CN106052689A - IMU (inertial measurement unit) signal acquisition system based on C8051F064 single chip microcomputer - Google Patents
IMU (inertial measurement unit) signal acquisition system based on C8051F064 single chip microcomputer Download PDFInfo
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- CN106052689A CN106052689A CN201610718836.4A CN201610718836A CN106052689A CN 106052689 A CN106052689 A CN 106052689A CN 201610718836 A CN201610718836 A CN 201610718836A CN 106052689 A CN106052689 A CN 106052689A
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- 238000004088 simulation Methods 0.000 claims description 2
- 238000004891 communication Methods 0.000 abstract description 2
- 238000013461 design Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 4
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- 230000002093 peripheral effect Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000005070 sampling Methods 0.000 description 3
- 101100156949 Arabidopsis thaliana XRN4 gene Proteins 0.000 description 2
- 101100215777 Schizosaccharomyces pombe (strain 972 / ATCC 24843) ain1 gene Proteins 0.000 description 2
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- 101100434411 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) ADH1 gene Proteins 0.000 description 1
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- 230000006641 stabilisation Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
-
- 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
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
- G05B19/0425—Safety, monitoring
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2612—Data acquisition interface
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Gyroscopes (AREA)
Abstract
The invention discloses an IMU (inertial measurement unit) signal acquisition system based on a C8051F064 single chip microcomputer. The IMU signal acquisition system based on the C8051F064 single chip microcomputer comprises a three-axis gyroscope, an accelerometer, a multichannel analog switch, a signal conditioning circuit, the single chip microcomputer and an RS232 interface circuit, wherein signals of the three-axis gyroscope and the accelerometer are inputted into the multichannel analog switch, the multichannel analog switch is used for selecting analog voltage signals inputted from any channel and inputting the selected analog voltage signals into the signal conditioning circuit, the signal conditioning circuit is used for isolating the analog voltage signals and performing amplitude adjustment, an ADC (analog-digital converter) module inputted into the single chip microcomputer is used for analog-digital conversion, and the single chip microcomputer is used for uploading conversion results to an upper computer through an RS232 interface. The IMU signal acquisition system based on the C8051F064 single chip microcomputer is compact in structure, low in power consumption, capable of attaining high data acquisition performance at low cost, adaptable to complicated situations of missile-borne environments and capable of providing accurate IMU data for missile-borne computers in real time in an RS232 communication mode, thereby being highly practical.
Description
Technical field
The present invention relates to a kind of IMU signal acquiring system, believe particularly to a kind of IMU based on single-chip microcomputer C8051F064
Number acquisition system.
Background technology
Inertial Measurement Unit (being called for short IMU) is the device of Measuring Object three axis angular rate and acceleration.General, one
IMU comprises three accelerometers and three gyros, and accelerometer detection object founds the acceleration of three axles in carrier coordinate system unification and independence
Signal, and gyro detection carrier is relative to the angular velocity signal of navigational coordinate system, Measuring Object angular velocity in three dimensions
And acceleration, and calculate the attitude of object with this.It is usually used in the occasion needing to carry out accurate displacement reckoning by attitude, as latent
The inertial navigation set etc. of ship, aircraft, guided missile and spacecraft, has critically important application valency in aviation, land, oceanic navigational
Value.
IMU signal acquiring system is a kind of system for gathering IMU Output speed and acceleration, mostly works in
In missile-borne environment, it is desirable to have at high speed, in high precision, high stability, the feature such as low-power consumption.Traditional charge balance equation voltage-
Although freq converting circuit has that capacity of resisting disturbance is strong and the interface advantage such as simply, but its sampling precision and speed are relatively low, it is impossible to
Meet the high real-time requirement of IMU signal acquiring system.Although IMU signal acquiring system based on DSP can process the most real
Time data, but itself power consumption and relatively costly, be difficult to promote, and development difficulty be big.
For this problem, the present invention is theoretical based on conventional AD conversion, uses dragon Electronics Co., Ltd. of Xinhua to release
C8051F064 single-chip microcomputer, design a kind of high speed, in high precision, high stability, low-power consumption, the IMU signals collecting system of low cost
System, provides the data message of real-time stabilization for missile-borne computer.The ADC sampling module that native system employing single-chip microcomputer carries is to IMU
Signal is acquired, and reduces the assembled unit quantity of signal acquiring system as far as possible, so that it is guaranteed that at the high reject signal of missile-borne
In, signal acquiring system obtains stable output.
Summary of the invention
The purpose of the present invention: the present invention attempts a kind of new IMU signal acquiring system scheme, both can guarantee that acquisition system
High real-time and stability, can simplify again acquisition system structure, thus realize low-power consumption and the low cost of acquisition system.
The technical solution realizing the object of the invention is:
A kind of IMU signal acquiring system based on C8051F064 single-chip microcomputer, is characterized in that, including three-axis gyroscope, acceleration
Meter, multichannel analog switch, signal conditioning circuit, single-chip microcomputer and RS232 interface circuit；
Three-axis gyroscope, the signal input multichannel analog switch of three accelerometers, selected arbitrary by multichannel analog switch
The analog voltage signal of road input, input signal conditioning circuit；Analog voltage signal is isolated by signal conditioning circuit, amplitude
Adjusting, the ADC of input single-chip microcomputer carries out analog digital conversion, and single-chip microcomputer uploads to transformation result upper by RS232 interface
Machine.
Described single-chip microcomputer is C8051F064.
Three-axis gyroscope uses the ADXRS series gyroscope of AD company.
Accelerometer uses ADXL278.
ADG608 selected by analog switching circuit；Single-chip microcomputer is managed by controlling A0～A2 of analog switching circuit ADG608, EN
Foot gates IN1～IN8 passage.
Signal conditioning circuit includes prime follow circuit and rear class bleeder circuit；
Prime follow circuit includes the first operational amplifier, and analog voltage signal VIN input is defeated to the first operational amplifier positive
Entering end, the first operational amplifier output terminal is connected to rear class bleeder circuit, feeds back to the first operational amplifier negative input simultaneously
End；
Rear class bleeder circuit includes the first divider resistance, the second divider resistance and the second operational amplifier, the first divider resistance one
End is connected to prime follow circuit, and the other end, through the second divider resistance ground connection, is connected simultaneously to the second operational amplifier positive defeated
Enter end；Second operational amplifier output terminal output voltage VO UT, feeds back its negative-phase input of the second operational amplifier simultaneously.
The advantage of the invention and the effect reached:
IMU signal acquiring system compact conformation based on C8051F064 single-chip microcomputer, low in energy consumption, utilize relatively low cost, it is thus achieved that relatively
High data acquisition performance, it is possible to adapt to the complex situations of missile-borne environment.Use RS232 communication mode, the highest sample frequency
1Msps, it is possible to provide IMU data accurately for missile-borne computer in real time, has stronger practicality.
Accompanying drawing explanation
Fig. 1 IMU signal acquiring system schematic diagram；
Fig. 2 gyro peripheral circuit diagram；
Fig. 3 accelerometer and analog switching circuit figure；
Fig. 4 signal conditioning circuit；
Fig. 5 single-chip microcomputer and peripheral circuit；
Fig. 6 single-chip microcomputer workflow diagram；
Fig. 7 data transmission stream journey figure.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings.Following example are only used for clearly illustrating the present invention
Technical scheme, and can not limit the scope of the invention with this.
This IMU signal acquiring system is by three-axis gyroscope, accelerometer, multichannel analog switch, signal conditioning circuit, list
Sheet machine, RS232 interface circuit form, as shown in Figure 1.
Circuit work process is as follows: three-axis gyroscope, accelerometer signal input multichannel analog switch, by multichannel mould
Intend switch and select arbitrary analog voltage signal, input signal conditioning circuit.Signal conditioning circuit analog voltage signal is carried out every
From, range-adjusting, the ADC of input single-chip microcomputer carries out analog digital conversion, and single-chip microcomputer is uploaded transformation result by RS232 interface
To host computer.Introduce the design process of each several part circuit in detail below.
1. gyro and periphery circuit design
GYROCHIP use AD company release ADXRS series gyroscope, its integrated micro-electron machinery system patent technique and
BIMOS technique, inside is integrated with angular rate sensor and signal processing circuit simultaneously.Gyroscope phase with any similar function
Ratio, ADXRS series gyroscope has that size is little, low in energy consumption, shock resistance and the good advantage of vibratility, and its Typical Representative chip has
ADXRS300.ADXRS300 only has 7mm × 7mm × 3mm size, uses BGA-32 encapsulation technology, this encapsulation at least than
Any other gyroscope with similar performance is little 100 times, and power consumption is 30mW, weight only 0.5g, it is possible to measure accurately
Angular velocity.ADXRS300 range is ± 300 °/s, and its peripheral circuit is as shown in Figure 2.
