Novel minitype inertial measurement unit assembly

Abstract

The invention discloses a novel minitype inertial measurement unit assembly. The novel minitype inertial measurement unit assembly comprises a base, wherein two accelerometers of comb tooth type structures (sensitive axles are in a chip plane), an accelerometer of a single-fulcrum pendulum structure (a sensitive axle is perpendicular to the chip plane), two gyroscopes of two-fulcrum angle vibration structures and a gyroscope of a linear structure (a sensitive axle is perpendicular to the chip plane) are welded on the base. Components at three directions of accelerated speed and angular rate are detected by adopting inertial sensors of different structures, so that the positional relationship of the sensitive axle of each sensor is not required to be considered excessively, the structure array is more compact, and the space utilization ratio is maximized; a laminated structure is adopted, so that the novel minitype inertial measurement unit assembly is compact in structure, strong in compact resistance, and suitable for minitype and highly overloaded occasions.

Description

technical field [0001] The invention relates to a combination of miniature inertial measurement units, in particular to a novel stacked combination of miniature inertial measurement units. Background technique [0002] The inertial measurement unit (English: Inertial measurement unit, IMU for short) is a device that measures the three-axis attitude angle (or angular rate) and acceleration of an object. [0003] Generally, an IMU includes three single-axis accelerometers and three single-axis gyroscopes. The accelerometer detects the acceleration signals of the three-axis independent object in the carrier coordinate system, and the gyroscope detects the angular velocity signal of the carrier relative to the navigation coordinate system. Measure the angular velocity and acceleration of an object in three-dimensional space, and use this to calculate the attitude of the object. Used in navigation with very important application value. IMUs are mostly used in devices that requi...

AI Technical Summary

Problems solved by technology

Most of the existing miniature inertial measurement units use such as figure 1 In the structure shown, the same type of sensors are used in three directions to form a cube-shaped structure. Six metal plates with high processing precision form a metal hexahedron as a bracket, and gyroscopes are installed on the six metal surfaces of the metal hexahedron. And accelerometers, accelerometers are installed in the middle of three mutually perpendicular hexahedrons to ensure that the sensitive axes of the three accelerometers are perpendicular to each other and intersect at the same point in space. The installation of the gyroscope ensures that the sensitive axes of the three gyroscopes are in space Two pairs are vertical and parallel to the sensitive axis of the corresponding accelerometer. The disadvantages of the inertial measurement unit with this structure are large volume, low space utilization rate, and not conducive to miniaturization.

There is also a structure that is an improvement on the square combination, such as figure 2 As shown, compared with the above cubic structure, the volume has been reduced to a certain extent, but the space utilization rate is still not high

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