A power supply system and method for laser gyro inertial navigation equipment

Abstract

The present invention discloses a power supply system and method for a laser gyro inertial navigation device. The system power supply module of the system includes a filter circuit, a power-on control circuit, a delay control circuit, an inertial group platform power supply, a motor drive power supply, a navigation computer board power supply, and a target simulation power supply; the inertial navigation power supply module includes an inertial group internal inertial element power supply subunit and an isolated signal acquisition circuit; the filter circuit is connected to the inertial group platform power supply, the motor drive power supply, the navigation computer board power supply, and the target simulation power supply; the power-on control circuit is connected to the motor drive power supply and the inertial group platform power supply; the delay control circuit is connected to the navigation computer board power supply and the target simulation power supply; the inertial group platform power supply is connected to the inertial group internal inertial element power supply subunit, and the inertial group internal inertial element power supply subunit is connected to the isolated signal acquisition circuit. The technical solution of the embodiment of the present invention can improve the degree of system automation and ensure the reliable operation of the laser gyro.

Description

Technical Field

[0001] The present invention relates to the technical field of power supply for laser gyro inertial navigation equipment, and in particular to a power supply system and method for laser gyro inertial navigation equipment. Background Art

[0002] The laser gyro inertial navigation device is a high-precision inertial navigation system developed for the use of engineering vehicles. After the laser gyro inertial navigation device is started and aligned, it enters the navigation state and can output the vehicle's position, orientation and other information in real time.

[0003] However, the operating environment of engineering vehicles is relatively complex, such as complex terrain environment, temperature environment and electromagnetic environment. The laser gyro inertial navigation equipment based on engineering vehicles has high design requirements in terms of temperature, vibration, electromagnetic and power supply system stability and reliability. Summary of the invention

[0004] The present invention provides a laser gyro inertial navigation equipment power supply system and method, so as to solve the problem that the laser gyro inertial navigation equipment using engineering vehicles as carriers cannot work automatically and reliably.

[0005] According to one aspect of the present invention, a power supply system for a laser gyro inertial navigation device is provided, comprising:

[0006] System power supply module and inertial navigation power supply module; wherein the system power supply module includes filtering circuit, power-on control circuit, delay control circuit, inertial group platform power supply, motor drive power supply, navigation computer board power supply and target simulation power supply; the inertial navigation power supply module includes the inertial element power supply subunit inside the inertial group and the isolation signal acquisition circuit;

[0007] The filter circuit is connected to the inertial group platform power supply, the motor drive power supply, the navigation computer board power supply and the target analog power supply; the power-on control circuit is connected to the motor drive power supply and the inertial group platform power supply; the delay control circuit is connected to the navigation computer board power supply and the target analog power supply;

[0008] The power supply of the inertial group platform is connected to the power supply subunit of the inertial element inside the inertial group, and the power supply subunit of the inertial element inside the inertial group is connected to the isolation signal acquisition circuit;

[0009] The delay control circuit is used to control the start-up of the target analog power supply after the navigation computer board power supply works normally; the power-on control circuit is used to control the power supply sequence of the motor drive power supply and the inertial group platform power supply after the target analog power supply is started.

[0010] According to another aspect of the present invention, a method for powering a laser gyro inertial navigation device is provided, which is applied to a power supply system for a laser gyro inertial navigation device in any embodiment, comprising:

[0011] After the navigation computer board power supply works normally, the target analog power supply is controlled to start through the delay control circuit;

[0012] After the target analog power supply is started, the power supply sequence of the inertial navigation system body power supply and the inertial navigation system body power supply is controlled through the power-on control circuit to provide power to the inertial navigation power supply module after the inertial navigation system body power supply works normally.

[0013] The technical solution of the embodiment of the present invention is to form a power supply system for a laser gyro inertial navigation device through a system power module and an inertial navigation power module. The filter circuit of the system power module is connected to the inertial group platform power supply, the motor drive power supply, the navigation computer board power supply and the target analog power supply, and the power-on control circuit is connected to the motor drive power supply and the inertial group platform power supply. The delay control circuit is connected to the navigation computer board power supply and the target analog power supply, the inertial group platform power supply is connected to the inertial group internal inertial element power supply subunit of the inertial navigation power module, and the inertial group internal inertial element power supply subunit is connected to the isolation signal acquisition circuit. After the navigation computer board power supply works normally, the target analog power supply is controlled to start through the delay control circuit. After the target analog power supply is started, the power supply sequence of the motor drive power supply and the inertial group platform power supply is controlled through the power-on control circuit. In this solution, by controlling the power-on sequence, a step-by-step power-on method is adopted to supply power to each power supply in the system power module, and the isolated signal acquisition circuit based on the inertial navigation power module performs signal isolation acquisition to prevent the front-stage equipment from interfering with the acquisition circuit. By isolating the sampling signals from each other, the crosstalk between channels is reduced, the sampling accuracy is improved, and the circuit reliability is enhanced. This solves the problem that the laser gyro inertial navigation equipment based on engineering vehicles cannot work automatically and reliably. This can improve the system automation level and ensure the reliable operation of the laser gyro.

