Inertial navigation module, control method of inertial navigation module and mechanical equipment

Abstract

The embodiment of the invention discloses an inertial navigation module, a control method of the inertial navigation module and mechanical equipment. The inertial navigation module can comprise a box body, a rotating structure, a control unit, a first sensor unit and a second sensor unit, wherein the rotating structure, the control unit, the first sensor unit and the second sensor unit are located in the box body. The first sensor unit collects first data and is fixed to the rotating shaft. The control unit obtains first data when the rotating shaft is in the position keeping state and determines attitude information according to the first data. The second sensor unit collects second data and is fixed to the box body, and the control unit obtains the second data and determines position information according to the second data. Through the arrangement, the first sensor unit rotates along with the rotating shaft, diversification of first data is improved, and the accuracy of attitude information is improved. And moreover, the second sensor unit and the box body are relatively static, so that the accuracy of the determined position information is ensured. Therefore, the positioning of the attitude information and the position information of the inertial navigation module is realized through a combined framework of the double sensor units.

Description

Technical Field

[0001] The present application relates to the field of positioning technology, and in particular to an inertial navigation module, a control method for the inertial navigation module, and a mechanical device. Background Art

[0002] With the continuous advancement of science and technology, the degree of industrial automation in the fields of mines, tunnels, electricity, energy and chemical industry is getting higher and higher, and engineering safety has attracted more and more attention. In order to ensure the safety of operation, it is necessary to determine the posture information of the operating mechanical equipment, so as to adjust the working state of the mechanical equipment according to the posture information. Generally, the inertial navigation module is an autonomous navigation device that does not rely on external information and does not radiate energy to the outside. Its working environment includes not only air and ground, but also underground and underwater. By installing the inertial navigation module on the mechanical equipment, the posture information of the mechanical equipment can be determined based on the inertial navigation module. Generally, the posture information is the position information and attitude information describing the mechanical equipment in a specified coordinate system (such as a navigation coordinate system, a spatial rectangular coordinate system). At present, the posture sampling data and the position sampling data are usually collected based on the sensor unit fixed on the mechanical equipment, so as to determine the posture information of the mechanical equipment based on the posture sampling data, and determine the position information of the mechanical equipment based on the position sampling data. Since the position of the sensor unit relative to the mechanical equipment is fixed, the posture sampling data collected by the sensor unit is relatively single. In addition, during the sampling process, the sensor unit is susceptible to interference, which will cause the accuracy of the sampling data collected by the sensor unit to be reduced. Therefore, the accuracy of determining the position and posture information of mechanical equipment based on the current method is low. Summary of the invention

[0003] The embodiments of the present application provide an inertial navigation module, a control method of the inertial navigation module, and a mechanical device, so as to improve the accuracy of determining the position and posture information of the mechanical device.

[0004] In the first aspect, the embodiment of the present application provides an inertial navigation module, which may include: a housing and a rotating structure in the housing, a control unit, a first sensor unit, and a second sensor unit. In this way, the rotating structure, the control unit, the first sensor unit, and the second sensor unit can be protected by the housing. In addition, the rotating structure is fixed to the housing, the rotating structure has a rotating shaft, and the control unit is connected to the rotating structure, and the rotating shaft can be controlled to alternately be in a rotating state and multiple position holding states for multiple times. The first sensor unit can collect first data, and the first sensor unit is fixed to the rotating shaft, so that the first sensor unit can follow the rotating shaft when the rotating shaft rotates and rotate circumferentially around the axis of the rotating shaft. The control unit is also connected to the first sensor unit, and the first data collected by the first sensor unit can be obtained when the rotating shaft is in a position holding state, and the attitude information of the inertial navigation module is determined according to the first data. In addition, the second sensor unit collects second data, and the second sensor unit is fixed to the housing, so that the second sensor unit and the housing are relatively stationary, and the control unit is also connected to the second sensor unit, and the second data collected by the second sensor unit can be obtained, and the position information of the inertial navigation module is determined according to the second data.

[0005] With this arrangement, the first sensor unit for determining the attitude information and the second sensor unit for determining the position information are divided into two functional units, so that the first sensor unit can rotate with the shaft, and obtain the first data through the first sensor unit when the shaft is in a different position holding state, so that the control unit can obtain multiple first data, realize the process of multi-point sampling based on the first sensor unit, improve the diversification of the first data, and then improve the accuracy of the attitude information determined based on multiple first data. In addition, by making the second sensor unit relatively still with the box, combined with the second data, the accuracy of the determined position information is guaranteed. Thus, through the combined architecture of the dual sensor units, the positioning of the attitude information and position information of the inertial navigation module is realized.

[0006] In order to further improve the accuracy of the attitude information, the second data collected by the second sensor unit is also obtained, and the obtained second data is used to calibrate each first data to improve the accuracy of the first data, so as to determine the attitude information of the inertial navigation module according to the calibrated first data.

[0007] In order to further improve the accuracy of the position information, the rotating shaft in the rotating structure is also controlled to be in a stationary state, and the first data collected by the first sensor unit is obtained. After that, the second data is calibrated using the obtained first data to improve the accuracy of the second data, so as to determine the position information of the inertial navigation module according to the calibrated second data.

[0008] The inertial navigation module may also include a first support assembly, and the first support assembly is fixed to the rotating shaft. When the rotating shaft rotates a certain angle, the first support assembly can rotate a corresponding angle. In addition, the first sensor unit is fixed to the first support assembly, so that the first sensor unit rotates circumferentially around the axis of the rotating shaft through the first support assembly.

[0009] Optionally, the first support assembly includes a first circuit board, the first circuit board is fixed on the rotating shaft, and the first sensor unit is fixed on the first circuit board, so that the first sensor unit is fixed on the rotating shaft through the first circuit board. In addition, the first sensor unit is connected to the first circuit board, so that the first sensor unit is connected to the control unit through the first circuit board to realize the transmission of the first data.

[0010] In addition, the plane where the first circuit board is located and the extension direction of the shaft can have multiple angles. For example, the plane where the first circuit board is located can be parallel to the extension direction of the shaft, or the plane where the first circuit board is located can be perpendicular to the extension direction of the shaft.

[0011] The inertial navigation module may further include a structural fixing member, and the first support assembly is fixed to the rotating shaft through the structural fixing member, thereby improving the firmness between the first support assembly and the rotating shaft.

[0012] The inertial navigation module may further include a second support assembly, which is fixed inside the box body so that the second support assembly and the box body are relatively stationary. In addition, the control unit and / or the second sensor unit may be fixed on the second support assembly so that the control unit and / or the second sensor unit and the box body are relatively stationary.

[0013] Optionally, the second support assembly includes a second circuit board, the second circuit board is fixed inside the box, and the control unit and / or the second sensor unit are fixed on the second circuit board, so that the control unit and / or the second sensor unit are fixed in the box through the second circuit board. In addition, the control unit and the second sensor unit are electrically connected to the second circuit board respectively, and the control unit transmits the first data with the first sensor unit through the second circuit board. In addition, the control unit is also connected to the second sensor unit through the second circuit board to transmit the second data. In addition, the control unit is also connected to the rotating structure through the second circuit board to send a signal to the rotating structure to control the rotating shaft in the rotating structure to be in a rotating state and a position holding state.

[0014] In the above embodiment, the rotating structure may include an electric motor, the rotor of which is connected to the rotating shaft, and when the rotor rotates, the rotating shaft can be driven to rotate synchronously. During operation, the control unit loads a corresponding signal to the electric motor to control the rotation and position maintenance of the rotor, thereby controlling the rotation and position maintenance of the rotating shaft. Optionally, the electric motor may be set as a DC motor, and since the cost of a DC motor is relatively low, the cost of the entire inertial navigation module may be further reduced. It is understandable that in actual applications, the above-mentioned electric motor may also be set as an AC motor to meet the requirements of the application environment.

[0015] Due to gravity or other interference, when the control accuracy of the rotating structure (such as a motor) is not enough, it will vibrate back and forth at the set position, thereby affecting the accuracy of the first sensor unit collecting the first data. In addition, if the rotating structure (such as a motor) undergoes movement displacement during the rotation of the shaft, it will also affect the accuracy of the first sensor unit collecting the first data. In order to improve the impact of the above-mentioned problems, the inertial navigation module may also include a damping structure disposed in the housing, and the damping structure is fixed to the housing so that the damping structure and the housing can be stationary relative to each other. In addition, the damping structure contacts the rotating structure to apply resistance to the rotating structure through the damping structure and ensure the normal rotation of the shaft.

[0016] In addition, the damping structure can be set as a pure passive damping structure to adapt to the current small low-torque motor so as not to generate additional power consumption. In addition, the volume of the damping structure can be set smaller to reduce the occupied area in the box.

[0017] Exemplarily, the damping structure includes a damping ring, which is arranged around the rotating structure and fixed inside the box. Exemplarily, screw holes can be arranged at both ends of the main body, and the damping ring can be fixed inside the box by screw locking, or the damping ring can be fixed inside the box by welding or bonding.

