CN209485375U - A kind of small-sized, multifunctional unit ZTS-M18 integrated navigation control system - Google Patents
A kind of small-sized, multifunctional unit ZTS-M18 integrated navigation control system Download PDFInfo
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- CN209485375U CN209485375U CN201920484894.4U CN201920484894U CN209485375U CN 209485375 U CN209485375 U CN 209485375U CN 201920484894 U CN201920484894 U CN 201920484894U CN 209485375 U CN209485375 U CN 209485375U
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Abstract
The utility model discloses a kind of small-sized, multifunctional unit ZTS-M18 integrated navigation control system, the navigational computer resolved including control, respectively with 3 axis MEMS gyro, 3 axis MEMS accelerometer, three axle magnetometer, barometertic altimeter and the GPS module of navigational computer communication connection, integrated navigation control system further includes power module.The highly integrated 3 axis MEMS gyro of the utility model internal applications, 3 axis MEMS accelerometer, three axle magnetometer, barometertic altimeter, GPS module, navigational computer, power module co-design.It is small in size so as to have performance good for entire integrated navigation system using miniaturization, Multifunctional design under the premise of being fully integrated various integrated navigation functions, light-weight, the features such as integrated navigation effect is good.
Description
Technical field
The utility model belongs to instrument and meter for automation inertial navigation instrument technical field, and in particular to a kind of small-sized, multi-functional
Integrated ZTS-M18 integrated navigation control system.
Background technique
As state-of-the-art technology continues to develop, the automation control appliances such as unmanned vehicle, unmanned plane are continuously emerged, right in the market
It requires also to be continuously improved in navigation or positioning system.GPS positioning navigation system depends on GPS signal quality, in tunnel or city
Concentrate the faint region of GPS satellite signals, the GPS positioning navigation system such as building area will be ineffective, this limitation limits
It develops, and so that it is not able to satisfy the application under complex environment, modern motor vehicles for civilian use still use this location navigation mode.It is pure
Inertial navigation overcomes this defect of GPS positioning navigation system, and navigation performance is not influenced by external environment, and energy Autonomy is complete
At positioning, Navigation Control, navigation accuracy relies on the type selecting of inertia device: optical fibre gyro or laser gyro and quartz accelerometer etc.
The combination of high-precision inertia device makes pure-inertial guidance instrument have good navigation accuracy, but its is at high cost, volume is big, power consumption is big
The disadvantages of be not able to satisfy the extensive demand in market；The microcomputers such as MEMS three axis accelerometer, MEMS triaxial accelerometer, three axle magnetometer
The MEMS pure-inertial guidance instrument of tool inertia device combination optimizes with inexpensive, small in size, low in energy consumption etc., but its pure-inertial guidance
Low precision, error add up seriously, cannot directly meet the market demand at any time.
Utility model content
In order to solve the above problems existing in the present technology, the utility model aim is to provide a kind of small-sized, multi-functional
Integrated ZTS-M18 integrated navigation control system.The utility model integrates pure-inertial guidance, GNSS integrated navigation is designed at one
Body, cost of implementation is low, small in size, stability is high, light weight, attitude of carrier measure, course is detected, tests the speed, positioning, carrier angle speed
Degree and acceleration-measuring function, meet the Navigation Controls application demand such as vehicle, ship, unmanned plane.
The technology employed by the present utility model is
A kind of small-sized, multifunctional unit ZTS-M18 integrated navigation control system is calculated including the navigation that control resolves
Machine, and 3 axis MEMS gyro, the 3 axis MEMS accelerometer, three axle magnetometer, air pressure with navigational computer communication connection respectively
Altimeter and GPS module, integrated navigation control system further include power module.
Based on the above technical solution, the navigational computer includes dsp chip U12, and respectively with dsp chip
Reset chip U9, clock chip Y1, JTAG configuration interface P4 and the storage EEPROM of U12 connection.
Based on the above technical solution, the model TMS320F of the dsp chip U12.
