CN114295129A - Anti-electromagnetic interference light and small optical fiber inertial navigation system for intelligent driving - Google Patents
Anti-electromagnetic interference light and small optical fiber inertial navigation system for intelligent driving Download PDFInfo
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- CN114295129A CN114295129A CN202111654568.1A CN202111654568A CN114295129A CN 114295129 A CN114295129 A CN 114295129A CN 202111654568 A CN202111654568 A CN 202111654568A CN 114295129 A CN114295129 A CN 114295129A
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Abstract
The invention discloses an anti-electromagnetic interference light and small optical fiber inertial navigation system for intelligent driving, wherein the top of a shell is provided with a plurality of PAM assemblies, a plurality of gyro modules, a plurality of optical fiber rings and an SLD light source; a through hole is formed in one side of the shell, the feedthrough capacitor is arranged in the shell through the through hole, a connector is further arranged on the feedthrough capacitor, and the feedthrough capacitor is connected with external input through the connector; the bottom cover is provided with a secondary power supply board. The secondary power supply is arranged at the bottom of the whole inertial navigation system, so that heat dissipation can be enhanced, additional electromagnetic interference is avoided, and the gyroscope and the accelerometer shell provide a stable internal electromagnetic environment for the electromagnetic shielding shell.
Description
Technical Field
The invention relates to the technical field of strapdown inertial navigation, in particular to an anti-electromagnetic interference light and small optical fiber inertial navigation system for intelligent driving.
Background
At present, with the rapid development of digital communication and information-oriented industries, various radio communication devices, electronic instruments and computers have been widely used in various aspects of national economy, and continue to expand and develop rapidly, and these electronic and electrical devices provide abundant electromagnetic wave resources for human beings, and at the same time, bring more and more electromagnetic wave radiation and interference for people. Because a typical intelligent driving system comprises three parts of environment perception, planning decision and vehicle motion control, the positioning technology in the environment perception is the key point for solving the positioning problem. The vehicle body positioning result given by the positioning technology is not only applied to the global and local path planning of intelligent driving, but also influences the calculation of relevant parameters in each vehicle motion control period. The higher the automobile intelligent level is, the more the machine driving proportion is, and the influence of the positioning precision on planning decision and motion control is also increased rapidly. Therefore, solving the problem of intelligent automobile high-precision positioning navigation is one of the bases for realizing correct planning decision and accurate motion control.
However, the inertial navigation system is not independent, and other electric devices are arranged around the inertial navigation system, and the inertial navigation system also has a complex circuit. With the increasing number and variety of electrical and electronic devices, the electromagnetic environment in which the inertial navigation system is located is increasingly complex. On one hand, if the inertial navigation system generates Electromagnetic radiation, it may cause Electromagnetic Interference (EMI) to surrounding electronic instruments and devices, making their working procedures disordered and generating malfunction; on the other hand, a great variety of electronic devices with large number, dense signals and crowded frequency spectrum exist on a carrying platform where the strapdown inertial navigation system is located, electromagnetic radiation is generated, and if the electromagnetic shielding design of the inertial navigation system is not reasonable, the navigation accuracy is also reduced due to electromagnetic interference of other systems. In addition, the electromagnetic radiation can also reveal position information, and the requirement of the full-autonomous navigation on the concealment can not be met. Therefore, the fiber inertial navigation system can complete high-precision navigation and positioning in a complex electromagnetic environment only by having enough anti-interference performance, so that the selection of the fiber inertial navigation system for electromagnetic compatibility analysis and research has important significance for improving the performance of the weapon system.
The electromagnetic compatibility of the equipment means that certain electronic equipment does not interfere with other equipment and is not influenced by other equipment. Electromagnetic compatibility, as well as safety, is one of the most important indicators of product quality. Security relates to personal and property, while electromagnetic compatibility relates to personal and environmental protection. Interference of electronic components to the outside, called EMI; the electromagnetic wave will interact with the electronic device to generate an interfered phenomenon called EMS (electromagnetic compatibility).
Conventional systems for generating electromagnetic interference for automobiles are generally ignition systems and charging systems. Electromagnetic interference of an ignition system mainly comes from a high-voltage live wire, a spark plug, an ignition coil and other parts, and in a charging system, alternating current is only rectified in an alternating current generator and is not filtered, so that output ripples exist. Charging system noise is passed to equipment through the car wiring, influences various electronic components on the intelligent driving vehicle. Electromagnetic interference and radiation interference usually occur in new energy automobiles, and main reasons are that the new energy automobiles are provided with high-voltage integral systems carried by the new energy automobiles besides new energy automobile components such as electric driving equipment, DC/DC or DC/AC and the like. The high-voltage integral system connects new energy automobile components which are easy to emit radiation interference together, and comprises a Battery Management System (BMS) of the new energy automobile, an Electronic Control Unit (ECU) of the new energy automobile and the like.
