CN207570556U - strapdown inertial navigation and calibration system - Google Patents
strapdown inertial navigation and calibration system Download PDFInfo
- Publication number
- CN207570556U CN207570556U CN201721926225.5U CN201721926225U CN207570556U CN 207570556 U CN207570556 U CN 207570556U CN 201721926225 U CN201721926225 U CN 201721926225U CN 207570556 U CN207570556 U CN 207570556U
- Authority
- CN
- China
- Prior art keywords
- module
- inertial navigation
- mems inertia
- strapdown inertial
- calibration
- 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
Landscapes
- Navigation (AREA)
Abstract
The utility model is related to a kind of strapdown inertial navigation and calibration systems.It solves the problems such as prior art design is not reasonable.Including MEMS inertia measurement sensors, MEMS inertia measurement sensors are connected with MCU module, MEMS inertia measurement sensors are positioned over can be in friction speed or the test table of uniform rotation, test table is connected with calibrating and detecting units, MEMS inertia measurements sensor includes CPU module, CPU module is connected separately with acceleration transducer and gyroscope, and CPU module is also associated with FLASH memory.Advantage is：Improve the dynamic tracking stability of satellite antenna, use inertia detection unit, the Methods of Strapdown Inertial Navigation System formed using gyroscope and accelerometer as Sensitive Apparatus, the rotation of object is measured by gyroscope, accelerometer detects angle of inclination, carrier coordinate system is established according to the output of gyro, is then combined with the CPU of 32 ARM kernels and realizes more efficient sampling, improves calibration effect and efficiency.
Description
Technical field
The utility model belongs to navigation equipment technical field peculiar to vessel, and in particular to a kind of strapdown inertial navigation and calibration system
System.
Background technology
With the fast development of computer and microelectric technique, machine is replaced using the powerful resolving of computer and control function
Electric systems stabilisation is possibly realized.Then, a kind of novel Inertial Guide System-Strapdown Inertial Navigation System develops since early 1960s
Get up.Strap-down inertial navigation system is a kind of highly advanced inertial navigation technology, is a hair of inertial technology in recent years
Open up direction.Since strapdown system has series of advantages, strapdown system substitution gimbaled inertial navigation system, it has also become new century
One main trend of inertial technology development.But since strapdown system is big when the other types gyro error of zero, in order to solve
The problem of its measurement error is big needs to calibrate it, but the calibration system of existing inertial navigation there is：It is complicated,
It is of high cost, calibrate the problems such as effect is poor.
To solve the above problems, people have carried out long-term exploration, led for example, Chinese patent discloses a kind of marine Inertial
Boat system single-point sea calibration method [application number：201210015077.7], it is proposed that a kind of single-shaft-rotation modulation strapdown is used to
Property navigation system sea calibration method, ship starts oceangoing voyage after harbour initial start, and ship rides the sea a period of time, is used to
Property navigation system when accumulating certain navigation error and needing calibration, a single-point of external offer need to be only provided according to this calibration method
Position navigation data.
Although said program solves the problems, such as that the calibration system calibration effect of existing inertial navigation is poor to a certain extent,
But the program still remains：The defects of complicated.
Invention content
The purpose of this utility model is in view of the above-mentioned problems, providing a kind of strapdown inertial navigation simple in structure and school
Barebone.
In order to achieve the above objectives, the utility model employs following technical proposal：This strapdown inertial navigation and calibration system
System, including MEMS inertia measurement sensors, the MEMS inertia measurement sensors are connected with MCU module, which is characterized in that institute
The MEMS inertia measurement sensors stated are positioned over can be in friction speed or the test table of uniform rotation, the test table
Calibrating and detecting units are connected with, the MEMS inertia measurements sensor includes CPU module, and the CPU module connects respectively
There are acceleration transducer and gyroscope, the CPU module is also associated with FLASH memory.
In above-mentioned strapdown inertial navigation and calibration system, STM32 of the MCU module for 32 ARM kernels
Chip.
In above-mentioned strapdown inertial navigation and calibration system, the CPU module has dma controller, and described
MEMS inertia measurements sensor be connected by dma controller with MCU module.
In above-mentioned strapdown inertial navigation and calibration system, the CPU module is connected with filtering algorithm module, and
The filtering algorithm module is connected with FLASH memory.
In above-mentioned strapdown inertial navigation and calibration system, the calibrating and detecting units include Gyro Calibration module
With gyro amount detection module, and the gyro amount detection module is connected with linearity adjustment module.
