CN205482971U - Godson big dipper collection moulding piece based on prompt inertia combination navigation component and multi -parameter motion sensor of allying oneself with - Google Patents
Godson big dipper collection moulding piece based on prompt inertia combination navigation component and multi -parameter motion sensor of allying oneself with Download PDFInfo
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- CN205482971U CN205482971U CN201620293984.1U CN201620293984U CN205482971U CN 205482971 U CN205482971 U CN 205482971U CN 201620293984 U CN201620293984 U CN 201620293984U CN 205482971 U CN205482971 U CN 205482971U
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Abstract
The utility model relates to a godson big dipper collection moulding piece based on prompt inertia combination navigation component and multi -parameter motion sensor of allying oneself with, including big dipper radio frequency front end, AD adc, godson navigational computer, inertia measuring unit, three betwixt mountains magnetic sensor and wireless data transmission module. The godson navigational computer includes that beidou signal capturing module, correlator, data fusion module, error compensation module and jie lian are used to lead and resolves the module, big dipper radio frequency front end connects through AD adc and beidou signal capturing module, three -axis gyroscope among the inertia measuring unit and triaxial accelerometer are used to lead through error compensation module and jie lian and resolve the module and connect, data fusion module respectively with three betwixt mountains magnetic sensor, wireless data transmission module, prompt ally oneself with to be used to lead resolve module, correlator, beidou signal capturing module, error compensation module and connect. The utility model discloses a prompt antithetical couplet is used to lead the measurement in a closed series of / big dipper / earth magnetism, improve equipment production domesticization level and navigation positioning precision.
Description
Technical field
This utility model relates to Big Dipper sensor technical field, particularly relates to based on strap down inertial navigation integrated navigation element with many
The Godson Big Dipper integration module of movement parameter sensor.
Background technology
The accurately measurement of position and speed can be widely applied to the flight of military equipment (such as aircraft, guided missile, military satellite)
Control, there is important military significance.The measurement of position and speed has number of different ways, such as inertial navigation system and GPS
Satellite navigation system may be used to measure position and the speed of carrier, uses single navigation system can not meet high-precision
Degree position and the requirement of tachometric survey.
In inertial navigation system, by measuring the acceleration of carrier (automobile, guided missile, aircraft etc.), load can be extrapolated
The instantaneous velocity of body and position, and measure the attitude of carrier.The equipment of composition inertial navigation system is all arranged in carrier, work
As time be independent of external information, the most outwardly radianting capacity, be not easily susceptible to interference, be a kind of autonomic navigation system.Strapdown
Inertial measuring unit is directly installed on carrier by inertial navigation system, eliminates the framework platform system of complexity, has volume
Advantage little, that simple in construction, quality are little, low cost, failure rate are low, easy to maintenance, but in strapdown inertial navigation system
Gyroscope and accelerometer be directly installed on carrier, easily by carrier vibration, impact and angular movement affected, make strapdown be used to
Property navigation system instrument produce additional dynamic error, on the other hand the zero of gyroscope is partially or zero offset can be drifted about, time long in time
Between easily cause cumulative error.
The advantage that GPS satellite navigation system has navigation and positioning accuracy passage the most in time and changes, shortcoming is GPS electricity
Magnetostatic wave signal is easily subject to blocking and interrupting or slacken of the natural objects such as building, leaves, is also easy to by various electromagnetism
Wave interference and obstruction, cause positioning precision to reduce and even can not position, and GPS is developed by the U.S., is easily caused and is subject to technically
Being formed on people, safety is the highest.
Summary of the invention
For solving above-mentioned technical problem, the utility model proposes based on strap down inertial navigation integrated navigation element and multiparameter
The Godson Big Dipper integration module of motion sensor.
Described in the utility model based on strap down inertial navigation integrated navigation element with the Godson Big Dipper of multiparameter motion sensor
Integration module, passes including Big Dipper radio-frequency front-end, AD analog-digital converter, Godson navigational computer, Inertial Measurement Unit, three axle earth magnetism
Sensor and wireless data transfer module.Described Godson navigational computer includes Big Dipper signal capture module, correlator, data fusion
Module, error compensation module and inertial navigation resolve module, and described Inertial Measurement Unit includes that three-axis gyroscope and three axles accelerate
Degree meter, described Big Dipper radio-frequency front-end connects, in described Inertial Measurement Unit through AD analog-digital converter and Big Dipper signal capture module
Three-axis gyroscope and three axis accelerometer resolve module through error compensation module and inertial navigation and connect, described data fusion mould
Block respectively with three axle geomagnetic sensor, wireless data transfer module, inertial navigation resolve module, correlator, Big Dipper signal capture
Module, error compensation module connect.
