CN207066450U

CN207066450U - One kind 8 multiplies 9 inertia measurement matrix modules

Info

Publication number: CN207066450U
Application number: CN201720797132.0U
Authority: CN
Inventors: 张选
Original assignee: 张选
Current assignee: Chengdu Tianhe Century Technology Co., Ltd.
Priority date: 2017-07-04
Filing date: 2017-07-04
Publication date: 2018-03-02
Anticipated expiration: 2027-07-04

Abstract

The utility model discloses one kind 8 and multiplies 9 inertia measurement matrix modules, eight 9 axle measuring units of at least eight pads and structure identical including circuit board main body, in circuit board main body, eight 9 axle measuring units are integrated in circuit board main body, and each 9 axle measuring unit is connected with corresponding pad respectively by the internal wiring of circuit board main body.Of the present utility model 8, which multiply 9 inertia measurement matrix modules, passes through eight 9 axle measuring units of integrated morphology identical in circuit board main body, eight group of 9 axle 3-dimensional data can be exported simultaneously, more accurately measurement data can be obtained by providing the arrangement of inertia measurement device analysis, improve the precision of inertia measurement equipment, integrated level is high simultaneously, small volume, makes to multiply inertia measurement matrix module and has a wide range of application.

Description

One kind 8 multiplies 9 inertia measurement matrix modules

Technical field

Technical field of inertial is the utility model is related to, in particular it relates to which one kind 8 multiplies 9 inertia measurement matrix modules.

Background technology

Inertial survey technique is that one kind is calculated using the inertia sensitive elements such as gyroscope, accelerometer, barometer and electronics Machine, acceleration of the carrier relative to ground motion is measured in real time, to determine the position of carrier and terrestrial gravitation field parameters Technology, it is widely used in the industries such as industry, medical treatment, automobile, unmanned plane, communication.But most of at present used is used to Property measuring technology inertial navigation set in, only use single Inertial Measurement Unit, and each inertia sensing device is because of technique Problem, Inertial Measurement Unit in single inertial navigation set the big phenomenon of noise is present, cause error of measured data Greatly, cause measurement accuracy low, have a strong impact on the normal use of equipment.

Utility model content

In view of the shortcomings of the prior art, the utility model provides and a kind of can improve the 8 of inertial navigation set precision to multiply 9 used Property calculation matrix module.

One kind 8 multiplies 9 inertia measurement matrix modules disclosed in the utility model, including：Circuit board main body, located at circuit board master Eight 9 axle measuring units of at least eight pads and structure identical on body；Eight 9 axle measuring units are integrated in circuit board master On body；Each 9 axle measuring unit is connected with corresponding pad respectively by the internal wiring of circuit board main body.

According to an embodiment of the present utility model, the side end of circuit board main body is provided with eight pads, including：Weld at VCC ends Disk, GND ends pad, SCL ends pad, SDA ends pad, D0 inputs pad, D1 inputs pad, D2 inputs pad and D3 Input pad；VCC ends pad, GND ends pad, SCL ends pad, SDA ends pad, D0 inputs pad, D1 inputs pad, D2 inputs pad and D3 inputs pad are connected with eight 9 axle measuring units respectively by the internal wiring of circuit board main body Connect.

According to an embodiment of the present utility model, 9 axle measuring units include：First electric capacity, the second electric capacity, the 3rd electricity Appearance, the 4th electric capacity, the 5th electric capacity, first resistor, second resistance, 3rd resistor and 9 axles measurement chip；First electric capacity, second One end of electric capacity and the 3rd electric capacity is connected VCC ends pad simultaneously with two vdd terminals of 9 axles measurement chip and VDD_IO ends respectively, The other end connects GND ends pad simultaneously；One end of 4th electric capacity connects the C1 ends of 9 axles measurement chip, its other end connection GND ends Pad；One end of 5th electric capacity connects the CAP ends of 9 axles measurement chip, its other end and the 5th electric capacity C two GND ends and five Individual RES ends connect GND ends pad simultaneously；One end of first resistor connects the SLC ends of 9 axle measuring units, its other end connection SCL Hold pad；One end of second resistance connects the SDA ends of 9 axle measuring units, its other end connection SDA ends pad；3rd resistor One end connects the SDO_A/G ends and SDO_M ends of 9 axle measuring units；Wherein, the 3rd resistor of four 9 axle measuring units is another End connection VCC ends pad, D0 inputs pad, D1 inputs pad, D2 inputs pad and D3 input pads connect respectively Connect the CS_A/G ends and CS_M ends of one of them 9 axle measurement chip；The other end of the 3rd resistor of the axle measuring unit of other four 9 connects GND ends pad is connect, D0 inputs pad, D1 inputs pad, D2 inputs pad and D3 input pads connect it respectively In 9 axle measurement chip CS_A/G ends and CS_M ends.

