A fiber optic gyro inertial measurement device for antenna

Abstract

The present invention discloses a fiber optic gyroscope (FOG) inertial measurement device (IMU) for an antenna, belonging to the technical field of inertial measurement devices. The device comprises an upper cover, a signal acquisition and processing circuit board, a Y-axis accelerometer, a Z-axis accelerometer, an accelerometer mounting base, an X-axis accelerometer, a housing, a Y-axis FOG, a left side cover, a right side cover, a power module, a power socket, a signal socket, a Z-axis FOG, an X-axis FOG, and circular side covers. The present invention has a compact and rational overall layout, fully utilizing the semicircular ring-shaped space reserved for the installation of the antenna-based FOG IMU, achieving maximum accuracy within a limited space and possessing strong practicality.

Description

Technical Field

[0001] The present invention relates to the technical field of inertial measurement devices, and in particular to an optical fiber gyroscope inertial measurement device for an antenna. Background Art

[0002] The fiber optic gyro inertial measurement device is the core component of the fiber optic gyro inertial navigation system. Its accuracy determines the accuracy of the fiber optic gyro inertial navigation system and is widely used in real-time navigation of moving carriers.

[0003] A fiber-optic gyro (FOG) inertial measurement device (IMU) consists of three orthogonally mounted FOGs (fiber gyroscopes), three orthogonally mounted accelerometers, a signal acquisition and processing circuit board, a power module, and other structural components. Because the three FOGs and three accelerometers must be mounted orthogonally, many current FOG IMUs are designed with a square shape. For example, the miniature, low-cost, three-axis integrated FOG IMU (fiber gyroscope) IMU disclosed in invention patent CN110823219B and the three-axis integrated photonic crystal fiber-optic gyroscope (PCFG) IMU disclosed in invention patent CN112179341A both feature a square design. However, when determining antenna attitude, the square design of the FOG IMU fails to fully utilize the space available due to the limited space available for the IMU due to its miniaturized design. Consequently, the larger the FOG, the higher its accuracy. Therefore, to achieve the highest accuracy, a FOG IMU must maximize the available space. The current best approach is to design fiber-optic gyro inertial measurement devices with special shapes. For example, patent CN110823220B discloses a three-axis, integrated fiber-optic gyro inertial measurement device with a special design, creating a fan-shaped device to fit on missiles. Currently, the antenna body typically provides a semicircular space for fiber-optic gyro inertial measurement devices. The fan-shaped structure proposed in patent CN110823220B does not fully utilize the space. Summary of the Invention

[0004] The present invention aims to overcome the problem in the prior art that a fiber optic gyro inertial measurement device cannot fully utilize the semicircular ring-shaped installation space reserved for the antenna of the fiber optic gyro inertial measurement device. The present invention provides a fiber optic gyro inertial measurement device for an antenna. The device has a compact and reasonable overall layout, fully utilizes the semicircular ring-shaped installation space reserved for the antenna of the fiber optic gyro inertial measurement device, achieves the purpose of maximum accuracy within a limited space, and has strong practicality.

[0005] To achieve the above purpose, the technical solution of the present invention is as follows:

[0006] A fiber optic gyroscope inertial measurement device for an antenna, comprising an X-axis accelerometer, a Y-axis accelerometer, a Z-axis accelerometer, an X-axis fiber optic gyroscope, a Y-axis fiber optic gyroscope, a Z-axis fiber optic gyroscope, a power module, and a signal acquisition and processing circuit board;

[0007] The power supply module includes a filter module, a +24V to signal acquisition and processing circuit board +5V module, a +24V to accelerometer ±15V module and a +24V to fiber optic gyroscope ±5V module;

[0008] The external +24V input is input into the filter module of the power module through the power socket for power filtering and converted into a smooth and filtered +24V. The filtered +24V enters the independent +24V to signal acquisition and processing circuit board +5V module, +24V to accelerometer ±15V module, and +24V to fiber optic gyroscope ±5V module respectively, and is converted into the signal acquisition and processing circuit board +5V, accelerometer ±15V, and fiber optic gyroscope ±5V through each module.

[0009] The signal acquisition and processing circuit board integrates a program storage module, a digital signal processing module, a synchronization signal module, a user data format configuration module, a digital signal acquisition module, an X-axis accelerometer IF module, a Y-axis accelerometer IF module, a Z-axis accelerometer IF module and an RS422 interface module;

[0010] At the moment of power-on before the fiber optic gyro inertial measurement device is ready for normal operation, the digital signal processing module reads the running program saved in the program storage module and starts working; the currents of the X-axis accelerometer, the Y-axis accelerometer, and the Z-axis accelerometer are converted into X-axis accelerometer frequency signals, Y-axis accelerometer frequency signals, and Z-axis accelerometer frequency signals through the X-axis accelerometer IF module, the Y-axis accelerometer IF module, and the Z-axis accelerometer IF module, respectively, and the three accelerometer digital signals in frequency form are collected in real time by the digital signal acquisition module; after receiving the synchronization signal, the X-axis fiber optic gyroscope, the Y-axis fiber optic gyroscope, and the Z-axis fiber optic gyroscope respectively output the X-axis fiber optic gyroscope RS422 signal, the Y-axis fiber optic gyroscope RS422 signal, and the Z-axis fiber optic gyroscope RS422 signal, and the RS422 signals of the three fiber optic gyroscopes are received by the RS422 interface module and sent to the digital signal acquisition module for real-time collection;

[0011] The digital signal acquisition module packages the digital signals collected from the three accelerometers and three fiber optic gyroscopes into collected digital signals and sends them to the digital signal processing module. The digital signal processing module processes the collected digital signals in real time according to the running program, converts them into processed digital signals, and sends them back to the digital signal acquisition module. The digital signal acquisition module packages the processed digital signals into data and outputs them to the user data format configuration module; the user data format configuration module outputs data formats according to user requirements, including RS232 data format, RS422 data format, network port data format and CAN port data format. The user data with the configured data format is transmitted to the user through the signal socket.

[0012] Furthermore, the +5V of the signal acquisition and processing circuit board powers the digital circuit part of the signal acquisition and processing circuit board; the ±15V of the accelerometer powers the three accelerometer IF modules of the signal acquisition and processing circuit board, and powers the three accelerometers at the same time; the ±5V of the fiber optic gyroscope powers the three fiber optic gyros.

[0013] Furthermore, it includes a housing and a mounting base; the housing is a semicircular ring structure, and both ends of the diameter surface of the housing are provided with mounting grooves, the Y-axis fiber optic gyroscope is located in one of the mounting grooves, and the power module is located in the other mounting groove; the openings of the two mounting grooves are covered by a left cover and a right cover respectively;

[0014] The upper plane of the housing is provided with a mounting slot II and a mounting slot III, and the mounting slot II and the mounting slot III are separated by a partition; a mounting base and a Z-axis fiber optic gyroscope are provided in the mounting slot II; the X-axis accelerometer, the Y-axis accelerometer, and the Z-axis accelerometer are all located in the mounting base, and the orientations of the X-axis accelerometer, the Y-axis accelerometer, and the Z-axis accelerometer are perpendicular to each other; the X-axis fiber optic gyroscope is located in the mounting slot III, and the orientations of the X-axis fiber optic gyroscope, the Y-axis fiber optic gyroscope, and the Z-axis fiber optic gyroscope are perpendicular to each other;

[0015] A signal acquisition and processing circuit board is also provided on the top of the mounting slot II and the mounting slot III; an upper cover is provided above the signal acquisition and processing circuit board for sealing the mounting slot II and the mounting slot III; a power socket and a signal socket are also provided on the upper plane of the housing;

[0016] The X-axis accelerometer, Y-axis accelerometer, Z-axis accelerometer, X-axis fiber optic gyroscope, Y-axis fiber optic gyroscope, Z-axis fiber optic gyroscope, power module, power socket and signal socket are all connected to the signal acquisition and processing circuit board.

[0017] Furthermore, along the axial direction of the X-direction accelerometer, the mounting groove III is provided with a through opening facing the arc surface; the end of the through opening is sealed by a circular side cover.

[0018] Furthermore, the mounting groove II and the top of the mounting groove II are both provided with mounting bosses; the mounting bosses are supported on the bottom of the signal acquisition and processing circuit board.

[0019] Furthermore, a wiring hole is provided on the back of the installation slot of the power module, which passes through to the installation slot III; the power socket and the signal socket are located at the top of the through-hole position, and a wiring groove is provided on the top of the partition; a wiring hole II is provided on the back of the installation slot of the Y-axis fiber optic gyroscope, which passes through to the installation slot II.

[0020] The beneficial effects of the present invention are:

[0021] The present invention aims to provide an antenna-based fiber optic gyro inertial measurement device. Compared with the prior art, the present invention has the following advantages: while satisfying the orthogonal installation requirements of three fiber optic gyros and three accelerometers, the antenna fully utilizes the semi-circular ring-shaped installation space reserved for the fiber optic gyro inertial measurement device. The overall structure of the device is compact and reasonable, achieving maximum accuracy within a limited space and having strong practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the appearance of a fiber optic gyro inertial measurement device for an antenna according to the present invention;

[0023] Figure 2 A schematic diagram of the composition of a fiber optic gyro inertial measurement device for an antenna according to the present invention;

[0024] Figure 3 This is a schematic structural diagram of a fiber optic gyro inertial measurement device for an antenna according to the present invention, with the left cover and the right cover removed in a main viewing direction;

[0025] Figure 4 This is a schematic diagram of the structure of a fiber optic gyro inertial measurement device for an antenna of the present invention, with the upper cover and the signal acquisition and processing circuit board removed, as viewed from above;

[0026] Figure 5 This is a schematic structural diagram of a housing in a fiber optic gyro inertial measurement device for an antenna according to the present invention;

[0027] Figure 6 This is a schematic diagram of the structure of a fiber optic gyro inertial measurement device for an antenna of the present invention, with the upper cover removed, viewed from above;

[0028] Figure 7 This is a schematic structural diagram of a fiber optic gyro inertial measurement device for an antenna according to the present invention, with the circular side cover removed, as viewed from the right;

[0029] Figure 8 This is a schematic diagram of the power distribution principle of a fiber optic gyro inertial measurement device for an antenna of the present invention;

[0030] Figure 9 This is a schematic diagram of the signal flow principle of a fiber optic gyro inertial measurement device for an antenna of the present invention;

[0031] Among them: 1. Upper cover, 2. Signal acquisition and processing circuit board, 201. Program storage module, 202. Digital signal processing module, 203. Synchronous signal module, 204. User data format configuration module, 205. Digital signal acquisition module, 206. X-axis accelerometer IF module, 207. Y-axis accelerometer IF module, 208. Z-axis accelerometer IF module, 209. RS422 interface module, 3. Y-axis accelerometer, 4. Z-axis accelerometer, 5. Accelerometer installation Install the base, 6. X-axis accelerometer, 7. Housing, 8. Y-axis fiber optic gyroscope, 9. Left side cover, 10. Right side cover, 11. Power module, 1101. Filter module, 1102. +24V to signal acquisition and processing circuit board +5V module, 1103. +24V to accelerometer ±15V module, 1104. +24V to fiber optic gyroscope ±5V module, 12. Power socket, 13. Signal socket, 14. Z-axis fiber optic gyroscope, 15. X-axis fiber optic gyroscope, 16. Ring side cover. DETAILED DESCRIPTION

[0032] An embodiment of the present invention is described below with reference to the accompanying drawings.

[0033] A fiber optic gyroscope inertial measurement device for an antenna, from the perspective of structural design, includes: an upper cover, a signal acquisition and processing circuit board, a Y-axis accelerometer, a Z-axis accelerometer, an accelerometer mounting base, an X-axis accelerometer, a shell, a Y-axis fiber optic gyroscope, a left cover, a right cover, a power module, a power socket, a signal socket, a Z-axis fiber optic gyroscope, an X-axis fiber optic gyroscope, and a circular side cover.

[0034] Furthermore, the Y-direction fiber optic gyroscope is installed in the Y-direction fiber optic gyroscope installation groove of the housing, the fiber optic gyroscope installation surface in the Y-direction fiber optic gyroscope installation groove of the housing is provided with an oblong through-hole for routing the Y-direction fiber optic gyroscope, and the Y-direction fiber optic gyroscope installation groove is sealed by the left cover; the power module is installed in the power module installation groove of the housing, the power module installation surface in the power module installation groove of the housing is provided with an oblong through-hole for routing the power module, and the power module installation groove is sealed by the right cover;

[0035] Furthermore, three accelerometers (X-axis accelerometer, Y-axis accelerometer, and Z-axis accelerometer) are orthogonally mounted on an accelerometer mounting base. The accelerometer mounting base and the Z-axis fiber optic gyroscope are mounted together in a crescent-shaped mounting groove of the housing, and the crescent-shaped mounting groove is sealed by an upper cover.

[0036] Furthermore, five bosses are provided inside the semi-crescent-shaped mounting groove of the housing for mounting a signal acquisition and processing circuit board, which is located above the three accelerometers and the Z-axis fiber optic gyroscope.

[0037] Furthermore, the X-axis fiber optic gyroscope is installed in the X-axis fiber optic gyroscope installation groove on the right side of the housing. The X-axis fiber optic gyroscope installation surface in the X-axis fiber optic gyroscope installation groove of the housing is provided with an oblong through-hole for routing the X-axis fiber optic gyroscope, the Z-axis fiber optic gyroscope, three accelerometers, and the signal acquisition and processing circuit board. The X-axis fiber optic gyroscope installation groove is sealed by a circular side cover.

