Attitude sensor and its control circuit

Abstract

The present invention provides a control circuit of a posture sensor, comprising a control module and a voltage stabilizing module, a motion processing module and an output module respectively connected to the control module; the voltage stabilizing module comprises a first control chip U1 and a first capacitor C1; the IN pin of the first control chip U1 is connected to a +5V power supply; the OUT pin of the first control chip U1 is respectively connected to one end of the first capacitor C1 and a node VCC, the other end of the first capacitor C1 is grounded, and the GND pin of the first control chip is grounded; the node VCC is respectively connected to the control module and the motion processing module. The present invention reduces the +5V voltage to 3.3V through the first control chip U1, thereby supplying power to the motion processing module of the control module; through the action of the voltage stabilizing module, the voltage of other modules can be stabilized, thereby effectively ensuring the normal operation of other modules, effectively avoiding problems such as data jitter, data instability, and severe data sawtooth waves, thereby effectively improving the stability of the posture sensor.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of attitude sensors, and in particular to a control circuit of an attitude sensor. Background Art

[0002] The attitude sensor is a high-performance 3D motion attitude measurement system based on MEMS technology. It contains motion sensors such as a three-axis gyroscope, a three-axis accelerometer, and a three-axis electronic compass. It obtains temperature-compensated 3D attitude and orientation data through an embedded low-power ARM processor. Using quaternion-based 3D algorithms and special data fusion technology, it outputs zero-drift 3D attitude and orientation data represented by quaternions and Euler angles in real time. The LPMS series and iAHRS-M0 attitude sensors can be widely embedded in aircraft models, drones, robots, mechanical gimbals, vehicles and ships, ground and underwater equipment, virtual reality, human motion analysis, and other products and equipment that require autonomous measurement of 3D attitude and orientation.

[0003] However, existing gesture sensors have many problems in practical applications, such as data jitter, data instability, and severe data sawtooth waves. Summary of the invention

[0004] The purpose of the present invention is to solve the technical problem that the existing attitude sensor is unstable in use, and to propose a control circuit for the attitude sensor.

[0005] In order to achieve the above-mentioned purpose, the present invention provides a control circuit of a posture sensor, comprising a control module and a voltage stabilizing module, a motion processing module and an output module respectively connected to the control module; the voltage stabilizing module comprises a first control chip U1 and a first capacitor C1; the IN pin of the first control chip U1 is connected to a +5V power supply; the OUT pin of the first control chip U1 is respectively connected to one end of the first capacitor C1 and a node VCC, the other end of the first capacitor C1 is grounded, and the GND pin of the first control chip is grounded; the node VCC is respectively connected to the control module and the motion processing module.

[0006] Furthermore, the control module includes a second control chip U2, a second capacitor C2, a third capacitor C3, a fourth capacitor C4 and multiple input interfaces; the second capacitor C2 and the third capacitor C3 are connected in parallel and one end is grounded and the other end is connected to the node VCC; the VCAP pin of the second control chip U2 is grounded through the fourth capacitor C4; the VDD pin of the second control chip U2 is connected to the VCC node.

[0007] Furthermore, the input interface is connected to a VDD pin, a SWIM pin, a VSS pin and a NRST pin of the second control chip U2.

[0008] Furthermore, the motion processing module includes a third control chip U3, a fifth capacitor C5, a sixth capacitor C6, a seventh capacitor C7, an eighth capacitor C8, a first resistor R1, a second resistor R2 and a first interface P1; the VLOGIC pin of the third control chip U3 is respectively connected to the VCC node and one end of the fifth capacitor C5, the other end of the fifth capacitor C5 is respectively connected to one end of the eighth capacitor C8, the GND pin of the third control chip U3 and grounding, the other end of the eighth capacitor C8 is respectively connected to the VDD pin of the third control chip U3 and the node VCC; one end of the sixth capacitor C6 is respectively connected to the VDD pin of the third control chip U3 and the node VCC; one end of the sixth capacitor C6 is respectively connected to the VDD pin of the third control chip U3 and the node VCC; The first end is connected to the CPOUT pin of the third control chip U3 and the other end is respectively connected to one end of the seventh capacitor C7, the CLKIN pin of the third control chip U3 and ground, and the other end of the seventh capacitor C7 is connected to the REGOUT pin of the third control chip U3; the FSYNC pin and the AD0 pin of the third control chip U3 are respectively grounded; the SCL pin of the third control chip U3 is respectively connected to one end of the first resistor R1 and the second pin of the first interface P1, and the SDA pin of the third control chip U3 is respectively connected to one end of the second resistor R2 and the third pin of the first interface P1. The other ends of the first resistor R1 and the second resistor R2 are respectively connected to the node VCC; the first pin of the first interface P1 is connected to the +5V power supply, and the fourth pin is grounded.

[0009] Furthermore, the second pin of the first interface P1 is connected to the SCL pin of the second control chip U2, and the third pin of the first interface P1 is connected to the SDA pin of the second control chip U2.

[0010] Furthermore, the output module includes a second interface P2, wherein the first pin of the second interface P2 is connected to a +5V power supply, the fourth pin is grounded, the second pin is connected to the RX pin of the second control chip U2, and the third pin is connected to the TX pin of the second control chip U2.

[0011] Furthermore, the RX pin of the second control chip is connected to the third pin of the second interface P2 through a third resistor R3.

[0012] On the other hand, the present invention further provides a posture sensor, comprising the control circuit.

[0013] The beneficial effects of the present invention are as follows: the present invention reduces the +5V voltage to 3.3V through the first control chip U1, thereby powering the motion processing module of the control module; through the function of the voltage stabilizing module, the voltage of other modules can be stabilized, thereby effectively ensuring the normal operation of other modules, effectively avoiding data jitter, data instability, severe data sawtooth waves and other problems, thereby effectively improving the stability of the attitude sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 The schematic diagram of the circuit of the voltage stabilizing module of one embodiment of the control circuit of the attitude sensor of the present invention.

[0015] Figure 2 The schematic circuit diagram of a control module of an embodiment of a control circuit of a posture sensor of the present invention.

[0016] Figure 3 The schematic circuit diagram of the motion processing module of one embodiment of the control circuit of the gesture sensor of the present invention.

[0017] Figure 4 The schematic circuit diagram of the output module of one embodiment of the control circuit of the attitude sensor of the present invention. DETAILED DESCRIPTION

[0018] Embodiments of the present invention are described in detail below, examples of which 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 to be used to explain the present invention, and should not be construed as limiting the present invention.

[0019] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0020] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0021] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0022] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0023] The present invention will be further described in detail below through specific implementation modes in conjunction with the accompanying drawings.

[0024] like Figure 1~Figure 4 As shown, the present invention provides a control circuit of a posture sensor, including a control module and a voltage stabilizing module, a motion processing module and an output module respectively connected to the control module; the voltage stabilizing module includes a first control chip U1 and a first capacitor C1; the IN pin of the first control chip U1 is connected to a +5V power supply; the OUT pin of the first control chip U1 is respectively connected to one end of the first capacitor C1 and a node VCC, the other end of the first capacitor C1 is grounded, and the GND pin of the first control chip is grounded; the node VCC is respectively connected to the control module and the motion processing module.

[0025] The present invention reduces the +5V voltage to 3.3V through the first control chip U1, thereby supplying power to the motion processing module of the control module; when the 5V voltage is input, the first capacitor C1 will filter, and the filtered voltage is transmitted to the IN pin of the first control chip U1, and then output from the OUT pin, and the voltage is reduced from 5V to 3.3V. At this time, the 3.3V voltage will supply power to the control module and the motion processing module. Through the function of the voltage stabilizing module, the voltage of other modules can be stabilized, thereby effectively ensuring the normal operation of other modules, effectively avoiding data jitter, data instability, severe data sawtooth waves and other problems, thereby effectively improving the stability of the attitude sensor. Specifically, the first control chip U1 adopts XC6206-3.3.

[0026] In an optional embodiment, the control module includes a second control chip U2, a second capacitor C2, a third capacitor C3, a fourth capacitor C4 and a plurality of input interfaces; the second capacitor C2 and the third capacitor C3 are connected in parallel and one end is grounded and the other end is connected to the node VCC; the VCAP pin of the second control chip U2 is grounded through the fourth capacitor C4; the VDD pin of the second control chip U2 is connected to the VCC node. The input interface is connected to the VDD pin, SWIM pin, VSS pin and NRST pin of the second control chip U2. The output module includes a second interface P2, the first pin of the second interface P2 is connected to the +5V power supply, the fourth pin is grounded, the second pin is connected to the RX pin of the second control chip U2, and the third pin is connected to the TX pin of the second control chip U2. The RX pin of the second control chip U2 is connected to the third pin of the second interface P2 through the third resistor R3.

[0027] In this embodiment, the 3.3V voltage after filtering of the second capacitor C2 and the third capacitor C3 will be transmitted to the VDD pin of the second control chip U2, and the control module starts working. Data will come in from the SDA pin and SCL pin of the second control chip U2, and then the raw data will be processed through the attitude angle fusion algorithm, and then transmitted to the external expansion of the second interface P2 through the TX pin and RX pin. At the same time, the voltage stabilizing module supplies power to the SWIM pin and nRST pin of the second control chip U2, so that the second control chip U2 can download the program. Specifically, the second control chip U2 adopts the single-chip microcomputer STM8S003F3P6, and the third capacitor C3 adopts a polarized capacitor.

[0028] In an optional embodiment, the motion processing module includes a third control chip U3, a fifth capacitor C5, a sixth capacitor C6, a seventh capacitor C7, an eighth capacitor C8, a first resistor R1, a second resistor R2 and a first interface P1; the VLOGIC pin of the third control chip U3 is respectively connected to the VCC node and one end of the fifth capacitor C5, the other end of the fifth capacitor C5 is respectively connected to one end of the eighth capacitor C8, the GND pin of the third control chip U3 and grounding, and the other end of the eighth capacitor C8 is respectively connected to the VDD pin of the third control chip U3 and the node VCC; the sixth capacitor C One end of 6 is connected to the CPOUT pin of the third control chip U3 and the other end is respectively connected to one end of the seventh capacitor C7, the CLKIN pin of the third control chip U3 and ground, the other end of the seventh capacitor C7 is connected to the REGOUT pin of the third control chip U3; the FSYNC pin and the AD0 pin of the third control chip U3 are respectively grounded; the SCL pin of the third control chip U3 is respectively connected to one end of the first resistor R1 and the second pin of the first interface P1, and the SDA pin of the third control chip U3 is respectively connected to one end of the second resistor R2 and the third pin of the first interface P1. The other ends of the first resistor R1 and the second resistor R2 are respectively connected to the node VCC; the first pin of the first interface P1 is connected to the +5V power supply, and the fourth pin is grounded. The second pin of the first interface P1 is connected to the SCL pin of the second control chip U2, and the third pin of the first interface P1 is connected to the SDA pin of the second control chip U2.

[0029] In this embodiment, the 3.3V after filtering of the fifth capacitor C5 and the eighth capacitor C8 will be transmitted to the VDD pin and the VLOGIC pin of the third control chip U3, the motion processing module starts to work, and the second control chip U2 gives the initialization configuration to the register of the third control chip U3 through the SDA pin and the SCL pin to complete the initialization. The third control chip U3 transmits data to the SDA pin and the SCL pin of the second control chip U2 through the SDA pin and the SCL pin. At the same time, the 3.3V voltage after voltage stabilization is directly given to the pull-up resistor (the first resistor R1 and the second resistor R2), so that the SCL pin and the SDA pin of the third control chip U3 can be directly read by the outside world. Specifically, the third control chip U3 adopts MPU6050.

[0030] On the other hand, the present invention further provides a posture sensor, comprising the control circuit.

[0031] The present invention reduces the +5V voltage to 3.3V through the first control chip U1, thereby supplying power to the motion processing module of the control module; when the 5V voltage is input, the first capacitor C1 will filter, and the filtered voltage is transmitted to the IN pin of the first control chip U1, and then output from the OUT pin, and the voltage is reduced from 5V to 3.3V. At this time, the 3.3V voltage supplies power to the control module and the motion processing module. Through the function of the voltage stabilizing module, the voltage of other modules can be stabilized, thereby effectively ensuring the normal operation of other modules, effectively avoiding data jitter, data instability, data sawtooth wave and other problems, thereby effectively improving the stability of the attitude sensor.

[0032] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "an example", "some embodiments", "in an optional embodiment", "specifically", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0033] The above contents are further detailed descriptions of the present invention in combination with specific implementation methods, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention.

Claims

1. A control circuit of a posture sensor, characterized in that: It includes a control module and a voltage stabilizing module, a motion processing module and an output module respectively connected to the control module; the voltage stabilizing module includes a first control chip U1 and a first capacitor C1; the IN pin of the first control chip U1 is connected to a +5V power supply; the OUT pin of the first control chip U1 is respectively connected to one end of the first capacitor C1 and a node VCC, the other end of the first capacitor C1 is grounded, and the GND pin of the first control chip is grounded; the node VCC is respectively connected to the control module and the motion processing module; The control module includes a second control chip U2, a second capacitor C2, a third capacitor C3, a fourth capacitor C4 and a plurality of input interfaces; the second capacitor C2 and the third capacitor C3 are connected in parallel, one end of which is grounded and the other end is connected to the node VCC; the VCAP pin of the second control chip U2 is grounded through the fourth capacitor C4; the VDD pin of the second control chip U2 is connected to the VCC node; The motion processing module includes a third control chip U3, a fifth capacitor C5, a sixth capacitor C6, a seventh capacitor C7, an eighth capacitor C8, a first resistor R1, a second resistor R2 and a first interface P1; the VLOGIC pin of the third control chip U3 is respectively connected to the VCC node and one end of the fifth capacitor C5, the other end of the fifth capacitor C5 is respectively connected to one end of the eighth capacitor C8, the GND pin of the third control chip U3 and grounding, the other end of the eighth capacitor C8 is respectively connected to the VDD pin of the third control chip U3 and the node VCC; one end of the sixth capacitor C6 is connected to the CPOUT pin of the third control chip U3 and the other end is respectively connected to the seventh capacitor C8. One end of the seventh capacitor C7, the CLKIN pin of the third control chip U3 and ground, the other end of the seventh capacitor C7 is connected to the REGOUT pin of the third control chip U3; the FSYNC pin and the AD0 pin of the third control chip U3 are grounded respectively; the SCL pin of the third control chip U3 is connected to one end of the first resistor R1 and the second pin of the first interface P1 respectively, and the SDA pin of the third control chip U3 is connected to one end of the second resistor R2 and the third pin of the first interface P1 respectively; the other ends of the first resistor R1 and the second resistor R2 are connected to the node VCC respectively; the first pin of the first interface P1 is connected to the +5V power supply, and the fourth pin is grounded; The output module includes a second interface P2, wherein the first pin of the second interface P2 is connected to a +5V power supply, the fourth pin is grounded, the second pin is connected to an RX pin of a second control chip U2, and the third pin is connected to a TX pin of the second control chip U2.

2. The control circuit of the attitude sensor according to claim 1, characterized in that: The input interface is connected to the VDD pin, the SWIM pin, the VSS pin and the NRST pin of the second control chip U2.

3. The control circuit of the attitude sensor according to claim 1, characterized in that: The second pin of the first interface P1 is connected to the SCL pin of the second control chip U2 , and the third pin of the first interface P1 is connected to the SDA pin of the second control chip U2 .

4. The control circuit of the attitude sensor according to claim 1, characterized in that: The RX pin of the second control chip is connected to the third pin of the second interface P2 through a third resistor R3.

5. A posture sensor, characterized in that: The invention comprises the control circuit according to any one of claims 1 to 4.

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