According to an embodiment of the present utility model, 9 axles are measured in chip U00 model LSM9DS1 and LSM9DS1TR One kind.

According to an embodiment of the present utility model, pad is stamp hole pad.

According to an embodiment of the present utility model, circuit board main body is four layers of pcb board.

The beneficial effect that the utility model is different from prior art is：Of the present utility model 8 multiply 9 inertia measurement matrix modules By eight 9 axle measuring units of integrated morphology identical in circuit board main body, eight group of 9 axle 3-dimensional data can be exported simultaneously, there is provided Inertia measurement device analysis, which arranges, can obtain more accurately measurement data, improve the precision of inertia measurement equipment, collect simultaneously High, the small volume into degree, makes to multiply inertia measurement matrix module and has a wide range of application.

Brief description of the drawings

Accompanying drawing described herein is used for providing further understanding of the present application, forms the part of the application, this Shen Schematic description and description please is used to explain the application, does not form the improper restriction to the application.In the accompanying drawings：

Fig. 1 is 8 front view for multiplying 9 inertia measurement matrix modules in embodiment；

Fig. 2 is 8 rearview for multiplying 9 inertia measurement matrix modules in embodiment；

Fig. 3 is the circuit diagram of 9 axle measuring units in embodiment；

Fig. 4 is the 8 external cabling schematic diagram for multiplying 9 inertia measurement matrix modules in embodiment.

Description of reference numerals：1st, circuit board main body；2nd, pad；3rd, 9 axle measuring unit；21st, VCC ends pad；22nd, GND ends Pad；23rd, SCL ends pad；24th, SDA ends pad；25th, D0 inputs pad；26th, D1 inputs pad；27th, D2 inputs weld Disk；28th, D3 inputs pad；29th, RX ends pad；30th, TX ends pad；C1, the first electric capacity；C2, the second electric capacity；C3, the 3rd electricity Hold；C4, the 4th electric capacity；C5, the 5th electric capacity；R1, first resistor；R2, second resistance；R3,3rd resistor.

Embodiment

Multiple embodiments of the present utility model will be disclosed with schema below, as clearly stated, in many practices Details will be explained in the following description.It should be appreciated, however, that the details in these practices is not applied to limit this practicality newly Type.That is, in some embodiments of the present utility model, the details in these practices is non-essential.In addition, it is letter For the sake of changing schema, some known usual structures will illustrate it in a manner of simply illustrative in the drawings with component.

It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute in the utility model embodiment It is only used for explaining relative position relation under a certain particular pose (as shown in drawings) between each part, motion conditions etc., such as When the fruit particular pose changes, then directionality instruction also correspondingly changes therewith.

In addition, such as relating to the description of " first ", " second " etc. is only used for describing purpose, and non-specifically in the utility model The meaning of order or cis-position is censured, is also not used to limit the utility model, it is retouched just for the sake of difference with constructed term The component stated or operation, and it is not intended that indicating or implying its relative importance or imply the technology indicated by indicating The quantity of feature.Thus, " first " is defined, the feature of " second " can be expressed or implicitly includes at least one spy Sign.In addition, the technical scheme between each embodiment can be combined with each other, but must be with those of ordinary skill in the art's energy Based on enough realizations, the knot of this technical scheme is will be understood that when the combination appearance of technical scheme is conflicting or can not realize Conjunction is not present, also not within the protection domain of the requires of the utility model.

