CN207147498U - One kind 4 multiplies 6 inertia measurement matrix modules - Google Patents
One kind 4 multiplies 6 inertia measurement matrix modules Download PDFInfo
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- CN207147498U CN207147498U CN201720797133.5U CN201720797133U CN207147498U CN 207147498 U CN207147498 U CN 207147498U CN 201720797133 U CN201720797133 U CN 201720797133U CN 207147498 U CN207147498 U CN 207147498U
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Abstract
The utility model discloses one kind 4 and multiplies 6 inertia measurement matrix modules, including：Four circuit board main body, control unit, at least eight pads in circuit board main body and structure identical 6 axle measuring units, control unit and four 6 axle measuring units are integrated in circuit board main body, four 6 axle measuring units are connected with control unit respectively by internal wiring, and control unit and four 6 axle measuring units are connected with corresponding pad respectively by the internal wiring of circuit board main body.Of the present utility model 4 multiply 6 inertia measurement matrix modules by integrating four 6 rotating shaft measuring units of control unit and structure identical in circuit board main body, four group of 6 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, make 4 to multiply 6 inertia measurement matrix modules and have a wide range of application.
Description
Technical field
Technical field of inertial is the utility model is related to, in particular it relates to which one kind 4 multiplies 6 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
In the inertial navigation set of property measuring technology, the problem of each inertia sensing device is because of technique, easily set single inertial navigation
There is the big phenomenon of noise in standby middle Inertial Measurement Unit, cause error of measured data big, cause measurement accuracy low, have a strong impact on and set
Standby normal use.
Utility model content
In view of the shortcomings of the prior art, the utility model provides a kind of simple design, small volume and can improve inertia measurement
The 4 of equipment precision multiply 6 inertia measurement matrix modules.
One kind 4 multiplies 6 inertia measurement matrix modules disclosed in the utility model, including：Circuit board main body, control unit, set
In at least eight pads in circuit board main body and the axle measuring unit of structure identical the 1st, the 2nd 6 axle measuring unit,
36 axle measuring units and the 4th 6 axle measuring unit；Control unit, the one 6 axle measuring unit, the 2nd 6 axle measuring unit, the 3rd 6
Axle measuring unit and the 4th 6 axle measuring unit are integrated in circuit board main body；One 6 axle measuring unit, the measurement of the 2nd 6 axle
Unit, the 3rd 6 axle measuring unit and the 4th 6 axle measuring unit by the internal wiring of circuit board main body respectively with control unit
Connection；Control unit, the one 6 axle measuring unit, the 2nd 6 axle measuring unit, the 3rd 6 axle measuring unit and the measurement of the 4th 6 axle
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, and it includes：VCC ends
Pad, GND ends pad, SCL ends pad, SDA ends pad, SDO ends pad, D0 inputs pad, D1 inputs pad and D2
Input pad；VCC ends pad, GND ends pad, SCL ends pad, SDA ends pad, SDO ends pad, D0 inputs pad, D1
Input pad and D2 inputs pad are measured with control unit, the one 6 axle respectively by the internal wiring of circuit board main body
Unit, the 2nd 6 axle measuring unit, the 3rd 6 axle measuring unit and the connection of the 4th 6 axle measuring unit.
