CN206670644U - A kind of navigation attitude detecting system of more algorithm Multi-sensor Fusions - Google Patents
A kind of navigation attitude detecting system of more algorithm Multi-sensor Fusions Download PDFInfo
- Publication number
- CN206670644U CN206670644U CN201720483005.3U CN201720483005U CN206670644U CN 206670644 U CN206670644 U CN 206670644U CN 201720483005 U CN201720483005 U CN 201720483005U CN 206670644 U CN206670644 U CN 206670644U
- Authority
- CN
- China
- Prior art keywords
- module
- mcu
- sensor
- detecting system
- data communication
- 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.)
- Expired - Fee Related
Links
Landscapes
- Navigation (AREA)
Abstract
A kind of navigation attitude detecting system of more algorithm Multi-sensor Fusions, is related to inertial navigation.Offer overcomes the deficiencies of traditional attitude heading reference system measurement accuracy difference and not high stability, more reduces the navigation attitude detecting system of the cost of navigation attitude detecting system and a kind of more algorithm Multi-sensor Fusions of volume.Provided with power module, MCU one-chip computer modules, multi sensor combination module and data communication module；The power supply output of the power module is connected to MCU one-chip computer modules, multi sensor combination module and data communication module, the MCU one-chip computer modules are connected with multi sensor combination module and data communication module, the multi sensor combination module is made up of gyroscope, accelerometer and magnetometer, data communication module is formed with CAN and bluetooth respectively, and CAN and bluetooth are connected with MCU one-chip computer modules by USART buses and CAN.
Description
Technical field
Inertial navigation is the utility model is related to, system is detected more particularly, to a kind of navigation attitude of more algorithm Multi-sensor Fusions
System.
Background technology
In recent years, unmanned plane and vehicle technology were constantly advanced by leaps and bounds, constantly to maximization, professional development.And fly
The stability and reliability of row device and unmanned plane be unable to do without the acquisition of posture and sail information.In electronic toy, motion detection, machine
Device people and VR game etc., also it is badly in need of a kind of attitude heading reference system of low cost miniaturization, and traditional attitude heading reference system
Costly, the reasons such as volume is big can not be applied price well in these fields.
Attitude heading reference system (Altitude and Heading Reference System, AHRS) includes three axial directions
Sensor, can provide pitching, roll and yaw information for aircraft, and the system of the design can provide accurately and reliably for aircraft
Posture and sail information.
Three kinds of gyroscope, accelerometer and magnetometer sensors are applied to unmanned plane and various robots more and more
In attitude measurement and navigation detection with it.In attitude heading reference system, what final needs obtained is Eulerian angles, wherein acceleration
Meter extracts the axial rake reference value of level two by measuring triaxial Earth weight component, and magnetometer is by measuring three axle absolute forces
Integration obtains course angle reference quantity, and the three axis angular rates integration of gyroscope obtains the correction value of three shaft angle degree.Utilize single order low pass
Filtering, the filtering scheduling algorithm fusion of IIR-I types, recycle the quaternary number of single order Long Geku block-regulations to calculate three axle Euler angles, from
And obtain high accuracy and three high axle navigation attitude angles of robustness.
The content of the invention
The purpose of this utility model be for solve be badly in need of at present one kind low cost miniaturization and also low precision and
It is disturbed serious technical problem, there is provided the deficiencies of overcoming traditional attitude heading reference system measurement accuracy difference and not high stability, more
Reduce the navigation attitude detecting system of the cost of navigation attitude detecting system and a kind of more algorithm Multi-sensor Fusions of volume.
The utility model is provided with power module, MCU one-chip computer modules, multi sensor combination module and data communication module；
The power supply output of the power module is connected to MCU one-chip computer modules, multi sensor combination module and data communication module, described
MCU one-chip computer modules are connected with multi sensor combination module and data communication module, and the multi sensor combination module is by gyro
Instrument, accelerometer and magnetometer composition, data communication module form with CAN and bluetooth respectively, CAN and bluetooth and MCU single-chip microcomputers
Module is connected by USART buses with CAN.
The MCU one-chip computer modules include SCM peripheral circuit, burning interface and reset composition, and MCU single-chip microcomputers are whole
The CPU of individual system, it is responsible for the reading to sensor raw data and algorithm process and calculates the various data needed for user simultaneously
User is sent to by data communication module.
The power module can use 3.3V power supplys.
The power module be whole system power supply, including independently-powered and MCU single-chip microcomputers of multisensor module etc. its
Remaining power supply, sensor is independently-powered can to reduce other interference of peripheral circuit power-supply fluctuation to sensing data.
The gyroscope can use MPU6050 gyroscopes, and the magnetometer can use HMC5883 magnetometers.
