WO2024032581A1

WO2024032581A1 - Satellite-inertial integrated navigation device

Info

Publication number: WO2024032581A1
Application number: PCT/CN2023/111655
Authority: WO
Inventors: 吴雾; 黄立成; 李志明; 黄晓群; 朱赞林
Original assignee: 广州导远电子科技有限公司
Priority date: 2022-08-09
Filing date: 2023-08-08
Publication date: 2024-02-15
Also published as: CN217877722U

Abstract

The present patent relates to the technical field of navigation. Provided is a satellite-inertial integrated navigation device. The satellite-inertial integrated navigation device comprises: a box body, a box cover, an inertial measurement unit (IMU), a global navigation satellite system (GNSS), a data processing module, a first circuit board and a second circuit board, wherein the data processing module is arranged on the first circuit board; the first circuit board is mounted on the bottom surface of the box body; the second circuit board is mounted above the first circuit board; the GNSS is arranged on the second circuit board; the first circuit board is provided with an avoidance notch; the IMU is arranged on the bottom surface of the box body at the avoidance notch; and the box cover covers the box body. By means of the structure, modules in the satellite-inertial integrated navigation device are arranged separately, thereby optimizing the spatial structure of the satellite-inertial integrated navigation device, reducing an error generated due to jitter of a circuit board, also effectively reducing the longitudinal height, and reducing the overall size.

Description

Integrated navigation device

Cross-references to related applications

This patent claims priority to the Chinese patent application with application number 2022220887249 and titled "Weihai Integrated Navigation Device" submitted to the China Patent Office on August 9, 2022, the entire content of which is incorporated into this patent by reference.

Technical field

This patent relates to the field of navigation technology, specifically, to an inertial integrated navigation device.

Background technique

Satellite-inertial integrated navigation device refers to a navigation device that uses satellite signals and inertial measurement signals for fusion positioning. Inertial integrated navigation devices usually include inertial measurement modules, satellite navigation modules, data processing modules, integrated circuit boards and other components. Existing integrated navigation devices usually have inertial measurement modules, satellite navigation modules, data processing modules and other components arranged on an integrated circuit board to realize data exchange between various components. Each component is arranged on an integrated circuit board, so the area of the circuit board is large and the space in the height direction cannot be effectively utilized. Therefore, optimizing the structural design of the inertial integrated navigation device is a problem faced by those skilled in the art.

Utility model content

In order to overcome the above-mentioned deficiencies in the prior art, the purpose of this patent is to provide an inertial integrated navigation device. The inertial integrated navigation device described in this patent includes a box body, a box cover, an inertial measurement module, a satellite navigation module, and a data processing unit. module, first circuit board and second circuit board;

The data processing module is provided on the first circuit board; the satellite navigation module is provided on the second circuit board;

The first circuit board is installed on the bottom surface of the box, and the second circuit board is installed above the first circuit board;

The first circuit board is provided with an avoidance gap, and the inertial measurement module is disposed on the bottom surface of the box at the avoidance gap;

The box cover is covered on the box body.

Further, in the above device, an inter-board connector is provided on the first circuit board, and the integrated navigation device further includes a data collection module, and the data collection module is provided on the first circuit board, The inertial measurement module and the satellite navigation module are communicatively connected to the data processing module through the data acquisition module;

The satellite navigation module is communicatively connected to the data acquisition module through the inter-board connector.

Further, in the above device, the inter-board connector includes a plug interface and a plug joint, and the plug interface is provided with On the upper surface of the first circuit board, the plug interface is disposed upward to face the second circuit board; the plug connector is disposed on the second circuit board corresponding to the position of the plug interface. On the lower surface, the plug connector is disposed downward to face the first circuit board, wherein the plug connector and the plug interface cooperate with each other.

Further, in the above device, the first circuit board is provided with positioning studs, the second circuit board is provided with screws, and the second circuit board is connected to the positioning studs through the screws, to connect the second circuit board to the first circuit board.

Further, in the above device, the box body is provided with screw holes, and the bottom surface of the box body is also provided with a plurality of convex cylinders. The screw holes are correspondingly provided on the convex cylinders, and the first circuit The board is connected to the screw hole through the positioning stud, so that the first circuit board is suspended on the plurality of raised cylinders.

Further, in the above device, a raised platform is provided on the box body, and the inertial measurement module is arranged on the raised platform.

Further, in the above device, the raised platform is provided at one corner of the box, and the escape notch of the first circuit board is provided at a corner corresponding to the position of the raised platform.

