CN202074979U - Miniature inertia detecting device - Google Patents
Miniature inertia detecting device Download PDFInfo
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- CN202074979U CN202074979U CN2010202887271U CN201020288727U CN202074979U CN 202074979 U CN202074979 U CN 202074979U CN 2010202887271 U CN2010202887271 U CN 2010202887271U CN 201020288727 U CN201020288727 U CN 201020288727U CN 202074979 U CN202074979 U CN 202074979U
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Abstract
A miniature inertia detecting device relates to the technology of strap-down inertial navigation and is a miniature inertia measuring system based on improving the mechanics structure of an inertia measuring device, wherein size of the inertia measuring system is greatly reduced and rigidity damping structures of three dimensions and the like of the inertia measuring system are simplified. Besides, the miniature inertia detecting device overcomes the harmful effects on a strap-down inertial navigation system caused by the defects of unequal three-dimensional rigidity, resonance excitation and torsional vibration. The miniature inertia measuring system comprises a sensor component 1.2, an inner vibration damper, an inertia detecting unit casing 1.6, a lower cover 1.8 and the like, the inner vibration damper consists of a plurality of inner vibration damping units 1.4 with proper damping characteristics, and the inner vibration damping units are mounted among the inner wall S of the inertia detecting unit casing 1.6 and six planes of the sensor component 1.2. Deformation force shafts of the inner vibration damping units are intersected mutually, so that forced vibration from carriers are uniformly absorbed and consumed.
Description
Technical field
The utility model relates to the strap-down inertial technology, especially relates to a kind of minitype inertial pick-up unit.
Background technology
Strapdown inertial navigation is a kind of advanced navigation techniques that develops rapidly now.Its utilizes inertance elements such as the gyroscope directly be connected on the carrier, accelerometer to measure the acceleration of carrier with respect to inertial reference system, carry out integral operation according to newton's principle of inertia, obtain speed, attitude angle and positional information under the navigation coordinate system, the guiding carrier drives towards the destination from starting point.The inertial navigation technology utilizes control computer that the data that gyroscope, accelerometer record are carried out coordinate transform, found the solution mathematical operation such as the differential equation, extracts attitude and course data from the element of attitude matrix, realizes navigation task.The data such as strapdown matrix that the strapdown inertial navitation system (SINS) utilization is upgraded are at any time set up " mathematical platform ", replace traditional electromechanical navigation platform, thereby have simplified system architecture greatly, and the volume of system and cost are reduced significantly, and inertance element is convenient to installation and maintenance; In addition, strapdown inertial navitation system (SINS) does not rely on the external system support, autonomous attitude, speed and the positional information of obtaining, also not to any information of extraneous radiation, have in real time independently, interference-free, not limited by region, time, weather conditions, and advantage such as output parameter is comprehensive, by extensively in multiple fields such as aviation, navigation, traffic.
Strapdown inertial navigation system is made of with relevant holding components an inertial measuring unit, control computer, a control display at least, and its core component inertial measuring unit is equipped with gyroscope and accelerometer.The principle of work of inertial measuring unit is: gyroscope detects the carrier tri-axis angular rate, accelerometer detects the linear acceleration of aircraft along three-axis moving, the angle rate signal that control computer is surveyed gyroscope is to the time integral computing, extrapolate navigation attitude informations such as instantaneous course, inclination angle, the acceleration signal that utilizes accelerometer to record, to the time integral computing, extrapolate instantaneous headway information; Carry out quadratic integral, can calculate the distance and the position of navigation in this period.
Inertial measuring unit and attitude algorithm technology thereof are the key techniques that influences the strap-down inertial navigation system performance.This is that its precision and efficient directly influence the timeliness and the precision of navigation because inertia measurement and attitude algorithm thereof are the prerequisites of carrier being implemented TRAJECTORY CONTROL; The second, inertial measuring unit will directly bear vibration, impact and angular motion in harsh pneumatic environment, cause many unstability and error effects, becomes weak link in the strapdown inertial navitation system (SINS); The 3rd, strap-down inertial navigation system faces the challenge of microminiaturization, industrialization aspect, particularly along with the development of microelectric technique, the micro electro mechanical inertia components and parts of precision even low precision in requiring to adopt arrive the purpose of low-cost mass production inertial navigation product.
When carrier was tending towards miniaturization, microminiaturization, its mass of foundation had been compared significantly with conventional carrier and has been reduced, and excitation that is subjected in the navigating power environment and random vibration are more more violent than conventional carrier, and system is more unstable.Inertial measuring unit must be in mechanical structure, Vibration Absorption Designing, and aspect such as micromation proposes the specific aim technical measures, and it is unstable to overcome navigation, precise decreasing, even the defective that shortens serviceable life of electronic devices and components.
The vibration-proof structure equivalent analysis of above-mentioned inertial measuring unit is seen accompanying drawing 3, and mass M represents inertial measuring unit among the figure, and its barycenter is m; Damper unit { K
i, c
iExpression, wherein K
iExpression rigidity, c
iThe expression ratio of damping, the quantity of the damper unit that subscript i represents in the vibration damper to be comprised adopts 4 rubber blankets as damper unit for accompanying drawing 1, i=1 then, 2,3,4; B representative navigation carrier; P is the elastic center of vibration damper.When carrier B navigation motion, inertial measuring unit m is produced basic excitation, damper unit { K
i, c
iAbsorb and consume forced vibration energy from carrier B, be the center with the P point, make elastic movement up and down, reduce the impact that carrier B vibration causes inertial measuring unit m with this.
The problem that above-mentioned inertial measuring unit exists is:
The sensing supporting structure is three circuit boards that are separated from each other, and it is big to take up room, three axial rigidity notable differences;
Damper unit is installed in the outside of inertial measuring unit, not only additionally takes up room, and the more important thing is when the Inertial Measurement Unit forced vibration, because rigidity is unbalanced, mechanical structure is unreasonable, and inertial measuring unit is easy to generate twisting vibration when being shaken;
The ideal role scope of vibration damper is limited to the single shaft direction, promptly can only normal attenuation from the vibration of vertical x direction, and the vibration damping of other directions can not effectively be suppressed, make that line on the different degree of freedom shakes, the angle is coupled between shaking, the vibration damping frequency band is narrow.
Summary of the invention
In order to overcome the above-mentioned technological deficiency of existing inertial measuring unit, the technical measures that the utility model is taked are: start with from the mechanical structure that improves inertial measuring unit, a minitype inertial pick-up unit of rigidity shock absorption such as reduced volume, three-dimensional structure significantly is provided, overcome that three-way rigidity does not wait, resonance excitation and produce defective such as twisting vibration, the harmful effect that strapdown inertial navitation system (SINS) is caused.
In order to reach above-mentioned technical purpose, the technological means that the utility model is carried out is, construct a kind of minitype inertial pick-up unit, comprise sensory package, interior vibration damper, inertia detection unit housing and lower cover, sensory package is made up of sensing support, inertial sensor, flexible telemetry circuit plate; The sensing support is that groove is carved with on each plane, meets the square rigid support of certain weight proportion and rigidity requirement; Inertial sensor comprises gyroscope and accelerometer; Flexible telemetry circuit plate covers each plane of sensing support complete, smooth-goingly; Inertia detection unit housing and lower cover have constituted inner chamber, to hold sensing support and interior damper unit; Interior vibration damper is made up of some interior damper units with damping characteristic, and described interior damper unit is installed between 6 planes of inertia detection unit inner walls S and sensory package, and its quantity is 6.
A kind of minitype inertial pick-up unit of the utility model, preferably, described gyroscope and described accelerometer are welded on the flexible telemetry circuit plate, rely on the flexibility of circuit board, each inertial sensor is embedded in the groove on each plane of sensing support one by one, and the measurement axis of each inertial sensor is mutually orthogonal.
A kind of minitype inertial pick-up unit of the utility model, preferred, comprise anti-aliasing circuit and A/D change-over circuit; The circuit board base be connected lead and adopt pliable and tough material, with the tolerance bending; The profile of flexible telemetry circuit plate should with the planar development figure congruence of sensing support, after making it to do 90 ° of bendings along sensing support seamed edge, complete covering sensing support.
