CN213455501U - Flexible gyroscope-based strapdown inertial navigation system - Google Patents

Abstract

The utility model relates to a strap-down inertial navigation system based on a flexible gyroscope, which comprises a case, wherein an electrical connector used for external connection is arranged on the case, an IMU assembly is arranged in the case, the IMU assembly is electrically connected with a mother board, the mother board is electrically connected with the electrical connector, and a power panel, a fault detection board and a data processing module are connected on the mother board; the motherboard is the annular outside of enclosing the IMU subassembly, data processing module includes force feedback circuit board and AD data acquisition converter plate, and force feedback circuit board, AD data acquisition converter plate, fault detection board and power strip set up and all be vertical grafting on the motherboard in IMU subassembly circumference interval. The utility model discloses with each circuit board circumference interval arrangement around the IMU subassembly, enclose the IMU subassembly in the centre, can practice thrift the space effectively, make the overall arrangement compact, reduce the volume and subtract heavy, do benefit to the heat dissipation of each circuit board, need not attach the radiator again on the circuit board, good structural arrangement and thermal diffusivity can make system temperature performance more excellent, the interference killing feature is stronger.

Description

Flexible gyroscope-based strapdown inertial navigation system

Technical Field

The utility model belongs to the technical field of navigation among the physical measurement, concretely relates to strap-down is used to lead system based on flexible top.

Background

The inertial navigation system is a main navigation device applied to various navigation bodies, and can provide accurate attitude and various navigation information, such as the navigation system provided by CN 111811537A. The inertial navigation system can be divided into two categories, namely a platform type inertial navigation system and a strapdown type inertial navigation system according to the existence of a non-electromechanical entity platform in the system.

Most of the existing marine navigation systems adopt mechanical platform compasses, and the platform compass systems have the problems of complex structure, large volume, heavy weight, high price, difficulty in further improvement of reliability and the like.

The strapdown inertial navigation system omits a complex electromechanical entity platform, such as that disclosed in CN103248364A, and adopts a so-called 'mathematical platform'. The inertial instrument in the strapdown inertial navigation system is directly and fixedly connected with the carrier, has the outstanding advantages of small volume, light weight, compact structure, low power consumption, high reliability and the like, and gradually replaces a platform type inertial navigation system.

Gyroscopes are measurement devices that sense the angular movement of a moving body relative to an inertial space and are used in many fields. The flexible gyroscope is a novel two-freedom gyroscope which is characterized in that a flexible scale is used for suspending a gyroscope rotor, the gyroscope rotor is separated from a driving motor, the elastic rigidity of a flexible support is compensated by a dynamic effect generated by the support, and the flexible gyroscope has the advantages of simple structure, few parts, small volume, light weight, high reliability, low power consumption, low cost and the like, and can refer to CN 202304840U. Based on the above advantages of the flexible gyroscope, it has a space for development in the aspect of a strapdown inertial navigation system. The existing inertial navigation systems or devices, as disclosed in CN201116875Y and CN203704939U, have scattered structural layouts and are not compact enough, which results in inconvenience in assembly and maintenance, large volume and poor heat dissipation performance, and some inertial navigation systems or devices also need to add a heat sink to further increase the volume and limit the use of the inertial navigation systems or devices on a carrier.

Disclosure of Invention

The above is not enough to prior art, the to-be-solved technical problem of the utility model is to provide a strap-down formula is used to lead system based on flexible top, avoids the not compact, the great problem of volume of overall structure overall arrangement, gains and reduces the volume, does benefit to the heat dissipation, is convenient for assemble and maintenance, effect reliable in utilization.

In order to solve the technical problem, the utility model adopts the following technical scheme:

the strapdown inertial navigation system based on the flexible gyroscope comprises a case, wherein an electric connector used for external connection is arranged on the case, an IMU assembly and a motherboard are installed in the case, the IMU assembly is electrically connected with the motherboard, the motherboard is electrically connected with the electric connector, and a power panel, a fault detection board and a data processing module are connected to the motherboard; the motherboard is annularly surrounded on the outer side of the IMU assembly, the data processing module comprises a force feedback circuit board and an analog/digital (A/D) data acquisition and conversion board, and the force feedback circuit board, the A/D data acquisition and conversion board, the fault detection board and the power board are arranged at intervals in the circumferential direction of the IMU assembly and are vertically inserted on the motherboard.