In Fig. 2, VCC is+5V power supply signal.RATE-OUT is the angular velocity signal of gyro output, output voltage during 0 °/s
For 2.5V, sensitivity is 5mV/ °/s.TEMP-OUT is the temperature signal of gyro output, and during room temperature, output voltage is 2.5V, ratio
Coefficient is 8.4mV/ ° of C.
2. accelerometer and analog switching circuit design
Accelerometer and analog switching circuit design as shown in Figure 3.Accelerometer is twin shaft, high-g level, the acceleration of iMEMS technique
Degree meter ADXL278 ,+5V power.X-axis, Y-axis range are 50g, are 2.5V without output voltage during acceleration, and sensitivity is 38mV/
g.Analog switching circuit selects ADG608, conducting resistance≤30 Ω, switch time≤75ns, can realize reliable conducting.Single-chip microcomputer
By controlling A0～A2 of analog switching circuit, EN pin gates IN1～IN8 passage.
3. signal conditioning circuit design
Signal conditioning circuit is as shown in Figure 4.One road signal out of analog switching circuit output is analog voltage signal, simulation electricity
Signal VIN is through prime follow circuit for pressure, then through rear class bleeder circuit, output voltage VO UT.Output voltage VO UT=VIN*
10/(10+10)=0.5VIN.Visible, the effect of signal conditioning circuit is to enter single-chip microcomputer ADC at analog voltage signal VIN
Before analog voltage signal VIN is decayed, be reduced to 0.5 times of size, be allowed to meet the input voltage range of AD conversion.
Prime follow circuit includes that operational amplifier U3A, analog voltage signal VIN input to operational amplifier U3A positive
Input, operational amplifier U3A outfan is connected to divider resistance R16 one end, feeds back to its negative-phase input simultaneously.Rear fraction
Volt circuit includes that divider resistance R16, R15 and operational amplifier U3B, divider resistance R16 one end are connected to prime follow circuit, separately
One end, through divider resistance R15 ground connection GND, is connected simultaneously to operational amplifier U3B normal phase input end；Operational amplifier U3B exports
End output voltage VO UT, feeds back to its negative-phase input simultaneously.
4. single-chip microcomputer and periphery circuit design
Single-chip microcomputer C8051F064 is the core of whole IMU signal acquiring system, and it constructs from sensor, signal condition
Circuit is to the bridge between host computer.Compared with traditional C51 single-chip microcomputer, the instruction of C8051F064 single-chip microcomputer 70% performs
Time is 1 or 2 system clock cycle, and the execution time of only 4 instructions is more than 4 system clock cycles.Its senior engineer
Working frequency 25MHz, Embedded two 16, the AD transducer of 1Msps, and with DMA controller.Single-chip microcomputer and outer
Enclose circuit design and see Fig. 5.
Single-chip microcomputer uses+3.3V to power, the outside work clock of 25MHz, operating current only 16mA.Data acquisition port is
AIN0 and AIN1, AIN0 gather the angular velocity signal of gyro, and AIN1 gathers the acceleration signal of accelerometer, signal amplitude scope
It is 0～2.5V.16 bit resolutions, the therefore each AD conversion of single-chip microcomputer can be provided when ADC is operated in the maximum sample rate of 1Msps
Result is 16 position digital signals (i.e. two bytes), uploads to host computer by Uart serial ports, RS232 interface, it is achieved adopt in real time
Sample.
5. scm software design
After single-chip microcomputer powers on, first start external crystal-controlled oscillation, then the peripheral hardware such as I/O port, intervalometer, Uart0, ADC0, ADC1 is entered
Row Initialize installation, then controls analog switch and selects a road analog voltage signal to be measured, after time delay certain time debounce, open
ADC carries out sampling, AD conversion, and transformation result is sent by Uart0.Transmission switches other passages after terminating, to it
His angular velocity or acceleration signal are acquired, and go round and begin again.Single-chip microcomputer workflow diagram is as shown in Figure 6.
When single-chip microcomputer is AD converted, change, by inquiry ADnINT position by writing ' 1 ' startup data to ADnBUSY
To determine when conversion terminates, query steps is as follows:
(1) ' 0 ' to ADnINT is write；
(2) ' 1 ' is write to ADnBUSY；
(3) inquire about and wait that ADnINT becomes ' 1 '；
(4) ADCn data are preserved.