The data communication module is divided into internal data access module and the data communication module in face of user and mainly included
USART serial ports and automobile bus CAN.Both communication modes are all now the most widely used, and this is also this practicality
New the reason for can preferably adapting to various electronics and industrial design.
Brief description of the drawings
Fig. 1 is system hardware block diagram of the present utility model.
Fig. 2 is power module of the present utility model.
Fig. 3 is sensor assembly of the present utility model.
Fig. 4 is data communication module of the present utility model.
Embodiment
Following examples will the utility model is described in further detail with reference to accompanying drawing.
Fig. 1 is system hardware block diagram, and the utility model embodiment is provided with power module 1, MCU one-chip computer modules 2, more sensings
Device composite module and data communication module；The power supply output of the power module 1 is connected to MCU one-chip computer modules 2, multisensor
Composite module and data communication module, the MCU one-chip computer modules 2 connect with multi sensor combination module and data communication module
Connect, the multi sensor combination module is made up of gyroscope 3, accelerometer 4 and magnetometer 5, data communication module respectively with CAN
6 and bluetooth 7 form, CAN 6 and bluetooth 7 are connected with MCU one-chip computer modules 2 by USART buses and CAN.
The MCU one-chip computer modules include SCM peripheral circuit, burning interface and reset composition, and MCU single-chip microcomputers are whole
The CPU of individual system, it is responsible for the reading to sensor raw data and algorithm process and calculates the various data needed for user simultaneously
User is sent to by data communication module.
The power module can use 3.3V power supplys.
The power module be whole system power supply, including independently-powered and MCU single-chip microcomputers of multisensor module etc. its
Remaining power supply, sensor is independently-powered can to reduce other interference of peripheral circuit power-supply fluctuation to sensing data.
The gyroscope can use MPU6050 gyroscopes, and the magnetometer can use HMC5883 magnetometers.
The utility model is powered using 5V, and inside turns pressure and powered for whole system.Microprocessor collects 9 axle sensors
Initial data, and independently carry out after corresponding digital filtering calculating corresponding pitch, roll and yaw by quaternary number three-dimensional
Eulerian angles.Then system sends the data of the required transmission set according to user, respectively progress CAN and serial ports.
Fig. 2 is system power supply power supply module, employs linear voltage decreasing power supply chip LM1117.In order to prevent 9 axle sensors
Data and communication are powered by power supply disturbance, the independent voltage dropping power supply all the way of sensor, and microprocessor and communication module unification are powered
Mode.Input is also provided with that diode D1 is anti-reverse and voltage-stabiliser tube DZ prevents the excessive safeguard measure of input voltage.C1 in figure
It is respectively output and input filter capacitor with C2.
Fig. 3 is the MPU6050 and 3 axle magnetic force of 9 axle sensor modules, respectively 3 axle gyroscopes and 3 axis accelerometers composition
Count HMC5883.They are all communicated by same I2C buses and microcontroller, right in order to increase the driving force of I2C buses
SCL and SDA signal line are pulled upward to 3.3V power supplys with RS4 the and RS5 resistance of 4.7K ohms.
Fig. 4 is that two kinds of data lead to news modules, respectively CAN and USART serial ports.CAN is led to
SN65HVD232CAN buses special chip communicates with user equipment.Done respectively according to CAN and USART serial port protocols characteristic
The default setting that is specified below：
USART serial port protocols, default setting are baud rate 115200, stop position 1, check bit 0.The agreement is Transistor-Transistor Logic level,
Non- RS232 level, if module misconnection may be caused into module damage to RS232 level.
Wherein, it is defined as by this module to user equipment communication, agreement is sent according to 16 systems, is not ASCII character, data
Packet length is the array of 11 elements, frame head 0xFF, postamble 0xFE, and each data divide low byte and high byte to pass successively
Send, the two is combined into the data for there are the short types of symbol.Such as X-axis acceleration information Ax, wherein AxL are low byte,
AxH is high byte.Conversion method is as follows：Assuming that Data is actual data, DataH is its high-byte portion, and DataL is low for its
Byte sections, then：Data=((short) DataH<<8)|DataL.Here necessarily it is noted that DataH needs first unsteady state operation
Data for a short type for having a symbol shift again later, and Data data type is also the short classes for having symbol
Type, it so can just represent negative.
Meanwhile the necessary agreement by user equipment to this module is also specify, for the initialization to module and communication association
The default setting of view carries out corresponding demand change, and acceleration, gyroscope and magnetometer of module etc. are calibrated and obtained
Required data, and unnecessary data are shielded, improve the efficiency that module obtains data.
CAN protocol, default baud rate 1Mbps, the machine ID are 0x201, and it is 0x202 that acquiescence, which sends ID,.With USART serial ports
Agreement is the same, while defines packet of the data from this module to user equipment and user equipment to the packet of this module,
For changing various configurations.
