WO2022095210A1 - Module de mesure inertielle et véhicule aérien sans pilote - Google Patents

Module de mesure inertielle et véhicule aérien sans pilote Download PDF

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Publication number
WO2022095210A1
WO2022095210A1 PCT/CN2020/135442 CN2020135442W WO2022095210A1 WO 2022095210 A1 WO2022095210 A1 WO 2022095210A1 CN 2020135442 W CN2020135442 W CN 2020135442W WO 2022095210 A1 WO2022095210 A1 WO 2022095210A1
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WO
WIPO (PCT)
Prior art keywords
inertial measurement
groove
measurement module
isolation
measurement unit
Prior art date
Application number
PCT/CN2020/135442
Other languages
English (en)
Chinese (zh)
Inventor
王增跃
朱誉品
李佳乘
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN202080079480.9A priority Critical patent/CN114729805A/zh
Publication of WO2022095210A1 publication Critical patent/WO2022095210A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls

Definitions

  • This application relates to inertial measurement modules and unmanned aerial vehicles.
  • Inertial measurement unit is a sensor used to detect the attitude information of moving objects.
  • the inertial measurement unit generally includes an accelerometer and a gyroscope; wherein, the accelerometer is used to detect the acceleration component of the object, and the gyroscope is used to detect the angle information of the object. Due to the function of measuring the acceleration and angular velocity information of objects, inertial measurement units are usually used as the core components of navigation and guidance, and are widely used in vehicles, ships, robots, and aircraft and other equipment that require motion control.
  • the inertial measurement unit is installed on the circuit board, and will be affected by the thermal stress generated by the heating source on the circuit board during operation, resulting in poor measurement accuracy.
  • the inertial measurement module includes: a circuit board, including a main body part and an isolation part located at the edge of the main body part, a spacing groove is arranged between the isolation part and the main body part, and the isolation part is connected to the main body through the connecting part an inertial measurement unit, arranged in the isolation part, the inertial measurement unit is used for sensing inertial measurement data; and a heating source, arranged in the isolation part, the heating source is used for the inertial measurement unit Heated to preset temperature.
  • the isolation portion is integrally formed with the main body portion, or the isolation portion is electrically connected to the main body portion through a flexible circuit board.
  • the spacing groove includes a first groove and a second groove; the first groove is located on the side of the isolation part away from the outer edge; the second groove is located on the other side of the isolation part, and the second The groove communicates with one end of the first groove.
  • the spacing groove includes a first groove, a second groove and a third groove; the first groove is located on a side of the isolation portion away from the outer edge; the second groove and the third groove are located at the two opposite sides of the isolation part; two ends of the first groove are respectively communicated with one end of the second groove and/or the third groove.
  • connection part passes through the first groove and connects the isolation part with the body part.
  • the connecting portion passes through the second groove and connects the isolation portion with the body portion.
  • the connecting portion passes through the third groove and connects the isolation portion with the body portion.
  • the width of the spacing grooves ranges from 1 mm to 2 mm.
  • the heating sources are located on opposite sides of the inertial measurement unit.
  • a plurality of heating sources are respectively arranged on opposite sides of the inertial measurement unit.
  • At least one heating source is arranged axisymmetrically or center-symmetrically on two opposite sides of the inertial measurement unit.
  • the distance between the heating source and the inertial measurement unit ranges from 4 mm to 4.5 mm.
  • the thickness of the circuit board ranges from 1 mm to 1.2 mm.
  • the unmanned aerial vehicle includes a fuselage, an arm arranged in the fuselage, and the above-mentioned inertial measurement module arranged in the fuselage.
  • the spacer groove can increase the flexibility of the circuit board, and thus can effectively Reduce the influence of the thermal stress generated by the heating source on the accuracy and life of the inertial measurement unit during the heating process.
  • FIG. 1 is a three-dimensional schematic diagram of an inertial measurement module of the present application.
  • FIG. 2 is a schematic perspective view of another embodiment of the inertial measurement module shown in FIG. 1 .
