CN112229400A - Miniaturized micro-electromechanical gyro inertia/satellite combined navigation system - Google Patents
Miniaturized micro-electromechanical gyro inertia/satellite combined navigation system Download PDFInfo
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- CN112229400A CN112229400A CN202010966075.0A CN202010966075A CN112229400A CN 112229400 A CN112229400 A CN 112229400A CN 202010966075 A CN202010966075 A CN 202010966075A CN 112229400 A CN112229400 A CN 112229400A
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- combined navigation
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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
- G01C21/165—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 combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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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)
- Computer Networks & Wireless Communication (AREA)
- Gyroscopes (AREA)
Abstract
本发明公开一种小型化微机电陀螺惯性/卫星组合导航系统，由顶盖、底座、组合导航测量单元、供电连接器以及卫星接收机射频连接器组成。底座通过螺钉与顶盖和组合导航测量单元连接，为顶盖和组合导航测量单元提供支撑，具有俯仰、滚动和方位三个方向安装基准；组合导航测量单元由惯性测量电路、卫星接收机电路和支撑结构组成；惯性测量电路、卫星接收机电路安装在同一支撑结构上，惯性测量电路由信息处理器、三只陀螺仪、三只加速度计组成。本发明方案将微机电陀螺惯性/卫星组合导航系统惯性测量电路、卫星接收机电路安装在一个结构体上，减少了安装面，结构简化，体积更小。
The invention discloses a miniaturized micro-electromechanical gyro inertial/satellite integrated navigation system, which is composed of a top cover, a base, an integrated navigation measurement unit, a power supply connector and a satellite receiver radio frequency connector. The base is connected with the top cover and the combined navigation and measurement unit through screws, providing support for the top cover and the combined navigation and measurement unit, and has three directions of installation reference: pitch, roll and azimuth; the combined navigation and measurement unit is composed of inertial measurement circuit, satellite receiver circuit and It consists of a support structure; the inertial measurement circuit and the satellite receiver circuit are installed on the same support structure, and the inertial measurement circuit consists of an information processor, three gyroscopes, and three accelerometers. The scheme of the invention installs the inertial measurement circuit and the satellite receiver circuit of the micro-electromechanical gyro inertial/satellite integrated navigation system on one structure body, reduces the installation surface, simplifies the structure, and has a smaller volume.
Description
Technical Field
The invention belongs to the technical field of inertial navigation in airplanes and vehicles, and particularly relates to a micro-electromechanical gyro inertia/satellite integrated navigation system for inertial measurement and integrated navigation.
Background
The inertia/satellite combined navigation measures the acceleration and angular rate movement of a carrier through an inertia instrument (comprising an accelerometer and a gyroscope), obtains the movement information of the measured carrier such as the acceleration, the angular rate, the attitude, the position, the speed and the like through error compensation and integration, and simultaneously performs data fusion by utilizing the information of the carrier position, the speed and the like measured by a satellite navigation module to form continuous high-precision inertia/satellite combined position, speed, attitude and the like. Because of having the advantages of continuity, high precision, non-divergence and the like, the micro-electromechanical gyroscope inertia/satellite combined navigation system is widely applied to the fields of unmanned vehicles, unmanned aerial vehicles, robot navigation, surveying and mapping load motion error compensation, railway track detection and the like, wherein the micro-electromechanical gyroscope inertia/satellite combined navigation system has the advantages of small volume, light weight, low power consumption, low cost, easy batch production and the like, and is widely applied to the fields of small unmanned aerial vehicles, unmanned vehicles, robots, small guided ammunitions, integrated surveying and mapping equipment and the like which have higher requirements on the inertia measurement and the volume of the combined navigation system, but the problems of reduced structural strength, reduced sealing performance, low installation precision, poor heat dissipation and the like exist in the small volume, so that the precision of the micro-electromechanical gyroscope inertia/satellite combined navigation system is reduced, the environmental adaptability is poor, aiming at the problems, the invention provides a micro-electromechanical gyro inertia/satellite combined navigation system scheme with small volume and high precision.
Disclosure of Invention
The invention provides a micro-electromechanical gyro inertia/satellite combined navigation system with small volume and high precision.
The invention relates to a miniaturized micro-electromechanical gyro inertia/satellite combined navigation system, which consists of a top cover, a base, a combined navigation measuring unit, a power supply connector and a satellite receiver radio frequency connector;
the base is connected with the top cover and the combined navigation measuring unit through screws, supports are provided for the top cover and the combined navigation measuring unit, and installation references in three directions of pitching, rolling and azimuth are provided;
the combined navigation measurement unit consists of an inertia measurement circuit, a satellite receiver circuit 19 and a support structure; the inertial measurement circuit and the satellite receiver circuit 19 are mounted on the same supporting structure, and the inertial measurement circuit is composed of an information processor, three gyroscopes 14, 15 and 17, and three accelerometers 12, 13 and 16.
Further, the support structure of the integrated navigation measurement unit is a hexahedral structure having four pillars 20, 21, 22, 23 on the other side opposite to the base, and the satellite receiver circuit 19 is provided with mounting support by the four pillars 20, 21, 22, 23.
Further, the top of the pad posts 20, 21, 22, 23 has a straight slot, and the pad posts 20, 21, 22, 23 have threaded holes designed therein to provide fixing threads for the satellite receiver circuit 19.
Further, the inertial measurement circuit of the integrated navigational measurement unit includes seven flexibly connected circuit boards, one of which includes a processor circuit 18, three of which each include a single axis gyroscope, and the remaining three of which each include a single axis accelerometer.
Further, the radio frequency connector of the satellite receiver is a radio frequency connector installed through a wall, and a T-shaped insulating pad 8 and a round insulating pad 7 are matched between the radio frequency connector and a mounting structure shell 9 of the radio frequency connector.
Further, the bottom surface of the base is provided with bosses 1, 2, 3 and 4 with the same number as the mounting holes for providing pitching and rolling mounting references for the navigation system, and the bottom surface of the base is provided with a cylindrical positioning hole 5 and a U-shaped groove positioning hole 6 for providing azimuth mounting references.
Compared with the traditional mode that six surfaces of a hexahedral structure provide three gyroscopes, three accelerometer supports, other structure support processor circuits and a satellite receiver circuit, the scheme of the invention installs the inertia measurement circuit of the micro-electromechanical gyroscope inertia/satellite combined navigation system and the satellite receiver circuit on one structure body, thereby reducing the installation surfaces, simplifying the structure and reducing the volume.
Drawings
FIG. 1 is a schematic view of a pedestal mounting datum;
FIG. 2 is a schematic view of the RF connector in assembled relation with a structure;
FIG. 3 is a schematic view of an RF connector and structure for preventing rotation;
FIG. 4 is a schematic view of the integrated circuit mounted on a structural stage;
FIG. 5 is a schematic diagram of a satellite navigation receiver circuit and mounting posts.
In the figure: 1. base boss, 2, base boss, 3 base boss, 4 base boss, 5 base cylindrical locating holes, 6, base U type locating hole, 7, radio frequency connector circular plastic gasket, 8, radio frequency connector T type plastic gasket, 9, radio frequency connector mounting structure casing, 10, radio frequency connector T type plastic gasket anti-rotation semicircular structure, 11, radio frequency connector mounting structure anti-rotation semicircular structure, 12, Z accelerometer circuit, 13, Y accelerometer circuit, 14, X gyroscope circuit, 15, Z gyroscope circuit, 16, X accelerometer circuit, 17, Y gyroscope circuit, 18, processor circuit, 19, satellite receiver circuit, 20, pad post, 21, pad post, 22, pad post, 23, pad post.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The invention relates to a miniaturized micro-electromechanical gyro inertia/satellite combined navigation system, which mainly solves the problems of large volume, heavy weight, high power consumption, low installation precision and the like of the traditional micro-electromechanical gyro inertia/satellite combined navigation system.
The invention constructs a combined navigation system consisting of a top cover, a base, a combined navigation measuring unit, a power supply connector and a satellite receiver radio frequency connector, wherein the base is connected with the top cover and the combined navigation measuring unit through screws to provide support for the top cover and the combined navigation measuring unit, and the combined navigation system has three direction installation benchmarks of pitching, rolling and azimuth; the integrated navigational measurement unit comprises an inertial measurement circuit, a satellite receiver circuit 19 and a support structure; the inertial measurement circuit comprises an information processor, three gyroscopes 14, 15 and 17 and three accelerometers 12, 13 and 16, and the support structure provides mounting support for the inertial measurement circuit and the satellite receiver circuit 19; compared with the traditional mode that six surfaces of a hexahedron structure provide three gyroscopes 14, 15 and 17, three accelerometers 12, 13 and 16 for supporting, other structure for supporting a processor circuit and a satellite receiver circuit 19, the scheme of the invention installs the inertia measurement circuit of the micro-electromechanical gyroscope inertia/satellite combined navigation system and the satellite receiver circuit 19 on a structure body, thereby reducing the installation surface, simplifying the structure and reducing the volume.
As shown in fig. 1, the base bottom surface has bosses 1, 2, 3, 4 with the same number as the number of mounting holes, which provide pitching and rolling mounting reference for the micro-electromechanical gyroscope inertia/satellite combined navigation system, the base bottom surface has a cylindrical positioning hole 5, one is a U-shaped groove positioning hole 6, which is used for providing azimuth mounting reference, compared with two conventional cylindrical positioning holes, the base bottom surface has the function of preventing reverse mounting, and the requirement of the distance tolerance of two positioning pins matched with the positioning holes is greatly reduced.
As shown in fig. 2 and 3, the satellite receiver rf connector is a through-wall mounted rf connector, which is smaller than a flange mounted rf connector, but the conventional through-wall mounted rf connector housing is in direct contact with the rf connector mounting structure housing 9, and since the rf connector housing is connected to the ground of the satellite receiver circuit 19, the conventional through-wall mounting method connects the ground of the satellite receiver circuit 19 to the structure, which easily causes external interference signals to enter the satellite receiver circuit 19 through the structure, so that a T-shaped insulating pad 8 and a circular insulating pad 7 are used in cooperation, the insulating pad is made of teflon, and has a thickness of 0.2mm, so as to insulate the rf connector from the housing. The wall-through mounting connector is insulated from the shell 9, and the anti-rotation semicircular structure 10 of the T-shaped plastic gasket of the radio frequency connector and the anti-rotation semicircular structure 11 of the mounting structure of the radio frequency connector are both semicircular, so that the problem of easy rotation of a cylinder is avoided, and the electromagnetic environment adaptability is improved while the mounting size of the satellite radio frequency connector is reduced.
