CN207850389U - It is tethered at the flight control system and its attitude angle device of ship - Google Patents
It is tethered at the flight control system and its attitude angle device of ship Download PDFInfo
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- CN207850389U CN207850389U CN201721863780.8U CN201721863780U CN207850389U CN 207850389 U CN207850389 U CN 207850389U CN 201721863780 U CN201721863780 U CN 201721863780U CN 207850389 U CN207850389 U CN 207850389U
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- attitude angle
- mems gyroscope
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- angular speed
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Abstract
The utility model discloses a kind of flight control system being tethered at ship and its attitude angle devices, the attitude angle device includes the first MEMS gyroscope, the second MEMS gyroscope and control device, first MEMS gyroscope and the second MEMS gyroscope are respectively connected to control device, and the angular speed differential data that the first MEMS gyroscope of control device pair and the second MEMS gyroscope export carries out Integral Processing and obtains attitude angle data；Wherein, the first angular speed sensitive axes of the first MEMS gyroscope are mutually parallel or overlap with second MEMS gyroscope the second angular speed sensitive axes, and the first angular speed sensitive axes are opposite with the direction of the second angular speed sensitive axes.It is tethered at the attitude angle of ship by double MEMS gyroscope measurements, reduces cost, reduces influence of the temperature change to attitude angle, improves the accuracy of attitude angle；It reduces attitude angle and occurs abnormal probability under severe conditions.
Description
Technical field
The utility model relates to vehicle technology field, it particularly relates to a kind of attitude angle device, and apply this appearance
The flight control system for being tethered at ship of state angle measuring device.
Background technology
It is tethered at the stabilized flight of ship and trajectory predictions needs to collect accurately by the flight control system being tethered on ship
Course angular data.In general the height being tethered at residing for ship is different, and temperature also can be different therewith, in addition, high aerial temperature
Degree environment is easy to happen variation, and temperature change can produce bigger effect the precision of the gyroscope for measuring course angle.
The existing course angular measurement being tethered on ship mainly realizes that the combined inertial nevigation mode can be measured by combined inertial nevigation
Multiple attitude angles, but which cost is higher, increases the totle drilling cost of system.
The another way of the existing course angular measurement being tethered on ship is to be based on list MEMS (Micro Electro
Mechanical systems, microelectromechanical systems) gyroscope course angle measuring system, MEMS gyroscope is by mechanical device
It is integrated in a chip with integrated circuit, it is small, cost can be reduced.But single MEMS gyroscope is easy by temperature drift
Influence；When data exception or failure, the normal work for being tethered at ship can be influenced.
For the above problem in the related technology, currently no effective solution has been proposed.
Utility model content
For problem above-mentioned in the related technology, the utility model proposes a kind of flight control systems and its appearance being tethered at ship
State angle measuring device can reduce cost, reduce influence of the temperature change to attitude angle result, improve measurement accuracy.
What the technical solution of the utility model was realized in：
One side according to the present utility model, provides a kind of attitude angle device, and attitude angle is course angle, pitching
Any one among angle and roll angle, attitude angle device includes：First MEMS gyroscope, the second MEMS gyroscope and
Control device, the first MEMS gyroscope and the second MEMS gyroscope are respectively connected to control device, the first MEMS of control device pair
Gyroscope and the angular speed differential data of the second MEMS gyroscope output carry out Integral Processing and obtain attitude angle data；Wherein,
There are one MEMS gyroscope the first angular speed sensitive axes, the second MEMS gyroscope to have the second angular speed sensitive axes, first jiao of speed
Rate sensitive axes are mutually parallel or overlap with the second angular speed sensitive axes, and the first angular speed sensitive axes and the second angular speed are quick
The direction for feeling axis is opposite.
In one embodiment, control device includes：Attitude angle acquisition module, wherein the first MEMS gyroscope and second
MEMS gyroscope is respectively connected to attitude angle acquisition module, and is integrated by the diagonal speed difference quadrature data of attitude angle acquisition module
Processing.
In one embodiment, control device further includes：Difference correction module, input terminal are connected to the first MEMS gyroscope
With the second MEMS gyroscope, output end is connected to attitude angle acquisition module；The diagonal speed difference quadrature data of difference correction module carry out
It is exported to attitude angle acquisition module after difference correction.
Another aspect according to the present utility model provides a kind of flight control system being tethered at ship, including above-mentioned arbitrary
A kind of attitude angle device, wherein attitude angle device, which are located at, to be tethered on ship.