  • FIG. 3 is a schematic three-dimensional view of another embodiment of the inertial measurement module shown in FIG. 1 .
  • the unmanned aerial vehicle of the embodiment of the present application includes a fuselage, an arm disposed in the fuselage, and an inertial measurement module 100 disposed in the fuselage.
  • FIG. 1 is a schematic diagram of one embodiment of an inertial measurement module 100 .
  • the inertial measurement module 100 shown in FIG. 1 can be used not only for unmanned aerial vehicles, but also for unmanned vehicles, robots, gimbals, etc., which is not limited thereto.
  • the inertial measurement module 100 includes a circuit board 10 , an inertial measurement unit 20 and a heating source 30 .
  • the circuit board 10 includes a body portion 11 and an isolation portion 12 located at the edge of the body portion 11 .
  • a spacing groove 13 is provided between the isolation portion 12 and the body portion 11 , and the isolation portion 12 is connected to the isolation portion 12 through the connecting portion 14 .
  • the body portion 11 is connected.
  • the inertial measurement unit 20 is disposed in the isolation part 12 , and the inertial measurement unit 20 is used for sensing inertial measurement data and transmitting the sensed inertial measurement data to the micro-control unit.
  • the micro-control unit is disposed on a main control circuit board (not shown) different from the circuit board 10, and the circuit board 10 and the main control circuit board are connected through cable communication, so that the inertial measurement unit 20 can sense the The measured inertial measurement data is transmitted to the microcontroller unit through the cable.
  • the micro-control unit is provided on the circuit board 10, the circuit board 10 includes a board body and a wiring arranged on the board body, and the inertial measurement unit 20 is communicatively connected to the micro-control unit through the wiring of the board body, and connects the micro-control unit to the micro-control unit.
  • the sensed inertial measurement data is transmitted to the microcontroller unit.
  • the microcontroller unit is the core element of the UAV, as the central controller of the UAV, it is used to control the main functions of the UAV.
  • the micro-control unit can be used to manage the working mode of the control system of the unmanned aerial vehicle, to calculate the control rate and generate control signals, to manage the sensors and servo systems in the unmanned aerial vehicle, to
  • the control and data exchange of other tasks and electronic components in the UAV is used to receive ground commands to control the flight action of the UAV and collect the attitude information of the UAV.
  • the inertial measurement unit 20 is used to determine the heading information of the UAV, and transmit the determined heading information to the micro-control unit, so that the micro-control unit can determine the subsequent operation.
  • the process of determining the heading information of the UAV by the inertial measurement unit 30 is as follows: the acceleration component of the UAV relative to the vertical line is detected by the accelerometer (that is, the acceleration sensor); the UAV is detected by the gyroscope (that is, the speed sensor)
  • the analog-to-digital converter receives the analog variable output by each sensor and converts the analog variable into a digital signal; the micro-control unit will determine and output the pitch angle, roll angle and heading angle of the UAV according to the digital signal. at least one angle information of the UAV, thereby determining the heading information of the unmanned aerial vehicle.
  • a heating source 30 is disposed on the isolation portion 12, and the heating source 30 is used to heat the inertial measurement unit 20 to a preset temperature. In this way, by setting the heating source 30, the inertial measurement unit 20 is ensured to be in a constant temperature environment, so that the inertial measurement unit 20 can show good performance in any external environment.
  • the heating source 30 may be a heating resistor. In other embodiments, the heat source 30 may be any heat source capable of providing heat.
  • the spacer 13 since the spacer 13 is provided between the isolation portion 12 and the body portion 11 , and the inertial measurement unit 20 and the heating source 30 are arranged in the isolation portion 12 , the spacer 13 can increase the number of circuit boards.
  • the flexibility of the inertial measurement unit 10 can effectively reduce the influence of the thermal stress generated by the heating source 30 during the heating process on the accuracy and life of the inertial measurement unit 20 .
  • the isolation portion 12 is integrally formed with the main body portion 11 . In other embodiments, the isolation portion 12 is electrically connected to the main body portion 11 through a flexible circuit board.
  • the spacing groove 13 includes a first groove 131 and a second groove 132 .
  • the first groove 131 is located on the side of the isolation portion 12 away from the outer edge.
  • the second groove 132 is located on the other side of the isolation portion 12 , and the second groove 132 communicates with one end of the first groove 131 .
  • the first groove 131 and the second groove 132 extend in a straight line, but not limited thereto.
  • the spacing groove 13 includes a first groove 131 , a second groove 132 and a third groove 133 ; the first groove 131 is located on the side of the isolation portion 12 away from the outer edge; the second groove 132 and The third grooves 133 are respectively located on opposite sides of the isolation portion 12 ; two ends of the first groove 131 are respectively communicated with one end of the second groove 132 and/or one end of the third groove 133 .
  • the first groove 131 , the second groove 132 and the third groove 133 extend in a straight line, but not limited thereto.
  • connection part 14 passes through the first groove 131 and connects the isolation part 12 with the body part 11 .
  • the connecting portion 14 may pass through the middle position of the first groove 131 or pass through one end of the first groove 131 .
  • the connecting portion 14 passes through the second groove 132 and connects the isolation portion 12 with the body portion 11 .
  • the connecting portion 14 may pass through the middle position of the second groove 132 , or may pass through one end of the second groove 132 .
  • the connecting portion 14 passes through the third groove 133 and connects the isolation portion 12 with the body portion 11 .
  • the connecting portion 14 may pass through the middle position of the third groove 133 , or may pass through one end of the third groove 133 .
  • the connecting portion 14 includes two parts, and the two parts pass through the first groove 131 and the second groove 132, respectively.
  • the two parts of the connecting part 14 can pass through the first groove 131 and the third groove 133 respectively, or, the two parts of the connecting part 14 can pass through the second groove 132 respectively and the third slot 133 .
  • the connecting portion 14 includes three parts, and the three parts pass through the first groove 131 , the second groove 132 and the third groove 133 respectively, but not limited thereto.
  • the width of the spacing grooves 13 is in the range of 1 mm to 2 mm, so as to facilitate the opening of the spacing grooves 13 and at the same time make the circuit board 10 more compact.
  • the width of the spacing groove 13 may be 1 mm, 1.2 mm, 1.4 mm, 1.6 mm, 1.8 mm, 2 mm, or any value in between.
  • the heating sources 30 are located on opposite sides of the inertial measurement unit 20 . In this way, all parts of the inertial measurement unit 20 can be kept at the same temperature, and better performance of the inertial measurement unit 20 can be maintained.
  • a plurality of heating sources 30 are respectively arranged on opposite sides of the inertial measurement unit 20 .
  • three heating sources 30 are respectively arranged on opposite sides of the inertial measurement unit 20 .
  • the number, shape and size of the heating sources 30 on both sides of the inertial measurement unit 20 may be the same or different.
  • At least one heating source 30 is arranged on opposite sides of the inertial measurement unit 20 axisymmetrically or centrally. Please refer to FIG. 2 and FIG. 3 , two heating sources 30 are respectively arranged on opposite sides of the inertial measurement unit 20 , and the heating sources 30 are of the same shape and size, and the two heating sources 30 are far from the inertial measurement unit 20 . equal distances.
  • one heating source 30 is arranged axisymmetrically on two opposite sides of the inertial measurement unit 20.
  • one heating source 30 is arranged centrally symmetrically on two opposite sides of the inertial measurement unit 20 30 heating sources.
  • the distance between the heating source 30 and the inertial measurement unit 20 ranges from 4 mm to 4.5 mm. In this way, the inertial measurement unit 20 can be better heated, and the influence of thermal stress on the inertial measurement unit 20 can be reduced.
  • the distance between the heating source 30 and the inertial measurement unit 20 may be 4 mm, 4.1 mm, 4.2 mm, 4.3 mm, 4.4 mm, 4.5 mm, or any of the above-mentioned adjacent ones. some value in between.
  • the thickness of the circuit board 10 ranges from 1 mm to 1.2 mm. In this way, thermal stress can be reduced, which is beneficial for the inertial measurement unit 20 to maintain good performance. In some embodiments, the thickness of the circuit board 10 may be 1 mm, 1.1 mm, 1.2 mm, or any value in between.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Gyroscopes (AREA)