Based on the above technical solution, the dsp chip U12 is also connected with data transmission module and GPIO mouthfuls；
The data transmission module includes the first transceiver by RS422 serial ports P2 and dsp chip U12 communication connection
U6 is received and dispatched by the second transceiver U8 of RS422 serial ports P3 and dsp chip U12 communication connection with first transceiver U6 and second
The the first photo-coupler U5 and the second photo-coupler U7 of device U8 connection.
Based on the above technical solution, the three axle magnetometer includes the first magnetometer U13 and the second magnetometer
U16, the first magnetometer U13 are single axis magnetometers, and the second magnetometer U16 is twin shaft magnetometer, and the first magnetometer U13 measures carrier
Differential signal is converted to single-ended signal output by the first micro energy lose instrument amplifier U14, and dropped by X-axis earth magnetism component information
Dsp chip U12 is transmitted to after pressure；Second magnetometer U16 measures carrier Y-axis and Z axis earth magnetism component information, micro- by second respectively
Differential signal is converted to single-ended signal output by power consumption instrument amplifier U15 and third micro energy lose instrument amplifier U17, and respectively
Dsp chip U12 is transmitted to after decompression.
Based on the above technical solution, the 3 axis MEMS gyro is logical by SPI interface agreement and dsp chip U12
Letter connection is received and sent messages, and 3 axis MEMS gyro includes the first orthogonal uniaxial MEMS gyro U20, the second uniaxial MEMS gyro U30
With third single shaft MEMS gyro U35.
Based on the above technical solution, the 3 axis MEMS accelerometer passes through SPI interface agreement and dsp chip
U12 communication connection is received and sent messages, and 3 axis MEMS accelerometer includes the first orthogonal uniaxial mems accelerometer U19, the second list
Axis mems accelerometer U29 and third single shaft mems accelerometer U34；
The first single shaft mems accelerometer U19 is connected with the first digital isolator U22 and the second digital isolator
U23, the first single shaft mems accelerometer U19 are communicated to connect by the first digital isolator U22 and the second digital isolator U23
Dsp chip U12 receives and sends messages；
The second single shaft mems accelerometer U29 is connected with third digital isolator U32 and the 4th digital isolator
U33, the second single shaft mems accelerometer U29 are communicated to connect by third digital isolator U32 and the 4th digital isolator U33
Dsp chip U12 receives and sends messages；
The third single shaft mems accelerometer U34 is connected with the 5th digital isolator U37 and the 6th digital isolator
U38, third single shaft mems accelerometer U34 are communicated to connect by the 5th digital isolator U37 and the 6th digital isolator U38
Dsp chip U12 receives and sends messages.
Based on the above technical solution, the GPS module includes radio frequency chip U24, and is connect with radio frequency chip U24
Third photo-coupler U26, the 4th photo-coupler U27 and the 5th photo-coupler U28, radio frequency chip U24 pass through third photo-coupler
U26, the 4th photo-coupler U27 and the 5th photo-coupler U28 communication connection dsp chip U12 receive and send messages.
Based on the above technical solution, the barometertic altimeter is communicated by SPI interface agreement with dsp chip U12
Connection is received and sent messages.
The utility model has the following beneficial effects:
The highly integrated 3 axis MEMS gyro of the utility model internal applications, 3 axis MEMS accelerometer, three axle magnetometer,
Barometertic altimeter, GPS module, navigational computer, power module co-design.Before being fully integrated various integrated navigation functions
It puts, using miniaturization, Multifunctional design, so that entire integrated navigation system has performance good, small in size, light-weight, combination
The features such as navigation effect is good.
Detailed description of the invention
Fig. 1 is the utility model-embodiment system block diagram.
Fig. 2 is the utility model-embodiment M18power_PCB circuit diagram.
Fig. 3 is the first power configuration module of the utility model-embodiment M18A_PCB and second source configuration module electricity
Road schematic diagram.