The utility model has the advantage of：It is simple in structure, the dynamic tracking stability of satellite antenna is improved, uses inertia
Detection unit, i.e., the Methods of Strapdown Inertial Navigation System formed using gyroscope and accelerometer as Sensitive Apparatus, object is measured by gyroscope
Rotation, accelerometer detection angle of inclination establishes carrier coordinate system according to the output of gyro, then with 32 ARM kernels
More efficient sampling is realized in CPU combinations, improves calibration effect.
Description of the drawings
Fig. 1 is the functional block diagram of the utility model；
In figure, MEMS inertia measurements sensor 1, CPU module 11, acceleration transducer 12, gyroscope 13, FLASH storages
Device 14, dma controller 15, filtering algorithm module 16, MCU module 2, test table 3, calibrating and detecting units 4, Gyro Calibration mould
Block 41, gyro amount detection module 42, linearity adjustment module 43.
Specific embodiment
The utility model is described in more detail with reference to the accompanying drawings and detailed description.
As shown in Figure 1, this strapdown inertial navigation and calibration system, including MEMS inertia measurements sensor 1, MEMS inertia
Measurement sensor 1 is connected with MCU module 2, it is preferable that STM32 chip of the MCU module 2 here for 32 ARM kernels.Here
MEMS inertia measurements sensor 1 be positioned over can in friction speed or the test table of uniform rotation 3, meanwhile, survey here
Preliminary operation platform 3 is connected with calibrating and detecting units 4.Preferably, calibrating and detecting units 4 here include Gyro Calibration module 41 and gyro
Detection module 42 is measured, and gyro amount detection module 42 is connected with linearity adjustment module 43.Wherein, MEMS inertia measurements sensor
1 includes CPU module 11, and CPU module 11 is connected separately with acceleration transducer 12 and gyroscope 13, and CPU module 11 is also associated with
FLASH memory 14.
Further, CPU module 11 here has dma controller 15, and MEMS inertia measurements sensor 1 passes through DMA
Controller 15 is connected with MCU module 2, wherein, CPU module 11 here is connected with filtering algorithm module 16, and filtering algorithm mould
Block 16 is connected with FLASH memory 14.
The MEMS inertia measurements sensor 1 that this programme uses has output accuracy high, and noise is low, and frequency response waits spies soon
Point.The Methods of Strapdown Inertial Navigation System formed using gyroscope and accelerometer as Sensitive Apparatus is measured the rotation of object by gyroscope, added
Speedometer detects angle of inclination, and carrier coordinate system is established according to the output of gyro, is then combined with the CPU of 32 ARM kernels real
Existing more efficient sampling, improves calibration effect.
The specific embodiments described herein are merely examples of the spirit of the present invention.The utility model institute
Described specific embodiment can be done various modifications or additions or using similar by belonging to those skilled in the art
Mode substitute, but without departing from the spirit of the present application or beyond the scope of the appended claims.
Although MEMS inertia measurements sensor 1, CPU module 11, acceleration transducer 12, gyro is used more herein
Instrument 13, FLASH memory 14, dma controller 15, filtering algorithm module 16, MCU module 2, test table 3, calibrating and detecting units
4th, the terms such as Gyro Calibration module 41, gyro amount detection module 42, linearity adjustment module 43, but be not precluded and use other arts
The possibility of language.The use of these terms is merely for the convenience of describing and explaining the nature of the invention；They are solved
It is all contrary to the spirit of the present invention to be interpreted into any one of the additional limitations.
Claims (4)
1. a kind of strapdown inertial navigation and calibration system, including MEMS inertia measurements sensor (1), the MEMS inertia is surveyed
Quantity sensor (1) is connected with MCU module (2), which is characterized in that the MEMS inertia measurements sensor (1) is positioned over can be with
In friction speed or the test table of uniform rotation (3), the test table (3) is connected with calibrating and detecting units (4), described
MEMS inertia measurements sensor (1) include CPU module (11), the CPU module (11) is connected separately with acceleration sensing
Device (12) and gyroscope (13), the CPU module (11) are also associated with FLASH memory (14).
2. strapdown inertial navigation according to claim 1 and calibration system, which is characterized in that the MCU module (2)
STM32 chips for 32 ARM kernels.
3. strapdown inertial navigation according to claim 2 and calibration system, which is characterized in that the CPU module
(11) there is dma controller (15), and the MEMS inertia measurements sensor (1) passes through dma controller (15) and MCU module
(2) it is connected.
4. strapdown inertial navigation according to claim 2 and calibration system, which is characterized in that the calibration detection is single
First (4) include Gyro Calibration module (41) and gyro amount detection module (42), and the gyro amount detection module (42) and line
Property degree adjustment module (43) be connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721926225.5U CN207570556U (en) | 2017-12-31 | 2017-12-31 | strapdown inertial navigation and calibration system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721926225.5U CN207570556U (en) | 2017-12-31 | 2017-12-31 | strapdown inertial navigation and calibration system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207570556U true CN207570556U (en) | 2018-07-03 |
Family
ID=62685396
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721926225.5U Active CN207570556U (en) | 2017-12-31 | 2017-12-31 | strapdown inertial navigation and calibration system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207570556U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110488853A (en) * | 2019-08-29 | 2019-11-22 | 北京航空航天大学 | A kind of calculation method reducing the hybrid inertial navigation system stability contorting instruction that shaft whirling motion influences |
| CN112505601A (en) * | 2020-10-30 | 2021-03-16 | 中国船舶重工集团公司第七0九研究所 | Calibration device and calibration method for electrical parameter measurement system of inertial MEMS device |
-
2017
- 2017-12-31 CN CN201721926225.5U patent/CN207570556U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110488853A (en) * | 2019-08-29 | 2019-11-22 | 北京航空航天大学 | A kind of calculation method reducing the hybrid inertial navigation system stability contorting instruction that shaft whirling motion influences |
| CN112505601A (en) * | 2020-10-30 | 2021-03-16 | 中国船舶重工集团公司第七0九研究所 | Calibration device and calibration method for electrical parameter measurement system of inertial MEMS device |
| CN112505601B (en) * | 2020-10-30 | 2022-11-08 | 中国船舶重工集团公司第七0九研究所 | Calibration device and calibration method for electrical parameter measurement system of inertial MEMS device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201589861U (en) | Range finder | |
| CN102706361B (en) | A kind of high precision many inertial navigation systems attitude accuracy assessment method | |
| CN103162677A (en) | Digital geological compass and method for measuring geological occurrence | |
| CN106197410A (en) | For the method and apparatus accurately capturing inertial sensor data | |
| CN207570556U (en) | strapdown inertial navigation and calibration system | |
| CN203349841U (en) | Ship wave movement detection device | |
| CN106290968B (en) | A kind of large space pulsatile flow field three-dimension measuring system and measurement method | |
| US20160047840A1 (en) | Offset estimation apparatus, offset estimation method, and computer readable medium | |
| CN104597273B (en) | A kind of test method and equipment of movement velocity | |
| CN108362269B (en) | Wave measurement system and method based on navigation mark body | |
| CN110044377A (en) | A kind of IMU off-line calibration method based on Vicon | |
| US6601447B1 (en) | Acoustic anemometer for simultaneous measurement of three fluid flow vector components | |
| CN104897169B (en) | A kind of dynamic accuracy test system and method for Miniature posture module | |
| CN103630125B (en) | A kind of based on gyrostatic digital compass correction system for prompting and its implementation | |
| CN107089299B (en) | A kind of measuring system and its measurement method of ship inclination angle | |
| CN105758422B (en) | A kind of test method of integration type closed-loop fiber optic gyroscope | |
| CN208671989U (en) | Small distance movement track tracing device and system | |
| JP6033418B2 (en) | Offset estimation apparatus, offset estimation method, and program | |
| CN104374402B (en) | A kind of star sensor/accelerometer coarse alignment method under the conditions of Location-Unknown | |
| CN106705954B (en) | Floating ball platform carrier posture measuring method | |
| CN106027802A (en) | Mobile terminal and parameter setting method thereof | |
| CN106405598B (en) | The monitoring system of hanging object real time kinematics during a kind of lifting construction for ocean platform | |
| CN203083570U (en) | Digital geologic compass for multi-function measurement | |
| CN202838754U (en) | Gyroscope teaching aid capable of synchronously measuring rotation speed and nutation and precession data and teaching module thereof | |
| CN207398334U (en) | Grapefruit satellite antenna dynamic follower |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190418 Address after: Room 457, Building 2, Pioneering Building, 66 Academician Road, Ningbo High-tech Zone, Zhejiang 315000 Patentee after: Ditai (Zhejiang) Communication Technology Co., Ltd. Address before: 315040 West Head, 4th Floor, 1299 Juxian Road, Ningbo High-tech Zone, Zhejiang Province Patentee before: Ningbo Ditai Electronic Technology Co., Ltd. |
|
| TR01 | Transfer of patent right |