CN205748395U - A kind of inertial measuring unit for unmanned vehicle - Google Patents
A kind of inertial measuring unit for unmanned vehicle Download PDFInfo
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- CN205748395U CN205748395U CN201620467525.0U CN201620467525U CN205748395U CN 205748395 U CN205748395 U CN 205748395U CN 201620467525 U CN201620467525 U CN 201620467525U CN 205748395 U CN205748395 U CN 205748395U
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- static pressure
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Abstract
This utility model relates to unmanned vehicle technical field, it is specifically related to a kind of inertial measuring unit for unmanned vehicle, including sensory package, damping assembly and static pressure nacelle, described sensory package is connected with described static pressure nacelle, described damping assembly is connected with described sensory package and static pressure nacelle respectively, it is provided with baroport and gas passage in described static pressure nacelle, described sensory package includes surface-mounted integrated circuit, soft arranging wire and inertial sensor, described soft arranging wire and inertial sensor are connected on described surface-mounted integrated circuit, described surface-mounted integrated circuit is connected with described static pressure nacelle.The inertial measuring unit for unmanned vehicle that this utility model provides is simple for structure clear, installs simple, easy to maintenance, and the design of its multi-level vibration insulating system can be while realizing vibration damping, and effective limiting displacement also reduces resonant frequency；The design sealing static pressure cabin has buffered the most mixed and disorderly air-flow impact on measurement data the most to the full extent, and then improves the accuracy of measurement.
Description
Technical field
This utility model relates to unmanned vehicle technical field, is specifically related to a kind of inertia measurement for unmanned vehicle
Device.
Background technology
In unmanned aerial vehicle control system, inertial measurement system is core system therein.Inertial survey technique can obtain
The attitude of moving object and position, thus realize oneself's navigation completely.Along with the development of technology, current Mierotubule-associated proteins has obtained
To being widely applied.Compared with conventional inertia measuring cell, Mierotubule-associated proteins volume is less, and weight is lighter, and cost is the lowest,
But also it is easily subject to external mechanical vibrations and the impact of mixed and disorderly air-flow simultaneously, causes measurement data disorderly.
In order to solve above-mentioned technical problem, prior art occurs in that substantial amounts of improvement project, to solve miniature inertia
The problem that device stability is the best, such as application publication number are the utility model patent of CN104913778A, disclose a kind of only
Vertical unmanned aircraft inertia measuring device, including: the first housing, the second housing, multiple vibration-damped component, the first balancing weight, second joins
Pouring weight, circuit board and inertial sensor, inertial sensor is arranged on circuit boards, and circuit board is arranged on the first balancing weight and second
Between balancing weight, and circuit board is connected with the first balancing weight and the second balancing weight respectively, and the first housing and the second housing are arranged on
Outside first balancing weight and the second balancing weight, and the first housing and the second housing connect, vibration-damped component be arranged on the first balancing weight and
Between each installed surface and the first housing and second housing of the second balancing weight.The present invention has simple in construction, easy to maintenance, vibration damping
Beneficial effect effective and with low cost.This patent only reduces frequency of vibration to used simply by the multiple vibration-damped components of increase
Property sensor impact, be not effectively improved inertial sensor measure stability, it is being chronically at high-frequency vibration, low frequency
Time in vibrations, the most in a jumble air-flow extremely rugged environment, it is impossible to realize effectively buffering isolation and vibrate, reduce resonance frequency, limit
Displacement, the most mixed and disorderly gas stream of simultaneous buffering.
Additionally, current existing unmanned aircraft inertia measuring module, there is problems: (1) integrated level is the highest, makes
Becoming volume bigger than normal, weight lays particular stress on, and then adds the inactive loads of unmanned plane.(2) the most integrated design adds peace
Dress difficulty, more improves the cost of later maintenance, causes the serious waste of resource；Excessively simple design then can not meet reality
Border demand.
As can be seen here, a kind of inertial measuring unit for unmanned vehicle can be invented so that it is can effectively delay
Punching isolation vibration, limiting displacement, buffer and isolate at a high speed mixed and disorderly gas, reduce resonance frequently, next has Highgrade integration, highly
Modularity, the advantage of high compatibility, and the convenient detection of its structure design and maintenance, become those skilled in the art and urgently solve
Technical barrier certainly.
