Attitude sensor data acquisition device supporting synchronous sampling

Abstract

The invention discloses an attitude sensor data acquisition device supporting synchronous sampling. A sensor comprises a gyroscope, an accelerometer, a magnetometer and a barometer. During power-on, if no data exists in the data storage module, the device automatically enters a data recording state; if the data exists, the device sends a prompt to the upper computer, and the data processing module reads or clears the data according to a control instruction of the upper computer; and after data is cleared, the device automatically enters a data recording state when being electrified next time. According to the invention, the data of the gyroscope, the accelerometer and the magnetometer can be synchronously sampled, the data alignment process during asynchronous sampling is omitted, and the accuracy of data fusion processing is improved at the same time; according to the invention, synchronous sampling can be carried out on the gyroscope, the accelerometer and the magnetometer at the highest frequency of 5000 Hz, the data resolution is improved, and the system can adapt to a high-dynamic environment; according to the invention, the air pressure value and the temperature value can be sampled at the frequency of 100Hz at most as the calculation basis of the height and the speed.

Description

Technical Field

[0001] The invention belongs to the field of aircraft attitude detection technology, and in particular relates to an attitude sensor data acquisition device supporting synchronous sampling. Background Art

[0002] There are currently several problems with existing aircraft attitude sensor data acquisition devices: first, some attitude sensor data acquisition devices are unable to achieve synchronous sampling of nine-axis sensor data; second, some attitude sensor data acquisition devices have a low data acquisition frequency, and the actual measured data resolution is low, resulting in low accuracy of subsequent data processing results; third, some attitude sensor data acquisition devices have a small range, and when the device under test is in high dynamic motion, the sensor range will be exceeded; fourth, some attitude sensor data acquisition devices cannot collect air pressure and temperature information at the same time. Summary of the invention

[0003] The object of the present invention is to provide a posture sensor data acquisition device which can achieve synchronous sampling of multi-sensor data, has a high and adjustable sampling frequency, a large range, can simultaneously measure air pressure and temperature information, can adapt to complex environments and has a compact size.

[0004] The technical solution to realize the present invention is: a posture sensor data acquisition device supporting synchronous sampling, including a power conversion module, a data processing module, a data storage module, a gyroscope module, an accelerometer module, a magnetometer module, a barometer module, an ADC data acquisition module, a reference voltage module, and an indicator light module; wherein the input end of the magnetometer module is connected to the output end of the reference voltage module to obtain the reference voltage for electrical signal processing; the output ends of the gyroscope module, the accelerometer module, and the magnetometer module are respectively connected to the input end of the ADC data acquisition module to transmit the electrical signals output by the corresponding modules to the ADC data acquisition module; the output end of the reference voltage module is connected to the input end of the ADC data acquisition module to provide a reference for data sampling; the output end of the ADC data acquisition module is connected to the input end of the data processing module to process the gyroscope module, the accelerometer module, and the magnetometer module. The electrical signals output by the module and the magnetometer module are sampled, converted into digital signals, and output to the data processing module; the output end of the barometer module is connected to the input end of the data processing module, and the air pressure and temperature data are converted into digital signals and output to the data processing module; the data processing module is cross-connected with the input and output ends of the data storage module, and after the data processing module reads the output data of the ADC data acquisition module and the barometer module, the data is written to the data storage module, and the data can be read from the data storage module and sent to the host computer; the indicator light module is used to indicate the working status of the system; the power conversion module is responsible for converting a single voltage power supply into voltage power supplies of different levels to power the data processing module, the data storage module, the gyroscope module, the accelerometer module, the magnetometer module, the barometer module, the ADC data acquisition module, the reference voltage module and the indicator light module.

[0005] When powered on, if there is no data in the data storage module, the device automatically enters the data recording state; if there is data, the device sends a prompt to the host computer, and the data processing module completes the reading or clearing of the data according to the control instruction of the host computer; after clearing the data, the device automatically enters the data recording state when powered on next time. The present invention can synchronously sample the data of the gyroscope, accelerometer and magnetometer, eliminating the data alignment process during asynchronous sampling, and at the same time improving the accuracy of data fusion processing; the present invention can synchronously sample the gyroscope, accelerometer and magnetometer at a frequency of up to 5000Hz, improve the data resolution, and can adapt to high dynamic environments; the present invention can sample the air pressure value and temperature value at a frequency of up to 100Hz as the calculation basis of the height and speed.