[0018] Optionally, the box body may include: a receiving portion and a cover portion, wherein the receiving portion and the cover portion respectively have a receiving space, and the receiving space forms a cavity. The receiving portion and the cover portion may be fixed by screw locking or other fixing methods to achieve upper and lower cover closure, so as to enclose the rotating structure, the control unit, the first sensor unit and the second sensor unit in the above-mentioned receiving space. The rotating structure is fixed in the bottom of the receiving portion, and the rotating shaft of the rotating structure is arranged on the side of the rotating structure away from the bottom of the receiving portion. In addition, the second support assembly and the damping structure may also be fixed in the bottom of the receiving portion.

[0019] Since the sensor unit corresponding to the posture information and the sensor unit corresponding to the position information are divided into two functional units, the first sensor unit can use a low-cost sensor to realize the positioning of the posture information. For example, the first sensor unit may include a gyroscope, a magnetometer, and an accelerometer. Alternatively, the first sensor unit may also include a gyroscope and an accelerometer. Alternatively, the first sensor unit may also include a magnetometer and an accelerometer.

[0020] Similarly, the second sensor unit may also use a low-cost sensor to realize the positioning of the posture information. For example, the second sensor unit may also include a gyroscope, a magnetometer, and an accelerometer. Alternatively, the second sensor unit may also include a gyroscope and an accelerometer. Alternatively, the second sensor unit may also include a magnetometer and an accelerometer.

[0021] In the second aspect, the embodiment of the present application also provides a control method for an inertial navigation module, and the inertial navigation module can be the inertial navigation module in any of the schemes in the first aspect above. Among them, the control method may include: in response to the inertial navigation module being in a stationary state, controlling the rotating shaft in the rotating structure to alternately be in a rotating state and a position holding state multiple times, acquiring the first data collected by the first sensor unit each time the rotating shaft is in the position holding state, and determining the posture information of the inertial navigation module based on the acquired first data. And, in response to the inertial navigation module being in a moving state, acquiring the second data collected by the second sensor unit, and determining the position information of the inertial navigation module based on the second data.

[0022] The process of controlling the rotating shaft in a rotating structure to alternately be in a rotating state and a position holding state multiple times may include but is not limited to the following methods: for example, controlling the rotating shaft to rotate N circles, and controlling the rotating shaft to be in a position holding state at multiple positions when the rotating shaft rotates, the multiple M positions may include multiple first positions and multiple second positions, the multiple first positions and the multiple second positions correspond one to one, and when the rotating shaft rotates from a first position to a corresponding second position, the rotating shaft rotates 180°, N is an integer and N≥1.

[0023] Exemplarily, if no other position is provided between the first position and the second position corresponding to each other, the rotating shaft can maintain the position after each rotation of 180°.

[0024] Exemplarily, at least one other position is provided between the first position and the second position that correspond to each other, and the rotating shaft can maintain the position after each rotation of the corresponding angle. For example, one other position is provided between the first position and the second position that correspond to each other, and the rotating shaft can maintain the position after each rotation of 90°. For example, two other positions are provided between the first position and the second position that correspond to each other, and the rotating shaft can maintain the position after each rotation of 60°.

[0025] Exemplarily, the attitude information may include a target heading angle. Determining the attitude information of the inertial navigation module according to the acquired first data may include but is not limited to the following methods:

[0026] Method 1: Determine the initial heading angle corresponding to the nth circle according to multiple first data obtained when the rotation is maintained at each position of the nth circle in N circles, where n is an integer and 1≤n≤N; and determine the average value of the initial heading angles corresponding to the N circles as the target heading angle.

[0027] Method 2: Determine multiple initial heading angles based on the first data corresponding to each two adjacent first positions and their corresponding second positions among the multiple first data obtained when the rotating shaft is in each position holding state in N circles, and determine the average value of the multiple initial heading angles as the target heading angle.

[0028] In order to further improve the accuracy of the attitude information, in response to the inertial navigation module being in a stationary state, the second data collected by the second sensor unit is also acquired, and each first data is calibrated using the acquired second data to improve the accuracy of the first data, so as to determine the attitude information of the inertial navigation module based on the calibrated first data.

[0029] In order to further improve the accuracy of the position information, in response to the inertial navigation module being in a moving state, the rotating shaft in the rotating structure is also controlled to be in a stationary state, and the first data collected by the first sensor unit is obtained. Afterwards, the second data is calibrated using the obtained first data to improve the accuracy of the second data, so as to determine the position information of the inertial navigation module according to the calibrated second data.

[0030] In practical applications, one or more control modes can be used to control the rotating shaft to be in a position-holding state. For example, control mode 1 and control mode 2. Control mode 1 is: continuously loading a locking voltage to the rotating structure to control the rotating shaft to be locked. Control mode 2 is: periodically loading a locking voltage to the rotating structure and stopping power supply to the rotating structure to control the rotating shaft to be periodically locked.

[0031] In the present application, when the shaft is controlled to work based on control mode 2, a damping structure can be combined to reduce the interference caused by the rotating structure (such as a motor) entering the unlocked state, thereby further improving the accuracy of the first data collection. In addition, during the process of maintaining the position of the shaft, the control unit can also obtain the angle error of the shaft, and compare the obtained angle error with the pre-set angle error range to determine whether the angle error is within the angle error range. When the angle error is not within the angle error range, the rotating structure (such as a motor) is driven to control the shaft to make an angle correction, thereby improving the angle accuracy of the shaft when it maintains the current position.

[0032] In order to reduce power consumption, after the process of determining the attitude information of the inertial navigation module is completed, the power supply to the rotating structure (such as a motor) and the first sensor unit can be stopped to reduce the power consumption of the entire module. After that, the rotating structure and the first sensor unit can be powered again to control the rotating structure and the first sensor unit to work again and locate the attitude information again. The power supply to the rotating structure and the first sensor unit can be performed through one or more triggering methods.

[0033] For example, trigger method one: in response to a periodic calibration period, power is supplied to the rotating structure and the first sensor unit during the calibration period to control the rotating structure and the first sensor unit to work so as to determine the attitude information of the inertial navigation module, and there is a calibration interval between adjacent calibration periods.

[0034] For example, trigger mode 2: in response to the current running distance of the inertial navigation module being not less than the distance threshold, power is supplied to the rotating structure and the first sensor unit to control the rotating structure and the first sensor unit to work, so as to determine the attitude information of the inertial navigation module.

[0035] For example, trigger mode three: in response to the accumulated uncalibrated time of the inertial navigation module being not less than the time threshold, power is supplied to the rotating structure and the first sensor unit to control the operation of the rotating structure and the first sensor unit to determine the attitude information of the inertial navigation module, and the accumulated uncalibrated time is the accumulated time since the last time the attitude information of the inertial navigation module was determined.

[0036] For example, trigger mode four: in response to the vibration intensity of the environment where the inertial navigation module is located being less than the vibration intensity threshold, power is supplied to the rotating structure and the first sensor unit to control the rotating structure and the first sensor unit to operate so as to determine the attitude information of the inertial navigation module.

[0037] In the third aspect, the embodiment of the present application also provides a mechanical device, including: a device body, a control system and an inertial navigation module, and the inertial navigation module is such as the inertial navigation module of the first aspect or various embodiments of the first aspect mentioned above. In addition, the inertial navigation module is fixed to the device body, and the posture information and position information of the device body can be determined by the inertial navigation module. Furthermore, the control system is used to obtain the posture information and position information of the device body based on the inertial navigation module, and control the device body to adjust the position according to the posture information and position information of the device body. In addition, the principle of solving the problem by the mechanical device is similar to the principle of solving the problem by the aforementioned inertial navigation module, so the implementation of the mechanical device can refer to the implementation of the aforementioned inertial navigation module, and the repeated parts will not be repeated. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a schematic diagram of the structure of a fully mechanized mining face equipment in one embodiment of the present application;

[0039] Figure 2This is a schematic diagram of the structure of an inertial navigation module in an embodiment of the present application;

[0040] Figure 3 This is a schematic diagram of a top view of the first circuit board in an embodiment of the present application along the extension direction of the rotating shaft;

[0041] Figure 4 This is a structural schematic diagram of an inertial navigation module in another embodiment of the present application;

[0042] Figure 5 This is a schematic diagram of a top view of the first circuit board in another embodiment of the present application along the extension direction of the rotating shaft;

[0043] Figures 6a to 6d They are schematic diagrams of the structure of a damping structure in an embodiment of the present application;

[0044] Figure 7 This is a flow chart of a control method in one embodiment of the present application;

[0045] Figure 8a A schematic diagram of the state of a first circuit board in an embodiment of the present application;

[0046] Figure 8b This is a schematic diagram of the state of a first circuit board in another embodiment of the present application;

[0047] Figure 8c This is a schematic diagram of the state of a first circuit board in another embodiment of the present application;

[0048] Figure 8d This is a schematic diagram of the state of a first circuit board in another embodiment of the present application;

[0049] Figure 8e This is a schematic diagram of the state of a first circuit board in another embodiment of the present application;

[0050] Figure 9a A schematic diagram of a voltage applied to a rotating structure in one embodiment of the present application;

[0051] Figure 9b A schematic diagram of a voltage applied to a rotating structure in yet another embodiment of the present application;

[0052] Fig.10 This is a schematic diagram of the calibration interval duration in an embodiment of the present application.

[0053] Reference numerals:

[0054] 100- fully mechanized mining equipment; 110- mining machine; 120- hydraulic support; 130- transport machine; 140- control system; 200- inertial navigation module; 210- box; 212- accommodating part; 211- cover; 220- rotating structure; 221- rotating shaft; 222- housing; 230- control unit; 240- first sensor unit; 250- second sensor unit; 260- first support assembly; 261 / 261a / 261b 1b / 261c / 261d / 261e / 261f-first circuit board; 262-structural fixing part; 270-second supporting assembly; 271-second circuit board; 280-damping structure; 281-main body; 282-screw hole; 283-hollowing; 284-fixing assembly; 285-damping ball; VS-locking voltage; VZ-rotation voltage; TS1-first set time; TS2-second set time; F0-axis line. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. The specific operation method in the method embodiment can also be applied to the device embodiment or the system embodiment. It should be noted that in the description of the present application, "at least one" refers to one or more, wherein multiple refers to two or more. In view of this, "multiple" can also be understood as "at least two" in the embodiment of the present application. "And / or" describes the association relationship of the associated objects, indicating that there can be three relationships, for example, A and / or B can be represented: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / ", unless otherwise specified, generally indicates that the front and back associated objects are an "or" relationship. In addition, it should be understood that in the description of the present application, the words "first", "second" and the like are only used for the purpose of distinguishing the description, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying order. And, the terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0056] Generally, the posture information is the position information and attitude information describing a certain object in a specified coordinate system (such as a navigation coordinate system, a spatial rectangular coordinate system). Among them, the posture information usually represents the orientation of the object in space, and the position information usually represents the positioning of the object in space. The inertial navigation module in the embodiment of the present application can be used to locate the posture information and position information of various objects. For example, the inertial navigation module in the embodiment of the present application can be applied to a north finder or other mechanical equipment that needs to locate the posture information and position information. The posture information and position information of the equipment body in the mechanical equipment are determined by the inertial navigation module, so as to control the equipment body to adjust the position according to the posture information and position information of the equipment body. Exemplarily, the mechanical equipment includes but is not limited to fully mechanized mining equipment, vehicles, drones, aircraft, etc. in the coal mining industry. It is understandable that the inertial navigation module in the embodiment of the present application is intended to include but is not limited to application in these and any other suitable types of equipment.

[0057] The following is a detailed description of the application of the inertial navigation module in the embodiment of the present application in the fully mechanized mining face equipment. For the working process of the inertial navigation module in the embodiment of the present application applied to equipment in other fields, reference can be made to the working process applied to other mechanical equipment below, and the repetitions will not be discussed.

[0058] Figure 1 This is a schematic diagram of the structure of a fully mechanized mining face equipment in an embodiment of the present application, and the fully mechanized mining face equipment 100 is mainly used for coal mining as an example for description. Figure 1The fully mechanized mining face equipment 100 mainly includes: an equipment body and a control system 140, wherein the equipment body includes: a mining machine 110, a hydraulic support 120 and a conveyor 130, the mining machine 110 is connected to the conveyor 130, and the conveyor 130 is connected to the hydraulic support 120. In addition, the mining machine 110 is mainly used for coal seam cutting, the conveyor 130 is mainly used for transporting the coal cut by the mining machine 110 to the corresponding position, and the hydraulic support 120 is mainly used for spatial support and protection of the coal seam mining area, and the mining machine 110 and the conveyor 130 are pushed forward by the hydraulic support 120. During the coal mining process, the control system 140 controls the mining machine 110 to cut the coal face horizontally, and controls the conveyor 130 to transport. When the mining machine 110 completes the current cutting of the horizontal coal face and the conveyor 130 completes the current transportation, the control system 140 can control the hydraulic support 120 to push the conveyor 130 and the mining machine 110 forward to achieve continuous advancement of the coal seam. This process can be called the "follow-up" process of the hydraulic support 120. At the same time, according to the safety regulations of the coal mining process, the coal cutting process requires the control system 140 to monitor the straightness of the parallel placement positions of the hydraulic support 120 and the conveyor 130 to meet the straightness requirements of the working face operation. This process can be called the hydraulic straightening action process. Based on this type of scenario, an embodiment of the present application provides an inertial navigation module, and fixes the inertial navigation module on the hydraulic support 120, so that the posture information and position information determined by the inertial navigation module can directly reflect the posture information and position information of the hydraulic support 120. Based on this, the control system 140 can obtain the position information of the hydraulic support 120 based on the inertial navigation module 200, so as to adjust the position of the hydraulic support 120 according to the position information, realize the hydraulic straightening action process, and realize the state tracking and monitoring of the comprehensive mining face equipment 100. It is understandable that the number of mining machines 110, hydraulic supports 120 and conveyors 130 can be one, two, three or more, which is not limited here. In addition, the number of inertial navigation modules fixed on each hydraulic support 120 can be one, two, three or more. When multiple inertial navigation modules are set, they can complement each other to improve the fault tolerance of the overall comprehensive mining face equipment 100.

[0059] Figure 2 This is a schematic diagram of the structure of an inertial navigation module in an embodiment of the present application. Figure 2, the inertial navigation module 200 may include: a box 210, a rotating structure 220, a control unit 230, a first sensor unit 240 and a second sensor unit 250. The rotating structure 220, the control unit 230, the first sensor unit 240 and the second sensor unit 250 are arranged inside the box 210, so as to protect the rotating structure 220, the control unit 230, the first sensor unit 240 and the second sensor unit 250 through the box 210. The rotating structure 220 is fixed to the box 210, and the rotating structure 220 has a rotating shaft 221, which can rotate and maintain a position. The control unit 230 is connected to the rotating structure 220, and can control the rotating shaft 221 to rotate along its axis F0, and maintain the position when the rotating shaft 221 is controlled to rotate to a set angle, so that the rotating shaft can be alternately in multiple rotation states and multiple position-maintaining states. Furthermore, the first sensor unit 240 can continuously collect the first data after being powered on. By fixing the first sensor unit 240 to the rotating shaft 221, when the rotating shaft 221 rotates, the first sensor unit 240 follows the rotating shaft 221 to rotate around the axis F0 of the rotating shaft 221, so as to rotate to different positions, thereby collecting the first data at different positions. The control unit 230 is also connected to the first sensor unit 240, and when the rotating shaft 221 is in each position holding state, the first data collected by the first sensor unit 240 is obtained, and the attitude information of the inertial navigation module 200 is determined based on all the first data obtained. Furthermore, the second sensor unit can continuously collect the second data after being powered on, and the second sensor unit 250 is fixed to the housing 210, so that the second sensor unit 250 and the housing 210 are relatively stationary. The control unit 230 is also connected to the second sensor unit 250, and can obtain the second data collected by the second sensor unit 250, and determine the position information of the inertial navigation module 200 in combination with the first data collected by the first sensor unit 240 and the second data collected by the second sensor unit 250. In this way, the first sensor unit and the second sensor unit are set as two functional units, so that the first sensor unit 240 can rotate with the rotating shaft 221, and when the rotating shaft 221 is in a state of holding multiple positions, the control unit 230 can collect the first data at multiple positions through the first sensor unit 240, realize the process of multi-point sampling based on the first sensor unit 240, improve the diversification of the first data, and then improve the accuracy of the posture information determined based on the multiple first data. In addition, by making the second sensor unit 250 relatively still with the box, and combining the second data collected by the second sensor unit 250, the accuracy of the determined position information is guaranteed.

[0060] Since the first sensor unit for determining the attitude information and the second sensor unit for determining the position information are two functional units, the first sensor unit can use a low-cost sensor to realize the positioning of the attitude information. For example, the first sensor unit may include a gyroscope, a magnetometer and an accelerometer, wherein the gyroscope can collect the rotation speed component of the earth on the x-axis, y-axis and z-axis of the spatial rectangular coordinate system where the inertial navigation module is located, the accelerometer can collect the acceleration component on the x-axis, y-axis and z-axis of the spatial rectangular coordinate system where the inertial navigation module is located, and the magnetometer can collect the magnetic induction intensity component of the earth on the x-axis, y-axis and z-axis of the spatial rectangular coordinate system where the inertial navigation module is located. Therefore. The first data may include: the rotation speed component of the earth on the x-axis, y-axis and z-axis of the spatial rectangular coordinate system where the inertial navigation module is located, the acceleration component on the x-axis, y-axis and z-axis of the spatial rectangular coordinate system, and the magnetic induction intensity component of the earth on the x-axis, y-axis and z-axis of the spatial rectangular coordinate system, etc. Based on this, the first data can be jointly calculated to determine the attitude information of the inertial navigation module. Alternatively, the first sensor unit may also include a gyroscope and an accelerometer, or a magnetometer and an accelerometer, to achieve positioning of the attitude information. Further, after the inertial navigation module is fixed to the hydraulic support, the attitude information determined by the inertial navigation module can represent the attitude information of the hydraulic support, thereby achieving positioning of the attitude information of the hydraulic support.

[0061] Similarly, the second sensor unit may also use a low-cost sensor to realize the positioning of the attitude information. For example, the second sensor unit may also include a gyroscope, a magnetometer and an accelerometer. Therefore, the second data may include: the rotation speed component of the earth on the x-axis, y-axis and z-axis of the spatial rectangular coordinate system where the inertial navigation module is located, the acceleration component on the x-axis, y-axis and z-axis of the spatial rectangular coordinate system, and the magnetic induction intensity component of the earth on the x-axis, y-axis and z-axis of the spatial rectangular coordinate system, so that the second data can be jointly calculated to determine the position information of the inertial navigation module. Alternatively, the second sensor unit may also include a gyroscope and an accelerometer, or a magnetometer and an accelerometer to realize the positioning of the position information. Further, after the inertial navigation module is fixed to the hydraulic support, the position information determined by the inertial navigation module can represent the position information of the hydraulic support, so as to realize the positioning of the position information of the hydraulic support. It is understandable that the process of determining the position information based on the second data may be basically the same as the process in the prior art, and will not be repeated here.

[0062] It is understandable that the structures of the first sensor unit and the second sensor unit may be the same or different. Also, the number of the first sensor unit and the second sensor unit may be the same or different. In practical applications, the number of the first sensor unit and the second sensor unit may be one, two, three or more, respectively. Figure 2A first sensor unit and a second sensor unit are used as an example for illustration.

[0063] Continue to refer to Figure 2 , a first support assembly 260 may also be provided in the inertial navigation module 200, and the first support assembly 260 may be fixed to the rotating shaft 221, and when the rotating shaft 221 rotates to a set angle, the first support assembly 260 may rotate to the set angle. Furthermore, the first sensor 240 may be fixed to the first support assembly 260, so that the first sensor unit 240 may rotate circumferentially around the axis of the rotating shaft 221 through the first support assembly 260, so that when the first support assembly 260 rotates to a set angle, the first sensor unit 240 may also rotate to a corresponding angle. Optionally, the first support assembly 260 includes but is not limited to a first circuit board 261 (e.g., a printed circuit board (PCB)), and the first circuit board is fixed to the rotating shaft 221, so that the first sensor unit 240 may be fixed to the rotating shaft 221 through the first circuit board 261. Furthermore, a signal line is provided on the first circuit board 261, and the first sensor unit 240 is connected to the signal line on the first circuit board 261, so that the first sensor unit 240 can be connected to the control unit 230 through the signal line on the first circuit board 261 to realize signal transmission of the first data. In addition, the control unit 230 can also supply power to the first sensor unit 240 through the first circuit board 261, so that the first sensor unit 240 is powered on, and the first sensor unit 240 can continuously collect the first data after being powered on. Exemplarily, a structural fixing 262 can also be provided in the inertial navigation module 200, so that the first support assembly 260 is fixed to the rotating shaft 221 through the structural fixing 262, so as to improve the firmness between the first support assembly 260 and the rotating shaft 221. Of course, the first support assembly 260 can also be fixed to the rotating shaft 221 by welding.

[0064] In addition, there may be multiple angles between the plane where the first circuit board 261 is located and the extending direction of the rotating shaft 221. For example, Figure 3 FIG. 1 is a schematic diagram of a top view of a first circuit board in an embodiment of the present application along the extension direction of the rotating shaft, with reference to FIG. Figure 2 and Figure 3 , the plane where the first circuit board 261 is located can be parallel to the extension direction of the rotating shaft 221, that is, the plane where the first circuit board 261 is located is perpendicular to the reference plane SC. Or, for example, Figure 4 is a structural diagram of an inertial navigation module in another embodiment of the present application, Figure 5 FIG. 1 is a schematic diagram of a top view of a first circuit board in another embodiment of the present application along the extension direction of the rotating shaft, referring to FIG. Figure 4 and Figure 5, the plane where the first circuit board 261 is located can also be made perpendicular to the extension direction of the rotating shaft 221, that is, the plane where the first circuit board 261 is located is parallel to the reference plane SC.

[0065] Continue to refer to Figure 2 , a second support assembly 270 may be provided in the inertial navigation module 200, and the second support assembly 270 may be fixed to the inside of the box 210 by screw locking or welding, so that the second support assembly 270 and the box 210 are relatively stationary. In addition, the second sensor unit 250 and the control unit 230 may be fixed to the second support assembly 270, so that the second sensor unit 250 and the control unit 230 are relatively stationary with the box 210. Optionally, the second support assembly 270 includes but is not limited to a second circuit board 271 (such as a PCB), the second circuit board 271 is fixed to the inside of the box 210, and the control unit 230 and / or the second sensor unit 250 are fixed to the second circuit board 271, so that the control unit 230 and / or the second sensor unit 250 are fixed to the box 210 through the second circuit board 271. In addition, the second circuit board 271 is provided with a signal line, and the control unit 230 and the second sensor unit 250 are respectively electrically connected to the signal lines on the second circuit board 271, and the second sensor unit 250 is electrically connected to the control unit 230 through the signal lines on the second circuit board 271, thereby realizing the signal transmission of the second data. In addition, the control unit 230 can also supply power to the second sensor unit 250 through the second circuit board 271, so that the second sensor unit 250 is powered on, and the second sensor unit 250 can collect the second data after being powered on. In addition, the first sensor unit 240 is electrically connected to the signal lines on the second circuit board 271 through the signal lines on the first circuit board 261, and then connected to the control unit 230 through the signal lines on the second circuit board 271, so as to realize the signal transmission and power supply of the first data. In addition, the control unit 230 is also connected to the rotating structure 220 through the signal lines on the second circuit board 271, so as to realize sending a signal to the rotating structure 220, so as to control the rotating shaft 221 in the rotating structure 220 to be in a rotating state and a position holding state.

[0066] In the above embodiment, the rotating structure 220 may include an electric motor, the rotor of which is connected to the rotating shaft, and when the rotor rotates, the rotating shaft can be driven to rotate synchronously. During operation, the control unit loads a corresponding signal to the electric motor to control the rotation and position maintenance of the rotor, thereby realizing the rotation and position maintenance of the rotating shaft. Optionally, the electric motor can be set as a DC motor, and since the cost of DC motors is relatively low, the cost of the entire inertial navigation module can be further reduced. It is understandable that in actual applications, the above-mentioned electric motor can also be set as an AC motor to meet the requirements of the application environment.

[0067] Due to gravity or other interference, when the control accuracy of the rotating structure 220 (such as a motor) is not enough, it will vibrate back and forth at the set position, thereby affecting the accuracy of the first data collected by the first sensor unit 240. In addition, if the rotating structure 220 (such as a motor) moves during the rotation of the shaft 221, it will also affect the accuracy of the first data collected by the first sensor unit 240. In order to improve the impact of the above problems, refer to Figure 2 , a damping structure 280 is arranged inside the box 210 of the inertial navigation module 200, and the damping structure 280 is fixed to the box 210, so that the damping structure 280 and the box 210 are relatively stationary. Also, the damping structure 280 is in contact with the outer shell 222 of the rotating structure 220 (for example, the outer shell of the motor), and resistance is applied to the outer shell 222 of the rotating structure 220 through the damping structure 280, but it does not affect the normal rotation of the rotating shaft 221, so as to ensure the normal rotation of the rotating shaft. With this arrangement, the noise caused by the self-jitter and external jitter of the rotating structure 220 (for example, the motor) can be improved, and the accuracy of the first data collected by the first sensor unit 240 can be improved. In addition, the damping structure 280 can be a purely passive damping structure 280, which is suitable for the current small low-torque motor and does not generate additional power consumption. Also, the volume of the damping structure 280 can also be set smaller to reduce the occupied area in the box 210.

[0068] The damping structure in the present application can adopt various structures. For example, Figures 6a to 6d They are schematic diagrams of the damping structure in one embodiment of the present application, and refer to Figures 6a to 6d The damping structure 280 includes but is not limited to a damping ring, which is fixed inside the box body 210. In addition, the damping ring has a main body 281, and the middle area of ​​the main body 281 has a hollow 283, and the rotating structure 220 is arranged in the hollow 283, so that the damping ring is arranged around the housing 222 of the rotating structure 220. For example, referring to Figure 6a A screw hole 282 may be provided on the main body 281, and a fixing component (such as a screw) 284 may be passed through the screw hole 282 to fix the damping ring inside the box body 210 by screw locking. Figure 6b to Figure 6d , the screw holes may not be provided, but the damping ring may be fixed to the inside of the box body 210 by welding or bonding. Figure 6a The main body 281 is a closed figure (for example, the hollow 283 is substantially circular or polygonal), so as to provide damping for the housing 222 of the rotating structure 220 (for example, a motor) through the main body 281. Figure 6b The main body 281 is a pattern with a notch (for example, the hollow 283 is substantially circular or polygonal), so as to provide damping for the housing 222 of the rotating structure 220 (for example, a motor) through the main body 281. Figure 6c The main body 281 is a closed figure (for example, the hollow 283 is roughly circular or polygonal), and a damping ball 285 (the material of the damping ball includes but is not limited to rubber and plastic) is provided on the main body 281, so that the damping ball 285 can be in contact with the housing 222 of the rotating structure 220 (for example, the motor) to provide damping to the housing 222 of the rotating structure 220 (for example, the motor) through the damping ball 285, or the damping ball 285 and a part of the main body 281 can be in contact with the housing 222 to provide damping to the housing 222 through the damping ball 285 and the main body 281. For example, referring to Figure 6d The main body 281 is a closed figure (for example, the hollow 283 is roughly diamond-shaped) so as to provide damping for the housing 222 of the rotating structure 220 (for example, a motor) through the main body 281.

[0069] In addition, the minimum inner diameter of the damping ring in a stationary state is slightly smaller than the diameter of the housing 222 of the rotating structure 220 (e.g., a motor), thereby providing friction damping to the housing 222 of the rotating structure 220 (e.g., a motor). It is worth mentioning that the damping size of the damping ring is related to the external force under the working conditions of the inertial navigation module 200. By reasonably setting the damping size of the damping ring, it is ensured that conventional noise will not cause significant swinging of the position of the rotating structure 220 (e.g., a motor). At the same time, the damping of the damping ring must also be less than the rated torque of the rotating structure 220 (e.g., a motor). Generally, the starting friction force is considered to be no more than 1 / 4 of the starting torque of the rotating structure 220 (e.g., a motor), so as to avoid the rotating structure 220 (e.g., a motor) being "stuck" due to excessive damping of the damping ring. In addition, the number of damping rings in the present application may be one, two, or more. In addition, the material of the damping ring includes, but is not limited to, sulfur rubber, plastic, metal, and the like.

[0070] The box in the present application can be implemented in a variety of structures. For example, refer to Figure 2 The box body 210 may include: a receiving portion 212 and a cover portion 211, and the receiving portion 212 and the cover portion 211 respectively have receiving spaces. The receiving portion 212 and the cover portion 211 may be fixed by screw locking or other fixing methods to achieve upper and lower cover closure, so that the rotating structure 220, the control unit 230, the first sensor unit 240 and the second sensor unit 250 are all enclosed in the above-mentioned receiving space. In addition, the rotating structure 220 is fixed in the bottom of the receiving portion 212, and the rotating shaft 221 of the rotating structure 220 is arranged on the side of the rotating structure 220 away from the bottom of the receiving portion 212. In addition, the second support assembly 270 and the damping structure 280 may also be fixed in the bottom of the receiving portion 212.

[0071] It is understandable that the control unit can be a field programmable gate array (FPGA), a general-purpose central processing unit (CPU), a general-purpose processor, a digital signal processing (DSP), an application specific integrated circuit (ASIC), or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The above-mentioned control unit can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of DSP and microprocessors, etc.

[0072] It is worth mentioning that a standard external interface can also be set in the inertial navigation module, so that the inertial navigation module in this application can be easily integrated with other sensors for overall positioning and control of mechanical equipment.

[0073] Figure 7 This is a flow chart of a control method in one embodiment of the present application. The control method can be applied to the inertial navigation module in the embodiment of the present application. Figure 7 , the control method may include:

[0074] S10. In response to the inertial navigation module being in a stationary state, the rotating shaft in the rotating structure is controlled to be in a rotating state and a position-holding state for multiple times, and the first data collected by the first sensor unit is obtained each time the rotating shaft is in the position-holding state, and the attitude information of the inertial navigation module is determined according to the obtained first data. That is to say, when the inertial navigation module is in a stationary state, its attitude information is determined. In addition, in order to further improve the accuracy of the attitude information, in response to the inertial navigation module being in a stationary state, the second data collected by the second sensor unit is also obtained, and each first data is calibrated using the obtained second data to improve the accuracy of the first data, so as to determine the attitude information of the inertial navigation module according to the calibrated first data.

[0075] The process of controlling the rotating shaft in a rotating structure to alternately be in a rotating state and a position holding state multiple times may include but is not limited to the following methods: for example, controlling the rotating shaft to rotate N circles, and controlling the rotating shaft to be in a position holding state at multiple positions when the rotating shaft rotates, the multiple M positions may include multiple first positions and multiple second positions, the multiple first positions and the multiple second positions correspond one to one, and when the rotating shaft rotates from a first position to a corresponding second position, the rotating shaft rotates 180°, N is an integer and N≥1.

[0076] Exemplarily, if no other position is provided between the first position and the second position corresponding to each other, the rotating shaft can maintain the position after each rotation of 180°.

[0077] Exemplarily, at least one other position is provided between the first position and the second position that correspond to each other, and the rotating shaft can maintain the position after each rotation of the corresponding angle. For example, one other position is provided between the first position and the second position that correspond to each other, and the rotating shaft can maintain the position after each rotation of 90°. For example, two other positions are provided between the first position and the second position that correspond to each other, and the rotating shaft can maintain the position after each rotation of 60°.

[0078] The following is an example in which another position is provided between the first position and the second position, and the rotating shaft can maintain the position after rotating 90° each time. For the above step S10, it may include the following process: the control unit supplies power to the rotating structure (such as a motor) and the first sensor unit respectively, so that the rotating structure (such as a motor) and the first sensor unit are powered on. After the rotating structure (such as a motor) is powered on, it is initialized and the rotating shaft is controlled to drive the first circuit board to rotate to the initial position. For example, referring to Figure 8a , Figure 8a This is a state diagram of the first circuit board in one embodiment of the present application. The first circuit board 261a at the dotted line represents the state of the rotating structure 220 (such as a motor) before power is supplied, and the first circuit board 261b at the solid line represents the initialization of the rotating structure 220 (such as a motor) after power is supplied, and controls the rotation shaft 221 to rotate to an initial angle (the initial angle can be determined according to actual needs and is not limited here) to drive the first circuit board 261 to rotate to the initial position. Afterwards, the control unit 230 can control the rotation shaft 221 to rotate 3 circles, and in each circle, control the rotation shaft 221 to be in a position holding state at 4 positions. For example, referring to Figure 8a , the control shaft 221 is in a position holding state at the first position (i.e., the position where the initial angle is located) and maintains the position for a reference time, then the first circuit board 261b maintains the position at the initial position for a reference time, and the control unit 230 obtains the first data DA1 collected by the first sensor unit 240 once.

[0079] Afterwards, refer to Figure 8b , Figure 8bThis is a schematic diagram of the state of the first circuit board in another embodiment of the present application. The control unit 230 controls the shaft 221 of the rotating structure 220 (such as a motor) to rotate to a set angle (such as 90°) to reach a second position, and controls the shaft 221 to be in a position holding state at the second position and maintain it for a reference time to rotate the first circuit board 261b to the position of the first circuit board 261c. The control unit 230 obtains the first data DA2 collected by the first sensor unit 240 again.

[0080] Afterwards, refer to Figure 8c , Figure 8c This is a state diagram of the first circuit board in another embodiment of the present application. The control unit 230 controls the shaft 221 of the rotating structure 220 (such as a motor) to rotate again by a set angle (such as 90°) to reach the third position, and controls the shaft 221 to be in a position holding state at the third position and maintain it for a reference time to rotate the first circuit board 261c to the position of the first circuit board 261d. The control unit 230 obtains the first data DA3 collected by the first sensor unit 240 again.

[0081] Afterwards, refer to Figure 8d , Figure 8d This is a state diagram of the first circuit board in another embodiment of the present application. The control unit 230 controls the shaft 221 of the rotating structure 220 (e.g., a motor) to rotate again by a set angle (e.g., 90°) to reach the fourth position, and controls the shaft 221 to be in a position holding state at the third position and maintain it for a reference time to rotate the first circuit board 261d to the position of the first circuit board 261e. The control unit 230 obtains the first data DA4 collected by the first sensor unit 240 again.

[0082] Afterwards, refer to Figure 8e , Figure 8e This is a state diagram of the first circuit board in another embodiment of the present application. The control unit 230 controls the shaft 221 of the rotating structure 220 (e.g., a motor) to rotate again by a set angle (e.g., 90°) to reach the fifth position (i.e., the previous first position), and controls the shaft 221 to be in a position holding state at the fifth position and maintain the reference time to rotate the first circuit board 261e to the position of the first circuit board 261f. The control unit 230 obtains the first data DA5 collected by the first sensor unit 240 again. At this time, the first circle of the shaft is completed, and the second circle begins to rotate, and the fifth position is the first position in the second circle.

[0083] After that, the same logic can be applied until the shaft rotates 3 circles, the control unit 230 obtains 12 first data DA1~DA12, and determines the attitude information of the inertial navigation module 200 based on all the first data obtained. With this setting, the positioning error of the attitude information can be reduced. It can be understood that the present application does not limit the set angle, and the present application takes the set angle of 90° as an example for explanation. Moreover, the set angle for each rotation of the shaft may be the same or different. In addition, the present application does not limit the reference duration. In other words, the set angle and reference duration can be determined according to actual needs.

[0084] In the process of the rotation of the rotating shaft 221, the first position and the third position correspond to each other, and the first position can be used as the first position, and the third position can be used as the second position. When the rotating shaft 221 rotates from the first position to the third position, the rotating shaft 221 rotates 180°. In addition, the second position and the fourth position correspond to each other, and the second position can be used as the first position, and the fourth position can be used as the second position. When the rotating shaft 221 rotates from the second position to the fourth position, the rotating shaft 221 also rotates 180°. In addition, the third position and the fifth position correspond to each other, and the third position can be used as the first position, and the fifth position can be used as the second position. When the rotating shaft 221 rotates from the third position to the fifth position, the rotating shaft 221 also rotates 180°.

[0085] It is worth mentioning that the above embodiment is described by taking N=3 and M=2 as an example. In practical applications, N=1, 2, 4 or other values, and M=1, 3, 4 or other values, which are not limited here.

[0086] In practical applications, the heading angle can be used to represent the orientation of an object, and the attitude information can include the target heading angle. Then, the attitude information of the inertial navigation module can be determined based on all the acquired first data DA1 to DA12, including but not limited to the following methods:

[0087] Method 1: Determine the initial heading angle Y1 corresponding to the first circle based on the first data DA1~DA4 obtained when the four positions of the rotating shaft in the first circle are respectively in a position-holding state. Determine the initial heading angle Y2 corresponding to the second circle based on the first data DA5~DA8 obtained when the four positions of the rotating shaft in the second circle are respectively in a position-holding state. And, determine the initial heading angle Y3 corresponding to the third circle based on the first data DA9~DA12 obtained when the four positions of the rotating shaft in the third circle are respectively in a position-holding state, that is, a total of 3 initial heading angles are obtained. Afterwards, the average value (e.g., arithmetic mean, weighted mean) of the initial heading angles Y1~Y3 is determined as the target heading angle Y.

[0088] The following uses the example of the first sensor unit including a gyroscope and an accelerometer to explain the process of determining the initial heading angle. Taking the determination of the initial heading angle Y1 as an example, the first data DA1 includes: the rotation speed component ω of the earth on the x-axis of the spatial rectangular coordinate system where the inertial navigation module is located, which is collected by the gyroscope x1 , the rotational speed component of the Earth on the y-axis ω y1 , the rotational speed component of the Earth on the z-axis ω z1 , and the pitch angle P1 and roll angle R1 of the inertial navigation module collected by the accelerometer. The first data DA2 includes: the rotation speed component ω of the earth on the x-axis of the spatial rectangular coordinate system where the inertial navigation module is located, collected by the gyroscope x2 , the rotational speed component of the Earth on the y-axis ω y2 , the rotational speed component of the Earth on the z-axis ω z2 , and the pitch angle P2 and roll angle R2 of the inertial navigation module collected by the accelerometer. The first data DA3 includes: the rotation speed component ω of the earth on the x-axis of the spatial rectangular coordinate system where the inertial navigation module is located, collected by the gyroscope x3 , the rotational speed component of the Earth on the y-axis ω y3 , the rotational speed component of the Earth on the z-axis ω z3 , and the pitch angle P3 and roll angle R3 of the inertial navigation module collected by the accelerometer. The first data DA4 includes: the rotation speed component ω of the earth on the x-axis of the spatial rectangular coordinate system where the inertial navigation module is located, collected by the gyroscope x4 , the rotational speed component of the Earth on the y-axis ω y4 , the rotational speed component of the Earth on the z-axis ω z4 , as well as the pitch angle P4 and roll angle R4 of the inertial navigation module collected by the accelerometer.

[0089] ω x1 =ω e cosPcosY 1a cosB+ω e sinPsinB.

[0090] ω x2 =ω e cosB(-cosRsinY 1a +sinRsinPcosY 1a )-ω e sinRcosPsinB.

[0091] ω x3 =-ω e cosPcosY 1a cosB-ω e sinPsinB.

[0092] ωx4 =ω e cosB(cosRsinY 1a -sinRsinPcosY 1a )+ω e sinRcosPsinB.

[0093] ω y1 =ω e cosB(-cosRsinY 1b +sinRsinPcosY 1b )-ω e sinRcosPsinB.

[0094] ω y2 =-ω e cosPcosY 1b cosB-ω e sinPsinB.

[0095] ω y3 =ω e cosB(cosRsinY 1b -sinRsinPcosY 1b )+ω e sinRcosPsinB.

[0096] ω y4 =ω e cosPcosY 1b cosB+ω e sinPsinB.

[0097] ω z1 ,ω z2 ,ω z3 ,ω z4 is approximately equal to 0 and can be ignored. 1a Represents the heading angle relative to the x-axis in the first circle, Y 1b Represents the heading angle relative to the y-axis during the first revolution.

[0098] P represents an average value (eg, arithmetic mean value, weighted mean value) of the pitch angles P1 to P4 corresponding to the first lap, and P is outputted by the accelerometer.

[0099] R represents an average value (eg, arithmetic mean value, weighted mean value) of the roll angles R1 to R4 corresponding to the first lap, and R is outputted by the accelerometer.

[0100] B represents the latitude of the location of the inertial navigation module, and the specific value of the latitude can be manually input by an operator or obtained through an algorithm.

[0101] A=(ω x4 -ω x2 ) / (ω x1 -ω x3 )=[sinRcosPsinB+(cosRsinY 1a -sinRsinPcosY 1a )cosB] / (cosPcosY 1a cosB+sinPsinB)

[0102] to 1a sinY 1a +b 1a what? 1a =c 1a 。

[0103] to 1a =cosR。

[0104] b 1a =-AcosP-sinRsinP。

[0105] c 1a =tanB(AsinP-sinRcosP)。

[0106]

[0107] B=(ω y3 -ω y1 ) / (ω y4 -ω y2 )=[sinRcosPsinB+(cosRsinY 1b -sinRsinPcosY 1b )cosB] / (cosPcosY 1b cosB+sinPsinB)

[0108] to 1b sinY 1b +b 1b what? 1b =c 1b 。

[0109] to 1b =cosR。

[0110] b 1b =-AcosP-sinRsinP。

[0111] c 1b =tanB(AsinP-sinRcosP)。

[0112]

[0113] Based on the above formula, Y 1a and Y 1b The average value (such as arithmetic mean, weighted mean) of is determined as the initial heading angle Y1, thereby obtaining the final initial heading angle Y1. x1 ~ω x4 ,ω y1 ~ω y4 There will be interference. By adopting the above process, the present application can reduce the influence of interference on the initial heading angle Y1 and improve the accuracy of the initial heading angle Y1. For the determination process of the initial heading angles Y2 to Y4, the determination process of the initial heading angle Y1 can be referred to, and will not be repeated here. In this way, the accuracy of the initial heading angles Y2 to Y4 can be improved, and then the accuracy of the target heading angle can be improved.

[0114] Method 2: Determine the initial heading angle Y1 according to the first data DA1 corresponding to the first position, the first data DA2 corresponding to the second position, the first data DA3 corresponding to the third position, and the first data DA4 corresponding to the fourth position among the multiple first data DA1~DA12 obtained when the shaft is in the holding state at each position in the above three circles. And, determine the initial heading angle Y2 according to the first data DA2 corresponding to the second position, the first data DA3 corresponding to the third position, the first data DA4 corresponding to the fourth position, and the first data DA5 corresponding to the fifth position. The rest are similar, and the initial heading angles Y3~Y9 can be obtained by analogy, that is, a total of 9 initialized heading angles are obtained. Afterwards, the average value (for example, arithmetic mean, weighted mean) of the initial heading angles Y1~Y9 is determined as the target heading angle Y. The process of determining the initial heading angles Y1~Y9 can refer to the above embodiment and will not be repeated here.

[0115] In practical applications, one or more control modes may be used to control the rotating shaft to alternately be in multiple rotation states and multiple position holding states. The following is a detailed description with reference to examples. It is understandable that the following embodiments are intended to better explain the present application, but are not intended to limit the present application.

[0116] Control mode 1: Reference Figure 9a , Figure 9a This is a schematic diagram of the voltage applied to the rotating structure in one embodiment of the present application. In the T0 stage, the rotating structure 220 (e.g., a motor) is powered on, and the rotating shaft 221 is controlled to drive the first circuit board 261 to rotate to the initial position. In the T1 stage, combined with Figure 8a and Figure 9aAs shown, the locking voltage VS is continuously applied to the rotating structure 220 to control the rotating shaft 221 to be locked at the initial position (i.e., the first position), so that the rotating shaft 221 is in a position-holding state at the first position. Figure 8b and Figure 9a As shown, a rotation voltage VZ is applied to the rotating structure 220 to control the rotating shaft 221 to rotate at a set angle, and the first circuit board 261b is rotated to the position of the first circuit board 261c. In the T3 stage, combined with Figure 8b and Figure 9a As shown, the locking voltage VS is continuously applied to the rotating structure 220 to control the rotating shaft 221 to be locked at the second position, so that the rotating shaft 221 is in a position-holding state at the second position. Figure 8c and Figure 9a As shown, a rotation voltage VZ is applied to the rotating structure 220 to control the rotating shaft 221 to rotate at a set angle, and the first circuit board 261c is rotated to the position of the first circuit board 261d. In the T5 stage, combined with Figure 8c and Figure 9a As shown, the locking voltage VS is continuously applied to the rotating structure 220 to control the rotating shaft 221 to be locked at the third position, so that the rotating shaft 221 is in a position-holding state at the third position. Figure 8d and Figure 9a As shown, a rotation voltage VZ is applied to the rotating structure 220 to control the rotating shaft 221 to rotate at a set angle, and the first circuit board 261d is rotated to the position of the first circuit board 261e. In the T7 stage, combined with Figure 8d and Figure 9a As shown, the locking voltage VS is continuously applied to the rotating structure 220 to control the rotating shaft 221 to be locked at the fourth position, so that the rotating shaft 221 is in a position-holding state at the fourth position.

[0117] Control mode 2: Reference Figure 9b , Figure 9b This is a schematic diagram of the voltage applied to the rotating structure in another embodiment of the present application. The processes of the T0 stage, T2 stage, T4 stage, and T6 stage in the control mode 2 can refer to the processes in the control mode 1. The T1 stage, T3 stage, T5 stage, and T7 stage in the control mode 2 are described below. In the T1 stage, combined with Figure 8a and Figure 9bAs shown, the locking voltage VS is loaded to the rotating structure 220 (e.g., a motor) at every first set time TS1, and the duration of each loading of the locking voltage VS is the second set time TS2, and the rotating shaft 221 is controlled to be locked at the current position (i.e., the initial position). And in the first set time TS1, the power supply to the rotating structure 220 is stopped, and the rotating structure 220 is controlled to be powered off, so that the locking voltage VS is loaded to the rotating structure 220 and the power supply to the rotating structure 220 is stopped periodically. In addition, the processes of the T3 stage, the T5 stage, and the T7 stage can refer to the process in the T1 stage. Thus, when the rotating shaft 221 is held in position, the rotating shaft 221 is controlled to be locked in the current position, so that the rotating structure 220 (e.g., a motor) enters a locked state. Afterwards, the rotating structure 220 (e.g., a motor) is powered off, so that the rotating structure 220 (e.g., a motor) enters an unlocked state, thereby reducing the power consumption during the position holding process. However, due to gravity or other interference, the rotating structure 220 (e.g., motor) cannot be completely stationary when it is completely powered off (floating stage), so the rotating structure 220 (e.g., motor) is loaded with locking voltage VS again after being powered off for a period of time to perform a power-on position lock. This arrangement can reduce the vibration noise of the rotating structure 220 (e.g., motor), and the rotating structure 220 (e.g., motor) is in an unlocked state in most cases, and the jitter caused by the electromagnetic holding force can also be reduced.

[0118] It is understandable that the sum of the first set time length TS1 and the second set time length TS2 is a cycle for controlling the locking and unlocking of the rotating shaft 221. The present application does not limit the specific values ​​of the first set time length TS1 and the second set time length TS2, wherein the first set time length TS1 can be greater than the second set time length TS2, for example, TS1=5s, TS2=1s. Alternatively, the first set time length TS1 can be less than the second set time length TS2, for example, TS1=2s, TS2=4s. Alternatively, the first set time length TS1 can be equal to the second set time length.

[0119] In the present application, when the rotating shaft 221 is controlled to work based on the control mode 2, the damping structure 280 can also be combined to reduce the interference caused by the rotating structure 220 (such as a motor) entering the unlocked state, thereby further improving the accuracy of the first data collection. In addition, during the process of maintaining the position of the rotating shaft 221, the control unit 230 can also obtain the angle error of the rotating shaft 221, and compare the obtained angle error with a preset angle error range (for example, 0.3 to 0.8°) to determine whether the angle error is within the angle error range. When the angle error is not within the angle error range, in response to the angle error not being within the error range, the rotating structure 220 (such as a motor) is driven to control the rotating shaft 221 to make an angle correction. With this arrangement, the process of controlling unlocking-rotating shaft 221 angle monitoring-closed loop adjustment can be adopted to further improve the angle accuracy of the current position maintained by the rotating shaft 221, and further improve the accuracy of the first data collection. It is understandable that, in the process of maintaining the position of the rotating shaft 221, the control unit 230 can obtain the angular error of the rotating shaft 221 periodically (for example, every 1 second) or in real time, and after each error is obtained, the angular error will be compared with a pre-set angular error range, so as to drive the rotating structure 220 (for example, a motor) to control the rotating shaft 221 to make an angle correction when the angular error is not within the angular error range.

[0120] Further, in order to reduce power consumption, after the process of determining the attitude information of the inertial navigation module 200 in step S10 is completed, the power supply to the rotating structure 220 (such as a motor) and the first sensor unit 240 can be stopped. As a result, the rotating structure 220 (such as a motor) and the first sensor unit 240 can be powered off to reduce the power consumption of the entire module. Afterwards, the rotating structure 220 and the first sensor unit 240 can be powered on again to control the rotating structure 220 and the first sensor unit 240 to work again to execute the process of step S10 and locate the attitude information again. Among them, powering the rotating structure 220 and the first sensor unit 240 again can be performed by one or more triggering methods. The following is a detailed description with reference to examples. It is understandable that the following embodiments are intended to better explain the present application, but are not intended to limit the present application.

[0121] Trigger method 1: Reference Fig.10 , Fig.10This is a schematic diagram of the calibration interval duration in an embodiment of the present application. The calibration period GS1 and the calibration interval duration GS2 can be set in the control unit 230. The calibration interval duration GS2 can be spaced between two adjacent calibration periods GS1. The control unit 230 responds to the periodic calibration period GS1, supplies power to the rotating structure 220 and the first sensor unit 240 during the calibration period GS1, and controls the rotating structure 220 and the first sensor unit 240 to work, so as to determine the attitude information of the inertial navigation module 200. Among them, the specific duration of the calibration interval duration GS2 and the calibration period GS1 can be determined according to the needs of the actual application, and is not limited here.

[0122] Trigger mode 2: The control unit 230 can also determine the current running distance of the inertial navigation module 200 based on the second data, and compare the current running distance with the distance threshold. If the current running distance is less than the distance threshold, there is no need to locate the attitude information of the inertial navigation module 200, and the rotating structure 220 and the first sensor unit 240 can continue to be controlled to power off. If the current running distance is not less than the distance threshold, the control unit 230 responds to the current running distance of the inertial navigation module 200 being not less than the distance threshold, supplies power to the rotating structure 220 and the first sensor unit 240, controls the rotating structure 220 and the first sensor unit 240 to work, and determines the attitude information of the inertial navigation module 200. Among them, the specific value of the distance threshold can be determined according to the needs of the actual application, and is not limited here.

[0123] Trigger mode three: The control unit 230 can also start timing after the last determination of the attitude information of the inertial navigation module 200 (or control the rotating structure 220 and the first sensor unit 240 to power off), record the cumulative time that the inertial navigation module 200 has not performed attitude information positioning, and use the cumulative time as the uncalibrated cumulative time of the inertial navigation module 200. And compare the uncalibrated cumulative time with the time threshold. If the uncalibrated cumulative time is less than the time threshold, it is not necessary to perform attitude information positioning of the inertial navigation module 200, and the rotating structure 220 and the first sensor unit 240 can continue to be controlled to power off. If the uncalibrated cumulative time is not less than the time threshold, the control unit 230 responds to the uncalibrated cumulative time of the inertial navigation module 200 being not less than the time threshold, supplies power to the rotating structure 220 and the first sensor unit 240, and controls the rotating structure 220 and the first sensor unit 240 to work, so as to determine the attitude information of the inertial navigation module 200.

[0124] Trigger mode 4: The control unit 230 can also determine the vibration intensity of the environment where the inertial navigation module 200 is located based on the second data (for example, data collected by the accelerometer), and compare the vibration intensity with the vibration intensity threshold. If the vibration intensity is less than the vibration intensity threshold, the rotating structure 220 and the first sensor unit 240 can continue to be controlled to power off. If the vibration intensity is less than the vibration intensity threshold, the control unit 230 can supply power to the rotating structure 220 and the first sensor unit 240 in response to the vibration intensity of the environment where the inertial navigation module 200 is located being less than the vibration intensity threshold, and control the rotating structure 220 and the first sensor unit 240 to work, so as to determine the attitude information of the inertial navigation module 200.

[0125] S20, in response to the inertial navigation module being in a moving state, obtain the second data collected by the second sensor unit, and determine the position information of the inertial navigation module according to the second data. That is to say, when the inertial navigation module is in a moving state, its position information is determined. In addition, in order to further improve the accuracy of the position information, in response to the inertial navigation module being in a moving state, the rotating shaft in the rotating structure is also controlled to be in a stationary state, and the first data collected by the first sensor unit is obtained. Afterwards, the second data is calibrated using the acquired first data to improve the accuracy of the second data, so as to determine the position information of the inertial navigation module according to the calibrated second data.