The technical scheme is further perfected, the case is rectangular, the force feedback circuit board, the A/D data acquisition conversion board, the fault detection board and the power board respectively correspond to the four side vertical plates of the case and are located on the inner sides of the corresponding side vertical plates, and the IMU components are surrounded by the force feedback circuit board, the A/D data acquisition conversion board, the fault detection board and the power board.

Further, the machine case includes bed plate, top shrouding and four side riser, the upper surface middle part of bed plate upwards the arch be equipped with the annular installation boss of round, the IMU subassembly can dismantle the connection be in on the installation boss, the bed plate is along upwards the arch be equipped with the installation lateral wall of round rectangle all around, the mother board is connected in the inboard of installation lateral wall.

Further, the top sealing plate and the four side vertical plates are integrated into an integrated upper cover body, the upper cover body is detachably buckled and connected to the upper surface of the installation side wall, and the side vertical plates correspond to the installation side walls of the corresponding sides.

Further, the electrical connector is disposed on the mounting sidewall.

Furthermore, a plurality of mounting lugs are arranged on the outer side surface of the mounting side wall in an outward protruding mode.

Furthermore, the annular mounting boss of the circle is provided with at least one lateral through part which is formed into a wire passing groove.

Furthermore, four angular positions of the inner wall of the rectangular mounting side wall of the circle are respectively provided with a connecting part in an inward protruding manner; the motherboard comprises four splicing bottom plates which are arranged in a disjunction mode, and one splicing bottom plate is correspondingly connected between two adjacent connecting parts so that the four splicing bottom plates are annularly arranged on the outer side of the IMU assembly in an enclosing mode; the force feedback circuit board, the A/D data acquisition conversion board, the fault detection board and the power board are correspondingly inserted on an insertion base plate respectively.

Furthermore, the connecting part comprises a first step part in a step shape and a second step part positioned on the first step part, and the end part of the plug-in bottom plate is detachably connected to the upper surface of the first step part of the corresponding end; and two ends of the force feedback circuit board, the A/D data acquisition conversion board, the fault detection board and the power board are correspondingly inserted into the circuit board measuring slots of the circuit board measuring and inserting support at the corresponding ends respectively.

Furthermore, the upper edges of the force feedback circuit board, the A/D data acquisition conversion board, the fault detection board and the power supply board are respectively provided with a pressing board in a pressing mode, the pressing boards are long strips extending along the corresponding upper edges, the cross sections of the pressing boards are inverted U-shaped and are downwards clamped on the corresponding upper edges through the opening ends, and the two ends of each pressing board are detachably connected to the upper surface of the circuit board side inserting support at the corresponding end.

Compared with the prior art, the utility model discloses following beneficial effect has:

1. the utility model discloses a strap-down inertial navigation system based on flexible top, structurally carried out the optimal design, with each circuit board circumference interval arrangement around the IMU subassembly, enclose the IMU subassembly in the middle, can practice thrift the space effectively, make the overall arrangement compact, reduce the volume of quick-witted case, do benefit to and subtract heavy, do benefit to the heat dissipation of each circuit board, do not need to attach the radiator again on the circuit board, further reduce the volume of system; the good structural arrangement and heat dissipation also make the temperature performance of the system more excellent, the interference killing feature is stronger.

2. The utility model discloses a strap-down inertial navigation system based on flexible top adopts the modularized design, and the maintenance of the assembly of being convenient for and later stage has simplified system production processing and assembly process, improves the reliability and the maintainability of system.

