CN206740142U - A kind of strapdown inertial navigation system - Google Patents
A kind of strapdown inertial navigation system Download PDFInfo
- Publication number
- CN206740142U CN206740142U CN201720568078.2U CN201720568078U CN206740142U CN 206740142 U CN206740142 U CN 206740142U CN 201720568078 U CN201720568078 U CN 201720568078U CN 206740142 U CN206740142 U CN 206740142U
- Authority
- CN
- China
- Prior art keywords
- unit
- navigation system
- control unit
- inertial navigation
- strapdown inertial
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000003750 conditioning effect Effects 0.000 claims abstract description 18
- 230000001133 acceleration Effects 0.000 claims abstract description 15
- 238000006243 chemical reaction Methods 0.000 claims abstract description 12
- 238000004891 communication Methods 0.000 claims abstract description 12
- 238000013461 design Methods 0.000 abstract description 9
- 238000012545 processing Methods 0.000 abstract description 3
- 238000005265 energy consumption Methods 0.000 abstract description 2
- 230000003321 amplification Effects 0.000 abstract 1
- 238000003199 nucleic acid amplification method Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000000265 homogenisation Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000010349 pulsation Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
Landscapes
- Gyroscopes (AREA)
Abstract
The utility model discloses a kind of strapdown inertial navigation system,Including miniature measuring unit,Data conditioning and filter unit,Control unit,Communication unit,Memory cell and power supply unit,The miniature measuring unit includes micromechanical gyro and micro-acceleration gauge,The kinematic parameters such as axial angular speed and the axial acceleration of carrier are obtained by micromechanical gyro and micro-acceleration gauge,Kinematic parameter is filtered with filter unit by data conditioning,Amplification and A/D conversions,Data after conversion send to control unit and calculate navigational parameter,Carrier is guided to complete predetermined mobile task,The micromechanical gyro,Micro-acceleration gauge and control unit are respectively provided with integrated level height,Processing speed is fast,Small volume,It is low in energy consumption,The advantages of cheap,Ensureing whole strapdown inertial navigation system navigation stability so as to realize,While reliability,Further reduce the volume and power consumption of system,Save design cost,Accelerate the design cycle,Greatly improve the cost performance of navigation system.
Description
Technical field
It the utility model is related to field of navigation technology, more particularly to a kind of strapdown inertial navigation system.
Background technology
Inertial navigation system is to determine the position of carrier using inertial sensor part, reference direction and initial positional information
Put, the self-service navigation system of speed and posture.The equipment for fully relying on carrier itself is navigated, independent of with any outside
Information, also not to outside emittance, therefore, have the advantages that disguised, round-the-clock, be widely used in space flight, aviation, boat
Extra large and many civil areas, turn into the prime navaid equipment applied at present on various navigation bodies.By inertial measuring unit in carrier
On mounting means, inertial navigation system can be divided into gimbaled inertial navigation system and strap-down inertial navigation system.It is flat
Desk-top inertial navigation system employs the mechanical platform of complexity, and it is manufactured and maintenance cost is higher, and volume is big, and quality is big, reliably
Property is not high.Strapdown inertial navigation system eliminates the navigation platform of electromechanical, so that the volume of whole system, weight and cost
Greatly reduce, inertance element easily facilitates installation and safeguarded, progressively instead of gimbaled inertial navigation system.Traditional strapdown
Inertial navigation system is controlled using following two schemes, and a kind of is the collection for being carried out using arm processor inertial guidance data,
The data of large amount of complex are handled with reference to DSP；Another kind is to be gone forward side by side using FPGA as system peripheral expansion
Row control, the resolving navigated by DSP.Both schemes are feasible in general application, can reach to use and want
Ask, but in the system for having strict demand to system dimension, power consumption, cost, such scheme can not meet to require.
Utility model content
The purpose of this utility model is to provide a kind of strapdown inertial navigation system, and the system has that integrated level is high, structure
The advantages of simple, the volume and power consumption of whole system are reduced, design cost is saved, accelerates the design cycle, improve and lead
The reliability of boat system.