Embodiment：

The present embodiment provides one kind 8 and multiplies 9 inertia measurement matrix modules, refer to shown in Fig. 1 and 2, and 8 multiply the survey of 9 inertia respectively The front view and rearview of moment matrix module.8, which multiply 9 inertia measurement matrix modules, includes circuit board main body 1, located at circuit board main body Eight 9 axle measuring units 3 of at least eight pads 2 and structure identical on 1, eight 9 axle measuring units 3 are integrated in circuit board In main body 1, body one side integrates four 9 axle measuring units 3 wherein in circuit board, and each 9 axle measuring unit 3 passes through circuit board main body 1 internal wiring connects with corresponding pad 2 respectively.Wherein, circuit board main body 1 use four layers of pcb board technique, its have it is thin, The advantages of small and stability is high, further improve 8 stability and antijamming capability for multiplying 9 inertia measurement matrix modules.

Of the present utility model 8 multiply 9 inertia measurement matrix modules by integrating eight structure identicals in circuit board main body 1 9 axle measuring units 3, eight group of 9 axle 3-dimensional data can be exported simultaneously by making 8 to multiply 9 inertia measurement matrix modules, there is provided inertia measurement equipment Analysis and arrangement can obtain more accurately measurement data, improve the precision of inertia measurement equipment, solve because of single inertia measurement The problem of error of measured data that unit noise is brought greatly is big.

Further, please continue to refer to shown in Fig. 1 and Fig. 2, the side end of circuit board main body 1 is provided with eight pads 2, and it includes VCC ends pad 21, GND ends pad 22, SCL ends pad 23, SDA ends pad 24, D0 inputs pad 25, D1 input pads 26th, D2 inputs pad 27 and D3 inputs pad 28, VCC ends pad 21, GND ends pad 22, SCL ends pad 23, SDA ends Pad 24, D0 inputs pad 25, D1 inputs pad 26, D2 inputs pad 27 and D3 inputs pad 28 pass through circuit The internal wiring of plate main body 1 is connected with eight 9 axle measuring units 3 respectively.Wherein, pad 2 is stamp hole pad, stamp hole pad Inner side is arc, makes it have the advantages of upper tin area is big, makes 8 to multiply 9 inertia measurement matrix modules during production mounts, on Tin is full, is fixedly welded on more solid and reliable on pcb board, further improves 8 stability for multiplying 9 inertia measurement matrix modules.8 Multiply 9 inertia measurement matrix modules using when only need by eight pads 2 and external connection, using simple, increase by 8 multiplies 9 inertia The convenience of calculation matrix module.