[0126] The control unit 230 can continuously supply power to the second sensor unit 250, the second sensor unit 250 can collect the second data in real time, the control unit 230 can obtain the second data periodically or in real time, and after obtaining the second data each time, the position information of the inertial navigation module 200 can be determined according to the second data. And, after the control unit 230 determines the position information of the inertial navigation module 200, the state (stationary-moving) of the inertial navigation module 200 can be monitored according to the determined position information, so as to increase the robustness of the inertial navigation module 200.

[0127] It is understandable that the execution process of step S10 and step S20 may not affect each other. For example, step S10 may be executed in response to a trigger condition, while step S20 is continuously executed.

[0128] The embodiment of the present application also provides a mechanical device, including: a device body, a control system and an inertial navigation module, and the inertial navigation module is such as the inertial navigation module of the first aspect or various embodiments of the first aspect mentioned above. In addition, the inertial navigation module is fixed to the device body, and the posture information and position information of the device body can be determined by the inertial navigation module. Furthermore, the control system is used to obtain the posture information and position information of the device body based on the inertial navigation module, and control the device body to adjust the position according to the posture information and position information of the device body. In addition, the principle of solving the problem by the mechanical device is similar to the principle of solving the problem by the aforementioned inertial navigation module, so the implementation of the mechanical device can refer to the implementation of the aforementioned inertial navigation module, and the repeated parts will not be repeated.

[0129] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.

Claims

1. An inertial navigation module, characterized in that: include: A housing and a rotating structure in the housing, a control unit, a first sensor unit and a second sensor unit; The rotating structure is fixed to the box, and the rotating structure has a rotating shaft; The first sensor unit is fixed to the rotating shaft, and the first sensor unit is used to: collect first data, and rotate circumferentially around the axis of the rotating shaft when the rotating shaft rotates; The second sensor unit is fixed to the box, and the second sensor unit is used to: collect second data; The control unit is connected to the rotating structure, the first sensor unit and the second sensor unit, and is used to control the rotating shaft to alternately be in a rotating state and a position holding state for multiple times, and obtain the first data collected by the first sensor unit each time the rotating shaft is in the position holding state, determine the attitude information of the inertial navigation module based on all the first data obtained, and obtain the second data collected by the second sensor unit, and determine the position information of the inertial navigation module based on the second data obtained.

2. The inertial navigation module according to claim 1, characterized in that: The inertial navigation module further includes: a first supporting assembly, the first supporting assembly is fixed to the rotating shaft, and the first sensor unit is fixed to the first supporting assembly.

3. The inertial navigation module according to claim 2, characterized in that: The first supporting assembly includes a first circuit board, the first sensor unit is connected to the first circuit board, and the first sensor unit is connected to the control unit through the first circuit board.

4. The inertial navigation module according to claim 2 or 3, characterized in that: The inertial navigation module also includes: a structural fixing member, and the first supporting assembly is fixed to the rotating shaft through the structural fixing member.

5. The inertial navigation module according to any one of claims 1 to 4, characterized in that: The inertial navigation module further includes: a second supporting assembly, the second supporting assembly is fixed inside the box, and the control unit and / or the second sensor unit is fixed on the second supporting assembly.

6. The inertial navigation module as claimed in claim 5, characterized in that: The second supporting assembly includes a second circuit board, and the control unit and the second sensor unit are electrically connected to the second circuit board respectively; The control unit is respectively connected to the first sensor unit, the second sensor unit and the rotating structure through the second circuit board.

7. The inertial navigation module according to any one of claims 1 to 6, characterized in that: The inertial navigation module further includes: a damping structure disposed in the box, and the damping structure is fixed to the box; The damping structure is in contact with the rotating structure and is used to apply resistance to the rotating structure.

8. The inertial navigation module as claimed in claim 7, characterized in that: The damping structure comprises a damping ring, which is arranged around the rotating structure and fixed to the box.

9. The inertial navigation module according to any one of claims 1 to 8, characterized in that: The rotating structure comprises a motor; and / or, The first sensor unit includes: at least one of a gyroscope and a magnetometer and an accelerometer; and / or, The second sensor unit includes an accelerometer and at least one of a gyroscope and a magnetometer.

10. A control method for an inertial navigation module, characterized in that: The inertial navigation module is the inertial navigation module according to any one of claims 1 to 9, and the method comprises: In response to the inertial navigation module being in a stationary state, controlling the rotating shaft in the rotating structure to be alternately in a rotating state and a position-holding state for multiple times, acquiring first data collected by the first sensor unit each time the rotating shaft is in the position-holding state, and determining the attitude information of the inertial navigation module according to the acquired first data; In response to the inertial navigation module being in a moving state, second data collected by the second sensor unit is acquired, and position information of the inertial navigation module is determined according to the second data.

11. The control method according to claim 10, characterized in that: The controlling the rotating shaft in the rotating structure to alternately be in a rotating state and a position holding state multiple times comprises: The rotating shaft is controlled to rotate N circles, and when the rotating shaft rotates, the rotating shaft is controlled to be in a position holding state at multiple positions respectively, the multiple positions include multiple first positions and multiple second positions, the multiple first positions correspond to the multiple second positions one by one, and when the rotating shaft rotates from the first position to the corresponding second position, the rotating shaft rotates 180°, and N is an integer and N≥1.

12. The control method according to claim 11, characterized in that: The attitude information includes a target heading angle, and determining the attitude information of the inertial navigation module according to the acquired first data includes: Determine an initial heading angle corresponding to the nth circle from a plurality of first data acquired when each position of the nth circle in the N circles is maintained according to the rotation, wherein n is an integer and 1≤n≤N; The average value of the initial heading angles corresponding to the N circles is determined as the target heading angle.

13. The control method according to claim 11, characterized in that: The attitude information includes a target heading angle, and determining the attitude information of the inertial navigation module according to the acquired first data includes: Determine a plurality of initial heading angles according to first data corresponding to each two adjacent first positions and their corresponding second positions among a plurality of first data acquired when the rotating shaft is in each position holding state in the N turns; An average value of the multiple initial heading angles is determined as the target heading angle.

14. The control method according to any one of claims 10 to 13, characterized in that: Also includes: In response to the inertial navigation module being in a stationary state, second data collected by the second sensor unit is acquired, and each of the first data is calibrated using the acquired second data to determine the attitude information of the inertial navigation module according to the calibrated first data.

15. The control method according to any one of claims 10 to 14, characterized in that: Also includes: In response to the inertial navigation module being in a moving state, the rotating shaft in the rotating structure is controlled to be in a stationary state, and the first data collected by the first sensor unit is obtained, and the second data is calibrated using the obtained first data to determine the position information of the inertial navigation module according to the calibrated second data.

16. The control method according to any one of claims 10 to 15, characterized in that: Controlling the rotating shaft to be in the position holding state comprises: Continuously applying a locking voltage to the rotating structure to control the rotating shaft to lock; or, The locking voltage is periodically applied to the rotating structure and power supply to the rotating structure is stopped, so as to control the rotating shaft to be periodically locked.

17. The control method according to claim 16, characterized in that: Also includes: When the rotating shaft is in the position holding state and power supply to the rotating structure is stopped, obtaining an angular error of the rotating shaft; When the angle error is not within the angle error range, the rotating structure is driven to control the rotating shaft to perform angle correction.

18. The control method according to any one of claims 10 to 17, characterized in that: Also includes: After determining the attitude information of the inertial navigation module, stop supplying power to the rotating structure and the first sensor unit.

19. The control method according to any one of claims 10 to 18, characterized in that: Also includes: In response to a periodic calibration period, power is supplied to the rotating structure and the first sensor unit during the calibration period to determine attitude information of the inertial navigation module, and there is a calibration interval between adjacent calibration periods; or, In response to a current running distance of the inertial navigation module being not less than a distance threshold, supplying power to the rotating structure and the first sensor unit to determine attitude information of the inertial navigation module; or, In response to the uncalibrated cumulative time length of the inertial navigation module being not less than a time length threshold, powering the rotating structure and the first sensor unit to determine the attitude information of the inertial navigation module, wherein the uncalibrated cumulative time length is the cumulative time length since the attitude information of the inertial navigation module was last determined; or, In response to the vibration intensity of the environment where the inertial navigation module is located being less than a vibration intensity threshold, power is supplied to the rotating structure and the first sensor unit to determine the attitude information of the inertial navigation module.

20. A mechanical device, characterized in that: include: A device body, a control system and at least one inertial navigation module according to any one of claims 1 to 9; The inertial navigation module is fixed to the device body, and the inertial navigation module is used to determine the attitude information and position information of the device body; The control system is used to: obtain the attitude information and position information of the device body based on the inertial navigation module, and control the device body to adjust its position according to the attitude information and position information of the device body.

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