Drawings

FIG. 1 is a schematic structural diagram (exploded view) of a flexible gyro-based strapdown inertial navigation system according to an embodiment;

FIG. 2 is a schematic diagram of the construction of a base plate in an embodiment;

FIG. 3 is a schematic diagram of an IMU assembly in an exemplary embodiment;

FIG. 4 is a schematic structural diagram of an upper cover in an exemplary embodiment;

FIG. 5 is a schematic diagram of a PCB test socket rack in an embodiment;

FIG. 6 is a schematic view of the circuit board socket of FIG. 5 from another perspective (cross-section with hatching);

FIG. 7 is a schematic diagram of a platen in an exemplary embodiment;

FIG. 8 is a schematic view of the platen of FIG. 7 from another perspective (sectioned on the cross-sectional side);

FIG. 9 is a schematic illustration of a printed board that may be used to manufacture a circuit board;

FIG. 10 is a schematic view of a backplane that may be used to manufacture the patch backplane;

wherein, the base plate 1, the installation lug 11, the installation boss 12, the wire passing groove 13, the first step part 14, the second step part 15, the groove body 151, the installation side wall 16, the electric connector 161,

an upper cover body 2, a convex edge 21, a round hole 22, a conductive rubber strip 23, a side vertical plate 24, a top sealing plate 25,

the IMU component 3, a mounting support 31, a via hole 32, a quartz pendulum type flexible accelerometer 33, a two-degree-of-freedom dynamic adjustment flexible gyroscope 34,

a circuit board side inserting bracket 4, a circuit board side inserting groove 44, a lower inner circular hole 41, an inner side sinking platform 42, a side inner threaded hole 43, a top inner threaded hole 45, an outer side sinking platform 46, a lower outer circular hole 47,

a force feedback circuit board 5, an A/D data acquisition conversion board 6, a fault detection board 7, a power supply board 8,

a force feedback circuit board base plate 51, an A/D data acquisition conversion board base plate 61, a fault detection board base plate 71, a power supply board base plate 81,

a pressure plate 9, a flange surface 91, a through hole 92, an opening end 93,

an electric connector plug 101, a label 102, an electric connector socket 103 and a mounting hole 104.

Detailed Description

The following describes the present invention in further detail with reference to the accompanying drawings.

Referring to fig. 1, the flexible gyroscope-based strapdown inertial navigation system of the embodiment includes a chassis, where an electrical connector 161 for external connection is disposed on the chassis, an IMU assembly 3 (i.e., an inertial measurement assembly) and a motherboard are mounted in the chassis, the IMU assembly 3 is electrically connected to the motherboard, the motherboard is electrically connected to the electrical connector 161, and the motherboard is connected to a power board 8, a fault detection board 7 and a data processing module; the motherboard is annularly surrounded on the outer side of the IMU assembly 3, the data processing module comprises a force feedback circuit board 5 and an A/D data acquisition and conversion board 6, and the force feedback circuit board 5, the A/D data acquisition and conversion board 6, a fault detection board 7 and a power supply board 8 are arranged at intervals in the circumferential direction of the IMU assembly 3 and are vertically inserted on the motherboard.

The strapdown inertial navigation system based on the flexible gyroscope is structurally optimally designed, the circuit boards are circumferentially arranged around the IMU assemblies 3 at intervals, the IMU assemblies 3 are surrounded in the middle, the space can be effectively saved, the layout is compact, the size of a case is reduced, heat dissipation of the circuit boards is facilitated, a radiator does not need to be additionally arranged on the circuit boards, and the size of the system is further reduced.

The chassis is rectangular, the force feedback circuit board 5, the A/D data acquisition and conversion board 6, the fault detection board 7 and the power supply board 8 correspond to the four side vertical boards 24 of the chassis respectively and are located on the inner sides of the corresponding side vertical boards 24, and the IMU component 3 is surrounded by the force feedback circuit board 5, the A/D data acquisition and conversion board 6, the fault detection board 7 and the power supply board 8.

Therefore, the rectangular shape can comprehensively control the size and the heat dissipation effect in a better design state.

Referring to fig. 2, the chassis includes a base plate 1, a top sealing plate 25, and four side vertical plates 24, wherein a circle of annular mounting bosses 12 are provided in the middle of the upper surface of the base plate 1 in an upward protruding manner, the IMU assemblies 3 are detachably connected to the mounting bosses 12, a circle of rectangular mounting side walls 16 are provided in the peripheral edge of the base plate 1 in an upward protruding manner, and the motherboard is connected to the inner sides of the mounting side walls 16.

Therefore, the connection, wiring and heat dissipation of the IMU assembly 3 and the motherboard are facilitated, and the use reliability is ensured.