Further, refer to shown in Fig. 3, its be embodiment in 9 axle measuring units circuit diagram, 9 axle measuring units 3 Including the first electric capacity C1, the second electric capacity C2, the 3rd electric capacity C3, the 4th electric capacity C4, the 5th electric capacity C5, first resistor R1, the second electricity Hinder R2,3rd resistor R3 and 9 axles measurement chip U100.First electric capacity C1, the second electric capacity C2 and the 3rd electric capacity C3 one end VCC ends pad 21 is connected simultaneously with 9 axles measurement chip U100 two vdd terminals and VDD_IO ends respectively, the other end connects GND simultaneously Pad 22 is held, the 4th electric capacity C4 one end connects 9 axles measurement chip U100 C1 ends, and its other end connects GND ends pad 22, the Five electric capacity C5 one end connects 9 axles measurement chip U100 CAP ends, its other end and the 5th electric capacity C5 two GND ends and five Individual RES ends connect GND ends pad 22 simultaneously, and first resistor R1 one end connects the SLC ends of 9 axle measuring units 3, and its other end connects SCL ends pad 23 is connect, second resistance R2 one end connects the SDA ends of 9 axle measuring units 3, its other end connection SDA ends pad 24,3rd resistor R3 one end connect the SDO_A/G ends and SDO_M ends of 9 axle measuring units 3, wherein, four 9 axle measuring units 3 3rd resistor R3 other end connection VCC ends pad 21, D0 inputs pad 25, D1 inputs pad 26, the weldering of D2 inputs Disk 27 and D3 inputs pad 28 connect one of them 9 axle measurement chip U100 CS_A/G ends and CS_M ends respectively, and another four The 3rd resistor R3 of individual 9 axle measuring unit 3 other end connection GND ends pad 22, D0 inputs pad 25, D1 input pads 26th, D2 inputs pad 27 and D3 inputs pad 28 connect one of them 9 axle measurement chip U100 CS_A/G ends respectively With CS_M ends.Wherein, the first electric capacity C1, the second electric capacity C2 and the 4th electric capacity C4 be preferably by 100 nanofarads, the 3rd electric capacity C3 and 5th electric capacity C5 preferably by 10 microfarads, first resistor R1 and second resistance R2 preferably by 100 ohm, survey by eight 9 axles Measure in unit 3, with the 3rd resistor R3 that VCC ends pad 21 is connected preferably by 100 ohm, be connected with GND ends pad 22 3rd resistor R3 is preferably by 2200 ohm.Wherein, in 9 axles measurement chip U100 model LSM9DS1 and LSM9DS1TR One kind, the 3-dimensional that 9 axle inertia sensing device LSM9DS1 and LSM9DS1TR are mainly used in measuring negative 16g to positive 16g digital accelerates Degree, negative 2000dps to positive 2000dps 3-dimensional number angle, negative 2000dps to positive 2000dps 3-dimensional number angular speed, just 16g to negative 16g 3-dimensional number magnetic field, 1 dimension atmospheric pressure and 24 Digital sum temperature, using in LSM9DS1 and LSM9DS1TR One kind measures chip U100 for 9 axles, and abundant 8 multiply the function of 9 inertia measurement matrix modules, improve its service behaviour.Pass through each 9 Axle measurement chip U100 CS_A/G ends and CS_M ends controls and chosen its work, passes through the SDA that each 9 axle measures chip U100 End and SLC ends output measurement data, 8, which multiply 9 inertia measurement matrix modules, can export 8 groups of 3-dimensional measurement data simultaneously, there is provided inertia is surveyed Amount device analysis, which arranges, can obtain more accurately measurement data, greatly improve the precision and reliability of inertia measurement equipment.

Operation principles of the present utility model are as follows：

It refer to shown in Fig. 4, it is the 8 external cabling schematic diagram for multiplying 9 inertia measurement matrix modules in embodiment, and 8, which multiply 9, is used to Property calculation matrix module may be designed as 12 pads 2, and it includes two VCC ends pads 21, two GND ends pads 22, SCL ends pad 23rd, SDA ends pad 24, D0 inputs pad 25, D1 inputs pad 26, D2 inputs pad 27, D3 inputs pad 28, RX Hold pad 29 and TX ends pad 30, only use one of VCC ends pad 21 and GND ends pad 22, a SCL ends during use Pad 23, SDA ends pad 24, D0 inputs pad 25, D1 inputs pad 26, D2 inputs pad 27, D3 input pads 28, RX end pads 29 and TX ends pad 30 retain.

In use, outside provide the 6th electric capacity C6, the 6th electric capacity C6 one end and VCC ends pad 21 access outside simultaneously 3.3V voltages, its other end ground connection；Outside inertia measurement equipment uses I²C interface access 8 multiplies 9 inertia measurement matrix modules, SDA Line and SCL lines are connected respectively SCL ends pad 23 and SDA ends pad 24, and D0 inputs are connected respectively using 4 CS lines connections Pad 25, D1 inputs pad 26, D2 inputs pad 27 and D3 inputs pad 28.During work, pass through VCC ends pad 21 Input service voltage is to each 9 axle measurement chip U100, and eight 9 axles, which measure chip U100 while worked, carries out DATA REASONING, so Piece is selected by D0 inputs pad 25, D1 inputs pad 26, D2 inputs pad 27 and D3 inputs pad 28 afterwards and believed Each 9 axle measurement chip U100 CS_A/G ends and CS_M ends number are sent to, controls and chooses 9 axles to measure chip operation, receive 9 axles measurement chip U100 to chip selection signal exports measurement data to SCL ends pad 23 and SDA ends by its SDA end and SLC ends Pad 24, then passes through I²The SDA line and SCL lines of C interface are transmitted to outside inertia measurement equipment, and 8 multiply 9 inertia measurement matrix norms Block can export 8 groups of 3-dimensional measurement data simultaneously.

