CN209485372U - A kind of attitude of carrier detection device - Google Patents
A kind of attitude of carrier detection device Download PDFInfo
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- CN209485372U CN209485372U CN201920449453.0U CN201920449453U CN209485372U CN 209485372 U CN209485372 U CN 209485372U CN 201920449453 U CN201920449453 U CN 201920449453U CN 209485372 U CN209485372 U CN 209485372U
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Abstract
The utility model discloses a kind of attitude of carrier detection devices, including solar panel, power module and electronic circuit board, microcontroller, attitude detection module and clock module are integrated on the electronic circuit board, the attitude detection module includes the first micromechanical gyro module, the second micromechanical gyro module and third micromechanical gyro module, and three axis accelerometer, magnetic course transmitter and GPS module, the GPS module include GPS receiver and GPS antenna.The utility model structure is simple, using micromechanical gyro, cost is relatively low, micromechanical gyro and three axis accelerometer are set to obtain the roll angle and pitch angle of carrier, in addition magnetic course transmitter and GPS module cooperation are set, so as to be unable to get GPS signal or GPS signal is interfered situation, yaw angle is obtained using magnetic course transmitter, consequently facilitating the posture information of carrier is obtained in real time, it is practical.
Description
Technical field
The utility model belongs to micro- inertia navigation attitude engineering device technique field, more particularly, to a kind of attitude of carrier detection device.
Background technique
The posture of carrier carrier during the motion is among constantly variation, it is therefore desirable to be carried out to the posture of carrier real
When detect so that the operation of carrier meets driving requirements, improve the safety of carrier operation, but existing attitude of carrier detection
There is also some disadvantages for device:
Firstly, the yaw angle of carrier is detected using GPS module in existing attitude of carrier device, but GPS module pair
Sky view is more demanding, is highly prone to shadow occlusion or interference effect, is unable to get so that carrier can exist in the process of moving
GPS signal or GPS signal are interfered situation, so that carrier yaw angle be caused to obtain interruption；
It is powered secondly, carrying lithium battery in existing attitude of carrier device, but with the continuous navigation of carrier, so that
Electric quantity of lithium battery consumption is very fast, so that it cannot be guaranteed that Attitute detecting device works for a long time；
In addition, using laser gyro and optical fibre gyro in existing attitude of carrier device, but its higher cost.Cause
This, nowadays lacks a kind of attitude of carrier detection device of simple structure and reasonable design, and using micromechanical gyro, cost is relatively low,
Micromechanical gyro and three axis accelerometer are set to obtain the roll angle and pitch angle of carrier, be in addition arranged magnetic course transmitter and
GPS module cooperation is obtained inclined so as to be unable to get GPS signal or GPS signal is interfered situation using magnetic course transmitter
Boat angle, consequently facilitating obtaining the posture information of carrier in real time.
Utility model content
The technical problem to be solved by the utility model is in view of the deficiency of the prior art, provide a kind of carrier
Attitute detecting device, simple structure and reasonable design, using micromechanical gyro, cost is relatively low, and micromechanical gyro and three axis are arranged
In addition to obtain the roll angle and pitch angle of carrier magnetic course transmitter and GPS module cooperation is arranged, so that can not in accelerometer
It obtains GPS signal or GPS signal is interfered situation, yaw angle is obtained using magnetic course transmitter, consequently facilitating obtaining in real time
The posture information of carrier is taken, it is practical.
In order to solve the above technical problems, the technical solution adopted in the utility model is: a kind of attitude of carrier detection device,
It is characterized in that: including the solar panel being mounted on outside carrier top, the power module being connect with solar panel and setting
It sets and is carrying intracorporal electronic circuit board, be integrated with microcontroller and the posture for detecting attitude of carrier on the electronic circuit board
Detection module, and the clock module to connect with microcontroller, the attitude detection module include for detecting carrier X-direction
First micromechanical gyro module of angular speed, the second micromechanical gyro module and use for detecting carrier Y direction angular speed
Three axis in the third micromechanical gyro module of detection carrier Z-direction angular speed, and for detecting carrier acceleration accelerate
Degree meter, the magnetic course transmitter for detecting carrier magnetic field size and the GPS module for detecting carrier yaw angle, the GPS
Module includes sequentially connected GPS antenna, GPS receiver and serial ports expansion module, the first micromechanical gyro module, second
Micromechanical gyro module, third micromechanical gyro module, three axis accelerometer and magnetic course transmitter output end and micro-control
The input terminal of device processed connects, the serial ports expansion module connect with microcontroller the microcontroller be STM32F405VGT6 it is micro-
Controller.
Above-mentioned a kind of attitude of carrier detection device, it is characterised in that: the first micromechanical gyro module includes model
For the gyro chip U1 of XV7011BB, the 1st pin of the gyro chip U1 connects with the PC0 pin of microcontroller；The top
The 2nd pin of spiral shell chip U1 connects with the PC1 pin of microcontroller；The 3rd pin of the gyro chip U1 is connect by capacitor C4
Ground；The 4th pin and the 5th pin of the gyro chip U1 is grounded；The 6th pin of the gyro chip U1 divides two-way, all the way
It is grounded by capacitor C6 and capacitor C7 in parallel, another way connects 3.3V power supply by resistance R1；Draw the 8th of the gyro chip U1
Foot divides two-way, is grounded all the way by capacitor C1 and capacitor C2 in parallel, another way connects 3.3V power supply；The of the gyro chip U1
9 pins connect with the PC3 pin of microcontroller, the PC12 pin phase of the 10th pin and microcontroller of the gyro chip U1
It connects；
The second micromechanical gyro module includes the gyro chip U4 of model XV7011BB, the gyro chip U4's
1st pin connects with the PC4 pin of microcontroller, the PC5 pin phase of the 2nd pin and microcontroller of the gyro chip U4
It connects, the 3rd pin of the gyro chip U4 is grounded by capacitor C19；The 4th pin and the 5th pin of the gyro chip U4 is equal
Ground connection；The 6th pin of the gyro chip U4 divides two-way, is grounded all the way by capacitor C20 and capacitor C21 in parallel, another way
3.3V power supply is connect by resistance R3；The 8th pin of the gyro chip U4 divides two-way, passes through capacitor C14 and electricity in parallel all the way
Hold C15 ground connection, another way connects 3.3V power supply；The 9th pin of the gyro chip U4 connects with the PC7 pin of microcontroller；Institute
The 10th pin for stating gyro chip U4 connects with the PC6 pin of microcontroller；
The third micromechanical gyro module includes the gyro chip U5 of model XV7011BB, the gyro chip U5's
1st pin connects with the PC8 pin of microcontroller, the PC9 pin phase of the 2nd pin and microcontroller of the gyro chip U5
It connects, the 3rd pin of the gyro chip U5 is grounded by capacitor C25；The 4th pin and the 5th pin of the gyro chip U5 connects
Ground；The 6th pin of the gyro chip U5 divides two-way, is grounded all the way by capacitor C26 and capacitor C27 in parallel, another way is logical
It crosses resistance R4 and connects 3.3V power supply；The 8th pin of the gyro chip U5 divides two-way, passes through capacitor C23 and capacitor in parallel all the way
C24 ground connection, another way connect 3.3V power supply；The 9th pin of the gyro chip U5 connects with the PC11 pin of microcontroller；It is described
The 10th pin of gyro chip U5 connects with the PC10 pin of microcontroller.