In order to solve the above technical problems, the utility model uses following technical scheme：
A kind of strapdown inertial navigation system, including it is miniature measuring unit, data conditioning and filter unit, control unit, logical
Unit, memory cell and power supply unit are interrogated,
The miniature measuring unit electrically connects with data conditioning with filter unit, for obtain carrier axial angular speed and
Axial acceleration, specifically includes micromechanical gyro and micro-acceleration gauge, and the micromechanical gyro is used for the motion angle for obtaining carrier
Speed, specific to use IDG-300 twin shaft gyros, the micro-acceleration gauge is used for the degrees of motion for obtaining carrier, specifically using KXR94
Three axis accelerometer；
The data conditioning electrically connects with filter unit with control unit, for the carrier that obtains miniature measuring unit
Axial angular speed and axial acceleration signal carry out analog-to-digital conversion after carrying out LPF, and the signal after conversion is sent to control
Unit processed；
Described control unit is used for the axial angular speed of the carrier obtained according to miniature measuring unit and axial acceleration is believed
Number, the locus of carrier is calculated, specifically uses E2PC35F484C6N type fpga chips；
The communication unit electrically connects with control unit, for the data exchange between control unit external equipment；
The memory cell electrically connects with control unit, the data obtained for storage control unit；
Said supply unit and miniature measuring unit, data conditioning and filter unit, control unit, communication unit, storage
Unit electrically connects, for being powered to said units.
Especially, the data conditioning includes MUX, voltage-stablizer and A/D converter with filter unit.
Especially, the MUX uses ADG706 chips.
Especially, the voltage-stablizer uses ADR445 chips.
Especially, the A/D converter uses AD7685 chips.
Especially, the communication unit includes three MAX3232 serial interface chips.
Especially, the miniature measuring unit also includes digital temperature sensor, the digital temperature sensor and control
Unit electrically connects, and for obtaining carrier local environment temperature, and sends it to control unit；The strapdown inertial navigation system
Also include temperature compensation unit, the temperature compensation unit electrically connects with control unit, for introducing temperature-compensating, eliminates temperature
On influence caused by strapdown inertial navigation system precision.
The utility model proposes a kind of strapdown inertial navigation system, the system has integrated level high, simple in construction excellent
Point, the volume and power consumption of whole navigation system are reduced, design cost is saved, accelerates the design cycle, improve navigation system
The reliability of system.
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding the utility model embodiment, forms the one of the application
Part, the restriction to the utility model embodiment is not formed.In the accompanying drawings：
Fig. 1 is the strapdown inertial navigation system structured flowchart that the utility model embodiment 1 provides.
Fig. 2 is the micro-acceleration gauge circuit theory diagrams that the utility model embodiment 1 provides.
Fig. 3 is the micromechanical gyro circuit theory diagrams that the utility model embodiment 1 provides.
Embodiment
For the purpose of this utility model, technical scheme and advantage is more clearly understood, with reference to embodiment and accompanying drawing,
The utility model is described in further detail, and exemplary embodiment of the present utility model and its explanation are only used for explaining this
Utility model, it is not intended as to restriction of the present utility model.
Embodiment 1
As shown in figure 1, Fig. 1 is the strapdown inertial navigation system structured flowchart that the utility model embodiment 1 provides, the victory
Inertial navigation system includes miniature measuring unit, data conditioning and filter unit, control unit, communication unit, memory cell
And power supply unit.
The miniature measuring unit electrically connects with data conditioning with filter unit, obtains axial angular speed and the axial direction of carrier
Acceleration, specifically include micromechanical gyro and micro-acceleration gauge.Accelerometer is a direct measurement element, and it can continuously be measured
The acceleration of motion carrier, as the important sensing element of strap-down inertial, for measuring carrier relative inertness spatial movement
Acceleration.Accelerometer described in the present embodiment uses micro-acceleration gauge, and specific three axles using the production of Kioni companies accelerate
Degree meter KXR94.Design compensation is carried out to deviation caused by temperature and voltage pulsation inside KXR94, therefore, because voltage
Fluctuation with temperature is smaller to deviation caused by its measured value.KXR94 measurement ranges are ± 2g, sensitivity coefficient 560mV/g,
Nonlinearity is 0.1%, and the drift of zero acceleration is ± 150mg；2.8~3.3V can work；Power consumption is very low, and quiescent current is about
1.1mA.As shown in Fig. 2 Fig. 2 is the micro-acceleration gauge circuit theory diagrams that the utility model embodiment 1 provides.Gyroscope is used for surveying
The angular velocity of satellite motion of loading gage body, gyroscope described in the present embodiment use gyroscope, are specifically given birth to using InvenSense companies
The IDG-300 twin shaft gyros of production, IDG-300 stable accuracies need 200ms within ± 3 °/s.It uses 3.0~3.3V to supply
Electricity, the scope for measuring yaw rate are ± 500 °/s, and sensitivity is 2mV/ (rads-1), and zero-bit output voltage is 1.5V,
The scope, bandwidth and zero-bit output voltage of setting measurement angular speed can be distinguished by non-essential resistance and electric capacity.Using above-mentioned microcomputer
Tool gyro and micro-acceleration gauge, it can effectively reduce the power consumption, cost and volume of whole strapdown inertial navigation system.
