CN215867595U - Aircraft attitude collector - Google Patents

Abstract

An aircraft attitude acquisition device comprises a shell, wherein an external communication board, a core system board and an inertia measurement board are sequentially arranged in the shell from top to bottom; the external communication board is provided with an external connector; the external communication board is connected with the core system board; the core system board is electrically connected with the inertia measurement board; the 12-port pin header is connected with the adapter plate; the 12-port pin header female head is connected with the 12-port pin header male head; the 12-port pin header is connected with the core processor; data are transmitted to the data processing unit through the RS-232 serial communication interface, and real-time communication between the core processor and the upper computer is realized through the serial port; the utility model does not need an external expansion chip, has simple and easily operated circuit components, greatly simplifies the system design, has low cost, not only ensures lower design cost, but also ensures the reliability and accuracy of data acquisition.

Description

Aircraft attitude collector

Technical Field

The utility model belongs to the technical field of aircrafts, and particularly relates to an aircraft attitude collector which is specially used for collecting attitude information of a small fixed-wing aircraft.

Background

With the rapid development of computers and artificial intelligence technologies, various unmanned aerial vehicles, unmanned vehicles and intelligent robots have higher and higher living frequency. Meanwhile, the attitude measurement technology is also challenged more seriously. The accurate measurement of aircraft attitude information plays crucial effect to the aircraft, if data acquisition goes wrong, the aircraft will lose attitude information to take place to fall. Therefore, in order to bring convenience to subsequent data processing and data resolving, the utility model of a design special for aircraft data acquisition is particularly important. Mainly to the aircraft length less than or equal to one meter four, the span is about two meters, and empty weight is within 20 kilograms, and load weight is within 5 kilograms to the unmanned aerial vehicle of time of endurance no longer than two hours, fixed wing aircraft can't load great load because self volume is not big. The conventional attitude collector is large in size, low in collection efficiency and poor in stability, and is not friendly to a small fixed-wing aircraft. Therefore, aiming at the defects, the utility model provides the data acquisition device specially for the KDY-5E type small-sized fixed wing unmanned aerial vehicle.

In recent years, small fixed-wing aircrafts have received much attention due to their advantages of simple structure, low cost, high maneuverability, etc. Especially, the development is rapid in the fields of military use, scientific research, civil use and the like. Therefore, the real-time and efficient acquisition of the data of the inertial sensor is of great significance to subsequent navigation research and development and data processing.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects of the prior art, the utility model aims to provide an aircraft attitude acquisition device which has the characteristics of stable information acquisition and high-efficiency transmission.

In order to achieve the purpose, the utility model adopts the technical scheme that: an aircraft attitude acquisition device comprises a shell, wherein an external communication board, a core system board and an inertia measurement board are sequentially arranged in the shell from top to bottom; the external communication board is provided with an external connector; the external communication board 1 is connected with the core system board 2; the core system board is electrically connected with the inertia measurement board; the 12-port pin header is connected with the adapter plate; the 12-port pin header female head is connected with the 12-port pin header male head; the 12-port pin header is connected with the core processor; the power supply circuit is respectively connected with a +5V direct-current power supply through a VINDCC 1 pin, a VINDCC 2 pin, a VINDCC 3 pin and a VDD pin, and the VDCDC1 pin outputs 3.3V through high level; the power supply circuit is connected with a VCC pin of the core processor; the four-pin leads out a VCC pin, a GND pin, an RXD pin and a TXD pin of the core processor in sequence; the 2-RXD pin of the miniature DB9 interface is connected with the RXD pin of the four-pin; the 3-TXD pin of the mini DB9 interface is connected with the TXD pin of the four-pin, and the 5-GND pin of the mini DB9 interface is connected with the GND pin of the four-pin.

The core system board is powered by an independent direct current power supply and is connected with a capacitor filter to extend to the power circuit.

The core system board and the inertia measurement board are connected in a bayonet manner through 12-pin double-row male and female heads.