Above-mentioned a kind of attitude of carrier detection device, it is characterised in that: the three axis accelerometer includes chip
The 1st pin of ADXL355, the chip ADXL355 connect with the PD0 pin of microcontroller, and the 2nd of the chip ADXL355 the
Pin connects with the PD1 pin of microcontroller, and the 3rd pin of the chip ADXL355 connects with the PD2 pin of microcontroller,
The 4th pin of the chip ADXL355 connects with the PD3 pin of microcontroller, and the 5th pin of the chip ADXL355 is divided to two
Road connects with 3.3V power supply all the way, and another way connects with one end of capacitor C18 in parallel and capacitor C22；The chip
The 6th pin of ADXL355 divides two-way, connects all the way with the other end of capacitor C18 and capacitor C22 in parallel, another way ground connection；Institute
The 8th pin for stating chip ADXL355 passes through capacitor C10 and capacitor C11 ground connection in parallel, the 9th pin of the chip ADXL355
10th pin of ground connection, the chip ADXL355 passes through capacitor C8 and capacitor C9 ground connection in parallel；The chip ADXL355's
11st pin divides two-way, and all the way by capacitor C3 and capacitor C5 ground connection in parallel, another way connects with 3.3V power supply；The chip
The 12nd pin, the 13rd pin and the 14th pin of ADXL355 respectively with the PD6 pin of microcontroller, PD5 pin and PD4 pin
Connect；
The magnetic course transmitter is three axis magnetoresistive sensor HMC5883L, the three axis magnetoresistive sensor HMC5883L's
1st pin divides two-way, connects all the way with the PF1 pin of microcontroller, another way connects with the one end resistance R6；The resistance R6's
Three tunnels of the other end point, connect 3.3V power supply, another way connects with one end of resistance R5, third Lu Yusan axis magnetoresistive sensor all the way
The 13rd pin of HMC5883L connects；The 2nd pin of the three axis magnetoresistive sensor HMC5883L divides two-way, electric with 3.3V all the way
Source connects, and another way is grounded by capacitor C32；The 4th pin of the three axis magnetoresistive sensor HMC5883L divides two-way, all the way with
3.3V power supply connects, and another way is grounded by capacitor C29；The 8th pin and capacitor of the three axis magnetoresistive sensor HMC5883L
One end of C35 connects, the 9th pin ground connection of the three axis magnetoresistive sensor HMC5883L, the three axis magnetoresistive sensor
The 10th pin of HMC5883L is grounded by capacitor C28；The 11st pin of the three axis magnetoresistive sensor HMC5883L is grounded, institute
The 12nd pin for stating three axis magnetoresistive sensor HMC5883L connects with the other end of capacitor C35, the three axis magnetoresistive sensor
The 16th pin of HMC5883L divides two-way, connects all the way with the PF0 pin of microcontroller, the other end phase of another way and resistance R5
It connects.
Above-mentioned a kind of attitude of carrier detection device, it is characterised in that: the power module includes and solar panel
Export sequentially connected solar charging electric protection circuit, rechargeable battery and voltage transformation module, the voltage transformation module packet
Include that 12V turns 5V voltage transformation module and 5V turns 3.3V voltage transformation module；
The solar charging electric protection circuit includes chip MAX1771, the 1st pin and PMOS of the chip MAX1771
The grid of pipe connects, and six tunnels of the 2nd pin point of the chip MAX1771, the first via connects through capacitor C41 and capacitor C42 in parallel
Ground, the second tunnel connect through resistance R9 with a fixing end of swept resistance R12, and third road is through capacitor C40's and swept resistance R12
Sliding end connects, and the 4th tunnel connects with the cathode of voltage-stabiliser tube D2, and the 5th tunnel exports 12V power supply, and the 6th tunnel is with two end interface JP1's
One end connects；Another fixing end of the swept resistance R12 is grounded by resistance R13；Another termination of the two end interfaces JP1
Ground；The 3rd pin of the chip MAX1771 connects with the connecting pin of the sliding end of swept resistance R12 and capacitor C40, the core
The 4th pin of piece MAX1771 is grounded by capacitor C43, and the 5th pin of the chip MAX1771, the 6th pin and the 7th pin are equal
Ground connection, the 8th pin of the chip MAX1771 divide two-way, are grounded all the way by resistance R8, the source electrode phase of another way and PMOS tube
It connects；The drain electrode of the PMOS tube divides two-way, connects all the way with the anode of voltage-stabiliser tube D2, and another way connects with one end of inductance L1；
The other end of the inductance L1 divides two-way, is grounded all the way through capacitor C39, and another way connects with two one end end interface JP2；Described two
End interface JP2 other end ground connection；
For the positive output end grafting of solar panel, the two end interfaces JP1's is another for one end of the two end interfaces JP2
One end for solar panel negative output terminal grafting, one end of the two end interfaces JP1 for rechargeable battery positive grafting,
Cathode grafting of the other end of the two end interfaces JP1 for rechargeable battery；
It includes chip LM7805 that the 12V, which turns 5V voltage transformation module, and the Vin pin of the chip LM7805 divides two-way,
Connect all the way with 12V power supply, another way is drawn by capacitor C12 and capacitor C16 ground connection in parallel, the GND of the chip LM7805
Foot ground connection, three tunnels of Vout pin point of the chip LM7805, is grounded through capacitor C13 and capacitor C17 in parallel, another way all the way
Connect through resistance R2 with the anode of Light-emitting diode LED 1, third road is 5V power output end；The Light-emitting diode LED 1
Minus earth；
It includes chip LM1117-3.3V that the 5V, which turns 3.3V voltage transformation module, the Vin of the chip LM1117-3.3V
Pin divides two-way, connects all the way with 5V power supply, and another way passes through capacitor C30 and capacitor C33 ground connection in parallel, the chip
The GND pin of LM1117-3.3V is grounded, three tunnels of Vout pin point of the chip LM1117-3.3V, all the way through capacitor in parallel
C31 and capacitor C34 ground connection, another way connect through resistance R7 with the anode of Light-emitting diode LED 2, and third road is that 3.3V power supply is defeated
Outlet；The minus earth of the Light-emitting diode LED 2.