[0014] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 A schematic diagram of a power supply system for a laser gyro inertial navigation device provided in Embodiment 1 of the present invention;

[0017] Figure 2A schematic diagram of an isolated signal acquisition circuit provided in Embodiment 2 of the present invention;

[0018] Figure 3 A schematic diagram of a delay control circuit provided in Embodiment 2 of the present invention;

[0019] Figure 4 This is a flow chart of a method for powering a laser gyro inertial navigation device provided in Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0021] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0022] Embodiment 1

[0023] Figure 1 This is a schematic diagram of a power supply system for a laser gyro inertial navigation device provided in Embodiment 1 of the present invention. Figure 1 As shown, the power supply system of the laser gyro inertial navigation device may include: a system power supply module and an inertial navigation power supply module; wherein the system power supply module may include a filtering circuit, a power-on control circuit, a delay control circuit, an inertial group platform power supply, a motor drive power supply, a navigation computer board power supply and a target simulation power supply; the inertial navigation power supply module may include an inertial element power supply subunit inside the inertial group and an isolation signal acquisition circuit.

[0024] The filter circuit is connected to the inertial group body power supply, motor drive power supply, navigation computer board power supply and target analog power supply; the power-on control circuit is connected to the motor drive power supply and the inertial group body power supply; the delay control circuit is connected to the navigation computer board power supply and the target analog power supply. The inertial group body power supply is connected to the inertial element power supply subunit inside the inertial group, and the inertial element power supply subunit inside the inertial group is connected to the isolation signal acquisition circuit.

[0025] The delay control circuit can be used to control the start-up of the target analog power supply after the navigation computer board power supply works normally; the power-on control circuit can be used to control the power supply sequence of the motor drive power supply and the inertial group platform power supply after the target analog power supply is started.

[0026] Among them, the system power supply module can be a power supply board that converts the DC power output of the previous stage into a power supply of multiple specifications. Exemplarily, the output of the previous stage can be 24V, 15A of electrical energy, and the system power supply module can output multiple specifications of DC voltages such as 5V, 12V, 24V and 48V, and can also output positive and negative 15V AC voltage. The inertial navigation power supply module can be a power supply board that converts the power supply specification again based on the power supply provided by the system power supply module. The filter circuit can be used for DC filtering. The power-on control circuit can be a control circuit for the power-on sequence. The delay control circuit can be a circuit for delaying the start of the control object.

[0027] The inertial navigation system body power supply may be a module that provides power to the inertial navigation system body. The inertial navigation system body may be understood as the structure of the inertial navigation system body. The motor drive power supply may be a module that provides power to the motor. The navigation computer board power supply may be a module that provides power to the navigation computer board. The target analog power supply may be used to provide analog drive power to the navigation computer board and the motor drive. The inertial element power supply subunit inside the inertial navigation system may be a power supply module that supplies power to the inertial element inside the inertial navigation system. The isolated signal acquisition circuit may be a circuit that performs signal isolation acquisition on the power supply configured in the inertial navigation power supply module.

[0028] In an embodiment of the present invention, a laser gyro inertial navigation device power supply system can be formed by a system power supply module and an inertial navigation power supply module. The system power supply module can be specifically composed of a filter circuit, a power-on control circuit, a delay control circuit, an inertial group platform power supply, a motor drive power supply, a navigation computer board power supply, and a target analog power supply. The inertial navigation power supply module can be specifically composed of an inertial element power supply subunit inside the inertial group and an isolated signal acquisition circuit. The filter circuit is connected to the inertial group platform power supply, the motor drive power supply, the navigation computer board power supply, and the target analog power supply through wires. The power-on control circuit is connected to the motor drive power supply and the inertial group platform power supply wires. The delay control circuit is connected to the navigation computer board power supply and the target analog power supply wires. The inertial group platform power supply is connected to the inertial element power supply subunit wire inside the inertial group, and the inertial element power supply subunit inside the inertial group is communicatively connected to the isolated signal acquisition circuit.