The inertial measurement circuit of the combined navigation measurement unit comprises seven flexibly connected circuit boards, wherein one circuit board comprises a processor circuit 18, three circuit boards respectively comprise a single-axis gyroscope, and the other three circuit boards respectively comprise a single-axis accelerometer, so that the size of the combined navigation measurement unit is smaller than that of a separated circuit board in which the gyroscope and the accelerometer are respectively mounted; the support structure of the combined navigation measurement unit consists of a hexahedron structure and cushion columns 20, 21, 22 and 23, wherein the four cushion columns 20, 21, 22 and 23 are arranged on the other side opposite to the base, seven installation planes are provided for the inertia measurement circuit through the hexahedron structure, and installation support is provided for the satellite receiver circuit 19 through the cushion columns 20, 21, 22 and 23, as shown in fig. 5. The top of the pad columns 20, 21, 22 and 23 is provided with a straight groove for screwing operation, and meanwhile, threaded holes are designed in the studs for providing fixing threads for the satellite receiver circuit 19, so that the integration level of the combined navigation measuring unit is greatly improved by the integration mode.
The above embodiments are only for explaining and explaining the technical solution of the present invention, but should not be construed as limiting the scope of the claims. It should be clear to those skilled in the art that any simple modification or replacement based on the technical solution of the present invention may be adopted to obtain a new technical solution, which falls within the scope of the present invention.
Claims (6)
1. A miniaturized micro-electromechanical gyro inertia/satellite combined navigation system is characterized by comprising a top cover, a base, a combined navigation measuring unit, a power supply connector and a satellite receiver radio frequency connector;
the base is connected with the top cover and the combined navigation measuring unit through screws, supports are provided for the top cover and the combined navigation measuring unit, and installation references in three directions of pitching, rolling and azimuth are provided;
the combined navigation measurement unit consists of an inertia measurement circuit, a satellite receiver circuit (19) and a support structure; the inertial measurement circuit and the satellite receiver circuit (19) are arranged on the same supporting structure, and the inertial measurement circuit consists of an information processor, three gyroscopes (14, 15 and 17) and three accelerometers (12, 13 and 16).
2. A miniaturized microelectromechanical gyroscopic inertia/satellite integrated navigation system according to claim 1, characterized in that the support structure of the integrated navigation measurement unit is made of a hexahedral structure with four pads (20, 21, 22, 23) on the side opposite to the base, and the satellite receiver circuitry (19) is supported by the four pads (20, 21, 22, 23).
3. A combined mems gyroscopic inertia/satellite navigation system as claimed in claim 2 in which the spacer (20, 21, 22, 23) has a slotted hole at the top and the spacer (20, 21, 22, 23) has a threaded hole designed internally to provide a screw thread for the satellite receiver circuitry (19).
4. A miniaturized microelectromechanical gyroscopic inertia/satellite combined navigation system according to claim 2 or 3, characterized in that the inertial measurement circuit of the combined navigation measurement unit comprises seven flexibly connected circuit boards, one of which comprises a processor circuit (18), three of which each comprise a single-axis gyroscope and the remaining three of which each comprise a single-axis accelerometer.
5. A combined mems gyroscopic inertial/satellite navigation system according to claim 2 or 3 in which the satellite receiver rf connector is a wall mounted rf connector, and between the rf connector and the rf connector mounting structure housing (9) T-shaped insulating pads (8) and circular insulating pads (7) are used in cooperation.
6. A miniaturized microelectromechanical gyroscopic inertia/satellite combined navigation system according to claim 2 or 3, characterized in that the base bottom surface has the same number of bosses (1, 2, 3, 4) as the mounting holes to provide a pitch and roll mounting reference for the navigation system, and the base bottom surface has a cylindrical positioning hole (5), a U-shaped slot positioning hole (6) to provide an azimuth mounting reference.
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| CN202010966075.0A CN112229400B (en) | 2020-09-15 | 2020-09-15 | Small micro-electromechanical gyro inertia/satellite integrated navigation system |
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| CN202010966075.0A CN112229400B (en) | 2020-09-15 | 2020-09-15 | Small micro-electromechanical gyro inertia/satellite integrated navigation system |
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| CN114858165A (en) * | 2022-07-06 | 2022-08-05 | 河北美泰电子科技有限公司 | Inertial navigation assembly |
| CN115265531A (en) * | 2022-07-12 | 2022-11-01 | 北京信息科技大学 | A system for identifying motion states using inertial measurement devices |
| CN115824199A (en) * | 2022-11-07 | 2023-03-21 | 北京自动化控制设备研究所 | Microminiature multi-information fusion autonomous navigation system |
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