The transmission of multiple baud rate can be realized between C8051F064 Host μC serial interface and computer.This not only needs
Having configured digital crossing switch, serial line interface to be configured to produces the intervalometer of baud rate, and configuration process to be handed over according to numeral
Fork pass, intervalometer, the order of serial line interface.When sending data, first send the upper byte of AD conversion result, retransmit AD and turn
Change the low byte of result.The baud rate that IMU signal acquiring system uses is 115200bps, data transmission stream journey figure such as Fig. 7 institute
Show.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For Yuan, on the premise of without departing from the technology of the present invention principle, it is also possible to make some improvement and deformation, these improve and deformation
Also should be regarded as protection scope of the present invention.
Claims (6)
1. an IMU signal acquiring system based on C8051F064 single-chip microcomputer, is characterized in that, including three-axis gyroscope, three add
Velometer, multichannel analog switch, signal conditioning circuit, single-chip microcomputer and RS232 interface circuit；
Three-axis gyroscope, the signal input multichannel analog switch of three accelerometers, selected arbitrary by multichannel analog switch
The analog voltage signal of road input, input signal conditioning circuit；Analog voltage signal is isolated by signal conditioning circuit, amplitude
Adjusting, the ADC of input single-chip microcomputer carries out analog digital conversion, and single-chip microcomputer uploads to transformation result upper by RS232 interface
Machine.
IMU signal acquiring system based on C8051F064 single-chip microcomputer the most according to claim 1, is characterized in that, described list
Sheet machine is C8051F064.
IMU signal acquiring system based on C8051F064 single-chip microcomputer the most according to claim 1, is characterized in that, three axle tops
Spiral shell instrument uses the ADXRS series gyroscope of AD company.
IMU signal acquiring system based on C8051F064 single-chip microcomputer the most according to claim 1, is characterized in that, acceleration
Meter uses ADXL278.
IMU signal acquiring system based on C8051F064 single-chip microcomputer the most according to claim 1, is characterized in that, simulation is opened
Close circuit and select ADG608；Single-chip microcomputer by control A0～A2 of analog switching circuit ADG608, EN pin gate IN1～
IN8 passage.
IMU signal acquiring system based on C8051F064 single-chip microcomputer the most according to claim 1, is characterized in that,
Signal conditioning circuit includes prime follow circuit and rear class bleeder circuit；
Prime follow circuit includes the first operational amplifier, and analog voltage signal VIN input is defeated to the first operational amplifier positive
Entering end, the first operational amplifier output terminal is connected to rear class bleeder circuit, feeds back to the first operational amplifier negative input simultaneously
End；
Rear class bleeder circuit includes the first divider resistance, the second divider resistance and the second operational amplifier, the first divider resistance one
End is connected to prime follow circuit, and the other end, through the second divider resistance ground connection, is connected simultaneously to the second operational amplifier positive defeated
Enter end；Second operational amplifier output terminal output voltage VO UT, feeds back its negative-phase input of the second operational amplifier simultaneously.
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| CN109211036A (en) * | 2018-09-06 | 2019-01-15 | 北方电子研究院安徽有限公司 | A kind of decoding circuit wirelessly set in fuse |
| CN109459953A (en) * | 2018-11-05 | 2019-03-12 | 常州市新创智能科技有限公司 | A kind of equipment compartment safe condition intelligence control device |
| CN110006426A (en) * | 2019-05-09 | 2019-07-12 | 保定开拓精密仪器制造有限责任公司 | Multichannel accelerometer data acquisition system and acquisition method based on FPGA |
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| CN109211036A (en) * | 2018-09-06 | 2019-01-15 | 北方电子研究院安徽有限公司 | A kind of decoding circuit wirelessly set in fuse |
| CN109211036B (en) * | 2018-09-06 | 2019-11-05 | 北方电子研究院安徽有限公司 | A kind of decoding circuit wirelessly set in fuse |
| CN109459953A (en) * | 2018-11-05 | 2019-03-12 | 常州市新创智能科技有限公司 | A kind of equipment compartment safe condition intelligence control device |
| CN110006426A (en) * | 2019-05-09 | 2019-07-12 | 保定开拓精密仪器制造有限责任公司 | Multichannel accelerometer data acquisition system and acquisition method based on FPGA |
| CN110006426B (en) * | 2019-05-09 | 2023-03-28 | 保定开拓精密仪器制造有限责任公司 | Multi-channel accelerometer data acquisition system and method based on FPGA |
| CN110223593A (en) * | 2019-07-12 | 2019-09-10 | 中国人民解放军空军工程大学航空机务士官学校 | A kind of rate-of-turn gyroscope principle demonstration platform and its demenstration method |
| CN111256680A (en) * | 2020-02-13 | 2020-06-09 | 广州佳简通信科技有限公司 | Attitude detection device supporting 5G with operating system |
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