Further, in the above device, the integrated navigation device also includes an indicator light, the indicator light is provided on the first circuit board; an opening is provided on the lid, and the opening is used to enable the The indicator light is transparent.

Further, in the above device, the satellite integrated navigation device also includes a first navigation satellite connector and a second navigation satellite connector, and the first navigation satellite connector and the second navigation satellite connector are both arranged on the On the second circuit board, the first navigation satellite connector and the second navigation satellite connector are both electrically connected to the satellite navigation module.

Further, in the above device, the integrated navigation device further includes an external connector, the external connector is provided on the first circuit board, and the external connector is used to connect to an external power supply to provide the The above-mentioned satellite integrated navigation device provides working power.

Further, in the above device, the external connector is also connected to the display screen for transmitting navigation data to the display screen for display.

In the integrated navigation device provided by this patent, the data processing module is arranged on the first circuit board; the satellite navigation module is arranged on the second circuit board; the first circuit board is installed on the bottom surface of the box, and the second circuit board is installed on the second circuit board. Above a circuit board, that is, through a double-layer design, the modules in the satellite integrated navigation device are separated, making full use of the internal space of the satellite integrated navigation device and optimizing the spatial structure of the satellite integrated navigation device; and, the third A circuit board is provided with an avoidance gap. The inertial measurement module is installed on the bottom of the box body at the avoidance gap. The box cover is covered on the box body. The inertia measurement module is The measurement module is not directly installed on the circuit board, which reduces the error caused by the vibration of the circuit board. At the same time, due to the avoidance gap, the inertial measurement module is on the bottom of the box, and there is no overlap between the two in the longitudinal space, thus effectively reducing the vertical height, reducing the overall volume.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of this patent, the drawings required to be used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this patent and therefore do not It should be regarded as a limitation of the scope. For those of ordinary skill in the art, other relevant drawings can be obtained based on these drawings without exerting creative efforts.

Figure 1 is a schematic structural diagram of a satellite-based integrated navigation device provided by an embodiment of this patent;

Figure 2 is another structural schematic diagram of the inertial integrated navigation device provided by the embodiment of this patent.

Icon: 100-Inertial integrated navigation device; 101-Box body; 1011-Screw hole; 1012-Protruding cylinder; 1013-Protruding platform; 102-Box cover; 1021-Opening; 103-Inertial measurement module; 104-Satellite Navigation module; 105-data processing module; 106-first circuit board; 1061-avoidance gap; 1062-positioning stud; 107-second circuit board; 1071-screw; 108-inter-board connector; 109-data acquisition module ; 110-indicator light; 111-first navigation satellite connector; 112-second navigation satellite connector; 113-external connector.

Detailed ways

In order to make the purpose, technical solutions and advantages of this patent embodiment more clear, the technical solutions in this patent embodiment will be clearly and completely described below in conjunction with the drawings in this patent embodiment. Obviously, the described embodiment These are part of the embodiments of this patent, not all of them. The components of the present patent embodiments generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.

Therefore, the following detailed description of the embodiments of the patent provided in the appended drawings is not intended to limit the scope of the claimed patent but merely represents selected embodiments of the patent. Based on the embodiments in this patent, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this patent.

It should be noted that similar reference numerals and letters represent similar items in the following figures, therefore, once an item is defined in one figure, it does not need further definition and explanation in subsequent figures.

In the description of this patent, it should be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or is the orientation or positional relationship that is customarily placed when the utility model product is used, or is the usual orientation or positional relationship of those skilled in the art. The understood orientation or positional relationship is only to facilitate the description of this patent and simplify the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of this patent. limit.

In addition, the terms "first", "second", "third", etc. are only used to distinguish descriptions and shall not be understood as indicating or implying relative importance.

In the description of this patent, it should also be noted that, unless otherwise clearly stated and limited, the terms "set", "installation", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, It can also be a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this patent can be understood on a case-by-case basis.

In the existing technology, navigation-related modules are all integrated into the satellite integrated navigation device. In order to improve the navigation accuracy, there are more and more modules in the satellite integrated navigation device, resulting in the volume of the satellite integrated navigation device becoming larger and larger. , occupying more space in transportation equipment.

In order to reduce the space occupied by transportation equipment, please refer to Figure 1. This embodiment provides a sanitary integrated navigation device 100 that can effectively solve this problem. Specifically, the sanitary integrated navigation device 100 includes a box body 101 and a box cover 102. , inertial measurement module 103, satellite navigation module 104, data processing module 105, first circuit board 106 and second circuit board 107.