According to an embodiment of the present utility model, control unit includes：First resistor, second resistance, 3rd resistor,
Four resistance, the 5th resistance, the 6th resistance, the 7th resistance, the 8th resistance, the 9th resistance, the tenth resistance, the 11st resistance, first
Electric capacity, the first triode, the second triode and control chip；One end and control chip of first resistor and the first electric capacity
VCC ends and CL ends connect VCC ends pad simultaneously；The other end of first resistor connects colelctor electrode and the control of the first triode respectively
The DataIN ends of coremaking piece；The EN ends of the other end connection control chip of first electric capacity；The base stage connection second of first triode
One end of resistance, its emitter stage connection GND ends pad；The other end connection D2 input pads of second resistance；3rd resistor
One end connects D2 input pads, and its other end connects the base stage of the second triode；The colelctor electrode connection VCC ends of second triode
Pad, its emitter stage connect one end of the 4th resistance, the 5th resistance, the 6th resistance and the 7th resistance respectively；4th resistance
The other end is connected the one 6 axle measuring unit simultaneously with one end of the 8th resistance and the Q0 ends of control chip respectively；5th resistance
The other end is connected the 2nd 6 axle measuring unit simultaneously with one end of the 9th resistance and the Q1 ends of control chip respectively；6th resistance
The other end is connected the 3rd 6 axle measuring unit simultaneously with one end of the tenth resistance and the Q2 ends of control chip respectively；7th resistance
The other end is connected the 4th 6 axle measuring unit simultaneously with one end of the 11st resistance and the Q3 ends of control chip respectively；8th resistance,
The other end of 9th resistance, the tenth resistance and the 11st resistance connects simultaneously with the C inputs of control chip and GND ends respectively
Connect GND ends pad；The A inputs connection D0 input pads of control chip, its B input connection D1 input pads.
According to an embodiment of the present utility model, the one 6 axle measuring unit includes：12nd resistance, the 13rd resistance,
14th resistance, the second electric capacity, the 3rd electric capacity, the 4th electric capacity and 6 axles measurement chip；One end of 12nd resistance connects 6 axles
Measure the SLC ends of chip, its other end connection SCL ends pad；One end of 13rd resistance connects the SDA ends of 6 axles measurement chip,
Its other end connection SDA ends pad；One end of 14th resistance connects the DEN ends of 6 axles measurement chip, its other end connection GND
Hold pad；The SDO ends connection SDO ends pad of 6 axles measurement chip；One end of second electric capacity and the VDD_IO ends of 6 axles measurement chip
VCC ends pad, its other end connection GND ends pad are connected simultaneously；One end of 3rd electric capacity and the vdd terminal of 6 axles measurement chip are same
When connect VCC ends pad, its other end connection GND ends pad；One end of 4th electric capacity connects the PLLFILT of 6 axles measurement chip
End, its other end are connected GND ends pad simultaneously with the RES6 ends of 6 axles measurement chip；The DRDY ends connection GND of 6 axles measurement chip
Hold pad；GND ends, RES1 ends, RES2 ends, RES3 ends and the RES4 ends of 6 axles measurement chip connect GND ends pad simultaneously；6
The Q1 ends of the CS ends connection control chip of axle measurement chip.
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.
According to an embodiment of the present utility model, the model M74HC259YRM13TR of control chip,
One kind in M74HC259RM13TR, M74HC259TTR and M74HC259YTTR.
According to an embodiment of the present utility model, model LSM6DS3, LSM6DS3H of 6 axles measurement chip,
One kind in LSM6DS3HTR, LSM6DS33TR and LSM6DS33HTR.
The beneficial effect that the utility model is different from prior art is：Of the present utility model 4 multiply 6 inertia measurement matrix modules
By integrated in circuit board main body control unit and the axle measuring unit of structure identical the 1st, the 2nd 6 axle measuring unit,
3rd 6 axle measuring unit and the 4th 6 axle measuring unit, four group of 6 axle 3-dimensional data can be exported simultaneously, there is provided inertia measurement equipment point
Analysis arrangement can obtain more accurately measurement data, improve the precision of inertia measurement equipment, while integrated level is high, small volume,
Make 4 to multiply 6 inertia measurement matrix modules to have 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 4 structural representation for multiplying 6 inertia measurement matrix modules in embodiment；
Fig. 2 is the circuit diagram of control unit in embodiment；
Fig. 3 is the circuit diagram of the one 6 axle measuring unit in embodiment；
Fig. 4 is the 4 external cabling schematic diagram for multiplying 6 inertia measurement matrix modules in embodiment.