In order to better meet the navigation requirement of an intelligent driving system, the inertial navigation system has the structural requirement of light and small size. The current light and small vehicle-mounted strapdown inertial navigation system mainly uses an MEMS gyroscope as a main part, but the gyroscope precision is in the magnitude of several degrees/h, the accelerometer precision is in several mg, the higher and higher positioning navigation requirements of intelligent driving cannot be met, and under the high-temperature environment, the current MEMS inertial navigation system is greatly influenced by temperature, and the heat dissipation effect after integration is not very good. However, in the existing optical fiber inertial navigation system with the thickness of 210mm multiplied by 160mm, the inertial navigation component is less than or equal to 6kg, the GNSS antenna is less than or equal to 0.2kg, the size is large, the weight is heavy, and the requirements of light, small and high precision cannot be well met.
Therefore, it is an urgent need to solve the problem of the art to provide an anti-electromagnetic interference structure design for a light and small optical fiber inertial navigation system for intelligent driving.
Disclosure of Invention
In view of the above, the invention provides an anti-electromagnetic interference light and small optical fiber inertial navigation system for intelligent driving, which is installed at the bottom of the whole inertial navigation system through a secondary power supply, can enhance heat dissipation and avoid generating additional electromagnetic interference, a gyroscope and an accelerometer shell are electromagnetic shielding shells, a relatively stable internal electromagnetic environment is provided, an externally input power supply signal is connected with an internal component through a connector and then through feedthrough capacitor filtering, an optical fiber sensing ring is placed at the upper part of a cavity, an MEMS accelerometer is placed at the upper part of the secondary power supply, a gyroscope board is placed at the other side of the optical fiber ring, and a light source board is placed beside the gyroscope board, so that the interference of a power supply to the gyroscope and the accelerometer is minimized.
In order to achieve the purpose, the invention adopts the following technical scheme:
an anti-electromagnetic interference light and small optical fiber inertial navigation system for intelligent driving, comprising: the top cover is arranged at the top of the shell, and the bottom cover is arranged at the bottom of the shell;
the top of the shell is provided with a plurality of PAM assemblies, a plurality of gyro modules, a plurality of optical fiber rings and an SLD light source, the PAM assemblies and the gyro modules are covered by a gyro main board, the gyro main board is connected with the top of the shell, the SLD light source is covered by a light source board, and the light source board is connected with the top of the shell;
a through hole is formed in one side of the shell, a feedthrough capacitor is arranged in the shell through the through hole, a connector is further arranged on the feedthrough capacitor, and the feedthrough capacitor is connected with external input through the connector; and a secondary power supply board is arranged on the bottom cover.
Preferably, the optical fiber rings are arranged in a pairwise vertical manner.
Preferably, a plurality of platforms are arranged around the bottom of the shell, and bolt holes are formed in the platforms.
Preferably, the top cover and the shell, and the bottom cover and the shell are hermetically connected.
Preferably, the gyro main board is an electromagnetic shielding shell.
Preferably, the secondary power supply board supplies power to the PAM assembly, the gyro module, and the SLD light source.
Preferably, the table body is stepped, and each stepped plane is provided with the bolt hole.
According to the technical scheme, compared with the prior art, the anti-electromagnetic interference light and small optical fiber inertial navigation system for intelligent driving is provided, the secondary power supply is installed at the bottom of the whole inertial navigation system, heat dissipation can be enhanced, extra electromagnetic interference is avoided, the gyroscope and the accelerometer are electromagnetic shielding shells, a stable internal electromagnetic environment is provided, power signals input to the outside are connected with internal components through the connector and the feedthrough capacitor filter, the optical fiber sensing ring is placed on the upper portion of the cavity, the MEMS accelerometer is placed on the upper portion of the secondary power supply, the gyroscope plate is placed on the other side of the optical fiber ring, and the light source plate is placed beside the gyroscope plate, so that the interference of the power supply to the gyroscope and the accelerometer is minimized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic diagram of the overall structure provided by the present invention.
Fig. 2 is a schematic diagram of an explosive structure provided by the invention.
Figure 3 is a schematic cross-sectional view provided by the present invention.
Fig. 4 is a schematic diagram of the power supply relationship provided by the present invention.