The data processing module 105 is disposed on the first circuit board 106; the satellite navigation module 104 is disposed on the second circuit board 107.

The first circuit board 106 is installed on the bottom surface of the box 101, and the second circuit board 107 is installed above the first circuit board 106.

The first circuit board 106 is provided with an avoidance gap 1061 , and the inertial measurement module 103 is disposed on the bottom surface of the box 101 at the avoidance gap 1061 .

The box cover 102 covers the box body 101.

In this embodiment, the data processing module 105 is electrically connected to the inertial measurement module (Inertial Measurement Unit, IMU) 103 and the satellite navigation module (Global Navigation Satellite System, GNSS) 104 respectively, and receives the inertial navigation data collected by the inertial measurement module 103. and the satellite navigation data collected by the satellite navigation module 104, and perform corresponding fusion processing to obtain navigation data for practical applications.

Optionally, the inertial measurement module 103 includes a gyroscope and an acceleration sensor, where the gyroscope is used to obtain angular velocity data when the transportation equipment is moving, and the acceleration sensor is used to obtain acceleration data when the transportation equipment is moving. It is understood that the inertial measurement module 103 can obtain inertial navigation data through angular velocity data and acceleration data.

Among them, because the circuit board is thin and generally installed in the air, jitter will occur when the transportation equipment moves. The inertial measurement module 103 mainly collects data when the transportation equipment moves. When affected by jitter, the data will be distorted. Large error, in this embodiment, the inertial measurement module 103 is not directly placed on the circuit board (Printed Circuit Board Assembly, PCBA), thereby reducing the impact of jitter.

In the satellite navigation device 100 provided by this patent, the data processing module 105 is provided on the first circuit board 106; the satellite navigation module 104 is provided on the second circuit board 107; the first circuit board 106 is installed on the bottom surface of the box 101, and the first circuit board 106 is installed on the bottom of the box 101. The second circuit board 107 is installed above the first circuit board 106. That is, through a double-layer design, the modules in the integrated navigation device 100 are separated, making full use of the internal space of the integrated navigation device 100 and optimizing the navigation system. The spatial structure of the integrated navigation device 100; and, the first circuit board 106 is provided with an avoidance gap 1061, the inertial measurement module 103 is provided on the bottom surface of the box 101 at the avoidance gap 1061, the box cover 102 covers the box 101, and the inertial measurement The module 103 is not directly arranged on the circuit board, which reduces errors caused by circuit board jitter. At the same time, due to the avoidance gap 1061, the inertial measurement module 103 is on the bottom surface of the box 101, and there is no overlap between the two in the longitudinal space. Therefore Effectively reduce the longitudinal height and reduce the overall volume.

Further, please refer to Figure 2. In an optional embodiment of this patent, an inter-board connector 108 is provided on the first circuit board 106. At the same time, in order to accurately collect data, the Weihai integrated navigation device 100 also includes a data Collection module 109.

The data acquisition module 109 is disposed on the first circuit board 106. The inertial measurement module 103 and the satellite navigation module 104 are communicatively connected to the data processing module 105 through the data acquisition module 109.

In this embodiment, the data collection module 109 collects inertial navigation data sent by the inertial measurement module 103 and satellite navigation data sent by the satellite navigation module 104, and sends the inertial navigation data and satellite navigation data to the data processing module 105.

The inter-board connector 108 is used to realize data transmission between various modules on the first circuit board 106 and the second circuit board 107 .

In this embodiment, the satellite navigation module 104 can communicate with the data acquisition module 109 through the inter-board connector 108 .

Among them, the inter-board connector 108 includes a plug interface and a plug joint. The plug interface is arranged on the upper surface of the first circuit board 106, and the plug interface is arranged upward to face the second circuit board 107; the plug connector is arranged opposite to the position of the plug interface. Corresponding to the lower surface of the second circuit board 107, the plug connector is disposed downward to face the first circuit board 106, wherein the plug connector and the plug connector The mouths cooperate with each other.

In practical applications, this arrangement makes assembly of the two components simple, and the connection of the two circuit boards can be achieved in the assembly process from bottom to top without additional processes. Please continue to refer to Figure 2. In order to fix the first circuit board 106 and the second circuit board 107, the first circuit board 106 is provided with positioning studs 1062, the second circuit board 107 is provided with screws 1071, and the second circuit board 107 is provided with positioning studs 1062. 107 is connected to the positioning stud 1062 through screws 1071 to connect the second circuit board 107 with the first circuit board 106 .