[0006] Compared with the prior art, the present invention has the following significant advantages:

[0007] (1) In order to realize synchronous sampling of multi-sensor data, the present invention designs a cascade circuit of multiple ADC chips. By connecting multiple ADC chips through a bus, the number of data acquisition channels can be expanded to N. The synchronization signal is sent by the microcontroller at a fixed time interval, and all ADC chips are synchronized by the synchronization signal line on the bus, and data is collected based on this synchronization frequency. If some ADC chips are misaligned with the synchronization signal, these ADC chips can be automatically refreshed and resynchronized to the frequency of the synchronization signal. The microcontroller accesses all ADC chips on the bus at a fixed time interval to obtain the synchronization data of all channels, thereby realizing synchronous sampling of multi-channel data.

[0008] (2) The ADC cascade circuit used in the present invention has a configurable data output frequency, and can collect nine-axis data at a maximum frequency of 5000 Hz. The minimum time interval for collecting a set of complete nine-axis data is 0.5 ms, which can ensure that the collected data has a high density and improve the accuracy of the final data processing results.

[0009] (3) The present invention uses a large-range sensor for data acquisition. The range of the gyroscope reaches ±20000° / s, the range of the accelerometer reaches ±200g, and the range of the magnetometer reaches ±6gauss. Even if the object being measured is in a high-dynamic motion state, it can ensure that the sensor measurement data will not be invalid due to exceeding the range.

[0010] (4) The present invention integrates a barometer, which can simultaneously measure the air pressure and temperature values ​​of the location of the device under test, and store the measurement results in a data storage module. By using the stored air pressure and temperature data, the height information of the object under test can be obtained by calculation, and the moving speed of the object under test in the direction vertical to the ground can be further calculated.

[0011] (5) The present invention can expand the measurement channels to N by increasing the number of ADC chip cascades, and can add more sensors for redundant measurement to obtain higher data accuracy.

[0012] (6) The present invention achieves isolation of digital signals and analog signals, thereby avoiding signal fluctuations and data measurement errors caused by the mixing of digital signals and analog signals. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 The present invention is a structural diagram of a posture sensor data acquisition device supporting synchronous sampling.

[0014] Figure 2 This is a circuit diagram of the power conversion module of the present invention.

[0015] Figure 3 This is a circuit diagram of the data processing module of the present invention.

[0016] Figure 4 This is a circuit diagram of the data storage module of the present invention.

[0017] Figure 5 This is a circuit diagram of the gyroscope module of the present invention.

[0018] Figure 6 This is a circuit diagram of the accelerometer module of the present invention.

[0019] Figure 7 This is a circuit diagram of the magnetometer module of the present invention.

[0020] Figure 8 This is a circuit diagram of the barometer module of the present invention.

[0021] Fig. 9 This is the circuit diagram of the ADC data acquisition module of the present invention.

[0022] Fig.10 This is a circuit diagram of the reference voltage module of the present invention.

[0023] Fig.11 This is a circuit diagram of the indicator light module of the present invention. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 are within the scope of protection of the present invention.

[0025] In the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0026] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation" and the like should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; "connection" can be a mechanical connection or an electrical connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0028] The following will further introduce the specific implementation method, as well as the technical difficulties and inventive points of this invention in combination with this design example.

[0029] Combination Figures 1 to 11 , a posture sensor data acquisition device supporting synchronous sampling, using a gyroscope, an accelerometer and a magnetometer for posture measurement, and using a barometer for falling speed measurement; including a power conversion module, a data processing module, a data storage module, a gyroscope module, an accelerometer module, a magnetometer module, a barometer module, an ADC data acquisition module, a reference voltage module, and an indicator light module. Among them, the input end of the magnetometer module is connected to the output end of the reference voltage module, and the reference voltage is obtained to amplify the internal sensor electrical signal. The output ends of the gyroscope module, the accelerometer module, and the magnetometer module are respectively connected to the input end of the ADC data acquisition module, and the electrical signals output by the corresponding modules are transmitted to the ADC data acquisition module. The output end of the reference voltage module is connected to the input end of the ADC data acquisition module to provide a voltage signal for pseudo-differential input during data sampling. The output end of the ADC data acquisition module is connected to the input end of the data processing module, and the electrical signals output by the gyroscope module, the accelerometer module, and the magnetometer module are sampled, converted into digital signals, and output to the data processing module. The output end of the barometer module is connected to the input end of the data processing module, and the air pressure and temperature data are converted into digital signals and output to the data processing module. The data processing module is cross-connected with the input and output ends of the data storage module. After the data processing module reads the output data of the ADC data acquisition module and the barometer module, the data is written to the data storage module, and the data can be read from the data storage module and sent to the host computer. The indicator module is used to indicate the working status of the system. The power conversion module is responsible for converting a single voltage power supply into voltage power supplies of different levels to power the data processing module, the data storage module, the gyroscope module, the accelerometer module, the magnetometer module, the barometer module, the ADC data acquisition module, the reference voltage module and the indicator module.

[0030] After the attitude sensor data acquisition device supporting synchronous sampling is powered on, the data processing module performs power-on initialization on the data storage module, gyroscope module, accelerometer module, magnetometer module, barometer module and ADC data acquisition module, and then the data processing module determines whether there is data in the data storage module.

[0031] If there is no data in the data storage module, the device will automatically enter the data acquisition state. The data processing module reads a set of sensor data from the ADC data acquisition module every 0.2ms, including three-axis gyroscope data, three-axis accelerometer data, and three-axis magnetometer data; and reads a set of air pressure and temperature data from the barometer module every 10ms. After reading the data, the data processing module will store the data in the data storage module and wait for the operator to choose to read or clear the data when the device is powered on next time.

[0032] If the data storage module already has data, the data processing module will send a prompt message to the host computer through the data transmission module, and the operator will choose to read or clear the data according to the prompt message. When reading data, the data processing module will read data from the data storage module and send it to the host computer through the data transmission module. When clearing data, the data processing module will delete all data in the data transmission module, and then the system will enter the idle state. At this time, the system will be powered off and powered on again. The device will detect that there is no data in the data storage module, and then automatically enter the data acquisition state.

[0033] Combination Figure 2The power conversion module includes a first switching diode D1, a first tantalum capacitor E1, a first capacitor C1, a first power conversion chip V1, a second tantalum capacitor E2, a third capacitor C3, a second power conversion chip V2, a third tantalum capacitor E3, a fourth capacitor C4, a second resistor R2, a sixth resistor R6, an eighth resistor R8, and a first wiring terminal JP1; the power conversion module is powered by a 7.4V-12V single power supply; the positive electrode of the single power supply is connected to the input end of the first power conversion chip V1, the positive electrode of the first tantalum capacitor E1 and one end of the first capacitor C1 through the first switching diode D1; the output end of the first power conversion chip V1 is connected to the input end of the second power conversion chip V2, the positive electrode of the second tantalum capacitor E2 and one end of the third capacitor C3, and provides a digital 5V voltage for other modules; the output end of the second power conversion chip V2 is connected to the positive electrode of the third tantalum capacitor E3 The cathode of the first tantalum capacitor E1, the other end of the first capacitor C1, the grounding terminal of the first power conversion chip V1, the cathode of the second tantalum capacitor E2, the other end of the third capacitor C3, the grounding terminal V2 of the second power conversion chip, the cathode of the third tantalum capacitor E3 and the other end of the fourth capacitor C4 are connected to a common ground and connected to the cathode of the single power supply; one end of the second resistor R2 is connected to the digital 3.3V voltage, and the other end provides an analog 3.3V voltage for other modules; one end of the sixth resistor R6 is connected to the digital 5V voltage, and the other end provides an analog 5V voltage for other modules; one end of the eighth resistor R8 is connected to the digital ground, and the other end is connected to the analog ground; the first wiring terminal JP1 is respectively connected to the positive electrode of the power supply, the digital ground, the digital 3.3V voltage, and the digital 5V voltage, for outputting the corresponding voltage to the outside world.

