CN209961232U

CN209961232U - High-precision inertial navigation sensor

Info

Publication number: CN209961232U
Application number: CN201920719055.6U
Authority: CN
Inventors: 张扬; 陈连双
Original assignee: Suzhou Man Pulasi Sensing Science And Technology Ltd
Current assignee: Suzhou Man Pulasi Sensing Science And Technology Ltd
Priority date: 2019-05-20
Filing date: 2019-05-20
Publication date: 2020-01-17
Anticipated expiration: 2029-05-20

Abstract

The utility model relates to the AGV car navigation technology field, and discloses a high-precision inertial navigation sensor; the method is characterized in that: the device comprises a power supply, a main controller, a communication module and an induction module; the communication module comprises a CAN communication chip and an RS485 communication chip; the CAN communication chip and the RS485 communication chip are respectively connected with a CAN interface of the main controller and a USART interface of the main controller; the sensing module comprises a single-axis gyroscope chip and a three-axis acceleration sensor chip, and an SPI communication mode is used between the single-axis gyroscope chip and the three-axis acceleration sensor chip and the main controller. And meanwhile, CAN communication and RS485 communication are used, so that the stability of communication data is ensured, and the detection precision is improved by using a single-axis gyroscope chip and a three-axis acceleration sensor chip.

Description

High-precision inertial navigation sensor

Technical Field

The utility model relates to a AGV dolly navigation head, in particular to high accuracy inertial navigation sensor.

Background

With the wide application of AGVs, the development of AGV car navigation technology has attracted attention in the industry. Common AGV navigation methods include inertial navigation, electromagnetic navigation, magnetic stripe navigation, and laser navigation. The laser navigation cost is high, the technical requirement on the algorithm is high, the electromagnetic navigation and the magnetic stripe navigation cannot run trackless, and the flexibility is low; the inertial navigation is accurate in positioning, convenient to control communication, free of interference to sound and light and capable of achieving trackless operation. The existing AGV trolley has low inertial navigation precision, large temperature drift and easy deviation in operation.

SUMMERY OF THE UTILITY MODEL

The utility model provides a technical problem provide a high accuracy inertial navigation sensor, communication signal is stable and detect the precision height.

The utility model provides a technical scheme that its technical problem adopted is: a high precision inertial navigation sensor; the method is characterized in that: the device comprises a power supply, a main controller, a communication module and an induction module; the communication module comprises a CAN communication chip and an RS485 communication chip; the CAN communication chip and the RS485 communication chip are respectively connected with a CAN interface of the main controller and a USART interface of the main controller; the sensing module comprises a single-axis gyroscope chip and a three-axis acceleration sensor chip, and an SPI communication mode is used between the single-axis gyroscope chip and the three-axis acceleration sensor chip and the main controller. And meanwhile, CAN communication and RS485 communication are used, so that the stability of communication data is ensured, and the detection precision is improved by using a single-axis gyroscope chip and a three-axis acceleration sensor chip.

Further, the method comprises the following steps: the main controller adopts an STM32F103C8T6 chip; and the OSC interface of the main controller is externally connected with a clock circuit. The core of the STM32F103C8T6 chip is an ARM Cortex M3 processor, has the advantages of low energy consumption and higher code compatibility, and is easier to use by developers. The external clock circuit provides clock signals for the main controller, and the clock frequency precision is high.

Further, the method comprises the following steps: the power supply is a wide voltage input circuit, and the wide voltage input range is 12-36V. The wide voltage input circuit is realized by a power supply conversion chip and peripheral elements, and a TPS5430 chip can be selected to be matched with an output capacitor, an output filter device, an output resistor, a starting capacitor and a capture diode to realize the function of wide voltage input, so that the good working state of the power supply is ensured; an SMBJ28CA transient voltage suppression tube is added in the circuit, so that surge protection can be realized. The components with different specifications can be selected according to the required wide voltage input range.

Further, the method comprises the following steps: the CAN communication chip adopts an ISO1050 isolated CAN transceiver, the second pin of the CAN communication chip is electrically connected with the PA11 pin of the main controller, and the third pin of the CAN communication chip is electrically connected with the PA12 pin of the main controller.

Further, the method comprises the following steps: RS485 communication chip adopts ISO3082 isolated RS485 full duplex transceiver, the No. four pins and the main control unit PA8 pin electric connection of RS485 communication chip, the No. three pins and the PB11 pin electric connection of main control unit of RS485 communication chip, the No. six pins of RS485 communication chip and the PB10 pin electric connection of main control unit. The communication chip adopts the chip with isolation to ensure that the communication data is stable in the communication process.

Further, the method comprises the following steps: the measuring precision of the single-axis gyroscope chip and the three-axis acceleration sensor chip can reach 0.1 degree. The inertial navigation angle obtained by processing the data measured by the single-axis gyroscope chip and the three-axis acceleration sensor chip through the Kalman filtering algorithm can be accurate to 0.1 degree. The utility model discloses an inertial navigation sensor adopts import gyroscope chip, uses unipolar gyroscope chip and triaxial acceleration sensor chip simultaneously, measures more accurately, improves the navigation accuracy.

Drawings

FIG. 1 is a schematic diagram of a high-precision inertial navigation sensor;

FIG. 2 is a schematic diagram of a main controller circuit.

Labeled as: 100. a main controller; 110. a power source; 210. a CAN communication chip; 220. an RS485 communication chip; 310. a single axis gyroscope chip; 320. triaxial acceleration sensor chip.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and the following detailed description.

As shown in fig. 1, a high precision inertial navigation sensor; comprises a power supply 110, a main controller 100, a communication module and an induction module; the communication module comprises a CAN communication chip 210 and an RS485 communication chip 220; the CAN communication chip 210 and the RS485 communication chip 220 are respectively connected with a CAN interface of the main controller 100 and a USART interface of the main controller 100; the sensing module comprises a single-axis gyroscope chip 310 and a three-axis acceleration sensor chip 320, and an SPI communication mode is used between the single-axis gyroscope chip 310 and the three-axis acceleration sensor chip 320 and the main controller 100. The power supply 110 is responsible for providing a safe and stable power supply for the main controller 100, the sensing module is responsible for measuring the acceleration of the trolley and feeding back a signal to the main controller 100, and the communication module is responsible for communicating with the outside and receiving an outside signal.

On the basis, as shown in fig. 1, the main controller 100 adopts an STM32F103C8T6 chip; the OSC interface of the main controller 100 is externally connected to a clock circuit. The core of the STM32F103C8T6 chip is an ARM Cortex M3 processor, and the chip has the advantages of low power consumption, high performance and good compatibility. The OSC-IN and OSC-OUT of the main controller 100 are externally connected with a quartz crystal oscillator to provide clock signals for the main controller 100, so that the clock frequency is more accurate, and the precision is improved.

On the basis of the above, as shown in fig. 1, the power supply 110 is a wide voltage input circuit, and the wide voltage input range is 12-36V. The function of wide voltage input can be realized to peripheral elements such as power conversion chip collocation output capacitance, output filter, output resistance, start-up electric capacity and capture diode for use, guarantees that power operating condition is good, has still increased SMBJ28CA transient voltage suppression pipe in the circuit, realizes surge protection, can select for use the components and parts of different specifications according to required wide voltage input scope. In this example, a wide voltage input circuit was constructed using a TPS5430 chip.

On the basis, as shown in fig. 1, the CAN communication chip 210 adopts an ISO1050 isolated CAN transceiver, the second pin of the CAN communication chip 210 is electrically connected to the PA11 pin of the host controller 100, and the third pin of the CAN communication chip 210 is electrically connected to the PA12 pin of the host controller 100. The ISO1050 isolated CAN transceiver selected in the embodiment has the advantages of high isolation voltage, high signaling rate, low cost and high efficiency.

On the basis, as shown in fig. 1, the RS485 communication chip 220 adopts an ISO3082 isolated RS485 full-duplex transceiver, the pin four of the RS485 communication chip 220 is electrically connected with the pin PA8 of the main controller 100, the pin three of the RS485 communication chip 220 is electrically connected with the pin PB11 of the main controller 100, and the pin six of the RS485 communication chip 220 is electrically connected with the pin PB10 of the main controller 100.

On the basis, the measurement precision of the single-axis gyroscope chip 310 and the three-axis acceleration sensor chip 320 can reach 0.1 degree after algorithm fusion. The inertial navigation angle obtained after the data measured by the single-axis gyroscope chip 310 and the three-axis acceleration sensor chip 320 are processed by the Kalman filtering algorithm can be accurate to 0.1 degree. The single-axis gyroscope chip 310 can adopt ADXRS450 of ADI company, has high angular speed detection efficiency which can reach +/-300 degrees/s at the fastest speed, has good zero offset stability and also has an internal temperature compensation function; the triaxial acceleration sensor chip 320 can be ADXL346 of ADI company, the power consumption is low, the lowest power consumption can reach 0.2 muA in a standby state, the bandwidth and the measurement range can be automatically edited and selected, the packaging volume is small, the measurement is accurate, and the high stability can be still kept after long-time work.

The above-mentioned embodiments, further detailed description of the objects, technical solutions and advantages of the present invention, it should be understood that the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. A high-precision inertial navigation sensor, characterized by: comprises a power supply (110), a main controller (100), a communication module and an induction module; the communication module comprises a CAN communication chip (210) and an RS485 communication chip (220); the CAN communication chip (210) and the RS485 communication chip (220) are respectively connected with a CAN interface of the main controller (100) and a USART interface of the main controller (100); the sensing module comprises a single-axis gyroscope chip (310) and a three-axis acceleration sensor chip (320), and an SPI communication mode is used between the single-axis gyroscope chip (310) and the three-axis acceleration sensor chip (320) and the main controller (100).

2. A high accuracy inertial navigation sensor according to claim 1, wherein: the main controller (100) adopts an STM32F103C8T6 chip; the OSC interface of the main controller (100) is externally connected with a clock circuit.

3. A high accuracy inertial navigation sensor according to claim 1, wherein: the power supply (110) is a wide voltage input circuit with a wide voltage input range of 12-36V.

4. A high accuracy inertial navigation sensor according to claim 1 or 2, wherein: the CAN communication chip (210) adopts an ISO1050 isolated CAN transceiver, the second pin of the CAN communication chip (210) is electrically connected with the PA11 pin of the main controller (100), and the third pin of the CAN communication chip (210) is electrically connected with the PA12 pin of the main controller (100).

5. A high accuracy inertial navigation sensor according to claim 1 or 2, wherein: RS485 communication chip (220) adopt ISO3082 isolated RS485 full duplex transceiver, the PA8 pin electric connection of the No. four pins of RS485 communication chip (220) and main control unit (100), the PB11 pin electric connection of the No. three pins of RS485 communication chip (220) and main control unit (100), the PB10 pin electric connection of the No. six pins of RS485 communication chip (220) and main control unit (100).