Utility model content
This utility model is in order to solve above-mentioned technical problem, it is provided that a kind of inertial measuring unit for unmanned vehicle,
Effectively reduce the output noise of Mierotubule-associated proteins, and eliminate the impact on baroceptor of the mixed and disorderly air-flow, permanent this dress of use
Put, still be able to be in optimum Working.
In order to reach above-mentioned technique effect, this utility model includes techniques below scheme:
A kind of inertial measuring unit for unmanned vehicle, including sensory package, damping assembly and static pressure nacelle, described
Sensory package is connected with described static pressure nacelle, and described damping assembly is connected with described sensory package and static pressure nacelle respectively, described
Being provided with baroport and gas passage in static pressure nacelle, described sensory package includes surface-mounted integrated circuit, soft arranging wire and inertia sensing
Device, described soft arranging wire and inertial sensor be connected on described surface-mounted integrated circuit, described surface-mounted integrated circuit and described static pressure nacelle
Connect.
By baroport and the setting of gas passage, it is possible to more efficient quickly make static pressure nacelle air pressure inside and static pressure
Cabin exterior air pressure keeps consistent, alleviates the load of unmanned plane, and effectively buffering is isolated vibration, reduced resonance frequency, limiting displacement, same
Time buffered at a high speed mixed and disorderly gas stream, substantially increase the stability that this utility model inertial sensor is measured.
Further, described soft arranging wire is connected by fixed screw with described surface-mounted integrated circuit.
Further, described baroport is positioned on described gas passage；Described gas passage includes peripheral channel, bending
Passage and Vertical Channel, the serpentine-like distribution of described bent passage, two ends of described peripheral channel and described bent passage
Two ends are connected, and described Vertical Channel is connected with described bent passage.
This utility model pathway structure is reasonable in design, it then follows pneumatics flowing law, cuts off the most mixed and disorderly air-flow.
Further, being formed with cavity and be divided into sidewall and diapire in described static pressure nacelle, described baroport includes sidewall
Baroport and/or diapire baroport, described gas passage is arranged on the outer surface of described diapire.
Further, described diapire baroport runs through described diapire and connects with described Vertical Channel；Described sidewall static pressure
Hole all connects with peripheral channel and bent passage.
The baroport arranged on sidewall and diapire can effectively cut off the most mixed and disorderly air-flow, it is ensured that static pressure cabin internal gas pressure is with outer
Portion's air pressure is consistent, thus improves the accuracy of barometric surveying.
Further, described gas passage is symmetrical set with Vertical Channel for axis of symmetry.
The quantity of described baroport is more than three, including sidewall baroport and diapire baroport, when described sidewall static pressure
When the quantity in hole is two or more, it is oppositely arranged the most respectively.Further, described sensory package also includes baroceptor, institute
State baroceptor to be connected on described surface-mounted integrated circuit, described baroceptor and inertial sensor all with soft arranging wire electrical information
Connect and be positioned at described cavity.
Inertial sensor integrates with baroceptor, can not only realize the integration of data, also improve data
Stability and effectiveness.Surface-mounted integrated circuit is welded in one end of soft arranging wire, and this end is provided with for protecting the soft of solder joint stress
Winding displacement fixing hole, the solderable upper connector of the other end or directly take welding and be connected on other equipment.Described air pressure transmission
The quantity of sensor is one or more, and the quantity of described inertial sensor is one or more.
Further, described inertial sensor includes gyroscope and accelerometer.The signal of described sensor passes through soft arranging wire
It is sent in other device systems.Constitute the multiple sensory package of many sets to integrate, the multiple sensing data of data of the same race can be realized
Merge, multiple multiple sensor cluster Data Integration can be realized again, it is possible to increase reliable measuring data, effectiveness, stability
And accuracy.
Further, described damping assembly includes the first cushion blocking and the second cushion blocking, described first cushion blocking, sensing group
Part, static pressure nacelle and the second cushion blocking are sequentially connected with.
Further, described first cushion blocking and/or the second cushion blocking are provided with chamber.