Above-mentioned a kind of attitude of carrier detection device, it is characterised in that: the GPS antenna is antenna E1, the GPS receiver
Device is iTrax02GPS receiver, and the serial ports expansion module includes chip GM8125, and the antenna E1 and iTrax02GPS connects
The RFIN pin for receiving device connects, and the RXD1 pin of the iTrax02GPS receiver connects with the TXD1 pin of chip GM8125,
The TXD1 pin of the iTrax02GPS receiver connects with the RXD1 pin of chip GM8125, the chip GM8125's
SRADD0-2 pin, STADD0-2 pin, TXD0 pin, RXD0 pin, RST pin and MS pin respectively with microcontroller
PE2 pin, PE3 pin, PH6 pin, PC2 pin, PE4 pin and PE5 pin connect.
Above-mentioned a kind of attitude of carrier detection device, it is characterised in that: the clock module includes chip PCF8563, institute
The 1st pin for stating chip PCF8563 divides two-way, connects all the way with one end of crystal oscillator Y1, another way is grounded by capacitor C36；Institute
The 2nd pin for stating chip PCF8563 divides two-way, connects all the way with the other end of crystal oscillator Y1, another way is grounded by capacitor C37；
The 4th pin of the chip PCF8563 is grounded, and the 5th pin of the chip PCF8563 divides two-way, connect all the way by resistance R11
5V power supply, another way connect with the PD7 pin of microcontroller；The 6th pin of the chip PCF8563 divides two-way, passes through all the way
Resistance R10 connects 5V power supply, and another way connects with the PD8 pin of microcontroller；The 7th pin of the chip PCF8563 divides two-way,
5V power supply is connect by resistance R15 all the way, another way connects with the PD9 pin of microcontroller；Draw the 8th of the chip PCF8563
Foot divides two-way, is grounded all the way by capacitor C38, and another way connects with the cathode of diode D1, and the anode of the diode D1 connects
5V power supply.
Compared with the prior art, the utility model has the following advantages:
1, in used attitude of carrier detection device use micromechanical gyro, and including the first micromechanical gyro module,
Second micromechanical gyro module and third micromechanical gyro module are respectively to carrier in X-direction angular speed, Y direction angular speed
It is detected with Z-direction angular speed, and is sent to microcontroller, realize the pitch angle of carrier, the roll angle of carrier and carrier
Yaw angle detection, avoid setting laser gyro and optical fibre gyro, higher cost.
2, used attitude of carrier detection dress centers three axis accelerometer, realizes the pitch angle and carrier of carrier
Pitch angle and roll angle that three axis accelerometer and micromechanical gyro obtain are carried out average value processing complementation, realize and carry by roll angle
The pitch angle of body and the roll angle of carrier accurately detect, and on the one hand avoid micromechanics from will cause measured value there are zero bias and become at any time
Change larger, three axis accelerometer is on the other hand avoided to reduce the pitch angle and load of carrier vulnerable to the interference of external mechanical oscillation
The error that the roll angle of body obtains.
3, used attitude of carrier detection dress centers GPS module and detects to the yaw angle of carrier, by GPS mould
The yaw angle that block and micromechanical gyro obtain carries out average value processing complementation, realizes that the yaw angle of carrier accurately detects, on the one hand keeps away
Exempt from micromechanics there are zero bias will cause measured value change over time it is larger, on the other hand avoid when carrier generate it is mobile in a wide range of
When (accurately to obtain GPS signal or when without GPS interference signal) just effectively accurate and the yaw angle acquisition that reduces carrier
Error.
4, used attitude of carrier detection dress centers magnetic course transmitter, is in order to effectively adapt in GPS
When shadow region can not obtain GPS signal, the yaw angle and micromechanical gyro obtained by magnetic course transmitter obtains module
Yaw angle to carry out average value processing complementary, remain to the detection for accurately obtaining yaw angle.
In conclusion the utility model simple structure and reasonable design, using micromechanical gyro, cost is relatively low, and microcomputer is arranged
In addition magnetic course transmitter and GPS module is arranged to obtain the roll angle and pitch angle of carrier in tool gyro and three axis accelerometer
Cooperation obtains yaw angle using magnetic course transmitter so as to be unable to get GPS signal or GPS signal is interfered situation, from
And convenient for obtaining the posture information of carrier in real time, it is practical.
Below by drawings and examples, the technical solution of the utility model is described in further detail.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model.
Fig. 2 is the schematic block circuit diagram of the utility model.
Fig. 3 is the circuit diagram of the first micromechanical gyro of the utility model module.
Fig. 4 is the circuit diagram of the second micromechanical gyro of the utility model module.
Fig. 5 is the circuit diagram of the utility model third micromechanical gyro module.
Fig. 6 is the circuit diagram of the utility model three axis accelerometer.
Fig. 7 is the circuit diagram of the utility model magnetic course transmitter.
Fig. 8 is the circuit diagram that the utility model solar charging electric protection circuit is connect with power module.
Fig. 9 is the circuit diagram that the utility model 12V turns 5V voltage transformation module.
Figure 10 is the circuit diagram that the utility model 5V turns 3.3V voltage transformation module.
Figure 11 is the circuit diagram of the utility model GPS antenna, GPS receiver and serial ports expansion module.
Figure 12 is the circuit diagram of the utility model clock module.
Description of symbols:
1-microcontroller；2-the first micromechanical gyro module；
3-the second micromechanical gyro module；4-third micromechanical gyro modules；
5-three axis accelerometers；6-GPS receivers；7-magnetic course transmitters；
8-voltage transformation modules；9-clock modules；10-serial ports expansion modules；
11-GPS antennas；12-carriers；13-solar panels；
14-rechargeable batteries；15-solar charging electric protection circuits.
Specific embodiment
A kind of attitude of carrier detection device as depicted in figs. 1 and 2, including the solar-electricity being mounted on outside at the top of carrier 12
Pond plate 13, the power module being connect with solar panel 13 and the electronic circuit board being arranged in carrier 12, the electric wire
It is integrated with microcontroller 1 and the attitude detection module for detecting 12 posture of carrier 12 on the plate of road, and connects with microcontroller 1
Clock module 9, the attitude detection module includes the first micromechanical gyro mould for detecting carrier 12 X-direction angular speed
Block 2, the second micromechanical gyro module 3 for detecting carrier 12 Y direction angular speed and for detecting carrier 12 Z-direction angle
The third micromechanical gyro module 4 of speed, and three axis accelerometer 5 for detecting carrier 12 acceleration, carry for detecting
The magnetic course transmitter 7 of 12 magnetic field size of body and GPS module for detecting carrier 12 yaw angle, the GPS module include according to
GPS antenna 11, GPS receiver 6 and the serial ports expansion module 10 of secondary connection, the first micromechanical gyro module 2, the second microcomputer
Tool gyroscope modules 3, third micromechanical gyro module 4, three axis accelerometer 5 and magnetic course transmitter 7 output end and micro-control
The input terminal of device 1 processed connects, and the serial ports expansion module 10 microcontroller 1 that connects with microcontroller 1 is
STM32F405VGT6 microcontroller.
As shown in Fig. 3, Fig. 4 and Fig. 5, in the present embodiment, the first micromechanical gyro module 2 includes model
The gyro chip U1 of XV7011BB, the 1st pin of the gyro chip U1 connect with the PC0 pin of microcontroller 1；The gyro
The 2nd pin of chip U1 connects with the PC1 pin of microcontroller 1；The 3rd pin of the gyro chip U1 is connect by capacitor C4
Ground；The 4th pin and the 5th pin of the gyro chip U1 is grounded；The 6th pin of the gyro chip U1 divides two-way, all the way
It is grounded by capacitor C6 and capacitor C7 in parallel, another way connects 3.3V power supply by resistance R1；Draw the 8th of the gyro chip U1
Foot divides two-way, is grounded all the way by capacitor C1 and capacitor C2 in parallel, another way connects 3.3V power supply；The of the gyro chip U1
9 pins connect with the PC3 pin of microcontroller 1, the PC12 pin phase of the 10th pin and microcontroller 1 of the gyro chip U1
It connects；
The second micromechanical gyro module 3 includes the gyro chip U4, the gyro chip U4 of model XV7011BB
The 1st pin connect with the PC4 pin of microcontroller 1, the PC5 pin of the 2nd pin of the gyro chip U4 and microcontroller 1
Connect, the 3rd pin of the gyro chip U4 is grounded by capacitor C19；The 4th pin and the 5th pin of the gyro chip U4
It is grounded；The 6th pin of the gyro chip U4 divides two-way, is grounded all the way by capacitor C20 and capacitor C21 in parallel, another
Road connects 3.3V power supply by resistance R3；The 8th pin of the gyro chip U4 divides two-way, all the way by capacitor C14 in parallel with
Capacitor C15 ground connection, another way connect 3.3V power supply；The 9th pin of the gyro chip U4 connects with the PC7 pin of microcontroller 1；
The 10th pin of the gyro chip U4 connects with the PC6 pin of microcontroller 1；
The third micromechanical gyro module 4 includes the gyro chip U5, the gyro chip U5 of model XV7011BB
The 1st pin connect with the PC8 pin of microcontroller 1, the PC9 pin of the 2nd pin of the gyro chip U5 and microcontroller 1
Connect, the 3rd pin of the gyro chip U5 is grounded by capacitor C25；The 4th pin and the 5th pin of the gyro chip U5
Ground connection；The 6th pin of the gyro chip U5 divides two-way, is grounded all the way by capacitor C26 and capacitor C27 in parallel, another way
3.3V power supply is connect by resistance R4；The 8th pin of the gyro chip U5 divides two-way, passes through capacitor C23 and electricity in parallel all the way
Hold C24 ground connection, another way connects 3.3V power supply；The 9th pin of the gyro chip U5 connects with the PC11 pin of microcontroller 1；
The 10th pin of the gyro chip U5 connects with the PC10 pin of microcontroller 1.
As shown in Figure 6 and Figure 7, in the present embodiment, the three axis accelerometer 5 includes chip ADXL355, the chip
The 1st pin of ADXL355 connects with the PD0 pin of microcontroller 1, the 2nd pin and microcontroller 1 of the chip ADXL355
PD1 pin connect, the 3rd pin of the chip ADXL355 connects with the PD2 pin of microcontroller 1, the chip
The 4th pin of ADXL355 connects with the PD3 pin of microcontroller 1, and the 5th pin of the chip ADXL355 divides two-way, all the way
Connect with 3.3V power supply, another way connects with one end of capacitor C18 in parallel and capacitor C22；The 6th of the chip ADXL355
Pin divides two-way, connects all the way with the other end of capacitor C18 and capacitor C22 in parallel, another way ground connection；The chip
The 8th pin of ADXL355 is grounded by capacitor C10 and capacitor C11 ground connection in parallel, the 9th pin of the chip ADXL355,
The 10th pin of the chip ADXL355 passes through capacitor C8 and capacitor C9 ground connection in parallel；Draw the 11st of the chip ADXL355
Foot divides two-way, and all the way by capacitor C3 and capacitor C5 ground connection in parallel, another way connects with 3.3V power supply；The chip
The 12nd pin, the 13rd pin and the 14th pin of ADXL355 respectively with the PD6 pin of microcontroller 1, PD5 pin and PD4 pin
Connect；
The magnetic course transmitter 7 is three axis magnetoresistive sensor HMC5883L, the three axis magnetoresistive sensor HMC5883L
The 1st pin divide two-way, connect all the way with the PF1 pin of microcontroller 1, another way connects with the one end resistance R6；The resistance
Three tunnels of the other end of R6 point, connect 3.3V power supply, another way connects with one end of resistance R5, third Lu Yusan axis magneto-resistive transducing all the way
The 13rd pin of device HMC5883L connects；The 2nd pin of the three axis magnetoresistive sensor HMC5883L divides two-way, all the way with 3.3V
Power supply connects, and another way is grounded by capacitor C32；The 4th pin of the three axis magnetoresistive sensor HMC5883L divides two-way, all the way
Connect with 3.3V power supply, another way is grounded by capacitor C29；The 8th pin and electricity of the three axis magnetoresistive sensor HMC5883L
The one end for holding C35 connects, the 9th pin ground connection of the three axis magnetoresistive sensor HMC5883L, the three axis magnetoresistive sensor
The 10th pin of HMC5883L is grounded by capacitor C28；The 11st pin of the three axis magnetoresistive sensor HMC5883L is grounded, institute
The 12nd pin for stating three axis magnetoresistive sensor HMC5883L connects with the other end of capacitor C35, the three axis magnetoresistive sensor
The 16th pin of HMC5883L divides two-way, connects all the way with the PF0 pin of microcontroller 1, the other end of another way and resistance R5
Connect.
As shown in Fig. 8, Fig. 9 and Figure 10, in the present embodiment, the power module include with solar panel 13 output according to
Solar charging electric protection circuit 15, rechargeable battery 14 and the voltage transformation module 8 of secondary connection, the voltage transformation module 8 wrap
Include that 12V turns 5V voltage transformation module and 5V turns 3.3V voltage transformation module；
The solar charging electric protection circuit 15 include chip MAX1771, the 1st pin of the chip MAX1771 with
The grid of PMOS tube connects, and six tunnels of the 2nd pin point of the chip MAX1771, the first via is through capacitor C41 and capacitor in parallel
C42 ground connection, the second tunnel connect through resistance R9 with a fixing end of swept resistance R12, and third road is through capacitor C40 and swept resistance
The sliding end of R12 connects, and the 4th tunnel connects with the cathode of voltage-stabiliser tube D2, and the 5th tunnel exports 12V power supply, the 6th tunnel and two end interfaces
One end of JP1 connects；Another fixing end of the swept resistance R12 is grounded by resistance R13；The two end interfaces JP1's is another
One end ground connection；The 3rd pin of the chip MAX1771 connects with the connecting pin of the sliding end of swept resistance R12 and capacitor C40,
The 4th pin of the chip MAX1771 is grounded by capacitor C43, the 5th pin, the 6th pin and the 7th of the chip MAX1771
Pin is grounded, and the 8th pin of the chip MAX1771 divides two-way, is grounded all the way by resistance R8, another way and PMOS tube
Source electrode connects；The drain electrode of the PMOS tube divides two-way, connects all the way with the anode of voltage-stabiliser tube D2, one end of another way and inductance L1
Connect；The other end of the inductance L1 divides two-way, is grounded all the way through capacitor C39, and another way connects with two one end end interface JP2；
The two end interfaces JP2 other end ground connection；
One end of the two end interfaces JP2 for solar panel 13 positive output end grafting, the two end interfaces JP1's
The other end for solar panel 13 negative output terminal grafting, one end of the two end interfaces JP1 for rechargeable battery 14 just
Pole grafting, the cathode grafting of the other end of the two end interfaces JP1 for rechargeable battery 14；
It includes chip LM7805 that the 12V, which turns 5V voltage transformation module, and the Vin pin of the chip LM7805 divides two-way,
Connect all the way with 12V power supply, another way is drawn by capacitor C12 and capacitor C16 ground connection in parallel, the GND of the chip LM7805
Foot ground connection, three tunnels of Vout pin point of the chip LM7805, is grounded through capacitor C13 and capacitor C17 in parallel, another way all the way
Connect through resistance R2 with the anode of Light-emitting diode LED 1, third road is 5V power output end；The Light-emitting diode LED 1
Minus earth；
It includes chip LM1117-3.3V that the 5V, which turns 3.3V voltage transformation module, the Vin of the chip LM1117-3.3V
Pin divides two-way, connects all the way with 5V power supply, and another way passes through capacitor C30 and capacitor C33 ground connection in parallel, the chip
The GND pin of LM1117-3.3V is grounded, three tunnels of Vout pin point of the chip LM1117-3.3V, all the way through capacitor in parallel
C31 and capacitor C34 ground connection, another way connect through resistance R7 with the anode of Light-emitting diode LED 2, and third road is that 3.3V power supply is defeated
Outlet；The minus earth of the Light-emitting diode LED 2.
As shown in figure 11, in the present embodiment, the GPS antenna 11 is antenna E1, and the GPS receiver 6 is
ITrax02GPS receiver, the serial ports expansion module 10 are received including chip GM8125, the antenna E1 and iTrax02GPS
The RFIN pin of device connects, and the RXD1 pin of the iTrax02GPS receiver connects with the TXD1 pin of chip GM8125, institute
The TXD1 pin for stating iTrax02GPS receiver connects with the RXD1 pin of chip GM8125, the chip GM8125's
SRADD0-2 pin, STADD0-2 pin, TXD0 pin, RXD0 pin, RST pin and MS pin respectively with microcontroller 1
PE2 pin, PE3 pin, PH6 pin, PC2 pin, PE4 pin and PE5 pin connect.
As shown in figure 12, in the present embodiment, the clock module 9 includes chip PCF8563, the chip PCF8563's
1st pin divides two-way, connects all the way with one end of crystal oscillator Y1, another way is grounded by capacitor C36；The chip PCF8563's
2nd pin divides two-way, connects all the way with the other end of crystal oscillator Y1, another way is grounded by capacitor C37；The chip PCF8563
The 4th pin ground connection, the 5th pin of the chip PCF8563 divides two-way, 5V power supply is connect by resistance R11 all the way, another way and
The PD7 pin of microcontroller 1 connects；The 6th pin of the chip PCF8563 divides two-way, connects 5V electricity by resistance R10 all the way
Source, another way connect with the PD8 pin of microcontroller 1；The 7th pin of the chip PCF8563 divides two-way, passes through resistance all the way
R15 connects 5V power supply, and another way connects with the PD9 pin of microcontroller 1；The 8th pin of the chip PCF8563 divides two-way, and one
Road is grounded by capacitor C38, and another way connects with the cathode of diode D1, and the anode of the diode D1 connects 5V power supply.
In the present embodiment, it should be noted that carrier X-direction was that the mass center of carrier is overlapped with the longitudinal axis of the carrier
And it is directed toward carrier direction of advance, carrier Y direction was that the mass center of carrier is overlapped with the horizontal axis of the carrier and is directed toward the load
The right side of body direction of advance, carrier Z-direction were the mass center of carrier and hung down with the carrier X-direction and carrier Y direction
It directs at upwards.
