CN207231496U - A kind of outdoor mobile robot combined navigation device - Google Patents
A kind of outdoor mobile robot combined navigation device Download PDFInfo
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- CN207231496U CN207231496U CN201721347255.0U CN201721347255U CN207231496U CN 207231496 U CN207231496 U CN 207231496U CN 201721347255 U CN201721347255 U CN 201721347255U CN 207231496 U CN207231496 U CN 207231496U
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- mobile robot
- microcontroller
- navigation device
- combined navigation
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Abstract
The utility model provides a kind of outdoor mobile robot combined navigation device, microcontroller including carrying out information processing, microcontroller respectively with power module, Inertial Measurement Unit, GNSS receiver, barometric pressure sensor, SPI turns UART modules and initial data output interface, the utility model takes full advantage of the ability of MSP430F149 microcontrollers, with simple in structure, low-power consumption, there is universality to sensor, satellite navigation receiver can be realized at the same time, Inertial Measurement Unit, the high speed acquisition of the navigation informations such as pressure altitude and high speed mixed transfer, and carry out preliminary navigator fix information fusion, direct navigation Service can be provided for outdoor mobile robot, also can be as the original measurement high speed information acquisition system of high-precision integrated navigation system.
Description
Technical field
Mobile Robotics Navigation field is the utility model is related to, is specifically a kind of outdoor mobile robot integrated navigation dress
Put.
Background technology
Navigate mode usually using inertial navigation/combinations of satellites for the mobile robot that works in outdoor environment.Inertial navigation
System have the advantages that it is entirely autonomous, anti-interference it is strong, hidden ability is good and output parameter is comprehensive, but its robustness is extremely low, by mistake
Difference can be constantly with time accumulated divergence.Satellite navigation system has precision height, orientation range extensively and error is not with accumulated time etc.
Advantage, but the shortcomings such as its independence is poor, is easily blocked and disturbed by the external world, receiver data update frequency is low.Therefore in engineering often
Often both complementations are used in combination, form satellite/inertia combined navigation system.
Utility model content
The utility model provides a kind of outdoor mobile robot combined navigation device, can realize satellite navigation at the same time
(GNSS) high speed acquisition and high speed mixed transfer of the navigation information such as receiver, Inertial Measurement Unit (IMU), pressure altitude, and
Preliminary navigator fix information fusion is carried out, direct navigation Service can be provided for outdoor mobile robot, can also be used as high accuracy
The original measurement high speed information acquisition system of integrated navigation system.
The technical solution of the utility model：A kind of outdoor mobile robot combined navigation device, including carry out information processing
Microcontroller, microcontroller respectively with power module, Inertial Measurement Unit, GNSS receiver, barometric pressure sensor, SPI
Turn UART modules and initial data output interface,
The power module accesses 5V power supplys, and output 3.3V burning voltages, 1A electric currents are to meet that combined navigation device is powered
Demand；
The Inertial Measurement Unit measure in real time mobile robot three-axis attitude angle and acceleration information and will measurement
Information be sent to microcontroller；
The GNSS receiver obtains the position of mobile robot and velocity information and is sent to the information of acquisition in real time
Microcontroller；
The atmospheric pressure information of the barometric pressure sensor detection mobile robot present position simultaneously believes atmospheric pressure
Breath is sent to microcontroller；
The SPI turns UART modules and meets to one UART interface of microcontroller expansion between microcontroller and external PC machine
Communication；
The initial data output interface is used to the raw data packets of microcontroller parsing being output to external PC machine.
The Inertial Measurement Unit and GNSS receiver are communicated to connect with microcontroller by UART interface.
The barometric pressure sensor, SPI turn UART modules and initial data output interface and microcontroller passes through SPI
Interface communication connects.
The microcontroller uses the MSP430F149 microcontrollers of Texas Instrument.
The power module uses AMS1117 voltage stabilizing chips.
The barometric pressure sensor uses the MS5803-02BA type barometric pressure sensor of MEAS companies production.
The SPI turns the MAX3111E global function transceivers that UART modules are released using MAXIM companies.
MAX3232 chips are set to carry out Transistor-Transistor Logic level between the Inertial Measurement Unit and GNSS receiver and microcontroller
With RS232 level conversions.
The technique effect of the utility model：The ability of MSP430F149 microcontrollers is taken full advantage of, is had simple in structure, low
Power consumption, have the advantages that universality to sensor, can realize satellite navigation (GNSS) receiver, Inertial Measurement Unit at the same time
(IMU), the high speed acquisition and high speed mixed transfer of the navigation information such as pressure altitude, and preliminary navigator fix information fusion is carried out,
Direct navigation Service can be provided for outdoor mobile robot, also can be as the original measurement information of high-precision integrated navigation system
High speed acquisition system.