Described damping assembly is mainly used in buffering isolation vibration, reduction resonance frequency, limiting displacement, buffers and isolates high speed miscellaneous
Random gas stream.Described first cushion blocking and the second cushion blocking are loose porous gas permeable material, can buffer isolation vibration, reduce altogether
Shake frequency, limiting displacement, can stop again cache mixed and disorderly gas stream.Top layer stops buffering height by the first cushion blocking from top to bottom
The mixed and disorderly gas stream of speed enters configuration static pressure cabin, and bottom stops the mixed and disorderly gas of cache by the chamber arranged on the second cushion blocking
Flowing to ballasting body in meditation, limiting displacement is mainly the second cushion blocking, the first cushion blocking auxiliary limiting displacement amount.
Further, in described static pressure nacelle, connection has lid, described surface-mounted integrated circuit and soft arranging wire to be positioned at static pressure nacelle
And between lid.It is further preferred that described lid is connected with described static pressure nacelle by fixed screw, described fixed screw depends on
Secondary through lid, integrated circuit and static pressure nacelle, described soft arranging wire is between lid and integrated circuit.
Further, described inertial measuring unit also includes multiple plastic plate, described plastic plate respectively with sensory package, subtract
Assembly and the static pressure nacelle of shaking is fixing to be connected.
Concrete, multiple plastic plates include the first plastic plate, the second plastic plate, the 3rd plastic plate and the 4th plastics successively
Plate, described first plastic plate, the first cushion, the second plastic plate, lid, static pressure nacelle, the 3rd plastic plate, the second cushion and
4th plastic plate is pasted fixing successively.By the first plastic plate and the second plastic plate, by this utility model inertial measuring unit with
Other system equipment is pasted fixing, so that static pressure cabin is in horizontal suspended state.
Lid is connected in blood pressure lowering nacelle, makes sidewall baroport communicate with diapire baroport；Lid is pasted with static pressure nacelle
Seal, bottom lid top, static pressure nacelle, be pasted with plastic plate respectively, and with screw in addition fixing seal, formed the most empty
Chamber, it is ensured that extraneous gas can only be entered in static pressure cabin by side baroport.
Further, described inertial measuring unit also includes housing, described damping assembly, sensory package and static pressure nacelle
It is arranged in housing.
Use technique scheme, including following beneficial effect: the design of the multi-level vibration insulating system of this utility model, can be
While realizing vibration damping, effective limiting displacement also reduces resonant frequency；The design sealing static pressure cabin buffers the most to the full extent
The most mixed and disorderly air-flow impact on measurement data, and then improve the accuracy of measurement.The use that this utility model provides simultaneously
Inertial measuring unit in unmanned vehicle is simple for structure clear, installs simple, easy to maintenance.
Accompanying drawing explanation
Fig. 1 is this utility model embodiment inertial measuring unit detonation configuration figure；
Fig. 2 is this utility model embodiment static pressure nacelle upward view；
Fig. 3 is static pressure nacelle Section A-A schematic diagram shown in this utility model Fig. 2；
Fig. 4 is static pressure nacelle top view shown in this utility model Fig. 2；
Fig. 5 is this utility model sensory package structural representation.
In figure,
1, sensory package；11, surface-mounted integrated circuit；12, soft arranging wire；13, inertial sensor；14, baroceptor；2, vibration damping
Assembly；21, the first cushion blocking；22, the second cushion blocking；3, static pressure nacelle；31, baroport；311, sidewall baroport；312, diapire
Baroport；32, gas passage；321, peripheral channel；322, bent passage；323, Vertical Channel；4, lid；5, plastic plate；51、
First plastic plate；52, the second plastic plate；53, the 3rd plastic plate；54, the 4th plastic plate.
Detailed description of the invention
Below by specific embodiment and combine accompanying drawing this utility model is described in further detail.
Embodiment:
The present embodiment provide a kind of inertial measuring unit for unmanned vehicle, as it is shown in figure 1, include sensory package 1,
Damping assembly 2 and static pressure nacelle 3, described sensory package is connected with described static pressure nacelle, described damping assembly respectively with described biography
Sense assembly and static pressure nacelle connect, and as shown in Figure 2 and Figure 4, described static pressure nacelle are provided with baroport 31 and gas passage 32,
As it is shown in figure 5, described sensory package includes surface-mounted integrated circuit 11, soft arranging wire 12 and inertial sensor 13, described soft arranging wire is with used
Property sensor is connected on described surface-mounted integrated circuit, and described surface-mounted integrated circuit is connected with described static pressure nacelle.