A kind of minitype inertial pick-up unit of the utility model, preferably, sensory package is suspended on inertia detection unit housing lumen centers by damper unit in some, and the deformation mechanical axis of damper unit is mutually orthogonal in each, and the elastic centre point P of interior vibration damper overlaps with sensory package barycenter m.
Useful effect
The utility model has not only strengthened the support rigidity, has also improved the mechanics of system structure, has realized rigidity shock absorptions such as three-dimensional, and the anti-noise ability of inertial measurement system is increased substantially;
Improved the inertial measuring unit vibration characteristics, made the frequency of operation of its natural frequency away from Sensitive Apparatuses such as gyroscope kickers, the relative amplitude of inertial sensor installed surface is reduced to minimum;
Dwindle the Inertial Measurement Unit volume and weight significantly, enlarged the load space of carrier.
Description of drawings
Accompanying drawing 1 existing SUAV (small unmanned aerial vehicle) strap-down inertial measurement unit synoptic diagram.
Sensing supporting structure synoptic diagram in the accompanying drawing 2 existing SUAV (small unmanned aerial vehicle) strap-down inertial measurement units.
Accompanying drawing 3 existing SUAV (small unmanned aerial vehicle) Strapdown Inertial Units measurement mechanism vibration dampings are equivalent model.
In accompanying drawing 4 is of the present utility model under the vibration dampers in the damper unit distribution schematic diagram, among the figure S be about the inertia detection unit housing, about four inwalls.
The sensing support synoptic diagram of a preferred embodiment of accompanying drawing 5 the utility model.
The profile of flexible telemetry circuit plate and components and parts are arranged synoptic diagram in preferred embodiment of accompanying drawing 6 the utility model.
Sensory package constitutes synoptic diagram in preferred embodiment of accompanying drawing 7 the utility model.
The inertia detection unit housing that preferred embodiment of accompanying drawing 8 the utility model is adopted, it and lower cover constitute foursquare inner chamber.
The interior damper unit that adopts in preferred embodiment of accompanying drawing 9 the utility model and the position of sensory package concern synoptic diagram.
The complete assembling synoptic diagram of minitype inertial pick-up unit in preferred embodiment of accompanying drawing 10 the utility model.
Embodiment
Violent random vibration is the main mechanical environment that strapdown inertial navitation system (SINS) is in operation and faces, and vibration causes that system performance instability or electronic devices and components damage, to the system stability influence greatly.Cause that in order to reduce the violent random vibration of carrier electronic devices and components damage or the Inertial Measurement Unit unstable properties, except strengthening the coupling stiffness between each sensor circuit board, to with the vibration damper resisting medium also, with the Inertial Measurement Unit elastic coupling to carrier, to obtain satisfied damping effect.Vibration reducing mode choose the damping property that not only affects inertial navigation system, and affect the measuring accuracy of system, always be the important step of inertial navigation system structural design.The utility model is set about from the support design of improvement sensing and two aspects of rationalization vibration damping mechanical structure, improves the performance of minitype inertial pick-up unit.
The sensing support is the critical component that gyroscope and telemetry circuit plate and connecting line are installed, stand various high vibrations during work, the relative amplitude maximum of gyroscope installed surface on its medium-height trestle, the dynamic property of its structure will have influence on the reliability and the accuracy of gyroscope work, need possess certain static strength, vibration strength and and fatigue lifetime.Process aspect requires support easy for installation, is convenient to processing and manufacturing.The appropriate design supporting structure improves the rigidity and the damping characteristic of structure, makes the structural natural frequencies must be away from gyroscope kicker operational vibration frequency, and the relative amplitude that make the gyroscope installed surface is for minimum.Improve the support design can not excuse in traditional thinking, adopt the method that increases considerably wall thickness to improve rigidity and improve structural natural frequencies; And structural designs such as material that should be by improving structure, profile, faying face, the rigidity of structure and the damping that improve support.And, also to handle support and vibration absorber mutual restriction relation well from integral body, also to consider installation site and the line alignment of telemetry circuit plate on support.
