CN211121245U - Inertia north-seeking device based on six-axis MEMS inertial sensor compensation - Google Patents
Inertia north-seeking device based on six-axis MEMS inertial sensor compensation Download PDFInfo
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- CN211121245U CN211121245U CN201922224326.3U CN201922224326U CN211121245U CN 211121245 U CN211121245 U CN 211121245U CN 201922224326 U CN201922224326 U CN 201922224326U CN 211121245 U CN211121245 U CN 211121245U
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Abstract
The utility model discloses an inertia north-seeking device based on six-axis MEMS inertial sensor compensation, which comprises a shell, a signal processing board and a transposition locking mechanism which are arranged in the shell, and a six-axis MEMS inertial sensor and a high-precision gyroscope which are arranged on the transposition locking mechanism; the control end of the transposition locking mechanism, the acquisition ends of the six-axis MEMS inertial sensor and the high-precision gyroscope are connected with the signal processing board, the three axial directions of the six-axis MEMS inertial sensor are respectively an X axis and a Y axis which are positioned on the horizontal plane and are mutually vertical, and a Z axis which is vertical to the horizontal plane, wherein the Y axis direction is parallel to the measurement direction of the high-precision gyroscope. The utility model provides high inertia north seeking device suitability under the vibration interference environment, and the cost is reduced.
Description
Technical Field
The utility model relates to an inertial navigation technical field specifically is a north device is sought to inertia based on compensation of six MEMS inertial sensor.
Background
The inertial north-seeking device is a device which measures the rotational angular velocity and the gravitational acceleration of the earth by utilizing a gyroscope and an accelerometer and calculates the course angle and the attitude angle of a carrier, and has high measurement precision and is not influenced by a magnetic field. The north-seeking solution of the existing inertia north-seeking device is generally realized by adopting a static two-position or static four-position method, and the specific process is as follows: the gyroscope 1 and the two accelerometers 2 are installed on the indexing locking mechanism 3, the two accelerometers are horizontally installed on the indexing locking mechanism 3 in a 90-degree orthogonal mode, the indexing locking mechanism 3 drives the two 180-degree symmetrical positions or four 90-degree symmetrical positions to measure the horizontal components of the angular rotation speed and the gravitational acceleration of the earth, the signal processing board 4 subtracts data of the gyroscope 1 and the accelerometers 2 in the symmetrical positions to eliminate respective zero offset to obtain equivalent measured values, and then the signal processing board 4 calculates the course angle and the attitude angle of the carrier through the arctangent relation. The basic structure is shown in fig. 1. The inertial north-seeking device is difficult to avoid interference of external impact and vibration in practical use, so that interference noise is introduced into the gyroscope. The interference noise mainly comprises two parts of a vibration angular velocity on a measuring shaft of the high-precision gyroscope and coupling components of vibration angular velocities on the other two orthogonal shafts, the interference noise is colored noise, and the measuring time of the inertia north-seeking device is relatively short, so that the common mean value calculating method cannot eliminate the interference noise superposed in the horizontal component of the rotational angular velocity of the earth to be measured, and great influence is caused on the measuring precision of the inertia north-seeking device.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to provide a north device is sought to inertia based on six MEMS inertial sensor compensations, improved the suitability of north device is sought to inertia under the vibration interference environment, and the cost is reduced.
The technical scheme of the utility model is that:
an inertia north-seeking device based on six-axis MEMS inertial sensor compensation comprises a shell, a signal processing board and a transposition locking mechanism which are arranged in the shell, and a six-axis MEMS inertial sensor and a high-precision gyroscope which are arranged on the transposition locking mechanism; the control end of transposition locking mechanism, the collection end of six MEMS inertial sensor and high accuracy gyroscope all be connected with the signal processing board, six MEMS inertial sensor including triaxial MEMS gyroscope and triaxial MEMS accelerometer, three axial of six MEMS inertial sensor respectively for being located horizontal plane and mutually perpendicular's X axle and Y axle and the Z axle of perpendicular to horizontal plane, wherein the measuring direction of Y axle direction and high accuracy gyroscope is parallel.
The indexing locking mechanism is horizontally arranged in the shell, and the six-axis MEMS inertial sensor and the high-precision gyroscope are horizontally arranged on the indexing locking mechanism.
And a lithium battery connected with the signal processing board is also fixed in the shell.
The utility model has the advantages that:
(1) the applicability of the inertia north-seeking device in a vibration interference environment is improved: the inertia north seeking device can be interfered by external impact and vibration in actual use, interference noise is not easy to filter, the interference noise can be superposed in useful signals, and great influence is caused to measurement precision.
(2) And the system cost is reduced: the high-precision gyroscope has high manufacturing cost, the utility model solves the problem of applicability of the inertial north-seeking device under the interference environment, so that the measurement precision of the inertial north-seeking device is equivalent to that of an inertial navigation system adopting three single-shaft high-precision gyroscopes, and the use cost of users is greatly reduced; additionally, the utility model discloses a six MEMS inertial sensor have replaced two accelerometers, indexing mechanism speed sensor and relevant acquisition circuit among the former inertia north seeking device, have improved the integrated level and have also reduced the components and parts cost that the north device was sought to inertia simultaneously.
Drawings
FIG. 1 is a schematic structural diagram of an existing inertial north-seeking apparatus.
Fig. 2 is a schematic structural diagram of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 2, an inertial north-seeking device based on six-axis MEMS inertial sensor compensation comprises a housing 5, a signal processing board 6 and an indexing locking mechanism 7 arranged in the housing 5, a six-axis MEMS inertial sensor 8 (model number ADIS 16365) mounted on the indexing locking mechanism 7, and a high-precision gyroscope 9; the control end of the transposition locking mechanism 7, the acquisition ends of the six-axis MEMS inertial sensor 8 and the high-precision gyroscope 9 are connected with the signal processing board 6, the transposition locking mechanism 7 is horizontally arranged in the shell 5, the six-axis MEMS inertial sensor 8 and the high-precision gyroscope 9 are horizontally arranged on the transposition locking mechanism 7, the six-axis MEMS inertial sensor 8 comprises a three-axis MEMS gyroscope and a three-axis MEMS accelerometer, three axial directions of the six-axis MEMS inertial sensor 8 are respectively an X axis and a Y axis which are positioned on a horizontal plane and are vertical to each other, and a Z axis which is vertical to the horizontal plane, wherein the Y axis direction is parallel to the measurement direction of the high-precision gyroscope 9.
Wherein, still be fixed with the lithium cell of being connected with signal processing board 6 in the shell 5 and be used for seeking north the device to the inertia and supply power.
The signal processing board 6 is responsible for the following tasks: (a) receiving the collected data of the high-precision gyroscope 9 and the six-axis MEMS inertial sensor 8; (b) rotation control and positioning locking control of the positioning locking mechanism 7; (c) compensating the data measured by the high-precision gyroscope 9 in real time through a compensation model according to the acceleration data in the X-axis direction and the Y-axis direction and the angular velocity data in the X-axis direction, the Y-axis direction and the Z-axis direction measured by the six-axis MEMS inertial sensor 8; (d) solving a course angle and an attitude angle according to data compensated by the high-precision gyroscope 9 at each position and acceleration data in X-axis and Y-axis directions measured by the six-axis MEMS inertial sensor 8; (e) and the integral machine control of the inertia north-seeking device comprises power-on self-test, work flow control, a user command interface and the like.
The utility model discloses a theory of operation:
1. the inertia north-seeking device system is electrified, and after the self-checking is normal, the north-seeking measurement work is started;
2. starting a first position test, simultaneously acquiring output data of a high-precision gyroscope 9 and a six-axis MEMS inertial sensor 8 by a signal processing board 6, stopping data acquisition when the measurement time reaches a set time, controlling an indexing locking mechanism 7 to unlock and rotate to a next position, processing the data of the high-precision gyroscope 9 measured at the position during indexing rotation, sending the data of the six-axis MEMS inertial sensor 8 measured at the position into a calculation model, wherein the compensation model is a relation model between three axial motions of the six-axis MEMS inertial sensor and the output deviation of the high-precision gyroscope, presetting the equipment before leaving a factory, calculating the output deviation influence of the current moment motion on the high-precision gyroscope, namely the output compensation quantity of the high-precision gyroscope, by using the current moment motion data measured by the six-axis MEMS inertial sensor 8 according to the compensation model, and superposing the compensation quantity and the data of the high-precision gyroscope 9 to obtain the high-precision gyroscope 9 after position compensation Data; when the transposition is detected in place, the transposition locking mechanism 7 is controlled to lock;
3. repeating the step 2 until the measurement of all two positions or four positions is completed;
4. the signal processing board 6 controls the transposition locking mechanism 7 to reset, and simultaneously calculates a course angle and an attitude angle according to data after compensation of the high-precision gyroscope 9 at each position and acceleration data in X-axis and Y-axis directions measured by the six-axis MEMS inertial sensor 8.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (3)
1. The utility model provides an inertia north seeking device based on six MEMS inertial sensor compensations which characterized in that: the MEMS inertial sensor comprises a shell, a signal processing board and a transposition locking mechanism which are arranged in the shell, and a six-axis MEMS inertial sensor and a high-precision gyroscope which are arranged on the transposition locking mechanism; the control end of transposition locking mechanism, the collection end of six MEMS inertial sensor and high accuracy gyroscope all be connected with the signal processing board, six MEMS inertial sensor including triaxial MEMS gyroscope and triaxial MEMS accelerometer, three axial of six MEMS inertial sensor respectively for being located horizontal plane and mutually perpendicular's X axle and Y axle and the Z axle of perpendicular to horizontal plane, wherein the measuring direction of Y axle direction and high accuracy gyroscope is parallel.
2. The inertial north-seeking device based on six-axis MEMS inertial sensor compensation of claim 1, wherein: the indexing locking mechanism is horizontally arranged in the shell, and the six-axis MEMS inertial sensor and the high-precision gyroscope are horizontally arranged on the indexing locking mechanism.
3. The inertial north-seeking device based on six-axis MEMS inertial sensor compensation of claim 1, wherein: and a lithium battery connected with the signal processing board is also fixed in the shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922224326.3U CN211121245U (en) | 2019-12-12 | 2019-12-12 | Inertia north-seeking device based on six-axis MEMS inertial sensor compensation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922224326.3U CN211121245U (en) | 2019-12-12 | 2019-12-12 | Inertia north-seeking device based on six-axis MEMS inertial sensor compensation |
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| CN211121245U true CN211121245U (en) | 2020-07-28 |
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| CN201922224326.3U Active CN211121245U (en) | 2019-12-12 | 2019-12-12 | Inertia north-seeking device based on six-axis MEMS inertial sensor compensation |
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