The IMU module 3 is a prior art, and referring to fig. 3, the IMU module 3 adopted in this embodiment is composed of two-degree-of-freedom dynamically tuned flexible gyroscopes 34 and three quartz pendulum flexible accelerometers 33, which are mounted on a mounting support 31 processed with high precision to ensure that the input axes of the three accelerometers are orthogonal in space, and the orthogonal coordinate system formed by the three accelerometers is parallel to the gyroscope coordinate system, and is connected to the internal threaded hole on the upper surface of the mounting boss 12 by passing a screw through a through hole 32 on the mounting support 31. When the flexible gyroscope works, the quartz pendulum flexible accelerometer 33 is on a ship body (carrier), the input shaft of the quartz pendulum flexible accelerometer 33 is consistent with the direction of the shaft to be measured, and the output of the accelerometer reflects the acceleration value of the ship body along the axial direction.

Please refer to fig. 4, wherein the top sealing plate 25 and the four side vertical plates 24 are integrated into an integrally formed upper cover 2, the upper cover 2 is detachably fastened to the upper surface of the mounting sidewall 16, and the side vertical plates 24 correspond to the mounting sidewall 16 on the corresponding side. Specifically, a circle of convex edge 21 is arranged around the lower surface of each side vertical plate 24, the lower surface of each side vertical plate 24 is connected with an internal thread hole on the upper surface of the mounting side wall 16 through a screw passing through round holes 22 at four corners of the convex edge 21, a conductive rubber strip 23 is also clamped between the lower surface of each side vertical plate 24 and the upper surface of the mounting side wall 16, a continuous circle of annular groove is formed in the lower surface of each side vertical plate 24, and the conductive rubber strip 23 falls into the annular groove; the conductive rubber strip 23 can achieve a good conductive sealing effect after connection.

Therefore, the assembly is convenient, all the parts are installed and connected on the plate-shaped base plate 1 and then buckled with the cover body 2; the maintenance and repair are convenient, the upper cover body 2 is opened, and all parts connected to the base plate 1 are clear at a glance, so that the maintenance is convenient to implement.

Referring to fig. 1 and fig. 2, a plurality of mounting lugs 11 are provided on the outer side of the mounting sidewall 16 in an outwardly protruding manner. The mounting lugs 11 are provided with vertical through holes for use when fixedly connected to a carrier.

Wherein, the annular mounting boss 12 of the circle is provided with at least one lateral through part which is formed into a wire passing groove 13; the electrical connectors 161 are provided on the mounting side walls 16.

Therefore, the wiring connection is convenient, and the power supply and the data transmission are guaranteed.

Wherein, four angular positions of the inner wall of the rectangular mounting side wall 16 of the circle are respectively provided with a connecting part in an inward protruding way; the motherboard comprises four splicing bottom plates which are arranged in a disjunction mode, and one splicing bottom plate is correspondingly connected between two adjacent connecting parts so that the four splicing bottom plates are annularly arranged on the outer side of the IMU component 3; the force feedback circuit board 5, the A/D data acquisition conversion board 6, the fault detection board 7 and the power supply board 8 are correspondingly inserted on an insertion base plate respectively. Specifically, the four plugging base plates, namely, the force feedback circuit board base plate 51, the a/D data acquisition and conversion board base plate 61, the fault detection board base plate 71, the power board base plate 81, the force feedback circuit board 5, the a/D data acquisition and conversion board 6, the fault detection board 7 and the power board 8, which are annularly enclosed outside the IMU module 3, are correspondingly and vertically plugged thereon.

With continued reference to fig. 5-8, the connecting portion includes a first step portion 14 in a step shape and a second step portion 15 located on the first step portion 14, and an end portion of the plug-in bottom plate is detachably connected to an upper surface of the first step portion 14 at a corresponding end; each second step portion 15 is provided with a vertical circuit board testing and inserting support 4, the circuit board testing and inserting support 4 is provided with two vertically-penetrating circuit board testing slots 44, and two ends of the force feedback circuit board 5, the A/D data acquisition conversion board 6, the fault detection board 7 and the power supply board 8 are correspondingly inserted into the circuit board testing slots 44 of the circuit board testing and inserting support 4 at the corresponding ends respectively. The second step portion 15 may also be provided with two slots 151 corresponding to the two circuit board slots 44 of the circuit board test socket 4 thereon, and the bottoms of the two ends of the force feedback circuit board 5, the a/D data acquisition conversion board 6, the fault detection board 7 and the power supply board 8 are respectively and correspondingly plugged into the slots 151 on the second step portion 15 at the corresponding ends.

Wherein, the upper edges of the force feedback circuit board 5, the A/D data acquisition conversion board 6, the fault detection board 7 and the power supply board 8 are respectively provided with a pressing plate 9, the pressing plate 9 is a strip shape extending along the corresponding upper edge, the cross section of the pressing plate 9 is in an inverted U shape and is downwards clamped on the corresponding upper edge through an opening end 93, and the two ends of the pressing plate 9 are respectively detachably connected on the upper surface of the circuit board measuring and inserting support 4 at the corresponding ends. Specifically, the two ends of the pressure plate 9 are connected with flange surfaces 91, and the pressure plate passes through holes 92 on the flange surfaces 91 through screws and is connected to the top surface inner threaded holes 45 on the upper surface of the circuit board side-mounting bracket 4. In the present embodiment, the upper surface of the second stepped portion 15 is flush with the upper surface of the mounting side wall 16. The circuit board is surveyed and is inserted support 4 and can dismantle the connection on second step portion 15, specifically, the interior lateral surface of circuit board is surveyed and is inserted support 4's the interior outside and is equipped with the heavy platform 42 of inboard and the heavy platform 46 in the outside respectively, and vertical lower inner circle hole 41 and the lower excircle hole 47 that run through are seted up to the lower inner wall of two heavy platforms, pass inner circle hole 41 and the internal thread hole that can be connected to on second step portion 15 down of excircle hole 47 through the screw respectively. The circuit board side socket support 4 is also provided with a plurality of side internal thread holes 43 for fixing the wiring.

Like this, having carried out the modularized design, being convenient for maintain the maintenance, only need demolish corresponding clamp plate 9, change corresponding circuit board and grafting bottom plate can. The use of the circuit board test-insertion support 4 can improve the installation stability of each circuit board and ensure the use reliability of the system.

The modular design allows for the use of standard printed boards and patch panels, such as the printed board with connector insert 101 shown in fig. 9 and 10, and the panel with label 102, connector receptacle 103 and mounting holes 104, which facilitates cost reduction.

When the gyroscope is used, the force feedback circuit board 5 is a servo loop circuit when the gyroscope works in a speed state, and the gyroscope is ensured to keep higher measurement accuracy in a wide dynamic range. And the force feedback circuit board completes electrical signal exchange with the gyroscope in the IMU assembly through a bottom plate of the force feedback circuit board. The current output by the force feedback loop and flowing through the gyroscope torquer reflects the angular speed of the gyroscope rotor tracking shell at the time, and in order to measure the angular speed, the current can be converted into a voltage quantity through a standard sampling resistor and then converted into a digital signal which can be received by a computer through an A/D conversion circuit for navigation and attitude calculation.

The A/D data acquisition conversion board 6 is used for converting the gyro-sensitive angular rate analog signal and the accelerometer-sensitive acceleration signal into digital signals. The A/D circuit can adopt a high-performance 16-bit single chip microcomputer to complete the coordination work of the whole acquisition system, namely, the functions of data processing, data transmission, data interface, control and the like are completed. Then converted into digital signals which can be received by a computer through an A/D conversion circuit for navigation and attitude calculation.

The fault detection plate 7 is used for detecting the working states of four paths of gyroscope signals, two paths of gyroscope motor power supplies and one path of gyroscope excitation power supply, and sending a fault alarm sign if a fault occurs.

The power panel 8 can convert a relatively uniform external direct current primary power supply into a required secondary power supply after DC/DC conversion, and generate an excitation power supply for the operation of the gyroscope and motor drive power supplies for the two gyroscopes (the two gyroscopes use separate motor power supplies respectively and share one excitation power supply). The primary power supply can be a switching power supply module, and the input of the primary power supply is ship electricity of 220V and 50 Hz.