The utility model is in a preferred embodiment, the sensing support is selected the material with larger specific gravity and rigidity for use, integral body is processed into a foursquare sensing support 1.21, integral body is processed but not assembling is for guaranteeing that support itself has enough rigidity, to reduce rigidity deficiency and anisotropic measuring error referring to accompanying drawing 5;
Accompanying drawing 6 is flexible telemetry circuit plate 1.23 planar developments and components and parts layout synoptic diagram in preferred embodiment of the utility model.The circuit board base of flexible telemetry circuit plate 1.23 be connected lead and adopt pliable and tough material, can tolerate 90 ° bending; The shape of its configuration design one-tenth and sensing support outerplanar stretch-out view congruence, thereby have 6 expansion planes.Sensor and other electron component are welded on the appropriate location in 6 expansion fronts, plane.
Accompanying drawing 7 is that sensory package constitutes synoptic diagram in preferred embodiment of the utility model.Flexible telemetry circuit plate 1.23 fronts are welded with inertial sensor 1.22 and other electron component.Front with flexible telemetry circuit plate attaches sensing support 1.21, do 90 ° of bendings along sensing support seamed edge, after within the groove on each sensor or each plane of electronic component embedding sensing support, outside whole flexible telemetry circuit backboard faces, the sensing support is got up together with sensing, electronic component envelope, and complete, smooth-going each plane of sensing support that covers.
The utility model is when design inertial navigation vibration insulating system, avoiding or reducing vibration coupling as the overriding concern factor.If the mechanics of system structure arrangement is unreasonable, vibration on system's six degree of freedom is coupled mutually, produce line vibration and angular oscillation and intersect exciting, cause the detection data of inertial measurement system to contain the strong exciting information of self intersecting, to introduce the pseudo-motion signal to system, have a strong impact on the measuring accuracy of inertial navigation system.In order to reduce the interference of vibration damper to the system angle motion measurement, the angular oscillation frequency of vibration insulating system should be as far as possible away from the measurement bandwidth of inertial navigation system.Under the broad-band random vibration condition, the low more damping efficiency of vibration damping frequency is high more.
Accompanying drawing 8 is inertia detection unit housing 1.6 designs that preferred embodiment of the utility model is adopted, and it and lower cover 1.8 constitute foursquare inner chamber and omit lower cover among the figure for illustrating to know, are the places that holds sensory package 1.2 and damper unit 1.4.The shape of the housing inner chamber that inertia detection unit housing 1.6 and lower cover 1.8 constitute is designed to and the identical square of sensory package 1.2 profiles, and more bigger than sensory package profile.Design 6 inner walls that make that inertia detection unit housing 1.6 and lower cover 1.8 constitute like this, and between 6 outerplanars of pairing sensory package, leave shape and big or small essentially identical space; Damper unit 1.4 is all installed wherein in basic identical profile, after the vibration damper complement, has produced reasonable effectiveness in vibration suppression in forming.
Accompanying drawing 9 is in damper unit 1.4 constitutes in adopt in preferred embodiment of the utility model whole behind the vibration damper complement, concerns synoptic diagram with the position of sensory package.For effective attenuation or absorb fully for from all around, the forced vibration to sensory package 1.2 of 6 degree of freedom up and down, present embodiment adopts 6 interior damper units 1.4, i.e. 6 cushion blockings that shape is identical, be installed between inertia detection unit housing 1.6 inwalls and the sensory package 1.2, sensory package is suspended on inertia detection unit housing lumen centers position, and the deformation mechanical axis of damper unit is mutually orthogonal in each, absorbs and consumes forced vibration from carrier with equilibrium.
