CN206514864U - A kind of unmanned plane inertial measuring unit and the unmanned plane containing it - Google Patents
A kind of unmanned plane inertial measuring unit and the unmanned plane containing it Download PDFInfo
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- CN206514864U CN206514864U CN201621288351.8U CN201621288351U CN206514864U CN 206514864 U CN206514864 U CN 206514864U CN 201621288351 U CN201621288351 U CN 201621288351U CN 206514864 U CN206514864 U CN 206514864U
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- unmanned plane
- measuring unit
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- integrated circuit
- inertial measuring
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Abstract
The utility model is related to unmanned vehicle technical field, specifically related to a kind of unmanned plane inertial measuring unit and the unmanned plane containing it, including housing and the sensory package being installed in housing, the sensory package includes cube frame, each surface of cube frame has been covered each by one piece of surface-mounted integrated circuit, surface-mounted integrated circuit is provided with inertial sensor, and the inertial sensor that each surface of cube frame is respectively equipped with windowing, surface-mounted integrated circuit is flush-mounted in windowing；It is fixed with cube frame in the air-flow buffer nacelle of bottom opening, air-flow buffer nacelle and is formed with cavity, air-flow through hole is provided with the top of air-flow buffer nacelle, air-flow through hole is communicated by being opened in the winding displacement hole of surface-mounted integrated circuit with the external world；Also include the baroceptor on surface-mounted integrated circuit, baroceptor is flush-mounted in air-flow buffer nacelle.The unmanned plane inertial measuring unit that the utility model is provided, simple in construction, Highgrade integration, small volume occupies little space, and improves the accuracy of measurement.
Description
Technical field
The utility model is related to unmanned vehicle technical field, and in particular to a kind of unmanned plane inertial measuring unit and containing it
Unmanned plane.
Background technology
In unmanned aerial vehicle control system, inertial measuring unit is core component therein, can obtain unmanned vehicle
Attitude information and positional information, so as to realize self navigation completely.With the development of technology, current Mierotubule-associated proteins have been obtained
It is widely applied.
The concrete operating principle of inertial measuring unit is as follows：The tri-axis angular rate of gyroscope sense aircraft, accelerometer
Linear acceleration of the sense aircraft along three-axis moving, the data-signal that controller is measured to gyroscope and accelerometer respectively
Analyzed and processed, draw the instantaneous headway information of aircraft, extrapolate distance and the position of aircraft navigation.
Because inertial measuring unit needs to measure the attitude information of three axial directions, so needing attitude transducer（Such as three
Individual single axis gyroscope）It is respectively arranged on three orthogonal planes, and the sensitive axes of sensor are mutually perpendicular to, and constitute the orthogonal seat of measurement
Mark system；The mounting means of existing inertial measuring unit is the circuit board that three single axis gyroscopes are installed on to three separation respectively
On, not only temporary space is big, stability is poor, and is difficult to ensure that the perpendicularity of each sensitive axes, influences the measurement accuracy of sensor,
So that the attitude information that aircraft is obtained is not accurate enough, aircraft flight diversion is in turn resulted in.
In addition, baroceptor is the elevation carrection core cell on unmanned plane, with small volume, response time
It is short, the features such as measurement range is wide, real-time, reliable measurement of flight altitude data are provided for UAV Flight Control System.Due to
Baroceptor is easily influenceed by wind and air-flow so that baroceptor data are interfered, and greatly reduce air pressure transmission
Sensor is surely high-precision.
As can be seen here, it can take it empty based on the deficiencies in the prior art there is provided a kind of unmanned plane inertial measuring unit
Between attitude information and positional information smaller, that can accurately obtain unmanned plane and can effectively buffer mixed and disorderly air-flow to baroceptor
Influence, as those skilled in the art's technical barrier urgently to be resolved hurrily.
Utility model content
The utility model is in order to solve the above-mentioned technical problem there is provided a kind of unmanned plane inertial measuring unit, and it can effectively be obtained
Take the attitude information and positional information of three axial directions so that aircraft obtains reliable flying quality, it is ensured that aircraft is according to accurate
Airline operation, and aerial mixed and disorderly interference of the air-flow to baroceptor is effectively buffered, the accuracy of measurement is improved, is conducive to flying
Row device is in optimum Working.