In the present embodiment, the first micromechanical gyro module 2, the second micromechanical gyro module 3 and third micromechanics top
Spiral shell module 4 is XV7011BB micromechanical gyro, which is angular speed digital output, very outstanding to temperature
Bias instaility energy, low-power consumption adapt to detect in long-time, and cost is lower than laser gyro and optical fibre gyro.
In the present embodiment, using three axis magnetoresistive sensor HMC5883L, the state-of-the-art high-resolution of the sensor integration
HMC118X series magnetoresistive sensor, and the integrated circuit for being attached to Honeywell patent include amplifier, autodegauss driver,
Deviation calibration can make 12 analog-digital converters of the precision controlling at 1 °~2 °, and feel there is I2C bus structures easy to connect, ruler
It is very little smaller, can using in automobile attitude detection system.
In the present embodiment, serial ports expansion module 10 is set, is because the serial ports expansion module can communicate lattice with standard serial port
Formula is compatible, and Transistor-Transistor Logic level output connects with microcontroller 1, and in addition the external original part of the chip is few, flexible in application, realizes GPS and connects
Receive the serial communication of device 6 and microcontroller 1；In addition, during actual use, serial ports expansion module 10 also has extension effect,
Convenient for the connection of multiple GPS receivers 6, meet actual demand.
In the present embodiment, clock module 9 is set, when being the attitude angle in order to obtain carrier 12, is remembered by clock module 9
The time of attitude data variation occurs for record, precisely reliable, convenient for checking subsequent analysis.
When the utility model is specifically used, during carrier 12 is mobile, the electric energy that solar panel 13 exports is
Rechargeable battery 14 charges, and the 12V DC electricity that rechargeable battery 14 exports is converted to the output of 5V power supply and the output of 3.3V power supply
End is microcontroller 1 and other electricity consumption module for power supply, and microcontroller 1 and other electricity consumption modules work normally, the first micromechanics top
Spiral shell module 2, the second micromechanical gyro module 3 and third micromechanical gyro module 4, be in order to respectively to carrier 12 X-direction,
The angular speed of Y direction and Z-direction is detected and is sent to microcontroller 1, and 1 angular velocity of microcontroller carries out at integral
Reason, to obtain the yaw angle of the pitch angle of carrier 12, the roll angle of carrier 12 and carrier 12；Three axis accelerometer 5 is to carrier
12 are detected in the acceleration of X-direction, Y direction and Z-direction, and will test carrier 12 in the acceleration of X-direction
Spend fx, carrier 12 Y direction acceleration fyAcceleration with carrier 12 in Z-direction sends out fzIt send to data processor 1, number
According to processor 1 according to equation φ=arctan (fy/fz) and θ=arcsin (fx/ g), g indicates acceleration of gravity, and g=9.8,
The pitch angle φ of carrier 12 and the roll angle θ of carrier 12 are obtained, micromechanical gyro dynamic property is good, and it is small by external environment interference,
But micromechanics, which will cause measured value there are zero bias, to be changed over time larger, three axis accelerometer 5 is vulnerable to external mechanical oscillation
Interference, but 5 measured value of three axis accelerometer change with time it is relatively small, so by three axis accelerometer 5 and microcomputer
The pitch angle and roll angle that tool gyro obtains carry out average value processing complementation, realize the pitch angle of carrier 12 and the roll angle of carrier 12
Accurate detection.Meanwhile during carrier 12 movement, it can detect that carrier 12 is each by GPS antenna 11 and GPS receiver 6
The position at a moment is simultaneously sent to microcontroller 1, and using two moment, respectively corresponding position can be obtained by microcontroller 1
The yaw angle of carrier 12, but GPS receiver 6 detect yaw angle only when carrier generates it is mobile in a wide range of when, that is, it is accurate
Obtain GPS signal or when without GPS interference signal it is just effectively accurate, so by the yaw angle and micromechanical gyro of GPS module acquisition
The yaw angle of acquisition carries out average value processing complementation, realizes that the yaw angle of carrier 12 accurately obtains.In addition, when GPS module can not obtain
When taking GPS signal, X-axis that three axis magnetoresistive sensor HMC5883L are detected, and will test to the magnetic field size along X-axis
Magnetic field size XeIt is sent to microcontroller 1, three axis magnetoresistive sensor HMC5883L detect the magnetic field size along Y-axis, and
The magnetic field size Y for the Y-axis that will testeIt is sent to microcontroller 1, microcontroller 1 is according to formula?
To the yaw angle of carrier 12So as to effectively adapt to GPS receiver 6 when shadow region can not obtain GPS signal, pass through
The yaw angle that the yaw angle and micromechanical gyro that three axis magnetoresistive sensor HMC5883L are obtained obtain carries out average value processing complementation, still
The detection of yaw angle can accurately be obtained.Therefore, the utility model simple structure and reasonable design, using micromechanical gyro, cost compared with
It is low, micromechanical gyro and three axis accelerometer are set to obtain the roll angle and pitch angle of carrier, in addition magnetic heading is set sense
Device and GPS module cooperation are obtained so as to be unable to get GPS signal or GPS signal is interfered situation using magnetic course transmitter
Yaw angle is taken, consequently facilitating the posture information of carrier is obtained in real time, it is practical.
The above is only the preferred embodiment of the utility model, not imposes any restrictions to the utility model, all
According to any simple modification to the above embodiments of the utility model technical spirit, change and equivalent structural changes, still
Belong in the protection scope of technical solutions of the utility model.
Claims (6)
1. a kind of attitude of carrier detection device, it is characterised in that: including the solar panel being mounted on outside at the top of carrier (12)
(13), the power module being connect with solar panel (13) and the electronic circuit board being arranged in carrier (12), the electronics
Microcontroller (1) and the attitude detection module for detecting carrier (12) posture, and and microcontroller are integrated on wiring board
(1) clock module (9) to connect, the attitude detection module include first for detecting carrier (12) X-direction angular speed
It micromechanical gyro module (2), the second micromechanical gyro module (3) for detecting carrier (12) Y direction angular speed and is used for
The third micromechanical gyro module (4) of carrier (12) Z-direction angular speed is detected, and for detecting carrier (12) acceleration
Three axis accelerometer (5), the magnetic course transmitter (7) for detecting carrier (12) magnetic field size and inclined for detecting carrier (12)
The GPS module at boat angle, the GPS module includes sequentially connected GPS antenna (11), GPS receiver (6) and serial ports expansion module
(10), the first micromechanical gyro module (2), the second micromechanical gyro module (3), third micromechanical gyro module (4), three
The output end of axis accelerometer (5) and magnetic course transmitter (7) connects with the input terminal of microcontroller (1), and the serial ports expands
Exhibition module (10) connects with microcontroller (1), and the microcontroller (1) is STM32F405VGT6 microcontroller.
2. a kind of attitude of carrier detection device described in accordance with the claim 1, it is characterised in that: the first micromechanical gyro mould
Block (2) includes the 1st pin of the gyro chip U1, the gyro chip U1 of model XV7011BB and the PC0 of microcontroller (1)
Pin connects；The 2nd pin of the gyro chip U1 connects with the PC1 pin of microcontroller (1)；The of the gyro chip U1
3 pins are grounded by capacitor C4；The 4th pin and the 5th pin of the gyro chip U1 is grounded；The of the gyro chip U1
6 pins divide two-way, are grounded all the way by capacitor C6 and capacitor C7 in parallel, another way connects 3.3V power supply by resistance R1；It is described
The 8th pin of gyro chip U1 divides two-way, is grounded all the way by capacitor C1 and capacitor C2 in parallel, another way connects 3.3V power supply；
The 9th pin of the gyro chip U1 connects with the PC3 pin of microcontroller (1), the 10th pin of the gyro chip U1 with
The PC12 pin of microcontroller (1) connects；
The second micromechanical gyro module (3) includes the gyro chip U4 of model XV7011BB, the gyro chip U4's
1st pin connects with the PC4 pin of microcontroller (1), and the PC5 of the 2nd pin and microcontroller (1) of the gyro chip U4 draws
Foot connects, and the 3rd pin of the gyro chip U4 is grounded by capacitor C19；The 4th pin and the 5th of the gyro chip U4 draws
Foot is grounded；The 6th pin of the gyro chip U4 divides two-way, is grounded all the way by capacitor C20 and capacitor C21 in parallel, separately
3.3V power supply is connect by resistance R3 all the way；The 8th pin of the gyro chip U4 divides two-way, passes through capacitor C14 in parallel all the way
It is grounded with capacitor C15, another way connects 3.3V power supply；The 9th pin of the gyro chip U4 and the PC7 pin of microcontroller (1)
Connect；The 10th pin of the gyro chip U4 connects with the PC6 pin of microcontroller (1)；
The third micromechanical gyro module (4) includes the gyro chip U5 of model XV7011BB, the gyro chip U5's
1st pin connects with the PC8 pin of microcontroller (1), and the PC9 of the 2nd pin and microcontroller (1) of the gyro chip U5 draws
Foot connects, and the 3rd pin of the gyro chip U5 is grounded by capacitor C25；The 4th pin and the 5th of the gyro chip U5 draws
Foot ground connection；The 6th pin of the gyro chip U5 divides two-way, is grounded all the way by capacitor C26 and capacitor C27 in parallel, another
Road connects 3.3V power supply by resistance R4；The 8th pin of the gyro chip U5 divides two-way, all the way by capacitor C23 in parallel with
Capacitor C24 ground connection, another way connect 3.3V power supply；The PC11 pin phase of the 9th pin of the gyro chip U5 and microcontroller (1)
It connects；The 10th pin of the gyro chip U5 connects with the PC10 pin of microcontroller (1).
3. a kind of attitude of carrier detection device described in accordance with the claim 1, it is characterised in that: the three axis accelerometer (5)
Including chip ADXL355, the 1st pin of the chip ADXL355 connects with the PD0 pin of microcontroller (1), the chip
The 2nd pin of ADXL355 connects with the PD1 pin of microcontroller (1), the 3rd pin and microcontroller of the chip ADXL355
(1) PD2 pin connects, and the 4th pin of the chip ADXL355 connects with the PD3 pin of microcontroller (1), the chip
The 5th pin of ADXL355 divides two-way, connects all the way with 3.3V power supply, another way and the one of capacitor C18 in parallel and capacitor C22
End connects；The 6th pin of the chip ADXL355 divides two-way, all the way with the other end phase of capacitor C18 and capacitor C22 in parallel
It connects, another way ground connection；The 8th pin of the chip ADXL355 passes through capacitor C10 and capacitor C11 ground connection in parallel, the chip
The 9th pin of ADXL355 is grounded, and the 10th pin of the chip ADXL355 passes through capacitor C8 and capacitor C9 ground connection in parallel；Institute
The 11st pin for stating chip ADXL355 divides two-way, passes through capacitor C3 and capacitor C5 ground connection in parallel, another way and 3.3V electricity all the way
Source connects；The 12nd pin, the PD6 of the 13rd pin and the 14th pin respectively with microcontroller (1) of the chip ADXL355 draws
Foot, PD5 pin and PD4 pin connect；
The magnetic course transmitter (7) is three axis magnetoresistive sensor HMC5883L, the three axis magnetoresistive sensor HMC5883L's
1st pin divides two-way, connects all the way with the PF1 pin of microcontroller (1), another way connects with the one end resistance R6；The resistance
Three tunnels of the other end of R6 point, connect 3.3V power supply, another way connects with one end of resistance R5, third Lu Yusan axis magneto-resistive transducing all the way
The 13rd pin of device HMC5883L connects；The 2nd pin of the three axis magnetoresistive sensor HMC5883L divides two-way, all the way with 3.3V
Power supply connects, and another way is grounded by capacitor C32；The 4th pin of the three axis magnetoresistive sensor HMC5883L divides two-way, all the way
Connect with 3.3V power supply, another way is grounded by capacitor C29；The 8th pin and electricity of the three axis magnetoresistive sensor HMC5883L
The one end for holding C35 connects, the 9th pin ground connection of the three axis magnetoresistive sensor HMC5883L, the three axis magnetoresistive sensor
The 10th pin of HMC5883L is grounded by capacitor C28；The 11st pin of the three axis magnetoresistive sensor HMC5883L is grounded, institute
The 12nd pin for stating three axis magnetoresistive sensor HMC5883L connects with the other end of capacitor C35, the three axis magnetoresistive sensor
The 16th pin of HMC5883L divides two-way, connects all the way with the PF0 pin of microcontroller (1), and another way is another with resistance R5's
End connects.
