CN212905484U - Six-axis optical fiber inertial navigation redundancy device for unmanned aerial vehicle - Google Patents
Six-axis optical fiber inertial navigation redundancy device for unmanned aerial vehicle Download PDFInfo
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- CN212905484U CN212905484U CN202021865728.8U CN202021865728U CN212905484U CN 212905484 U CN212905484 U CN 212905484U CN 202021865728 U CN202021865728 U CN 202021865728U CN 212905484 U CN212905484 U CN 212905484U
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Abstract
The utility model discloses a six optic fibre are used to lead redundant device for unmanned aerial vehicle, it includes data processing module, signal acquisition module, interface module, triaxial MEMS top, triaxial MEMS adds the table, temperature sensor and satellite module, interface module includes first SPI interface, the second SPI interface, the third SPI interface, the RS422 interface, first IO interface and second IO interface, temperature sensor is connected with signal acquisition module through first SPI interface, triaxial MEMS top is connected with signal acquisition module through the second SPI interface, triaxial MEMS adds the table and is connected with signal acquisition module through the third SPI interface, triaxial fiber optic top on the unmanned aerial vehicle passes through the RS422 interface and is connected with signal acquisition module, triaxial quartz on the unmanned aerial vehicle adds the table and is connected with signal acquisition module through first IO interface, satellite module passes through the second IO interface and is connected with signal acquisition module, through increasing satellite module, through, The three-axis MEMS gyroscope and the three-axis MEMS meter are used for replacing the backup inertial navigation function of the traditional manned aircraft.
Description
Technical Field
The utility model belongs to the technical field of inertial navigation, more specifically relates to a six optic fibre are used to lead redundancy arrangement for unmanned aerial vehicle.
Background
Compared with the traditional manned aircraft, the unmanned aerial vehicle has the advantages of small volume, low manufacturing cost, convenient use, low requirement on the operation environment, strong battlefield viability and the like, and is popular with military forces of all countries in the world. The inertial navigation system is a full autonomous navigation system which determines the position, the speed and the attitude of a carrier by using the angular velocity and the acceleration of a self inertial element sensitive carrier relative to an inertial space, is an important navigation information source of a military unmanned aerial vehicle, can provide navigation information for a flight management computer, and directly influences the flight safety and the completion of tasks by the performance and the reliability of the inertial navigation system.
The traditional manned aircraft mostly adopts the design redundancy to be used to lead to improve the reliability of flight, contains a main and a backup to be used to lead to promptly on the aircraft, and the backup is used to lead when main is used to lead to break down and is started, replaces the main of trouble to be used to lead to and provides navigation information, and this scheme cost is higher, the redundancy design is more complicated, can not adapt to the low-cost, the highly reliable demand of current unmanned aerial vehicle.
SUMMERY OF THE UTILITY MODEL
To prior art's at least one defect or improvement demand, the utility model provides a redundant device is used to lead to six optic fibre for unmanned aerial vehicle, divides ware, triaxial MEMS gyroscope and triaxial MEMS to add the table through increasing the satellite merit, replaces the backup on the traditional manned aircraft to be used to lead the function.
To achieve the above objects, according to one aspect of the present invention, there is provided a six-axis fiber inertial navigation redundancy device for an unmanned aerial vehicle, the device comprising a data processing module, a signal acquisition module, an interface module, a three-axis MEMS gyroscope, a three-axis MEMS accelerometer, a temperature sensor and a satellite module, wherein,
the signal acquisition module is connected with the data processing module electricity, interface module includes first SPI interface, the second SPI interface, the third SPI interface, the RS422 interface, first IO interface and second IO interface, temperature sensor is connected with signal acquisition module through first SPI interface, the triaxial MEMS top is connected with signal acquisition module through the second SPI interface, triaxial MEMS adds the table and is connected with signal acquisition module through the third SPI interface, last triaxial fiber optic gyro of unmanned aerial vehicle passes through the RS422 interface and is connected with signal acquisition module, last triaxial quartz of unmanned aerial vehicle adds the table and is connected with signal acquisition module through first IO interface, the satellite module passes through the second IO interface and is connected with signal acquisition module.
As a further improvement, the triaxial quartz on the unmanned aerial vehicle is connected with the interface module through the V/F module.
As the utility model discloses a further improvement, data processing module utilizes the DSP chip to realize, and signal acquisition module utilizes the FPGA chip to realize.