In order to reach above-mentioned technique effect, the utility model includes following technical scheme：
A kind of unmanned plane inertial measuring unit, including housing and the sensory package that is installed in housing, the sensing group
Part includes cube frame, and each surface of the cube frame has been covered each by one piece of surface-mounted integrated circuit, the integrated electricity
Road plate is provided with inertial sensor, and each surface of the cube frame is respectively equipped with the inertia on windowing, surface-mounted integrated circuit
Sensor is flush-mounted in windowing；
It is fixed with the air-flow buffer nacelle of bottom opening, the air-flow buffer nacelle and is formed with the cube frame
Cavity, is provided with air-flow through hole at the top of air-flow buffer nacelle, the air-flow through hole by be opened in the winding displacement hole of surface-mounted integrated circuit with
The external world is communicated；Also include the baroceptor on surface-mounted integrated circuit, the baroceptor is flush-mounted in air-flow buffer nacelle
It is interior.
The bottom opening of air-flow buffer nacelle is corresponding with the bottom windowing of cube frame.
The cube frame that the utility model provides inertial measuring unit is to pass through between rigid frame, surface-mounted integrated circuit
Soft arranging wire is electrically connected, and those skilled in the art being capable of electric elements such as install sensor on surface-mounted integrated circuit as needed.Should
Inertial measuring unit occupies little space, and substantially increases anti-noise ability, improves the accuracy of sensor measurement；Buffer at a high speed
Mixed and disorderly air-flow, it is to avoid air-flow produces interference to baroceptor, reduces the volume of inertial measuring unit, improves inertia measurement
The accuracy of device.
Further, the inertial sensor is gyroscope and/or accelerometer.
Further, be connected with soft arranging wire on the surface-mounted integrated circuit, the inertial sensor and pneumatic sensor with
Soft arranging wire power information is connected, and the soft arranging wire is connected through winding displacement hole with data wire, and the housing is provided with opening, the data
Line is connected through the opening with external equipment.
Further, in addition to dampening assembly, the dampening assembly is in contact with sensory package.
Further, limiting section is provided with the housing, the limiting section is in contact with dampening assembly.
Further, limiting plate is provided with the housing, the limiting plate is connected between housing and dampening assembly, described
Limiting plate is in contact with limiting section.
The setting of limiting section causes limiting plate and dampening assembly to be limited on housing, is effectively respectively filled in limitation housing
Put structure and displacement is produced in motion process, it is to avoid vibrations produce influence to inertial device, improve the measurement of inertial measuring unit
Precision.
Further, the housing includes upper shell and the lower house that is connected at upper shell opening, the upper shell and
Boss is equipped with inside lower house, the boss is provided with connecting hole, and the upper shell and lower house are by being connected to connecting hole
Interior connector is fixedly connected.
Housing provided by the utility model is cube, and described boss is separately positioned on the four of upper shell and lower house
On individual angle.
Further, the limiting plate includes the first limiting plate and the second limiting plate, and the dampening assembly subtracts including first
Shake pad and the second beam, the upper shell, the first limiting plate, the first beam, sensory package, the second beam, the second limit
Position plate and lower house are sequentially connected.
The structure design causes inertial measuring unit Highgrade integration provided by the utility model, small volume, damping effect
Really good, stability is high, substantially increases inertial measuring unit measurement accuracy.
The utility model additionally provides a kind of unmanned plane, including above-mentioned unmanned plane inertial measuring unit.
Using above-mentioned technical proposal, including following beneficial effect：The unmanned plane inertial measuring unit that the utility model is provided,
Simple in construction, reasonable in design, Highgrade integration, small volume occupies little space, and enables to aircraft to obtain reliable flight number
According to, it is ensured that aircraft effectively buffers aerial mixed and disorderly interference of the air-flow to baroceptor according to accurate airline operation, improves
The accuracy of measurement.
Brief description of the drawings
Fig. 1 is the configuration schematic diagram of the utility model inertial measuring unit；
Fig. 2 is the separate structure schematic diagram of the utility model inertial measuring unit；
Fig. 3 is the utility model upper shell structural representation.
Fig. 4 is the utility model lower house structural representation.
In figure,
1st, upper shell；101st, boss；102nd, connecting hole；103rd, limiting section；2nd, lower house；201st, boss；202nd, connecting hole；
203rd, limiting section；3rd, cube frame；4th, surface-mounted integrated circuit；5th, air-flow buffer nacelle；6th, air-flow through hole；7th, inertial sensor；
8th, baroceptor；9th, open a window；10th, the first limiting plate；11st, the first beam；12nd, the second beam；13rd, the second limiting plate；
14th, soft arranging wire；15th, data wire；16th, it is open；17th, winding displacement hole.