Description of reference numerals：1st, circuit board main body；2nd, pad；3rd, control unit；4th, the one 6 axle measuring unit；5th, the 2nd 6
Axle measuring unit；6th, the 3rd 6 axle measuring unit；7th, the 4th 6 axle measuring unit；21st, VCC ends pad；22nd, GND ends pad；23、
SCL ends pad；24th, SDA ends pad；25th, SDO ends pad；26th, D0 inputs pad；27th, D1 inputs pad；28th, D2 is defeated
Enter to hold pad；29th, D3 inputs pad；30th, RX ends pad；31st, TX ends pad；R1, first resistor；R2, second resistance；R3、
3rd resistor；R4, the 4th resistance；R5, the 5th resistance；R6, the 6th resistance；R7, the 7th resistance；R8, the 8th resistance；R9, the 9th
Resistance；R10, the tenth resistance；R11, the 11st resistance；R12, the 12nd resistance；R13, the 13rd resistance；R14, the 14th electricity
Resistance；C1, the first electric capacity；C2, the second electric capacity；C3, the 3rd electric capacity；C4, the 4th electric capacity；C5, the 5th electric capacity；U100, control core
Piece；U110,6 axles measurement chip.
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 4 and multiplies 6 inertia measurement matrix modules, refer to shown in Fig. 1, and it multiplies 6 in embodiment 4 and is used to
The structural representation of property calculation matrix module.4, which multiply 6 inertia measurement matrix modules, includes circuit board main body 1, control unit 3, is located at
At least eight pads 2 and the axle measuring unit 4 of structure identical the 1st, the 2nd 6 axle measuring unit 5 in circuit board main body 1,
3rd 6 axle measuring unit 6 and the 4th 6 axle measuring unit 7, control unit 3, the one 6 axle measuring unit 4, the 2nd 6 axle measuring unit
5th, the 3rd 6 axle measuring unit 6 and the 4th 6 axle measuring unit 7 are integrated in circuit board main body 1, the one 6 axle measuring unit 4,
The inner wire that 2nd 6 axle measuring unit 5, the 3rd 6 axle measuring unit 6 and the 4th 6 axle measuring unit 7 pass through circuit board main body 1
Road is connected with control unit 3 respectively, control unit 3, the one 6 axle measuring unit 4, the 2nd 6 axle measuring unit 5, the measurement of the 3rd 6 axle
The axle measuring unit 7 of unit 6 and the 4th 6 is connected with corresponding pad 2 respectively by the internal wiring of circuit board main body 1.Wherein,
Circuit board main body 1 uses four layers of pcb board technique, and it has the advantages of thin, small and stability is high, further improves 4 and multiplies the survey of 6 inertia
The stability and antijamming capability of moment matrix module.
The utility model in circuit board main body 1 by integrating control unit 3 and the axle of structure identical the 1st measurement list
First 4, the 2nd 6 axle measuring unit 5, the 3rd 6 axle measuring unit 6 and the 4th 6 axle measuring unit 7, make 4 to multiply 6 inertia measurement matrix norms
Block can export the 3-dimensional measurement data of 4 group of 6 axle simultaneously, there is provided inertia measurement device analysis is arranged to obtain and more accurately measured
Data, the precision of inertia measurement equipment is improved, while integrated level is high, small volume, can be directly welded on PCBA, makes 4 to multiply 6 and is used to
Property calculation matrix module is applied widely.
Further, eight pads 2 are provided with please continue to refer to Fig. 1, the side end of circuit board main body 1, it includes VCC ends pad
21st, GND ends pad 22, SCL ends pad 23, SDA ends pad 24, SDO ends pad 25, D0 inputs pad 26, the weldering of D1 inputs
Disk 27 and D2 inputs pad 28；VCC ends pad 21, GND ends pad 22, SCL ends pad 23, SDA ends pad 24, SDO ends
The inner wire that pad 25, D0 inputs pad 26, D1 inputs pad 27 and D2 inputs pad 28 pass through circuit board main body 1
Road respectively with control unit 3, the one 6 axle measuring unit 4, the 2nd 6 axle measuring unit 5, the 3rd 6 axle measuring unit 6 and the 4th 6
Axle measuring unit 7 connects.Wherein, pad 2 is stamp hole pad, is arc on the inside of stamp hole pad, makes it have upper tin area
The advantages of big, 4 are made to multiply 6 inertia measurement matrix modules during production mounts, upper tin is full, makes 4 to multiply 6 inertia measurement matrixes
Module is fixedly welded on more solid and reliable on pcb board, further improves 4 stability for multiplying 6 inertia measurement matrix modules.4 multiply 6
Inertia measurement matrix module using when only need by eight pads 2 and external connection, using simple, increase by 4 multiplies 6 inertia measurements
The convenience of matrix module.
Further, refer to shown in Fig. 2, it is the circuit diagram of control unit in embodiment, and control unit 2 includes first
Resistance R1, second resistance R2,3rd resistor R3, the 4th resistance R4, the 5th resistance R5, the 6th resistance R6, the 7th resistance R7,
Eight resistance R8, the 9th resistance R9, the tenth resistance R10, the 11st resistance R11, the first electric capacity C1, the first triode Q1, the two or three
Pole pipe Q2 and control chip U100.VCC end and CL of first resistor R1 and the first electric capacity C1 one end with control chip U100
End connects VCC ends pad 21 simultaneously, and the first resistor R1 other end connects the first triode Q3 colelctor electrode and control core respectively
Piece U100 DataIN ends, the first electric capacity C1 other end connection control chip U100 EN ends, the first triode Q1 base stage
Connect second resistance R2 one end, its emitter stage connection GND ends pad 22, second resistance R2 other end connection D2 input welderings
Disk 28,3rd resistor R3 one end connection D2 inputs pad 28, the second triode Q2 of its other end connection base stage, the two or three
Pole pipe Q2 colelctor electrode connection VCC ends pad 21, its emitter stage connects the 4th resistance R4, the 5th resistance R5, the 6th resistance respectively
R6 and the 7th resistance R7 one end, the 4th resistance R4 other end one end with the 8th resistance R8 and control chip respectively
U100 Q0 ends connect the one 6 axle measuring unit 4 simultaneously, the 5th resistance R5 other end one end with the 9th resistance R9 respectively
The 2nd 6 axle measuring unit 5 is connected simultaneously with control chip U100 Q1 ends, and the 6th resistance R6 other end is electric with the tenth respectively
Hinder R10 one end and control chip U100 Q2 ends and connect the 3rd 6 axle measuring unit 6, the 7th resistance R7 other end point simultaneously
It is not connected the 4th 6 axle measuring unit 7 simultaneously with the 11st resistance R11 one end and the Q3 ends of control chip, the 8th resistance R8, the
Nine resistance R9, the tenth resistance R10 and the 11st resistance the R11 other end respectively with control chip U100 C inputs and
GND ends connect GND ends pad 22 simultaneously, and control chip U100 A inputs connection D0 inputs pad 26, its B input connects
Connect D1 inputs pad 27.Wherein, control chip U100 model M74HC259YRM13TR, M74HC259RM13TR,
One kind in M74HC259TTR and M74HC259YTTR.Wherein, first resistor R1, the 8th resistance R8, the 9th resistance R9, the tenth
Resistance R10 and the 11st resistance R11 preferentially uses 2200 ohm, second resistance R2 and 3rd resistor R3 preferably by
100 ohm, the 4th resistance R4, the 5th resistance R5, the 6th resistance R6 and the 7th resistance R7 preferably by 300 Ohmic resistances,
Effectively improve the stability of the work of control unit 3.Control chip U100 can pass through its Q0 end, Q1 ends, Q2 ends and Q3 respectively
End corresponds to respectively chooses and controls 4 to multiply the one 6 axle measuring unit 4, the 2nd 6 axle measuring unit in 6 inertia measurement matrix modules
5th, the 3rd 6 axle measuring unit 6 and the 4th 6 axle measuring unit 7 export 6 axle 3-dimensional measurement data, ensure that 4 multiply 6 inertia measurement matrixes
The stability and accuracy of module, improve 4 service behaviours for multiplying 6 inertia measurement matrix modules.