Wherein, 1 is the top cap, 2 is the casing, 3 is the bottom, 4 is the stage body, 21 is the PAM subassembly, 22 is the top module, 23 is the optic fibre ring, 25 is the top mainboard, 26 is the SLD light source, 27 is the light source board, 28 is the through-hole, 29 is the feedthrough capacitor, 31 is the secondary power supply board, 41 is the bolt hole, 291 is the plug connector.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention discloses an anti-electromagnetic interference light and small optical fiber inertial navigation system for intelligent driving, which comprises: the device comprises a top cover 1, a shell 2 and a bottom cover 3, wherein the top cover 1 is arranged at the top of the shell 2, and the bottom cover 3 is arranged at the bottom of the shell 2;
the top of the shell 2 is provided with a plurality of PAM assemblies 21, a plurality of gyro modules 22, a plurality of optical fiber rings 23 and an SLD light source 26, a gyro main board 25 is arranged on the upper covers of the PAM assemblies 21 and the gyro modules 22, the gyro main board 25 is connected with the top of the shell 2, a light source board 27 is arranged on the upper cover of the SLD light source 26, and the light source board 27 is connected with the top of the shell 2;
a through hole 28 is formed in one side of the shell 2, a feedthrough capacitor 29 is arranged in the shell 2 through the through hole 28, a connector 291 is further arranged on the feedthrough capacitor 29, and the feedthrough capacitor 29 is connected with external input through the connector 291; the bottom cover 3 is provided with a secondary power supply board 31.
In order to further optimize the above technical solution, the optical fiber rings 23 are arranged in a manner of being perpendicular to each other.
In order to further optimize the technical scheme, a plurality of table bodies 4 are arranged on the periphery of the bottom of the shell 2, and bolt holes 41 are formed in the table bodies 4.
In order to further optimize the technical scheme, the top cover 1 and the shell 2, and the bottom cover 3 and the shell 2 are hermetically connected.
In order to further optimize the technical scheme, the gyro mainboard 25 is an electromagnetic shielding shell.
In order to further optimize the above technical solution, the secondary power board 31 supplies power to the PAM assembly 21, the gyro module 22, and the SLD light source 26.
In order to further optimize the above technical solution, the table body 4 is stepped, and each stepped plane is provided with a bolt hole 41.
The internal circuit of the system is complex and comprises a plurality of PCBs: data acquisition board, top control panel, secondary power supply module, accelerometer board etc.. The PCB comprises chips with various functions, and the mounting density of the chips is high; the density of the various signal wiring is high and is a multilayer board, as shown in fig. 2 and 3. The output signals of the gyroscope and the accelerometer are transmitted to the navigation board through the interface board and are collected by the FPGA on the navigation board, the signals are calculated through the DSP, and then the data are output to an external computer through an external connector by the interface board. The system has numerous cables inside, each of which acts as a radiating antenna, which presents difficulties for electromagnetic compatibility analysis and electromagnetic simulation.
A problem to be noted when using feedthrough capacitors is the mounting problem. The biggest weakness of the feedthrough capacitor is the fear of high temperature and temperature shock, which causes great difficulty in soldering the feedthrough capacitor to the metal panel. With the increase of the complexity of electronic equipment, the conditions of strong and weak current hybrid installation and digital logic circuit hybrid installation in the equipment are more and more, and the mutual disturbance between circuit modules becomes a serious problem. One of the solutions to this mutual disturbance of circuit modules is to use metal isolation cabins to isolate circuits of different properties. However, all the wires passing through the isolation chamber pass through the feedthrough capacitor, which otherwise causes the isolation to fail.
As shown in fig. 2, the x, y, z axis fiber optic sensing ring is placed on top of the cavity and the MEMS accelerometer is placed on top of the secondary power supply, as shown in the cross-sectional view of fig. 3. The navigation board and the interface board are arranged in the negative direction of the y axis outside the cavity and adopt a plug-in mode, so that the navigation board can be easily taken down and replaced, meanwhile, the navigation board is provided with the DSP and the FPGA, the reliability of the navigation board can be improved, and the integrated circuit board of the navigation board and the interface board is arranged above the secondary power supply board. The gyro plate is placed on the other side (close to the direction of the connector) of the optical fiber ring, the light source plate is placed beside the gyro plate, the meter adding plate is placed below the z axis in the cavity and above the secondary power supply, the power supply module is tightly attached to the bottom plate, and the interference of the power supply to the gyro and the meter adding is minimum as shown in the exploded view of fig. 2 and the cross section of fig. 3.