Optionally, the positioning studs 1062 are female and male studs. One end of the female and male studs is used to connect with the screw hole 1011 to fix the first circuit board 106 on the box body 101, and the other end has a mounting surface for fixing screws. 1071.

In an optional embodiment, the box body 101 is provided with screw holes 1011, and a plurality of raised cylinders 1012 are provided on the bottom surface of the box body 101. The screw holes 1011 are correspondingly provided on the raised cylinders 1012, and the first circuit board 106 is positioned by The studs 1062 are connected to the screw holes 1011 to suspend the first circuit board 106 on the plurality of raised cylinders 1012 .

Please continue to refer to FIG. 2 . In order to arrange the inertial measurement module 103 parallel to the first circuit board 106 , a raised platform 1013 is provided on the box 101 , and the inertial measurement module 103 is arranged on the raised platform 1013 .

Among them, the raised platform 1013 is provided at a corner of the box 101, and the position of the raised platform 1013 corresponds to the avoidance gap 1061 on the first circuit board 106. The height of the raised platform 1013 can be set according to actual needs. , it is enough to make the inertial measurement module 103 and the first circuit board 106 parallel, which is not limited in this embodiment.

Please continue to refer to Figure 2. In an optional implementation, the Weihai integrated navigation device also includes an indicator light 110. The indicator light 110 is provided on the first circuit board 106; an opening 1021 is provided on the box cover 102. The opening 1021 It is used to make the indicator light 110 transparent.

The indicator light 110 may be extended from the opening 1021 to transmit light, or a light-transmissive material may be provided at the opening 1021 to allow the indicator light 110 to transmit light, which is not limited in this embodiment.

The indicator light 110 is used to prompt the relevant status of the integrated navigation device 100 .

Optionally, the indicator light 110 is an LED (light-emitting diode) indicator light. The indicator light 110 includes a power indicator light, a satellite navigation signal indicator light, a wheel speed signal indicator light, and a working status indicator light.

Wherein, when the power indicator light is always on, it means that the satellite integrated navigation device 100 is powered on, and when it goes out, it means that the satellite integrated navigation device 100 is powered off.

When the satellite navigation signal indicator light goes out, it means that the position is not located; if it flashes slowly, it means that the positioning is a single-point solution, that is, the positioning is unstable and has a large error, and the positioning accuracy is meter level; if it flashes quickly, it means that the positioning is a floating-point solution, that is, the positioning has a certain error. , the positioning accuracy is between centimeter level and meter level; always on means the positioning is a fixed solution, the positioning is accurate, and the positioning accuracy is centimeter accuracy. For example, between 1 and 3 cm.

If the wheel speed signal indicator light is always on, it means that the chassis protocol can be received normally, and if it is off, it means that the chassis protocol is not received.

When the working status indicator light is always on, it means that the initialization of the satellite integrated navigation device 100 has been completed, and when it is off, it means that the satellite integrated navigation device 100 has not been initialized.

Please continue to refer to Figure 2. In an optional implementation, since the satellite navigation module 104 is used to communicate with the navigation satellite to receive satellite navigation data sent by the navigation satellite, in order to accurately receive the satellite navigation data, the satellite navigation module 104 is used to communicate with the navigation satellite. The navigation device 100 has a first navigation satellite connector 111 and a second navigation satellite connector 112 .

The first navigation satellite connector 111 and the second navigation satellite connector 112 are both disposed on the second circuit board 107 , and both the first navigation satellite connector 111 and the second navigation satellite connector 112 are electrically connected to the satellite navigation module 104 .

Among them, the first navigation satellite connector 111 is a master satellite navigation connector, used for communication connection with the navigation satellite to receive positioning data and play a positioning role; the second navigation satellite connector 112 is a slave satellite navigation connector, used for Communication connection with navigation satellites to receive orientation data and play the role of orientation. It can be understood that the satellite navigation module 104 can obtain satellite navigation data based on positioning data and orientation data.

In this embodiment, the electric energy required for the operation of the integrated navigation device 100 is provided by an external power supply. The integrated navigation device 100 also includes an external connector 113. The external connector 113 is disposed on the first circuit board 106. The external connection The device 113 is used to connect with an external power source to provide working power to the satellite integrated navigation device 100.

It can be understood that since the inter-board connector 108 is provided on the first circuit board 106 so that the first circuit board 106 and the second circuit board 107 are electrically connected, the second circuit board 107 and the modules on the second circuit board 107 can also be connected. Obtain electrical energy.