Further, refer to shown in Fig. 3, the circuit diagram of the one 6 axle measuring unit in embodiment, the measurement of the one 6 axle
Unit 4 includes the 12nd resistance R12, the 13rd resistance R13, the 14th resistance R14, the second electric capacity C2, the 3rd electric capacity C3, the 4th
Electric capacity C4 and 6 axles measurement chip U110.12nd resistance R12 one end connects 6 axles measurement chip U110 SLC ends, and its is another
The resistance R13 of one end connection SCL ends pad the 23, the 13rd one end connects 6 axles measurement chip U110 SDA ends, and its other end connects
The one end for meeting the resistance R14 of SDA ends pad the 24, the 14th connects 6 axles measurement chip U110 DEN ends, its other end connection GND
Hold the axle of pad 22,6 measurement chip U110 SDO ends connection SDO ends pad 25, the second electric capacity C2 one end and 6 axles measurement chip
U110 VDD_IO ends connect VCC ends pad 21 simultaneously, its other end connection GND ends pad 22, the 3rd electric capacity C3 one end with
6 axles measurement chip U110 vdd terminal connects VCC ends pad 21, its other end connection GND ends pad 22, the 4th electric capacity C4 simultaneously
One end connect 6 axles measurement chip U110 PLLFILT ends, the RES6 ends that its other end measures chip U110 with 6 axles connect simultaneously
Connect the axle of GND ends pad 2, the 6 measurement chip U110 axle measurement chip U110 of DRDY ends connection GND ends pad 22,6 GND ends,
RES1 ends, RES2 ends, RES3 ends and RES4 ends connect GND ends pad 22 simultaneously.Wherein, the one 6 axle measuring unit 4, second
6 axle measuring units 5, the 3rd 6 axle measuring unit 6 and the structure of the 4th 6 axle measuring unit 7 are identical, control chip U100 Q0
End, Q1 ends, Q2 ends and Q3 ends are connected respectively the one 6 axle measuring unit 4, the 2nd 6 axle measuring unit 5, the measurement of the 3rd 6 axle
The CS ends of the axle measuring unit 7 of unit 6 and the 4th 6, realize the piece selected control system to four 6 axle measuring units.Wherein, 6 axles measure
One in chip U110 model LSM6DS3, LSM6DS3H, LSM6DS3HTR, LSM6DS33TR and LSM6DS33HTR
Kind, LSM6DS3, LSM6DS3H, LSM6DS3HTR, LSM6DS33TR and LSM6DS33HTR are 6 axle inertia sensing devices, size
It is small, high-performance, measurable digital temperature, negative 16g to positive 16g 3-dimensional number acceleration, negative 2000dps to the 3 of positive 2000dps
The digital angular speed of dimension code angle and negative 2000dps to positive 2000dps.In order to effectively strengthen the work of the second measuring unit 4
Make stability, preferably by 100 ohm, the 14th resistance R14 is preferably adopted by the 12nd resistance R12 and the 13rd resistance R13
With 0 ohm, the second electric capacity C2 and the 3rd electric capacity C3 are preferably by 100 nanofarads, and the 4th electric capacity C4 is preferably by 10 nanofarads.
Operation principles of the present utility model are as follows：
It refer to shown in Fig. 4, it is the 4 external cabling schematic diagram for multiplying 6 inertia measurement matrix modules in embodiment, and 4, which multiply 6, is used to
Property calculation matrix module may be designed as 12 pads 2, and it includes two VCC ends pads 21, GND ends pad 22, SCL ends pad
23rd, SDA ends pad 24, SDO ends pad 25, D0 inputs pad 26, D1 inputs pad 27, D2 inputs pad 28, D3 are defeated
Enter to hold pad 29, RX ends pad 30 and TX ends pad 31, only use one of VCC ends pad 21 and GND ends during use
Pad 22, SCL ends pad 23, SDA ends pad 24, SDO ends pad 25, D0 inputs pad 26, D1 inputs pad 27, D2
Input pad 28, D3 inputs pad 29, RX ends pad 30 and TX ends pad 31 retain.
