CN220794259U - Inertial navigation equipment - Google Patents
Inertial navigation equipment Download PDFInfo
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- CN220794259U CN220794259U CN202322266237.1U CN202322266237U CN220794259U CN 220794259 U CN220794259 U CN 220794259U CN 202322266237 U CN202322266237 U CN 202322266237U CN 220794259 U CN220794259 U CN 220794259U
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- 238000005259 measurement Methods 0.000 claims abstract description 19
- 238000005070 sampling Methods 0.000 claims abstract description 14
- 238000012545 processing Methods 0.000 claims description 24
- 230000009977 dual effect Effects 0.000 description 5
- 230000004807 localization Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012827 research and development Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000008030 elimination Effects 0.000 description 1
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Abstract
The utility model discloses inertial navigation equipment, which comprises an inertial measurement module and a display control module, wherein the inertial measurement module is connected with the display control module through an RS232 serial port, the inertial measurement module comprises a three-axis gyroscope, a three-axis accelerometer, a data acquisition unit, an accelerometer sampling unit and a data resolving unit, the display control module comprises a central processor, an external input unit, a data receiving and transmitting unit, a display unit and a storage unit, and the data receiving and transmitting unit is connected with the data resolving unit through the RS232 serial port. The utility model reduces the fault rate of data transceiving through double redundancy arrangement and improves the safety of data transceiving.
Description
Technical Field
The utility model belongs to the technical field of ship navigation equipment, and particularly relates to inertial navigation equipment.
Background
In the field of navigation, inertial navigation devices are devices that can output the attitude and position of a ship without external information references. The conventional inertial navigation device generally comprises an inertial navigation host, a display controller, and an information distribution box. The display controller and the information distribution box adopt a singlechip as a main control module, and the display screen adopts a serial screen. With the improvement of the use requirement of ships, the inertial navigation equipment is replaced by modularization, and navigation messages are not generally input into the existing information distribution box on the ship, but are directly connected into the Ethernet and the CAN bus. In order to ensure the reliability of information output, the Ethernet and the CAN bus are required to be designed in a double-redundancy way on hardware and software, and meanwhile, the localization of a double-redundancy system also improves the complete controllability of the system. The scheme of the singlechip and the serial port screen is very complex and cumbersome to realize double redundancy, so that another scheme is needed to realize the requirement more easily.
Disclosure of Invention
The utility model aims to overcome the defects in the prior art and provide the inertial navigation device.
In order to achieve the above object, the present utility model provides the following technical solutions:
an inertial navigation device comprises an inertial measurement module and a display control module, wherein the inertial measurement module is connected with the display control module through an RS232 serial port,
the inertial measurement module comprises a triaxial gyroscope, a triaxial accelerometer, a data acquisition unit, an accelerometer sampling unit and a data resolving unit, wherein the accelerometer sampling unit is connected with the triaxial accelerometer, the accelerometer sampling unit is connected with the data acquisition unit, the data acquisition unit is connected with the triaxial gyroscope, and the data acquisition unit is also connected with the data resolving unit; .
The display control module comprises a central processor, an external input unit, a data receiving and transmitting unit, a display unit and a storage unit, wherein the data receiving and transmitting unit is connected with the data resolving unit through an RS232 serial port, the data receiving and transmitting unit is connected with the central processor, and the central processor is respectively connected with the storage unit, the display unit and the external input unit; .
Further, the three-axis gyroscope comprises an X-direction gyroscope, a Y-direction gyroscope and a Z-direction gyroscope, and the three-axis accelerometer comprises an X-direction accelerometer, a Y-direction accelerometer and a Z-direction accelerometer.
Further, the data transceiver unit is further provided with a plurality of ports, the ports comprise Ethernet, CAN, RS232 and RS485, and the central processing unit distributes the message types converted by the processed data to the outside corresponding to different port types.
Further, the central processing unit is Loongson 2K100, and the operating system is Zhongzhanglin V5.0.
Further, the inertial measurement module is strapdown, and the three-axis gyroscope and the three-axis accelerometer are fixed on the carrier.
Further, the data acquisition unit acquires the serial port in a polling mode.
Further, the central processing unit is connected with the Ethernet or the CAN bus through dual redundancy, and the dual redundancy is specifically: the central processing unit is connected with the Ethernet through a first A channel and a first B channel respectively, wherein the A channel comprises an Ethernet transceiver A and an Ethernet controller A, and the B channel comprises an Ethernet transceiver B and an Ethernet controller B; the central processing unit is connected with the CAN bus through a second A channel and a second B channel, wherein the A channel comprises a CAN bus transceiver A and a CAN bus controller A, and the B channel comprises a CAN bus transceiver B and a CAN bus controller B.
Based on the scheme, the inertial navigation device has the positive and beneficial effects through practice:
1. according to the inertial navigation device, the fault rate of data transceiving is reduced through double redundancy, the safety of data transceiving is improved, and the reliability of the device is improved.