In the present embodiment, further, as shown in Figures 2 and 3, described baroport is positioned on described gas passage；
Described gas passage includes peripheral channel 321, bent passage 322 and Vertical Channel 323, the serpentine-like distribution of described bent passage,
Two ends of described peripheral channel are connected with two ends of described bent passage, and described Vertical Channel is led to described bending
Road is connected.
In the present embodiment, further, as shown in Figures 2 and 3, it is formed with cavity and is divided into side in described static pressure nacelle
Wall and diapire, described baroport includes sidewall baroport 311 and/or diapire baroport 312, and described gas passage is arranged at described
On the outer surface of diapire.
In the present embodiment, further, as shown in Figures 2 and 3, described diapire baroport run through described diapire and with institute
State Vertical Channel connection；Described sidewall baroport all connects with peripheral channel and bent passage.
In the present embodiment, further, as in figure 2 it is shown, described gas passage is right with Vertical Channel for axis of symmetry
Claim to arrange.
The quantity of described baroport is more than three, including sidewall baroport and diapire baroport, when described sidewall static pressure
When the quantity in hole is two or more, it is oppositely arranged the most respectively.
Preferably, the quantity of described baroport is three, including two symmetrically arranged sidewall baroports and a diapire
Baroport, described diapire baroport connects with an end of numerical value passage, another end of described numerical value passage and bending
Channel connection.Two described peripherally located passages of sidewall baroport and the connectivity part of bent passage.
In the present embodiment, further, as it is shown in figure 5, described sensory package also includes baroceptor 14, described gas
Pressure sensor is connected on described surface-mounted integrated circuit, and described baroceptor and inertial sensor are all connected with soft arranging wire electrical information
And it is positioned at described cavity.
In the present embodiment, further, described inertial sensor includes gyroscope and accelerometer.
In the present embodiment, further, as it is shown in figure 1, described damping assembly includes that the first cushion blocking 21 and second subtracts
Shake pad 22, and described first cushion blocking, sensory package, static pressure nacelle and the second cushion blocking are sequentially connected with.
In the present embodiment, further, as it is shown in figure 1, connect in described static pressure nacelle and have lid 4, described integrated electricity
Road plate and soft arranging wire are between static pressure nacelle and lid.
Described lid is connected with described static pressure nacelle by fixed screw, and described fixed screw sequentially passes through lid, integrated
Circuit and static pressure nacelle, described soft arranging wire is between lid and integrated circuit.
In the present embodiment, further, as it is shown in figure 1, described inertial measuring unit also includes multiple plastic plate 5, institute
State that plastic plate is fixing with sensory package, damping assembly and static pressure nacelle respectively to be connected.
Multiple described plastic plates include the first plastic plate the 51, second plastic plate the 52, the 3rd plastic plate 53 and the 4th plastic plate
54, described first plastic plate, the first cushion, the second plastic plate, lid, static pressure nacelle, the 3rd plastic plate, the second cushion and
4th plastic plate is pasted fixing successively.By the first plastic plate and the second plastic plate, by this utility model inertial measuring unit with
Other system equipment is pasted fixing.
The foregoing is only preferred embodiment of the present utility model, be not limited to this utility model, for this
For the technical staff in field, this utility model can have various modifications and variations.All in spirit of the present utility model and principle
Within, any modification, equivalent substitution and improvement etc. made, within should be included in protection domain of the present utility model.
Claims (10)
1. for an inertial measuring unit for unmanned vehicle, including sensory package (1), damping assembly (2) and static pressure nacelle
(3), described sensory package is connected with described static pressure nacelle, and described damping assembly connects with described sensory package and static pressure nacelle respectively
Connecing, it is characterised in that be provided with baroport (31) and gas passage (32) in described static pressure nacelle, described sensory package includes collection
Becoming circuit board (11), soft arranging wire (12) and inertial sensor (13), described soft arranging wire and inertial sensor are connected to described integrated
On circuit board, described surface-mounted integrated circuit is connected with described static pressure nacelle.