User can use I according to selection is actually needed2C interface, 3 line SPI interfaces or the access of 4 line SPI interfaces multiply using 4
6 inertia measurement matrix modules.In use, outside provide the 5th electric capacity C5, the 5th electric capacity C5 one end and VCC ends pad 21 are simultaneously
The outside 3.3V voltages of access, its other end ground connection, when using I2C interface access 4 is when multiplying 6 inertia measurement matrix module, SDA line and
SCL lines are connected respectively SCL ends pad 23 and SDA ends pad 24；Multiply 6 inertia measurement squares when accessing 4 using 3 line SPI interfaces
During array module, SDI lines connection SCL ends pad 23, SPC lines connection SDA ends pad 24, CS lines connection D2 inputs pad 28；When
When multiplying 6 inertia measurement matrix module using 4 line SPI interfaces access 4, SDI lines connection SDA ends pad 24, SPC lines connection SCL ends
Pad 23, SDO lines connection SDO ends pad 25, CS lines connection D2 inputs pad 28.
4 when multiplying 6 inertia measurement matrix module energization work, and operating voltage accesses to control chip by VCC ends pad 21
U100 vdd terminal, the one 6 axle measuring unit 4, the 2nd 6 axle measuring unit 5, the 3rd 6 axle measuring unit 6 and the 4th 6 axle are surveyed
Measure the vdd terminal of 6 axles measurement chip in unit 7；After energization, control chip U100 passes through its Q0 end, Q1 ends, Q2 ends and Q3 ends point
The defeated chip selection signal of supplementary biography is to the one 6 axle measuring unit 4, the 2nd 6 axle measuring unit 5, the 3rd 6 axle measuring unit 6 and the 4th 6
6 axles measurement chip U110 CS ends in axle measuring unit 7, control 66 axles measurement chip U110 work；Wherein, 6 axles measurement core
Piece U110 is 6 axle inertia sensing devices, and size is small, high-performance, measurable digital temperature, the digital acceleration of negative 16g to positive 16g 3-dimensional
The digital angular speed of degree, negative 2000dps to positive 2000dps 3-dimensional number angle and negative 2000dps to positive 2000dps；Fortune
During row measurement, DO inputs pad 26 and D1 inputs pad 27 connect external control signal line, pass through DO inputs pad 26
With D1 inputs pad 27 input control signal to control chip U100 A inputs and B inputs, be elected in one of them 6
When axle measuring unit works, control chip U100 passes through corresponding one end output chip in its Q0 end, Q1 ends, Q2 ends and Q3 ends
Signal is selected to corresponding 6 axle measurement chip U110 CS ends, the measurement chip U110 work of 6 axles, 6 axles measurement chip U110 SLC
End, SDA ends and SDO ends are connected with SCL ends pad 23, SDA ends pad 24 and SDO ends pad 25 respectively, 6 axles measurement chip
U110 exports measurement data by SCL ends pad 23, SDA ends pad 24 and SDO ends pad 25；Multiply 6 inertia measurement matrix norms when 4
After the VCC ends pad 21 of block is stopped power supply, control unit 3, the one 6 axle measuring unit 4, the 2nd 6 axle measuring unit 5, the 3rd 6 axle
The axle measuring unit 7 of measuring unit 6 and the 4th 6.