[0034] The first switching diode D1, the first tantalum capacitor E1, the first capacitor C1, the first power conversion chip V1, the second tantalum capacitor E2, and the third capacitor C3 constitute a primary step-down circuit. The input end of the primary step-down circuit is connected to the positive pole of the single power supply, and the output end is connected to the input end of the secondary step-down circuit and the digital 5V power supply, and the function is to step down the input voltage to 5V. Among them, the function of the first switching diode D1 is to prevent the positive and negative poles of the single power supply from being reversed, the function of the first power conversion chip V1 is to step down the input voltage to 5V, and the remaining capacitors all play a filtering role. The second power conversion chip V2, the third tantalum capacitor E3, and the fourth capacitor C4 constitute a secondary step-down circuit. The input end of the secondary step-down circuit is connected to the output end of the primary step-down circuit, and the output end is connected to the digital 3.3V power supply, and the function is to step down the 5V voltage to 3.3V. Among them, the function of the second power conversion chip V2 is to step down the digital 5V voltage to 3.3V, and the remaining capacitors all play a filtering role. The second resistor R2, the sixth resistor R6, and the eighth resistor R8 constitute a digital-to-analog isolation circuit. The two ends of the second resistor R2 are connected to digital 3.3V and analog 3.3V respectively, the two ends of the sixth resistor R6 are connected to digital 5V and analog 5V respectively, and the two ends of the eighth resistor R8 are connected to digital ground and analog ground respectively, all of which play the role of isolating digital circuits and analog circuits.

[0035] Combination Figure 3The data processing module includes a first main control chip U1, a sixth capacitor C6, a seventh capacitor C7, a tenth capacitor C10, a twelfth capacitor C12, a fifteenth capacitor C15, a sixteenth capacitor C16, a fourteenth resistor R14, an eighteenth capacitor C18, a fifth capacitor C5, a ninth capacitor C9, a first crystal oscillator X1, an eleventh resistor R11, and a second wiring terminal JP2; port No. 2 of the first main control chip U1 is connected to the indicator light module to control the indicator light to flash; port No. 5 is connected to one end of the first crystal oscillator X1 and one end of the fifth capacitor C5; port No. 6 is connected to the other end of the first crystal oscillator X1 and one end of the ninth capacitor C9 to obtain a crystal oscillator signal; Port No. 1 is connected to one end of the twelfth capacitor C12; Port No. 8 is connected to the digital ground; Port No. 9, one end of the fifteenth capacitor C15, and one end of the sixteenth capacitor C16 are connected to the digital 3.3V voltage; Ports No. 13, No. 14, No. 15, No. 16, No. 17, and No. 18 are connected to the output end of the ADC data acquisition module to obtain the collected sensor data; Port No. 19 is connected to the magnetometer module to control the set and reset of the magnetometer; Port No. 20 is connected to one end of the fourteenth resistor R14; Port No. 23 is connected to the digital ground; Port No. 24 and one end of the eighteenth capacitor C18 are connected to the digital 3.3V voltage; Ports No. 25, 26 Ports 2, 3, 4 and 5 are connected to the data storage module for reading and storing data; ports 30 and 31 are connected to the host computer for receiving commands from the host computer and sending data to the host computer; port 35 and one end of the tenth capacitor C10 are connected to the digital ground; port 36 and the other end of the tenth capacitor C10 are connected to the digital 3.3V voltage; ports 42 and 43 are connected to the barometer module for obtaining barometer data; port 44 is connected to one end of the eleventh resistor R11; port 47 and one end of the sixth capacitor C6 and one end of the seventh capacitor C7 are connected to the digital ground; port 48 and the other end of the sixth capacitor C6 are connected to the digital ground. The other end of the seventh capacitor C7 is commonly connected to the digital 3.3V voltage; the other ends of the other ports are not connected; the other end of the twelfth capacitor C12, the other end of the fifteenth capacitor C15, the other end of the sixteenth capacitor C16, the other end of the fourteenth resistor R14, and the other end of the eighteenth capacitor C18 are all connected to the digital ground; the grounding terminal of the first crystal oscillator X1 and the other end of the fifth capacitor C5 and the other end of the ninth capacitor C9 are commonly connected to the digital ground, which is used to provide a crystal oscillator signal to the data processing module; the second wiring terminal JP2 is respectively connected to the digital 3.3V voltage, the other end of the eleventh resistor R11 and the digital ground, which is used to set the startup mode of the first master control chip U1.

[0036] The first main control chip U1, the sixth capacitor C6, the seventh capacitor C7, the tenth capacitor C10, the twelfth capacitor C12, the fifteenth capacitor C15, the sixteenth capacitor C16, the fourteenth resistor R14, and the eighteenth capacitor C18 constitute the main control chip circuit, which plays a role in data processing. Among them, the function of the first main control chip U1 is to read the data output by the ADC data acquisition module, and send the data to the data storage module after processing; the function of the fourteenth resistor R14 is to pull the startup mode pin BOOT1 down to a low level; the remaining capacitors all play a filtering role. The fifth capacitor C5, the ninth capacitor C9, and the first crystal oscillator X1 constitute a crystal oscillator circuit, which is used to generate a clock signal. Among them, the clock signal output by the first crystal oscillator X1 flows from the output end of the crystal oscillator circuit into the input end of the main control chip circuit, which is used to provide an external high-speed crystal oscillator source to the first main control chip U1; the remaining capacitors all play a filtering role. The eleventh resistor R11 and the second terminal JP2 constitute the BOOT pin circuit, which is used to set the startup mode of the first main control chip U1. Among them, the voltage signal output of the BOOT pin circuit is connected to the No. 44 pin of the first main control chip U1. By connecting the input end of the BOOT pin circuit to the 3.3V power supply or digital ground, the startup mode of the first main control chip U1 can be selected to switch between the "download program" and "execute program" functions. In addition, the input end of the first main control chip U1 is respectively connected to the output end of the data storage module, the output end of the ADC data acquisition module, and the output end of the barometer module, in order to send data from the above modules to the data processing module for subsequent processing.

[0037] Combination Figure 4 The data storage module includes a fifth integrated circuit chip IC5 and a fourteenth capacitor C14; ports 1, 2, 5, and 6 of the fifth integrated circuit chip IC5 are connected to the data processing module for storing and reading data; port 3 is connected to a digital 3.3V voltage; port 4 is connected to a digital ground; ports 7 and 8 and one end of the fourteenth capacitor C14 are connected to the digital 3.3V voltage together; the other end of the fourteenth capacitor C14 is connected to the digital ground.

[0038] The function of the data storage module is to save the data in the device even when the device is powered off, and to read the data from it when it is powered on next time. The fifth integrated circuit chip IC5 is a Flash chip, which plays the role of saving data. The fourteenth capacitor C14 plays the role of power supply filtering. When data needs to be stored, the data signal flows from the output end of the data processing module to the input end of the fifth integrated circuit chip IC5; when data needs to be read, the data signal flows from the output end of the fifth integrated circuit chip IC5 to the input end of the data processing module.

[0039] Combination Figure 5The gyroscope module includes a seventh integrated circuit chip IC7, a nineteenth capacitor C19, a twenty-first capacitor C21, a twenty-fourth capacitor C24, a twenty-seventh capacitor C27, a thirty-first capacitor C31, a thirty-third capacitor C33, and a thirty-fourth capacitor C34; the D7 port of the seventh integrated circuit chip IC7 is connected to one end of the nineteenth capacitor C19; the B7 port is connected to one end of the twenty-fourth capacitor C24; the C7 port is connected to the other end of the twenty-fourth capacitor C24; the A5 port is connected to one end of the twenty-seventh capacitor C27; the A4 port is connected to the other end of the twenty-seventh capacitor C27; the A3 port and one end of the thirty-first capacitor C31 are commonly connected to the analog 5V voltage; the B1 The port and one end of the thirty-third capacitor C33 are connected to the ADC data acquisition module, which is used to send the signal of the gyroscope to the ADC data acquisition module for acquisition; the C1 port is connected to the other end of the thirty-third capacitor C33; the E1 port and one end of the twenty-first capacitor C21 are connected to the analog 5V voltage; the F1 port and the other end of the twenty-first capacitor C21 are connected to the analog ground; the F7 port and one end of the thirty-fourth capacitor C34 are connected to the digital ground; the E7 port and the other end of the thirty-fourth capacitor C34 are connected to the digital 5V voltage; the other ports are not connected; the other end of the nineteenth capacitor C19 is connected to the digital ground; the other end of the thirty-first capacitor C31 is connected to the analog ground.

[0040] The gyroscope module is used to convert the rotational motion of the device into an electrical signal. When the device is rotating, the output end of the seventh integrated circuit chip IC7 will generate a corresponding electrical signal, which will flow to the input end of the ADC data acquisition module after being filtered by the thirty-third capacitor C33. The twenty-fourth capacitor C24 and the twenty-seventh capacitor C27 act as charge pumps for the seventh integrated circuit chip IC7. The remaining capacitors all play the role of power supply filtering.

[0041] Combination Figure 6The accelerometer module includes an eighth integrated circuit chip IC8, a twenty-second capacitor C22, a twenty-third capacitor C23, a twenty-ninth capacitor C29, and a thirtieth capacitor C30; port 1 of the eighth integrated circuit chip IC8 is connected to the analog ground; port 4 is connected to one end of the twenty-ninth capacitor C29 and the ADC data acquisition module to send the accelerometer electrical signal to the ADC data acquisition module; port 5 is connected to one end of the thirtieth capacitor C30 and the ADC data acquisition module to send the accelerometer electrical signal to the ADC data acquisition module; port 16 is connected to one end of the twenty-second capacitor C22 and the ADC data acquisition module to send the accelerometer electrical signal to the ADC data acquisition module; ports 6 and 7 are connected to the analog ground; ports 14 and 15 and one end of the twenty-third capacitor C23 are connected to the analog 3.3V voltage together; the remaining ports are not connected; the other ends of the twenty-second capacitor C22, the twenty-third capacitor C23, the twenty-ninth capacitor C29 and the thirtieth capacitor C30 are connected to the analog ground.

[0042] The accelerometer module is used to convert the acceleration during the movement of the device into an electrical signal. When there is acceleration in the movement of the device, the output end of the eighth integrated circuit chip IC8 will generate an electrical signal, which will flow to the input end of the ADC data acquisition module after being filtered by the twenty-second capacitor C22, the twenty-ninth capacitor C29 and the thirtieth capacitor C30. The twenty-third capacitor C23 plays the role of power supply filtering.