Inertial measuring unit for unmanned vehicle the most according to claim 1, it is characterised in that described baroport
It is positioned on described gas passage；Described gas passage includes peripheral channel (321), bent passage (322) and Vertical Channel
(323), the serpentine-like distribution of described bent passage, two ends of described peripheral channel and two end phases of described bent passage
Connection, described Vertical Channel is connected with described bent passage.
Inertial measuring unit for unmanned vehicle the most according to claim 2, it is characterised in that described static pressure nacelle
Inside being formed with cavity and be divided into sidewall and diapire, described baroport includes sidewall baroport (311) and/or diapire baroport
(312), described gas passage is arranged on the outer surface of described diapire.
Inertial measuring unit for unmanned vehicle the most according to claim 3, it is characterised in that described diapire static pressure
Hole is run through described diapire and connects with described Vertical Channel；Described sidewall baroport all connects with peripheral channel and bent passage.
Inertial measuring unit for unmanned vehicle the most according to claim 2, it is characterised in that described gas leads to
Road is symmetrical set with Vertical Channel for axis of symmetry.
Inertial measuring unit for unmanned vehicle the most according to claim 3, it is characterised in that described sensory package
Also including baroceptor (14), described baroceptor is connected on described surface-mounted integrated circuit, and described baroceptor is with used
Property sensor is all connected with soft arranging wire electrical information and is positioned at described cavity.
Inertial measuring unit for unmanned vehicle the most according to claim 1, it is characterised in that described inertia sensing
Device includes gyroscope and accelerometer.
Inertial measuring unit for unmanned vehicle the most according to claim 1, it is characterised in that described damping assembly
Including the first cushion blocking (21) and the second cushion blocking (22), described first cushion blocking, sensory package, static pressure nacelle and second subtract
The pad that shakes is sequentially connected with.
Inertial measuring unit for unmanned vehicle the most according to claim 1, it is characterised in that described static pressure nacelle
Upper connection has lid (4), described surface-mounted integrated circuit and soft arranging wire between static pressure nacelle and lid.
Inertial measuring unit for unmanned vehicle the most according to claim 1, it is characterised in that described inertia is surveyed
Amount device also includes multiple plastic plate (5), and described plastic plate is fixing with sensory package, damping assembly and static pressure nacelle respectively to be connected
Connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620467525.0U CN205748395U (en) | 2016-05-21 | 2016-05-21 | A kind of inertial measuring unit for unmanned vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620467525.0U CN205748395U (en) | 2016-05-21 | 2016-05-21 | A kind of inertial measuring unit for unmanned vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106871895A (en) * | 2017-04-28 | 2017-06-20 | 上海拓攻机器人有限公司 | A kind of inertial measuring unit and unmanned vehicle |
| CN108036891A (en) * | 2018-01-26 | 2018-05-15 | 上海歌尔泰克机器人有限公司 | A kind of baroceptor safeguard structure, barometer and unmanned plane |
-
2016
- 2016-05-21 CN CN201620467525.0U patent/CN205748395U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106871895A (en) * | 2017-04-28 | 2017-06-20 | 上海拓攻机器人有限公司 | A kind of inertial measuring unit and unmanned vehicle |
| WO2018196042A1 (en) * | 2017-04-28 | 2018-11-01 | 上海拓攻机器人有限公司 | Inertia measurement apparatus and unmanned aerial vehicle |
| CN106871895B (en) * | 2017-04-28 | 2019-03-29 | 上海拓攻机器人有限公司 | A kind of inertial measuring unit and unmanned vehicle |
| EP3425336A4 (en) * | 2017-04-28 | 2019-11-27 | Shanghai Topxgun Robotics Co., Ltd. | Inertia measurement apparatus and unmanned aerial vehicle |
| US11326885B2 (en) * | 2017-04-28 | 2022-05-10 | Shanghai TopxGun Robotics Co., Ltd. | Inertial measurement device and unmanned aerial vehicle |
| CN108036891A (en) * | 2018-01-26 | 2018-05-15 | 上海歌尔泰克机器人有限公司 | A kind of baroceptor safeguard structure, barometer and unmanned plane |
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