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 (8)
1. one kind 4 multiplies 6 inertia measurement matrix modules, it is characterised in that including：Circuit board main body (1), control unit (3), it is located at
At least eight pads (2) and the axle measuring unit (4) of structure identical the 1st, the 2nd 6 axle on the circuit board main body (1)
Measuring unit (5), the 3rd 6 axle measuring unit (6) and the 4th 6 axle measuring unit (7)；
Described control unit (3), the one 6 axle measuring unit (4), the 2nd 6 axle measuring unit (5), the 3rd 6 axle measuring unit (6)
And the 4th 6 axle measuring unit (7) be integrated in the circuit board main body (1)；The one 6 axle measuring unit (4), the 2nd 6
Axle measuring unit (5), the 3rd 6 axle measuring unit (6) and the 4th 6 axle measuring unit (7) pass through the circuit board main body (1)
Internal wiring is connected with described control unit (3) respectively；Described control unit (3), the one 6 axle measuring unit (4), the 2nd 6 axle
Measuring unit (5), the 3rd 6 axle measuring unit (6) and the 4th 6 axle measuring unit (7) pass through the interior of the circuit board main body (1)
Portion's circuit connects with the corresponding pad (2) respectively.
2. according to claim 14 multiply 6 inertia measurement matrix modules, it is characterised in that the circuit board main body (1)
Side end is provided with eight pads (2), and it includes：VCC ends pad (21), GND ends pad (22), SCL ends pad (23), the weldering of SDA ends
Disk (24), SDO ends pad (25), D0 inputs pad (26), D1 inputs pad (27) and D2 inputs pad (28)；Institute
It is defeated to state VCC ends pad (21), GND ends pad (22), SCL ends pad (23), SDA ends pad (24), SDO ends pad (25), D0
The inside for entering to hold pad (26), D1 inputs pad (27) and D2 inputs pad (28) to pass through the circuit board main body (1)
Circuit is single with described control unit (3), the one 6 axle measuring unit (4), the 2nd 6 axle measuring unit (5), the measurement of the 3rd 6 axle respectively
First (6) and the 4th 6 axle measuring unit (7) connection.
3. according to claim 24 multiply 6 inertia measurement matrix modules, it is characterised in that described control unit (3) includes：
First resistor (R1), second resistance (R2), 3rd resistor (R3), the 4th resistance (R4), the 5th resistance (R5), the 6th resistance
(R6), the 7th resistance (R7), the 8th resistance (R8), the 9th resistance (R9), the tenth resistance (R10), the 11st resistance (R11),
One electric capacity (C1), the first triode (Q1), the second triode (Q2) and control chip (U100)；
The VCC ends and CL ends of one end of the first resistor (R1) and the first electric capacity (C1) and the control chip (U100) are simultaneously
Connect VCC ends pad (21)；The other end of the first resistor (R1) connects the collection of first triode (Q3) respectively
The DataIN ends of electrode and the control chip (U100)；The other end of first electric capacity (C1) connects the control chip
(U100) EN ends；The base stage of first triode (Q1) connects one end of the second resistance (R2), the connection of its emitter stage
GND ends pad (22)；The other end of the second resistance (R2) connects the D2 inputs pad (28)；3rd electricity
The one end for hindering (R3) connects the D2 inputs pad (28), and its other end connects the base stage of second triode (Q2)；Institute
The colelctor electrode connection VCC ends pad (21) of the second triode (Q2) is stated, its emitter stage connects the 4th resistance respectively
(R4), one end of the 5th resistance (R5), the 6th resistance (R6) and the 7th resistance (R7)；The other end of 4th resistance (R4)
The one 6 axle is connected simultaneously with one end of the 8th resistance (R8) and the Q0 ends of the control chip (U100) respectively to measure
Unit (4)；The other end of 5th resistance (R5) one end with the 9th resistance (R9) and the control chip respectively
(U100) Q1 ends connect the 2nd 6 axle measuring unit (5) simultaneously；The other end of 6th resistance (R6) respectively with it is described
One end of tenth resistance (R10) and the Q2 ends of the control chip (U100) connect the 3rd 6 axle measuring unit (6) simultaneously；
The other end of 7th resistance (R7) is same with one end of the 11st resistance (R11) and the Q3 ends of the control chip respectively
When connect the 4th 6 axle measuring unit (7)；8th resistance (R8), the 9th resistance (R9), the tenth resistance (R10) and
The other end of 11st resistance (R11) is connected with the C inputs of the control chip (U100) and GND ends respectively simultaneously described in
GND ends pad (22)；The A inputs of the control chip (U100) connect the D0 inputs pad (26), and its B input connects
Connect the D1 inputs pad (27).
