TW593981B - Micro integrated global positioning system/inertial measurement unit system - Google Patents

Abstract

A micro integrated global positioning system (GPS)/inertial measurement unit (IMU) system, which is adapted to apply to output signals proportional to rotation and translational motion of a carrier and GPS measurements of the carrier, respectively from angular rate sensors, acceleration sensors, and GPS chipset, is employed with MEMS angular rate and acceleration sensors and GPS chipset, compared with a conventional IMU/GPS system, the system of the present invention uses an integrated processing scheme by means of digital closed loop control of the dither driver signals of the IMU, digital temperature control and compensation, the earth's magnetic field-based heading damping, robust error, and compact sensor and circuit architecture and dramatically shrinks the size of mechanical and electronic hardware and power consumption, meanwhile, obtains highly accurate motion measurements.

Description

593981 发明 Description of the invention: [Technical field to which the invention belongs] a formal application, whose pre-application number is 60 / 219,957, and the application date is July 20, 2000. Dimensions, measurement systems, and more-'Speaking further' is about small #, 7, positive Global Positioning System (GPS) / Inertial Measurement Unit (IMU) system, #, ί f = to the carrier in a dynamic environment Perform highly accurate, angular velocity, acceleration, position, velocity, and attitude measurements. [Previous technique] The IMU of the face or which shirt is generally made of silk is "(· the basic navigation system (lnertlal navigati〇n appeals to you m, secret), the core is composed of 1 response, micro processing And the built-in navigation software of Xiangqi, Li's composition μ includes inertial sensors (angular rate generator and acceleration generator, transmission accelerometer or angular rate sensor and acceleration sensor), and pair of electricity! 'Device' based on From the measurement of the acceleration and rate of the carrier by the inertial sensor on the board, the Newton's equation of motion is solved by the microcomputer numerical value, so as to obtain the position, velocity, and attitude of the carrier. In principle, the IMU relies on three orthogonally mounted The inertial angular rate generator and = positive, the installed acceleration is generated, and the measurement of the triaxial shaw rate and acceleration is obtained. An orthogonally installed inertial scale generates three orthogonally installed accelerations, as well as corresponding support structures and electronic circuits. Traditionally called Inertml Measurement Unit (IMU), the traditional ^ type IMU and strapdown type IMU. J knife round ten. In the platform type IMUt, the angular rate generator and acceleration Generator on a stable platform, attitude measurement can be taken directly from the support structure platform,

The attitude angular rate measurement of the carrier cannot be directly obtained from the platform, and there must be a corresponding high-precision feedback control loop in the fiMU. σ ^ 5 593981 Compared with = Desktop IMU, in the strapdown brain towel, the Shaw rate generator and the acceleration generator are directly connected to the carrier, and the Jielian's Xiao word generates the pulse acceleration. The angle is written using the carrier coordinate system. Velocity and acceleration measurement data, attitude and position measurement data can be obtained through a series of calculations. The traditional IMU makes Ke __ difficult to test rate charm and acceleration cry. It is said that the inertial angular rate generator includes an iron rotor gyro and an optical gyro ^ Product: ΐϊΐ Ϊ Force-tuned gyro, ring laser gyro, fiber optic gyro, Ϊ spoon U-shaped helical screw, and hemispherical resonant gyro, the traditional angular rate generation is Including pulse integral pendulum accelerometer, pendulum gyro accelerometer and so on. The inertial navigation system using the flat σ SIMU is often used in navigation systems. In the frame-type inertial navigation system, the angle is used to separate the rotation of the body, and it is connected to the navigation system. Navigation calculations are performed in the navigation system of the field reactor and the carrier frame, and the vehicle is built at a high rate. The system's motion measurement is more accurate than the strapdown inertial guidance, but ―The route Elian inertial navigation system is easier and more expensive than the strapdown inertial navigation system. It is more complicated and has become the main = reliability and small size. Strapdown inertial navigation system 6 593981 In addition to self-contained operation, the inertial navigation system also There are slaves that provide full answers and broadband. However, 'the inertial navigation system is expensive, and its performance is reduced over a long period of time.' This means that its position error, speed error, and attitude and error error time increase. 'The transmission characteristics of this error are mainly caused by many error sources. ϋ,, screw drift, accelerometer deviation, misalignment, gravity disturbance, initial offset, and calibration factor error. In general, methods to improve the accuracy of inertial navigation systems include the use of X-ray sensors and the use of external sensors to assist inertial navigation systems. However, the existing high-precision inertial sensors are very expensive, bulky and heavy. Recently, GPS receivers have been widely used due to light-assisted inertial navigation systems. GPS is a satellite-based range and an all-weather firing time system. GPS 糸, initially, provides precision for an unlimited number of properly equipped devices. Location, speed, and related information. The dedicated GPS receiver in the Mh system is the user ’s self-tracking, speed: and time information using the global positioning system Kayu County, but there is no attitude information. In a good shot, the GPS signal propagation error and GPS Satellite errors, including selectivity, the possibility of deterministic lambda line and high cost may be unclear, and when the GPS ratio is very low and the carrier moves violently, its performance decreases. With the high performance GPS in the past decade The receiver's price and over-coherence technology provide carrier_position and attitude iDamti_GpsM on multiple antennas_ difference Micro Motion. This kind of data is converted into information, and the long-term stability of the result and the relatively low price. The attitude is narrow and has a narrow bandwidth. It is sensitive to shadows and congestion. For the three-axis ~ Κ®Tianlangfan ', the result of the material state needs to be far enough from the line 7 593981. Due to the independent inertial navigation system and independent GPS The inertial navigation of the receiver and the read-only connection "can not meet the ability of arbitrary interference, etc." such as' fitness, fine high degree, high turnover rate, anti-dry transportation, independent GPS receiver and independent Interaction of inertial guidance system The superiority of the 34 kinds of guiding forces that will provide i'li's two cannot be achieved by any independently integrated GPS / IMU system is summarized as follows: The loop self-assistance enables the enhancement to follow the dead sound and dynamic environment. The ability of the vertical signal f GPS time is temporarily 'New Navigation' * and it reduces the search time to get the GPS signal again. The navigation navigation system is 5 hearts, the difference between the calibration and the inertial sensing is correct. Set: = temporary check, The inertial navigation system can provide more accurate GPS through manipulation, provide, and eliminate inertia. The independent inertial navigation system can be used to advance the task during the mission. From the traditional IMU, it has the following characteristics: The initial self-alignment required by the cost. Large size (volume, mass, and weight). Large power consumption. Short life and long startup time. Traditional GPS equipment systems can be divided into two categories: Full-featured GPS receivers, including Xianqian GPS OEM machine mode, round-in / round-out 'The traditional integrated GPS / IMU system also has the following characteristics · 8 593981 Cost direction. Large size (volume, mass, and weight). Great work Consumption. Short life, and long start-up time. Existing deficiencies in traditional integrated GPS / IMU systems limit their use in emerging cost-sensitive businesses, such as phase control in automotive communications, car navigation, and mobile Equipment. Micro IMU has been invented, see AmericanGNcc〇rp〇rati〇l ^ Another US patent application, patent number 09/477151, titled "micro inertial measurement module", micro IMU using MEMS (Micro Electronic Mechanical System) angular rate and

Acceleration generator, compared with traditional IMU, micro 1 ^ 11; through signal digitization, temperature control and compensation, sensor error and misalignment correction, attitude update, and damping control ^, using positive feedback open-loop signal processing Mechanism to obtain high-precision motion measurement data, and greatly reduce the size and power consumption of mechanical and electronic hardware. MEMS, or more simply, micromachines, is considered to be the next logical step in the silicon revolution. 'People predict that the upcoming stage will be different from the past and more important than simply stacking more transistors on the chip. Silicon The next thirty-year milestone of the revolution will be the combination of new functional structures on the chip; it not only makes the chip think, but also feels, acts, and communicates. Compared with traditional inertial sensors, MEMs

Inertial sensors provide significant improvements in size, price, and reliability for navigation, guidance, and control systems. At the same time, GPS technology has a new field. Small and low-cost GPS chipsets are being developed. For example, MitelGP2000 and GRF1 / LX chipsets are small enough to fit in mobile phones and laptops, but they can still be used. Receiving GPS satellite signals' Emerging commercial electronic devices plan to use them. Although MEMS angular rate sensors and MEMS accelerometers and GPS chipsets have been commercialized 'and have the characteristics of small size and low power consumption, they do not yet have technical equipment. Based on traditional technologies, they are constructed and run well. Small size, low power integrated GPS / IMU system. 9 593981 The main purpose of Ben Mingming is to provide a micro-integrated Gps / IMU system. This system provides dynamic measurement of position, speed, posture, and orientation of the environment. Another main object of the present invention is to provide a micro-integrated GPS / IMU system 'which has been successfully combined with MEMS inertial sensors and GPS chipset technology. Another main purpose of the present invention is to make the triaxial geomagnetic field vector measurement data from a geomagnetic field detector, such as a magnetometer, participate in stabilizing the orientation solution of the system of the present invention.

Another purpose of the present invention is to use the inertial velocity and acceleration corrected by the card waver from the position and attitude processor to assist the phase tracking of the signal in the GPS satellite signal and the carrier wave in the GPS receiver to enhance Micro-integrated (} 1 > 8 /] [^ 1; operating performance in congested and dynamic environments. Another object of the present invention is to use the differential GPS method to improve the position and resolution of the GPS receiver. In order to accurately determine the position and speed of the GPS receiver to the order of centimeters, GPS carrier phase measurement and differential GPS are used. Another object of the present invention is to automatically detect when the GPS receiver loses the GPS signal. The exact INS extends the answer of GPS. Once the GPS receiver regains the signal and estimates the position and speed of the receiver, the output (position and speed) of the GPS receiver is used to correct the position and speed of the drift. Another purpose is that the data link is transmitted from the GPS reference station (the position of the GPS receiver is known) to the micro-integrated Gps / IMU system to transmit the correct data of the differential GPS, such as position, speed, and raw measurement calibration. (Phase interval, interval rate, and phase correction), using the phase measurement of the differential but carrier wave, the uncertainty of the fixed integral, the accuracy of the GPS positioning is in the order of centimeters, and the result is a small integrated GPS The / IMU system may be required due to the high accuracy of the position. ^ A further object of the invention is to increase the resolution of the integer ambiguity of the GPS carrier phase by providing accurate position information. Another object of the present invention is Kalman filtering The device is used to process the GPS phase measurement data from the GPS receiver and the GPS and zone rate measurement data to improve the accuracy of the integral positioning solution. Removal and stabilization = is to realize the durable Kalman warship in real time to eliminate the number that can _ == construct micro-integration. The angular rate is generated as' It produces orthogonal three-axis Bu axis_7 axis_2 axis) electrical angle Rate signal. Acceleration is generated as ‘it produces orthogonal three off-axis _ coffee 2 axis) electrical acceleration signal

The wire two amount and the speed increment produce 11, which converts the three-axis electric shaw rate signal into an angle of 9 miles, and the two-axis electric acceleration signal is converted into a digital speed increment. A GPS chipset 'it receives GPS signals, and the total pH data' includes GPS position and speed data from GPS satellites, or fGPS raw data, zone rate, and carrier data and Aircraft and information. The second and third earth magnetic field detectors generate the earth magnetic field vector electric measurement in the carrier coordinate system, including the electric measurement of the 乂, y, and Z axis signals of the earth magnetic field vector in the carrier coordinate system.