2. According to the inertial navigation device, the plurality of types of ports are arranged on the data receiving and transmitting unit to meet the requirements of different types of message distribution, the requirements of the client for expanding serial port output are met, and the adaptability of the data distribution ports is improved.
3. The inertial measurement module in the inertial navigation equipment is an independent research and development module, achieves localization, enables the whole system to be completely controllable, and improves the use stability of the inertial navigation equipment.
Drawings
Fig. 1 is a block diagram of an inertial navigation device in an inertial navigation device according to the present utility model.
Fig. 2 is a dual redundancy structure diagram of an ethernet and a CAN bus in an inertial navigation device according to the present utility model.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present utility model more apparent, the present utility model is described below by way of specific examples shown in the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the utility model. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present utility model.
As shown in fig. 1-2, the present utility model pertains to an inertial navigation device comprising an inertial measurement module and a display control module, the inertial measurement module and the display control module being connected by an RS232 serial port,
the inertial measurement module comprises a triaxial gyroscope, a triaxial accelerometer, a data acquisition unit, an accelerometer sampling unit and a data resolving unit, wherein the accelerometer sampling unit is connected with the triaxial accelerometer, the accelerometer sampling unit is connected with the data acquisition unit, the data acquisition unit is connected with the triaxial gyroscope, and the data acquisition unit is also connected with the data resolving unit; the accelerometer sampling unit collects triaxial accelerometer data and sends the triaxial accelerometer data to the data collecting unit, the data collecting unit collects triaxial gyroscope data, and the data collecting unit sends the collected triaxial gyroscope data and the received triaxial accelerometer data to the data resolving unit; the inertia measurement module is an independent research and development module, so that localization is realized, and the complete controllability of the whole system is improved.
The display control module comprises a central processor, an external input unit, a data receiving and transmitting unit, a display unit and a storage unit, wherein the data receiving and transmitting unit is connected with the data resolving unit through an RS232 serial port, the data receiving and transmitting unit is connected with the central processor, and the central processor is respectively connected with the storage unit, the display unit and the external input unit; the data resolving unit is used for resolving received data navigation and then sending the resolved data to the data receiving and sending unit, the data receiving and sending unit is used for sending the received data to the central processing unit, the central processing unit is used for resolving and storing the received data and converting the received data into messages of various types to be distributed through the data receiving and sending unit, and the central processing unit is used for displaying the processing result of the received data through the display unit.
The accelerometer sampling unit collects three-axis accelerometer current and converts the three-axis accelerometer current into pulses to be output to the data acquisition unit, meanwhile, the data acquisition unit receives angular velocity and temperature information of the three-axis gyroscope, the data acquisition unit integrates data and transmits the integrated data to the data processing unit for navigation settlement, current attitude information position information and the like of the host are obtained, and the data are transmitted to the data transceiver unit of the display control part.
The three-axis gyroscope comprises an X-direction gyroscope, a Y-direction gyroscope and a Z-direction gyroscope, and the three-axis accelerometer comprises an X-direction accelerometer, a Y-direction accelerometer and a Z-direction accelerometer.
The data receiving and transmitting unit is also provided with a plurality of ports, wherein the ports comprise Ethernet, CAN, RS232 and RS485, and the central processing unit distributes the message types converted by the processed data to the outside corresponding to different port types;
the output protocol, baud rate, verification mode and the like of each port of the data transceiver unit can be modified and configured in real time in a display unit in the display control module.
The central processing unit is Loongson 2K100, the operating system is the winning kylin V5.0, and Loongson 2K100 is a MIPS architecture processor.
The inertial measurement module is strapdown, and the triaxial gyroscope and the triaxial accelerometer are fixed on the carrier.
The three-axis gyroscope and the three-axis accelerometer are directly and fixedly connected to the carrier, the three parts of the accelerometer sampling unit, the data acquisition unit and the data resolving unit are simultaneously and all installed on the same carrier, the inertial navigation unit is an integral body, the integral body is not provided with a direct external interface, and the 24V power supply and the RS232 serial port are connected with the display control part.
The data acquisition unit acquires serial port polling.
When the data processed by the central processing unit is transmitted through the Ethernet or the CAN bus, the data is transmitted through dual redundancy setting; the dual redundancy arrangement is specifically: the central processing unit is connected with the Ethernet through a first A channel and a first B channel respectively, wherein the A channel comprises an Ethernet transceiver A and an Ethernet controller A, and the B channel comprises an Ethernet transceiver B and an Ethernet controller B; the central processing unit is connected with the CAN bus through a second A channel and a second B channel, wherein the A channel comprises a CAN bus transceiver A and a CAN bus controller A, and the B channel comprises a CAN bus transceiver B and a CAN bus controller B.
When the data processed by the central processing unit is transmitted through the Ethernet or the CAN bus, the data is transmitted by the A channel by default (the Ethernet transmission mode is multicast), meanwhile, the B channel detects the received message, if the correct message is not received in the appointed time interval, the message is retransmitted, if the correct message is not received in the appointed time interval, the data is counted and accumulated, after a certain number of times is accumulated, the system alarms and prompts in the display unit, the data is transmitted by the B channel by switching, and the fault condition is transmitted to manual processing for fault elimination and repair.
When the central processing unit receives the operation instruction input by the external input unit, the data receiving and transmitting unit sends the operation instruction to the inertia measurement module, and the operation of the inertia measurement module is controlled according to the input corresponding operation instruction.
After the inertial navigation equipment is started, firstly, a central processing unit reads out a configuration file selected by a current user from a storage unit, and performs initialization setting on a port of a data receiving and transmitting unit according to the configuration file, the data receiving and transmitting unit queries data in a polling mode, after the data is obtained, the central processing unit analyzes the data and stores the data in the storage unit, and simultaneously, corresponding sentences are simultaneously sent out through the data receiving and transmitting unit by adopting multiple threads, and then the central processing unit controls a display unit to display corresponding data information; the CPU detects the state of the USB port every second, and when the USB disk information is acquired, the data stored in the storage unit at present is automatically packed and copied into the inserted USB disk; when the external input event is triggered, the central processing unit controls the display module to make corresponding changes and controls the data receiving and transmitting unit to send instructions, including page switching, inertial host start and stop, state switching and the like, so as to realize the man-machine interaction function.
The accelerometer sampling unit and the data acquisition unit are tangdynasty, the data settlement unit is ccstudio 3.3, the display control module is developed for qt transplanted by Loongson architecture, the frame is qt4.8.6, and the ide is qtcator 4.8.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model and not for limiting the same; while the utility model has been described in detail with reference to the preferred embodiments, those skilled in the art will appreciate that; modifications may be made to the specific embodiments of the utility model or equivalents may be substituted for part of the technical features thereof; without departing from the spirit of the utility model, it is intended to cover the scope of the utility model as claimed.
Claims (7)
1. An inertial navigation device is characterized by comprising an inertial measurement module and a display control module, wherein the inertial measurement module is connected with the display control module through an RS232 serial port,
the inertial measurement module comprises a triaxial gyroscope, a triaxial accelerometer, a data acquisition unit, an accelerometer sampling unit and a data resolving unit, wherein the accelerometer sampling unit is connected with the triaxial accelerometer, the accelerometer sampling unit is connected with the data acquisition unit, the data acquisition unit is connected with the triaxial gyroscope, and the data acquisition unit is also connected with the data resolving unit;
the display control module comprises a central processor, an external input unit, a data receiving and transmitting unit, a display unit and a storage unit, wherein the data receiving and transmitting unit is connected with the data resolving unit through an RS232 serial port, the data receiving and transmitting unit is connected with the central processor, and the central processor is respectively connected with the storage unit, the display unit and the external input unit.
2. The inertial navigation device of claim 1, wherein the three-axis gyroscopes comprise an X-direction gyroscope, a Y-direction gyroscope, and a Z-direction gyroscope, and wherein the three-axis accelerometers comprise an X-direction accelerometer, a Y-direction accelerometer, and a Z-direction accelerometer.
3. An inertial navigation device according to claim 1, wherein the data transceiver unit is further provided with a plurality of ports including ethernet, CAN, RS232 and RS485.
4. An inertial navigation device according to claim 1, wherein the central processor is Loongson 2K100 and the operating system is Zhongzhiyin V5.0.
5. An inertial navigation device according to claim 1, wherein the inertial measurement module is strapdown, the tri-axial gyroscope and the tri-axial accelerometer being fixed to the carrier.
6. An inertial navigation device according to claim 1, wherein the data acquisition unit is configured to poll the serial port.
7. An inertial navigation device according to claim 1, characterized in that the central processor is connected to the ethernet or CAN bus by a double redundancy, in particular: the central processing unit is connected with the Ethernet through a first A channel and a first B channel respectively, wherein the A channel comprises an Ethernet transceiver A and an Ethernet controller A, and the B channel comprises an Ethernet transceiver B and an Ethernet controller B; the central processing unit is connected with the CAN bus through a second A channel and a second B channel, wherein the A channel comprises a CAN bus transceiver A and a CAN bus controller A, and the B channel comprises a CAN bus transceiver B and a CAN bus controller B.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322266237.1U CN220794259U (en) | 2023-08-23 | 2023-08-23 | Inertial navigation equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322266237.1U CN220794259U (en) | 2023-08-23 | 2023-08-23 | Inertial navigation equipment |
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| Publication Number | Publication Date |
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| CN220794259U true CN220794259U (en) | 2024-04-16 |
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| CN202322266237.1U Active CN220794259U (en) | 2023-08-23 | 2023-08-23 | Inertial navigation equipment |
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2023
- 2023-08-23 CN CN202322266237.1U patent/CN220794259U/en active Active
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