4. according to claim 34 multiply 6 inertia measurement matrix modules, it is characterised in that the one 6 axle measuring unit
(4) include：12nd resistance (R12), the 13rd resistance (R13), the 14th resistance (R14), the second electric capacity (C2), the 3rd electric capacity
(C3), the 4th electric capacity (C4) and 6 axles measurement chip (U110)；One end of 12nd resistance (R12) connects 6 axle and surveyed
Measure the SLC ends of chip (U110), its other end connection SCL ends pad (23)；One end of 13rd resistance (R13) connects
Connect the SDA ends of the 6 axle measurement chip (U110), its other end connection SDA ends pad (24)；14th resistance
(R14) one end connects the DEN ends of the 6 axle measurement chip (U110), its other end connection GND ends pad (22)；Institute
State the SDO ends connection SDO ends pad (25) of 6 axles measurement chip (U110)；One end and described 6 of second electric capacity (C2)
The VDD_IO ends of axle measurement chip (U110) connect VCC ends pad (21), its other end connection GND ends pad simultaneously
(22)；One end of 3rd electric capacity (C3) is connected the VCC ends with the vdd terminal of 6 axle measurement chip (U110) and welded simultaneously
Disk (21), its other end connection GND ends pad (22)；One end of 4th electric capacity (C4) connects the 6 axle measurement core
The PLLFILT ends of piece (U110), its other end are connected the GND ends simultaneously with the RES6 ends of 6 axle measurement chip (U110)
Pad (22)；The DRDY ends connection GND ends pad (22) of the 6 axle measurement chip (U110)；6 axle measures chip
(U110) GND ends, RES1 ends, RES2 ends, RES3 ends and RES4 ends connects GND ends pad (22) simultaneously；6 axle
The CS ends for measuring chip (U110) connect the Q1 ends of the control chip (U100).
5. according to claim 14 multiply 6 inertia measurement matrix modules, it is characterised in that the pad (2) is stamp hole
Pad.
6. according to claim 14 multiply 6 inertia measurement matrix modules, it is characterised in that the circuit board main body (1) is
Four layers of pcb board.
7. according to claim 34 multiply 6 inertia measurement matrix modules, it is characterised in that the control chip (U100)
One kind in model M74HC259YRM13TR, M74HC259RM13TR, M74HC259TTR and M74HC259YTTR.
8. according to claim 44 multiply 6 inertia measurement matrix modules, it is characterised in that 6 axle measures chip
(U110) one kind in model LSM6DS3, LSM6DS3H, LSM6DS3HTR, LSM6DS33TR and LSM6DS33HTR.
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| CN201720797133.5U CN207147498U (en) | 2017-07-04 | 2017-07-04 | One kind 4 multiplies 6 inertia measurement matrix modules |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115183772A (en) * | 2022-09-13 | 2022-10-14 | 北京小马智行科技有限公司 | Inertial measurement unit, method, equipment, mobile equipment and storage medium |
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2017
- 2017-07-04 CN CN201720797133.5U patent/CN207147498U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115183772A (en) * | 2022-09-13 | 2022-10-14 | 北京小马智行科技有限公司 | Inertial measurement unit, method, equipment, mobile equipment and storage medium |
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Effective date of registration: 20181031 Address after: 610000 Sichuan China (Sichuan) Free Trade Pilot Zone, North Tianfu Avenue, Chengdu High-tech Zone, 1700, 6 buildings, 1 unit, 20 floors, 2015 Patentee after: Chengdu Tianhe Century Technology Co., Ltd. Address before: 516006 Huizhou Zhongkai high tech Zone, Zhongkai Road, Hui Huan section 666, Ke Rong business building 1401, Guangdong Patentee before: Zhang Xuan |