Both the above communication modes, suitable mode can be chosen according to the equipment actual conditions of user and used, make this mould
Block has more versatility and practicality.
Claims (5)
1. a kind of navigation attitude detecting system of more algorithm Multi-sensor Fusions, it is characterised in that provided with power module, MCU single-chip microcomputer moulds
Block, multi sensor combination module and data communication module；The power module power supply output be connected to MCU one-chip computer modules,
Multi sensor combination module and data communication module, the MCU one-chip computer modules and multi sensor combination module and data communication
Module connects, and the multi sensor combination module is made up of gyroscope, accelerometer and magnetometer, data communication module respectively with
CAN and bluetooth composition, CAN and bluetooth are connected with MCU one-chip computer modules by USART buses and CAN.
2. a kind of navigation attitude detecting system of more algorithm Multi-sensor Fusions as claimed in claim 1, it is characterised in that the MCU is mono-
Piece machine module includes SCM peripheral circuit, burning interface and resets composition, and MCU single-chip microcomputers are the CPU of whole system.
A kind of 3. navigation attitude detecting system of more algorithm Multi-sensor Fusions as claimed in claim 1, it is characterised in that the power supply
Module uses 3.3V power supplys.
A kind of 4. navigation attitude detecting system of more algorithm Multi-sensor Fusions as claimed in claim 1, it is characterised in that the gyro
Instrument uses MPU6050 gyroscopes.
A kind of 5. navigation attitude detecting system of more algorithm Multi-sensor Fusions as claimed in claim 1, it is characterised in that the magnetic force
Meter uses HMC5883 magnetometers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720483005.3U CN206670644U (en) | 2017-05-03 | 2017-05-03 | A kind of navigation attitude detecting system of more algorithm Multi-sensor Fusions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720483005.3U CN206670644U (en) | 2017-05-03 | 2017-05-03 | A kind of navigation attitude detecting system of more algorithm Multi-sensor Fusions |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206670644U true CN206670644U (en) | 2017-11-24 |
Family
ID=60371962
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720483005.3U Expired - Fee Related CN206670644U (en) | 2017-05-03 | 2017-05-03 | A kind of navigation attitude detecting system of more algorithm Multi-sensor Fusions |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206670644U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113229804A (en) * | 2021-05-07 | 2021-08-10 | 陕西福音假肢有限责任公司 | Magnetic field data fusion circuit and method for joint mobility |
-
2017
- 2017-05-03 CN CN201720483005.3U patent/CN206670644U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113229804A (en) * | 2021-05-07 | 2021-08-10 | 陕西福音假肢有限责任公司 | Magnetic field data fusion circuit and method for joint mobility |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102879793B (en) | Super-miniature GPS (global positioning system), INS (inertial navigation system), magnetometer and barometer integrated navigation system | |
| CN103226398B (en) | Based on the data glove of micro-inertia sensor network technology | |
| CN101059384B (en) | MEMS inertia measuring unit and mounting error calibration method | |
| CN104075699B (en) | The zero point of three-dimensional solid-state electronic compass and sensor thereof and proportionality coefficient core correction method | |
| CN103606206B (en) | A kind of motoring condition cognitive method using motoring condition sensing device | |
| CN103712598B (en) | Attitude determination method of small unmanned aerial vehicle | |
| CN105607764B (en) | Trace input device and track input method | |
| CN104316080A (en) | Device for resolving tilt compensation quaternion of attitude gyroscope | |
| CN107830861A (en) | Based on adaptive gain complementary filter moving object attitude measurement method and device | |
| CN206670644U (en) | A kind of navigation attitude detecting system of more algorithm Multi-sensor Fusions | |
| CN204788412U (en) | Inertial sensor subassembly suitable for small -size unmanned helicopter | |
| CN202057801U (en) | Combined positioning device based on BD, GPS and DR | |
| CN203241055U (en) | Inertia unit module based on SD788 | |
| CN207397095U (en) | A kind of multi-rotor aerocraft control system | |
| CN107414839A (en) | Snake-shaped robot control system | |
| CN111102973A (en) | Multi-sensor attitude detection system | |
| CN202648649U (en) | Target aspect sensor | |
| CN208621042U (en) | A kind of navigation posture research system for teaching | |
| CN107065906A (en) | A kind of Miniature Unmanned Helicopter automatic flight control system of double redundant sensors | |
| CN111964672B (en) | Inertia/geomagnetic combined navigation system low-noise measurement circuit based on three-axis TMR sensor | |
| CN205844901U (en) | The flying robot that a kind of economical speed controls | |
| CN217238120U (en) | Attitude sensor module circuit | |
| CN106681532A (en) | Wireless mouse system | |
| CN207007188U (en) | A kind of inertial navigation system based on singlechip chip | |
| CN210981284U (en) | Wireless motion track recording system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171124 Termination date: 20180503 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |