Nine-axis gyroscope circuit and vehicle-mounted module

Abstract

The utility model discloses a nine-axis gyroscope circuit and a vehicle-mounted module. The nine-axis gyroscope circuit comprises an MCU (Microprogrammed Control Unit) module, a six-axis IMU (Inertial Measurement Unit) module, a three-axis magnetometer module and a linear voltage stabilizing module, the MCU module is provided with a first power supply end, a first input end, a second input end and a first output end, the six-axis IMU module is provided with a second power supply end and a second output end, the second output end of the six-axis IMU module is connected with the first input end of the MCU module, and the three-axis magnetometer module is provided with a third power supply end and a third output end. The third output end of the three-axis magnetometer module is connected with the second input end of the MCU module. The output end of the linear voltage stabilization module is connected with the first power end of the MCU module, the second power end of the six-axis IMU module and the third power end of the three-axis magnetometer module. According to the utility model, the six-axis IMU module and the three-axis magnetometer module are integrated to realize a nine-axis gyroscope circuit, so that attitude sensing can be carried out in a magnetic field environment, and the gyroscope can adapt to more scenes.

Description

Technical Field

[0001] The utility model relates to the technical field of automobile processing, in particular to a nine-axis gyroscope circuit and a vehicle-mounted module. Background Art

[0002] In automobiles, attitude sensing is required through sensors. For example, gyroscopes are used to measure motion states, such as horizontal and vertical angles, for navigation and stability control. However, current gyroscope modules in automobiles typically rely on a single sensor for attitude sensing. This makes them susceptible to interference in strong magnetic fields or electromagnetic interference environments, limiting their use cases. Utility Model Content

[0003] This utility model aims to solve at least one of the technical problems existing in the prior art. To this end, this utility model proposes a nine-axis gyroscope circuit and vehicle-mounted module. The nine-axis gyroscope circuit integrates a six-axis IMU module and a three-axis magnetometer module to realize the nine-axis gyroscope circuit. This circuit can sense the attitude in magnetic field environments and is suitable for a variety of scenarios.

[0004] In one aspect, an embodiment of the present invention provides a nine-axis gyroscope circuit, comprising:

[0005] The MCU module has a first power supply terminal, a first input terminal, a second input terminal and a first output terminal;

[0006] A six-axis IMU module has a second power supply terminal and a second output terminal, wherein the second output terminal of the six-axis IMU module is connected to the first input terminal of the MCU module;

[0007] A three-axis magnetometer module having a third power supply terminal and a third output terminal, wherein the third output terminal of the three-axis magnetometer module is connected to the second input terminal of the MCU module;

[0008] The linear voltage regulator module has an output end respectively connected to the first power supply end of the MCU module, the second power supply end of the six-axis IMU module, and the third power supply end of the three-axis magnetometer module.

[0009] According to some embodiments of the present invention, the MCU module has multiple SPI bus pins used as the first input end, and is connected to the second output end of the six-axis IMU module through the SPI bus pins.

[0010] According to some embodiments of the present invention, the MCU module has an I2C bus pin serving as the second input terminal, and is connected to the third output terminal of the three-axis magnetometer module via the I2C bus pin.

[0011] According to some embodiments of the present invention, the MCU module uses an integrated circuit model N32L403k8Q7.

[0012] According to some embodiments of the present invention, the third power supply terminal of the six-axis IMU module is connected to a first filtering network.

[0013] According to some embodiments of the present invention, the output end of the linear voltage stabilization module is connected to a second filtering network.

[0014] According to some embodiments of the present invention, the second filtering network includes a plurality of filter capacitors connected in parallel, wherein the first connection ends of the plurality of filter capacitors connected in parallel are connected to the output end of the linear voltage regulation module, and the second connection ends of the plurality of filter capacitors connected in parallel are connected to the reference voltage end.

[0015] According to some embodiments of the present invention, the linear voltage regulator module includes a voltage regulator chip, a first filter capacitor and a second filter capacitor, the first filter capacitor is connected to the input end of the voltage regulator chip, and the second filter capacitor is connected to the output end of the voltage regulator chip.

[0016] According to some embodiments of the present invention, the voltage stabilizing chip uses an LDO integrated circuit model PST6232.

[0017] On the other hand, an embodiment of the present invention provides a vehicle-mounted module, comprising the above-mentioned nine-axis gyroscope circuit.

[0018] The embodiments of the present invention have at least the following beneficial effects:

[0019] The linear voltage regulator module of the embodiment of the present utility model provides a stable voltage signal for the MCU module, the six-axis IMU module and the three-axis magnetometer module. The MCU module uniformly processes and outputs the signals of the six-axis IMU module and the three-axis magnetometer module. The six-axis IMU module and the three-axis magnetometer module can be integrated to realize a nine-axis gyroscope circuit, which can perform posture perception in a magnetic field environment, and is conducive to adapting to more scenarios.