A positioning and attitude processor, which calculates position, attitude, and orientation angle, and combines: axis angle, quantity, and triaxial speed increments, GpS measurement, and vector measurement of the earth's magnetic field to provide a rich and accurate carrier transport_ Volume to meet various needs. [Summary of the Invention] The present invention provides a micro-integrated observation system to combine the original motion measurement data from the micro-inertial measurement group = and GPS chipset to improve the accuracy of position, velocity 'and attitude, these quantities are only The micro-inertial measurement component is derived from the original measurement to give a highly accurate Gps / IMl ^ 1 navigation answer. Referring to the first figure, a carrier's micro-integrated GPS / IMU system is composed of a body frame, including: 11 丄 rate signals and angular rate generation ⑤ 5 'It produces orthogonal three-axis bu-axis, y-axis, z-axis) Electrical angular velocity = acceleration generator 10 'It generates orthogonal three-axis (X-axis, y-axis, Lynn) electric plus buckle a GPS heart group to receive GPS RF (Radio Frequency, radio frequency, radio frequency;供 For GPS measurement results, including the GPS position from the GPS satellite and the speedball magnetic field detector 96, it generates a vector of the earth ’s magnetic field and the earth ’s magnetic field vector in the carrier coordinate system at the x, y, and 2 axes of the carrier coordinate system. Processing lion, it calculates the position, attitude and orientation angle, bee volume and triaxial speed increments, GPS measurement results, and the Earth's magnetic field, to provide abundant f and accurate carrier transport volume results to meet various needs ^ Generator 5 and acceleration generator 1. Non-I sensitive to changes in ambient temperature 'In order to improve the measurement accuracy of the South, see the second figure, the patented heat control file 10G, in order to generate the angular rate ^, acceleration Cry, the working temperature of Γϊϊΐίϊϊ generator 6 is maintained Slave value, it is worth pointing out that the rate of production of hemp 5, acceleration generator 10 and angular increment and velocity increment to generate a fixed environment, the thermal control device 100 can be omitted. According to the first figure, Advantages of the small-scale inertial measurement assembly of the present invention; 1 The fabricated device further includes-a thermally sensitive generator 15, plus a cry 20 and a thermal processor 30. "ί ^ ί, 15 and angular rate generation 115 'Acceleration generator 10 and angular increment and speed increase 1 generate H6 parallel work to generate temperature money, generator 5' Acceleration generator 10 and angular increment and speed increase generator 6 working temperature 12 593981 optional Between 150F and 185F, it is maintained at the set value, and the set temperature is a constant value, preferably 176F (0.1F). The temperature signal generated from the thermal sensitive generator 15 is output to the thermal processor, and the thermal processor 30 uses the temperature Signal, temperature scale factor and angular rate generator $ and acceleration generator 10 and predetermined operation of angular increment and speed increment generator 6 to calculate temperature control instructions and form corresponding driving signals to heater 2 〇, Control heating H2G production Enough heat 'storage rate generation chirp and acceleration generator 10 and angular increment and velocity increment generator 6 at the predetermined operating temperature. 3 Generally, it is from the geomagnetic detector 96 and is expressed in a carrier coordinate system. The X, y, and z axis electrical signals measured by the geomagnetic field vector are analog voltage signals.

[Embodiment] A system of the present invention can be further configured in different forms, as shown in Figures 3 and 7, the preferred solution of the micro-integrated GPS / IMU system is physically and structurally composed of the first circuit board 2, the Two circuit boards 4, a third circuit board 7, a GPS chipset board 3, and a control board and a circuit board 9 are formed side by side in a metal cube box, as shown in the seventeenth figure. The first circuit board 2 is connected to the second circuit board 7, and is used to control the signal board 9 to generate an X-axis angular rate sensing signal and a y-axis acceleration sensing signal. The second circuit board 4 is connected to the third circuit board 7 and is used to control the signal board 9 to generate a y-axis angular rate sensing signal and an x-axis acceleration sensing signal.

The second circuit board 7 is connected to the control circuit board 9 and generates a rotation angular velocity sensing signal and a z-axis acceleration signal for the control circuit board 9. The GPS chipset board 3 is connected through the third board 7 or directly to the control board 9 to provide the control circuit board 9¼ with the GPS position and speed solution or the raw measurement data of the GPS, including the phase measurement of the zone, zone rate, and carrier. A control circuit board 9 is connected to the first circuit board 2, a third circuit board 7 is connected to the male board 4, and a GPS chipset board 3 is connected to process the first, second, and third boards respectively. The X-axis, γ-axis, and z-axis angular rate sensing signals generated by the block and the acceleration signals of the axis and γ-axis axes, and process the geomagnetic field vector generated from the geomagnetic field detector 96 mounted on the control circuit board 9 And process the GPS position 13 593981 position and velocity solution or GPS raw measurement data generated by () 1 ^ board 3 to generate digital angular and velocity increments, GPS / IMU mixed position, velocity, and attitude solutions. As shown in the third and twelfth figures, the control circuit board 9 basically processes 11 (DSP) crystals with seven or two numbers in the following part, which is all the calculation and control tasks of the system of the present invention; The ninth figure is shown. A geomagnetic field detector 96 includes a magnetic potentiometer that generates an electrical geomagnetic field vector measurement signal for the Dsp core 91. A special application integrated circuit (ASIC) chip 92, including an analogy And digital circuit (integrated circuit), signal processing using f-way hardware method Length 91: Provides a data interface, as shown in the fourth figure. A communication module 98 provides an input / output interface between the micro-integrated GPS / IMU system of the present invention and an external user. The container 93, and the communication module The group 98 is connected to provide both external users and a power module 99 'to receive external power through the connector 93 and provide all the power required by the first, first, third, and GPS boards. ~ 田 Ｍ 卜Shao is composed of a dynamic angular rate detection unit 21 and a second-end circuit 23 connected to the first circuit board, a Y-axis vibration angular rate detection unit 41, and a second front-end circuit 43 connected to the first circuit board 4. The first speed system unit 71 and three angle signal loop circuits 92 connected to the third board 7 are respectively first and middle third circuit sets, which are included in the connection to the upper three to control the electrical pins. This circuit is provided for the first circuit board 2, the second circuit board, and the second circuit board 7, respectively, and includes the Membrane method connected to the control circuit board 9, the fourth diagram, the ninth diagram, and the twelfth diagram. It is shown that the angle generator 5 of the optimization bill of the present invention is composed of the following parts: In the 14th chip 92, an oscillator 925 is used for the X-axis vibration type angular rate detection unit 21, the γ-axis vibration type angular rate detection unit 4 and the Z-axis vibration type angular rate detection unit 7] [, the angular signal loop circuit 921 And the vibration control circuit 922 to provide a reference pickup signal; 2. Three vibration processing modules 912, the first circuit board, the second circuit board 4, and the-circuit board 7 are not disposed, and run on the DSp connected to the control circuit board 9 (Digital signal processor) in chipset 91. An X-axis, γ-axis, and z-axis angular rate detection unit, each structure of 41 and 71, the same, and their inductive axis orthodox, χ-axis angular rate detection unit 21 It is used to detect the angular rate of the carrier = direction, the γ-axis angular rate detection unit W is used to detect the angular rate of the carrier in the γ direction, and the Z-axis angular rate detection unit 71 is used to detect the angular rate of the carrier in the Z-direction. X-axis Z-axis and Z-axis angular rate detection soap levels 21, 41, and 71 are each 1. The corresponding support structure and method, including capacitance readout method, and detection of the angle of the carrier using the coriolis effect rate. , X-axis, Y-axis, and 2-axis angular rate detection units 2b 41 and 71 each receive a signal in the following manner: (1) A vibration drive signal from a vibration control circuit 922 to maintain inertia Bescia The vibration of the block; 私 私 (2) The carrier reference oscillation signal from the oscillator 925, including the capacitance read excitation 1 Lu No. 0, and the Υ, ζ-axis vibration-type angular rate detection units 21, 41, and 71 respectively use Power i · (Clioris force) detects the angular rate of the χ, γ, and ζ axes of the carrier, and outputs the following signal ^ 1) The signal caused by the angular rate includes a displacement signal modulated on the carrier reference oscillation signal, and the signal is output to the first The first, second, and third front-end circuits 23, 43, and the pass-through filter circuits 232, 432, and 732; the vibration signals of the inertial mass block, including the vibration displacement signal, are output, " Three front-end circuits 23, 43, 73 impedance conversion amplifier circuits 23i, 15 431, and 731; the axial direction of the inertial mass block of the m block will receive gram] O: Li II application: ii = directionable torque The one Creoles force or acceleration is named with French physics And mathematician, Cong Dede Creo head (1792__, silk 丨 called mosquito number ^ 盍 ^ s force, for the calculation of hiding material _ ground __ correction amount ^ acting around a point at a fixed angular rate and Radially moving objects ▲ Up: The basic equation of the Creoles force can be expressed as ^ Coriolis ~ m ^ Coriolis ^ 2m {(bxV0scillati〇n) where 'is the detected Creoles force; μ is the inertia The mass of the mass; ^ Coriolis is the generated Creoles acceleration; ώ is the angular velocity of the input; ^ Oscillation is the oscillation speed of the inertial mass; The generated Creoles acceleration is proportional to the mass of the inertial mass and the input angular velocity The product of the speed of the impurity Wei and the direction of the slit velocity of the inertial 速度 block is orthogonal to the direction of the input angular velocity. 々 First: The structure of the second and third front-end circuits 23, 43 and 73 is the same as that of the first, respectively. 1 The third and second circuit boards are connected in rows 2 and 4, which adjust the vibration-type angular rate to measure the X-axis, Y-axis, and Z-axis output signals of the early elements 21, 41, and 71. Refer to the fifth figure. , The first, second and third front-end circuits 23, magic and It is further composed of the following parts: Transimpedance amplifier circuits 23, 431, and 731, which are connected to the angular rate detection units 21, 41, and 71 on the corresponding X-axis and ¥ -axis vehicles, and are used to change the output impedance of the vibration signal from the south (Greater than 100 ohms) to low (less than 100 ohms), two vibration displacement signals are obtained. These two signals are AC voltage No. 4 'knobs representing the displacement between the inertial element and the support comb, which are input to the vibration control circuit. 922. The signals connected with z Han Gao to detect the signal are sent to the angle signal circuit 921. ^ Thus generated 43 and 5 ==? Γ2 through the first, second and third front-end circuits 23, the inertial element vibration signals from # 浪 哭 单 Wbu 41 and 71, refer to ^ self-vibrating ^ 925 The cut-off signal generates a 2 ΓHX-axis' phase with a known phase displacement of the bridging element Υ and the angular rate detection units 2b 41 and 71 1 上 on the two-axis. No, the vibration control circuit 922 is composed of the following two-a second summation circuit 9221 'They are connected to the first, second and third: = 2 143 and 73 transimpedance amplifier circuits 231, 431 and 73 In order to produce 'αΙΤ:', the vibration signal is amplified by more than 10 times to strengthen a vibration displacement signal to obtain a displacement differential signal. The center support comb signal is subtracted from the side support comb # number. A high-pass crossing wave circuit 9222 ′ is connected to the amplifier and the summing circuit 3 = residual vibration driving signal and noise in the dynamic displacement differential signal to form a filtered vibration displacement differential signal. Fix the circuit 9223, which is connected to the high-pass filter circuit 9222, and uses the oscillating ^ 9222 ^ ϋ ^ stop excitation signal as the phase reference signal, and the vibration-displacement differential signal filtered by the high-pass filter, and extracts it. In-phase part to generate inertial element displacement signals with known phases. One, the chirp filter 9225, which is connected to the demodulation circuit 9223 to remove the high touch sound of the inertial element differential recording and form a low surface element differential signal. An analog / digital converter 9224, which is connected to a low-pass filter 9225, converts the low-frequency inertial 7L prime differential analog signal into a digitalized inertial element displacement signal. The modulus of the 17 593981 signal in the DSP chip 91 Group 912 (In the following, we select 1 mode of the vibrating gear specific movement __ bu; = change of production = with shaft》 Vibration-type angular rate detection on the axis and the Z axis. Material detection = 2 = 1 ° Material has a precise amplitude sinusoidal signal to drive stable angular rate measurements on the x-axis, γ-axis, and ζ-axis, and vibration-type angular rate detection units on the axis, Υ-axis, and Z-axis The good 41 and 71 vibration drive signals are critical. The cry receives the analog / digital conversion J224 from the vibration control circuit 922 = digitized low-frequency inertial mass block displacement signal of the phase, in order to: (1) search for The frequency with the highest quality factor (Q) value; (2) Locking the frequency; 'Frequency positively determines the degree of it, and generates a vibration drive signal, including high-accuracy with high amplitude', 3 h, β, β, β, Z-axis vibration-type angular rate detection units 21, 41, and 71 so that the inertial mass can vibrate at At a predetermined resonance frequency, the vibration processing module searches and locks the vibration frequency and amplitude of the inertial mass blocks of the χ, γ, and z-axis vibration type angular rate detection units ^ 1 and 71. Therefore, the digitization is low = the displacement of the sexual mass block The signal is firstly expressed by a discrete fast Fourier transform to express a stable phase loop and a digital / analog converter at frequency 0 and up to 0. As shown in the figure below, the vibration processing module 912 includes a discrete step. Fast Fourier Transform (FFT) module 9121, a frequency and amplitude data storage array module 9122, a maximum detection logic module 9123, and a value analysis and selection logic module 9124, in order to find a module with a maximum q The frequency of the value. Discrete Fast Fourier Transform (FFT) modules 9121, 593981 transform the displacement signal from the digitized low-frequency inertial mass block of the weaving motion control circuit 922_ than the digital viewer 9224, so as to form the input inertia ^ Amplitude data on the frequency. The last 4 shifts ^ spectrum data, the array module 9122 is stored with frequency and amplitude data, and the amplitude is received to form an amplitude and Spectral data array. Maximum value detection logic module 9123, divides the frequency spectrum of the frequency detailed data array from the amplitude and spectral data array into some spectral segments, and from the local spectral segment with the largest amplitude frequency. Q value analysis # u Select logic module 9124 to perform Q score on the selected frequency. Secondly, select the frequency and amplitude by calculating the ratio between the amplitude and the bandwidth. Among them,

The band width used for the calculation is between the positive and negative halves of the maximum value of each maximum frequency point ^ one. 0 * One step, the vibration processing module 912 includes a phase-locked loop 9125, which is used as a very V-pass; To exclude the voice of the selected frequency, and generate and lock the vibration drive signal of the selected frequency. As shown in the eighth figure, the three angular signal loop circuits 921 receive signals from the X, Y, and Z axis vibration types, the angular rate caused by the rate detection units 21, 41, and 71, and the reference pickup signal from the oscillator = 25 Transforming the signal caused by the angular rate into the angular rate is as shown in FIG. 8. Each of the angular signal loop circuits 921 of the first circuit board 2, the second circuit board 4, and the third circuit board 7 includes:

One or two voltage amplifier circuits 9211 are used to amplify the signals caused by the filtered angular rates from the corresponding first, second, and second circuits 23, 43, 73 high-pass filter circuits 232 to at least 1,000 millivolts. Degree to form a signal caused by the amplified angular rate; an amplifier and adder circuit 9212 to extract the difference in the amplified angular rate signal to generate a differential angular rate signal; a demodulator 9213, connected In the amplifier and adder circuit 9212, it is used to read the excitation signal from the differential angular rate signal and the capacitor from the oscillator 925 to extract the amplitude of the in-phase differential angular rate signal. 19 593981 A low-pass filter 9214, connected The demodulator 9213 is used to remove the high frequency noise of the amplitude signal of the in-phase differential angular rate signal to form an angular rate signal and output it to the angular increment and velocity increment generator 6. ^ As shown in the third figure, the acceleration generator 10 of the preferred embodiment of the present invention includes an X-axis accelerometer 42 which is located on the second circuit board 4 and the corner of the ASIC chip 92 in the control circuit board 9 The increment is connected to the speed increment generator 6; a Y-axis accelerometer 22, which is located on the first circuit board 2 and is connected to the angular increment and speed increment generator 6 of the ASIC chip 92 in the control circuit board 9; A Z-axis accelerometer 72 is located on the third circuit board 7 and is connected to the angular increment and speed increment generator 6 of the ASIC chip 92 in the control circuit board 9. As shown in the first picture, the fourth picture, and the twelfth picture, the position and attitude processor is based on a magnetic level meter interface circuit 926, a DSP chip 91, a communication module 98, a connector 93, and a power module. Group 99 is composed. As shown in the second and third figures, the heat-sensitive generator 15 of the preferred embodiment of the present invention further includes: ~ a first heat-sensitive generating unit 24 for sensitive X-axis vibration-type angular rate detection unit 21 and Y-axis acceleration The temperature of the meter 22; the second heat-sensitive generating unit 44 is used to sense the temperature of the γ-axis vibration type angular rate detection unit 41 and the X-axis accelerometer 42; the second heat-sensitive generating unit 74 is used to sense the Z-axis vibration type angle The speed detects the temperature of the minute 71 and the Z-axis accelerometer 72; As shown in the second and third figures, the heater 20 of the preferred embodiment of the present invention further includes: a first heater 25, which is connected to the X-axis The vibration-type angular rate detection unit 21, the gamma-axis accelerometer 22, and the first front-end circuit 23 are connected to maintain a predetermined operating temperature of the X-axis vibration-type angular rate detection unit 21, the Y-axis accelerometer 22, and the first front-end circuit 23. The second heater 45 is connected to the Y-axis vibration type angular rate detection unit 41, the axis accelerometer 42 and the second front-end circuit 43, and is used to maintain the γ-axis vibration type angular rate detection unit 41, the X-axis acceleration type 42 and the second Order of the front-end circuit 43 Operating temperature ^ 20 593981 Second heating frame 75 'It is connected to the Z-axis vibration type angular rate detection unit η, the z-axis accelerometer 72 and the second front-end circuit 73, and is used to maintain the z-axis vibration type angular rate detection unit 71, Z A predetermined operating temperature of the shaft accelerometer 72 and the third front-end circuit 73. As shown in the second diagram, the fourth diagram, and the ninth diagram, the thermal processor 30 of the preferred embodiment of the present invention further includes a same thermal control circuit 923 and a thermal control calculation module 911 running on the dsp chipset 91. ~ " As shown in the tenth figure, each thermal control circuit 923 further includes: a first-amplified state circuit 9231 'It is connected to the corresponding X, γ, and z-axis thermal sensitive generating units = 24, 44, and 74, and is used to: Amplify the signals from the corresponding χ, γ, and ζ car heat generating units 24, 44, and 74 and reduce the noise therein to improve the signal-to-noise ratio. An analog / digital converter 9232 is connected to the amplifier circuit My.来 采 # sample coffee degree voltage 彳 § number, and digitize the sampled temperature and voltage signal into a digital signal, and output it to the thermal control calculation module 911; ° ~ a digital analog converter 9233, which is used to The digital temperature command of the group 911 is converted into an analog signal. The first amplifier circuit 9234 is used to receive and amplify the analog signals from the digital analog mackerel, coffee, na, and 75, and close the temperature control loop. The thermal control meter module 911 uses the digital operating system from the analog / digital converter 9233, the voltage and temperature, and the operating temperature of the company ’s production scale to evaluate the digital temperature command. The digital temperature command is sent to a digital / analog converter 9233. As shown in the eleven figures, the angular increment and velocity increment generator 6 further includes an angle, minute = 62 °, an acceleration integrator 630, a resetter 640, and an angular increment and velocity increment measuring device 650. The shape integrator 620 and the acceleration integrator 630 are respectively used to integrate the dead axis angular rate analog voltage signal and the triaxial acceleration analog voltage signal within a predetermined period of time to accumulate the triaxial angular rate analog voltage signal and the triaxial acceleration analog = = Uncompensated raw angular and velocity increments. 21 593981 、 * itch = ί work is to eliminate the noise signal-to-noise ratio that is not directly proportional to the carrier angular rate and acceleration in the triaxial angular rate analog electric signal and triaxial plus = class = age number_. The three-axis angular rate analog county signal and the three-degree analog signal depend on the high-frequency voice. Some of the three-axis angular rate analog signals are directly proportional to the carrier angular rate resetter to generate an angle reset. The voltage pulse and speed reset the voltage pulse's degree, and degree scales, which are output to the angle integral brain yong acceleration integral = 30, respectively. Volume and speed increase the measurement wrist () using the hangar electric ship charge and speed

Life, to measure the accumulated three-axis angular rate analog voltage signal and three-axis plus iiiii signal ’to obtain the angular increment count value and speed increment count value, which are also used as the digits of angular increment 1 and speed increment. "In the ASIC chip, the geomagnetic field detector interface circuit 926, which is a magnetic potential circuit, is connected to the geomagnetic field detector 96. The micro integrated GPS / IMU system invented by the geomagnetic field vector measurement provides more Orientation information. This is L. As shown in the first and fourth figures, the i magnetic field detector interface circuit 926 on the ASI ^ C chip 92 mounted on the control board 9 is used to control the input detector 96 of the geomagnetic field detector 96. The output signal and the digitized geomagnetic field vector are shown in the ninth figure, and the ⑽ chip installed on the control board 9 is executed. The thermal control calculation 911 forms a control loop of the thermal control device. This. = Motion processing 912, which forms a vibration drive signal for the angular rate generator to control the position, velocity, and attitude. The module processes digital angular increments and velocity to obtain the inertial position, velocity, and data; from the error estimator module纟]: Optimized estimation of position, speed, and attitude errors. Error correction is performed to obtain highly accurate GPS / IMU mixed position, speed, and attitude data. Error estimator module 82, which processes the answers from position, velocity, and attitude modes, speed and attitude, 'Gps measurement data from GPS chip board 3, magnetically retrieved from 22 593981, and calculates magnetic orientation data of module 83 In order to generate optimized inertial position, speed and attitude error estimates, these results are fed back to the position, speed and attitude module 81. Also called = orientation calculation module 83, which receives geomagnetic field vector data from the geomagnetic field detection interface circuit 926 on the ASIC chip 92 on the control board 9, and modulates and processes the angular data from the position, orientation, and attitude module 81 ; Calculate the magnetic orientation number for the error estimator module 82. The input / output communication generator manages the input / output data by an external user. Referring to the twelfth figure, in order to make the micro-integrated GPS / IMU system easier to use, the position and attitude processor is further composed of the following parts: An LCD display module 97 is mounted on the control board 9 in a compact manner. It is connected to the LCD interface circuit 927 on the LCD, and the motion measurement of this patented system = inspection display, for example, the digital and display of position, speed, and posture data. A flash memory 94, as shown in the ninth figure, and the Qin chip are used for computing and computing tasks. The memory 94 is sufficient for programming on the board through the jaTG connector. , Action tic (Long Wei) E Xian, joint test target, it is suggested that in the present invention, JTAG is programmed on the board. Flash memory is a kind of non-volatile memory. It is because they are still gluten when the power is removed. Compared with NVM, it has very significant advantages. Cleaned and reprogrammed. , A money body does not need special, uniform 'EPROM (Erasable Programmable Read-Only Memory) or flash memory leave the board and program with a hardware programmer, and then install it into the center of the board from the slot 23 593981, corresponding Ground, an LCD interface circuit 91 connecting the LCD display module 97 and the DSP chip 91A is mounted on the ASIC chip 92 on the control board 9. The geomagnetic field detector interface circuit 926, which connects the geomagnetic field detector 96 and the DSP chip 91, performs the following functions: The stomach senses an electronic analog magnetic field signal, which is proportional to the percentage of the geomagnetic field from the geomagnetic field detector. An analog magnetic field signal is applied to suppress noise in an electrical analog signal, which is proportional to the geomagnetic field. / The amplified signal is converted into three-axis digital geomagnetic field data, and then input to the Dsp chip 91. ^ Provides data, address and control bus connection and decoding function to generate address b, enables DSP chip 91 to use geomagnetic field detector interface circuit 926 and collect three-digit geomagnetic field data. '' A LCD interface circuit 927 connected between the DSP chip 91 and the LCD display module 97 is installed on the ASIC chip 92 on the DSP chip to provide data / address / control bus connections and generate address decoding The function enables the DSp chip 91 to use the display module 97 and output the motion measurement results of the nuclear IMU of the present invention, such as position, velocity, and safety data. Referring to the twelfth figure, the optimization scheme of the GPS chipset board 3 is composed of a GPS RF (Radio Frequency) IC (Integrated Circuit) 31, a related 1 € 32, and a Gps microprocessor 33. The jPS RF (Radio Frequency) IC (Integrated Circuit) 31 is used to receive the GPS RF signal from the GPS antenna, convert and sample the GPS RF signal, and provide the relevant IC 32 with digitized output of symbols and amplitude. The phase IC32 is connected to the symbol, amplitude digital stream and local carrier, compiles and despreads the GPS signal, and outputs 1 and Q (in-phase and 90-degree phase difference) to the GPS microprocessor 33 for sampling. The GPS microprocessor 33 is used to process the I and q samples to form a tracking circuit 'of the Gps signal and pass it to the GPS original measurement and navigation solution. As shown in Figure 14, the other module of the GPS chipset board 3A consists of GPSRF (24 593981 frequency) 1C (integrated circuit) 31A, a related IC32A, a digital link IC34A, and a data demodulation module 35A. And GPS microprocessor 33. The GPS RF (Radio Frequency) IC (Integrated Circuit) 31A is used to receive GPS RF signals from the antenna 'down-convert and sample the GPSRF signals, and provide the relevant IC32A with digitized output of symbols and amplitudes. Correlation IC 32A uses the input symbol and amplitude digital stream of the appropriate local carrier to decode and de-spread the GPS signal, and outputs I and Q (in-phase and 90-degree phase difference) samples to the GPS microprocessor 33.