The upper only embodiment of the present utility model, is not limited to the utility model.For this area For technical staff, the utility model can have various modifications and variations.All interior institutes in spirit of the present utility model and principle Any modification, equivalent substitution and improvements of work etc., it all should be included within right of the present utility model.

Claims

1. one kind 8 multiplies 9 inertia measurement matrix modules, it is characterised in that including：Circuit board main body (1), located at the circuit board master Eight 9 axle measuring units (3) of at least eight pads (2) and structure identical on body (1)；Eight 9 axle measuring units (3) it is integrated in the circuit board main body (1)；Each 9 axle measuring unit (3) passes through the interior of the circuit board main body (1) Portion's circuit connects with the corresponding pad (2) respectively.

2. according to claim 18 multiply 9 inertia measurement matrix modules, it is characterised in that the circuit board main body (1) Side end is provided with eight pads (2), including：VCC ends pad (21), GND ends pad (22), SCL ends pad (23), SDA ends pad (24), D0 inputs pad (25), D1 inputs pad (26), D2 inputs pad (27) and D3 inputs pad (28)； VCC ends pad (21), GND ends pad (22), SCL ends pad (23), SDA ends pad (24), D0 inputs pad (25), D1 inputs pad (26), D2 inputs pad (27) and D3 inputs pad (28) pass through the circuit board main body (1) Internal wiring is connected with eight 9 axle measuring units (3) respectively.

3. according to claim 28 multiply 9 inertia measurement matrix modules, it is characterised in that 9 axle measuring unit (3) bag Include：First electric capacity (C1), the second electric capacity (C2), the 3rd electric capacity (C3), the 4th electric capacity (C4), the 5th electric capacity (C5), first resistor (R1), second resistance (R2), 3rd resistor (R3) and 9 axles measurement chip (U100)；First electric capacity (C1), the second electric capacity (C2) and the 3rd electric capacity (C3) one end respectively with 9 axle measurement chip (U100) two vdd terminals and VDD_IO ends simultaneously VCC ends pad (21) is connected, the other end connects GND ends pad (22) simultaneously；One end of 4th electric capacity (C4) Connect the C1 ends of the 9 axle measurement chip (U100), its other end connection GND ends pad (22)；5th electric capacity (C5) two of the CAP ends of one end connection 9 axle measurement chip (U100), its other end and the 5th electric capacity (C5) GND ends and five RES ends connect GND ends pad (22) simultaneously；One end of the first resistor (R1) connects 9 axle and surveyed Measure the SLC ends of unit (3), its other end connection SCL ends pad (23)；Described in one end connection of the second resistance (R2) The SDA ends of 9 axle measuring units (3), its other end connection SDA ends pad (24)；One end of the 3rd resistor (R3) connects Connect the SDO_A/G ends and SDO_M ends of the 9 axle measuring unit (3)；Wherein, described the of four 9 axle measuring units (3) The other end connection VCC ends pad (21) of three resistance (R3), the D0 inputs pad (25), D1 input pads (26), D2 inputs pad (27) and D3 inputs pad (28) connect one of them described 9 axle measurement chip respectively (U100) CS_A/G ends and CS_M ends；The other end of the 3rd resistor (R3) of 9 axle measuring units (3) described in other four connects Connect GND ends pad (22), the D0 inputs pad (25), D1 inputs pad (26), D2 inputs pad (27) with And D3 inputs pad (28) connects the CS_A/G ends and CS_M ends of one of them 9 axle measurement chip (U100) respectively.

4. according to claim 38 multiply 9 inertia measurement matrix modules, it is characterised in that 9 axle measures chip (U100) one kind in model LSM9DS1 and LSM9DS1TR.

5. according to claim 18 multiply 9 inertia measurement matrix modules, it is characterised in that the pad (2) is stamp hole Pad.

6. according to claim 18 multiply 9 inertia measurement matrix modules, it is characterised in that the circuit board main body (1) is Four layers of pcb board.