4. a kind of attitude of carrier detection device described in accordance with the claim 1, it is characterised in that: the power module include with too
Positive energy solar panel (13) exports sequentially connected solar charging electric protection circuit (15), rechargeable battery (14) and voltage modulus of conversion
Block (8), the voltage transformation module (8) include that 12V turns 5V voltage transformation module and 5V turns 3.3V voltage transformation module；
The solar charging electric protection circuit (15) includes chip MAX1771, the 1st pin and PMOS of the chip MAX1771
The grid of pipe connects, and six tunnels of the 2nd pin point of the chip MAX1771, the first via connects through capacitor C41 and capacitor C42 in parallel
Ground, the second tunnel connect through resistance R9 with a fixing end of swept resistance R12, and third road is through capacitor C40's and swept resistance R12
Sliding end connects, and the 4th tunnel connects with the cathode of voltage-stabiliser tube D2, and the 5th tunnel exports 12V power supply, and the 6th tunnel is with two end interface JP1's
One end connects；Another fixing end of the swept resistance R12 is grounded by resistance R13；Another termination of the two end interfaces JP1
Ground；The 3rd pin of the chip MAX1771 connects with the connecting pin of the sliding end of swept resistance R12 and capacitor C40, the core
The 4th pin of piece MAX1771 is grounded by capacitor C43, and the 5th pin of the chip MAX1771, the 6th pin and the 7th pin are equal
Ground connection, the 8th pin of the chip MAX1771 divide two-way, are grounded all the way by resistance R8, the source electrode phase of another way and PMOS tube
It connects；The drain electrode of the PMOS tube divides two-way, connects all the way with the anode of voltage-stabiliser tube D2, and another way connects with one end of inductance L1；
The other end of the inductance L1 divides two-way, is grounded all the way through capacitor C39, and another way connects with two one end end interface JP2；Described two
End interface JP2 other end ground connection；
For the positive output end grafting of solar panel (13), the two end interfaces JP1's is another for one end of the two end interfaces JP2
One end is for the negative output terminal grafting of solar panel (13), and one end of the two end interfaces JP1 is for rechargeable battery (14)
Positive grafting, the cathode grafting of the other end of the two end interfaces JP1 for rechargeable battery (14)；
It includes chip LM7805 that the 12V, which turns 5V voltage transformation module, and the Vin pin of the chip LM7805 divides two-way, all the way
Connect with 12V power supply, another way is connect by capacitor C12 and capacitor C16 ground connection in parallel, the GND pin of the chip LM7805
Ground, three tunnels of Vout pin point of the chip LM7805, is grounded through capacitor C13 and capacitor C17 in parallel, another way is through electricity all the way
Resistance R2 connects with the anode of Light-emitting diode LED 1, and third road is 5V power output end；The cathode of the Light-emitting diode LED 1
Ground connection；
It includes chip LM1117-3.3V that the 5V, which turns 3.3V voltage transformation module, the Vin pin of the chip LM1117-3.3V
Divide two-way, connect all the way with 5V power supply, another way passes through capacitor C30 and capacitor C33 ground connection in parallel, the chip LM1117-
The GND pin of 3.3V is grounded, three tunnels of Vout pin point of the chip LM1117-3.3V, all the way through capacitor C31 and electricity in parallel
Hold C34 ground connection, another way connects through resistance R7 with the anode of Light-emitting diode LED 2, and third road is 3.3V power output end；Institute
State the minus earth of Light-emitting diode LED 2.
5. a kind of attitude of carrier detection device described in accordance with the claim 1, it is characterised in that: the GPS antenna (11) is day
Line E1, the GPS receiver (6) are iTrax02 GPS receiver, and the serial ports expansion module (10) includes chip GM8125,
The antenna E1 connects with the RFIN pin of iTrax02 GPS receiver, the RXD1 pin of the iTrax02 GPS receiver with
The TXD1 pin of chip GM8125 connects, and the TXD1 pin and the RXD1 of chip GM8125 of the iTrax02 GPS receiver draw
Foot connects, the SRADD0-2 pin of the chip GM8125, STADD0-2 pin, TXD0 pin, RXD0 pin, RST pin and
MS pin respectively with the PE2 pin of microcontroller (1), PE3 pin, PH6 pin, PC2 pin, PE4 pin and PE5 pin phase
It connects.
6. a kind of attitude of carrier detection device described in accordance with the claim 1, it is characterised in that: the clock module (9) includes
Chip PCF8563, the 1st pin of the chip PCF8563 divide two-way, connect all the way with one end of crystal oscillator Y1, another way passes through
Capacitor C36 ground connection；The 2nd pin of the chip PCF8563 divides two-way, connects all the way with the other end of crystal oscillator Y1, and another way is logical
Cross capacitor C37 ground connection；The 4th pin of the chip PCF8563 is grounded, and the 5th pin of the chip PCF8563 divides two-way, and one
Road connects 5V power supply by resistance R11, and another way connects with the PD7 pin of microcontroller (1)；Draw the 6th of the chip PCF8563
Foot divides two-way, connects 5V power supply by resistance R10 all the way, and another way connects with the PD8 pin of microcontroller (1)；The chip
The 7th pin of PCF8563 divides two-way, connects 5V power supply, the PD9 pin phase of another way and microcontroller (1) by resistance R15 all the way
It connects；The 8th pin of the chip PCF8563 divides two-way, is grounded all the way by capacitor C38, the cathode of another way and diode D1
Connect, the anode of the diode D1 connects 5V power supply.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920449453.0U CN209485372U (en) | 2019-04-04 | 2019-04-04 | A kind of attitude of carrier detection device |
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| CN201920449453.0U CN209485372U (en) | 2019-04-04 | 2019-04-04 | A kind of attitude of carrier detection device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112729234A (en) * | 2021-01-18 | 2021-04-30 | 郑州丰嘉科技有限公司 | Building settlement and destruction detection device |
| CN113624229A (en) * | 2021-08-27 | 2021-11-09 | 陕西华燕航空仪表有限公司 | Optical fiber attitude and heading reference unit and testing tool |
-
2019
- 2019-04-04 CN CN201920449453.0U patent/CN209485372U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112729234A (en) * | 2021-01-18 | 2021-04-30 | 郑州丰嘉科技有限公司 | Building settlement and destruction detection device |
| CN113624229A (en) * | 2021-08-27 | 2021-11-09 | 陕西华燕航空仪表有限公司 | Optical fiber attitude and heading reference unit and testing tool |
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