Fig. 4 be the part the utility model-embodiment M18A_PCB dsp chip C, D, data transmission module, clock and
The circuit diagram of JTAG configuration.
Fig. 5 is the utility model-embodiment M18A_PCB dsp chip part B and GPIO mouthfuls of circuit diagram.
Fig. 6 is the utility model-dsp chip part A of embodiment M18A_PCB and the circuit diagram of three axle magnetometer.
Fig. 7 is the circuit of the uniaxial MEMS gyro of the utility model-embodiment M18A_PCB and uniaxial mems accelerometer
Schematic diagram.
Fig. 8 is the circuit of the uniaxial MEMS gyro of the utility model-embodiment M18B_PCB and uniaxial mems accelerometer
Schematic diagram.
Fig. 9 is the circuit diagram of the utility model-embodiment M18B_PCB GPS module.
Figure 10 is the uniaxial MEMS gyro of the utility model-embodiment M18B_PCB, uniaxial mems accelerometer and air pressure
The circuit diagram of altimeter.
Specific embodiment
With reference to the accompanying drawing and specific embodiment is further elaborated the utility model.
Embodiment:
As Figure 1-10 shows, small-sized, multifunctional unit the ZTS-M18 integrated navigation control system of one kind of the present embodiment,
Including power module, navigational computer, the 3 axis MEMS gyro, the 3 axis MEMS acceleration that are communicated to connect respectively with navigational computer
Meter, three axle magnetometer, barometertic altimeter and GPS module, under the premise of being fully integrated various integrated navigation functions, use is small-sized
Change, Multifunctional design, small in size so as to have performance good for entire integrated navigation system, light-weight, integrated navigation effect well equal spies
Point.
Above-mentioned power module includes being accessed power supply 24V by interface P1, and passing through the first power conversion chip U1 will be electric
The first power module that source 24V is converted to 5V_MAIN and is exported by interface P2, the first power module are integrated in the first pcb board,
First pcb board is named as M18power_PCB.
Power module further includes that 5V_MAIN is converted to 1.2V_DSP by second source conversion chip U2, passes through third
5V_MAIN is converted to 5V_422, is converted to 5V_MAIN by the 4th power conversion chip U4 by power conversion chip U3
3.3V_DSP, 3.3V_DSP is filtered by VDDOSC by inductance L4,3.3V_DSP is filtered by VDDA by inductance L5, is passed through
5V_MAIN is filtered into 5V_M18C, 5V_MAIN is filtered into 5V_M18A_ACC by inductance L8, by inductance L7 by inductance L6
5V_MAIN is filtered into 5V_M18A_MAG, 5V_MAIN is filtered by 5V_M18A_GYRO by inductance L9, by inductance L10
5V_MAIN is filtered into 5V_M18B, 5V_M18A_MAG is converted to the first power supply of -2.5V by reference voltage chip U10
Configuration module, the first power configuration module are integrated in the second pcb board, and the second pcb board is named as M18A_PCB.
Power module further includes that second source configuration module is made of multiple decoupling capacitors, and second source configuration module is integrated
In the second pcb board.
Above-mentioned navigational computer control resolves, and navigation algorithm is suitable for different application environment, and alignment, which uses, is based on GPS
The moving alignment of auxiliary, in practical applications, integrated navigation control system after the power-up, carry out corresponding according to application environment
It resolves, after completing to resolve, is exported resolved data by RS422 serial ports, assistant carrier completes navigation, guidance task.
Navigational computer includes dsp chip U12, and reset chip U9, clock chip Y1, the JTAG connecting respectively with dsp chip U12 are configured
Interface P4 and storage EEPROM.Navigational computer is integrated in the second pcb board.
The model TMS320F of dsp chip U12.
Dsp chip U12 is also connected with data transmission module and GPIO mouthfuls, and data transmission module includes passing through RS422 serial ports
The first transceiver U6 of P2 and dsp chip U12 communication connection passes through the of RS422 serial ports P3 and dsp chip U12 communication connection
Two transceiver U8, the first photo-coupler U5 and the second photo-coupler U7 being connect with first transceiver U6 and second transceiver U8.