Abstract

La présente invention concerne un module de mesure inertielle (100) et un véhicule aérien sans pilote. Le module de mesure inertielle (100) comprend : une carte de circuit (10) comprenant une partie corps (11) et une partie isolation (12) située au niveau d'un bord de la partie corps (11), une rainure d'intervalle (13) étant située entre la partie isolation (12) et la partie corps (11), et la partie isolation (12) étant reliée à la partie corps (11) au moyen d'une partie connexion (14) ; une unité de mesure inertielle (20) disposée sur la partie isolation (12), l'unité de mesure inertielle (20) étant conçue pour détecter des données de mesure inertielle ; et une source de chauffage (30) disposée sur la partie isolation (12), la source de chauffage (30) étant conçue pour chauffer l'unité de mesure inertielle (20) à une température prédéfinie. Le module de mesure inertielle (100) réduit efficacement l'influence de la contrainte thermique générée par la source de chauffage (30), lors d'un processus de chauffage, sur la précision et la durée de vie de l'unité de mesure inertielle (20).
PCT/CN2020/135442 2020-11-05 2020-12-10 Module de mesure inertielle et véhicule aérien sans pilote WO2022095210A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202080079480.9A CN114729805A (zh) 2020-11-05 2020-12-10 惯性测量模组和无人飞行器

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202022545223.X 2020-11-05
CN202022545223.XU CN213779051U (zh) 2020-11-05 2020-11-05 惯性测量模组和无人飞行器

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WO2022095210A1 true WO2022095210A1 (fr) 2022-05-12

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Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN218411208U (zh) * 2022-09-22 2023-01-31 广州导远电子科技有限公司 惯性测量装置和设备

Citations (6)

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Publication number Priority date Publication date Assignee Title
CN206002115U (zh) * 2016-07-22 2017-03-08 北京臻迪机器人有限公司 一种惯性测量装置
CN106488647A (zh) * 2016-09-22 2017-03-08 广东欧珀移动通信有限公司 印制电路板及移动终端
CN206649372U (zh) * 2016-11-16 2017-11-17 中国电子科技集团公司第四十一研究所 一种用于多层印制电路板的低温漂检波器装置
US20180120127A1 (en) * 2015-11-16 2018-05-03 Tiax Llc Attitude sensor system with automatic accelerometer bias correction
CN211122897U (zh) * 2019-09-25 2020-07-28 杭州微策生物技术有限公司 一种血糖仪上热敏电阻的安装装置及其血糖仪
CN211484104U (zh) * 2019-12-05 2020-09-15 上海纯米电子科技有限公司 一种热源隔离的电路板装配结构

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110291361A (zh) * 2018-01-05 2019-09-27 深圳市大疆创新科技有限公司 电路板及采用该电路板的无人飞行器

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180120127A1 (en) * 2015-11-16 2018-05-03 Tiax Llc Attitude sensor system with automatic accelerometer bias correction
CN206002115U (zh) * 2016-07-22 2017-03-08 北京臻迪机器人有限公司 一种惯性测量装置
CN106488647A (zh) * 2016-09-22 2017-03-08 广东欧珀移动通信有限公司 印制电路板及移动终端
CN206649372U (zh) * 2016-11-16 2017-11-17 中国电子科技集团公司第四十一研究所 一种用于多层印制电路板的低温漂检波器装置
CN211122897U (zh) * 2019-09-25 2020-07-28 杭州微策生物技术有限公司 一种血糖仪上热敏电阻的安装装置及其血糖仪
CN211484104U (zh) * 2019-12-05 2020-09-15 上海纯米电子科技有限公司 一种热源隔离的电路板装配结构

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CN114729805A (zh) 2022-07-08
CN213779051U (zh) 2021-07-23

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