The digital link IC34A is used to receive a digital link rf signal from a differential GPS device, down convert the digital link RF signal to a digital link positive frequency (IF) signal, and then input the digital link demodulation module 35A. The digital link demodulation module 35A outputs the GPS differential correction data to the GPS microprocessor 33A due to the demodulation of the digital link if signal. The GPS microprocessor 33A processes the I and Q sampling and elevation 8 differential data to form a GPS signal tracking loop and derives a GPS navigation solution. Further, the inertial velocity and acceleration corrected by the error estimator 82 from the position and attitude processor can be fed back to the GPS microprocessor 33 to assist in the compilation of GPS satellite signals and carrier phase tracking to improve the integrated GPS / IMU in Performance in crowded and highly dynamic environments. Again μ

As shown in Fifteenth®, the position, velocity, and attitude modes are continued by _correction module = 01 'angular rate compensation module 8102' acceleration compensation module 103, water, module 8104 'collimation rotation vector calculation module Zuna, the direction I_ matrix calculation

St ίίΐί load factor calculation module _, position speed update module face, 'and female evil and orientation horn purge module 8109. The cone correction module_1 receives the angular increment and velocity increment increment values and the angular velocity generated at a high data rate (short interval); and the original angular rate offset during the speed generator calibration process, _ Input the two-axis Shaw incremental value and the original Shaw rate offset to calculate the triangular cone effect data and tri-axis ^ angle and the number of data. Is the three-axis long interval angle increment value, which is input into the angular rate compensation angular rate compensation module 8102 due to receiving $ 5 from the cone correction module and the three-axis long interval angle increment value, and generated from the angular rate Parameters and fine angular velocity of the angular rate device during calibration

Use the cone effect error to compensate for the long interval angle increment value. The angular rate device is misaligned. The number of fine rate offsets, and the three-axis long interval angle increment. The shaft angle is incremented to the collimated rotation vector calculation module 81. The collimation rotation vector calculation module 8105 receives the angular velocity compensation due to the reception. Compensated triaxial angle increments and rotation speed vectors of the local navigational coordinates (n-coordinates) relative to the inertial coordinates (i-coordinates) of the ^ body from the earth and the load rate compensation module _; update the four-element data set, which is A 'data set representing the angle of the carrier is connected to the directional cosine matrix calculation module 8106. The μ ^ direction cosine matrix calculation module 8106 calculates a direction cosine matrix by using the updated four-element data set, and receives a pose misestimate σ calculator from the error estimator 82 to correct the direction cosine matrix. The force inflammation estimation and acceleration compensation module 8103 compensates the determined error in the three-axis speed increment by using the acceleration device misalignment and acceleration position. Here, the compensation amount is connected to the horizontal acceleration calculation module 8104. Our glaze speed ^

The horizontal acceleration calculation module 8104 receives the compensated three-axis speed increment, and uses the compensated three-axis speed increment from the acceleration compensation module 8103 and the direction cosine matrix from the direction cosine matrix calculation module 8106 to calculate the level. Speed increment. The attitude and orientation angle extraction module 8109 uses the correct direction to extract the attitude and orientation angle of the GPS / IMU mixture.殂 丨 Early death, the position and speed update module 8108 receives the horizontal speed increase 1: from the horizontal acceleration calculation module 8104, calculates the similar speed answer, and optimizes the position and speed error of the estimated module 82 from the county. Estimate to compensate for the errors in the position and velocity solutions to obtain the GPS / IMU mixed position and velocity data. The mouth, earth, and load factor calculation module 8107 receives the answer from the position and speed update module 8108 26. The calculation carrier ’s local navigation coordinates (n-coordinates) are relative to the inertia of 8 ^ 5. The rotation rate vector, which is connected to the collimation rotation vector calculation module. The deviation estimation module 82 establishes an error model and a GPS error model for the purpose of processing the data from the position, velocity, and attitude module 81. GPS, position, speed, and position i = iGPs microprocessor 33's gps measurement data, and from the magnetic orientation ^ 算 ϋ -ί data, provides the position, speed, and / or sadness from the position, speed, and attitude module 81 Optimal estimation of errors and GPS errors. The X-ray error estimator is implemented by a Kalman filter. It is well known that the card = uses the system and measured statistical properties to generate the system state vector. The change δ, 1 = is set. In the class of non-biased estimation They have the smallest down point. The properties of the k estimations are only applicable to the mathematical model used, and, in this case; == any improper specification in use will make the result of the wavelet card S 渡 = ϊ Lost-stem-caged phase-man warships—correction and optimization of the system and measurement model provided by t5, which does not work; it does not use 3; ,,, and Kalman filtering states only for specific listening waves _ | ^ 报 ^^ == 皮The purpose of inaccuracy is to ensure the error covariance moment _ '=, the accuracy, and the filter integral difference statistics. In addition, the filtering bias is usually caused by misleading energy and consistent estimates.甶 Change the system and measurement model or sensor loss by Kalman _. This wavelet margin monitoring method can effectively detect r and soft ^ 27 593981 One benefit of the monitoring method is that when the filtering model is correct, The statistical distribution of the quantity series is known '. Therefore, when measuring the margin, it is easy to use the test distribution to generate the measurement data editing and dispersion detection scheme. When dispersion is detected, the same statistics can be obtained due to Adjust the filter and covariant size. Figure 16 shows the implementation of a financial Kalman filter including a margin monitoring function. . As shown in the sixteenth figure, the GPS error compensation module 8207 collects GPS measurement data from the GPS microprocessing 33, and uses the optimized estimation of the Gps error I from the updated state vector module 8209 to perform GPS. The compensation of the measurement data is correct (31 ^) The measurement data is sent to the processing module 8205.

The preprocessing module 8205 receives the GPS satellite position inference table from the GPS microprocessor 33, the corrected GPS measurement data from the GPS error compensation module 8207, the INS solution from the position, speed, and attitude module 81, and the GPS error Compensation module 8207 performs state transformation matrix calculation ^ 'The result and the previous state vector are sent to state vector prediction module 8206, and the calculated state transformation matrix is also sent to covariant transmission module 8202. Group 8 strictly calculates the measurement matrix and the current measurement vector according to the calculated matrix and the rhyme type. The measurement matrix and the calculated current measurement vector are sent to the calculation measurement module 8208. The state-oriented prediction module 8206 receives the state transformation matrix and the previous state vector from the preprocessing module 8205, the current side of the current phase of the money line, and the current state vector of the reward is sent to the calculation and measurement margin module. 82〇8. *

The calculation and measurement margin module 8208 receives the prediction from the state vector prediction module 8206, the current state vector, the measurement matrix from the preprocessing module 8205, and the current measurement direction f. 8208 calculates the margin by subtracting the face of the measurement matrix and the predicted current state vector from the current measurement vector, and the measured amount is sent to the residual monitoring module 331 and the updated state vector module 82Q9. … The remaining amount monitoring module 8201 recognizes the measured remaining amount of the measured remaining amount module, and identifies whether the quotient of the remaining amount is greater than the given quotient. 1: The square of the balance is divided by the change of the bonus. The bribe is greater than a given threshold. The current measurement can cause the card-man filter to diverge. When this 28 593981 phenomenon occurs, the balance monitoring module 331 calculates a new system process. Covariate and reject the current measurement 'If the quotient of the square of the measurement margin divided by the remainder change is less than a given threshold, the current measurement result can be used by the Kalman filter to obtain the current navigation solution without changing the current of the system process Covariation, system process covariance is sent to covariance transmission module 8202. The covariant transmission module 8202 collects the system process covariations from the margin monitoring module 8201, the state transformation matrix from the preprocessing module 8205, and the previous covariance of the estimation error to account for the current covariance of the different estimation errors. The current covariance of the calculated estimation error is sent to the calculation optimization gain module 8203. The calculation optimization gain module 8203 receives the current covariance of the estimation error from the covariance transmission module 8202 to calculate the optimization gain. This optimization gain is sent to the covariance update module 8204 and the update state vector module 339. The covariance update module 8204 updates the estimation_error covariance and sends it to the covariance transmission module 8202. The update state vector module 8209 receives the optimized gain from the calculation optimization gain module 8203 and the measurement margin from the calculation measurement margin module 8208, and updates the current vector estimation module 8209 to calculate the current estimate of the state vector, including the position and velocity. And attitude errors and GPS errors, and send them to the error compensation module 8207 and the position velocity and attitude 1 module 81. The magnetic orientation calculation module 83 receives the geomagnetic field detection interface circuit 926 from the ASIC chip 92 and And orientation module 81 or position, velocity and attitude module 82, and calculate the magnetic orientation data. Magnetic orientation calculation module 83 # performs the following functions: ^ 丨 夬 闪 ^ The magnetic field detector% fixes the parameters to generate a calibration vector; μ receives a three-axis digitalized field f field Ϊ number from the geomagnetic field detection interface circuit 926 on the ASIC chip 92 to generate a measurement vector, and the signal is expressed in volume coordinates; and The orientation module 81 or the position, velocity and attitude module 82 receives the elevation and roll angle data to generate a transformation matrix from body coordinates to horizontal coordinates. The calibration vector is used to compensate the measurement vector. 29 The compensation measurement vector is transformed from the body coordinate to the horizontal coordinate, and the compensation measurement vector is expressed by the horizontal coordinate; the measurement vector expressed by the horizontal coordinate is used to calculate the magnetic orientation data, and the data velocity error estimator 82. As described above, the first circuit board 2, the second circuit board 4, the third circuit board 7, the GPS chipset board 3, and the control circuit board 9 are installed in a metal cube box, as shown in FIG. 17 As shown, it is an optimized perspective and side view of an optimized micro-integrated GPS / IMU system as shown in the block diagram of the first figure. According to the first selection mode of the physical structure of the present invention, the first circuit board 2, the second circuit board 4, the third circuit board 7, the GPS chipset board 3, and the control circuit board 9 are correspondingly mounted on Inside the metal cube box 1, as shown in the eighteenth figure, in this configuration, the first circuit board 2 and the second circuit board 4 are mounted on the top and bottom, the third circuit board 7 and the GPS chipset The board 3 is installed on the left or right so as to be connected orthogonally with the first circuit board 2 and the second circuit board 4 to obtain the three induction axes of the three angular rate generators and the acceleration generators. The circuit board 9 is installed at the front or rear end to be connected to the first circuit board 2, the second circuit board 4, the third circuit board 7, and the GPS chipset board 3. Among the special configurations of the first circuit board 2, the second circuit board 4, the third circuit board 7, the GPS chipset board 3, and the control circuit board 9 disclosed above, the first circuit board 2, the first Two circuit boards 4, a third circuit board 7, a Gps chipset board 3, and a control system. The board 9 is installed in a metal cube box. In some applications, the core of the invention 1] ^ 11 A circuit board 2, a second circuit board 4, a third circuit board 7, a GPS chipset board 3, and a control circuit board 9 are selectively installed to obtain a flat metal box, as shown in FIG. 19 The third circuit board 7 is vertically installed in a flat metal box. The first circuit board 2, the second circuit board 4, the GPS chipset board 3, and the control circuit board 9 are distributed in the second. Circuit board 7 on both sides. The implementation of the invention disclosed above is mounted on a carrier to provide kinematic measurement. Extreme vibrations and shocks can cause additional, unexpected errors in the output of the micro-integrated Gps / IMU system, such as the second As shown in Figure 10, a support frame 101 593981 and an impact frame 105 are used to reduce the extreme vibration and impact effects of the micro-integrated GPS / IMU system. The support frame 101 is directly fixed to the carrier. The micro-integrated The GPS / IMU system is fixed on the support frame 101 through four vibration frames. As shown in Figure 21, the micro-integrated GPS / IMU system can be installed on the carrier through four vibration insulators 106. x As shown in Figures 2 and 22, the optimized thermal induction generators 24, 44A, and 74A further perform the following functions: Receive vibration driver signals from angular rate detection units 21, 4 and 71; and extract angular rate Detect the vibration rate of the inertial element of the units 21, 41, and 71. Use the angular rate to detect the vibration frequency of the inertial element of the units 21, 41, and 71. Estimate the angular rate detection unit by querying the temperature model of the MEMS frequency. The operating temperature of the Weng. Here the temperature model of the MEMS frequency is obtained in advance through multiple measurements of the angular rate detection units 21, 4 and 71. ^ The thermal control circuit 923 on the ASIC chip 92 will obtain the Dsp chip 91 at the operating temperature. Brief description of the drawings] Figure 2 and Figure 2 · A block diagram showing the micro integrated GPS / IMU system processing module of the preferred solution of the present invention. The second figure is a block diagram showing the preferred embodiment of the present invention. Thermal control method of the micro-integrated GPS / IMU system of the solution. The fourth figure is a block diagram showing the circuit board of the micro-integrated GPS / IMU system of the preferred solution of the present invention. Connection. The present invention is a slight integration of the above-described preferred embodiment

Functional block diagram of the eight-sink chip on the control board of the GPS / IMU system. A Fifth picture: yes-the above-mentioned preferred solution of the present invention = ir-, second and third: the front sixth picture of the board ... yes-a slight integration of the above-mentioned preferred solution of the present invention 31 593981 seventh figure eighth Figure: Figure 9: Figure 10: Figure ： Figure 12 Figure 13 Figure 13 Figure 14 Figure 15 Figure 16 Figure 17 Figure 17 of the ASIC chip on the control circuit board of the GPS / IMU system Block diagram of vibration control circuit. : It is a block diagram of a chat chip_vibration processing module on the control board of the micro integrated GPS / IMU system of the above preferred solution of the present invention. , Is a block diagram of a corner loop circuit on a haphazard chip on the control board of the micro integrated GPS / IMU system of the above-mentioned preferred solution of the present invention. It is a square, which outlines the processing module in the DSP on the control board of the slightly integrated GP S / IMU system of the preferred scheme. It is a block diagram illustrating another heat treatment device that outputs an analog voltage signal from the heat generator of the above-mentioned preferred embodiment of the present invention. • is a block diagram illustrating another angular increment and velocity increment generator of the output voltage signal of the angular rate generator and acceleration generator of the above-mentioned preferred embodiment of the present invention. : Is a block diagram illustrating the control board of the above-mentioned preferred embodiment of the present invention. • is a block diagram illustrating the first solution of the GPS chip board of the above-mentioned preferred solution of the present invention. • is a block diagram illustrating the second solution of the GPS chipset with differential GPS technology of the above-mentioned preferred solution of the present invention. : Is a functional block diagram of the position, velocity ', posture and orientation modules of the above-mentioned preferred solution of the present invention. : Is a functional block diagram of the error estimator of the above preferred solution of the present invention. : Is the side view of the above-mentioned micro-integrated GPS / IMU of the preferred scheme. Figure 0 32 " Figure =, the second option of the 邛 mechanical structure and circuit board configuration of the micro-integrated GPS / IMU system of the preferred scheme. Figure 9 illustrates the third option of the micro-integrated GPS / IMU system's structure and circuit board configuration, with the & flat box. Figure 10 · f The first bracket and vibration mounting composition of the micro integrated GPS / IMU system of the above preferred scheme. Figure 10: The micro-integrated GpS / IMU system of the above preferred scheme. Second. • Another optimized bracket and vibration installation composition.