[0029] The filter circuit in the system power module filters the DC power input from the previous stage, and uses the filtered electric energy as the input of the inertial group platform power supply, motor drive power supply, navigation computer board power supply and target analog power supply. When the navigation computer board power supply works normally, the target analog power supply is controlled to start after the navigation computer board power supply through the delay control circuit, and after the target analog power supply is started, the power supply sequence of the motor drive power supply and the inertial group platform power supply is controlled based on the power-on control circuit. When the inertial group platform power supply works normally, it can provide electric energy input for the inertial component power supply subunit inside the inertial group, and then collect the working signal of the inertial component power supply subunit inside the inertial group through the isolation signal acquisition circuit for subsequent signal processing and reporting.

[0030] This scheme adopts gradual power-on for each laser gyro startup according to its usage characteristics. By controlling the power-on sequence (for example, the power supply voltage of the motor drive power supply is often higher than the power supply voltage of the inertial group platform power supply, the inertial group platform power supply can be controlled through the power-on control circuit to start before the motor drive power supply), the stability of the inertial navigation instantaneous total power is guaranteed, and the influence of frequent motor startup on the motor life is reduced. The power-on sequence of low voltage first and high voltage later is adopted to ensure the reliability and stability of the load power-on work.

[0031] The technical solution of the embodiment of the present invention is to form a power supply system for a laser gyro inertial navigation device through a system power module and an inertial navigation power module. The filter circuit of the system power module is connected to the inertial group platform power supply, the motor drive power supply, the navigation computer board power supply and the target analog power supply, and the power-on control circuit is connected to the motor drive power supply and the inertial group platform power supply. The delay control circuit is connected to the navigation computer board power supply and the target analog power supply, the inertial group platform power supply is connected to the inertial group internal inertial element power supply subunit of the inertial navigation power module, and the inertial group internal inertial element power supply subunit is connected to the isolation signal acquisition circuit. After the navigation computer board power supply works normally, the target analog power supply is controlled to start through the delay control circuit. After the target analog power supply is started, the power supply sequence of the motor drive power supply and the inertial group platform power supply is controlled through the power-on control circuit. In this solution, by controlling the power-on sequence, a step-by-step power-on method is adopted to supply power to each power supply in the system power module, and the isolated signal acquisition circuit based on the inertial navigation power module performs signal isolation acquisition to prevent the front-stage equipment from interfering with the acquisition circuit. By isolating the sampling signals from each other, the crosstalk between channels is reduced, the sampling accuracy is improved, and the circuit reliability is enhanced. This solves the problem that the laser gyro inertial navigation equipment based on engineering vehicles cannot work automatically and reliably. This can improve the system automation level and ensure the reliable operation of the laser gyro.

[0032] Embodiment 2

[0033] This embodiment is based on the above embodiment and is specific, and the content is introduced as follows:

[0034] In an optional embodiment of the present invention, the delay control circuit can be used to start the target analog power supply after determining that the navigation computer board power supply is working normally and after a target delay time has elapsed.

[0035] The target delay time may be a startup delay time preset according to power-on requirements.

[0036] In an embodiment of the present invention, after detecting that the navigation computer board power supply is working normally, the target analog power supply can be started based on the circuit characteristics of the constructed delay control circuit, that is, the target analog power supply is realized, and after the navigation computer board power supply is working normally, it is restarted after the target delay time.

[0037] In an optional embodiment of the present invention, the power-on control circuit can be used to control the inertial platform power supply to supply power before the motor drive power supply through two open-pole output gate circuits after the target analog power supply is started.

[0038] The open-pole output gate circuit may be an OC gate circuit.

[0039] In the embodiment of the present invention, when the target analog power supply is started, control signals of two open-pole output gate circuits can be given based on the navigation computer board to control the inertial group platform power supply to be supplied before the motor drive power supply.

[0040] In an optional embodiment of the present invention, the power supply subunit of the inertial element inside the inertial group may include a first gyroscope power supply and a second gyroscope power supply; an isolation signal acquisition circuit, used to isolate and collect electrical signals of the first gyroscope power supply and the second gyroscope power supply, and send the electrical signals to a semiconductor processing chip for signal processing.