Accompanying drawing 10 is about the complete assembling synoptic diagram of minitype inertial pick-up unit 2.1 in preferred embodiment of the utility model.Owing to carried out above-mentioned a series of technical measures, the shock resistance and the vibration requirement of the compliance with system such as natural frequency, damping coefficient, damping efficiency, physical strength of vibration damper have been guaranteed; Make this minitype inertial pick-up unit elasticity coordinate system, inertial coordinates system and find the solution three coordinate systems of coordinate system, be in the optimum condition that each respective coordinates axle is parallel to each other, system's barycenter overlaps with the elastic center of vibration absorber, reach between each degree of freedom vibration and have higher decoupling effect, and each natural frequency is approaching mutually, obtains the technique effect of narrower frequency distribution.
Except above embodiment, the utility model can also have other embodiments, and all employings are equal to replacement and how imitate the technical scheme that conversion forms, and all drop on the protection domain of the utility model requirement.
Claims (4)
1. a minitype inertial pick-up unit comprises sensory package, interior vibration damper, inertia detection unit housing and lower cover, it is characterized in that:
1) sensory package is made up of sensing support, inertial sensor, flexible telemetry circuit plate; The sensing support is that groove is carved with on each plane, meets the square rigid support of certain weight proportion and rigidity requirement; Inertial sensor comprises gyroscope and accelerometer; Flexible telemetry circuit plate covers each plane of sensing support complete, smooth-goingly;
2) inertia detection unit housing and lower cover have constituted inner chamber, to hold sensing support and interior damper unit;
3) interior vibration damper is made up of some interior damper units with damping characteristic, and described interior damper unit is installed between 6 planes of inertia detection unit inner walls S and sensory package, and its quantity is 6.
2. minitype inertial pick-up unit as claimed in claim 1, it is characterized in that, described gyroscope and described accelerometer are welded on the flexible telemetry circuit plate, the flexibility that relies on circuit board, each inertial sensor is embedded in the groove on each plane of sensing support one by one, and the measurement axis of each inertial sensor is mutually orthogonal.
3. minitype inertial pick-up unit as claimed in claim 1 is characterized in that, comprises anti-aliasing circuit and A/D change-over circuit; The circuit board base be connected lead and adopt pliable and tough material, with the tolerance bending; The profile of flexible telemetry circuit plate should with the planar development figure congruence of sensing support, after making it to do 90 ° of bendings along sensing support seamed edge, complete covering sensing support.
4. minitype inertial pick-up unit as claimed in claim 1, it is characterized in that, sensory package is suspended on inertia detection unit housing lumen centers by damper unit in some, and the deformation mechanical axis of damper unit is mutually orthogonal in each, and the elastic centre point P of interior vibration damper overlaps with sensory package barycenter m.
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| CN2010202887271U CN202074979U (en) | 2010-08-09 | 2010-08-09 | Miniature inertia detecting device |
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| CN2010202887271U CN202074979U (en) | 2010-08-09 | 2010-08-09 | Miniature inertia detecting device |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102121829A (en) * | 2010-08-09 | 2011-07-13 | 汪滔 | Miniature inertia measurement system |
| CN104748747A (en) * | 2013-12-31 | 2015-07-01 | 西安航天精密机电研究所 | Positioning and orientating device and method applicable to armored car |
| CN104879436A (en) * | 2015-05-05 | 2015-09-02 | 常州大学 | Three-direction decoupled equal-rigidity vibration isolator based on integration of magnetic damping and electric damping |
| CN104908961A (en) * | 2015-06-24 | 2015-09-16 | 广州飞米电子科技有限公司 | Damping structure, inertial measurement structure with damping function and air vehicle |
| CN104908963A (en) * | 2015-06-24 | 2015-09-16 | 广州飞米电子科技有限公司 | Damping structure, inertial measurement structure with damping function and air vehicle |
| CN105242065A (en) * | 2015-11-16 | 2016-01-13 | 杭州自动化技术研究院有限公司 | Device for measuring wind speed and wind direction |
| WO2017070929A1 (en) * | 2015-10-30 | 2017-05-04 | 深圳市大疆创新科技有限公司 | Inertial measurement unit and movable device using inertial measurement unit |
| CN108168535A (en) * | 2017-11-30 | 2018-06-15 | 上海航天控制技术研究所 | A kind of 4 vibration insulating systems for carrier rocket optical fiber rate gyroscope |
| CN110579210A (en) * | 2014-04-25 | 2019-12-17 | 深圳市大疆创新科技有限公司 | Inertial sensor |
| CN114152247A (en) * | 2021-12-29 | 2022-03-08 | 中国电子科技集团公司第二十六研究所 | Small-size high-precision MEMS (micro-electromechanical systems) inertial measurement unit |
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- 2010-08-09 CN CN2010202887271U patent/CN202074979U/en not_active Expired - Lifetime
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102121829A (en) * | 2010-08-09 | 2011-07-13 | 汪滔 | Miniature inertia measurement system |
| CN102121829B (en) * | 2010-08-09 | 2013-06-12 | 汪滔 | Miniature inertia measurement system |
| US11215633B2 (en) | 2010-08-09 | 2022-01-04 | SZ DJI Technology Co., Ltd. | Micro inertial measurement system |
| CN104748747A (en) * | 2013-12-31 | 2015-07-01 | 西安航天精密机电研究所 | Positioning and orientating device and method applicable to armored car |
| CN104748747B (en) * | 2013-12-31 | 2017-11-10 | 西安航天精密机电研究所 | A kind of positioning and orienting device and method suitable for panzer |
| CN110579210B (en) * | 2014-04-25 | 2022-02-11 | 深圳市大疆创新科技有限公司 | Inertial sensor |
| CN110579210A (en) * | 2014-04-25 | 2019-12-17 | 深圳市大疆创新科技有限公司 | Inertial sensor |
| CN104879436A (en) * | 2015-05-05 | 2015-09-02 | 常州大学 | Three-direction decoupled equal-rigidity vibration isolator based on integration of magnetic damping and electric damping |
| CN104908961A (en) * | 2015-06-24 | 2015-09-16 | 广州飞米电子科技有限公司 | Damping structure, inertial measurement structure with damping function and air vehicle |
| CN104908963A (en) * | 2015-06-24 | 2015-09-16 | 广州飞米电子科技有限公司 | Damping structure, inertial measurement structure with damping function and air vehicle |
| CN107003133A (en) * | 2015-10-30 | 2017-08-01 | 深圳市大疆创新科技有限公司 | The movable fixture of Inertial Measurement Unit and the application Inertial Measurement Unit |
| CN107003133B (en) * | 2015-10-30 | 2019-05-31 | 深圳市大疆创新科技有限公司 | The movable fixture of Inertial Measurement Unit and the application Inertial Measurement Unit |
| US11408905B2 (en) | 2015-10-30 | 2022-08-09 | SZ DJI Technology Co., Ltd. | Inertial measurement unit and movable device using the same |
| US10788508B2 (en) | 2015-10-30 | 2020-09-29 | SZ DJI Technology Co., Ltd. | Inertial measurement unit and movable device using the same |
| US11821908B2 (en) | 2015-10-30 | 2023-11-21 | SZ DJI Technology Co., Ltd. | Inertial measurement unit and movable device using the same |
| WO2017070929A1 (en) * | 2015-10-30 | 2017-05-04 | 深圳市大疆创新科技有限公司 | Inertial measurement unit and movable device using inertial measurement unit |
| CN105242065B (en) * | 2015-11-16 | 2019-01-01 | 杭州自动化技术研究院有限公司 | A kind of device measuring wind speed and direction |
| CN105242065A (en) * | 2015-11-16 | 2016-01-13 | 杭州自动化技术研究院有限公司 | Device for measuring wind speed and wind direction |
| CN108168535A (en) * | 2017-11-30 | 2018-06-15 | 上海航天控制技术研究所 | A kind of 4 vibration insulating systems for carrier rocket optical fiber rate gyroscope |
| CN108168535B (en) * | 2017-11-30 | 2021-12-07 | 上海航天控制技术研究所 | Four-point vibration reduction system for carrier rocket fiber-optic rate gyroscope |
| CN114152247A (en) * | 2021-12-29 | 2022-03-08 | 中国电子科技集团公司第二十六研究所 | Small-size high-precision MEMS (micro-electromechanical systems) inertial measurement unit |
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