-Figure · is another optimized thermal induction generator of the above-mentioned micro-integrated mobile program system. Explanation of the diagram: ^ Metal cube box 4_second circuit board 5-angular rate generator 7-third circuit board 10_acceleration generator 20-heater 22-Y-axis accelerometer 2-first circuit Board 3, 3A-GPS chipset

6-Angle increment and speed increment generator 9- Control circuit board 15- Thermal sensitive generator 21- X-axis vibration angular rate detection unit 23- First front-end circuit 24, 24A- First thermal sensitive generating unit 25- First heater 30-thermal processor 3 31A-GPSRF (radio frequency) IC (integrated circuit) 32, 32A-related 1C 3233, 33A-GPS microprocessor 35A-data demodulation module 41-Y axis vibration angular rate Detection unit 42-X-axis accelerometer 43_ Second front-end circuit 44, 44A- Second heat-sensitive generating unit 45- Second heater 71-Z-axis vibration angular rate Detection unit 72-Z-axis accelerometer 73- Third Front-end circuits 33 74, 74A_ third heat-sensitive generating unit 75- third heating H 'position and attitude processing 81- position, speed and attitude module "device 82_error estimator module 83_ magnetic orientation meter 91-Digital signal processor (DSp) chip # ,,,, 92 · Application-specific integrated circuit (ASIC) chip 93-connector 94-flash memory 95 rhyme connector 96-earth magnetic field detection cry 99-power mode Group 101-support frame 231, 431, 731-impedance conversion amplifier electrical ^ 232, 432, 732-high-pass filter circuit 97-LCD display module Group communication module 98-

100-thermal control device 105_shock frame 339-update state vector module 630-acceleration integrator 650-angle and speed increment measurement 912-vibration processing module 922-vibration control circuit 925-oscillator 927-LCD interface Circuit 8102-Angular Rate Compensation Module 8104-Horizontal Acceleration Calculation Module

331-surplus monitoring module 620-angle integrator 640-resetter 911-thermal control calculation module 921-angle signal loop circuit 923-thermal control circuit 926-magnetometer interface circuit 8101-cone correction module 8103_acceleration Compensation module. i 8105- Collimation rotation vector calculation module 8106- Direction cosine matrix calculation module 8107- Earth and load factor calculation module 8108- Position speed update module 8109- Attitude and orientation angle extraction module 8201 Margin monitoring module 8202 -Covariant transmission module 8204_Covariant update module3-Computational optimization gain module 34 593981 8207 82G6_State vector prediction module Secret calculation module 9121- Discrete fast Fourier transform module Group 9122_, rate and amplitude data storage array module 9123-maximum detection logic module 9121-voltage amplifier circuit 9122-amplifier and adder circuit 9121-amplifier and summing circuit 9223-demodulation circuit 9225-low-pass filter 9227 -Amplifier 9232-Analog / digital converter 9234-Second amplifier circuit 9124 Q value analysis and selection logic template 9125-Phase-locked loop '' '9213- Demodulator 9124-Low-pass filter 9222- 鬲 -pass filter circuit 9224 -Analog / digital converter 9226-Digital / analog converter 9231-First amplifier circuit 9233-Digital analog converter 9 A-Control circuit board 35

Claims (1)