[0041] Among them, the first gyroscope power supply and the second gyroscope power supply can be two different specifications of power supplies for the gyroscope. Exemplarily, the first gyroscope power supply can be a power supply that provides a positive or negative 5V voltage for the gyroscope. The second gyroscope power supply can be a power supply that provides a positive or negative 15V voltage for the gyroscope. The embodiment of the present invention does not limit the specific voltage values ​​provided by the first gyroscope power supply and the second gyroscope power supply. The semiconductor processing chip can be an ARM chip.

[0042] In the embodiment of the present invention, the first gyroscope power supply and the second gyroscope power supply in the inertial navigation power supply module can receive the electric energy output by the inertial group platform power supply, and convert the electric energy output by the inertial group platform power supply into a voltage rule so as to start as needed. The isolated signal acquisition circuit can acquire the electric signals of the first gyroscope power supply and the second gyroscope power supply, and send the isolated acquired electric signals to the semiconductor processing chip for signal processing, and the semiconductor processing chip further uploads the processed acquired signals to the navigation computer board.

[0043] In an optional embodiment of the present invention, the system power module may further include at least one of an external communication unit power supply, an odometer power supply, and a fan power supply.

[0044] The external communication unit may be a module with communication function. For example, the output voltage of the external communication unit power supply, the odometer power supply and the fan power supply is 5V, and the specific output voltage value can be adjusted as needed.

[0045] Optionally, the system power module may also be configured with an external communication unit power supply, an odometer power supply, and a fan power supply.

[0046] In an optional embodiment of the present invention, the inertial navigation power supply module may also include an integrated digital power supply and / or a current-frequency converter analog power supply; an isolated signal acquisition circuit for isolating and acquiring electrical signals of the integrated digital power supply and / or the current-frequency converter analog power supply.

[0047] The integrated digital power supply can be the digital power supply of the acquisition and solving board and the current-frequency converter. The current-frequency converter analog power supply can be the power supply that provides analog voltage for the current-frequency converter. The current-frequency converter is the IF module.

[0048] In an embodiment of the present invention, the inertial navigation power supply module may further include an integrated digital power supply and / or a current-frequency converter analog power supply. The electrical signals of the integrated digital power supply and / or the current-frequency converter analog power supply may be collected by the isolation signal acquisition circuit and sent to the semiconductor processing chip for signal processing.

[0049] In a specific example, a sampling circuit in the isolated signal acquisition circuit can refer to Figure 2 .like Figure 2 As shown in the figure, under the premise of ensuring high-precision linear sampling, the isolation sampling circuit of multiple analog power supplies is realized through linear optocouplers, operational amplifiers and other devices. Among them, R1-R6 are resistors, C1-C4 are capacitors, and N1A, N1B, and N2A are operational amplifiers (abbreviated as op amps). The first gyroscope power supply is used as the input of the isolated signal acquisition circuit. The isolated signal acquisition circuit outputs a 3.3V power supply to power the subsequent semiconductor processing chip. The power supply range of the op amps N1A, N1B, and N2A is 3 to 36V, which meets the amplitude range requirements of the front and rear power supplies of this sampling circuit. The voltage to be detected is divided and followed by R1, R2, N1A, and N1B, and the voltage to be detected is divided and reduced to the sampling interval of the subsequent semiconductor processing chip, and sent to the semiconductor processing chip. The semiconductor processing chip performs algorithm compensation processing on the input data, which can understand the power supply status of the power supply system in real time, and perform real-time data communication through the RS422 interface and the navigation solution board.

[0050] In order to enhance the anti-interference ability of the isolated signal acquisition circuit, the collected signal can be isolated. On the one hand, the signal to be collected and the analog switch are isolated to prevent the front-stage equipment from interfering with the isolated signal acquisition circuit. On the other hand, the signals to be sampled are isolated from each other to reduce the crosstalk between channels, improve the sampling accuracy and enhance the circuit reliability. The isolated signal acquisition circuit is equipped with an optocoupler component. Since the optocoupler has unidirectional conductivity, it can achieve complete isolation from input to output and completely cut off the loop interference of the ground wire, so it has a strong anti-interference ability. For example, a dedicated chip can be used to complete the linear isolation of the analog power supply signal, and the voltage analog input signal can be converted into voltage and current, and the change of the instantaneous input voltage can be reflected in the current, thereby realizing voltage isolation. AD sampling, signal processing and uploading are realized by semiconductor processing chips.

[0051] In an optional embodiment of the present invention, when the system power module includes a fan power supply, the semiconductor processing chip can control the fan speed based on the temperature acquisition signal.

[0052] Among them, the temperature acquisition signal can be used to characterize the external ambient temperature level of the laser gyro inertial navigation equipment power supply system.

[0053] In an embodiment of the present invention, if the system power supply module includes a fan power supply, it indicates that the power supply system of the laser gyro inertial navigation device has the function of cooling through a fan. The semiconductor processing chip can further obtain a temperature acquisition signal, and control the fan speed based on the temperature acquisition signal to ensure the temperature stability around the power supply system of the laser gyro inertial navigation device.

[0054] In an optional embodiment of the present invention, the delay control circuit may be composed of a photocoupler, a resistor, a capacitor, a transistor and a voltage-stabilizing diode.

[0055] In a specific example, the delay control circuit is as follows Figure 3 As shown, N1 is a ±15V power module. Its working mode is that when the control end is open or high impedance, the power module has output, and when the control end is injected with 2-4mA current, the module has no output. The delay control circuit is composed of E1 (photocoupler), resistors R1-R5, capacitor C1 and transistors V2-V3, and VIN is connected to the output of the filter circuit. When the navigation computer board power supply has no output, C1 is not charged, the CE pole of V2 is not conducting, and the 3 and 4 ports of E1 are open. At this time, V3 is turned on, and the C pole of V3 forms a path with R5 and the internal resistor of N1, causing the control end of N1 to have an input current of about 3mA, and the N1 module has no output at this time. When the input voltage of the navigation computer board power supply is normal, C1 is charged through R1. In order to obtain a larger delay without using a large-capacity capacitor, V1 (3.3V voltage-stabilizing diode) is added to increase the capacitor voltage of the V2 transistor to 4V. When the voltage of capacitor C1 reaches the transistor base conduction voltage of about 4V, the transistor is turned on, the light-emitting diode at the input end of E1 emits light, driving the subsequent photo-controlled thyristor to conduct, pulling down the base of the following V3 transistor, causing the V3 transistor CE to not conduct. At this time, the N1 control end is open, and the N1 power module has output. After testing, this circuit has a delayed output of about 800ms. R3 is used to conduct the reverse leakage current of V1 to prevent the transistor V2 from being slightly turned on during the charging process. E1 is an isolation optocoupler to isolate the input and output ends to prevent the controlled circuit from affecting the control end due to voltage jitter during operation, ensuring that each power supply is isolated and controlled. Timing control without delay only requires removing Figure 3 The RC delay line on the left side of the optocoupler in the middle ensures that the optocoupler conducts current at the input end. Note whether the control signal of the power module is a positive logic or a negative logic signal.

[0056] The laser gyro inertial navigation equipment power supply system in this scheme is based on the principles of modularization, functionalization and high reliability. By dividing the power supply requirements of each functional area within the inertial navigation, the system power supply process is planned and designed, and the voltage signals of each power supply are isolated and sampled through the domestic ARM architecture. The power supply information is monitored and processed and uploaded, realizing the control and collection of the power supply system, effectively ensuring the reliable operation of the laser gyro inertial navigation equipment of engineering vehicles, and improving the automation level of the inertial navigation equipment power supply system. In addition, this power supply system has the characteristics of multi-channel voltage time-sharing output and measurable and controllable output voltage, that is, it fully considers the need for the stability of the power supply in a complex environment for a long time, realizes the power-on timing control of each output voltage, and the sampling, processing and reporting of each power supply information, effectively improving the vehicle-mounted adaptability and working reliability of the laser gyro inertial navigation equipment.

[0057] The laser gyro inertial navigation device power supply system provided in the embodiment of the present invention also has the beneficial effects described in the above embodiments, which will not be described in detail here.

[0058] Embodiment 3

[0059] Figure 4 The flowchart of a method for powering a laser gyro inertial navigation device provided in the third embodiment of the present invention. The method for powering a laser gyro inertial navigation device can be applied to the power supply system of the laser gyro inertial navigation device in any of the above embodiments, such as Figure 4 As shown, the method includes:

[0060] Step 410: After the navigation computer board power supply works normally, the target analog power supply is controlled to start through the delay control circuit.

[0061] Step 420: After the target analog power supply is started, the power supply sequence of the inertial group platform power supply and the navigation computer board power supply is controlled through the power-on control circuit to provide power to the inertial navigation power supply module after the inertial group platform power supply works normally.

[0062] Optionally, the power supply method for the laser gyro inertial navigation device further includes: isolating and collecting electrical signals of the first gyro power supply and the second gyro power supply through an isolation signal acquisition circuit, and sending the electrical signals to the semiconductor processing chip for signal processing.