Described in the utility model based on strap down inertial navigation integrated navigation element with the Godson Big Dipper of multiparameter motion sensor
Integration module, radio frequency Big Dipper signal is converted to analog intermediate frequency Big Dipper signal by described Big Dipper radio-frequency front-end, by AD analog digital conversion
After device is converted to digital intermediate frequency Big Dipper signal, inputs to Big Dipper signal capture module and carry out fast Acquisition.
Described in the utility model based on strap down inertial navigation integrated navigation element with the Godson Big Dipper of multiparameter motion sensor
Integration module, described Big Dipper signal capture module obtains essence after the Doppler frequency of capture and pseudo-code phase are inputed to correlator
True Doppler frequency and pseudo-code phase.
Described in the utility model based on strap down inertial navigation integrated navigation element with the Godson Big Dipper of multiparameter motion sensor
Angular speed and the acceleration of measurement are inputed to error compensation module by integration module, described three-axis gyroscope and three axis accelerometer
Carry out error compensation, then input to inertial navigation resolving module and be calculated position, speed and attitude orientation information.
Described in the utility model based on strap down inertial navigation integrated navigation element with the Godson Big Dipper of multiparameter motion sensor
Integration module, described three axle geomagnetic sensors are measured the magnetic field of the earth, and then are calculated course information.
Described in the utility model based on strap down inertial navigation integrated navigation element with the Godson Big Dipper of multiparameter motion sensor
Integration module, Doppler frequency that correlator is exported by described data fusion module and pseudo-code phase, inertial navigation resolves module
After the course information that position, speed and the attitude orientation information of output and three axle geomagnetic sensors are measured merges, refer to
Lead error compensation module degree of being accelerated meter and gyroscope measurement Error Compensation and Big Dipper signal capture module carries out Big Dipper letter
Number fast Acquisition.
Described in the utility model based on strap down inertial navigation integrated navigation element with the Godson Big Dipper of multiparameter motion sensor
Integration module, the position that the data fusion module in described Godson navigational computer is measured by wireless data transfer module
With being wirelessly transferred of speed navigation data.
Operation principle: Godson Big Dipper integration module based on strap down inertial navigation integrated navigation element and multiparameter motion sensor
The position of carrier, speed is obtained by merging the navigation information of triones navigation system, inertial navigation system and earth-magnetism navigation system
With attitude course information.Wherein, radio frequency Big Dipper signal is converted to analog intermediate frequency Big Dipper signal by Big Dipper radio-frequency front-end, by AD mould
After number converter is converted to digital intermediate frequency Big Dipper signal, inputs to Big Dipper signal capture module and carry out fast Acquisition, how general obtain
After strangling frequency and pseudo-code phase information, after inputing to the correlator of Godson navigational computer, obtain accurate Doppler frequency and puppet
Code phase.Angular speed and the acceleration of measurement are inputed to error compensation module and carry out by mistake by three-axis gyroscope and three axis accelerometer
Difference compensates, and then inputs to inertial navigation resolving module and is calculated position, speed and attitude orientation information.Three axle earth magnetism sensings
The magnetic field of the earth measured by device, and then calculates course information.Doppler frequency that correlator is exported by data fusion module and puppet
Code phase, position, speed and attitude orientation information and the three axle geomagnetic sensors of inertial navigation resolving module output are measured
Course information merge after, instruct error compensation module degree of being accelerated meter and gyroscope measurement Error Compensation and the Big Dipper
Signal capture module carries out Big Dipper fast capturing signal.Data fusion module in Godson navigational computer is passed by wireless data
Being wirelessly transferred of position that defeated module measures and speed navigation data.
Described in the utility model based on strap down inertial navigation integrated navigation element with the Godson Big Dipper of multiparameter motion sensor
Integration module, in conjunction with strap-down inertial, Beidou navigation and the respective advantage of earth-magnetism navigation system, to strap-down inertial, north
The navigation information of bucket navigation and the three kinds of navigator outputs of earth-magnetism navigation system carries out depth information fusion, improves equipment navigation
Precision, use dipper system and Godson navigational computer, enhance the production domesticization level of equipment, there is important military strategy
Meaning.