The 12-port pin header is formed by double-in-line symmetrical arrangement; the left side of the 12-port pin header is sequentially provided with a pin 1, a pin 3, a pin 5, a pin 7, a pin 9 and a pin 11 from top to bottom, and the right side is sequentially provided with a pin 2, a pin 4, a pin 6, a pin 8, a pin 10 and a pin 12 from top to bottom; the 1 pin-12 pin is respectively connected with a VCC pin, a GND pin, an IO1 pin, an IO2 pin, an IO3 pin, an IO4 pin, an IN pin, an OUT pin, a CLK pin, a CS pin, a RST pin and an RTC pin on the adapter board IN sequence.

The 12-port pin array male head is formed by symmetrically arranging double-in-line pin array male heads corresponding to the female head;

the left side of the 12-port pin header is sequentially provided with an A1 pin, an A3 pin, an A5 pin, an A7 pin, an A9 pin and an A11 pin from top to bottom, and the right side is sequentially provided with an A2 pin, an A4 pin, an A6 pin, an A8 pin, an A10 pin and an A12 pin from top to bottom, wherein the pins A1 to A12 are respectively connected with a VCC pin, a GND pin, an IRQ pin, an IO2 pin, an RXD pin, a TXD pin, a MISO pin, a MOSI pin, an NSS pin, a CLK pin, an RTC pin and a RST pin of the core processor.

The power supply circuit adopts a power supply conversion chip TPS650250 RHBR.

The core processor adopts a STM32F103 processor; the core processor comprises a VCC pin, a RST pin, an OSC _ IN pin and an OSC _ OUT pin, wherein the OSC _ IN pin and the OSC _ OUT pin are respectively connected into a10 k resistor and connected with the GND pin IN a flying wire mode; a pin VDCDC1 supplies power for 3.3VLDO, and a 0.01 microfarad decoupling capacitor is added before power supply; the RST pin is connected with GND to be selected as low level reset; selecting an internal clock by the clock; selecting a JTAG mode by the debugging interface;

the VCC pin of the core processor is connected with the A1 pin of the 12-port pin header, the GND pin is connected with the A2 pin of the 12-port pin header, the IRQ pin is connected with the A3 pin of the 12-port pin header, the RXD pin is connected with the A5 pin of the 12-port pin header, the TXD pin is connected with the A6 pin of the 12-port pin header, the MISO pin is connected with the A7 pin of the 12-port pin header, the MOSI pin is connected with the A8 pin of the 12-port pin header, the NSS pin is connected with the A9 pin of the 12-port pin header, the CLK pin is connected with the A10 pin of the 12-port pin header, the RTC pin is connected with the A11 pin of the 12-port pin header, and the RST pin is connected with the A12 pin of the 12-port pin header.

The miniature DB9 interface adopts standard RS-232 connection socket, and the model is J30J-9 TJL.

The utility model has the beneficial effects that:

compared with the prior art, the utility model comprises a shell, an internal integrated three-layer structure, and all the layers of structures (an external communication board, a core system board and an inertia measurement board) which are connected through 12 pins. The core system board is provided with an independent power interface. Further, the layers are in work sharing cooperation and do not interfere with each other, and the layers are connected in a bayonet type through 12-pin pins, so that errors caused by connection of wires are avoided.

The posture collector is cuboid in appearance, the DB9 miniature socket is led out from the front face, the installation and operation are simple and easy, and the design structure is matched with the structure of an aircraft. The three-layer overlapping structure is adopted in the original sealing shell, so that the space required by the appearance structure is greatly reduced, and the temperature difference caused by the temperature rise of the chip working for a long time can be effectively reduced. The independent power supply core system board is powered by an independent direct current power supply, and is connected with a capacitor filter and extends to a power circuit to enable the amplitude of output voltage to be stable within a certain range. The shell is connected with the bottom plate through the nut, the interior of the shell is conveniently checked, all layers are connected through the nut, the plugging and the unplugging are convenient, and the dismounting and the mounting are easy and convenient.

The utility model does not need an external expansion chip, has simple and easily operated circuit components, greatly simplifies the system design, has low cost, not only ensures lower design cost, but also ensures the reliability and accuracy of data acquisition. And the requirement of navigation and positioning is met.

The utility model is mainly used for collecting the sensor data of the three-axis gyroscope, the three-axis accelerometer and the three-axis magnetometer integrated by the inertial sensor module.

Drawings

Fig. 1 is a schematic diagram of the structure of the present invention.

Fig. 2 is a schematic view of an inertia measurement plate according to the present invention.

FIG. 3 is a schematic diagram of a core system board according to the present invention.

Fig. 4 is a schematic diagram of an external communication board according to the present invention.

Fig. 5 is a schematic view of the connection between the female head of the 12-port pin header and the adapter plate according to the present invention.

Fig. 6 is a schematic view of the connection between the 12-pin header and the core system board according to the present invention.

Detailed Description

The structural and operational principles of the present invention are explained in further detail below with reference to the accompanying drawings and examples.

The utility model is specially used for a small aircraft attitude collector (a collector based on an inertial sensor module ADIS16488 data collection system), and adopts a three-layer stacked structure, wherein the bottommost layer is an inertial measurement board, the middle layer is a core system board, and the topmost layer is an external communication board. And finally, the data are sent to an upper computer through RS-232 connection for data display.

The utility model mainly comprises a core system board, an inertia measurement board and an external communication board. The design mainly comprises power supply circuit design, reset circuit design, communication module design and peripheral module interface design.

And data are transmitted to the data processing unit through the RS-232 serial communication interface, and finally, the real-time communication between the core processor and the upper computer is realized through the serial port.

Referring to fig. 1-4, an aircraft attitude acquisition device comprises a shell 5, wherein an external communication board 1, a core system board 2 and an inertia measurement board 3 are sequentially arranged in the shell 5 from top to bottom; an external connector 4 is arranged on the external communication board 1; the external communication board 1 is connected with the core system board 2; the core system board 2 is electrically connected with the inertia measurement board 3; the 12-port pin header 6 is connected with the adapter plate; the 12-port female pin header 6 is connected with the 12-port male pin header 7; the 12-port pin header 7 is connected with the core processor 9; the power supply circuit 8 is respectively connected with a +5V direct-current power supply through a VINDCC 1 pin, a VINDCC 2 pin, a VINDCC 3 pin and a VDD pin, and the VDCDC1 pin outputs 3.3V through high level; the power supply circuit 8 is connected with a VCC pin of the core processor 9; the four-pin 11 leads out a VCC pin, a GND pin, an RXD pin and a TXD pin of the core processor 9 in sequence; the 2-RXD pin of the miniature DB9 interface 10 is connected with the RXD pin of the four-pin 11; the 3-TXD pin of the mini DB9 interface 10 is connected to the TXD pin of the four pin 11, and the 5-GND pin of the mini DB9 interface 10 is connected to the GND pin of the four pin 11.

The core system board 2 is powered by an independent direct current power supply, and is connected with a capacitor filter and extends to the power circuit 8, so that the amplitude of the output voltage is stabilized within a certain range.

The core system board 2 and the inertia measurement board 3 are connected in a bayonet manner through 12-pin double-row male and female heads.

The three-layer superposed structure is connected by using screw supports at the vertexes of all layers, and particularly, the four vertexes of the plate (namely the external communication plate 1, the core system plate 2 and the inertia measurement plate 3) of each layer of structure are provided with screw holes, and after the three layers of plate are installed and fixed, the four vertexes are connected by using long screws, so that the three layers of plate are only fixed.

Referring first to fig. 1, the general idea is to connect the inertial sensor ADIS16488 to the corresponding pin of the fixed baseplate inertial measurement board. Only the corresponding adapter plate needs to be accessed. The actual pins are then converted into 12 pin double row sockets designed into the inertia measurement board. The 12 pin dual row pins of the second tier core system board are then bayonet connected to the sockets of the first tier.

The female head 6 of the 12-port row needle is formed by double-in-line symmetrical arrangement;

the left side of the 12-port pin header 6 is sequentially provided with a pin 1, a pin 3, a pin 5, a pin 7, a pin 9 and a pin 11 from top to bottom, and the right side is sequentially provided with a pin 2, a pin 4, a pin 6, a pin 8, a pin 10 and a pin 12 from top to bottom; the 1 pin-12 pin is respectively connected with a VCC pin, a GND pin, an IO1 pin, an IO2 pin, an IO3 pin, an IO4 pin, an IN pin, an OUT pin, a CLK pin, a CS pin, a RST pin and an RTC pin on the adapter board IN sequence.

Referring to fig. 5, pins 1 to 12 of the female header 6 of the 12-port pin header are respectively connected to a VCC pin, a GND pin, an IO1 pin, an IO2 pin, an IO3 pin, an IO4 pin, an IN pin, an OUT pin, a CLK pin, a CS pin, a RST pin, and an RTC pin on the interposer IN sequence.

VCC of the inertia measurement board is connected with VCC of the core system board, GND is connected with GND, IRQ is connected with an IO1 pin, OUT is connected with MISO, IN is connected with MOSI, CS is connected with NSS, and CLK is connected with CLK.

The core system board 2 and the external communication board 1 are connected integrally by leading out four wires, namely an RXD pin of the core system board is connected with an RXD pin of the standard RS-232 micro-rectangular DB 9. The TXD pin of the core system board is connected to the TXD pin of DB9, which is connected to VCC and GND. Finally, the data display is carried out by connecting the data storage device with a PC through a DB9 outside the shell.

The 12-port pin array male head 7 is formed by symmetrically arranging double-in-line pin male heads corresponding to the female heads;

the 12-port pin header 7 is provided with an A1 pin, an A3 pin, an A5 pin, an A7 pin, an A9 pin and an A11 pin from top to bottom on the left side, and is provided with an A2 pin, an A4 pin, an A6 pin, an A8 pin, an A10 pin and an A12 pin from top to bottom on the right side, wherein the pins A1 to A12 are respectively connected with a VCC pin, a GND pin, an IRQ pin, an IO2 pin, an RXD pin, a TXD pin, a MISO pin, a MOSI pin, an NSS pin, a CLK pin, an RTC pin and a RST pin of the core processor 9.

The power circuit 8 adopts a power conversion chip TPS650250 RHBR.

The core processor 9 adopts a processor of STM32F103 model; the core processor 9 comprises a VCC pin, a RST pin, an OSC _ IN pin and an OSC _ OUT pin, wherein the OSC _ IN pin and the OSC _ OUT pin are respectively connected to a10 k resistor and a GND pin IN a flying wire mode; a pin VDCDC1 supplies power for 3.3VLDO, and a 0.01 microfarad decoupling capacitor is added before power supply; the RST pin is connected with GND to be selected as low level reset; selecting an internal clock by the clock; selecting a JTAG mode by the debugging interface;

the VCC pin of the core processor 9 is connected with the A1 pin of the 12-port pin header 7, the GND pin is connected with the A2 pin of the 12-port pin header 7, the IRQ pin is connected with the A3 pin of the 12-port pin header 7, the RXD pin is connected with the A5 pin of the 12-port pin header 7, the TXD pin is connected with the A6 pin of the 12-port pin header 7, the MISO pin is connected with the A7 pin of the 12-port pin header 7, the MOSI pin is connected with the A8 pin of the 12-port pin header 7, the NSS pin is connected with the A9 pin of the 12-port pin header 7, the CLK pin is connected with the A10 pin of the 12-port pin header 7, the RTC pin is connected with the A11 pin of the 12-port pin header 7, and the RST pin is connected with the A12 pin of the 12-port pin header 7.

The miniature DB9 interface 10 adopts a standard RS-232 connection socket, and the model is J30J-9 TJL.

The working principle of the utility model is as follows:

the installation sequence from bottom to top is inertia measurement board, core system board, external communication board at first, once connects the three according to corresponding interface. According to the design of the inertia plate, a 12-pin female head dual-in-line female head is opened at the left end of the inertia plate, the pin of the female head dual-in-line female head corresponds to the pin of the ADIS16488A, and the work of the core system plate can be completed only by loading the ADIS16488 on the adapter plate and fixing the adapter plate by using corresponding bolts.

Next, according to fig. 3, a12 pin male dual in-line pin type socket is opened at the left end of the core system board corresponding to the design of fig. 2. The second layer of core system board is connected with the first layer of inertia measurement board 12 pin male and female heads in a bayonet mode. Namely, the transition from the inertial measurement unit to the core processing board is completed, and processor pins VCC, GND, IO2, IRQ, RXD, TXD, MISO, MOSI, NSS, CLK, RTC and RST in the core processing board correspond to 12 pins opened by the core processing board from bottom to top one by one from left to right. And screwing the connected core system plates to corresponding bolts for fixing.

Referring to fig. 4 and 3, the core processor 9 leads VCC, GND, RXD and TXD out by flying wires. A single-column four-pin 11 is opened on the right side of the external communication board in fig. 4, and four led-out wires sequentially correspond to the newly opened pin in fig. 4. VCC, GND, RXD, TXD, respectively. The left side of the external communication board is embedded with a DB9

The miniature DB9 interface 10 employs a standard RS-232 nine-pin interface. By connecting the internal pins 2-RXD of the DB9 socket; pin 3-TXD; and the pins 5-GND are correspondingly connected with the single-row pins on the right side respectively. Namely, the right GND pin is connected with the left 5GND pin; the right RXD pin is connected with the left 5RXD pin; the right TXD pin is connected to the left 3TXD pin. The VCC pin is separately connected to a DC power supply.

And each layer is fixed by bolts, and finally, the shell is covered to be integrally installed. Fix on four sides, finally only need to connect the external connector on the shell body with the PC and link to each other can accomplish gesture data acquisition work.

The general scheme of the aircraft attitude collector hardware design is as follows: the core system board 2 is used as a system core control device, the core system board 2 and the inertia measurement board 3 are subjected to data transmission through an SPI communication protocol, in an SPI communication mode, the core system board 2 is used as a main device, the inertia measurement board is used as a slave device, the measurement data of the inertia device are collected in real time, the data are sent to a PC end in an asynchronous communication mode through an RS232 serial port, and the collected data are displayed and stored in real time.

When the working is started, the inertia measurement plate 3 is automatically started after being electrified, the related initialization function is completed, then the sensor starts sampling and processing, the calibrated inertia sensor data is transmitted into the output memory, and then the data can be accessed through the SPI port. This attitude collector system SPI port is connected to the compatible port of core system board 2. The host NSS pin is used for selecting a slave, the IO1 pin of the inertia measurement board 3 is connected to the interrupt request IRQ pin of the core system board 2, and when new data is available in the output data register, the pin is changed into low level to remind the core system board 2 of data acquisition. The master computer (the master computer is the core system board 2, the slave computer is the inertia measurement board 3, and the master computer and the slave computer are another description of the relation between the master computer and the slave computer) provides a serial clock signal to the slave computer through an SCLK pin, wherein an MOSI pin is used as a master output pin, and a MISO pin is used as a slave output pin. And storing the acquired sensor data in an on-chip FLASH. After the connection of the related hardware is completed, the host processor needs to be configured to realize the SPI communication, the serial port of the host processor is configured by using the built-in control register of the core system board 2, and according to the SPI communication protocol, the initialization program of the host processor (the host processor is the core processor 9, the core processor 9 is the master device, and the inertia system board 3 is the slave device) can write the related configuration into the serial control register thereof in a firmware command mode. The host-related configuration is: the inertia measurement plate 3 is set to the slave mode; the serial clock rate SCLK should be less than 15Mhz, set here to 9 Mhz. The SPI mode is set to be the mode 3, and the bit sequence is set to be the most significant bit sequence; the data length of the shift register is16 bits. And the core system board 2 stores the acquired sensor data in the on-chip FLASH. When the core system board 2 receives the data request, the data is sent to the PC end for display through the RS232 interface of the external communication board 1, and is converted into a TXT format for storage.

Claims (8)

1. An aircraft attitude acquisition device comprises a shell (5), wherein an external communication board (1), a core system board (2) and an inertia measurement board (3) are sequentially arranged in the shell (5) from top to bottom; an external connector (4) is arranged on the external communication board (1); the external communication board (1) is connected with the core system board (2); the core system board (2) is electrically connected with the inertia measurement board (3); the 12-port pin header (6) is connected with the adapter plate; the 12-port needle arrangement female head (6) is connected with the 12-port needle arrangement male head (7); the 12-port pin header (7) is connected with the core processor (9); the power supply circuit (8) is respectively connected with a +5V direct-current power supply through a VINDCC 1 pin, a VINDCC 2 pin, a VINDCC 3 pin and a VDD pin, and the VDCDC1 pin outputs 3.3V through high level; the power supply circuit (8) is connected with a VCC pin of the core processor (9); a VCC pin, a GND pin, an RXD pin and a TXD pin of the core processor (9) are sequentially led out by the four-pin (11); the 2-RXD pin of the miniature DB9 interface (10) is connected with the RXD pin of the four-pin (11); the 3-TXD pin of the miniature DB9 interface (10) is connected with the TXD pin of the four-pin (11), and the 5-GND pin of the miniature DB9 interface (10) is connected with the GND pin of the four-pin (11).

2. The aircraft attitude acquisition device according to claim 1, wherein the core system board (2) is powered by an independent direct current power supply and is connected with a capacitive filter to extend to the power circuit (8).

3. The aircraft attitude collector according to claim 1, wherein the core system board (2) and the inertia measurement board (3) are in bayonet connection through 12-pin double-row male and female heads.

4. The aircraft attitude collector according to claim 1, wherein the female heads (6) of the 12-port row needles are symmetrically arranged in a dual-in-line manner;

the left side of the 12-port pin header (6) is sequentially provided with a pin 1, a pin 3, a pin 5, a pin 7, a pin 9 and a pin 11 from top to bottom, and the right side is sequentially provided with a pin 2, a pin 4, a pin 6, a pin 8, a pin 10 and a pin 12 from top to bottom; the 1 pin-12 pin is respectively connected with a VCC pin, a GND pin, an IO1 pin, an IO2 pin, an IO3 pin, an IO4 pin, an IN pin, an OUT pin, a CLK pin, a CS pin, a RST pin and an RTC pin on the adapter board IN sequence.

5. The aircraft attitude collector according to claim 1, wherein the 12-port pin-array male heads (7) are symmetrically arranged by adopting a dual-in-line pin male head corresponding to a female head;

the 12-port pin header (7) is provided with an A1 pin, an A3 pin, an A5 pin, an A7 pin, an A9 pin and an A11 pin from top to bottom on the left side, and is provided with an A2 pin, an A4 pin, an A6 pin, an A8 pin, an A10 pin and an A12 pin from top to bottom on the right side, wherein the A1 pin to the A12 pin are respectively connected with a VCC pin, a GND pin, an IRQ pin, an IO2 pin, an RXD pin, a TXD pin, a MISO pin, a MOSI pin, an NSS pin, a CLK pin, an RTC pin and a RST pin of a core processor (9).

6. The aircraft attitude collector according to claim 1, wherein the power supply circuit (8) adopts a power supply conversion chip TPS650250 RHBR.

7. An aircraft attitude harvester according to claim 1, characterized in that the core processor (9) is of the STM32F103 type; the core processor (9) comprises a VCC pin, a RST pin, an OSC _ IN pin and an OSC _ OUT pin, wherein the OSC _ IN pin and the OSC _ OUT pin are respectively connected into a10 k resistor and connected with a GND pin IN a flying wire mode; a pin VDCDC1 supplies power for 3.3VLDO, and a 0.01 microfarad decoupling capacitor is added before power supply; the RST pin is connected with GND to be selected as low level reset; selecting an internal clock by the clock; selecting a JTAG mode by the debugging interface;

the VCC pin of the core processor (9) is connected with the A1 pin of the 12-port pin header (7), the GND pin is connected with the A2 pin of the 12-port pin header (7), the IRQ pin is connected with the A3 pin of the 12-port pin header (7), the RXD pin is connected with the A5 pin of the 12-port pin header (7), the TXD pin is connected with the A6 pin of the 12-port pin header (7), the MISO pin is connected with the A7 pin of the 12-port pin header (7), the MOSI pin is connected with the A8 pin of the 12-port pin header (7), the NSS pin is connected with the A9 pin of the 12-port pin header (7), the CLK pin is connected with the A10 pin of the 12-port pin header (7), the RTC pin is connected with the A11 pin of the 12-port pin header (7), and the RST pin is connected with the A12 pin of the 12-port pin header (7).

8. The aircraft attitude harvester of claim 1, wherein the mini DB9 interface (10) is a standard RS-232 connection socket, model J30J-9 TJL.

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