[0063] The technical solution of the embodiment of the present invention is that after the navigation computer board power supply works normally, the target analog power supply is controlled to start through the delay control circuit. After the target analog power supply is started, the power supply sequence of the motor drive power supply and the inertial group platform power supply is controlled through the power-on control circuit. In this solution, by controlling the power-on sequence of the power supply, a step-by-step power-on method is adopted to power each power supply in the system power module, and the isolated signal acquisition circuit based on the inertial navigation power module performs signal isolation acquisition to prevent the front-stage equipment from interfering with the acquisition circuit, and through the mutual isolation of the sampled signals, the crosstalk between channels is reduced, the sampling accuracy is improved, and the circuit reliability is also enhanced, which solves the problem that the laser gyro inertial navigation equipment based on engineering vehicles cannot work automatically and reliably, can improve the system automation level, and ensure the reliable operation of the laser gyro.

[0064] Embodiment 4

[0065] In some embodiments, the laser gyro inertial navigation device power supply method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as a storage unit.

[0066] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0067] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0068] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0069] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0070] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0071] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of traditional physical hosts and VPS servers, which are difficult to manage and have weak business scalability.

[0072] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0073] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A power supply system for a laser gyro inertial navigation device, characterized in that: include: System power supply module and inertial navigation power supply module; wherein, the system power supply module includes a filter circuit, a power-on control circuit, a delay control circuit, an inertial group platform power supply, a motor drive power supply, a navigation computer board power supply and a target simulation power supply; the inertial navigation power supply module includes an inertial element power supply subunit inside the inertial group and an isolation signal acquisition circuit; The filter circuit is connected to the inertial group platform power supply, the motor drive power supply, the navigation computer board power supply and the target analog power supply; the power-on control circuit is connected to the motor drive power supply and the inertial group platform power supply; the delay control circuit is connected to the navigation computer board power supply and the target analog power supply; The inertial group platform power supply is connected to the inertial element power supply subunit inside the inertial group, and the inertial element power supply subunit inside the inertial group is connected to the isolation signal acquisition circuit; The delay control circuit is used to control the start-up of the target analog power supply after the navigation computer board power supply works normally; the power-on control circuit is used to control the inertial group platform power supply to start before the motor drive power supply after the target analog power supply starts.

2. The system according to claim 1, characterized in that The delay control circuit is used to start the target analog power supply after determining that the navigation computer board power supply is working normally and after a target delay time has elapsed.

3. The system according to claim 1, characterized in that The power-on control circuit is used to control the inertial platform power supply to supply power before the motor drive power supply through two open-pole output gate circuits after the target analog power supply is started.

4. The system according to claim 1, characterized in that The inertial element power supply subunit inside the inertial group includes a first gyroscope power supply and a second gyroscope power supply; The isolated signal acquisition circuit is used to isolate and acquire the electrical signals of the first gyroscope power supply and the second gyroscope power supply, and send the electrical signals to the semiconductor processing chip for signal processing.

5. The system according to claim 1, characterized in that The system power supply module also includes at least one of an external communication unit power supply, an odometer power supply and a fan power supply.

6. The system according to claim 3, characterized in that The inertial navigation power supply module further includes an integrated digital power supply and / or a current-frequency converter analog power supply; The isolated signal acquisition circuit is used to isolate and acquire the electrical signals of the integrated digital power supply and / or the current-frequency converter analog power supply.

7. The system according to claim 5, characterized in that When the system power module includes the fan power supply, the semiconductor processing chip controls the fan speed based on the temperature acquisition signal.

8. The system according to claim 1, characterized in that The delay control circuit is composed of a photoelectric coupler, a resistor, a capacitor, a triode and a voltage-stabilizing diode.

9. A method for powering a laser gyro inertial navigation device, applied to the laser gyro inertial navigation device power supply system according to any one of claims 1 to 8, characterized in that: include: After the navigation computer board power supply works normally, the target analog power supply is controlled to start through the delay control circuit; After the target simulated power supply is started, the inertial navigation system power supply is controlled through a power-on control circuit and started before the motor drive power supply, so as to provide electric energy for the inertial navigation power supply module after the inertial navigation system power supply works normally.

10. The method according to claim 9, characterized in that Also includes: The electrical signals of the first gyroscope power supply and the second gyroscope power supply are isolated and collected by the isolation signal acquisition circuit, and the electrical signals are sent to the semiconductor processing chip for signal processing.

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