The data conditioning electrically connects with filter unit with control unit, the axial direction for the carrier that miniature measuring unit is obtained
Angular speed and axial acceleration signal carry out analog-to-digital conversion after carrying out LPF, and the signal after conversion is sent to control list
Member.Because the data that miniature measuring unit obtains have larger noise, therefore, before control unit is sent the data to
Need to carry out a series of processing such as LPF.The present embodiment uses the analog signal that filtration module exports to miniature measuring unit
Carry out LPF.Consider to lead the requirement carried out during data acquisition, from 16 bits serial As of high speed/D chips of ADI companies
AD7685, sampling rate are up to 250KSPS.In order to ensure that the progress that analogue data can be orderly does not belong to conversion, the present embodiment is set
MUX ADG706 is put.Meanwhile for the precision of analog-to-digital conversion, the present embodiment is provided with voltage-stablizer ADR445, to protect
The precision of reference voltage is demonstrate,proved, and then ensures the precision of digital-to-analogue conversion.
The axial angular speed and axial acceleration signal for the carrier that described control unit obtains according to miniature measuring unit, meter
Calculate the locus of carrier, specific low cost, BGA package, Cyclonell types E2PC35F484C6N using ALTERA companies
Type fpga chip.E2PC35F484C6N is a microprocessor unit, and the axial angular speed and axial acceleration of carrier are carried out
The related operations such as integration, calculate speed, longitude and latitude and voyage of carrier etc., the accurate locus for obtaining carrier.
The communication unit electrically connects with control unit, the data exchange between control unit external equipment, specifically includes
Three MAX3232 serial interface chips.One of them communication being used between FPGA and host computer, one is used for FPGA and GPS
Data exchange between receiver, also one extension for being used for other ancillary equipment.
The memory cell electrically connects with control unit, the data that storage control unit obtains；
Said supply unit and miniature measuring unit, data conditioning and filter unit, control unit, communication unit, storage
Unit electrically connects, and is powered to said units.The present embodiment said supply unit one shares three supply voltage standards, 5V,
3.3V、1.2V.Miniature measuring unit, control unit and data conditioning and filter are given respectively using LT1529, ADP3339, FAN112
Ripple unit is powered.In order that the output homogenization of power supply unit, reduces loading demand, the interference in input signal is removed,
Shunt capacitance is set beside power supply pin and ground pin.Meanwhile in order to avoid mutual coupled interference, it is also necessary to set
Decoupling capacitor.
Fluctuation caused by temperature is not compensated inside gyroscope, therefore strapdown inertial navigation system described in the present embodiment
Digital temperature sensor and temperature compensation unit are additionally provided with, the digital temperature sensor electrically connects with control unit, for obtaining
Carrier local environment temperature is taken, and sends it to control unit；The temperature compensation unit electrically connects with control unit, is used for
Temperature-compensating is introduced, eliminates temperature to influence caused by strapdown inertial navigation system precision.
The technical solution of the utility model, by micromechanical gyro and micro-acceleration gauge obtain carrier axial angular speed and
The kinematic parameter such as axial acceleration, kinematic parameter is filtered by data conditioning and filter unit, amplified and A/D is changed,
Data after conversion send to control unit and calculate navigational parameter, and guiding carrier completes predetermined mobile task, the micromechanics
Gyro, micro-acceleration gauge and control unit are respectively provided with that integrated level is high, processing speed is fast, small volume, low in energy consumption, cheap excellent
Point, it while whole strapdown inertial navigation system navigation stability, reliability is ensured, can further reduce the volume of system
And power consumption, design cost is saved, accelerates the design cycle, greatly improves the cost performance of navigation system.
Above-described embodiment, the purpose of this utility model, technical scheme and beneficial effect are entered
One step describes in detail, should be understood that and the foregoing is only specific embodiment of the present utility model, is not used to limit
Determine the scope of protection of the utility model, it is all within the spirit and principles of the utility model, any modification for being made, equally replace
Change, improve, should be included within the scope of protection of the utility model.
Claims (7)
1. a kind of strapdown inertial navigation system, it is characterised in that including miniature measuring unit, data conditioning and filter unit, control
Unit, communication unit, memory cell and power supply unit processed,
The miniature measuring unit electrically connects with data conditioning with filter unit, for obtaining axial angular speed and the axial direction of carrier
Acceleration, micromechanical gyro and micro-acceleration gauge being specifically included, the micromechanical gyro is used for the angular velocity of satellite motion for obtaining carrier,
Specific to use IDG-300 twin shaft gyros, the micro-acceleration gauge is used for the degrees of motion for obtaining carrier, specifically uses the axles of KXR94 tri-
Accelerometer；
The data conditioning electrically connects with filter unit with control unit, for the axial direction for the carrier for obtaining miniature measuring unit
Angular speed and axial acceleration signal carry out analog-to-digital conversion after carrying out LPF, and the signal after conversion is sent to control list
Member；
Described control unit is used for the axial angular speed and axial acceleration signal of the carrier obtained according to miniature measuring unit, meter
The locus of carrier is calculated, specifically uses E2PC35F484C6N type fpga chips；
The communication unit electrically connects with control unit, for the data exchange between control unit external equipment；
The memory cell electrically connects with control unit, the data obtained for storage control unit；
Said supply unit and miniature measuring unit, data conditioning and filter unit, control unit, communication unit, memory cell
Electrically connect, for being powered to said units.
