JP2013540987A - マイクロ慣性測定装置 - Google Patents
マイクロ慣性測定装置 Download PDFInfo
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- JP2013540987A JP2013540987A JP2013523464A JP2013523464A JP2013540987A JP 2013540987 A JP2013540987 A JP 2013540987A JP 2013523464 A JP2013523464 A JP 2013523464A JP 2013523464 A JP2013523464 A JP 2013523464A JP 2013540987 A JP2013540987 A JP 2013540987A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/14—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of gyroscopes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/5783—Mountings or housings not specific to any of the devices covered by groups G01C19/5607 - G01C19/5719
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/022—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using dampers and springs in combination
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
- F16F15/08—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with rubber springs ; with springs made of rubber and metal
- F16F15/085—Use of both rubber and metal springs
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/166—Mechanical, construction or arrangement details of inertial navigation systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P1/00—Details of instruments
- G01P1/02—Housings
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/18—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Acoustics & Sound (AREA)
- Automation & Control Theory (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Gyroscopes (AREA)
- Navigation (AREA)
Abstract
Description
(1)センサ支持部がお互いに分離した3枚の回路基板で構成されているので、あまりにも多くの領域を占有するとともに、3軸方向において剛性に著しい違いが生じる。
(2)減衰部が慣性測定装置の外側に取り付けられているので、余分なスペースをとる。さらに、慣性測定部が強制的に振動する場合に、不平衡な剛性と不合理な機械構造に起因するねじり振動が容易に起こり得る。
(3)ダンパーについては、理想的な活動範囲は1軸方向に限られる。すなわち、垂直方向からの振動を減衰することができるにすぎず、他の方向からの振動を抑制する効果的な手段を持たない。結果として、異なる自由度の線形振動および角振動が結合し、ダンピング帯が狭くなる。
121 センサ支持部
122 慣性センサ
123 フレキシブル計測制御回路基板
14 内部減衰部
16 上部ハウジング
18 下部カバー
Claims (9)
- ハウジングと、センサモジュールと、ダンパーと、を備え、
前記センサモジュールは、剛体のセンサ支持部と、前記センサ支持部上に実装された計測制御回路基板と、前記計測制御回路基板上に搭載された慣性センサと、を含み、
前記慣性センサは、ジャイロスコープと加速度計と、を含み、
前記センサモジュールは、前記ハウジングに取り付けられており、前記ダンパーは前記ハウジングに取り付けられているとともに、前記センサモジュールと前記ハウジングの内壁面との間の隙間に位置することを特徴とするマイクロ慣性測定装置。 - 前記センサ支持部は、立方体形状を有する剛体の支持部であり、少なくとも1つの平面に凹部が形成されており、
前記計測制御回路基板はフレキシブル計測制御回路基板であり、
前記フレキシブル計測制御回路基板の回路部品の少なくとも一部は、少なくとも1つの平面の前記凹部内にはめ込まれることを特徴とする請求項1に記載のマイクロ慣性測定装置。 - 前記センサ支持部の6つの平面すべてに前記凹部が形成されており、
前記フレキシブル計測制御回路基板の数は最大6つまでであり、
前記フレキシブル計測制御回路基板は前記センサ支持部の平面をそれぞれ覆い、各前記フレキシブル計測制御回路基板上の回路部品は、前記フレキシブル計測制御回路基板が前記センサ支持部の各平面を平坦に覆うように、前記センサ支持部の対応する平面における前記凹部内にはめ込まれることを特徴とする請求項2に記載のマイクロ慣性測定装置。 - 前記センサモジュールは、前記フレキシブル計測制御回路基板上に備えられたアンチエイリアシング回路と、A/D変換回路と、を含み、前記慣性センサは、3つのジャイロスコープと、1つの速度計と、を含み、当該回路モジュールは、それぞれ前記フレキシブル計測制御回路基板上に配列されることを特徴とする請求項3に記載のマイクロ慣性測定装置。
- 前記フレキシブル計測制御回路基板は、一体構造を形成するために一体化されており、それぞれ前記センサ支持部の縁に沿うように90°曲げられて、前記センサ支持部の各平面を完全に覆うことを特徴とする請求項4に記載のマイクロ慣性測定装置。
- 前記ダンパーは、少なくとも2つの減衰部を含んでおり、前記センサモジュールの対応する平面と前記ハウジングの内壁面との間の隙間に配置されることを特徴とする請求項3に記載のマイクロ慣性測定装置。
- 前記ダンパーは、最大6つの前記減衰部を含むことを特徴とする請求項4に記載のマイクロ慣性測定装置。
- 前記センサモジュールは、6つの前記減衰部により前記ハウジングの内部空洞の中心に支持されており、前記ダンパーの弾性中心Pは前記センサモジュールの質量中心mと一致することを特徴とする請求項7に記載のマイクロ慣性測定装置。
- 前記ハウジングは、下部に開口部を有する上部ハウジングと、前記開口部に設置された下部カバーとを含むことを特徴とする請求項1から請求項8のいずれかに記載のマイクロ慣性測定装置。
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CN201010250948.4 | 2010-08-09 | ||
CN2010102509484A CN102121829B (zh) | 2010-08-09 | 2010-08-09 | 一种微型惯性测量系统 |
PCT/CN2010/079483 WO2011140804A1 (zh) | 2010-08-09 | 2010-12-06 | 一种微型惯性测量系统 |
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JP2013540987A true JP2013540987A (ja) | 2013-11-07 |
JP2013540987A5 JP2013540987A5 (ja) | 2014-02-06 |
JP6154324B2 JP6154324B2 (ja) | 2017-06-28 |
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JP2016080735A Active JP6502283B2 (ja) | 2010-08-09 | 2016-04-14 | マイクロ慣性測定装置 |
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EP (1) | EP2604974B1 (ja) |
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JP2017502271A (ja) * | 2014-04-25 | 2017-01-19 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドSz Dji Technology Co.,Ltd | 慣性検出装置 |
JP2017533441A (ja) * | 2014-09-02 | 2017-11-09 | チャンヂョウ スパイダーセンス インテリジェント テクノロジー リミテッド | 慣性センサ装置 |
KR20180062866A (ko) * | 2016-12-01 | 2018-06-11 | 삼성전자주식회사 | 무인 비행 전자 장치 |
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JP6502283B2 (ja) | 2019-04-17 |
CN103210280A (zh) | 2013-07-17 |
CN104964687A (zh) | 2015-10-07 |
JP6154324B2 (ja) | 2017-06-28 |
CN104964687B (zh) | 2018-05-22 |
EP2604974A1 (en) | 2013-06-19 |
US10732200B2 (en) | 2020-08-04 |
CN102121829A (zh) | 2011-07-13 |
US11215633B2 (en) | 2022-01-04 |
JP2016148677A (ja) | 2016-08-18 |
US9213046B2 (en) | 2015-12-15 |
CN102121829B (zh) | 2013-06-12 |
CN103210280B (zh) | 2015-06-17 |
US20160097793A1 (en) | 2016-04-07 |
US20130111993A1 (en) | 2013-05-09 |
US20200363447A1 (en) | 2020-11-19 |
US20220120782A1 (en) | 2022-04-21 |
EP2604974B1 (en) | 2015-07-08 |
EP2604974A4 (en) | 2014-05-07 |
US10132827B2 (en) | 2018-11-20 |
US20190079113A1 (en) | 2019-03-14 |
WO2011140804A1 (zh) | 2011-11-17 |
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