As a further improvement of the utility model, the data processing module is connected with the signal acquisition module through an EMIF bus.
As a further improvement of the utility model, the interface module further comprises an external interface, and the external interface is connected with the test instrument and/or the external flying pipe computer.
As the utility model discloses a further improvement, the satellite module includes that satellite receiver, satellite merit divide ware, main antenna and supplementary antenna, and wherein, second IO interface, satellite merit are connected respectively to the satellite receiver and are divided ware and main antenna, and the satellite merit is divided the ware and is connected supplementary antenna and outside flying pipe computer respectively.
As the utility model discloses a further improvement, the device still includes power module, and data processing module, signal acquisition module, interface module and satellite module are connected respectively to power module, and power module includes excessive pressure undervoltage protection circuit, EMI filter circuit and DC/DC converting circuit.
Generally, through the utility model discloses above technical scheme who conceives compares with prior art, can gain following beneficial effect:
the utility model provides a pair of a six optic fibre are used to lead redundant device for unmanned aerial vehicle, it adds the table through integrated triaxial MEMS top and triaxial MEMS in traditional optic fibre is used to lead, replace traditional backup to be used to lead, the cost is reduced and redundant complexity, and adopt the satellite merit to divide the ware to backup satellite signal, can export backup satellite signal, realize that six gyros and six add the periodic self-checking of table, and judge the operating condition that six gyros and six add the table through the self-checking, if certain optic fibre top or quartzy add the table and break down, can use corresponding axial MEMS top or add the table and carry out the signal replacement, thereby reach the fault redundancy, unmanned aerial vehicle's reliability and security have been improved greatly, and is high-reliable, with low costs, simple and practical, small characteristics.
The utility model provides a pair of a six optic fibre are used to lead redundant device for unmanned aerial vehicle, it adopts universalization, serialization, modularized design, adopts the connector to connect between each module, and interchangeability is strong, can form the mutual verification between a plurality of modules, and the product development of being convenient for is maintained.
The utility model provides a pair of a redundant device is used to lead to six optic fibre for unmanned aerial vehicle, it divides ware output backup satellite signal through the satellite merit, judges six gyros and six operating condition that add the table through periodic self-checking, if certain optic fibre top or quartzy add the table and break down, can use corresponding axial MEMS top or add the table and carry out the signal replacement to reach the fault redundancy, improved unmanned aerial vehicle's reliability and security greatly.
Drawings
Fig. 1 is a schematic structural diagram of a six-axis optical fiber inertial navigation redundancy device for an unmanned aerial vehicle provided by an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Furthermore, the technical features mentioned in the embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.
The technical terms related to the utility model are explained as follows:
MEMS: Micro-Electro-Mechanical System, refers to a high-tech device with dimensions of a few millimeters or less. The internal structure of the micro-electro-mechanical system is generally in the micron or even nanometer scale, and the micro-electro-mechanical system is an independent intelligent system.
SPI: serial Peripheral Interface.
RS 422: the method is a series of data transmission protocols which are specified to adopt 4-wire, full duplex, differential transmission and multipoint communication. It adopts the transmission line which adopts the balance transmission and adopts the one-way/non-reversible, and has an enabling end or no enabling end.
IO: input/output.
A V/F module: one type of converter.
A DSP chip: DSP (digital Signal processing), i.e., digital Signal processing technology, and a DSP chip refers to a chip capable of implementing digital Signal processing technology.
FPGA: the Field Programmable Gate Array is a product developed on the basis of Programmable devices such as PAL and GAL. It is a semi-custom circuit in the field of Application Specific Integrated Circuit (ASIC), not only solves the shortage of custom circuit, but also overcomes the defect of limited gate circuit number of original programmable device
EMIF bus: the DSP can be connected with different types of memories (SRAM, Flash RAM, DDR-RAM and the like). Typically, EMIFs are connected to FPGAs, thereby enabling the FPGA platform to act as a co-processor, high-speed data processor, or high-speed data transfer interface.
RS 232: one of the commonly used serial communication interface standards, which was commonly established in 1970 by the institute of Electronics and Industry (EIA) union bell systems, modem manufacturers, and computer terminal manufacturers, is known as "serial binary data exchange interface technology standard between Data Terminal Equipment (DTE) and Data Communication Equipment (DCE).
EMI filter circuit: it can act as two low pass filters, one to attenuate common mode interference and the other to attenuate differential mode interference. The EMI power filter can attenuate radio frequency energy within a stop band range, and the power frequency can pass through the EMI power filter without attenuation or with little attenuation.
Fig. 1 is a schematic structural diagram of a six-axis optical fiber inertial navigation redundancy device for an unmanned aerial vehicle provided by an embodiment of the present invention. As shown in figure 1, the six-axis optical fiber inertial navigation redundancy device for the unmanned aerial vehicle comprises a data processing module, a signal acquisition module, an interface module, a three-axis MEMS gyroscope, a three-axis MEMS accelerometer, a temperature sensor and a satellite module, wherein, signal acquisition module is connected with the data processing module electricity, interface module includes first SPI interface, the second SPI interface, the third SPI interface, the RS422 interface, first IO interface and second IO interface, temperature sensor is connected with signal acquisition module through first SPI interface, the triaxial MEMS top passes through the second SPI interface and is connected with signal acquisition module, triaxial MEMS adds the table and is connected with signal acquisition module through the third SPI interface, last triaxial fiber optic gyro of unmanned aerial vehicle passes through the RS422 interface and is connected with signal acquisition module, last triaxial quartz of unmanned aerial vehicle adds the table and is connected with signal acquisition module through first IO interface, the satellite module passes through the second IO interface and is connected with signal acquisition module.
Through the arrangement of the device and the specific connection mode thereof, the temperature sensor is used for measuring temperature signals in real time, and if the temperature sensor can be pasted on the triaxial fiber optic gyroscope and the triaxial quartz adding meter, the temperature sensors integrated in the triaxial fiber optic gyroscope and the triaxial quartz adding meter on the unmanned aerial vehicle are collected, the temperature signals can be output in real time, and the navigation module can perform temperature compensation of the gyroscope and the adding meter; the satellite module is used for receiving and analyzing satellite signals and sending the analyzed satellite signals to the signal acquisition module, a triaxial fiber-optic gyroscope and a triaxial quartz adder on the unmanned aerial vehicle are used for acquiring six-axis inertial navigation data of the unmanned aerial vehicle, optionally, the triaxial quartz adder is connected with the interface module through a V/F module, and the triaxial MEMS gyroscope and the triaxial MEMS adder serve as standby modules and are also used for acquiring six-axis inertial navigation data of the unmanned aerial vehicle; through including first SPI interface, the second SPI interface, the third SPI interface, the RS422 interface, the interface module of first IO interface and second IO interface, accomplish the data interaction of the collection fusion processing of internal data and external equipment, thereby can make signal acquisition module gather the six-axis of obtaining unmanned aerial vehicle and be used for leading data, the temperature data of table is added to triaxial fiber optic gyro and triaxial quartz, the analytic satellite signal that obtains, and send the data processing module with the collection data who gathers, data processing module is used for realizing that data fusion handles and navigation are resolved, including the mode setting, parameter binding, error compensation, the self-checking, self-alignment, functions such as combination navigation.
Optionally, the data processing module is implemented by using a DSP chip, and the signal acquisition module is implemented by using an FPGA chip, wherein the data processing module and the signal acquisition module are connected by an EMIF bus to implement bidirectional data transmission between the two modules.
Optionally, the interface module further includes an external interface, the external interface is connected with the test instrument and/or an external flying management computer, and local test or debugging of the device can be achieved by connecting the test instrument and/or the non-management computer through the external interface.
Optionally, the satellite module includes a satellite receiver, a satellite power divider, a main antenna, and an auxiliary antenna, where the satellite receiver is connected to the second IO interface, the satellite power divider, and the main antenna, and the satellite power divider is connected to the auxiliary antenna and the external flight control computer, respectively. The main antenna and the auxiliary antenna are used for receiving satellite signals; the satellite power divider is used for realizing the backup of satellite signals, transmitting the backup satellite signals to an external flying pipe computer through a radio frequency cable, and is powered by a radio frequency input end, and two paths of power supply are isolated so as to ensure that the normal work of an antenna and other channels cannot be influenced by any power supply fault; the satellite receiver is used for realizing analysis of satellite signals, sending the satellite signals to the navigation module through the IO interface to complete signal fusion processing, and sending the analyzed satellite signals to the flight control computer through the RS232, and has a double backup function of the satellite signals.