When receiving data, signal is received by RS422 serial ports P2, and successively passes through first transceiver U6, the second optical coupling
Device U7 is transmitted to dsp chip U12；Signal is received by RS422 serial ports P3, and successively passes through second transceiver U8, the second optocoupler
Clutch U7 is transmitted to dsp chip U12.
When sending data, the signal of dsp chip U12 passes sequentially through the first photo-coupler U5, first transceiver U6, RS422
Serial ports P2 is issued；The signal of dsp chip U12 passes sequentially through the first photo-coupler U5, second transceiver U8, RS422 serial ports P3 hair
Out.
Above-mentioned three axle magnetometer includes the first magnetometer U13 and the second magnetometer U16, the first magnetometer U13 is uniaxial magnetic
Power meter, the second magnetometer U16 are twin shaft magnetometer, and the first magnetometer U13 measures carrier X-axis earth magnetism component information, passes through first
Differential signal is converted to single-ended signal output by micro energy lose instrument amplifier U14, and is transmitted to dsp chip U12 after being depressured；Second
Magnetometer U16 measures carrier Y-axis and Z axis earth magnetism component information, micro- by the second micro energy lose instrument amplifier U15 and third respectively
Differential signal is converted to single-ended signal output by power consumption instrument amplifier U17, and is transmitted to dsp chip U12 after being depressured respectively.
The model HMC1022 of the model HMC1021, the second magnetometer U16 of first magnetometer U13, the first micro energy lose
The model AD627 of instrument amplifier U14, the second micro energy lose instrument amplifier U15 and third micro energy lose instrument amplifier U17.
Above-mentioned 3 axis MEMS gyro includes that the first uniaxial MEMS gyro U20, the second single shaft MEMS gyro U30 and third are uniaxial
MEMS gyro U35, wherein the first single shaft MEMS gyro U20 is integrated in the second pcb board, and the second single shaft MEMS gyro U30 is integrated
In third pcb board, third single shaft MEMS gyro U35 is integrated in the 4th pcb board, and third pcb board is named as M18B_PCB, the
Four pcb boards are named as M18C_PCB, and the second pcb board, third pcb board and the 4th pcb board are mutually perpendicular to, by the first single shaft MEMS top
Spiral shell U20, the orthogonal composition 3 axis MEMS gyro of the second single shaft MEMS gyro U30 and third single shaft MEMS gyro U35.
The chip model that first single shaft MEMS gyro U20 is used for MGZ317HC, the second single shaft MEMS gyro U30 use
Chip model is MGZ3103, and for the chip model that third single shaft MEMS gyro U35 is used for MGZ317HC, 3 axis MEMS gyro is logical
SPI interface agreement is crossed to receive and send messages with dsp chip U12 communication connection.
Above-mentioned 3 axis MEMS accelerometer includes the first uniaxial mems accelerometer U19, the second uniaxial mems accelerometer
U29 and third single shaft mems accelerometer U34, wherein the first single shaft mems accelerometer U19 is integrated in the second pcb board, the
Two single shaft mems accelerometer U29 are integrated in third pcb board, and third single shaft mems accelerometer U34 is integrated in the 4th pcb board
In, by the first uniaxial mems accelerometer U19, the second single shaft mems accelerometer U29 and third single shaft mems accelerometer U34
Orthogonal composition 3 axis MEMS accelerometer.
First uniaxial mems accelerometer U19, the second single shaft mems accelerometer U29 and third single shaft mems accelerometer
The chip model that U34 is all made of is MSA8000D, and 3 axis MEMS accelerometer is communicated by SPI interface agreement with dsp chip U12
Connection is received and sent messages.