Embodiment
To make the purpose of this utility model, technical scheme and advantage clearer, implement below in conjunction with the utility model
Accompanying drawing in example, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that described reality
It is a part of embodiment of the utility model to apply example, rather than whole embodiments.Based on the embodiment in the utility model, ability
The every other embodiment that domain those of ordinary skill is obtained under the premise of creative work is not made, belongs to this practicality new
The scope of type protection.
In the utility model, term " on ", " under ", "left", "right", "front", "rear", " top ", " bottom ", " interior ", " outer ",
" in ", " vertical ", " level ", " transverse direction ", the orientation of the instruction such as " longitudinal direction " or position relationship be based on orientation shown in the drawings or
Position relationship.These terms are not intended to limit indicated primarily to preferably describe the utility model and embodiment
Device, element or part must have particular orientation, or constructed and operated with particular orientation.
Also, above-mentioned part term is in addition to it can be used to indicate that orientation or position relationship, it is also possible to for representing it
His implication, such as term " on " also be likely used for representing certain relations of dependence or annexation in some cases.For ability
For the those of ordinary skill of domain, concrete meaning of these terms in the utility model can be understood as the case may be.
In addition, term " installation ", " setting ", " being provided with ", " connection ", " connected " " socket " should be interpreted broadly.For example, can
To be to be fixedly connected, it is detachably connected, or monolithic construction；Can mechanically connect, or electrical connection；Can be joined directly together,
Either it is indirectly connected to by intermediary, or is connection internal between two devices, element or parts.For
For those of ordinary skill in the art, concrete meaning of the above-mentioned term in the utility model can be understood as the case may be.
Unless otherwise indicated, the implication of " multiple " is two or more.
The utility model is described in further detail below by specific embodiment and with reference to accompanying drawing.
Embodiment：
A kind of unmanned plane inertial measuring unit is present embodiments provided, as illustrated in fig. 1 and 2, including housing and is installed on
Sensory package in housing, the sensory package includes cube frame 3, and each surface of the cube frame 3 is covered respectively
One piece of surface-mounted integrated circuit 4 is stamped, the surface-mounted integrated circuit 4 is provided with inertial sensor 7, each table of the cube frame 3
The inertial sensor 7 that face is respectively equipped with windowing 9, surface-mounted integrated circuit 4 is flush-mounted in windowing 9；It is fixed in the cube frame 3
Have and cavity is formed with the air-flow buffer nacelle 5 of bottom opening, the air-flow buffer nacelle 5, the top of air-flow buffer nacelle 5 is provided with
Air-flow through hole 6, the air-flow through hole 6 is communicated by being opened in the winding displacement hole 17 of surface-mounted integrated circuit 4 with the external world；Also include located at collection
Into the baroceptor 8 on circuit board 4, the baroceptor 8 is flush-mounted in air-flow buffer nacelle 5.
The surface-mounted integrated circuit 4 is screwed on cube frame 3, and the profile of each surface-mounted integrated circuit 4 is with standing
The corresponding surface congruence of cube framework 3, cube frame 3 meets certain weight proportion and desired rigid support, when cube frame 3 one
Sensor or other electronic components are not provided with corresponding surface-mounted integrated circuit 4 on individual or multiple sides, this is one or more
Side can not open a window.
Surface-mounted integrated circuit 4 also includes sensor signal preprocessing function, and those skilled in the art can be according to prior art
Make a choice and install.
Because baroceptor 8 is placed in air-flow buffer nacelle 5, high velocity air is entered in housing by winding displacement hole 17, then by
Air-flow through hole 6 in air-flow buffer nacelle 5 is entered in air-flow buffer nacelle 5, and high velocity air passes through multiple filtration, is delayed
Punching, reduces the influence to baroceptor 8.
Further, the inertial sensor is gyroscope and/or accelerometer.
The inertial sensor 7 that the present embodiment is provided is single axis gyroscope, and three single axis gyroscopes are individually fixed in three two
On two orthogonal surface-mounted integrated circuits.Three single axis gyroscopes are respectively arranged on the surface-mounted integrated circuit of three pairwise orthogonals, together
When ensure that the sensitive axes of three single axis gyroscopes are orthogonal, be conducive to gyroscope to be in stable and optimal working condition, obtain
Take accurately measurement data.