Accompanying drawing explanation
Fig. 1 Godson based on strap down inertial navigation integrated navigation element and multiparameter motion sensor Big Dipper integrated module structure frame
Fig. 1: 1 be Big Dipper radio-frequency front-end HZG102,2 be ADS820 analog-digital converter, 3 be Godson 3B navigational computer, 4 for inertia measurement
Unit, 5 be three axle geomagnetic sensor MC5883,6 for wireless data transfer module, wherein, 301 be Big Dipper signal capture module,
302 it is correlator, 303 is data fusion module, 304 is error compensation module, 305 is inertial navigation resolving module, 401 is three
Axle gyroscope ADXS300,402 it is three axis accelerometer LIS331DL.
Fig. 2 Godson based on strap down inertial navigation integrated navigation element and multiparameter motion sensor Big Dipper integrated module structure frame
Fig. 2: 1 be Big Dipper radio-frequency front-end UC221,2 be AD7656 analog-digital converter, 3 be Godson 3A navigational computer, 4 for inertia measurement
Unit, 5 be three axle geomagnetic sensor AK8975,6 for wireless data transfer module, wherein, 301 be Big Dipper signal capture module,
302 it is correlator, 303 is data fusion module, 304 is error compensation module, 305 is inertial navigation resolving module, 401 is three
Axle gyroscope L3G4200D, 402 it is three axis accelerometer MMA8451.
Detailed description of the invention
Join with based on strap down inertial navigation integrated navigation element described in the utility model below in conjunction with specific embodiment more
The Godson Big Dipper integrated module structure block diagram of number motion sensor is described further, but protection domain of the present utility model is also
It is not limited to this.
Embodiment 1
As it is shown in figure 1, it is described in the utility model based on strap down inertial navigation integrated navigation element and multiparameter motion sensor
Godson Big Dipper integration module, including Big Dipper radio-frequency front-end HZG102, ADS820 analog-digital converter, Godson 3B navigational computer,
Inertial Measurement Unit, three axle geomagnetic sensor MC5883 and wireless data transfer modules.Described Godson 3B navigational computer includes
Big Dipper signal capture module, correlator, data fusion module, error compensation module and inertial navigation resolve module, described inertia
Measuring unit includes three-axis gyroscope ADXS300 and three axis accelerometer LIS331DL, described Big Dipper radio-frequency front-end HZG102 warp
ADS820 analog-digital converter and Big Dipper signal capture module connect, the three-axis gyroscope ADXS300 in described Inertial Measurement Unit
Resolving module with three axis accelerometer LIS331DL through error compensation module and inertial navigation to connect, described data fusion module divides
Do not catch with three axle geomagnetic sensor MC5883, wireless data transfer module, inertial navigation resolving module, correlator, Big Dipper signal
Obtain module, error compensation module connects.
Operation principle: Godson Big Dipper integration module based on strap down inertial navigation integrated navigation element and multiparameter motion sensor
The position of carrier, speed is obtained by merging the navigation information of triones navigation system, inertial navigation system and earth-magnetism navigation system
With attitude course information.Wherein, radio frequency Big Dipper signal is converted to analog intermediate frequency Big Dipper signal by Big Dipper radio-frequency front-end HZG102, logical
Cross after ADS820 analog-digital converter is converted to digital intermediate frequency Big Dipper signal, input to Big Dipper signal capture module and quickly catch
Obtain, after obtaining Doppler frequency and pseudo-code phase information, obtain accurate after inputing to the correlator of Godson 3B navigational computer
Doppler frequency and pseudo-code phase.Three-axis gyroscope ADXS300 and three axis accelerometer LIS331DL by measure angular speed and
Acceleration inputs to error compensation module and carries out error compensation, then input to inertial navigation resolve module be calculated position,
Speed and attitude orientation information.Three axle geomagnetic sensor MC5883 measure the magnetic field of the earth, and then calculate course information.Data
Doppler frequency that correlator is exported by Fusion Module and pseudo-code phase, inertial navigation resolve the position of module output, speed and
After the course information that attitude orientation information and three axle geomagnetic sensor MC5883 measure merges, instruct error compensation mould
Block degree of being accelerated meter and gyroscope measurement Error Compensation and Big Dipper signal capture module carry out Big Dipper fast capturing signal.Dragon
Position that data fusion module in core 3B navigational computer is measured by wireless data transfer module and speed navigation number
According to be wirelessly transferred.
Described in the utility model based on strap down inertial navigation integrated navigation element with the Godson Big Dipper of multiparameter motion sensor
Integration module, in conjunction with strap-down inertial, Beidou navigation and the respective advantage of earth-magnetism navigation system, to strap-down inertial, north
The navigation information of bucket navigation and the three kinds of navigator outputs of earth-magnetism navigation system carries out depth information fusion, improves equipment navigation
Precision, use dipper system and Godson navigational computer, enhance the production domesticization level of equipment, there is important military strategy
Meaning.
Embodiment 2
As in figure 2 it is shown, it is described in the utility model based on strap down inertial navigation integrated navigation element and multiparameter motion sensor
Godson Big Dipper integration module, including Big Dipper radio-frequency front-end UC221, AD7656 analog-digital converter, Godson 3A navigational computer, used
Property measuring unit, three axle geomagnetic sensor AK8975 and wireless data transfer modules.Described Godson 3A navigational computer includes north
Bucket signal capture module, correlator, data fusion module, error compensation module and inertial navigation resolve module, and described inertia is surveyed
Amount unit includes three-axis gyroscope L3G4200D and three axis accelerometer MMA8451, described Big Dipper radio-frequency front-end UC221 warp
AD7656 analog-digital converter and Big Dipper signal capture module connect, the three-axis gyroscope L3G4200D in described Inertial Measurement Unit
Resolving module with three axis accelerometer MMA8451 through error compensation module and inertial navigation to connect, described data fusion module divides
Do not catch with three axle geomagnetic sensor AK8975, wireless data transfer module, inertial navigation resolving module, correlator, Big Dipper signal
Obtain module, error compensation module connects.
Operation principle: Godson Big Dipper integration module based on strap down inertial navigation integrated navigation element and multiparameter motion sensor
The position of carrier, speed is obtained by merging the navigation information of triones navigation system, inertial navigation system and earth-magnetism navigation system
With attitude course information.Wherein, radio frequency Big Dipper signal is converted to analog intermediate frequency Big Dipper signal by Big Dipper radio-frequency front-end UC221, logical
Cross after AD7656 analog-digital converter is converted to digital intermediate frequency Big Dipper signal, input to Big Dipper signal capture module and quickly catch
Obtain, after obtaining Doppler frequency and pseudo-code phase information, obtain accurate after inputing to the correlator of Godson 3A navigational computer
Doppler frequency and pseudo-code phase.Three-axis gyroscope L3G4200D and three axis accelerometer MMA8451 by measure angular speed and
Acceleration inputs to error compensation module and carries out error compensation, then input to inertial navigation resolve module be calculated position,
Speed and attitude orientation information.Three axle geomagnetic sensor AK8975 measure the magnetic field of the earth, and then calculate course information.Data
Doppler frequency that correlator is exported by Fusion Module and pseudo-code phase, inertial navigation resolve the position of module output, speed and
After the course information that attitude orientation information and three axle geomagnetic sensor AK8975 measure merges, instruct error compensation mould
Block degree of being accelerated meter and gyroscope measurement Error Compensation and Big Dipper signal capture module carry out Big Dipper fast capturing signal.Dragon
Position that data fusion module in core 3A navigational computer is measured by wireless data transfer module and speed navigation number
According to be wirelessly transferred.
Described in the utility model based on strap down inertial navigation integrated navigation element with the Godson Big Dipper of multiparameter motion sensor
Integration module, in conjunction with strap-down inertial, Beidou navigation and the respective advantage of earth-magnetism navigation system, to strap-down inertial, north
The navigation information of bucket navigation and the three kinds of navigator outputs of earth-magnetism navigation system carries out depth information fusion, improves equipment navigation
Precision, use dipper system and Godson navigational computer, enhance the production domesticization level of equipment, there is important military strategy
Meaning.
Claims (7)
1. Godson Big Dipper integration module based on strap down inertial navigation integrated navigation element and multiparameter motion sensor, penetrates including the Big Dipper
Frequently front end, AD analog-digital converter, Godson navigational computer, Inertial Measurement Unit, three axle geomagnetic sensor and wireless data transmission
Module;Described Godson navigational computer includes Big Dipper signal capture module, correlator, data fusion module, error compensation module
Resolving module with inertial navigation, described Inertial Measurement Unit includes three-axis gyroscope and three axis accelerometer, described Big Dipper radio frequency
Front end connects through AD analog-digital converter and Big Dipper signal capture module, the three-axis gyroscope in described Inertial Measurement Unit and three axles
Accelerometer resolves module through error compensation module and inertial navigation and connects, and described data fusion module respectively with three axle earth magnetism passes
Sensor, wireless data transfer module, inertial navigation resolve module, correlator, Big Dipper signal capture module, error compensation module even
Connect.
2. according to described in claim 1 based on strap down inertial navigation integrated navigation element and the Godson Big Dipper of multiparameter motion sensor
Integration module, it is characterised in that: radio frequency Big Dipper signal is converted to analog intermediate frequency Big Dipper signal by described Big Dipper radio-frequency front-end, passes through
After AD analog-digital converter is converted to digital intermediate frequency Big Dipper signal, inputs to Big Dipper signal capture module and carry out fast Acquisition.
3. according to described in claim 1 based on strap down inertial navigation integrated navigation element and the Godson Big Dipper of multiparameter motion sensor
Integration module, it is characterised in that: Doppler frequency and the pseudo-code phase of capture are inputed to phase by described Big Dipper signal capture module
Accurate Doppler frequency and pseudo-code phase is obtained after closing device.
4. according to described in claim 1 based on strap down inertial navigation integrated navigation element and the Godson Big Dipper of multiparameter motion sensor
Integration module, it is characterised in that: angular speed and the acceleration of measurement are inputed to by described three-axis gyroscope and three axis accelerometer
Error compensation module carries out error compensation, then inputs to inertial navigation resolving module and is calculated position, speed and attitude side
Position information.
5. according to described in claim 1 based on strap down inertial navigation integrated navigation element and the Godson Big Dipper of multiparameter motion sensor
Integration module, it is characterised in that: described three axle geomagnetic sensors measure the magnetic field of the earth, and then calculate course information.
6. according to described in claim 1 based on strap down inertial navigation integrated navigation element and the Godson Big Dipper of multiparameter motion sensor
Integration module, it is characterised in that: Doppler frequency that correlator is exported by described data fusion module and pseudo-code phase, strapdown is used to
Lead and resolve position, speed and the attitude orientation information of module output and the course information measured of three axle geomagnetic sensors is carried out
After fusion, error compensation module degree of being accelerated meter and gyroscope measurement Error Compensation and Big Dipper signal capture module is instructed to enter
Row Big Dipper fast capturing signal.
7. according to described in claim 1 based on strap down inertial navigation integrated navigation element and the Godson Big Dipper of multiparameter motion sensor
Integration module, it is characterised in that: the data fusion module in described Godson navigational computer is entered by wireless data transfer module
The position of row measurement and being wirelessly transferred of speed navigation data.
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| CN107092018A (en) * | 2017-04-12 | 2017-08-25 | 河海大学常州校区 | Portable acoustic positioning system and localization method for dykes and dams waters |
| CN107247283A (en) * | 2017-03-17 | 2017-10-13 | 娄底市金鑫电子科技有限公司 | Big Dipper 3G/4G video lightning protection terminals based on high score satellite reception technology |
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| CN111505678A (en) * | 2020-04-24 | 2020-08-07 | 北京家梦科技有限公司 | Train tunnel positioning method based on Beidou system |
| CN112285756A (en) * | 2020-10-22 | 2021-01-29 | 华中科技大学鄂州工业技术研究院 | High-precision positioning system and method based on IMU and Beidou system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107247283A (en) * | 2017-03-17 | 2017-10-13 | 娄底市金鑫电子科技有限公司 | Big Dipper 3G/4G video lightning protection terminals based on high score satellite reception technology |
| CN107092018A (en) * | 2017-04-12 | 2017-08-25 | 河海大学常州校区 | Portable acoustic positioning system and localization method for dykes and dams waters |
| CN110174685A (en) * | 2019-06-18 | 2019-08-27 | 江苏辰科慧芯电子科技有限公司 | Used defend of whole scene high-precision micro leads integrated positioning Timing Receiver |
| CN111505678A (en) * | 2020-04-24 | 2020-08-07 | 北京家梦科技有限公司 | Train tunnel positioning method based on Beidou system |
| CN112285756A (en) * | 2020-10-22 | 2021-01-29 | 华中科技大学鄂州工业技术研究院 | High-precision positioning system and method based on IMU and Beidou system |
| CN112902954A (en) * | 2021-03-05 | 2021-06-04 | 上海竹格智能传感技术有限公司 | Tower frame shaking sensor and tower frame shaking angle measuring method |
| CN113514048A (en) * | 2021-06-15 | 2021-10-19 | 北京航天时代光电科技有限公司 | High-reliability miniaturized fiber-optic gyroscope signal processing and interface circuit |
| CN113514048B (en) * | 2021-06-15 | 2022-08-12 | 北京航天时代光电科技有限公司 | High-reliability miniaturized fiber-optic gyroscope signal processing and interface circuit |
| CN113546394A (en) * | 2021-06-21 | 2021-10-26 | 国家体育总局体育科学研究所 | Vector velocity measuring device |
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