First single shaft mems accelerometer U19 is connected with the first digital isolator U22, the second digital isolator U23, receives
When data, the signal of dsp chip U12 is transmitted to the first uniaxial mems accelerometer U19 by the first digital isolator U22；Hair
When sending data, the signal of the first uniaxial mems accelerometer U19 is transmitted to dsp chip U12 by the second digital isolator U23.
Level conversion is carried out by the first digital isolator U22 and the second digital isolator U23.
Second single shaft mems accelerometer U29 is connected with third digital isolator U32, the 4th digital isolator U33, receives
When data, the signal of dsp chip U12 is transmitted to the second uniaxial mems accelerometer U29 by third digital isolator U32；Hair
When sending data, the signal of the second uniaxial mems accelerometer U29 is transmitted to dsp chip U12 by the 4th digital isolator U33.
Level conversion is carried out by third digital isolator U32 and the 4th digital isolator U33.
Third single shaft mems accelerometer U34 is connected with the 5th digital isolator U37, the 6th digital isolator U38, receives
When data, the signal of dsp chip U12 is transmitted to third single shaft mems accelerometer U34 by the 5th digital isolator U37；Hair
When sending data, the signal of third single shaft mems accelerometer U34 is transmitted to dsp chip U12 by the 6th digital isolator U38.
Level conversion is carried out by the 5th digital isolator U37 and the 6th digital isolator U38.
Above-mentioned GPS module is integrated in third pcb board, and GPS module includes radio frequency chip U24, and is connected with radio frequency chip U24
Third photo-coupler U26, the 4th photo-coupler U27 and the 5th photo-coupler U28 are met, radio frequency chip U24 passes through third optical coupling
Device U26, the 4th photo-coupler U27 and the 5th photo-coupler U28 communication connection dsp chip U12 are for receiving and sending messages.
The model MAX-7Q of radio frequency chip U24.
Above-mentioned barometertic altimeter is integrated in the 4th pcb board, the model MS5611 of barometertic altimeter.Barometertic altimeter is logical
SPI interface agreement is crossed to receive and send messages with dsp chip U12 communication connection.
The utility model is not limited to above-mentioned optional embodiment, anyone can obtain under the enlightenment of the utility model
Other various forms of products, however, making any variation in its shape or structure, all the utility model rights that falls into are wanted
The technical solution in confining spectrum is sought, is all fallen within the protection scope of the utility model.
Claims (9)
1. a kind of small-sized, multifunctional unit ZTS-M18 integrated navigation control system, it is characterised in that: resolved including control
Navigational computer, and 3 axis MEMS gyro, the 3 axis MEMS accelerometer, three axis magnetic force with navigational computer communication connection respectively
Meter, barometertic altimeter and GPS module, integrated navigation control system further include power module.
2. one kind according to claim 1 is small-sized, multifunctional unit ZTS-M18 integrated navigation control system, feature
Be: the navigational computer includes dsp chip U12, and the reset chip U9, the clock chip that connect respectively with dsp chip U12
Y1, JTAG configure interface P4 and storage EEPROM.
3. one kind according to claim 2 is small-sized, multifunctional unit ZTS-M18 integrated navigation control system, feature
It is: the model TMS320F of the dsp chip U12.
4. one kind according to claim 2 is small-sized, multifunctional unit ZTS-M18 integrated navigation control system, feature
Be: the dsp chip U12 is also connected with data transmission module and GPIO mouthfuls；
The data transmission module includes being led to by the first transceiver U6 of RS422 serial ports P2 and dsp chip U12 communication connection
The second transceiver U8 for crossing RS422 serial ports P3 and dsp chip U12 communication connection, with first transceiver U6 and second transceiver U8
The the first photo-coupler U5 and the second photo-coupler U7 of connection.