Brief description of the drawings
Fig. 1 is the utility model overall structure diagram；
Fig. 2 is the utility model power circuit schematic diagram；
Fig. 3 is the utility model Inertial Measurement Unit and GNSS receiver interface circuit schematic diagram；
Fig. 4 is the utility model MS5803-02BA interface circuit schematic diagrames；
Fig. 5 is that the utility model SPI turns UART circuitry schematic diagram.
Figure label represents respectively：1- microcontrollers, 2- power modules, 3- Inertial Measurement Units, 4-GNSS receivers, 5-
Barometric pressure sensor, 6-SPI turn UART modules, 7- initial data output interfaces.
Embodiment
The utility model is further illustrated below in conjunction with the accompanying drawings：
As shown in Figure 1, a kind of outdoor mobile robot combined navigation device, including the microcontroller 1 of information processing is carried out,
Microcontroller 1 turns UART with power module 2, Inertial Measurement Unit 3, GNSS receiver 4, barometric pressure sensor 5, SPI respectively
Module 6 and initial data output interface 7,
The power module 2 accesses 5V power supplys, and output 3.3V burning voltages, 1A electric currents are to meet that combined navigation device is powered
Demand；
The Inertial Measurement Unit 3 measure in real time mobile robot three-axis attitude angle and acceleration information and will measurement
Information be sent to microcontroller 1；
The GNSS receiver 4 obtains the position of mobile robot and velocity information and is sent to the information of acquisition in real time
Microcontroller 1；
The barometric pressure sensor 5 detects the atmospheric pressure information of mobile robot present position and believes atmospheric pressure
Breath is sent to microcontroller 1；
The SPI turns UART modules 6 and meets to one UART interface of the expansion of microcontroller 1 between microcontroller and external PC machine
Communication；
The initial data output interface 7 is used to the raw data packets that microcontroller 1 parses being output to external PC machine.
The Inertial Measurement Unit 3 and GNSS receiver 4 are communicated to connect with microcontroller 1 by UART interface.
It is logical with microcontroller 1 that the barometric pressure sensor 5, SPI turn UART modules 6 and initial data output interface 7
Cross SPI interface communication connection.
The microcontroller 1 uses the MSP430F149 microcontrollers of Texas Instrument.
The power module 2 uses AMS1117 voltage stabilizing chips.
The MS5803-02BA type barometric pressure sensor that the barometric pressure sensor 5 is produced using MEAS companies.
The SPI turns the MAX3111E global function transceivers that UART modules 6 are released using MAXIM companies.
MAX3232 chips are set to carry out TTL electricity between the Inertial Measurement Unit 3 and GNSS receiver 4 and microcontroller 1
Flat and RS232 level conversions.
Whole combined navigation device needs three UART interfaces and two SPI interfaces.Two of which UART interface is single by 430
The UART resources that piece machine carries provide, another UART interface is converted to obtain by GPIO simulations SPI by MAX3111E chips；
Two SPI interfaces are simulated to obtain by GPIO.Additionally need external interrupt pin capture pps pulse per second signal (PPS), one it is outer
Portion's interrupt pin capture MAX3111E interrupt signals.The distribution of MSP430F149 pin resources is as shown in table 1.
1 MSP430F149 pin resources of table are distributed
IMU devices and GNSS receiver are all accessed using UART interface mode, using RS232 agreements.Therefore it can be used 430
Two UART interfaces carried on microcontroller, but need to carry out Transistor-Transistor Logic level and RS232 level conversions.Here using common
MAX3232 chips, circuit design are as shown in Figure 3.
MS5803-02BA is the digital pressure sensor produced by MEAS companies, and resolution ratio is included up to 10cm. chip internals
The pressure sensor of one High Linear and the Δ Σ types ADC. of the super low-power consumption of an internal plant calibration coefficient 24 this chip
There are two kinds of interface modes of SPI and I2C, the different interface mode of selection (when PS is set low, uses by the PS pin configuration of chip
SPI operating modes；When PS puts high, using I2C operating modes).Barometer is configured to SPI works by alignment system described in this paper
Operation mode.Interface circuit design between MS5803-02BA and microcontroller is as shown in Figure 4.
Since the on piece UART resources of MSP430F149 are all taken by IMU devices and GNSS receiver, it is therefore desirable to expand
One UART interface could meet the communication between alignment system and PC machine.The GPIO on MSP430F149 is simulated into SPI for this, then
UART interface is changed into by MAX3111E chips.
MAX3111E is the global function transceiver that MAXIM companies release, and inside includes UART and RS232 level conversions two
Independent part.UART parts include being compatible with the serial line interface of SPI, programmable Baud rate generator, send shift register,
Receive shift register, the FIFO and 4 kinds of maskable interrupts generators of 8 word lengths；RS232 parts include electric pump capacitance, hardware
Turn off (SHDN pins), there is ± 15kV electrostatic protective functions.It can select two kinds of crystal oscillators of 1.8432MHz or 3.6864MHz
As external crystal-controlled oscillation, chip can be operated in 300bps~230kbps baud rates, and used herein is 3.6864MHz crystal oscillators.
MAX3111E is connected circuit such as Fig. 5 with MSP430F149
A kind of outdoor mobile robot combined navigation device of the utility model, takes full advantage of MSP430F149 microcontrollers
Ability, there is simple in structure, low-power consumption, there is universality to sensor, can realize satellite navigation at the same time
(GNSS) high speed acquisition and high speed mixed transfer of the navigation information such as receiver, Inertial Measurement Unit (IMU), pressure altitude, and
Preliminary navigator fix information fusion is carried out, direct navigation Service can be provided for outdoor mobile robot, can also be used as high accuracy
The original measurement high speed information acquisition system of integrated navigation system.
Above content is only to illustrate the technological thought of the utility model, it is impossible to the protection model of the utility model is limited with this
Enclose, it is every according to the utility model proposes technological thought, any change done on the basis of technical solution, each falls within this reality
Within protection domain with new claims.
Claims (8)
- A kind of 1. outdoor mobile robot combined navigation device, it is characterised in that：Microcontroller including carrying out information processing, it is micro- Controller turn respectively with power module, Inertial Measurement Unit, GNSS receiver, barometric pressure sensor, SPI UART modules and Initial data output interface,The power module accesses 5V power supplys, and output 3.3V burning voltages, 1A electric currents are to meet combined navigation device power demands；The Inertial Measurement Unit measures three-axis attitude angle and the acceleration information and by the letter of measurement of mobile robot in real time Breath is sent to microcontroller；The GNSS receiver obtains the position of mobile robot and velocity information and the information of acquisition is sent to micro-control in real time Device processed；The atmospheric pressure information of the barometric pressure sensor detection mobile robot present position simultaneously sends out atmospheric pressure information It is sent to microcontroller；The SPI turns UART modules and meets leading between microcontroller and external PC machine to one UART interface of microcontroller expansion Letter；The initial data output interface is used to the raw data packets of microcontroller parsing being output to external PC machine.
- A kind of 2. outdoor mobile robot combined navigation device according to claim 1, it is characterised in that：The inertia is surveyed Amount unit and GNSS receiver are communicated to connect with microcontroller by UART interface.
- A kind of 3. outdoor mobile robot combined navigation device according to claim 1, it is characterised in that：The atmospheric pressure Force snesor, SPI turn UART modules and initial data output interface and microcontroller is communicated to connect by SPI interface.
- A kind of 4. outdoor mobile robot combined navigation device according to claim 1, it is characterised in that：The microcontroller Device uses the MSP430F149 microcontrollers of Texas Instrument.
- A kind of 5. outdoor mobile robot combined navigation device according to claim 1, it is characterised in that：The power supply mould Block uses AMS1117 voltage stabilizing chips.
- A kind of 6. outdoor mobile robot combined navigation device according to claim 1, it is characterised in that：The atmospheric pressure Force snesor uses the MS5803-02BA type barometric pressure sensor of MEAS companies production.
- A kind of 7. outdoor mobile robot combined navigation device according to claim 1, it is characterised in that：The SPI turns The MAX3111E global function transceivers that UART modules are released using MAXIM companies.
- A kind of 8. outdoor mobile robot combined navigation device according to claim 2, it is characterised in that：The inertia is surveyed Measure sets MAX3232 chips to carry out Transistor-Transistor Logic level and RS232 level conversions between unit and GNSS receiver and microcontroller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201721347255.0U CN207231496U (en) | 2017-10-19 | 2017-10-19 | A kind of outdoor mobile robot combined navigation device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721347255.0U CN207231496U (en) | 2017-10-19 | 2017-10-19 | A kind of outdoor mobile robot combined navigation device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112612047A (en) * | 2020-11-27 | 2021-04-06 | 航天恒星科技有限公司 | Satellite/inertia combined micro navigation system |
| CN112902949A (en) * | 2021-01-20 | 2021-06-04 | 上海华测导航技术股份有限公司 | Small, portable and low-cost integrated navigation system device |
-
2017
- 2017-10-19 CN CN201721347255.0U patent/CN207231496U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112612047A (en) * | 2020-11-27 | 2021-04-06 | 航天恒星科技有限公司 | Satellite/inertia combined micro navigation system |
| CN112612047B (en) * | 2020-11-27 | 2024-03-15 | 航天恒星科技有限公司 | Satellite/inertial combined micro navigation system |
| CN112902949A (en) * | 2021-01-20 | 2021-06-04 | 上海华测导航技术股份有限公司 | Small, portable and low-cost integrated navigation system device |
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