Three single axis gyroscopes that the present embodiment is provided are individually fixed in the bottom surface of cube frame 3, right flank, leading flank
On corresponding surface-mounted integrated circuit 4, three pairwise orthogonals of surface-mounted integrated circuit 4, wherein baroceptor 8 is fixed on cube frame
On surface-mounted integrated circuit 4 corresponding to 3 bottom surface, and baroceptor 8 is flush-mounted in air-flow buffer nacelle 5.
In the present embodiment, further, soft arranging wire 14, the inertial sensor 7 are connected with the surface-mounted integrated circuit 4
It is connected with baroceptor 8 with the power information of soft arranging wire 14, the soft arranging wire 14 is connected through winding displacement hole 17 with data wire 15, institute
Housing is stated provided with opening 16, the data wire 15 is connected through the opening 16 with external equipment.
In the present embodiment, further, in addition to dampening assembly, the dampening assembly is in contact with sensory package.Institute
State and limiting section is provided with housing, as shown in Figures 3 and 4, limiting section includes the limiting section 103 being located in upper shell 1 and located at lower casing
Limiting section 203 in body 2, the limiting section is in contact with dampening assembly.Limiting plate is provided with the housing, the limiting plate connects
It is connected between housing and dampening assembly, the limiting plate is in contact with limiting section.
The housing includes upper shell 1 and the lower house 2 being connected at the opening of upper shell 1, the upper shell 1 and lower house
Boss, including the boss 101 located at upper shell 1 and the boss 201 located at lower house 2 are equipped with inside 2, the boss is provided with
Connecting hole, the connecting hole includes the connecting hole 102 and the connecting hole 202 located at lower house 2 located at upper shell 1, the upper casing
Body 1 is fixedly connected with lower house 2 by the connector being connected in connecting hole.
The housing that the present embodiment is provided is cube, and described boss is separately positioned on four of upper shell and lower house
On angle.
Further, as shown in Fig. 2 the limiting plate includes the first limiting plate 10 and the second limiting plate 13, the damping
Component includes the first beam 11 and the second beam 12, the upper shell 1, the first limiting plate 10, the first beam 11, sensing
Component, the second beam 12, the second limiting plate 13 and lower house 2 are sequentially connected.
It is during specific assembling, the second limiting plate 13, the second beam 12, sensory package, the first beam 11, first is spacing
Plate 10 is sequentially placed on lower house 2, wherein the second limiting plate 13 is fastened at limiting section, the lid of upper shell 1 is located at into lower house 2
On, the connecting hole that the upper shell 1 and lower house 2 are connected to by connector on boss is fixed together.Selected by the present embodiment
First beam 11 and the second beam 12 are all sponge beam, not only with damping effect, but also with buffering
The effect of air-flow.
The present embodiment additionally provides a kind of unmanned plane, including above-mentioned unmanned plane inertial measuring unit.
Preferred embodiment of the present utility model is the foregoing is only, the utility model is not limited to, for this
For the technical staff in field, the utility model can have various modifications and variations.It is all it is of the present utility model spirit and principle
Within, any modification, equivalent substitution and improvements made etc. should be included within protection domain of the present utility model.
Claims (9)
1. a kind of unmanned plane inertial measuring unit, including housing（1,2）And it is installed on housing（1,2）Interior sensory package, its
It is characterised by, the sensory package includes cube frame（3）, the cube frame（3）Each surface be covered each by
One piece of surface-mounted integrated circuit（4）, the surface-mounted integrated circuit（4）It is provided with inertial sensor（7）, the cube frame（3）It is every
Individual surface is respectively equipped with windowing（9）, surface-mounted integrated circuit（4）On inertial sensor（7）It is flush-mounted in windowing（9）It is interior；
The cube frame（3）Inside it is fixed with the air-flow buffer nacelle of bottom opening（5）, the air-flow buffer nacelle（5）It is interior
It is formed with cavity, air-flow buffer nacelle（5）Top is provided with air-flow through hole（6）, the air-flow through hole（6）By being opened in integrated electricity
Road plate（4）Winding displacement hole（17）Communicated with the external world；Also include being located at surface-mounted integrated circuit（4）On baroceptor（8）, the gas
Pressure sensor（8）It is flush-mounted in air-flow buffer nacelle（5）It is interior.
2. unmanned plane inertial measuring unit according to claim 1, it is characterised in that the inertial sensor（7）For top
Spiral shell instrument and/or accelerometer.
3. unmanned plane inertial measuring unit according to claim 1, it is characterised in that the surface-mounted integrated circuit（4）Upper company
It is connected to soft arranging wire（14）, the inertial sensor（7）And baroceptor（8）And soft arranging wire（14）Power information is connected, described
Soft arranging wire（14）Through winding displacement hole（17）With data wire（15）Connection, the housing（1,2）It is provided with opening（16）, the data
Line（15）Through the opening（16）It is connected with external equipment.