5. one kind according to claim 2 is small-sized, multifunctional unit ZTS-M18 integrated navigation control system, feature
Be: the three axle magnetometer includes the first magnetometer U13 and the second magnetometer U16, the first magnetometer U13 is uniaxial magnetic force
Meter, the second magnetometer U16 are twin shaft magnetometer, and the first magnetometer U13 measures carrier X-axis earth magnetism component information, micro- by first
Differential signal is converted to single-ended signal output by power consumption instrument amplifier U14, and is transmitted to dsp chip U12 after being depressured；Second magnetic
Power meter U16 measures carrier Y-axis and Z axis earth magnetism component information, passes through the second micro energy lose instrument amplifier U15 and the micro- function of third respectively
Differential signal is converted to single-ended signal output by consumption instrument amplifier U17, and is transmitted to dsp chip U12 after being depressured respectively.
6. one kind according to claim 2 is small-sized, multifunctional unit ZTS-M18 integrated navigation control system, feature
Be: the 3 axis MEMS gyro is received and sent messages by SPI interface agreement and dsp chip U12 communication connection, 3 axis MEMS gyro
Including the orthogonal first uniaxial MEMS gyro U20, the second single shaft MEMS gyro U30 and third single shaft MEMS gyro U35.
7. one kind according to claim 2 is small-sized, multifunctional unit ZTS-M18 integrated navigation control system, feature
Be: the 3 axis MEMS accelerometer is received and sent messages by SPI interface agreement and dsp chip U12 communication connection, 3 axis MEMS
Accelerometer includes orthogonal the first uniaxial mems accelerometer U19, the second single shaft mems accelerometer U29 and third uniaxial
Mems accelerometer U34；
The first single shaft mems accelerometer U19 is connected with the first digital isolator U22 and the second digital isolator U23, the
One single shaft mems accelerometer U19 communicates to connect dsp chip by the first digital isolator U22 and the second digital isolator U23
U12 receives and sends messages；
The second single shaft mems accelerometer U29 is connected with third digital isolator U32 and the 4th digital isolator U33, the
Two single shaft mems accelerometer U29 communicate to connect dsp chip by third digital isolator U32 and the 4th digital isolator U33
U12 receives and sends messages；
The third single shaft mems accelerometer U34 is connected with the 5th digital isolator U37 and the 6th digital isolator U38, the
Three single shaft mems accelerometer U34 communicate to connect dsp chip by the 5th digital isolator U37 and the 6th digital isolator U38
U12 receives and sends messages.
8. one kind according to claim 2 is small-sized, multifunctional unit ZTS-M18 integrated navigation control system, feature
Be: the GPS module includes radio frequency chip U24, and third photo-coupler U26, the 4th optical coupling are connect with radio frequency chip U24
Device U27 and the 5th photo-coupler U28, radio frequency chip U24 pass through third photo-coupler U26, the 4th photo-coupler U27 and the 5th light
Coupler U28 communication connection dsp chip U12 receives and sends messages.
9. one kind according to claim 2 is small-sized, multifunctional unit ZTS-M18 integrated navigation control system, feature
Be: the barometertic altimeter is received and sent messages by SPI interface agreement and dsp chip U12 communication connection.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115560752A (en) * | 2022-10-21 | 2023-01-03 | 北京自动化控制设备研究所 | Micro-electromechanical inertial navigation system small-sized integrated circuit |
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2019
- 2019-04-10 CN CN201920484894.4U patent/CN209485375U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115560752A (en) * | 2022-10-21 | 2023-01-03 | 北京自动化控制设备研究所 | Micro-electromechanical inertial navigation system small-sized integrated circuit |
| CN115560752B (en) * | 2022-10-21 | 2023-11-03 | 北京自动化控制设备研究所 | Micro-electromechanical inertial navigation system uses small-size integrated circuit |
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Denomination of utility model: A Small and Multi functional Integrated ZTS-M18 Integrated Navigation Control System Granted publication date: 20191011 Pledgee: Xi'an Caijin Financing Guarantee Co.,Ltd. Pledgor: ZHONG TIAN GUIDE CONTROL TECHNOLOGY CO.,LTD. Registration number: Y2024980008867 |