In one embodiment, attitude angle is course angle.
In one embodiment, further include ground monitoring system, by being communicated to connect with attitude angle device to obtain
Attitude angle data.
In one embodiment, further include Measurement ＆control computer, communicated with attitude angle device and ground monitoring system
Connection, Measurement ＆control computer, which is located at, to be tethered on ship.
In one embodiment, further include the network switch, attitude angle device is connected to by Ethernet interface, is surveyed
Control computer and ground monitoring system and constructing local network.
In one embodiment, Measurement ＆control computer and attitude angle are connected by serial communication interface and/or Ethernet interface
Measuring device.
In one embodiment, attitude angle device includes the first attitude angle device, the second attitude angle dress
It sets and third attitude angle device；
Wherein, the first attitude angle device, the second attitude angle device and third attitude angle device are surveyed respectively
Measure course angle, pitch angle and roll angle.
The utility model is tethered at the attitude angle of ship by double MEMS gyroscope measurements, compared to existing combined inertial nevigation mode
Cost is reduced, influence of the temperature change to attitude angle is reduced, improves the accuracy of attitude angle；Reduce posture
There is abnormal probability under severe conditions in angular measurement.
Description of the drawings
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only the utility model
Some embodiments for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other attached drawings.
Fig. 1 is the block diagram according to the attitude angle device of the utility model embodiment；
Fig. 2 is the block diagram according to the flight control system for being tethered at ship of the utility model embodiment.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, the every other embodiment that those of ordinary skill in the art are obtained all belongs to
In the range of the utility model protection.
Embodiment according to the present utility model provides a kind of attitude angle device.
As shown in Figure 1, the attitude angle device 10 according to the utility model embodiment includes：Attitude angle device packet
Include the first MEMS gyroscope 12, the second MEMS gyroscope 14 and control device 16, the first MEMS gyroscope 12 and the 2nd MEMS
Gyroscope 14 is respectively connected to control device 16, and control device 16 is defeated to the first MEMS gyroscope 12 and the second MEMS gyroscope 14
The angular speed differential data gone out carries out Integral Processing and obtains attitude angle data；Wherein, the first MEMS gyroscope 12 has first jiao
Rate sensitivity axis, the second MEMS gyroscope 14 have the second angular speed sensitive axes, the first angular speed sensitive axes and the second angular speed
Sensitive axes are mutually parallel or overlap, and the first angular speed sensitive axes are opposite with the direction of the second angular speed sensitive axes.Also
It is to say, when the first MEMS gyroscope and the second MEMS gyroscope are arranged in hardware circuit, needs to ensure that corresponding angular speed is quick
Axis direction is felt on the contrary, accurate angular rate data can be obtained with output angle speed difference quadrature data and the subsequent processing of progress.
Wherein, attitude angle can be any one among course angle, pitch angle and roll angle.It can measure as needed
Attitude angle, choose it is corresponding measure course angle, pitch angle or roll angle MEMS gyroscope, it is accurate by double MEMS gyroscopes
Measure course angle, pitch angle or roll angle.
Above-mentioned technical proposal measures attitude angle by double MEMS gyroscopes, can reduce influence of the temperature drift to measurement result,
Obtain more accurate data；Cost is reduced compared to existing combined inertial nevigation mode；When one of MEMS gyroscope work
When making exception or being stopped, another MEMS gyroscope in double MEMS gyroscopes can ensure the standard of data in a period of time
True property reduces attitude angle and occurs abnormal probability under severe conditions to ensure to work normally.
The attitude angle device 10 of the application can apply be tethered at ship, unmanned vehicle, precision strike system,
The needs such as guided missile accurately measure the field of such as course angle.
In one embodiment, the first MEMS gyroscope 12 and the second MEMS gyroscope 14 can be integrated in one piece of hardware
Circuit board.This will not cause the volume of hardware circuit board big influence.It should be appreciated that according to the difference of practical application condition,
First MEMS gyroscope 12 and the second MEMS gyroscope 14 can choose other suitable arrangements.
In one embodiment, control device 16 includes attitude angle acquisition module 164, wherein 12 He of the first MEMS gyroscope
Second MEMS gyroscope 14 is respectively connected to attitude angle acquisition module 164, and by 164 diagonal speed difference quadrature of attitude angle acquisition module
Data carry out Integral Processing.
Wherein, control device 16 further includes：Difference correction module 162, input terminal are connected to 12 He of the first MEMS gyroscope
Second MEMS gyroscope 14, output end are connected to attitude angle acquisition module 164；162 diagonal speed difference score of difference correction module
According to output after progress difference correction to attitude angle acquisition module 164.
It should be appreciated that control device 16 can be realized by microcontroller.In one embodiment, for measuring course
ADXRS646 sensors may be used in the MEMS gyroscope at angle.ADXRS646 sensors are a low noises, have vibration suppression
The yaw rate gyroscope of characteristic, is capable of providing the measurement range of ± 250 degree/s, and low bandwidth noise has 0.015 degree/s/g
Low g sensitivity and 0.0001 degree/s/g2Vibration correction characteristic.STM32F407VE chips can be used in controller,
The dominant frequency of STM32F407VE chips can reach 168MHz, integrate FPU (Float Point Unit, FPU Float Point Unit), tool
There is stronger numerical computation；In addition a variety of peripheral hardwares can be integrated.
In conjunction with shown in Fig. 2, embodiment according to the present utility model additionally provides a kind of flight control system being tethered at ship
100, including any one of the above attitude angle device 10, wherein attitude angle device 10 is located at and is tethered on ship.
Above-mentioned technical proposal is tethered at the attitude angle of ship by double MEMS gyroscope measurements, can reduce temperature drift and be tied to measuring
The influence of fruit obtains more accurate data；Cost is reduced compared to existing combined inertial nevigation mode；As one of MEMS
Gyroscope operation irregularity or when being stopped, another MEMS gyroscope in double MEMS gyroscopes can ensure in a period of time
The accuracy of data reduces attitude angle and occurs exception under severe conditions to ensure to be tethered at the normal work of ship
Probability.
In one embodiment, attitude angle is course angle.Since the stabilized flight and trajectory predictions that are tethered at ship need to rely on
Accurate course angular data, the accuracy of course angular measurement is improved by double MEMS gyroscope measurements.
In one embodiment, flight control system 100 further includes ground monitoring system (not shown), by with attitude angle
Measuring device is communicated to connect to obtain attitude angle data.Ground monitoring system is (for example, be tethered at the terrestrial information processing and monitoring of ship
System) the course angular data that attitude angle device 10 exports can be directly acquired by Ethernet interface.In one embodiment
In, further include Measurement ＆control computer 40, is communicated to connect with attitude angle device and ground monitoring system, Measurement ＆control computer 40
In being tethered on ship.
It is calculated wherein it is possible to connect observing and controlling by serial communication interface (such as RS422 interfaces 20) and/or Ethernet interface 20
Machine 40 and attitude angle device 10.Specifically, course angular data can pass through the serial communication interface of such as RS422 interfaces 20
It is sent to Measurement ＆control computer 40, Measurement ＆control computer 40 and ground monitoring system can also be transmitted data to by Ethernet interface
System.Wherein, Measurement ＆control computer 40 can also be tethered at other biographies on ship by acquisitions such as Ethernet interface 30, RS422 interfaces 20
Sensor data simultaneously control the relevant device being tethered on ship.Ground monitoring system can be by computer, system software, set of applications
At, and communicated by Ethernet interface 30 with Measurement ＆control computer 40, pass through Ethernet sending device control command or data
Acquisition.
In one embodiment, flight control system further includes network switch (not shown), the network switch by with
Too network interface is connected to attitude angle device, Measurement ＆control computer and ground monitoring system and constructing local network.
In one embodiment, attitude angle device may include the first attitude angle device, the survey of the second attitude angle
Measure device and third attitude angle device；Wherein, the first attitude angle device, the second attitude angle device and third appearance
State angle measuring device measures course angle, pitch angle and roll angle respectively.By measuring course angle, pitch angle and roll angle respectively
Attitude angle device is combined, so as to form full attitude measurement system.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model
Protection domain within.
Claims (10)
1. a kind of attitude angle device, attitude angle is any one among course angle, pitch angle and roll angle, and feature exists
In, the attitude angle device include the first MEMS gyroscope, the second MEMS gyroscope and control device, described first
MEMS gyroscope and second MEMS gyroscope are respectively connected to the control device, and the control device is to described first
MEMS gyroscope and the angular speed differential data of second MEMS gyroscope output carry out Integral Processing and obtain attitude angle data；
Wherein, there are first MEMS gyroscope the first angular speed sensitive axes, second MEMS gyroscope to have second jiao
Rate sensitivity axis, the first angular speed sensitive axes are mutually parallel or overlap with the second angular speed sensitive axes, and institute
The direction for stating the first angular speed sensitive axes is opposite with the direction of the second angular speed sensitive axes.
2. attitude angle device according to claim 1, which is characterized in that the control device includes：
Attitude angle acquisition module, wherein first MEMS gyroscope and second MEMS gyroscope are respectively connected to the appearance
State angle acquisition module, and carry out the Integral Processing by the diagonal speed difference quadrature data of the attitude angle acquisition module.
3. attitude angle device according to claim 2, which is characterized in that the control device further includes：
Difference correction module, input terminal are connected to first MEMS gyroscope and second MEMS gyroscope, and output end connects
It is connected to the attitude angle acquisition module；The difference correction module exports after carrying out difference correction to the angular speed differential data
To the attitude angle acquisition module.
4. a kind of flight control system being tethered at ship, which is characterized in that including the attitude angle described in any one of claim 1-3
Measuring device, wherein the attitude angle device is located at described be tethered on ship.
5. the flight control system according to claim 4 for being tethered at ship, which is characterized in that the attitude angle is course angle.
6. the flight control system according to claim 5 for being tethered at ship, which is characterized in that further include ground monitoring system,
By being communicated to connect with the attitude angle device to obtain the attitude angle data.
7. the flight control system according to claim 6 for being tethered at ship, which is characterized in that further include Measurement ＆control computer, with
The attitude angle device and ground monitoring system communication connection, the Measurement ＆control computer are tethered at ship positioned at described
On.
8. the flight control system according to claim 7 for being tethered at ship, which is characterized in that further include the network switch, lead to
Cross that Ethernet interface is connected to the attitude angle device, the Measurement ＆control computer and the ground monitoring system and group is founded the bureau
Domain net.
9. the flight control system according to claim 7 for being tethered at ship, which is characterized in that by serial communication interface and/
Or Ethernet interface connects the Measurement ＆control computer and the attitude angle device.
10. the flight control system according to claim 4 for being tethered at ship, which is characterized in that the attitude angle device
Including the first attitude angle device, the second attitude angle device and third attitude angle device；
Wherein, the first attitude angle device, the second attitude angle device and third attitude angle dress
It sets and measures course angle, pitch angle and roll angle respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721863780.8U CN207850389U (en) | 2017-12-27 | 2017-12-27 | It is tethered at the flight control system and its attitude angle device of ship |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721863780.8U CN207850389U (en) | 2017-12-27 | 2017-12-27 | It is tethered at the flight control system and its attitude angle device of ship |
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| CN207850389U true CN207850389U (en) | 2018-09-11 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111288982A (en) * | 2018-12-07 | 2020-06-16 | 中科钢研节能科技有限公司 | High-precision single-axis rotation measuring system of double-laser gyroscope |
| CN112146651A (en) * | 2020-09-25 | 2020-12-29 | 上海航天控制技术研究所 | Micro-mechanical gyroscope assembly with small volume, low power consumption and high reliability |
| CN112665586A (en) * | 2020-12-11 | 2021-04-16 | 陕西华燕航空仪表有限公司 | Method for improving precision of MEMS gyroscope |
-
2017
- 2017-12-27 CN CN201721863780.8U patent/CN207850389U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111288982A (en) * | 2018-12-07 | 2020-06-16 | 中科钢研节能科技有限公司 | High-precision single-axis rotation measuring system of double-laser gyroscope |
| CN112146651A (en) * | 2020-09-25 | 2020-12-29 | 上海航天控制技术研究所 | Micro-mechanical gyroscope assembly with small volume, low power consumption and high reliability |
| CN112665586A (en) * | 2020-12-11 | 2021-04-16 | 陕西华燕航空仪表有限公司 | Method for improving precision of MEMS gyroscope |
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Effective date of registration: 20230815 Address after: Room 501, Building D2, Songshan Lake International Innovation and Entrepreneurship Community, Songshan Lake High tech Industrial Development Zone, Dongguan City, Guangdong Province, 523000 Patentee after: Dongguan Dongguan Institute of Science and Technology Innovation Address before: Room 502, Floor 5, Building 1, Innovation Science Park, Songshan Lake High tech Industrial Development Zone, Dongguan, Guangdong 523000 Patentee before: DONGGUAN FRONTIER TECHNOLOGY INSTITUTE |
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