Optionally, the device further includes a power module, the power module is respectively connected to the data processing module, the signal acquisition module, the interface module and the satellite module, and the power module includes an overvoltage and undervoltage protection circuit, an EMI filter circuit and a DC/DC conversion circuit. The overvoltage and undervoltage protection circuit has the functions of input voltage filtering and pre-voltage stabilization and is used for protecting inertial navigation from the influence of large-range voltage fluctuation of an external airborne power supply; the EMI filter circuit is used for reducing clutter consumption of interference signals generated by an external airborne power supply and reducing electromagnetic interference; the DC/DC conversion circuit has the functions of isolating voltage conversion and output voltage filtering, can convert a +28V external airborne power supply into isolated +/-5V and +/-15V secondary power supplies, and provides a working power supply for a triaxial fiber-optic gyroscope, a triaxial MEMS gyroscope, a triaxial quartz adding meter, a triaxial MEMS adding meter, a temperature sensor, a satellite module, an interface module and a navigation module.
It will be understood by those skilled in the art that the foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the invention to the particular forms disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. A six-axis optical fiber inertial navigation redundancy device for an unmanned aerial vehicle is characterized by comprising a data processing module, a signal acquisition module, an interface module, a three-axis MEMS gyroscope, a three-axis MEMS accelerometer, a temperature sensor and a satellite module, wherein,
the signal acquisition module is connected with the data processing module electricity, interface module includes first SPI interface, second SPI interface, third SPI interface, RS422 interface, first IO interface and second IO interface, temperature sensor is connected with signal acquisition module through first SPI interface, the triaxial MEMS top is connected with signal acquisition module through the second SPI interface, triaxial MEMS adds the table and is connected with signal acquisition module through the third SPI interface, and the last triaxial fiber optic gyro of unmanned aerial vehicle passes through the RS422 interface and is connected with signal acquisition module, and the last triaxial quartz of unmanned aerial vehicle adds the table and is connected with signal acquisition module through first IO interface, and the satellite module passes through the second IO interface and is connected with signal acquisition module.
2. The six-axis fiber optic inertial navigation redundancy device for unmanned aerial vehicles according to claim 1, wherein the three-axis quartz plus gauge on the unmanned aerial vehicle is connected with the interface module through a V/F module.
3. The six-axis fiber optic inertial navigation redundancy device for unmanned aerial vehicles according to claim 1, wherein the data processing module is implemented by using a DSP chip and the signal acquisition module is implemented by using an FPGA chip.
4. The six-axis optical fiber inertial navigation redundancy device for the unmanned aerial vehicle of claim 3, wherein the data processing module and the signal acquisition module are connected through an EMIF bus.
5. The six-axis fiber optic inertial navigation redundancy device for unmanned aerial vehicles according to claim 1, wherein the interface module further comprises an external interface connecting a test instrument and/or an external flying pipe computer.
6. The six-axis fiber optic inertial navigation redundancy device for unmanned aerial vehicles according to claim 1, wherein the satellite module comprises a satellite receiver, a satellite power divider, a main antenna and an auxiliary antenna, wherein the satellite receiver is respectively connected to the second IO interface, the satellite power divider and the main antenna, and the satellite power divider is respectively connected to the auxiliary antenna and the external flying pipe computer.
7. The six-axis fiber optic inertial navigation redundancy device for unmanned aerial vehicles according to claim 1, wherein the device further comprises a power module, the power module is respectively connected with the data processing module, the signal acquisition module, the interface module and the satellite module, and the power module comprises an overvoltage and undervoltage protection circuit, an EMI filter circuit and a DC/DC conversion circuit.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114935343A (en) * | 2022-04-27 | 2022-08-23 | 北京开拓航宇导控科技有限公司 | Low-cost redundancy design method for micro-electromechanical double-shaft gyroscope combination |
| WO2023142793A1 (en) * | 2022-01-26 | 2023-08-03 | 中国第一汽车股份有限公司 | Navigation module and automobile |
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2020
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023142793A1 (en) * | 2022-01-26 | 2023-08-03 | 中国第一汽车股份有限公司 | Navigation module and automobile |
| CN114935343A (en) * | 2022-04-27 | 2022-08-23 | 北京开拓航宇导控科技有限公司 | Low-cost redundancy design method for micro-electromechanical double-shaft gyroscope combination |
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