[0020] Additional aspects and advantages of the present invention will be given in part in the following description and will become apparent from the following description or learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0022] Figure 1 This is a principle block diagram of a nine-axis gyroscope circuit according to an embodiment of the present invention;

[0023] Figure 2 for Figure 1 The circuit schematic diagram of the MCU module of the nine-axis gyroscope circuit is shown;

[0024] Figure 3 for Figure 1 The circuit schematic diagram of the six-axis IMU module with a nine-axis gyroscope circuit is shown;

[0025] Figure 4 for Figure 1 The circuit schematic diagram of the three-axis magnetometer module of the nine-axis gyroscope circuit is shown;

[0026] Figure 5 for Figure 1 The schematic diagram of the linear voltage regulator module of the nine-axis gyroscope circuit is shown. DETAILED DESCRIPTION

[0027] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0028] In the description of this utility model, "several" means one or more, "multiple" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, and "above," "below," and "within" are understood to include the number itself. The use of terms such as "first" and "second" is solely for the purpose of distinguishing technical features and is not to be construed as indicating or implying relative importance, or implicitly indicating the number or order of the technical features indicated.

[0029] In the description of the present invention, unless otherwise clearly defined, words such as “setting” and “connection” should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above words in the present invention based on the specific content of the technical solution.

[0030] This embodiment discloses a vehicle-mounted module, including a nine-axis gyroscope circuit. Figure 1The nine-axis gyroscope circuit includes an MCU module 100, a six-axis IMU module 200, a three-axis magnetometer module 300, and a linear voltage regulator module 400. The MCU module 100 has a first power supply terminal, a first input terminal, a second input terminal, and a first output terminal. The six-axis IMU module 200 has a second power supply terminal and a second output terminal. The second output terminal of the six-axis IMU module 200 is connected to the first input terminal of the MCU module 100. The three-axis magnetometer module 300 has a third power supply terminal and a third output terminal. The third output terminal of the three-axis magnetometer module 300 is connected to the second input terminal of the MCU module 100. The output terminal of the linear voltage regulator module 400 is respectively connected to the first power supply terminal of the MCU module 100, the second power supply terminal of the six-axis IMU module 200, and the third power supply terminal of the three-axis magnetometer module 300.

[0031] The linear voltage regulator module 400 of this embodiment provides a stable voltage signal for the MCU module 100, the six-axis IMU module 200 and the three-axis magnetometer module 300. The MCU module 100 uniformly processes and outputs the signals of the six-axis IMU module 200 and the three-axis magnetometer module 300. The six-axis IMU module 200 and the three-axis magnetometer module 300 can be integrated to realize a nine-axis gyroscope circuit, which can perform posture perception in a magnetic field environment, which is conducive to adapting to more scenarios.

[0032] The vehicle-mounted module composed of a nine-axis gyroscope circuit is a sophisticated sensor system module that helps reduce noise and interference during signal transmission, thereby ensuring signal integrity and allowing them to be installed in high density in space-constrained vehicle environments without sacrificing performance.

[0033] Please refer to Figure 1 and Figure 2 The MCU module 100 is responsible for processing signals from the six-axis IMU module 200 and the three-axis magnetometer module 300. The MCU module 100 has multiple SPI bus pins serving as first inputs, which are connected to the second output of the six-axis IMU module 200 via the SPI bus pins. Furthermore, the MCU module 100 has I2C bus pins serving as second inputs, which are connected to the third output of the three-axis magnetometer module 300 via the I2C bus pins. The MCU module 100 collects and processes the raw signals from the six axes (e.g., Gyroy, Gyrox, Gyroz, Accx, Accy, and Accz) of the six-axis IMU module 200 via the SPI bus and the three-axis magnetic field signals from the three-axis magnetometer module 300 via the I2C bus, thereby integrating them into a nine-axis gyroscope. The MCU module 100 outputs these processed data through a first output (e.g., a UART interface). This data is crucial for monitoring vehicle motion and orientation.

[0034] Please refer to Figure 2, MCU module 100 uses the integrated circuit model N32L403k8Q7, and MCU module 100 provides a variety of peripheral interfaces, such as SPI interface (such as Figure 2 The pins marked with MISO, MOSI, SCK, and NSS of SPI1 in the figure) and the I2C interface can be used to communicate with external sensors or other peripheral devices; for example, the UART interface (such as Figure 2 The pins marked with UART1_RX and UART1_TX in the figure provide a serial communication interface for debugging or communicating with external modules. For example, the SWD (Serial Wire Debug) interface facilitates debugging and firmware updates. The serial bus is used to communicate with other devices, enhancing system scalability and flexibility.

[0035] The six-axis IMU module 200 provides accurate motion and direction data. To ensure the stable operation of these sensors and circuits, the linear voltage regulator module 400 provides a stable voltage, which stably reduces the input voltage to 3.3V output. Multiple decoupling capacitors (such as Figure 5 A second filtering network is connected to the output of the linear voltage regulator module 400 (e.g., capacitors labeled C11, C12, C13, and C14), to reduce the impact of power supply noise on the system. The second filtering network includes multiple filter capacitors connected in parallel (e.g., capacitors labeled C11, C12, C13, and C14). The first terminals of these filter capacitors are connected to the output of the linear voltage regulator module 400, and the second terminals of these filter capacitors are connected to the reference voltage terminal. The selection and arrangement of these capacitors plays a crucial role in the stability of the entire circuit, reducing power supply noise within the linear voltage regulator module 400 and improving system stability and reliability.

[0036] The third power supply terminal of the six-axis IMU module 200 is connected to a first filter network. Figure 3The six-axis IMU module 200 uses an integrated circuit model ICM4265. A filter capacitor C1 is arranged at the VDDIO pin of the six-axis IMU module 200, and a filter capacitor group consisting of filter capacitors C2 and C3 is arranged at the VDD pin. Among them, the filter capacitors C1, C2, and C3 all use chip capacitors with 0201 package specifications. The first end of the filter capacitor C1 is connected in parallel to the 3.3V node and the VDDIO pin, and the second end is connected to the GND node. The connection node of the first ends of the filter capacitors C2 and C3 is connected in parallel to the 3.3V node, and the connection node of the second end is connected to the VDD pin of the six-axis IMU module 200. The integrity, accuracy, and stability of the signal during transmission are guaranteed by capacitor filtering. This design helps to reduce noise and interference, thereby improving the measurement accuracy of the six-axis IMU module 200. Chip capacitors in the 0201 package offer effective filtering performance in a compact space due to their small size and high-density mounting capability, making them ideal for space-constrained applications. In the six-axis IMU module 200, these capacitors are crucial for ensuring clear and accurate data, helping to filter out high-frequency noise that could affect sensor readings, allowing the on-board module to be more compact.

[0037] Please refer to Figure 4 The three-axis magnetometer module 300 uses the QMC5883 integrated circuit. The SCL pin of the three-axis magnetometer module 300 provides the clock signal for I2C communication. This pin is connected to the 3.3V node through a pull-up resistor R3 to prevent signal floating. The SDA pin of the three-axis magnetometer module 300 is used for signal transmission and is also connected to the 3.3V node through a pull-up resistor R4. The decoupling capacitors of the three-axis magnetometer module 300 (as shown in the labels C6, C7, and C8) are used to filter high-frequency noise on the power supply, ensure stable power supply of the three-axis magnetometer module 300, reduce the impact of noise, and provide additional decoupling and stability. A filter capacitor (as shown in the labels C9) is connected between the SETC and SETP pins to ensure signal stability at these two pins.

[0038] Please refer to Figure 5 The linear voltage regulator module 400 includes a voltage regulator chip, a first filter capacitor, and a second filter capacitor. The first filter capacitor is connected to the input of the voltage regulator chip, and the second filter capacitor is connected to the output of the voltage regulator chip. The first filter capacitor is shown as C15 in the figure, and the second filter capacitor is shown as C16 in the figure. They can ensure a stable output voltage. The output 3.3V voltage is supplied to the MCU module 100, the six-axis IMU module 200, and the three-axis magnetometer module 300, ensuring the stability of the entire circuit system. Among them, the voltage regulator chip uses an LDO integrated circuit model PST6232 to convert the 5V input voltage into a 3.3V output voltage.

[0039] The circuit working principle of this embodiment is as follows:

[0040] The core control principle of this circuit is that the MCU module 100 collects and processes signals from the six-axis IMU module 200 and the three-axis magnetometer module 300, realizing the design of a nine-axis sensor. The nine-axis sensor is responsible for real-time detection of acceleration, angular velocity, and magnetic field data. The MCU module 100 communicates with the six-axis IMU module 200 and the three-axis magnetometer module 300 via the SPI bus and I2C bus, respectively, and uses interrupt mechanisms to obtain data in a timely manner. The MCU module 100 filters the collected data and calculates the attitude, and transmits the calculated results to an external device via the UART interface.

[0041] The MCU module 100 uses its internal timer to control the sampling frequency of the six-axis IMU module 200 and the three-axis magnetometer module 300, and adjusts the communication rate as needed to ensure a balance between power consumption and system performance. The linear voltage regulator module 400 provides a stable power supply, enabling the MCU module 100, the six-axis IMU module 200, and the three-axis magnetometer module 300 to operate in a low-noise environment, further improving data accuracy.

[0042] This embodiment has the following beneficial effects:

[0043] The highly integrated three-axis magnetometer module 300 utilizes the QMC5883L integrated circuit, integrating a three-axis magnetometer to monitor magnetic field changes in real time. This module offers high precision and low power consumption, making it suitable for applications such as navigation, positioning, and attitude control. Compared to older magnetic sensors commonly used in other circuits, this highly integrated solution reduces the need for external components, improving circuit simplicity and performance.

[0044] Simple and efficient communication: The three-axis magnetometer module 300 communicates with the MCU module 100 via the I2C bus. This design reduces the number of communication pins and simplifies circuit board wiring. I2C supports multi-master and multi-slave communication, making this design highly scalable. Compared to technologies using SPI or other complex interfaces, this design simplifies the system, reducing cost and complexity.

[0045] Power supply stability design: The linear voltage regulator module 400 is designed to provide a stable 3.3V output voltage. This allows the three-axis magnetometer module 300 and other low-power components to operate at a stable voltage, ensuring circuit reliability. Compared to solutions that directly draw power from the main power supply, the LDO (low-dropout linear regulator) design used in the linear voltage regulator module 400 effectively reduces noise interference and voltage fluctuations, ensuring data stability for the six-axis IMU module 200 and three-axis magnetometer module 300.

[0046] Enhanced real-time control capabilities: The MCU module 100 uses an integrated circuit as the main control chip, connecting to the three-axis magnetometer module 300 via a pin interface for data acquisition and processing. The main control chip not only processes data from the three-axis magnetometer module 300 but also transmits data via external interfaces (such as the UART). This combination enables the MCU module 100 to adapt to complex control requirements, offering the advantages of scalability and integrated control.

[0047] Active Calibration Capability: The three-axis magnetometer module 300 features SETP and SETC pins for controlling sensor demagnetization and calibration. This design eliminates interference from external magnetic fields on the sensor, ensuring measurement accuracy. Compared to traditional circuits that require additional circuitry for demagnetization, this integrated design simplifies the system and makes the circuit board more compact and efficient.

[0048] Better maintenance and upgrade capabilities: The circuit board is functionally divided through the combination of multiple modules, such as the linear voltage regulator module 400, the three-axis magnetometer module 300, and the MCU module 100. The interface modularization is obvious, which facilitates maintenance and upgrades and has good scalability and flexibility.

[0049] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the scope of knowledge possessed by ordinary technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. A nine-axis gyroscope circuit, characterized in that: include: The MCU module has a first power supply terminal, a first input terminal, a second input terminal and a first output terminal; A six-axis IMU module has a second power supply terminal and a second output terminal, wherein the second output terminal of the six-axis IMU module is connected to the first input terminal of the MCU module; A three-axis magnetometer module having a third power supply terminal and a third output terminal, wherein the third output terminal of the three-axis magnetometer module is connected to the second input terminal of the MCU module; The linear voltage regulator module has an output end respectively connected to the first power supply end of the MCU module, the second power supply end of the six-axis IMU module, and the third power supply end of the three-axis magnetometer module.

2. The nine-axis gyroscope circuit according to claim 1, wherein: The MCU module has a plurality of SPI bus pins serving as the first input end, and is connected to the second output end of the six-axis IMU module via the SPI bus pins.

3. The nine-axis gyroscope circuit according to claim 1, wherein: The MCU module has an I2C bus pin serving as the second input terminal, and is connected to the third output terminal of the three-axis magnetometer module via the I2C bus pin.

4. The nine-axis gyroscope circuit according to claim 1, 2 or 3, characterized in that: The MCU module uses an integrated circuit model N32L403k8Q7.

5. The nine-axis gyroscope circuit according to claim 1, 2 or 3, characterized in that: The third power supply terminal of the six-axis IMU module is connected to a first filtering network.

6. The nine-axis gyroscope circuit according to claim 1, wherein: The output end of the linear voltage stabilization module is connected to a second filter network.

7. The nine-axis gyroscope circuit according to claim 6, wherein: The second filter network includes a plurality of filter capacitors connected in parallel, wherein the first connection ends of the plurality of filter capacitors connected in parallel are connected to the output end of the linear voltage regulator module, and the second connection ends of the plurality of filter capacitors connected in parallel are connected to the reference voltage end.

8. The nine-axis gyroscope circuit according to claim 1, 6 or 7, characterized in that: The linear voltage stabilization module includes a voltage stabilization chip, a first filter capacitor and a second filter capacitor. The first filter capacitor is connected to the input end of the voltage stabilization chip, and the second filter capacitor is connected to the output end of the voltage stabilization chip.

9. The nine-axis gyroscope circuit according to claim 8, characterized in that: The voltage stabilizing chip uses an LDO integrated circuit model PST6232.

10. A vehicle-mounted module, characterized in that: The device comprises the nine-axis gyroscope circuit according to any one of claims 1 to 9.

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