The integral design of the body is adopted, the gyroscope adopts the optical fiber with the length of 324.5m and the diameter of 135 mu m, the inner diameter of the optical fiber sensing ring is 9mm, and the high-precision design of the light and small optical fiber inertial navigation system is realized. In addition, the aluminum alloy material is used for integrated design, so that the structural strength is improved on the basis of reducing the weight and the volume; as shown in the exploded view of fig. 2, the internal structure of the system is complex and the number of minute structures is large. Because the top and the accelerometer are fixed and the requirements of balance weight and air circulation are met, the IMU is provided with a plurality of holes, grooves and bosses. In order to fix the IMU, a plurality of grooves and bosses are additionally arranged inside the system. In order to meet the requirements of fixation and electromagnetic shielding, a quasi-closed metal frame (forming an incompletely-closed space with the shell, and a hole is formed in the frame to meet the wiring requirement) is covered outside the circuit board. These structural features complicate the electromagnetic properties of the system.
As shown in fig. 2, the inertial navigation system is structurally characterized in that a large number of gaps exist due to splicing of functional modules, and the gaps are main channels causing electromagnetic field leakage and cross coupling; for connectors which are exchanged with the outside, the mounting holes are also appropriately shielded, so that obvious holes are also converted into leakage of gaps, and the gaps are main channels for electromagnetic field leakage in the system and interference generated when external electromagnetic fields enter the system. Therefore, considering the electromagnetic compatibility, the conductive rubber strip is added on the contact surface of each part to enhance the electromagnetic compatibility
The power supply and signal transmission of the system is as shown in fig. 4 and is close to the housing, which facilitates heat dissipation. The navigation board DSP is mainly responsible for internal interface control. The system comprises a data acquisition interface, an internal control interface and temperature monitoring, wherein a navigation board FPGA is mainly responsible for external interface control; the power module is tightly attached to the bottom plate, conduction heat dissipation is facilitated, an external connector is J599, a secondary power supply adopts 18-36V power supply, the secondary power supply has positive and negative 5V and positive and negative 5V output, the secondary power supply respectively supplies power for the meter, the navigation plate and the gyroscope, the gyroscope and the navigation plate adopt 3.3V power supply, power consumption is reduced, and heat is generated. According to the design, the anti-electromagnetic interference design of the light small high-precision optical fiber inertial navigation for intelligent driving is realized.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. The utility model provides an anti-electromagnetic interference's intelligent driving is with light small-size optic fibre inertial navigation system which characterized in that includes: the device comprises a top cover (1), a shell (2) and a bottom cover (3), wherein the top cover (1) is arranged at the top of the shell (2), and the bottom cover (3) is arranged at the bottom of the shell (2);
the top of the shell (2) is provided with a plurality of PAM assemblies (21), a plurality of gyro modules (22), a plurality of optical fiber rings (23) and an SLD light source (26), the PAM assemblies (21) and the gyro modules (22) are covered with a gyro main board (25), the gyro main board (25) is connected with the top of the shell (2), the SLD light source (26) is covered with a light source board (27), and the light source board (27) is connected with the top of the shell (2);
a through hole (28) is formed in one side of the shell (2), a feedthrough capacitor (29) is arranged in the shell (2) through the through hole (28), a connector (291) is further arranged on the feedthrough capacitor (29), and the feedthrough capacitor (29) is connected with external input through the connector (291); and a secondary power supply board (31) is arranged on the bottom cover (3).
2. The anti-electromagnetic interference light and small optical fiber inertial navigation system for intelligent driving as claimed in claim 1, wherein the optical fiber loops (23) are arranged in a vertical manner two by two.
3. The anti-electromagnetic interference light and small optical fiber inertial navigation system for intelligent driving as claimed in claim 1, wherein a plurality of platforms (4) are arranged around the bottom of the housing (2), and bolt holes (41) are arranged on the platforms (4).
4. The anti-electromagnetic interference light and small optical fiber inertial navigation system for intelligent driving as claimed in claim 1, wherein the top cover (1) and the housing (2), and the bottom cover (3) and the housing (2) are hermetically connected.
5. The anti-electromagnetic interference light and small optical fiber inertial navigation system for intelligent driving as claimed in claim 1, wherein the gyro motherboard (25) is an electromagnetic shielding case.
6. The anti-electromagnetic interference light and small optical fiber inertial navigation system for intelligent driving as claimed in claim 1, wherein the secondary power board (31) supplies power to the PAM assembly (21), the gyro module (22) and the SLD light source (26).
7. The anti-electromagnetic interference light and small optical fiber inertial navigation system for intelligent driving as claimed in claim 3, wherein the table body (4) is stepped, and each stepped plane is provided with the bolt hole (41).
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Cited By (1)
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