Optionally, the inertial measurement module 103 is provided with a first interface, and the first circuit board 106 is provided with a second interface. By setting one end of a connecting line at the first interface and the other end at the second interface, This allows the inertial measurement module 103 to perform data transmission with the data acquisition module 109, and also obtain working power.

In this embodiment, the external connector 113 is also connected to the display screen for transmitting navigation data to the display screen for display.

When the user uses the integrated navigation device 100 for navigation, the user can display the navigation information through the display screen on the transportation equipment to intuitively obtain navigation information.

Optionally, this embodiment also provides a transportation equipment, which includes a body and the satellite integrated navigation device 100 disclosed in this patent, wherein the satellite integrated navigation device 100 is disposed inside the body of the transportation equipment.

The above are only preferred embodiments of this patent and are not intended to limit this patent. For the technology in this field, personnel, this patent is subject to various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this patent shall be included in the protection scope of this patent.

Industrial applicability:

This patent provides a satellite-based integrated navigation device, which fully utilizes the internal space of the satellite-based integrated navigation device, optimizes the spatial structure of the satellite-based integrated navigation device, and can reduce errors caused by circuit board jitter, effectively reducing the longitudinal height. , reduce the overall volume.

Claims

An inertial integrated navigation device, characterized in that the inertial integrated navigation device includes a box body, a box cover, an inertial measurement module, a satellite navigation module, a data processing module, a first circuit board and a second circuit board;

The data processing module is provided on the first circuit board; the satellite navigation module is provided on the second circuit board;

The first circuit board is installed on the bottom surface of the box, and the second circuit board is installed above the first circuit board;

The first circuit board is provided with an avoidance gap, and the inertial measurement module is disposed on the bottom surface of the box at the avoidance gap;

The box cover is covered on the box body.
The integrated navigation device according to claim 1, characterized in that an inter-board connector is provided on the first circuit board, the integrated navigation device further includes a data acquisition module, and the data acquisition module is configured On the first circuit board, the inertial measurement module and the satellite navigation module are communicatively connected to the data processing module through the data acquisition module;

The satellite navigation module is communicatively connected to the data acquisition module through the inter-board connector.
The integrated navigation device according to claim 2, wherein the inter-board connector includes a plug interface and a plug joint, the plug interface is provided on the upper surface of the first circuit board, and the plug interface The plug connector is disposed upward to face the second circuit board; the plug connector is disposed on the lower surface of the second circuit board corresponding to the position of the plug interface, and the plug connector is disposed downward to face the third circuit board. A circuit board, wherein the plug connector and the plug interface cooperate with each other.
The integrated navigation device according to claim 1, characterized in that positioning studs are provided on the first circuit board, screws are provided on the second circuit board, and the second circuit board passes through the Screws are connected to the positioning studs to connect the second circuit board to the first circuit board.
The integrated navigation device according to claim 4, wherein the box body is provided with screw holes, the bottom surface of the box body is also provided with a plurality of convex cylinders, and the screw holes are correspondingly provided on the A raised cylinder, the first circuit board is connected to the screw hole through the positioning stud, so that the first circuit board is suspended on the plurality of raised cylinders.
The inertial integrated navigation device according to claim 1 or 5, wherein the box body is provided with a raised platform, and the inertial measurement module is arranged on the raised platform.
The satellite integrated navigation device according to claim 6, characterized in that the raised platform is provided on the In one corner of the box, the escape notch of the first circuit board is set at a corner corresponding to the position of the raised platform.
The integrated navigation device according to claim 1, characterized in that the integrated navigation device further includes an indicator light, the indicator light is arranged on the first circuit board; and the box cover is provided with An opening is used to allow the indicator light to transmit light.
The satellite-based integrated navigation device according to claim 1, characterized in that the satellite-based integrated navigation device further includes a first navigation satellite connector and a second navigation satellite connector, and the first navigation satellite connector and the third navigation satellite connector Two navigation satellite connectors are both disposed on the second circuit board, and both the first navigation satellite connector and the second navigation satellite connector are electrically connected to the satellite navigation module.
The integrated navigation device according to claim 1, characterized in that the integrated navigation device further includes an external connector, the external connector is provided on the first circuit board, and the external connector is Connected to an external power source to provide working power to the satellite integrated navigation device.
The integrated navigation device according to claim 10, wherein the external connector is also connected to a display screen for transmitting navigation data to the display screen for display.