2. strapdown inertial navigation system according to claim 1, it is characterised in that the data conditioning and filter unit bag
Include MUX, voltage-stablizer and A/D converter.
3. strapdown inertial navigation system according to claim 2, it is characterised in that the MUX uses ADG706
Chip.
4. strapdown inertial navigation system according to claim 2, it is characterised in that the voltage-stablizer uses ADR445 cores
Piece.
5. strapdown inertial navigation system according to claim 2, it is characterised in that the A/D converter uses AD7685
Chip.
6. strapdown inertial navigation system according to claim 1, it is characterised in that the communication unit includes three
MAX3232 serial interface chips.
7. strapdown inertial navigation system according to claim 1, it is characterised in that the miniature measuring unit also includes number
Word temperature sensor, the digital temperature sensor electrically connect with control unit, for obtaining carrier local environment temperature, and will
It is sent to control unit；The strapdown inertial navigation system also includes temperature compensation unit, the temperature compensation unit and control
Unit electrical connection processed, for introducing temperature-compensating, temperature is eliminated on influence caused by strapdown inertial navigation system precision.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720568078.2U CN206740142U (en) | 2017-05-19 | 2017-05-19 | A kind of strapdown inertial navigation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720568078.2U CN206740142U (en) | 2017-05-19 | 2017-05-19 | A kind of strapdown inertial navigation system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206740142U true CN206740142U (en) | 2017-12-12 |
Family
ID=60566471
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720568078.2U Active CN206740142U (en) | 2017-05-19 | 2017-05-19 | A kind of strapdown inertial navigation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206740142U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115717889A (en) * | 2022-11-14 | 2023-02-28 | 西安现代控制技术研究所 | Rotating elastic inertia measurement system based on energy storage type gyro stable platform |
-
2017
- 2017-05-19 CN CN201720568078.2U patent/CN206740142U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115717889A (en) * | 2022-11-14 | 2023-02-28 | 西安现代控制技术研究所 | Rotating elastic inertia measurement system based on energy storage type gyro stable platform |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102879793B (en) | Super-miniature GPS (global positioning system), INS (inertial navigation system), magnetometer and barometer integrated navigation system | |
| CN101059384B (en) | MEMS inertia measuring unit and mounting error calibration method | |
| JP7119455B2 (en) | Sensor modules, measurement systems, electronic devices, and mobile objects | |
| CN106767804B (en) | The multidimensional data measurement apparatus and method of a kind of moving object | |
| CN202904027U (en) | Autonomous indoor positioning system | |
| CN101865693A (en) | Aviation multi-sensor integrated navigation system | |
| CN108225313B (en) | Attitude Meter Based on Redundant MEMS Sensors | |
| CN107449422B (en) | High dynamic carrier position appearance real-time measuring device | |
| CN111781624B (en) | Universal integrated navigation system and method | |
| CN104316080A (en) | Device for resolving tilt compensation quaternion of attitude gyroscope | |
| CN201397343Y (en) | Inertial measurement device | |
| CN201327390Y (en) | Micromechanics inertial measuring instrument based on CAN bus | |
| CN201311294Y (en) | MEMS gyroscope with programmable slice system | |
| CN102235862A (en) | Strapdown inertial navigation device based on micro mechanical gyroscopes | |
| CN206740142U (en) | A kind of strapdown inertial navigation system | |
| CN202442651U (en) | Low-cost high-precision guidance control device | |
| CN202057801U (en) | Combined positioning device based on BD, GPS and DR | |
| CN106707906A (en) | Attitude monitoring system of quadrotor aircraft | |
| CN204788412U (en) | Inertial sensor subassembly suitable for small -size unmanned helicopter | |
| CN102589352A (en) | Low-cost high-accuracy guidance control device | |
| CN202008367U (en) | Parameter resolving circuit of micro-attitude reference system | |
| CN202648649U (en) | Target aspect sensor | |
| CN201697635U (en) | Inertia survey meter | |
| Mumtaz et al. | Development of a low cost wireless IMU using MEMS sensors for pedestrian navigation | |
| CN203464937U (en) | Posture heading reference system for small unmanned helicopter |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |