Modularized inertial measurement device

Abstract

The modular inertial measurement device comprises a sensitive assembly, a circuit assembly and a structural assembly, the sensitive assembly comprises a fiber-optic gyroscope ring assembly, an accelerometer assembly and a temperature sensor, and the fiber-optic gyroscope ring assembly comprises an X-axis fiber-optic gyroscope ring assembly, a Y-axis fiber-optic gyroscope ring assembly and a Z-axis fiber-optic gyroscope ring assembly. The accelerometer assembly comprises three paths of accelerometers; the circuit assembly comprises an inertial measurement component and an optical fiber gyroscope digital closed-loop control component; the structure assembly comprises a body support and a flexible cable assembly, the body support is of a hexahedron structure, and ten mounting table boards are arranged and used for mounting the fiber-optic gyroscope ring assembly, the accelerometer assembly and the circuit assembly; and the flexible cable assembly is used for connecting the fiber-optic gyroscope ring assembly, the accelerometer assembly and the circuit assembly. According to the invention, an inertial product is designed into a modular scheme for realizing decoupling with a system circuit in structural form, so that the adaptability of an inertial system is ensured, the assembly is convenient, and the pain point restricting the layout of the system is solved.

Description

Technical Field

[0001] The invention belongs to the technical field of inertial measurement, and particularly discloses a modular inertial measurement device. Background Art

[0002] Inertial measurement units (IMUs), typically composed of components such as fiber-optic gyroscopes, accelerometers, and measurement circuits, can independently and in real time measure an object's three-dimensional motion. In recent years, the advancement of multi-system integration has placed higher demands on the independence and interoperability of each subsystem. However, conventional IMUs often require complex connections to other systems, making assembly difficult.

[0003] In addition, the inertial measurement system, as the core device of the guidance system, can measure the three-dimensional motion state of the system in real time. However, due to its high requirements for measurement accuracy, startup time and overload resistance, the circuit design and interconnection between the components are relatively complex. Summary of the Invention

[0004] The present invention provides a modular inertial measurement device, which can realize the modularization of inertial measurement components, facilitate assembly, and solve the pain points that restrict system layout. It includes: sensitive components, circuit components and structural components, wherein:

[0005] Sensitive components, including a fiber optic gyroscope ring assembly, an accelerometer assembly, and a temperature sensor. The fiber optic gyroscope ring assembly includes an X-axis fiber optic gyroscope ring assembly, a Y-axis fiber optic gyroscope ring assembly, and a Z-axis fiber optic gyroscope ring assembly. The accelerometer assembly includes a three-way accelerometer.

[0006] Circuit components, including inertial measurement components and fiber optic gyroscope digital closed-loop control components;

[0007] The structural components include a main body bracket and a flexible cable assembly. The main body bracket is a hexahedral structure with ten mounting platforms for installing the fiber optic gyroscope ring assembly, accelerometer assembly and circuit assembly; the flexible cable assembly is used to connect the fiber optic gyroscope ring assembly, accelerometer assembly and circuit assembly.

[0008] Furthermore, the three mounting surfaces of the main body bracket are respectively configured with an X-axis fiber optic gyroscope ring assembly, a Y-axis fiber optic gyroscope ring assembly, and a Z-axis fiber optic gyroscope ring assembly. The three fiber optic gyroscope ring assemblies are connected to the fiber optic gyroscope digital closed-loop component assembled in the box through a gyroscope circuit box; an X-axis accelerometer, a Y-axis accelerometer, and a Z-axis accelerometer are respectively assembled in the directions corresponding to the three fiber optic gyroscope ring assemblies; an inertial measurement component is assembled on the side opposite to the gyroscope circuit box, and a power conversion unit, an analog-to-digital conversion unit, and a parameter storage unit are assembled on the inertial measurement component. The inertial measurement component is connected to the fiber optic gyroscope digital closed-loop control component and the accelerometer assembly through a flexible cable assembly.

[0009] Furthermore, the three accelerometers of the acceleration assembly are orthogonally mounted on the three mounting surfaces of the main body bracket in the X, Y and Z directions respectively.

[0010] Furthermore, the main body bracket is made of hard aluminum, the surface of which is subjected to conductive oxidation treatment, and a wiring groove is provided to constrain the flexible cable assembly.

[0011] Furthermore, the structural assembly also includes a shock absorber, which is cylindrical and has a total of 4 groups. The shock absorber is symmetrical to the center of mass of the inertial measurement device and is assembled on the upper and lower sides of the 4 mounting holes of the main body bracket using a 4-point flange mounting form.

[0012] Furthermore, the shock absorber includes a vibration damping base, a vibration damping nut, and a vibration damping pad. The vibration damping pads are respectively assembled on the upper and lower sides of the mounting hole of the main body bracket. The vibration damping sleeve of the vibration damping base passes through the vibration damping pad and the mounting hole from the -Z direction of the main body bracket, and the exposed thread is fastened to the vibration damping nut.

[0013] Furthermore, the vibration damping pad is made of silicone rubber and has a T-shaped structure, and the vibration damping nut and the vibration damping base are made of stainless steel.

[0014] Furthermore, the structural component also includes a grounding cable, which is fixed to the main bracket mounting surface using screws passing through the grounding cable welding piece, and the one-way welding piece is connected to the outside to establish an electrostatic discharge channel.

[0015] Furthermore, the flexible cable assembly is made of a flexible PCB board, and the flexible cable assembly is connected to the inertial measurement component, the fiber optic gyroscope digital closed-loop control component and the accelerometer component along the wiring groove of the main body bracket.

[0016] Furthermore, the structural assembly also includes a shielding cover and a thermal insulation cover, wherein the upper and lower covers of the shielding cover are snap-fitted onto the surface of the analog-to-digital conversion unit by clamping, and the thermal insulation cover is installed on the outside of the shielding cover by gluing.

[0017] The present invention provides a modular inertial measurement device. Through modular system design, the device designs the inertial product into a modular solution that is structurally decoupled from the system circuit. This can greatly ensure the adaptability of the inertial system and is conducive to promoting the productization of the system.

[0018] Applying the technical solutions of the present invention, a modular inertial measurement unit (IMU) is provided. This unit utilizes flexible cable assemblies to position circuit components on both sides of the main frame in the Z direction, preventing analog circuit interference with digital circuits. Compared to existing technologies, this modular IMU achieves modularization of IMU components, facilitating assembly and addressing challenges that hinder system layout. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic structural diagram of a modular inertial measurement device provided according to a specific embodiment of the present invention;

[0020] Figure 2 An exploded diagram of a modular inertial measurement device according to a specific embodiment of the present invention;

[0021] Figure 3 A schematic diagram of the installation of a fiber optic gyroscope ring assembly according to a specific embodiment of the present invention;

[0022] Figure 4 A schematic diagram of an expanded accelerometer assembly provided according to a specific embodiment of the present invention;

[0023] Figure 5 Schematic diagrams of a main body bracket according to a specific embodiment of the present invention, wherein (a) is a schematic diagram of the front of the main body bracket, and (b) is a schematic diagram of the back of the main body bracket;

[0024] Figure 6 A schematic diagram of an inertial measurement component provided according to a specific embodiment of the present invention;

[0025] Figure 7 A schematic diagram of the structural combination of a vibration-damping nut, a vibration-damping base, and a vibration-damping pad provided according to a specific embodiment of the present invention;

[0026] Figure 8 The figure is a schematic structural diagram of a grounding cable provided according to a specific embodiment of the present invention.

[0027] The above drawings include the following reference numerals:

[0028] 100. Modular Inertial Measurement Unit; 10. Structural Assembly; 11. Body Bracket; 111. First Mounting Platform; 112. Second Mounting Platform; 113. Third Mounting Platform; 114. Fourth Mounting Platform; 115. Fifth Mounting Platform; 116. Sixth Mounting Platform; 117. Seventh Mounting Platform; 118. Eighth Mounting Platform; 119. Ninth Mounting Platform; 1110. Tenth Mounting Platform; 12. Flexible Electrical Cable assembly; 13. Vibration damper; 131. Vibration damping base; 131a. Vibration damping base; 131b. Vibration damping sleeve; 131c. Thread; 131d. Through hole; 132. Vibration damping nut; 133. Vibration damping pad; 14. Grounding cable; 141. Heat shrink tubing; 142. Soldering piece; 143. One-way soldering piece; 144. Cable; 15. Gyro circuit box; 16. Shielding cover; 17. Insulation cover; 20. Sensitive component; 21 , fiber optic gyroscope ring assembly; 211, X-axis fiber optic gyroscope ring assembly; 212, Y-axis fiber optic gyroscope ring assembly; 213, Z-axis fiber optic gyroscope ring assembly; 22, accelerometer assembly; 221, X-axis accelerometer; 222, Y-axis accelerometer; 223, Z-axis accelerometer; 23, temperature sensor; 231, X-path gyroscope temperature sensor; 232, Y-path gyroscope temperature sensor; 233, Z-path gyroscope temperature sensor; 234, X-path accelerometer temperature sensor; 235, Y-path accelerometer temperature sensor; 236, Z-path accelerometer temperature sensor; 30, circuit assembly; 31, inertial measurement component; 311, power conversion unit; 312, analog-to-digital conversion unit; 3121, X-path conversion channel; 3122, Y-path conversion channel; 3123, Z-path conversion channel; 313, parameter storage unit; 32, fiber optic gyroscope digital closed-loop control component. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the implementation of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. It should be noted that the embodiments in this application and the features in the embodiments can be combined with each other unless there is a conflict.

[0030] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0031] Unless otherwise specifically stated, the relative arrangement of the parts and steps, the numerical expressions and the numerical values ​​set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the drawings are not depicted according to actual proportional relationships. The techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, schemes and devices should be considered as part of the authorization specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as being merely exemplary and not as limitations. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0032] like Figures 1 to 8 As shown, a specific embodiment of the present invention provides a modular inertial measurement device 100, which includes: a structural assembly 10, which includes a body bracket 11, a flexible cable assembly 12, a vibration damper 13, a grounding cable 14, a gyro circuit box 15, a shielding cover 16, and a thermal insulation cover 17; the vibration damper 13 includes four sets of vibration dampers; a sensitive assembly 20, which includes a fiber optic gyro ring assembly 21, an accelerometer assembly 22, and a temperature sensor 23; the fiber optic gyro ring assembly 21 includes an X-axis fiber optic gyro ring assembly, a Y-axis fiber optic gyro ring assembly, and a Z-axis fiber optic gyro ring assembly; the acceleration assembly 22 includes three accelerometers; the temperature sensor 23 includes six temperature sensors; and a circuit assembly 30, which includes an inertial measurement component 31 and a fiber optic gyro digital closed-loop control component 32. The inertial measurement component 31 includes a power conversion unit, an analog-to-digital conversion unit, and a parameter storage unit. The analog-to-digital conversion unit includes three conversion channels.

[0033] Using this configuration, the modular inertial measurement unit integrates the fiber optic gyroscope ring assembly, accelerometer assembly, and circuit assembly onto a main frame via a flexible cable assembly, achieving multifunctional integration. Compared to existing technologies, this modular inertial measurement unit achieves modularity, facilitating assembly and resolving the challenges that restrict system layout.

[0034] The arrangement order of the various components can be adjusted as needed while ensuring the measurement function of the inertial measurement device 100 .

[0035] As a specific embodiment of the present invention, Figures 1 to 4 As shown, the three mounting surfaces of the main body bracket are respectively equipped with an X-axis fiber optic gyroscope ring assembly 211, a Y-axis fiber optic gyroscope ring assembly 212, and a Z-axis fiber optic gyroscope ring assembly 213. These three ring assemblies are connected to the fiber optic gyroscope digital closed-loop component 32 installed in the gyroscope circuit box via a gyroscope circuit box. The X-axis accelerometer 221, the Y-axis accelerometer 222, and the Z-axis accelerometer 223 are mounted in the corresponding directions of the three ring assemblies. The inertial measurement component 31 is mounted on the side opposite the gyroscope circuit box. The inertial measurement component 31 is equipped with a power conversion unit 311, an analog-to-digital conversion unit 312, and a parameter storage unit 313. The inertial measurement component 31 is connected to the fiber optic gyroscope digital closed-loop control component 32 and the accelerometer assembly 22 via a flexible cable assembly 12.

[0036] As a specific embodiment of the present invention, the circuit assembly 30 and the sensitive assembly 20 are connected by a flexible cable assembly 12 to achieve integration of the sensitive assembly 20 and the circuit assembly 30. The flexible cable assembly 12 can be configured as a flexible PCB. The flexible PCB ensures electrical connection between each circuit module and each sensitive assembly, while also achieving orthogonal arrangement of the three fiber optic gyroscope ring assemblies and the three accelerometer assemblies.

[0037] In addition, each mounting surface of the main body bracket 11 needs to be adjusted according to the arrangement of each component in the sensitive component 20 and the circuit component 30. As a specific embodiment of the present invention, Figures 1 to 5As shown, the main body bracket 11 includes a first mounting surface 111, a second mounting surface 112, a third mounting surface 113, a fourth mounting surface 114, a fifth mounting surface 115, a sixth mounting surface 116, a seventh mounting surface 117, an eighth mounting surface 118, a ninth mounting surface 119, and a tenth mounting surface 1110. The first mounting surface 111, the second mounting surface 112, the third mounting surface 113, the fourth mounting surface 114, and the sixth mounting surface 116 are respectively located on six side surfaces of the main body bracket 11. The first mounting surface 111 is opposite to the fourth mounting surface 114, the second mounting surface 112 is opposite to the fifth mounting surface 115, the third mounting surface 113 is opposite to the sixth mounting surface 116, the fourth mounting surface 114 is in the same direction as the seventh mounting surface 117, the eighth mounting surface 118 is parallel to the ninth mounting surface 119, and the tenth mounting surface 1110 is parallel to the first mounting surface 111. The gyro circuit box 15 is mounted on the first mounting surface 111. The X-axis fiber optic gyro ring assembly 211, the Y-axis fiber optic gyro ring assembly 212, and the Z-axis fiber optic gyro ring assembly 213 are mounted on the second mounting surface 112, the third mounting surface 113, and the fourth mounting surface 114, respectively. The X-axis accelerometer 221, the Y-axis accelerometer 222, and the Z-axis accelerometer 223 are mounted on the fifth mounting surface 115, the sixth mounting surface 116, and the seventh mounting surface 117, respectively. The vibration absorber 13 is mounted on the eighth mounting surface 118. The inertial measurement component 31 is mounted on the ninth mounting surface 119. The grounding cable 14 is mounted on the tenth mounting surface 1110 and is secured to the main body bracket mounting surface using screws passing through the grounding cable solder tab. The one-way solder tab is connected to the outside to establish an electrostatic discharge path. The coordination of these components and the mounting surfaces ensures that any two gyro ring assemblies and any two accelerometers are orthogonal to each other, enabling the measurement of six-axis spatial information.

[0038] In order to meet the high precision requirements of the inertial measurement device 100, such as Figure 2 As shown, as a specific embodiment of the present invention, the single-axis ring assembly can be a fiber optic gyroscope ring assembly, the single-axis accelerometer can be a quartz flexible accelerometer, the ring assembly and the accelerometer are fixed to the main body bracket by clamping, the three-axis ring assembly realizes the three-axis data interconnection of the fiber optic gyroscope through the fiber optic gyroscope digital closed-loop control component 32, the three-axis accelerometer realizes the three-axis data interconnection of the accelerometer through the inertial measurement component 31, and the fiber optic gyroscope digital closed-loop control component 32 is connected to the inertial measurement component through the flexible cable assembly 12 to realize the interconnection of six-axis devices.

[0039] To ensure the precise installation and dynamic characteristics of the fiber optic gyroscope and accelerometer in the inertial measurement unit 100, the main body bracket 11 must ensure sufficient rigidity, strength, and stability. In one embodiment of the present invention, the main body bracket is constructed from 2A12 duralumin, with a conductive oxidation treatment applied to the surface to enhance the structure's corrosion resistance. A wiring trough is also provided to constrain the flexible cable assembly, which connects the inertial measurement components, the fiber optic gyroscope digital closed-loop control components, and the accelerometer components along the main body bracket wiring trough.

[0040] In order to reduce the volume of the inertial measurement device 100, the fiber optic gyroscope ring assembly 21 adopts a split structure. The three-axis ring assembly is used for data acquisition, and data processing is uniformly performed in the fiber optic gyroscope digital closed-loop component 32, so that it can be flexibly integrated to meet miniaturization requirements.

[0041] As a specific embodiment of the present invention, Figure 7 As shown, the vibration-damping base 131 of the vibration absorber 13 is the external mounting surface of the inertial measurement device 100 , and the external mounting nails fix the inertial measurement device 100 to the external equipment through the mounting holes 131 d.

[0042] Furthermore, to reduce the mechanical input of the external mechanical environment to the inertial measurement unit 100, the inertial measurement unit 100 also includes a vibration damper 13, as a specific embodiment of the present invention. The vibration damper is mounted symmetrically about the inertial measurement unit's center of mass. The inertial measurement unit 100 is secured to the outside using a four-point flange mounting arrangement distributed in the positive direction. Eight T-shaped vibration damping pads are mounted on the upper and lower sides of the four mounting holes of the mounting flange to achieve three-dimensional vibration damping. When the vibration damper is installed in the inertial measurement unit's mounting hole, the design utilizes a damping bushing 131b with a limited dimension that works in conjunction with the damping nut to ensure pre-compression of the damper, ensuring operation with equal stiffness in all three directions.

[0043] The inertial measurement unit 31 needs to be adjusted based on the specific functional requirements of the inertial measurement device 100. As a specific embodiment of the present invention, the inertial measurement unit 31 includes a power conversion unit 311, an analog-to-digital conversion unit 312, and a parameter storage unit 313. The power conversion unit 311 is responsible for processing and converting external power to provide stable power input for the fiber optic gyroscope digital closed-loop control unit 31 and the analog-to-digital conversion unit 312. The analog-to-digital conversion unit 312 is responsible for signal conversion of the three-axis accelerometer. The parameter storage unit 313 is responsible for storing the parameters of the accelerometer, gyroscope, and temperature of the inertial measurement device 100.

[0044] In order to improve the anti-interference capability of the inertial measurement component 31, as a specific embodiment of the present invention, Figure 2 and Figure 6As shown, the upper and lower covers of the shielding cover 15 are fastened to the surface of the analog-to-digital conversion unit 312 by clamping, and in order to reduce the influence of temperature gradient on accuracy, the thermal insulation cover 16 is installed on the outside of the shielding cover 15 by gluing.

[0045] In order to improve the operability and convenience of the inertial measurement device 100 and external devices, the external interfaces of the inertial measurement device 100 are all arranged on the top of the inertial measurement component 31, so as to realize the modularization of the inertial measurement device 100 and facilitate assembly.

[0046] According to a specific embodiment of the present invention, the present invention completes the inertial navigation function by cooperating with an external device.

[0047] In order to have a further understanding of the present invention, the following Figures 1 to 8 The modular inertial measurement device 100 of the present invention will be described in detail.

[0048] like Figures 1 to 8 As shown, according to a specific embodiment of the present invention, a modular inertial measurement device 100 is provided. The modular inertial measurement device 100 includes: a structural component 10, a sensitive component 20 and a circuit component 30.

[0049] The structural assembly 10 includes a main body bracket 11, a flexible cable assembly 12, a vibration-damping base 131, a vibration-damping nut 132, a vibration-damping pad 133, a heat shrink tubing 141, a welding piece 142, a one-way welding piece 143, a gyro circuit box 15, a shielding cover 16, and a thermal insulation cover 17; the main body bracket 11 includes 10 mounting surfaces, the first mounting surface 111, the second mounting surface 112, the third mounting surface 113, the fourth mounting surface 114 and the sixth mounting surface 116 are respectively located on the six sides of the main body bracket 11, the first mounting surface 111 and the fourth mounting surface 114 are opposite, the second mounting surface 112 and the fifth mounting surface 115 are opposite, the third mounting surface 113 and the sixth mounting surface 116 are opposite, the fourth mounting surface 114 and the seventh mounting surface 117 are in the same direction, the eighth mounting surface 118 and the ninth mounting surface 119 are parallel, and the tenth mounting surface 1110 is parallel to the first mounting surface 111. The first to tenth mounting surfaces are respectively fixed with a gyro circuit box 15, an X-axis fiber optic gyro ring assembly 211, a Y-axis fiber optic gyro ring assembly 212, a Z-axis fiber optic gyro ring assembly 213, an X-axis accelerometer 221, a Y-axis accelerometer 222, a Z-axis accelerometer 223, a vibration absorber 13, an inertial measurement component 31 and a grounding cable 14.

[0050] The sensitive component 20 includes an X-axis fiber optic gyroscope ring assembly 211, a Y-axis fiber optic gyroscope ring assembly 212, a Z-axis fiber optic gyroscope ring assembly 213, an X-axis accelerometer 221, a Y-axis accelerometer 222, a Z-axis accelerometer 223, an X-path gyroscope temperature sensor 231, a Y-path gyroscope temperature sensor 232, a Z-path gyroscope temperature sensor 233, an X-path accelerometer temperature sensor 234, a Y-path accelerometer temperature sensor 235, and a Z-path accelerometer temperature sensor 236.

[0051] The circuit assembly 30 includes a power conversion unit 311 , an x-channel conversion channel 3121 , a y-channel conversion channel 3122 , a z-channel conversion channel 3123 , and a parameter storage unit 313 .

[0052] The aforementioned mounting surface allows for orthogonal positioning of any two fiber optic gyroscope (FOG) ring assemblies and any two accelerometers, enabling six-axis spatial information measurement. Furthermore, the FOG utilizes a three-axis integrated design. The FOG digital closed-loop control component 32 independently collects and processes data from the three-axis FOG, while the inertial measurement component 31 processes data from the three-axis accelerometer. The flexible cable assembly 12 integrates the circuit components and sensitive components of the inertial measurement device 100, significantly optimizing space utilization and miniaturizing the inertial measurement device 100.

[0053] The vibration damper 13 reduces the mechanical input of the external mechanical environment to the inertial measurement unit 100. It includes a vibration damping base 131, a vibration damping nut 132, and a vibration damping pad 133. The vibration damping pads 133 are made of silicone rubber. T-shaped vibration damping pads are mounted on the upper and lower sides of the mounting hole of the main body bracket 11. The vibration damping sleeve 131b of the vibration damping base 131 passes through the vibration damping pad and the mounting hole in the -Z direction of the main body bracket 11. The exposed threads 131c are fastened to the vibration damping nut 132. Both the vibration damping base and the vibration damping nut are made of stainless steel.

[0054] In summary, the present invention provides a modular inertial measurement device and fiber optic gyroscope software. The modular inertial measurement device uses a flexible cable assembly to mount the sensitive component and circuit component on a main body bracket, avoiding complex connections between components. Compared with the existing technology, the modular inertial measurement device can realize the modularization of the inertial measurement component, facilitate assembly, and solve the pain points that restrict system layout.

[0055] The modular design of the inertial measurement unit of the present invention can disassemble complex systems into independent and reusable functional units, which can effectively improve the efficiency and flexibility in product development, enhance the system adaptability, and promote the productization of the system.

[0056] For ease of description, spatially relative terms such as "above", "above", "on the upper surface", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the figures is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0057] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0058] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A modular inertial measurement unit, characterized in that: include: Sensitive components, circuit components and structural components, among which, Sensitive components, including a fiber optic gyroscope ring assembly, an accelerometer assembly, and a temperature sensor. The fiber optic gyroscope ring assembly includes an X-axis fiber optic gyroscope ring assembly, a Y-axis fiber optic gyroscope ring assembly, and a Z-axis fiber optic gyroscope ring assembly. The accelerometer assembly includes a three-way accelerometer. Circuit components, including inertial measurement components and fiber optic gyroscope digital closed-loop control components; The structural components include a main body bracket and a flexible cable assembly. The main body bracket is a hexahedral structure with ten mounting platforms for installing the fiber optic gyroscope ring assembly, accelerometer assembly and circuit assembly; the flexible cable assembly is used to connect the fiber optic gyroscope ring assembly, accelerometer assembly and circuit assembly.

2. A modular inertial measurement device according to claim 1, characterized in that: An X-axis fiber optic gyroscope ring assembly, a Y-axis fiber optic gyroscope ring assembly, and a Z-axis fiber optic gyroscope ring assembly are respectively arranged on the three mounting surfaces of the main body bracket. The three fiber optic gyroscope ring assemblies are connected to the fiber optic gyroscope digital closed-loop component assembled in the box through a gyroscope circuit box; an X-axis accelerometer, a Y-axis accelerometer, and a Z-axis accelerometer are respectively assembled in directions corresponding to the three fiber optic gyroscope ring assemblies; an inertial measurement component is assembled on the side opposite to the gyroscope circuit box, and a power conversion unit, an analog-to-digital conversion unit, and a parameter storage unit are assembled on the inertial measurement component. The inertial measurement component is connected to the fiber optic gyroscope digital closed-loop control component and the accelerometer assembly through a flexible cable assembly.

3. The modular inertial measurement device according to claim 1, wherein: The three accelerometers of the acceleration assembly are respectively orthogonally mounted on the three mounting surfaces of the main body bracket in the X, Y and Z directions.

4. A modular inertial measurement device as claimed in claim 1, characterized in that: The main body bracket is made of hard aluminum, the surface of which is subjected to conductive oxidation treatment, and a wiring groove is provided to constrain the flexible cable assembly.

5. The modular inertial measurement device according to claim 1, wherein: The structural assembly also includes a shock absorber, which is cylindrical and has a total of 4 groups. The shock absorber is symmetrical to the center of mass of the inertial measurement device and is assembled on the upper and lower sides of the 4 mounting holes of the body bracket using a 4-point flange mounting form.

6. A modular inertial measurement device as claimed in claim 5, characterized in that: The vibration damper includes a vibration damping base, a vibration damping nut, and a vibration damping pad. The vibration damping pads are respectively assembled on the upper and lower sides of the mounting hole of the main body bracket. The vibration damping sleeve of the vibration damping base passes through the vibration damping pad and the mounting hole from the -Z direction of the main body bracket, and the exposed thread is fastened to the vibration damping nut.

7. A modular inertial measurement device as claimed in claim 6, characterized in that: The material of the vibration damping pad is silicone rubber and has a T-shaped structure. The vibration damping nut and the vibration damping base are made of stainless steel.

8. The modular inertial measurement device according to claim 1, wherein: The structural assembly also includes a grounding cable, which is fixed to the main bracket mounting table using screws passing through the grounding cable welding piece, and the one-way welding piece is connected to the outside to establish an electrostatic discharge channel.

9. The modular inertial measurement device according to claim 1, wherein: The flexible cable assembly is made of a flexible PCB board, and the flexible cable assembly is connected to the inertial measurement component, the fiber optic gyroscope digital closed-loop control component and the accelerometer component along the wiring groove of the main body bracket.

10. The modular inertial measurement device according to claim 1, wherein: The structural assembly also includes a shielding cover and a heat-insulating cover, wherein the upper and lower covers of the shielding cover are snap-fitted onto the surface of the analog-to-digital conversion unit by clamping, and the heat-insulating cover is installed on the outside of the shielding cover by gluing.

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