CN205373697U - Dynamic angle measuring apparatu - Google Patents
Dynamic angle measuring apparatu Download PDFInfo
- Publication number
- CN205373697U CN205373697U CN201521109741.XU CN201521109741U CN205373697U CN 205373697 U CN205373697 U CN 205373697U CN 201521109741 U CN201521109741 U CN 201521109741U CN 205373697 U CN205373697 U CN 205373697U
- Authority
- CN
- China
- Prior art keywords
- module
- output module
- data acquisition
- converter
- mcu processor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The utility model relates to a sensor technology field, concretely relates to dynamic angle measuring apparatu who is used for indicateing the orientation under optional environment. Dynamic angle measuring apparatu, data acquisition module, AD converter, MCU treater and output module including connecting gradually still include power conversion module, power conversion module is connected with data acquisition module, AD converter, MCU treater and output module respectively, data acquisition module for setting up the epaxial unipolar fiber gyroscope in three -dimensional quadrature space coordinate's X axle, Y axle and Z respectively. The utility model discloses utilize the three quadrature azimuth speed of three fiber optic gyroscope measuring apparatu measurement space, the total mark obtains its angle in the three quadrature position in space, realizes angle measurement function, the utility model discloses be equipped with two kinds of output mode of analog output module and digital output module, and dispose wireless function, can realize remote control.
Description
Technical field
This utility model relates to sensor technical field, is specifically related to a kind of a kind of dynamic angle measurement instrument being used to refer to direction under arbitrary environment.
Background technology
Common is generally all inclinator, electronic compass and GPS for what measure angle, gyroscope north searching instrument etc.；Inclinator is to obtain angle by measurement static weight acceleration, electronic compass is to obtain angle by measurement magnetic field of the earth, gyroscope north searching instrument is to be obtained angle by rotational-angular velocity of the earth, inclinator, electronic compass and north finder are all at static environment or respond use in relatively low environment, as these several series products then can not use dynamically or when response is higher, GPS obtains angle by satellite, but GPS is in some mountain areas or tunnel, time satellite-signal is bad, then can not use.
Summary of the invention
This utility model is directed to a kind of dynamic angle measurement instrument that can both obtain angle under dynamic environment.
The technical solution of the utility model is in that:
Dynamic angle measurement instrument, including the data acquisition module being sequentially connected with, A/D converter, MCU processor and output module, also including power transfer module, power transfer module is connected with data acquisition module, A/D converter, MCU processor and output module respectively；Described data acquisition module is the single axis fiber gyro instrument being respectively arranged on the X-axis of three-dimensional orthogonal space coordinate, Y-axis and Z axis.
Described output module includes serial ports output module and analog output module；Wherein, serial ports output module is RS232 transducer, and it connects MCU processor, and analog output module is D/A converter, and it connects MCU processor.
Described MCU processor is also associated with wireless module.
Of the present utility model have the technical effect that
This utility model utilizes three orthogonal orientation angular velocity of three optical fibre gyro measuring instrument measurement spaces, and integration obtains its angle in three orthogonal orientation in space, it is achieved angle measuring function；Preferably, this utility model is provided with analog output module and two kinds of output modes of digital output module；And it is configured with radio function, it is possible to realizing remotely control.
Accompanying drawing explanation
Fig. 1 is HT-CJY-3 dynamic angle measurement instrument pie graph；
Fig. 2 is space clearing figure；
Fig. 3 is HT-CJY-3 dynamic angle measurement instrument theory diagram.
Detailed description of the invention
Dynamic angle measurement instrument, including the data acquisition module being sequentially connected with, A/D converter, MCU processor and output module, also including power transfer module, power transfer module is connected with data acquisition module, A/D converter, MCU processor and output module respectively；Described data acquisition module is the single axis fiber gyro instrument being respectively arranged on the X-axis of three-dimensional orthogonal space coordinate, Y-axis and Z axis.
Wherein, output module includes serial ports output module and analog output module；Wherein, serial ports output module is RS232 transducer, and it connects MCU processor, and analog output module is D/A converter, and it connects MCU processor.MCU processor is also associated with wireless module.
In use, three single axis fiber gyro instrument are arranged in three mutually perpendicular planes this utility model, and the analogue signal of three single axis fiber gyro instrument becomes digital signal through A/D converter, then sends MCU processor to.MCU processor is cortex-m4 processor, it is responsible for the resolving of data, it is additionally provided with wireless module, for long-range operation, system has multi-channel analog output, can export simultaneously measure the angular velocity arrived, angle and course, be converted to internal electric source through power module after external power source input and power to above each parts.
Initialization system and the incipient three-dimensional orthogonal space coordinate system of carrier are O-X1Y1Z1, each axle has a single axis fiber gyro instrument, the rotational case of the measurement of each single axis fiber gyro instrument and this axle vertical plane, the angular velocity rotated around X-axis is εx, the angular velocity around Y-axis is εy, angular velocity about the z axis is εzWhen carrier generation spatial attitude changes, the angular velocity on respective sensitive axis measured by three single axis fiber gyro instrument, MCU processor gathers the angular velocity of three single axis fiber gyro instrument by A/D converter, become digital signal, each axial angular velocity is integrated, obtains respective angles, the spatial attitude finally given such as O-X2Y2Z2。
After system electrification, single axis fiber gyro instrument is started working, and MCU processor initializes.The first 10 minutes preheating time as whole system, after preheating completes, send order and calculate zero-bit, after calculating zero-bit, send clearing command, then three single axis fiber gyro instrument are using current attitude as initial attitude, three axial angular velocity in three sensor measurement any moment, MCU processor is sent to by A/D converter, it is integrated by MCU processor, obtain any time angle relative to initial attitude, thus obtaining the attitude in space, as known initialized absolute angle, whenever plus relative to the relative angle of initial angle, then can obtain absolute angle whenever, thus obtaining the absolute pose of space any time.Simultaneity factor possesses navigation calculation function, under the premise that user is not high to its required precision, it is possible to as its reference value.MCU processor exports angular velocity and the angle in three directions of analog quantity and digital quantity by D/A converter and serial ports moment.
Claims (3)
1. dynamic angle measurement instrument, including the data acquisition module being sequentially connected with, A/D converter, MCU processor and output module, also including power transfer module, power transfer module is connected with data acquisition module, A/D converter, MCU processor and output module respectively；It is characterized in that: described data acquisition module is lay respectively at the single axis fiber gyro instrument on the X-axis of three-dimensional orthogonal space coordinate, Y-axis and Z axis.
2. dynamic angle measurement instrument according to claim 1, it is characterised in that: described output module includes serial ports output module and analog output module；Wherein, serial ports output module is RS232 transducer, and it connects MCU processor, and analog output module is D/A converter, and it connects MCU processor.
3. dynamic angle measurement instrument according to claim 1, it is characterised in that: described MCU processor is also associated with wireless module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521109741.XU CN205373697U (en) | 2015-12-29 | 2015-12-29 | Dynamic angle measuring apparatu |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521109741.XU CN205373697U (en) | 2015-12-29 | 2015-12-29 | Dynamic angle measuring apparatu |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205373697U true CN205373697U (en) | 2016-07-06 |
Family
ID=56256668
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521109741.XU Active CN205373697U (en) | 2015-12-29 | 2015-12-29 | Dynamic angle measuring apparatu |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205373697U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113639705A (en) * | 2021-08-03 | 2021-11-12 | 北京航宇测通电子科技有限公司 | Method, system and device for measuring angular displacement |
-
2015
- 2015-12-29 CN CN201521109741.XU patent/CN205373697U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113639705A (en) * | 2021-08-03 | 2021-11-12 | 北京航宇测通电子科技有限公司 | Method, system and device for measuring angular displacement |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107314718B (en) | High speed rotation bullet Attitude estimation method based on magnetic survey rolling angular rate information | |
| CN106767804B (en) | The multidimensional data measurement apparatus and method of a kind of moving object | |
| CN202452059U (en) | Gyroscope stable holder | |
| CN101893722B (en) | Giant magneto-resistance sensor-based geomagnetic roll angle measurement system and method | |
| CN202904027U (en) | Autonomous indoor positioning system | |
| CN102707725A (en) | Fixed-wing automatic navigation flight control system and using method thereof | |
| CN102937450B (en) | A kind of relative attitude defining method based on gyro to measure information | |
| CN106249744B (en) | A kind of small-sized rotor craft height control method based on second level complementary filter | |
| CN105928515B (en) | A kind of UAV Navigation System | |
| CN202771262U (en) | Fixed-wing automatic navigation flight control system | |
| CN104181573A (en) | Beidou inertial navigation deep integration navigation microsystem | |
| CN104316080A (en) | Device for resolving tilt compensation quaternion of attitude gyroscope | |
| CN116448145A (en) | Navigation attitude determination method based on polarization vector space difference | |
| CN108489485A (en) | A kind of free from error inertial navigation numerical value update method | |
| CN205373697U (en) | Dynamic angle measuring apparatu | |
| CN201397343Y (en) | Inertial measurement device | |
| CN203053447U (en) | Attitude measuring system based on laser ranging and GPS (global positioning system) | |
| CN205317213U (en) | Measuring device is investigated on spot to real estate unit towards room ground is integrative | |
| CN204788412U (en) | Inertial sensor subassembly suitable for small -size unmanned helicopter | |
| CN105758422A (en) | Integral type closed-loop fiber-optic gyroscope testing method | |
| Zhang et al. | Implementation and complexity analysis of orientation estimation algorithms for human body motion tracking using low-cost sensors | |
| CN104111063A (en) | Wireless three-dimensional inclined angle sensor based on magnetic field and detection method of wireless three-dimensional inclined angle sensor | |
| CN104501836A (en) | Wireless device for calibration of flight data | |
| CN203940857U (en) | A kind of Wireless 3 D obliquity sensor based on magnetic field | |
| CN114608516A (en) | Appearance equipment is surveyed to miniaturized radar developments |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |