CN220136357U - Inertial navigation system for small underwater vehicle - Google Patents
Inertial navigation system for small underwater vehicle Download PDFInfo
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- CN220136357U CN220136357U CN202320263215.7U CN202320263215U CN220136357U CN 220136357 U CN220136357 U CN 220136357U CN 202320263215 U CN202320263215 U CN 202320263215U CN 220136357 U CN220136357 U CN 220136357U
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- 239000013307 optical fiber Substances 0.000 claims abstract description 33
- 239000000835 fiber Substances 0.000 claims abstract description 12
- 238000005259 measurement Methods 0.000 claims abstract description 5
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 229910000838 Al alloy Inorganic materials 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
Abstract
The utility model relates to an inertial navigation system for a small underwater vehicle, comprising: the device comprises a shell, a signal processing plate, a single-axis fiber optic gyroscope, a three-axis MEMS gyroscope and a three-axis MEMS accelerometer, wherein the signal processing plate, the single-axis fiber optic gyroscope, the three-axis MEMS gyroscope and the three-axis MEMS accelerometer are arranged in the shell; the single-axis optical fiber gyroscope, the three-axis MEMS gyroscope and the three-axis MEMS accelerometer are respectively connected with the signal processing board; the three-axis MEMS gyroscope is a gyroscope for providing three-axis angular velocity measurement, and three single-axis MEMS gyroscopes which are orthogonally distributed according to three axes are adopted by the three-axis MEMS gyroscope; the uniaxial optical fiber gyroscope and the triaxial MEMS gyroscope are distributed in a set included angle, so that the angular velocity sensitive axis of the uniaxial optical fiber gyroscope is uniformly decomposed into an orthogonal triaxial MEMS gyroscope coordinate system. The device of the utility model adopts the single-axis optical fiber gyroscope and the triaxial MEMS gyroscope to carry out high-precision inertial navigation by adopting only one single-axis optical fiber gyroscope according to the set included angle layout, and has the advantages of small volume and low power consumption.
Description
Technical Field
The utility model belongs to the technical field of inertial navigation, and particularly relates to an inertial navigation system for a small underwater vehicle.
Background
The strapdown inertial navigation precision based on the fiber optic gyroscope sensor can be very high, but the starting time is long, and the volume and the power consumption are relatively large; the inertial navigation based on the MEMS sensor has small volume, low power consumption and quick start, but the precision is difficult to reach the level of the optical fiber gyroscope. In some application scenes of high-precision inertial navigation systems needing miniaturization, such as small underwater robots, the underwater does not have GPS signals, the inertial navigation is simply relied on, and the requirements on the precision, the volume and the power consumption of the inertial navigation are very high; the traditional optical fiber inertial navigation has large volume and high power consumption, and the MEMS inertial navigation precision can not meet the requirement, so that a miniaturized high-precision inertial navigation system is required to meet the application requirement of a small underwater vehicle.
Disclosure of Invention
The utility model aims to provide an inertial navigation system for a small underwater vehicle, which can meet the requirements of inertial navigation application requiring miniaturization, high precision and low power consumption.
The technical scheme for solving the problems is as follows: an inertial navigation system for a small underwater vehicle, comprising:
the device comprises a shell, a signal processing plate, a single-axis fiber optic gyroscope, a three-axis MEMS gyroscope and a three-axis MEMS accelerometer, wherein the signal processing plate, the single-axis fiber optic gyroscope, the three-axis MEMS gyroscope and the three-axis MEMS accelerometer are arranged in the shell;
the single-axis optical fiber gyroscope, the three-axis MEMS gyroscope and the three-axis MEMS accelerometer are respectively connected with the signal processing board;
the three-axis MEMS gyroscope is a gyroscope for providing three-axis angular velocity measurement, and three single-axis MEMS gyroscopes which are orthogonally distributed according to three axes are adopted by the three-axis MEMS gyroscope;
the uniaxial optical fiber gyroscope and the triaxial MEMS gyroscope are distributed in a set included angle, so that the angular velocity sensitive axis of the uniaxial optical fiber gyroscope is uniformly projected into an orthogonal triaxial MEMS gyroscope coordinate system.
According to the scheme, the signal processing board comprises a signal processing circuit, and the signal processing circuit comprises an interface conversion circuit, an embedded processor and a data acquisition circuit which are sequentially connected.
According to the scheme, the uniaxial optical fiber gyroscope and the triaxial MEMS gyroscope are distributed at an included angle of 45 degrees.
According to the scheme, the single-axis optical fiber gyroscope and the triaxial MEMS gyroscope are fixed with the shell through the support, the single-axis optical fiber gyroscope is located in the bottom space of the shell, and the triaxial MEMS gyroscope is located at the top of the shell. The relative position and the included angle of the two are kept fixed.
According to the scheme, the triaxial MEMS gyroscope is internally provided with the temperature sensor.
The working principle of the device is as follows: in the device, the single-axis optical fiber gyroscope and the three-axis MEMS gyroscope are distributed in a set included angle, so that the angular velocity sensitive axis of the single-axis high-precision optical fiber gyroscope is uniformly decomposed into an orthogonal three-axis MEMS gyroscope coordinate system, key indexes such as zero bias, zero bias stability, scale factor repeatability, zero bias temperature characteristic, sensitivity of acceleration to zero bias and the like of the optical fiber gyroscope are greatly superior to those of the three-axis MEMS gyroscope, the collected data of the three-axis MEMS gyroscope is corrected in real time by the high-precision single-axis optical fiber gyroscope in the later stage, and the high-precision inertial navigation can be performed by only adopting one single-axis optical fiber gyroscope, and meanwhile, the device has the advantages of small volume and low power consumption.
The device has the beneficial effects that:
1. the device of the utility model adopts the single-axis optical fiber gyroscope and the triaxial MEMS gyroscope to carry out high-precision inertial navigation by adopting only one single-axis optical fiber gyroscope according to the set included angle layout, and has the advantages of small volume and low power consumption.
Drawings
FIG. 1 is a schematic diagram of the structure of an apparatus according to one embodiment of the utility model;
in the figure: 1-front surface of aluminum alloy shell; 2. 3, 4-three MEMS gyroscopes in orthogonal layout; a 5-triaxial MEMS accelerometer; 6-a signal processing board; 7-an embedded processor; 8-single axis fiber optic gyroscope; 9-the back of the aluminum alloy shell; 10-external interface.
Detailed Description
The present utility model will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present utility model more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.
As shown in fig. 1, an inertial navigation system for a small underwater vehicle, comprising:
an aluminum alloy shell body 1, a signal processing board 6 arranged in the shell body, an embedded processor 7, a single-axis optical fiber gyroscope 8, three-axis MEMS gyroscopes 2, 3 and 4 and a three-axis MEMS accelerometer 5;
the single-axis optical fiber gyroscope 8, the three-axis MEMS gyroscope, the three-axis MEMS accelerometer 5 and the embedded processor 7 are respectively connected with the signal processing board 6;
the triaxial MEMS gyroscope is a gyroscope for providing triaxial angular velocity measurement, and three uniaxial MEMS gyroscopes 2, 3 and 4 which are orthogonally distributed according to triaxial are adopted in the triaxial MEMS gyroscope;
the signal processing board comprises a signal processing circuit, wherein the signal processing circuit comprises an interface conversion circuit, an embedded processor and a data acquisition circuit which are connected in sequence;
the signal processing board is responsible for collecting data of the single-axis optical fiber gyroscope, the three-axis MEMS gyroscope and the three-axis MEMS accelerometer, outputting the data through the external interface 10, and the external interface 10 adopts an RS422 interface.
The uniaxial optical fiber gyroscope and the triaxial MEMS gyroscope are distributed in a set included angle, so that the angular velocity sensitive axis of the uniaxial optical fiber gyroscope is uniformly projected into an orthogonal triaxial MEMS gyroscope coordinate system. Usually, an included angle of 45 degrees is used for debugging.
The single-axis optical fiber gyroscope and the three-axis MEMS gyroscope are fixed with the shell through the support, the optical fiber gyroscope is located at the bottom of the shell, and the three-axis MEMS gyroscope is located at the top of the shell, so that the relative positions and included angles of the single-axis optical fiber gyroscope and the three-axis MEMS gyroscope are kept fixed.
The triaxial MEMS gyroscope is internally provided with a temperature sensor, so that the temperature compensation can be performed on the gyroscope, the stability of the gyroscope under high and low temperature conditions is improved, the indexes such as bandwidth and linearity are higher, and the bandwidth of an inertial navigation system is improved.
The uniaxial fiber optic gyroscope provides high-precision angular velocity measurement, and key indexes such as zero bias, zero bias stability, scale factor repeatability, zero bias temperature characteristic, sensitivity of acceleration to zero bias and the like of the uniaxial fiber optic gyroscope are greatly superior to those of the triaxial MEMS gyroscope. On the premise of realizing miniaturization, the high precision of the inertial navigation system is realized, and the inertial navigation system has the characteristics of low power consumption, high bandwidth and the like.
Claims (5)
1. An inertial navigation system for a small underwater vehicle, comprising:
the device comprises a shell, a signal processing board, an embedded processor, a single-axis optical fiber gyroscope, a three-axis MEMS gyroscope and a three-axis MEMS accelerometer, wherein the signal processing board, the embedded processor, the single-axis optical fiber gyroscope, the three-axis MEMS gyroscope and the three-axis MEMS accelerometer are arranged in the shell;
the embedded processor, the uniaxial optical fiber gyroscope, the triaxial MEMS gyroscope and the triaxial MEMS accelerometer are respectively connected with the signal processing board;
the three-axis MEMS gyroscope is a gyroscope for providing three-axis angular velocity measurement, and three single-axis MEMS gyroscopes which are orthogonally distributed according to three axes are adopted by the three-axis MEMS gyroscope;
the uniaxial optical fiber gyroscope and the triaxial MEMS gyroscope are distributed in a set included angle, so that the angular velocity sensitive axis of the uniaxial optical fiber gyroscope is uniformly decomposed into an orthogonal triaxial MEMS gyroscope coordinate system.
2. The inertial navigation system for a small underwater vehicle of claim 1, wherein the signal processing board comprises a signal processing circuit comprising an interface conversion circuit, an embedded processor, and a data acquisition circuit connected in sequence.
3. The inertial navigation system for a small underwater vehicle of claim 1, wherein the single axis fiber optic gyroscope and the tri-axis MEMS gyroscope are laid out at 45 degree angles.
4. The inertial navigation system for a small underwater vehicle according to claim 1, wherein the single axis fiber optic gyroscope and the tri-axis MEMS gyroscope are fixed to the housing case by a bracket, the single axis fiber optic gyroscope is located at the bottom of the housing case, and the tri-axis MEMS gyroscope is located at the top of the housing case so that the relative positions and angles of the single axis fiber optic gyroscope and the tri-axis MEMS gyroscope remain fixed.
5. The inertial navigation system for a small underwater vehicle of claim 1, wherein the tri-axis MEMS gyroscope incorporates a temperature sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320263215.7U CN220136357U (en) | 2023-02-17 | 2023-02-17 | Inertial navigation system for small underwater vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320263215.7U CN220136357U (en) | 2023-02-17 | 2023-02-17 | Inertial navigation system for small underwater vehicle |
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| Publication Number | Publication Date |
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| CN220136357U true CN220136357U (en) | 2023-12-05 |
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| CN202320263215.7U Active CN220136357U (en) | 2023-02-17 | 2023-02-17 | Inertial navigation system for small underwater vehicle |
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2023
- 2023-02-17 CN CN202320263215.7U patent/CN220136357U/en active Active
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