Finally, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the present invention can be modified or replaced by other means without departing from the spirit and scope of the present invention, which should be construed as limited only by the appended claims.

Claims (10)

1. The strapdown inertial navigation system based on the flexible gyroscope comprises a case, wherein an electric connector used for external connection is arranged on the case, an IMU assembly and a motherboard are installed in the case, the IMU assembly is electrically connected with the motherboard, the motherboard is electrically connected with the electric connector, and a power panel, a fault detection board and a data processing module are connected to the motherboard; the method is characterized in that: the motherboard is annularly surrounded on the outer side of the IMU assembly, the data processing module comprises a force feedback circuit board and an analog/digital (A/D) data acquisition and conversion board, and the force feedback circuit board, the A/D data acquisition and conversion board, the fault detection board and the power board are arranged at intervals in the circumferential direction of the IMU assembly and are vertically inserted on the motherboard.

2. The flexible gyroscope-based strapdown inertial navigation system of claim 1, wherein: the machine case is rectangular, the force feedback circuit board, the A/D data acquisition conversion board, the fault detection board and the power board respectively correspond to the four side vertical plates of the machine case and are located on the inner sides of the corresponding side vertical plates, and the IMU assembly is surrounded by the force feedback circuit board, the A/D data acquisition conversion board, the fault detection board and the power board.

3. The flexible gyroscope-based strapdown inertial navigation system of claim 2, wherein: the machine case comprises a base plate, a top sealing plate and four side vertical plates, wherein a circle of annular mounting boss is arranged in the middle of the upper surface of the base plate in an upwards protruding mode, the IMU assembly is detachably connected onto the mounting boss, a circle of rectangular mounting side wall is arranged on the periphery of the base plate in an upwards protruding mode, and the mother plate is connected to the inner side of the mounting side wall.

4. The flexible gyroscope-based strapdown inertial navigation system of claim 3, wherein: the integrated into one piece's of top shrouding and four side riser upper cover body, the lock can be dismantled to the upper cover body and connect in the upper surface of installation lateral wall, and the side riser corresponds with the installation lateral wall that corresponds the side.

5. The flexible gyroscope-based strapdown inertial navigation system of claim 3, wherein: the electrical connector is disposed on the mounting sidewall.

6. The flexible gyroscope-based strapdown inertial navigation system of claim 3, wherein: the outer side surface of the mounting side wall is provided with a plurality of mounting lugs in an outward protruding mode.

7. The flexible gyroscope-based strapdown inertial navigation system of claim 3, wherein: the annular mounting boss of the circle is provided with at least one lateral through part which is formed into a wire passing groove.

8. The flexible gyroscope-based strapdown inertial navigation system of claim 3, wherein: four angular positions of the inner wall of the rectangular mounting side wall of the circle are respectively provided with a connecting part in an inward protruding manner;

the motherboard comprises four splicing bottom plates which are arranged in a disjunction mode, and one splicing bottom plate is correspondingly connected between two adjacent connecting parts so that the four splicing bottom plates are annularly arranged on the outer side of the IMU assembly in an enclosing mode; the force feedback circuit board, the A/D data acquisition conversion board, the fault detection board and the power board are correspondingly inserted on an insertion base plate respectively.

9. The flexible gyroscope-based strapdown inertial navigation system of claim 8, wherein: the connecting part comprises a first step part in a step shape and a second step part positioned on the first step part, and the end part of the inserting base plate is detachably connected to the upper surface of the first step part of the corresponding end;

and two ends of the force feedback circuit board, the A/D data acquisition conversion board, the fault detection board and the power board are correspondingly inserted into the circuit board measuring slots of the circuit board measuring and inserting support at the corresponding ends respectively.

10. The flexible gyroscope-based strapdown inertial navigation system of claim 9, wherein: the upper edges of the force feedback circuit board, the A/D data acquisition conversion board, the fault detection board and the power board are respectively provided with a pressing plate in a pressing mode, the pressing plates are long strips extending along the corresponding upper edges, the cross sections of the pressing plates are inverted U-shaped and are downwards clamped on the corresponding upper edges through opening ends, and the two ends of each pressing plate are detachably connected to the upper surface of the circuit board measuring and inserting support at the corresponding end.

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