593981 The scope of patent application: 1. A small integrated Neale system 'is composed of the following parts:-The electrical angular velocity signals of the mi-axis, γ-axis, and ζ-axis;: ί Increase 1 ;; degree if production === Xiao Zenghe turns the x-axis and axis ㈣ acceleration signals into a GPS chipset and provides at least ⑽-position and attitude from a Gps satellite, fine angular increments, digital velocity increments, GPS measurement data, and Geomagnetic field vector measurement data, calculation data of position, attitude and orientation angle. 2. The micro-integrated Gps / IMU system as described in item 1 of the scope of patent application, where the GPS chip is a GPSRF (radio frequency) IC (integrated circuit), a related 1 (: and which microprocessor is composed of; where The GPS (radio frequency) IC (integrated circuit) receives the GPS RF signal from the GPS antenna, down-converts and samples the RF GPS signal, and provides the digital output of the sign and amplitude to the relevant IC; the relevant 1C combines the digital output of the sign and amplitude with the appropriate The local carrier is connected to the signal, and the I and Q (in-phase and 90-degree difference) samples are despread and sent to the GPS microprocessor. The GPS microprocessor processes the I and Q samples to form a GPS signal tracking loop and derive the GPS original. Measurement data and navigation solver. 3. The micro-integrated Gps / IMU system as described in item 1 of the patent application scope, in which the GPS chip is composed of GPSRF (radio frequency) IC (integrated circuit), one related IC, one data key connected to 1C, and one data demodulation The module and a GPS microprocessor; the GPS RF (radio frequency) IC (integrated circuit) receives the GPS RF signal from the GPS antenna, down-converts and samples the RF GPS signal, and provides digital signout and amplitude to the relevant 1C digital wheels out Correlation 1C links the symbol and amplitude digital output with the appropriate local carrier and signal, despreads I and Q (in-phase and 90 degrees out of phase) samples, and sends them to the GPS microprocessor ^ 36 593981 埴 or receive IC from the difference The GPS transmitting station's signal is converted, and the signal is converted into positive signal and sent to the data demodulation module; the data processing module decodes the IF signal and outputs the GPS wire data to the GPS micro processor. Process the data of workers and cards and GPS differentials to form a tracking loop for bluffing and derive the GPS navigation solver. ) · The micro-integrated GPS / IMU system as described in item 1 of the patent application scope, the position and attitude processor in the center consists of the following: ASIC chip, composed of the geomagnetic field detector interface circuit, the interface The circuit ’s magnetic field vector electrical measurement signal, digital geomagnetic field detection ™, and magnetic field measurement # are used to output digital geomagnetic field vector data; = DSP chip receives the geomagnetic field The digitalized ground-rock data of the detector interface circuit is used to perform calculation and control tasks for the micro-integrated GPS / IMU system; a power module that receives external power to provide the required voltage. 5. The micro-integrated ()] [^ / 1] ^ 1; system as described in item 4 of the scope of patent application, the bean position and attitude processor is further composed of the following: Eight communication modules that provide micro-integrated Input / output interface between the Gps / IMU system and external users; and ~ = connector 'to connect the communication module, providing a proper official pin configuration compatible with external users. External power supply. 6. The tiny integrated GPS / IMU system as described in item 2 of the patent application scope, the straight position and attitude processor consists of the following: /,: an ASIC chip, interfaced by the geomagnetic field detector The circuit consists of the interface circuit = 31 geomagnetic vector electrical measurement signal of the detector, and the digital geomagnetic% vector electrical measurement signal of digital geomagnetic field detection to output digital geomagnetic field vector data;… the chip 'receives the geomagnetic field detection The digital geomagnetism of the interface circuit of the controller is 1 data 'for the integrated GPS / IMIL% micro-integration to perform calculations and control any power module that receives the external power supply to provide the required voltage. 7. Such as patent application The small integrated GPS / IMU system described in item 6, where 37 positions = attitude processor is further-the following, I and the following: between the group and the GPS / I_ system providing external integration and external user management Pin 3 is connected to the cattle module, providing appropriate compatibility with external users. For example, if the power module is connected to the external power supply through the connector, the location is the same as the small integration described in item 6. GPS / IMU system, the position and safety processor in the frame is composed of the following: Several "protector" plates are composed of a geomagnetic field detection interface circuit. The interface circuit is a vector measurement signal of the geomagnetic field. And digitized geomagnetic ^ number 'to output digitized geomagnetic field vector data; magnetic ^ ht ^ receives digitized ground from the geomagnetic field detector interface circuit: 5 = j, integrated GPS / __ 9 Shi Fu ^ Received ^ Power supply module that provides the required voltage. G_u with integrated position and attitude. # Of which provides micro-integration of Jane ’s system and external user pins = connections, groups, and provides appropriate compatible with external users. 10 4r, power module input external power from connector The source of DS ^ is described by the tiny integrated GPS / system, in which: the method of performing thermal control calculations; the processing method i becomes the control of the driving signal and the vibration is performed without any error to estimate her 38,593981 data, speed and attitude solution data of the self-recording and speed transition module of the county, and Gps measurement from the Gps chip. Calculate the attitude data for ΪΐίϊΪ, and call for the position, speed, and attitude errors of the fox. Data; I input 7 output communication generator, manages input / round out number orientation difference module with external users, receives vector data from geomagnetic field interface circuit on ASIC chip and data from position, velocity and attitude module , Which calculates the magnetic orientation data for the error estimator module. The tiny integrated GPS / IMU system described in item 6 of the patent application scope. The DSP chip in the basin is composed of the following: The eighth method of thermal control calculation to form the control loop of the thermal control method; Form the control circuit of the vibration drive signal to perform the vibration operation 2 degree and attitude module, and use it to process the digital angular increment and digital speed ^ to the inertial position, speed and attitude data, and use the inertial position and speed to solve the optimization of H The estimation is incorrectly adjusted, and the position, velocity, and attitude H difference estimation module is used to process the crying data from the position, velocity, and attitude modules. The GPS measurement from the GPS chip is used to estimate the error. Ϊ10 * magnetic orientation data to generate superior data for inertial position, speed, and attitude errors; and an input / output communication generator that manages the input / output number of external users and Li Xiao and rolling Xiao, which are error estimates Miscellaneous calculation of magnetic orientation data. > Λ t Geomagnetism = Subtracting to § 丨, connected to digital geomagnetic field vector data from special money, frequency circuit (asic) chip and control loop from position, velocity and attitude control method And the method of thermal control calculation; 39 dynamic generators form a control loop of vibration drive signals and perform vibration increments to get 5 inertia sets, which are used to deal with digital angular increments and digital speed solutions; Correct the position difference to obtain the position, velocity, and attitude. 'Use and process the GPS measurements from the position, velocity, and attitude modules. An excellent in / out communication generator that generates inertia, speed, and attitude errors, manages input / output data with external users; and geomagnetism: Γίί ί is produced from a fixed application integrated circuit (asic) chip. The analogue recording geomagnetic Le Ping 4 and from the Jian, speed and attitude pitch Xiao 'for the error estimator module to calculate magnetic orientation data. The field detector is introduced; Kushiro is between the geomagnetic field detector and the chip, and the geomagnetism is received from the geomagnetic field detector and is proportional to the geomagnetic field. The number of electronic proportional signals is suppressed. One DSpif trust is changed to three. The geomagnetic field data is input to the ground, for the connection of the miscellaneous / address / control line and the generation of address decoding. Wei Z chip accesses the geomagnetic field detector interface circuit and receives three geomagnetic field data. The micro-integrated Gps / IMu described in item 6 receives an electronic analog signal that is proportional to the geomagnetic field from the geomagnetic field detector; amplifies the electronic analog signal 'to suppress the noise in the electronic analog signal that is not proportional to the geomagnetic field to form an amplified signal Transform the amplified signal into three-axis digital geomagnetic field data, which is input to the DSP chip; Provide data / address / control bus connection and generate address decoding functions, where the DSP chip accesses the geomagnetic field detector interface circuit and receives Three-axis digital geomagnetic field data 0 15 · Slightly integrated Gps / IMU system as described in item 8 of the scope of patent application, where the geomagnetism% The detection is an interface circuit connected between the geomagnetic field detector and the DSP chip. The geomagnetic field detector interface circuit: receives the electronic analog signal proportional to the geomagnetic field from the geomagnetic field detector; amplifies the electronic analog signal and suppresses the electronic analog signal Noise that is not proportional to the geomagnetic field to form an amplified signal; convert the amplified signal into three-axis digital geomagnetic field data on the DSP chip; provide data / address / control bus connection and generate address decoding functions, here the DSP chip Visit the interface circuit of the geomagnetic field detector and receive three vehicles from the digital geomagnetic field data. 16. The micro-integrated Gps / I hall system and system as described in item 10 of the scope of patent application, wherein the geomagnetic field detection II interface circuit is connected between the geomagnetic field detector #nDsp chip, and the geomagnetic field detector interface circuit: Receives the electronic analog 俨 sign that is proportional to the geomagnetic field from the geomagnetic field detector; Amplifies the electronic analog money and suppresses the noise in the electronic analog signal in proportion to the geomagnetic field ^ to form an amplified signal; Large money is converted into a three-axis digital ground Magnetic field data, which is input to the heart chip fc., Provides data / _: / controller_ connection and generates address decoding Wei; the DSP chip here accesses the interface circuit of the geomagnetic field detector and receives three-axis digital geomagnetic field data 593981 . 17. The micro-integrated Gps / IMU system as described in item 11 of the scope of patent application, wherein the geomagnetic field detector interface circuit is connected to the geomagnetic field detector and the DSp chip field detector interface circuit: Electronic analog signals that are proportional to the geomagnetic field; Amplify the electronic analog signals and suppress the noise in the electronic analog signals that is proportional to the geomagnetic field to form an amplified signal; $ The amplified 彳 § number is converted into three-axis digital geomagnetic field data, which is Input to DSP chip; Provide data / address / control bus connection and generate address decoding function; here The DSP chip accesses the geomagnetic field exploration interface circuit and receives the three-axis digital geomagnetic field data. 0 18 The micro-integrated Gps / IMU system described in item 12 of the patent application scope. The geomagnetic field detector interface circuit is connected to the geomagnetic field detection. The magnetic field detector interface circuit between the instrument and the gift chip: Receives the electronic analog signal that is proportional to the geomagnetic field from the geomagnetic field detector; Amplifies the electronic analog signal to suppress the noise of the sub-analog signal towel in proportion to the geomagnetic field To form an amplified signal; the signal is converted into three-position geomagnetic field data, which is input to the heart slice, Provide data / address / control line connection and generate ground bridging code; here = SP chip access to the geomagnetic field detector interface circuit ii receiving three approximate geomagnetic field data 0 19 · As described in item 10 of the scope of patent application The tiny integrated position, speed, and attitude modules are composed of the following parts: · GPS / IMU system, in which the group 'receives the numbers from the angular and speed increment generators. The calibration process of the rate generator and acceleration generator. In the original; offset meter; horn angle increment and the # 弹 月 忒 忒 should be different, in a long interval, at a reduced data rate of 42 den-: increase the interval angle increment value, The value and the long interval angle increment parameter and the fine angular rate from the angular rate generating module. Angular rate equipment difference, angular rate equipment, row angle, cone angle effect, misaligned angular increment and derived coordinates of child angles: rotation of the four-valued array of angular rotation angles, and output of the updated four-valued array · The carrier's 载体 a bucket related to the updated four-valued array has been === matrix connected 'degree surface increments, calculated from the acceleration to the cosine matrix === material from the direction matrix matrix calculation module; ; And Orientation angle extraction module 'Using the corrected direction cosine matrix to extract the attitude velocity 2 from the horizontal acceleration calculation module's level to be superior;, Earth and negative, rate calculation tilt, receive from the position velocity update module and velocity solution' calculation button The local navigation coordinate system (n fr, sitting f) touches the amount of work, and the amount of shaft is turned to 4 = · = ^ 20. The micro-integrated Gps / IMu system described in item ii of the patent application scope, where the 5939SI position, The speed and attitude module is composed of the following parts: Two cone angle correction modules that receive the angular increment from the angular increment and the angular rate from the angular rate generator μ = f degrees. Number generator calibration process In the data and angular increment data, this data is the angular rate configuration of the long vehicle interval value and the long interval angle increase module of the angle correction module. Cone angle effect ΐ Difference angle capture rate 5 with staggered parameters, fine angular rate bias 乃, miscellaneous 4-3, the sub-compensation of the long interval angle increment value to determine the error and output the real angle increment 彳 疋Two collimation rotation vector calculation modules that receive the angle ^ compensation angle increment and ^ earth and load factor calculation module's load frame) relative to the inertial coordinate (i frame) four-dimensional array of angle vectors' and output the updated The updated carrier's rotation = solid and updated four-valued number __ direction cosine calculation: === array receives from the error estimator. '' Compensation == high speed device misalignment, accelerometer offset flat acceleration ϋί which said The compensated speed increment is connected to a horizontal acceleration module that receives the compensated speed increment, the compensated speed increment of the j compensation module and the direction co-core = the horizontal velocity increment is calculated from the cosine matrix; And the sum of if and orientation angle Take the module, use the corrected direction cosine matrix to extract the attitude degree, and set the gift's horizontal velocity from the horizontal acceleration calculation module. The "Lini velocity solution" receives the optimal estimation of the position and velocity errors from the error estimator, and compensates for the position and velocity solutions. The error; and 44 Earth and load rate calculation module and speed solution, the calculated local position ^^ from the position speed update module position__: integrated GPS_, system, one of the cone limb positive module, wire_ Calculate the angular increment and the angular angular deviation from the original angular rate of the high data rate within the digital interval of 11 hearing rate generation and acceleration generation. Calculate the cone angle effect error at short intervals, and increase the long interval angle for long data. Measured value; @ cone button data and angular delta data, this angular rate compensation module, then. Measured value and long-angled angular misalignment parameters generated by the angular rate from the angular rate are positively pulled, and Fine angular rate 酉, process angular rate difference, angular rate device ㈣m use long taper angle increment cone error effect error to compensate long taper angle i: the angle of 4, rate offset, and taper angle correction Cause Increment and modulo 1 'receive a real frame from the angular rate compensation module) relative to the local navigation coordinate system of the inertial body 7 (N of the four of the rotation vector, the updated vector of the rotation of the vector of the four-valued array) To calculate the directional cosine matrix using the updated cosine matrix; receive the best estimate of the attitude deviation error from the error estimator 'corrected directional cosine matrix; me compensation speed' _ acceleration device misalignment and accelerometer bias ΐ ΐ ϋ ϋ difference; where The speed increase of the compensation is 逹 to the acceleration of the water μ, the speed increase of the minus, the speed increase of the compensation from the acceleration and the compensation, and the square 45 593981 from the direction cosine matrix calculation module to calculate the level Velocity increment; and extraction of orientation and orientation angle extraction module, finely-corrected direction cosine matrix extraction, attitude production office, acquisition and optimization of the horizontal velocity difference from the horizontal acceleration calculation module, and compensation of position and velocity solutions. Error; and ^ 疋 degrees of earth and negative fresh calculations, the wire speed from the position is more _ and the speed solution 'calculation load _ local sailing lion (n 1 f _) _ rotation rate to 'The collimator Na to the pilot's. 2 ^ 2 ·, such as patents. The micro-integrated Gps / iMu system described in item 10 of the application scope, where the error is estimated. Ten is composed of Kalman; Kalman filter, Kalman filter, wave filter is composed of the following parts:-a GPS error compensation module, searching for Gps processing data from the fat micro-processing, the data is alternately used with differential GPS data Correction, and position and speed correction values from the updated state vector module for GPS error compensation; A pre-processing module that receives the raw data corrected by the GPS error compensation module and the INS solution from the position, speed, and attitude modules; the pre-processing module performs the state transformation matrix, the difference is different from the previous state The vectors are sent to the state vector prediction module, and the state vector transformation matrix is also sent to the covariant propagation matrix. The preprocessing module calculates the measurement matrix and the current measurement direction, quantity, and measurement matrix based on the calculated measurement matrix and measurement model. And the calculated current measurement vector are sent to the calculation measurement margin module; wherein, the state vector prediction module receives the state transformation matrix and the previous state vector from the preprocessing module to perform the state prediction of the current phase delay, where The predicted current state vector is sent to the differentiating measurement margin module; the differentiating measurement margin module receives the predicted current state vector from the state vector prediction module and the measurement matrix and current measurement vector from the preprocessing module. Among them, the real-time measurement Lili module subtracts the product of the measurement matrix and the predicted current state vector from the current measurement vector. Calculate the measurement margin, and the measurement margin is sent to the margin monitoring module 46 593981 and the update status vector module. Identification, the recognition criterion is the interval between the measurement margin and the measurement margin, and the quotient of the square difference of the measurement margin Whether it is greater than the given current measurement leading to Kalman; when the J-wave of the wave filter is equal to the given value of the quotient, the new covariance of the system process and the rejector are: 7 to 3 at a given threshold. Although the square of the measurement margin is divided by the covariance before the margin and the current measurement is used, we get the f: ^ piper without changing the system process when the covariant propagation mode is reached. Yu Da Although the nagging navigation solution, the systematic process covariance was sent Poor current_variable calculation estimation error module; ^ 扪 怙 彳 determinate * not covariance is sent to the calculation optimization gain co-accounting group to receive the current gain of the estimation error from the covariance calculation module. The result is sent to Covariant update module and update state, covariant update module updates the estimation error covariance and sends it to the coordinator ^ 3, to the money group to receive the optimized gain from the calculation optimization gain module and calculate the measured surplus food from the different reading module; update the current vector module to calculate the current estimate of the state to 1, including position, velocity, and attitude errors And send it to the GPS error compensation module and the position, speed and attitude module. 