[0038] Furthermore, the power socket uses a micro-rectangular electrical connector socket with a model number of J30J-9ZKN-J, and the signal socket uses a micro-rectangular electrical connector socket with a model number of J30J-37ZKN-J. The different shapes of the power socket and the signal socket realize the prevention of wrong insertion, and the number of core wires meets the requirements of power and signal;

[0039] Furthermore, the installation steps of a fiber optic gyroscope inertial measurement device for an antenna of the present invention are as follows: first, three accelerometers are installed on an accelerometer mounting base, and the accelerometer mounting base with the three accelerometers installed is installed in a semi-crescent-shaped mounting groove of a housing; then, a Z-axis fiber optic gyroscope is installed in the semi-crescent-shaped mounting groove; then, an X-axis fiber optic gyroscope, a Y-axis fiber optic gyroscope, and a power module are installed in the X-axis fiber optic gyroscope mounting groove, the Y-axis gyroscope mounting groove, and the power module mounting groove of the housing respectively; then, a signal acquisition and processing circuit board is installed on a boss in the semi-crescent-shaped mounting groove of the housing; finally, an upper cover, an annular side cover, a left cover, and a right cover are respectively installed on the housing to complete the sealing;

[0040] Furthermore, the power module is installed in an independent installation slot of the housing, which prevents the heat of the power module from affecting other components, thereby improving the accuracy of the semi-circular fiber optic gyro inertial measurement device;

[0041] Furthermore, the specific dimensions of the fiber optic gyro inertial measurement device for an antenna of the present invention are: a semicircular structure with an inner diameter of 96 mm, an outer diameter of 298 mm, and a height of 115 mm, connected to external screws through 12 3.4 mm through holes at the bottom, and the bottom surface and the center line of the 96 mm cylindrical surface are used as the installation reference surface.

[0042] A fiber optic gyro inertial measurement device for antennas, from the perspective of power distribution design:

[0043] The core of power distribution design lies in the power module, which includes filter module,

[0044] +24V to signal acquisition and processing circuit board +5V module, +24V to accelerometer ±15V module, +24V to fiber optic gyroscope ±5V module;

[0045] The power distribution process is as follows: the external +24V input is input into the filter module of the power module through the power socket for power filtering and converted into a smooth and filtered +24V voltage. The filtered +24V enters the independent +24V to +5V module of the signal acquisition and processing circuit board, the +24V to ±15V module of the accelerometer, and the +24V to ±5V module of the fiber optic gyroscope. Then, through each module, it is converted into +5V of the signal acquisition and processing circuit board, ±15V of the accelerometer, and ±5V of the fiber optic gyroscope.

[0046] Preferably, the +5V of the signal acquisition and processing circuit board is used to supply power to the digital circuit part of the signal acquisition and processing circuit board separately;

[0047] Preferably, the accelerometer ±15V is used to power three accelerometer IF modules (IF is the abbreviation of "current-frequency conversion") of the signal acquisition and processing circuit board, and also powers the three accelerometers. The reason why the three accelerometer IF modules of the signal acquisition and processing circuit board and the three accelerometers share the accelerometer ±15V is that the accelerometer signal and the accelerometer IF module signal acquisition are both related to power supply. Allowing the three accelerometer IF modules and the three accelerometers to share the accelerometer ±15V can reduce the accelerometer signal acquisition error caused by different power supplies.

[0048] Preferably, the fiber optic gyroscope ±5V is used to power the three fiber optic gyroscopes;

[0049] Preferably, the modules that power the signal acquisition and processing circuit board, the three accelerometers, and the three fiber optic gyroscopes are independent of each other, thereby avoiding mutual interference caused by the common power consumption of the various components and improving the accuracy of the fiber optic gyroscope inertial measurement device.

[0050] A fiber optic gyro inertial measurement device for antenna, from the perspective of signal flow design,

[0051] The core of the signal flow lies in the signal acquisition and processing circuit board, which includes a program storage module, a digital signal processing module, a synchronization signal module, a user data format configuration module, a digital signal acquisition module, an X-axis accelerometer IF module, a Y-axis accelerometer IF module, a Z-axis accelerometer IF module, and an RS422 interface module.

[0052] Preferably, when the fiber optic gyro inertial measurement device is powered on before it is ready to work normally, the digital signal processing module reads the running program stored in the program storage module and starts working;

[0053] Preferably, the three accelerometers output analog signals in the form of currents, and the currents of the X-axis accelerometer, the Y-axis accelerometer, and the Z-axis accelerometer are converted into X-axis accelerometer frequency signals, Y-axis accelerometer frequency signals, and Z-axis accelerometer frequency signals respectively through the X-axis accelerometer IF module, the Y-axis accelerometer IF module, and the Z-axis accelerometer IF module. The three accelerometer digital signals in the form of frequencies are collected in real time by the digital signal acquisition module;

[0054] Preferably, after receiving the synchronization signal sent by the synchronization signal module, the three fiber optic gyroscopes respectively output RS422 signals through their respective RS422 signal ports, that is, the X-direction fiber optic gyroscope, the Y-direction fiber optic gyroscope, and the Z-direction fiber optic gyroscope respectively output the X-direction fiber optic gyroscope RS422 signal, the Y-direction fiber optic gyroscope RS422 signal, and the Z-direction fiber optic gyroscope RS422 signal after receiving the synchronization signal. The RS422 signals of the three fiber optic gyroscopes are received by the RS422 interface module and sent to the digital signal acquisition module for real-time acquisition;

[0055] Preferably, the digital signal acquisition module packages the collected digital signals of the three accelerometers and the three fiber optic gyroscopes into collected digital signals and sends them to the digital signal processing module. The digital signal processing module processes the collected digital signals in real time according to the running program, converts them into processed digital signals, and sends them back to the digital signal acquisition module. The digital signal acquisition module packages the processed digital signals into data and outputs them to the user data format configuration module.

[0056] Preferably, the user data format configuration module outputs data formats according to user requirements, including RS232 data format, RS422 data format, network port data format and CAN port data format, and the user data in the configured data format is transmitted to the user through the signal socket;

[0057] Preferably, the digital signal acquisition module and the digital signal processing module are two core modules of the signal acquisition and processing circuit board. The digital signal acquisition module uses a field programmable gate array (FPGA) chip with a model number of XC3S1000-4FGG320I, and the digital signal processing module uses a low-power floating-point digital signal processor (DSP) chip with a model number of TMS320C6713BGDPA200.

[0058] Preferably, the signal processes of the three accelerometers and the three fiber optic gyroscopes are independent of each other, thereby reducing interference between the components due to signal transmission;

[0059] Preferably, the three fiber optic gyroscopes send out RS422 signals only after receiving the synchronization signal, thereby reducing the error caused by signal transmission delay between the three fiber optic gyroscopes;

[0060] Preferably, the digital signal acquisition module and digital signal processing module of the signal acquisition and processing circuit board adopt an FPGA+DSP framework with excellent real-time performance, realizing real-time acquisition and processing of accelerometer and fiber optic gyroscope signals, reducing the measurement error of the fiber optic gyroscope inertial measurement device caused by delay errors in data acquisition and processing, thereby improving accuracy.

[0061] The following is a more specific embodiment:

[0062] In this embodiment, from the perspective of structural design, see the attached Figure 1 and attached Figure 2 , including: upper cover 1, signal acquisition and processing circuit board 2, Y-axis accelerometer 3, Z-axis accelerometer 4, accelerometer mounting base 5, X-axis accelerometer 6, shell 7, Y-axis fiber optic gyroscope 8, left cover 9, right cover 10, power module 11, power socket 12, signal socket 13, Z-axis fiber optic gyroscope 14, X-axis fiber optic gyroscope 15, and circular side cover 16.

[0063] Further, see Appendix Figure 3 The Y-direction fiber optic gyroscope 8 is installed in the Y-direction fiber optic gyroscope installation groove of the housing 7. The fiber optic gyroscope installation surface in the Y-direction fiber optic gyroscope installation groove of the housing 7 is provided with an oblong through-hole for routing the Y-direction fiber optic gyroscope 8, and the Y-direction fiber optic gyroscope installation groove is sealed by the left cover 9; the power module 11 is installed in the power module installation groove of the housing 7. The power module installation surface in the power module installation groove of the housing 7 is provided with an oblong through-hole for routing the power module 11, and the power module installation groove is sealed by the right cover 10;

[0064] Further, see Appendix Figure 4 The three accelerometers (X-axis accelerometer 6, Y-axis accelerometer 3, and Z-axis accelerometer 4) are orthogonally mounted on the accelerometer mounting base 5. The accelerometer mounting base 5 and the Z-axis fiber optic gyroscope 14 are mounted together in the semi-crescent-shaped mounting groove of the housing 7, and the semi-crescent-shaped mounting groove is sealed by the upper cover 1.

[0065] Further, see Appendix Figure 5 The half-moon-shaped mounting groove of the housing 7 is provided with five bosses for mounting the signal acquisition and processing circuit board 2, see the attached Figure 6 , the signal acquisition and processing circuit board 2 is above the three accelerometers and the Z-direction fiber optic gyroscope 14;

[0066] Further, see Appendix Figure 7The X-axis fiber optic gyroscope 15 is installed in the X-axis fiber optic gyroscope installation groove on the right side of the housing 7. The X-axis fiber optic gyroscope installation surface in the X-axis fiber optic gyroscope installation groove of the housing 7 is provided with an oblong through hole for routing the X-axis fiber optic gyroscope 15, the Z-axis fiber optic gyroscope 14, the three accelerometers and the signal acquisition and processing circuit board 2, and the X-axis fiber optic gyroscope installation groove is sealed by a circular side cover 16;

[0067] Furthermore, the power socket 12 uses a micro rectangular electrical connector socket with a model number of J30J-9ZKN-J, and the signal socket 13 uses a micro rectangular electrical connector socket with a model number of J30J-37ZKN-J. The different shapes of the power socket 12 and the signal socket 13 realize the prevention of wrong insertion, and the number of core wires meets the requirements of power and signal;

[0068] Furthermore, the installation steps of the fiber optic gyroscope inertial measurement device for an antenna of the present invention are as follows: first, three accelerometers are installed on the accelerometer mounting base 5, and the accelerometer mounting base 5 with the three accelerometers installed is installed in the semi-crescent-shaped mounting groove of the housing 7; then, the Z-axis fiber optic gyroscope 14 is installed in the semi-crescent-shaped mounting groove; then, the X-axis fiber optic gyroscope 15, the Y-axis fiber optic gyroscope 8 and the power module 11 are respectively installed in the X-axis fiber optic gyroscope mounting groove, the Y-axis gyroscope mounting groove and the power module mounting groove of the housing 7; then, the signal acquisition and processing circuit board 2 is installed on the boss in the semi-crescent-shaped mounting groove of the housing 7; finally, the upper cover 1, the annular side cover 16, the left cover 9 and the right cover 10 are respectively installed on the housing 7 to complete the sealing;

[0069] Furthermore, the power module 11 is installed in an independent installation slot of the housing 7, which prevents the heat of the power module 11 from affecting other components, thereby improving the accuracy of the semicircular fiber optic gyro inertial measurement device;

[0070] Furthermore, the specific dimensions of the fiber optic gyro inertial measurement device for an antenna of the present invention are: a semicircular structure with an inner diameter of 96 mm, an outer diameter of 298 mm, and a height of 115 mm, connected to external screws through 12 3.4 mm through holes at the bottom, and the bottom surface and the center line of the 96 mm cylindrical surface are used as the installation reference surface.

[0071] A fiber optic gyro inertial measurement device for antennas, from the perspective of power distribution design:

[0072] The core of power distribution design is the power module 11, see the attached Figure 8 The power supply module 11 includes a filter module 1101, a +24V to signal acquisition and processing circuit board +5V module 1102, a +24V to accelerometer ±15V module 1103, and a +24V to fiber optic gyroscope ±5V module 1104;

[0073] The power distribution process is as follows: the external +24V input is input into the filter module 1101 of the power module 11 through the power socket 12 for power filtering and conversion into a smooth and filtered +24V voltage. The filtered +24V respectively enters the independent +24V to signal acquisition and processing circuit board +5V module 1102, +24V to accelerometer ±15V module 1103, and +24V to fiber optic gyroscope ±5V module 1104 and is converted into the signal acquisition and processing circuit board +5V, accelerometer ±15V, and fiber optic gyroscope ±5V through each module.

[0074] Preferably, the +5V of the signal acquisition and processing circuit board is used to supply power to the digital circuit part of the signal acquisition and processing circuit board 2 alone;

[0075] Preferably, the accelerometer ±15V is used to power the three accelerometer IF modules (IF is the abbreviation of "current-frequency conversion") of the signal acquisition and processing circuit board 2, and also powers the three accelerometers. The reason why the three accelerometer IF modules of the signal acquisition and processing circuit board 2 and the three accelerometers share the accelerometer ±15V is that the accelerometer signal and the accelerometer IF module signal acquisition are both related to power supply. Letting the three accelerometer IF modules and the three accelerometers share the accelerometer ±15V can reduce the accelerometer signal acquisition error caused by different power supplies.

[0076] Preferably, the fiber optic gyroscope ±5V is used to power the three fiber optic gyroscopes;

[0077] Preferably, the modules that power the signal acquisition and processing circuit board 2, the three accelerometers and the three fiber optic gyroscopes are independent of each other, thereby avoiding mutual interference caused by common power consumption among the various components and improving the accuracy of the fiber optic gyroscope inertial measurement device.

[0078] A fiber optic gyro inertial measurement device for antenna, from the perspective of signal flow design,

[0079] The core of the signal flow is the signal acquisition and processing circuit board 2, see the attached Figure 9 The signal acquisition and processing circuit board 2 includes a program storage module 201, a digital signal processing module 202, a synchronization signal module 203, a user data format configuration module 204, a digital signal acquisition module 205, an X-axis accelerometer IF module 206, a Y-axis accelerometer IF module 207, a Z-axis accelerometer IF module 208, and an RS422 interface module 209;

[0080] Preferably, when the fiber optic gyro inertial measurement device is powered on before it is ready to work normally, the digital signal processing module 202 reads the running program stored in the program storage module 201 and starts working;

[0081] Preferably, the three accelerometers output analog signals in the form of currents. The currents of the X-axis accelerometer 6, the Y-axis accelerometer 3, and the Z-axis accelerometer 4 are converted into X-axis accelerometer frequency signals, Y-axis accelerometer frequency signals, and Z-axis accelerometer frequency signals respectively through the X-axis accelerometer IF module 206, the Y-axis accelerometer IF module 207, and the Z-axis accelerometer IF module 208. The three accelerometer digital signals in the form of frequencies are collected in real time by the digital signal acquisition module 205.

[0082] Preferably, after receiving the synchronization signal sent by the synchronization signal module 203, the three fiber optic gyroscopes respectively output RS422 signals through their respective RS422 signal ports, that is, the X-direction fiber optic gyroscope 15, the Y-direction fiber optic gyroscope 8, and the Z-direction fiber optic gyroscope 14 respectively output the X-direction fiber optic gyroscope RS422 signal, the Y-direction fiber optic gyroscope RS422 signal, and the Z-direction fiber optic gyroscope RS422 signal after receiving the synchronization signal. The RS422 signals of the three fiber optic gyroscopes are received by the RS422 interface module 209 and sent to the digital signal acquisition module 205 for real-time acquisition.

[0083] Preferably, the digital signal acquisition module 205 packages the collected digital signals of the three accelerometers and the three fiber optic gyroscopes into collected digital signals and sends them to the digital signal processing module 202. The digital signal processing module 202 processes the collected digital signals in real time according to the running program, converts them into processed digital signals, and sends them back to the digital signal acquisition module 205. The digital signal acquisition module 205 packages the processed digital signals into data and outputs them to the user data format configuration module 204.

[0084] Preferably, the user data format configuration module 204 outputs data formats according to user requirements, including RS232 data format, RS422 data format, network port data format and CAN port data format, and the user data in the configured data format is transmitted to the user through the signal socket 13;

[0085] Preferably, the digital signal acquisition module 205 and the digital signal processing module 202 are two core modules of the signal acquisition and processing circuit board 2. The digital signal acquisition module 205 uses a field programmable gate array (FPGA) chip with a model number of XC3S1000-4FGG320I, and the digital signal processing module 202 uses a low-power floating-point digital signal processor (DSP) chip with a model number of TMS320C6713BGDPA200.

[0086] Preferably, the signal processes of the three accelerometers and the three fiber optic gyroscopes are independent of each other, thereby reducing interference between the components due to signal transmission;

[0087] Preferably, the three fiber optic gyroscopes send out RS422 signals only after receiving the synchronization signal, thereby reducing the error caused by signal transmission delay between the three fiber optic gyroscopes;

[0088] Preferably, the digital signal acquisition module 205 and the digital signal processing module 202 of the signal acquisition and processing circuit board 2 adopt an FPGA+DSP framework with excellent real-time performance, realizing real-time acquisition and processing of accelerometer and fiber optic gyroscope signals, reducing the measurement error of the fiber optic gyroscope inertial measurement device caused by the delay error of data acquisition and processing, thereby improving the accuracy.

Claims

1. A fiber optic gyro inertial measurement device for an antenna, comprising an X-axis accelerometer, a Y-axis accelerometer, a Z-axis accelerometer, an X-axis fiber optic gyro, a Y-axis fiber optic gyro, and a Z-axis fiber optic gyro, characterized in that: It also includes a power supply module and a signal acquisition and processing circuit board; The power supply module includes a filter module, a +24V to signal acquisition and processing circuit board +5V module, a +24V to accelerometer ±15V module and a +24V to fiber optic gyroscope ±5V module; The external +24V input is input into the filter module of the power module through the power socket for power filtering and converted into a smooth and filtered +24V. The filtered +24V enters the independent +24V to signal acquisition and processing circuit board +5V module, +24V to accelerometer ±15V module, and +24V to fiber optic gyroscope ±5V module respectively, and is converted into the signal acquisition and processing circuit board +5V, accelerometer ±15V, and fiber optic gyroscope ±5V through each module. The signal acquisition and processing circuit board integrates a program storage module, a digital signal processing module, a synchronization signal module, a user data format configuration module, a digital signal acquisition module, an X-axis accelerometer IF module, a Y-axis accelerometer IF module, a Z-axis accelerometer IF module and an RS422 interface module; At the moment of power-on before the fiber optic gyro inertial measurement device is ready for normal operation, the digital signal processing module reads the running program saved in the program storage module and starts working; the currents of the X-axis accelerometer, the Y-axis accelerometer, and the Z-axis accelerometer are converted into X-axis accelerometer frequency signals, Y-axis accelerometer frequency signals, and Z-axis accelerometer frequency signals through the X-axis accelerometer IF module, the Y-axis accelerometer IF module, and the Z-axis accelerometer IF module, respectively, and the three accelerometer digital signals in frequency form are collected in real time by the digital signal acquisition module; after receiving the synchronization signal, the X-axis fiber optic gyroscope, the Y-axis fiber optic gyroscope, and the Z-axis fiber optic gyroscope respectively output the X-axis fiber optic gyroscope RS422 signal, the Y-axis fiber optic gyroscope RS422 signal, and the Z-axis fiber optic gyroscope RS422 signal, and the RS422 signals of the three fiber optic gyroscopes are received by the RS422 interface module and sent to the digital signal acquisition module for real-time collection; The digital signal acquisition module packages the digital signals collected from the three accelerometers and three fiber optic gyroscopes into collected digital signals and sends them to the digital signal processing module. The digital signal processing module processes the collected digital signals in real time according to the running program, converts them into processed digital signals, and sends them back to the digital signal acquisition module. The digital signal acquisition module packages the processed digital signals into data and outputs them to the user data format configuration module. The user data format configuration module outputs data formats according to user requirements, including RS232 data format, RS422 data format, network port data format and CAN port data format. The user data with configured data format is transmitted to the user through the signal socket; The device also includes a housing and a mounting base; the housing is a semicircular ring structure, with mounting grooves provided at both ends of the diameter surface of the housing, the Y-axis fiber optic gyroscope is located in one of the mounting grooves, and a power module is provided in the other mounting groove; the openings of the two mounting grooves are covered by a left cover and a right cover respectively; The upper plane of the housing is provided with a mounting slot II and a mounting slot III, and the mounting slot II and the mounting slot III are separated by a partition; a mounting base and a Z-axis fiber optic gyroscope are provided in the mounting slot II; the X-axis accelerometer, the Y-axis accelerometer, and the Z-axis accelerometer are all located in the mounting base, and the orientations of the X-axis accelerometer, the Y-axis accelerometer, and the Z-axis accelerometer are perpendicular to each other; the X-axis fiber optic gyroscope is located in the mounting slot III, and the orientations of the X-axis fiber optic gyroscope, the Y-axis fiber optic gyroscope, and the Z-axis fiber optic gyroscope are perpendicular to each other; A signal acquisition and processing circuit board is also provided on the top of the mounting slot II and the mounting slot III; an upper cover is provided above the signal acquisition and processing circuit board for sealing the mounting slot II and the mounting slot III; a power socket and a signal socket are also provided on the upper plane of the housing; The X-axis accelerometer, Y-axis accelerometer, Z-axis accelerometer, X-axis fiber optic gyroscope, Y-axis fiber optic gyroscope, Z-axis fiber optic gyroscope, power module, power socket and signal socket are all connected to the signal acquisition and processing circuit board.

2. The fiber optic gyro inertial measurement device for antenna according to claim 1, characterized in that: The +5V of the signal acquisition and processing circuit board powers the digital circuit part of the signal acquisition and processing circuit board; the ±15V of the accelerometer powers the three accelerometer IF modules of the signal acquisition and processing circuit board, and powers the three accelerometers at the same time; the ±5V of the fiber optic gyroscope powers the three fiber optic gyros.

3. The fiber optic gyro inertial measurement device for antenna according to claim 1, characterized in that: Along the axial direction of the X-direction accelerometer, the mounting groove III is provided with a through opening facing the arc surface; the end of the through opening is sealed by a circular side cover.

4. The fiber optic gyro inertial measurement device for antenna according to claim 3, characterized in that: The mounting groove II and the top of the mounting groove II are both provided with mounting bosses; the mounting bosses are supported on the bottom of the signal acquisition and processing circuit board.

5. The fiber optic gyro inertial measurement device for antenna according to claim 4, characterized in that: The back of the installation slot of the power module is provided with a wiring hole that passes through to the installation slot III; the power socket and the signal socket are located at the top of the through-hole position, and a wiring groove is provided on the top of the partition; the back of the installation slot of the Y-axis fiber optic gyroscope is provided with a wiring II hole that passes through to the installation slot II.

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