4. unmanned plane inertial measuring unit according to claim 1, it is characterised in that described to subtract also including dampening assembly
Shake component is in contact with sensory package.
5. unmanned plane inertial measuring unit according to claim 4, it is characterised in that the housing（1,2）It is interior to be provided with limit
Position portion（103,203）, the limiting section（103,203）It is in contact with dampening assembly.
6. unmanned plane inertial measuring unit according to claim 5, it is characterised in that the housing（1,2）It is interior to be provided with limit
Position plate（10,13）, the limiting plate（10,13）It is connected to housing（1,2）Between dampening assembly, the limiting plate（10,13）
With limiting section（103,203）It is in contact.
7. unmanned plane inertial measuring unit according to claim 6, it is characterised in that the housing（1,2）Including upper casing
Body（1）Be connected to upper shell（1）Lower house at opening（2）, the upper shell（1）And lower house（2）Inside is equipped with convex
Platform（101,201）, the boss（101,301）It is provided with connecting hole（102,202）, the upper shell（1）And lower house（2）It is logical
Cross and be connected to connecting hole（102,202）Interior connector is fixedly connected.
8. unmanned plane inertial measuring unit according to claim 7, it is characterised in that the limiting plate（10,13）Including
First limiting plate（10）With the second limiting plate（13）, the dampening assembly include the first beam（11）With the second beam
（12）, the upper shell（1）, the first limiting plate（10）, the first beam（11）, sensory package, the second beam（12）, second
Limiting plate（13）And lower house（2）It is sequentially connected.
9. a kind of unmanned plane, it is characterised in that：Including the unmanned plane inertial measuring unit described in any one of claim 1 ~ 8.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621288351.8U CN206514864U (en) | 2016-11-29 | 2016-11-29 | A kind of unmanned plane inertial measuring unit and the unmanned plane containing it |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621288351.8U CN206514864U (en) | 2016-11-29 | 2016-11-29 | A kind of unmanned plane inertial measuring unit and the unmanned plane containing it |
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| Publication Number | Publication Date |
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| CN206514864U true CN206514864U (en) | 2017-09-22 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108190036A (en) * | 2017-12-25 | 2018-06-22 | 中航联创科技有限公司 | A kind of inertial navigation shock mitigation system of unmanned plane |
| CN108519081A (en) * | 2018-03-24 | 2018-09-11 | 北京工业大学 | A kind of industrial robot high-precision detection device |
| CN109612461A (en) * | 2018-12-24 | 2019-04-12 | 中国电子科技集团公司第十三研究所 | Isolation damper device and three-axis gyroscope |
| CN111322984A (en) * | 2020-04-15 | 2020-06-23 | 深圳市创客火科技有限公司 | Altitude calculation method and device, unmanned aerial vehicle and storage medium |
| CN112357104A (en) * | 2021-01-14 | 2021-02-12 | 南京弘伍软件技术有限公司 | High-performance temperature sensor for unmanned aerial vehicle |
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2016
- 2016-11-29 CN CN201621288351.8U patent/CN206514864U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108190036A (en) * | 2017-12-25 | 2018-06-22 | 中航联创科技有限公司 | A kind of inertial navigation shock mitigation system of unmanned plane |
| 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 |
| CN108519081A (en) * | 2018-03-24 | 2018-09-11 | 北京工业大学 | A kind of industrial robot high-precision detection device |
| CN109612461A (en) * | 2018-12-24 | 2019-04-12 | 中国电子科技集团公司第十三研究所 | Isolation damper device and three-axis gyroscope |
| CN109612461B (en) * | 2018-12-24 | 2020-06-19 | 中国电子科技集团公司第十三研究所 | Isolation vibration damper and triaxial gyroscope |
| CN111322984A (en) * | 2020-04-15 | 2020-06-23 | 深圳市创客火科技有限公司 | Altitude calculation method and device, unmanned aerial vehicle and storage medium |
| CN111322984B (en) * | 2020-04-15 | 2023-10-03 | 深圳市创客火科技有限公司 | Altitude calculating method and device, unmanned aerial vehicle and storage medium |
| CN112357104A (en) * | 2021-01-14 | 2021-02-12 | 南京弘伍软件技术有限公司 | High-performance temperature sensor for unmanned aerial vehicle |
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