23. · The micro-integrated Gps / IMU system as described in item 丨 丨 of the patent application scope, wherein the error estimator is composed of a Kalman filter, and the Kalman filter is composed of the following parts: A GPS error compensation module, which collects GPS processing data from GPS microprocessor 'This data is alternately corrected with differential GPS data, and the position and velocity correction values from the updated state vector module are used for GPS error compensation. A pre-processing module receives data from The raw data corrected by the GPS error compensation module and the INS solution from the position, velocity, and attitude modules. The preprocessing module calculates the state transformation matrix. The result is sent to the state vector prediction module together with the previous state vector. 593981 The two-transform matrix is also sent to the covariant propagation matrix. The pre-processing mode measurement surface calculates the measurement matrix and the equivalent quantity direction. Among them, the "ri-car and β ten-different previous measurement vectors are sent to the calculation measurement surplus module." The pre-concentration group is connected to the state-change array and the first-position orientation of Yuliyu, and the state vector for the current phase delay is sent to the calculation and measurement margin module; The state-of-the-enforcement group iifii receives the measurement matrix and current measurement vector of the current calculation from the state vector prediction module, and calculates and updates the state vector module. The module performs the calculation from the measurement margin modul.> = The belief criterion is whether the quotient of the square of the measurement margin divided by the margin difference is large. Ϊ́ϊ = Danί: = The quotient of the square divided by the margin difference is greater than the ratio Hours: Kalman filter does not need to change the system process = Propagate the current navigation solution of the copper to the ίirr, and the system process co-variance is sent to the box test. Change, the current covariance from the module meter error is calculated by the covariance calculation module. The optimized gain module receives from the covariance calculation module ^ 5 桓 π optimized gain. The result is sent to the covariance update module and more ^^: = The covariant update module updates the estimation error covariance and sends it to the update state vector module to receive the optimal gain and 48 593981 from the calculation and optimization gain module. State vector module The calculation of the state is usually estimated, including the position, speed, and attitude errors, and sent to the GPS error compensation module and the position, speed, and attitude modules. 24. As described in item 12 of the scope of patent application A small integrated Gps / IMU system, in which the error estimate H is composed of Kalman filter ϋ, Kalman test material is composed of the following parts ... a GPS error compensation module, collects GPS processing data from ⑽ microprocessor, the data It is alternately corrected with the differential GPS data, and the position and velocity correction values from the updated state vector module are used for GPS error compensation; the solid-state pre-processing module receives the raw data corrected from the GPS error compensation module and The position, velocity, and attitude of the module are recommended. The preprocessing module performs state transformations. Array 3 ί ί ί ΐ ΐ is sent to the state vector prediction module with the previous state vector. The transformation matrix to 1 is also sent to the covariant propagation matrix. The preprocessing module calculates the measurement matrix and the measurement vector before t according to the calculation_quantity matrix and the measurement model. Among them, the "scalar quantity prediction module receives the state transformation matrix and the previous shape from the preprocessing module to perform the current phase delay state prediction, and the vector is sent to the calculation and measurement margin module; Sad, the module receives the predicted current state from the state vector prediction module, and the current state of the current measurement vector is subtracted from the current measurement vector and the pre-measurement. The remaining margin, measurement margin, and update state vector module; ^ m Gua Shun group margin measurement module performs measurement identification from the calculation measurement margin module 'understand the basic measurement margin and miscellaneous large amount J The new covariance of the system process and rejects the equivalent amount. When the quotient of the adjustment of the measurement margin is less than the given value, Karl Weiboko needs to change the system process | 49 to get the navigation solution before #, the secret process agreement. The variable is sent to the covariant, the contact module, the self-remaining monitoring module, and the field co-variant. The current covariant of the ## estimation error is sent to the calculation optimization gain_Calculation excellent gain module receives the observation calculation module · Calculate the current error = to optimize the gain to calculate the difference The covariance update module updates the estimation error covariance and sends it to covariance i to receive the optimized gain from the Gain Gain module and measure the measured value to update the state vector. Module calculation state two: two: 'Dagger position, speed, and attitude errors' and send them to the GPS decision compensation team and position, speed, and attitude modules. = · The micro-integrated GpS / IMU system as described in item 19 of the patent σ application scope, where the error estimate $ is composed of Kalman filter ϋ, and the card_man filter is composed of the following:-a GPS error compensation module The GPS data collected from the GPS microprocessor's edge data is alternately corrected with differential GPS data, and the position and velocity correction values from the updated state vector module are used to compensate for GPS errors; The group 'receives the raw data corrected from the GPS error compensation module and the leg solutions from the position, velocity, and attitude modules. The preprocessing f matrix calculates the ΐ knot, and the front-state vector is sent to the state vector,- In addition, the singularity 1 transformation matrix of the difference calculation is also sent to the covariant propagation matrix. The pre-processing module calculates the measurement matrix and #forward measurement direction, distance, distance measurement matrix, and difference calculation according to the calculated measurement matrix and measurement model. The current measurement vector is sent to the calculation and measurement margin module; where the '' 〃 'state vector prediction module receives the state transformation matrix from the preprocessing module and the previous, smart quantity' ^ for the state of the current phase delay Measuring, wherein the predicted current state vector is measured to calculate the remaining modules; 50,593,981 state forward margin calculation module measured by measuring the current from 1 to 1, wherein the count:; = measuring wheel by The pre-covariance of the estimated error of the co-variable material is sent to the calculation of the optimization gain μ / different optimization increase / decrease group wire auto-covariation calculation module's current estimation error to calculate the optimization gain, and the result is sent to the job change update module. Group and update status group 'Lai update update error update Lai and send it to covariant transmission Update the state vector module to calculate and increase the noise and optimize the gain_optimize the gain and calculate the measurement margin of the measurement margin module. Update the state vector module to calculate the current state of the bear, including the current estimation of the amount, including position, velocity and attitude errors. And send it to the Gpg error compensation module and the position, velocity and attitude modules. 26. The micro-integrated GPS / IMU system as described in item 20 of the patent application scope, wherein the error estimator is composed of a Kalman filter, and the Kalman filter is composed of the following components: a GPS error compensation module, Collect the data from the GPS microprocessor (^ Processing data ') This data is alternately corrected with differential GPS data, and the position and velocity correction values from the updated state vector module 51 593981 group for GPS error compensation; a pre-processing module Group, receiving the original number corrected from the GPS error compensation module and the INS solution from the bit, speed, and attitude modules. The preprocessing module calculates the ^ variation matrix, and the result is sent to the previous state vector. The state vector prediction module and group are calculated. The state vector transformation matrix is also sent to the covariant propagation moment g. The preprocessing module calculates the measurement matrix and the current measurement direction, quantity, measurement matrix, and calculation based on the calculated measurement matrix and measurement model. The current measurement vector is sent to the calculation measurement margin H. Among them, the state prediction module receives a state transformation matrix and a , The state vector to perform the current phase delay state prediction, where the predicted current state 罝 is sent to the calculation and measurement margin module; ~ ㈣ twenty if ί the amount f and receives ^ from the state vector prediction module ^ Bei Xiangxia and the measurement matrix and current measurement vector from the pre-processing module, 1 The heterogeneous measurement and margin module subtracts from the current measurement vector; ^ Two residual measurement modules and groups ; The criterion is that the square of the measurement margin divided by the margin difference is 2 ί ΐ The quotient of the square divided by the margin difference is greater than a given threshold day i, When the difference quotient is less than the given threshold, Shi 狲 @lance, Yu Yuli Covariant uses the current measurement to get a 2-wave f, which changes the system process when the covariant propagation module; Solution; systemic process covariance is sent to the system process covariance pre-processed from the f module from the module; the current view of the pull money is sent to the calculation optimization gain juice to optimize the profit increase kernel group to receive from the covariance calculation module The current 52 593981 covariance of the group's estimated error is used to calculate the optimal gain. The result is sent to the covariance update module and the update state vector module. The covariance update module updates the estimated error covariance and sends it to the covariance. Variable propagation module; X updates the state vector module to receive the optimized gain from the calculation optimization gain module and the measurement margin from the calculation measurement margin module, and updates the current estimate of the state vector calculated by the state vector module, including position and velocity And attitude errors, and send them to the Gpg error compensation module and the position, velocity, and attitude modules. 27. The micro-integrated GPS / IMU system described in item 21 of the patent application scope, in which the error estimator is composed of a Kalman filter, and the Kalman filter is composed of the following parts: A GPS error compensation module, collected from The GPS processing data of the GPS microprocessor is alternately corrected with differential GPS data, and the position and velocity correction values from the updated state vector mold injury group are used for GPS error compensation; a pre-processing module receives data from The raw data corrected by the GPS error compensation module and the INS solution from the position, velocity, and attitude modules. The preprocessing module calculates the difference of the state transformation matrix. The result is sent to the state vector prediction module together with the previous state vector. Group, the different state vector transformation matrix is also sent to the covariant propagation matrix, the preprocessing module calculates the measurement matrix and the current measurement vector according to the calculated measurement matrix and the measurement model, and the measurement matrix and the calculated current measurement vector are sent to the calculation Measurement margin module; where ~ the state vector prediction module receives the state transformation matrix from the preprocessing module and the previous state To perform the state prediction of the current phase delay, in which the predicted current state vector is sent to the calculation measurement margin module; the 'calculation measurement margin module receives the predicted current state vector from the state vector prediction module and the The measurement matrix and the current measurement vector of the preprocessing module, wherein the difference measurement margin is modulated and the measurement margin is calculated by subtracting the product of the measurement matrix and the predicted current state vector from the current measurement vector. The measurement margin is sent to Margin monitoring module and update status vector module; Margin measurement module identifies the measurement margin from the calculation measurement margin module. The identification criterion is whether the quotient of the square of the measurement margin divided by the margin difference is greater than Given that the quotient of the square of the 53-degree residuals divided by the margin difference is greater than the given interval, the Kalman filter, the divergence of the wave filter, and the margin monitoring module selectively calculate the covariant "navigation solution. System The process covariance was sent to Jing Tuan and her group collected the new process covariance from the margin monitoring module, the transformation matrix, and the previous covariance of the estimated error to estimate 3 modes = secret calculation The estimated error change is sent to the calculation optimization ^ Calculates the 5 increase group before receiving the error from the covariance calculation module. Calculate the gain. The result is sent to the covariance ^ covariation update module to update the estimation error. Covariate and send it to the state vector pool. Calculate the optimization gain of the optimization gain module and the measurement margin of the quantity module. Update the state vector module to calculate the state energy ii. Include position, velocity, and attitude errors. And send it to the GP $ I difference compensation> [personnel module and position, speed and attitude module. Its micro integrated gps / imu system described in item 11 of the magnetic 11 'vector load from _memory The calibration parameters of the geomagnetic field detection and calibration are used to form a calibration ^ Receive the three-axis digital geomagnetic field signals from the geomagnetic field detector on the ASIC chip to form a measurement vector; α Use the body to recognize the states and orientation modes Pitch and complement of the group or position, velocity and attitude module! ^ Coordinate to horizontal coordinate transformation matrix 'uses the calibration vector 54 to the measurement vector represented by the wrong tig scale to calculate the magnetic orientation data, and the result is output ^ 9 · 向 ΐϋπ Detailed in item 11 The combined magnetic vector is loaded with the calibration parameters of the geomagnetic field detector from the Morpho Butterfly memory to form a calibration. The three-displacement geomagnetic field shown in the circuit of the geomagnetic field detector interface on the ASIC chip is collected. , In the form of a dimension vector; the heart f receives the pitch and motion angles from the attitude and orientation module or the position, velocity and attitude module to form a transformation matrix from body coordinates to horizontal coordinates; The calibration vector is used to compensate the measurement vector; once the measurement vector is transformed from the body coordinate to the horizontal coordinate, the vector is represented by the horizontal coordinate; and the magnetic orientation data is calculated from the measurement vector represented by the incorrect His standard. The output range of the result is The micro-integrated GPS / IMU system described in item η Vector loads the calibration parameters of the geomagnetic field detector from the flash memory to form the calibration Receives two-axis digital geomagnetic field signals from the geomagnetic field detector interface circuit on the ASIC chip to form a measurement vector. Receives the money and orientation modules or the position, velocity, and posture groups. Elevation and compensation measurements are transformed into a transformation matrix from body coordinates to horizontal coordinates, and the scaling vector transforms the compensated measurement vector from body coordinates to level 1. This vector is represented by horizontal coordinates; and The measured vector represents the number of magnetic orientations that are bound to the error estimator. Inquiry 31. The micro-integrated GPS / IMIL system as described in item 25 of the patent application scope, its magnetic 55 593981 orientation calculation module ... Load the calibration parameters of the geomagnetic field detector from the flash memory to constitute The calibration receives the three-axis digital geomagnetic field signal from the geomagnetic field detector interface circuit on the ASIC chip to form a measurement vector. The information f is received from the money and orientation modes, such as the health, speed, and pitch of the listening module. Roll the angle to form a transformation matrix from body coordinates to horizontal coordinates; use the calibration vector to compensate the measurement vector; transform the compensated measurement vector from the body coordinate to the horizontal coordinate, and use the shape coordinate to represent the vector in horizontal coordinates; and Calculate the magnetic orientation data according to the measurement vector indicated by the wrong target. The result is 32. The micro-integrated GPS / IMU system described in item 26 of the patent application scope, its magnetic orientation calculation module:… / 、 Once loaded The calibration parameters of the geomagnetic field detector from the flash memory constitute a calibration vector; $ a receiving the geomagnetic field detector interface circuit from the ASIC chip, Three-axis digital geomagnetic field signals represented by body coordinates to form measurement vectors; do not receive pitch and roll angles from attitude and orientation modules or position, velocity, and attitude modules to form a transformation matrix from body coordinates to horizontal coordinates; The calibration vector is used to compensate the measurement vector; Lu Yue transforms the assistant's measurement 1 vector from body coordinates to horizontal coordinates to form a measurement vector; the vector is expressed in horizontal coordinates; and the measurement vector expressed in horizontal coordinates is used to calculate magnetic orientation data To the error estimator. 33. The micro-integrated Gps / IMU system described in item 27 of the patent application scope, whose magnetic orientation calculation module: ^ Loads the calibration parameters of the geomagnetic field detector from the flash memory to form the protection vector; $ 56 A three-axis digital geomagnetic field signal represented by a body sitting from the geomagnetic field detector interface circuit on the ASIC chip is connected to form a measurement vector; no, receive from the attitude and orientation module or position, velocity, and attitude module Pitch roll angle 'to form a transformation matrix from body coordinates to horizontal coordinates; use the calibration vector to compensate the measurement vector; transform the compensated measurement vector from the body coordinate to the horizontal coordinate to form the amount; the horizontal coordinate representation of the direction; And the magnetic orientation data is calculated using the measurement vector represented by the horizontal coordinate, which is to the error estimator. r is out of 4. If the scope of application is 1 or 2, or 3, or 4, or 1 ^, or 13 ^, or 16, or 19, Or the slightly integrated Gps / IMU system described in item 22, or item 25, or item 28, or item 31, further generated by a rate-keeping generator, acceleration generator, and angular and velocity increments Composer of a thermal control method for a predetermined operating temperature of the device. 35. The micro-integrated GPS / IMU system as described in item 34 of the patent application scope. The financial control method is composed of a generator device, a heating device, and a thermostat. The generator maintains the pre-set temperature of the angular rate generator for acceleration, the increase of the bell angle for acceleration, and the speed and wide-range state. The temperature is determined between 150F and 185F. The temperature of the dish should be generated for the device. The signal is input into the thermal processor, and the calculated temperature control command of the sharp index i, the angular rate generator and the acceleration generator are used to generate a heating device === to provide appropriate heat to maintain in the micro inertial measurement module. The pre-L'ttT of the second, please the first, or the second, or the third, or the fourth, or the 10th ======= 57 593981 axis and Z axis electrical acceleration signal number is directly proportional The analog acceleration voltage signal due to the acceleration of the carrier; the X, Y, and Z axis electrical signals measured by the geomagnetic field vector in the body coordinates of the carrier are those of the analog voltage signal. 37. The micro-integrated GPS / IMU system as described in item 34 of the patent application scope, wherein the electrical angular rate signals of the X-axis, γ-axis, and z-axis of the angle generator are directly proportional to the component carrier of the micro inertial measurement Analog angular rate voltage signal of angular rate; X, Y, and Z axis acceleration signals of the acceleration generator are analog acceleration voltage signals that are directly proportional to the acceleration of the carrier; χ of the geomagnetic field vector measured in the body coordinates of the carrier , Γ, z-axis electrical signals are analog voltage signals. 38. The micro-integrated Gps / IMU system as described in item 36 of the patent application scope, wherein the angular increment and velocity increment generator is composed of the following parts: The angle integral and acceleration integrator are respectively used to integrate the ^, Υ, and Z-axis angular rate analog voltage signals and the X, Y, and Z-axis acceleration analog voltage signals within a predetermined period of time to accumulate the X, Y, and Z-axis angular rate analogs. The voltage signal and the χ, γ, and z-axis acceleration analog voltages form the uncompensated original angular increment and velocity increment, where the integration operation is to eliminate the X, Y, and Z-axis angular velocity analog voltage signals and χ , Γ, ζ axis acceleration analog electric distress numbers are not directly proportional to the angular velocity and acceleration of the carrier, improve the signal-to-noise ratio, and eliminate electrical waste, γ, ζ axis acceleration in the χ, γ, and ζ axis angular rate analogs. High-frequency noise in analog voltage signals; The resetter generates angle reset voltage pulses and speed reset voltage pulses, which are output to the angle integrator and acceleration integrator as angle, speed, and scale, respectively. The measuring device uses the angle reset voltage pulse and velocity complex, electricity, and impulse to measure the accumulated χ, γ, and ζ axis angular rate analog voltage signals and X, I, and Z axis acceleration analog signals. , To obtain the angular increment and velocity increment count values, which are correspondingly used as the digital quantities of the angular increment and the velocity increment. The minor integration of the item 1 or 2 or item 3 = s _ Cable, which is a small integrated GPS / IMUt_ wire in the box of the second battery, board, second circuit board, third circuit board, GPSS chip group board, and control circuit board; the first-block The circuit board is connected to the third circuit board to generate the X-axis angle sensing signal and the γ-axis acceleration sensing signal which are output to the control circuit board. 59.981 The second circuit board is connected to the second circuit board to generate output to The Z axis angle residual response # number of the control circuit board and the X-axis acceleration sensing signal; the third circuit board is connected to the control circuit board, and generates the Z-axis angle sensing signal and the ζ-axis acceleration sensing signal output to the control circuit board, GPS The chipset board is connected to the control circuit board to provide measurement data for the control circuit board; the control circuit board is connected to the _th circuit board / the second circuit board and the GPS chipset board through a third circuit board to separately process data from the First, second and third blocks, X axis Y axis And Z-axis angle sensing ## and X-axis, γ-axis and z-axis acceleration 庑 / signals. Go. As described in item 4, or item 10, or item 13, or item M, or item 22, or item 25, or item 28, or item 31 of the scope of patent application Micro integrated ⑽ / IMU system, in which the micro integrated Gps / IMU system consists of the first circuit board, the second circuit board, the third circuit board, the chipset, and the control circuit board installed in the box; — A circuit board with? The three boards are connected to generate X-axis angle sensing signals to the control circuit board and _ acceleration sensing signals. The first circuit board is connected to the three circuit boards to generate Y-axis angle sensing signals that are output to the control circuit. And X-axis acceleration sensing signals; the third board is controlled to generate the Z-axis angle sensing signals output to the control circuit board, and the two axes are used for the second and second GPS chips, and the group board is connected to the control circuit board for control The circuit board provides i data; the control circuit board is connected to the first circuit board, the second circuit board, and the GPS chipset board through a third circuit board, so as to process the data from the first, the second, the second, the second, and the second. The axis is added to the GPS / IMU system in the micro-integrated range described in item 40. The upper detector, the eight-view chip, the power module are provided on the circuit board, and the GPS chipset is provided in the者 Chipset. The small integrated 'S / IMU ^ as described in the item 41 of the range, wherein the angle generation is composed of the following parts: · The χ-axis vibration type angular rate detection unit connected to the first circuit board and the first front 59 593981' * ΠΟΓ, A γ-axis vibration type angular rate detection unit connected to the second circuit board; a ζ-axis vibration type angular rate detection unit connected to the second circuit board and a first terminal circuit; a driver terminal circuit; a terminal circuit; a board ,; == 电; 接 ==: circuit board, second circuit at r at-, oscillator wire is X-axis vibration type angular rate detection single core = supply =, rate detection unit, ㈣ circuit; s 动 = 制 ί # 4 的 3 角 所 ⑽ 小 幽 GP_ _, where the angle increase of Nenqing f road plate and the angle increase of speed marriage 1_ and the angle of the upper round intestinal plate in the third round increase 4 4 It is a small integrated gps / _, system, where r "probability in = transimpedance, large circuit, connected to the corresponding x, γ, z-axis vibration-type angular velocity ιοοΙ ^^ Γ wire to use the vibration motion signal The impedance, from a very high level, greater than 100 mega_, is converted to a low impedance, less than the touch ohm, in order to obtain two vibration levels 60 593981 , Which is an AC voltage signal indicating the displacement between the inertial mass and the anchor comb. These two vibration displacement signals are input to the vibration control circuit; two surface-pass filter circuits are connected to the corresponding X, Y, and Z axes, respectively. Vibration type detection, single it, is used to remove residual vibration drive noise and noise in the vibration displacement differential signal so as to form a filtered vibration displacement differential signal to the angle signal loop circuit. 45. The micro-integrated Gps / iMu system according to item 43 of the scope of patent application, wherein: the x-, γ-, and z-axis vibration-type angular rate detection units are all vibration-type crying pieces / bag-sleeve vibrations Inertial mass block, including Siyin and corresponding optional structure = ㈣ΐϊ Capacitive signal reads 11 pieces ', and angular rate of detection of Gang Creo head effect,' Angular rate of each X, Υ, ζ axis vibration type The detection unit receives a vibration drive signal from a vibration control circuit in order to maintain the vibration of the inertial mass and a carrier reference oscillation signal from the vibrator, and includes X, Y, and Z axis vibration type angular rate detection units. Detect the angular velocity of the carrier by using the χ, γ, and 2 axes of the carrier to output the angular velocity caused by the output angular rate, and output the signal to the angular velocity displacement signal on the carrier reference oscillation signal. The impedance conversion of the front-end circuit puts the Ail circuit in nature. The vibration signal of the block includes the lion number, and this record is input to: Two or three high-pass filter circuits of the front-end circuit. , ° 46. The micro-integrated GPS device described in item 43 of the scope of patent application, the above three vibration control circuits respectively receive vibration displacement signals from χ, γ, 2 axis fe ', inertial mass of p, and "m : Take the signal, generate the number of known displacements of her inertial mass, 1: The vibration control circuit includes: fiber amplifier, female-to-one amplifier and adder circuit, connected to the first, second and third impedance conversion amplifier circuits Amplify the two-way vibration displacement signals by ten 仵 "敏 y sensitivity" by combining the center weaving signal with the side-shunted letter ^ '3 S two-way vibration displacement signals to form a vibration displacement differential signal; ,,,- A South Jewler circuit is connected to the amplifier || and the adder circuit to remove the residual vibration drive signal and noise from the 61 593981 vibration displacement differential signal to generate a filtered vibration displacement differential signal;-a demodulator The circuit is connected to the high-pass filter circuit. The excitation signal detected by the capacitor received from the oscillator is used as the phase reference signal. After receiving the filtering from the high-pass filter, the dynamic displacement differential signal Phase component of the differential signal after the vibration displacement, and the displacement signal extraction filter for generating the inertial mass of a known phase; Coincidentally, the pass filter is connected to the demodulator circuit to remove the high-frequency scale and the low-frequency inertial mass block displacement signal from the input inertial mass block displacement signal. Further, the analog / digital converter is connected to the low-pass A filter for converting an analog low-frequency ten-mass mass block displacement signal into a digital low-frequency inertial mass block displacement signal and outputting it to a vibration processing module; a digital analog converter, The selected signal amplitude is processed to form a vibration drive signal with the correct amplitude; an amplifier generates and amplifies the vibration drive signal for the χ, Υ, and ζ-axis vibration-type angular rate detection units based on the correct frequency and amplitude vibration drive signal By. 47. The micro-integrated Gps / IMu system as described in item 43 of the patent application scope, wherein the vibration processing module further includes a discrete fast Fourier transform (FastFour ^, FFT) # ^,, and A logic module with a large value detection and a logic module with 0 value analysis and selection in order to find the frequency with the maximum Q value, where, ,, 槪 Fourier transform module wire transforms the digitalized low-frequency inertial mass block displacement signal from the vibration motion control circuit to form the amplitude data in the frequency range of the input Bayi block displacement signal; and the amplitude data storage array Module, receiving amplitude and spectrum data, an array of amplitude and spectrum data; Q-value analysis and analysis, Q-value analysis at face frequency, pass 62 593981 After calculating the ratio of amplitude and frequency bandwidth, select frequency and amplitude, where , The frequency band width used for the calculation shall be one of plus and minus one-half of the maximum value of each maximum frequency point. 48. The micro-integrated gps / IMU system according to item 43 of the scope of patent application, wherein the vibration processing module further includes a phase-locked loop as a very narrow band-pass filter to exclude the selected Noise of frequency, and those who generate and lock the vibration drive signal of the selected frequency; Wherein, the three angular signal loop circuits respectively receive signals caused by the angular rate from the X, γ, and Z-axis vibration-type angular rate detection units, and reference pickup signals from the oscillator, and transform the signals caused by the angular rate. For the angular rate signal, each angular signal loop circuit of the first circuit board, the second circuit board, and the third circuit board includes: a voltage amplifier circuit for amplifying high-pass filters from the corresponding first, second, and third front-end circuits The signal caused by the filtered angular rate of the circuit is at least volts to form the signal caused by the amplified angular rate; an amplifier and adder circuit is used to extract the difference of the amplified angular rate signal to produce a difference A dynamic angular rate signal; a demodulator connected to the amplifier and adder circuits to read the excitation signal from the differential angular rate signal and the capacitor from the oscillator to extract the amplitude of the in-phase differential angular rate signal; A low-pass filter connected to the demodulator to remove the in-phase differential angular rate The amplitude noise of the number b is the frequency noise of the number, which forms an angular rate signal and outputs it to the angular vector and the speed increment generator. 9 49. The micro-integrated GPS / IMU system as described in item 43 of the scope of patent application, further comprising a thermal control device, so that the angular rate generator, the acceleration generator, and the angular increment and velocity increase The working temperature of the generator is maintained. The thermal control device further includes a heat-sensitive generator, including a first heat-sensitive generating unit for detecting the temperature of the X-axis vibration type angular rate and the Y-axis accelerometer. '+ 7 The second heat-sensitive generating unit is used to sense the temperature of the γ-axis vibration type angular rate detection unit and the temperature of 63 593981 X-axis accelerometer; z-axis plus first-rate material' Shiguanxiong vibration rapid-speed measurement unit and a heating The device includes: and / or a Sii eye vibration type angular rate detection unit, a γ-axis accelerometer and a first-path connection for maintaining an X-axis vibration type angular rate detection unit, an accelerometer, and a predetermined front-end circuit. Operating temperature of the second heater, which is linked to the predetermined operating temperature of the Z-axis vibration-type angular rate detection speed meter and the second-known circuit,-the thermal processor 'contains the parameters connected to the control system Circuit and thermal control calculation module, wherein each of the thermal control circuits on the electrical grid further includes: a-amplifier circuit, which is connected to the corresponding x, γ, * to amplify the corresponding X, γ, r / ：: early shrinking of the noise therein, improving the signal; the signal of the shaft thermal sensitive generating unit and pressing ri for 11 'connected to the amplified 11 peach, the wire sampling temperature is calculated: f pressure signal Digitized into a digital signal and output to the thermoacoustic converter, which is used to convert the digital temperature command from the thermal control calculation module into an analog signal; Paper 1 is used to receive and amplify the digital analog converter from the digital analog converter. The analog circuits include the corresponding first, second, and third heaters and closed temperature control loops. The group uses the digital temperature from the analog / digital converter, and the number of predetermined temperature and the predetermined number of the above. The 64 593981 S of the angular rate generator and the acceleration generator is changed to calculate the digital temperature command 'and send the digital temperature command to -digital / 50. Please use the tiny integrated o-circle system described in the item 43 of the range, and ^ Use conductive epoxy The resin will be the third circuit board. The non-conductive epoxy resin will be used to bond the first circuit board, the second circuit board and the second circuit board to the first and second circuit boards. Thus, the first circuit board and the second circuit board; The board is drilled to the third circuit board so as to use the third circuit board as an internal connector. 65