757612U (en) | 2012-07-17 | 2012-07-17 | Digitalizing tilt meter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202757612U true CN202757612U (en) | 2013-02-27 |
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ID=47736785
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220347230 Expired - Fee Related CN202757612U (en) | 2012-07-17 | 2012-07-17 | Digitalizing tilt meter |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103697913A (en) * | 2013-12-17 | 2014-04-02 | 陕西宝成航空仪表有限责任公司 | Rotary table fixture for testing aircraft course precision |
| CN111693019A (en) * | 2020-05-20 | 2020-09-22 | 西安交通大学 | Attitude sensing device and data fusion and attitude calculation method |
-
2012
- 2012-07-17 CN CN 201220347230 patent/CN202757612U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103697913A (en) * | 2013-12-17 | 2014-04-02 | 陕西宝成航空仪表有限责任公司 | Rotary table fixture for testing aircraft course precision |
| CN103697913B (en) * | 2013-12-17 | 2016-02-03 | 陕西宝成航空仪表有限责任公司 | For the turntable clamper of testing airplane course precision |
| CN111693019A (en) * | 2020-05-20 | 2020-09-22 | 西安交通大学 | Attitude sensing device and data fusion and attitude calculation method |
| CN111693019B (en) * | 2020-05-20 | 2021-04-20 | 西安交通大学 | Attitude sensing device and data fusion and attitude calculation method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20130227 Termination date: 20150717 |
|
| EXPY | Termination of patent right or utility model |