[0043] Combination Figure 7The magnetometer module includes a second integrated circuit chip IC2, a tenth resistor R10, an eighth capacitor C8, a fourth integrated circuit chip IC4, a twelfth resistor R12, a thirteenth capacitor C13, a sixth integrated circuit chip IC6, a thirteenth resistor R13, a seventeenth capacitor C17, a third integrated circuit chip IC3, an eleventh capacitor C11, a fourteenth integrated circuit chip IC14, a thirty-first resistor R31, a fifty-third capacitor C53, a fifty-fourth capacitor C54, a twentieth capacitor C20, a fifteenth resistor R15, a first MOS tube Q1, a second MOS tube Q2, a twenty-eighth capacitor C28, and a thirty-second capacitor C32; port 1 of the third integrated circuit chip IC3 is connected to one end of the eleventh capacitor C11. Connected to analog 5V voltage; port 3 and the other end of the eleventh capacitor C11 are connected to analog ground; ports 10 and 16 are connected to the input end of the second integrated circuit chip IC2 to output the electrical signal of the first axis of the magnetometer to the amplifier; ports 4 and 12 are connected to the input end of the fourth integrated circuit chip IC4 to output the electrical signal of the second axis of the magnetometer to the amplifier; ports 9 and 13 are connected to the input end of the sixth integrated circuit chip IC6 to output the electrical signal of the third axis of the magnetometer to the amplifier; port 8 is connected to one end of the twenty-eighth capacitor C28 and the thirty-second capacitor C32 to obtain the magnetometer set reset current; ports 5, 6, 11, 14, and 15 are connected to analog ground; the remaining ports are not connected. Wiring; Ports 1 and 8 of the second integrated circuit chip IC2 are connected to both ends of the tenth resistor R10 to set the amplifier gain; Port 4 is connected to the analog ground; Port 5 is connected to the reference voltage module; Port 6 is connected to the ADC data acquisition module to send the amplified electrical signal to the ADC data acquisition module; Port 7 and one end of the eighth capacitor C8 are connected to the analog 5V voltage; The other end of the eighth capacitor C8 is connected to the analog ground; Ports 1 and 8 of the fourth integrated circuit chip IC4 are connected to both ends of the twelfth resistor R12 to set the amplifier gain; Port 4 is connected to the analog ground; Port 5 is connected to the reference voltage module; Port 6 is connected to the ADC data acquisition module to send the amplified electrical signal to the AD C data acquisition module; port 7 and one end of the thirteenth capacitor C13 are connected to the analog 5V voltage; the other end of the thirteenth capacitor C13 is connected to the analog ground; ports 1 and 8 of the sixth integrated circuit chip IC6 are connected to the two ends of the thirteenth resistor R13 to set the amplifier gain; port 4 is connected to the analog ground; port 5 is connected to the reference voltage module; port 6 is connected to the ADC data acquisition module to send the amplified electrical signal to the ADC data acquisition module; port 7 and one end of the seventeenth capacitor C17 are connected to the analog 5V voltage; the other end of the seventeenth capacitor C17 is connected to the analog ground; the VCCA port of the fourteenth integrated circuit chip IC14 and one end of the fifty-fourth capacitor C54 are connected to the digital 3.3V voltage; VCCB port and one end of the fifty-third capacitor C53 are connected to the digital 5V voltage; GND port is connected to the digital ground; A port is connected to the data processing module to receive the magnetometer reset signal; DIR port is connected to one end of the thirty-first resistor R31; B port is connected to the gate of the first MOS tube Q1 and the gate of the second MOS tube Q2, which is used to control opening and closing; the other end of the thirty-first resistor R31 is connected to the digital 3.3V voltage; one end of the fifteenth resistor R15 is connected to the analog 5V voltage, and the other end is connected to one end of the twentieth capacitor C20 and the source of the first MOS tube Q1; the other end of the twentieth capacitor C20 is connected to the analog ground; the drain of the first MOS tube Q1 is connected to the drain of the second MOS tube Q2, one end of the twenty-eighth capacitor C28 and one end of the thirty-second capacitor 32; the source of the second MOS tube Q2 is connected to the analog ground; the other end of the twenty-eighth capacitor C28 and the other end of the thirty-second capacitor C32 are connected to the third integrated circuit chip IC3, which is used to output the magnetometer reset current. .

[0044] The third integrated circuit chip IC3 and the eleventh capacitor C11 constitute the magnetometer chip circuit, which is used to detect the geomagnetic field vector signal at the location of the device. Among them, the function of the third integrated circuit chip IC13 is to convert the geomagnetic intensity information into an electrical signal, which flows from the output end of the magnetometer chip circuit into the input end of the integrated amplifier circuit; the eleventh capacitor C11 plays the role of power supply filtering. The second integrated circuit chip IC2, the tenth resistor R10, the eighth capacitor C8, the fourth integrated circuit chip IC4, the twelfth resistor R12, the thirteenth capacitor C13, the sixth integrated circuit chip IC6, the thirteenth resistor R13, and the seventeenth capacitor C17 constitute the integrated amplifier circuit, which is used to amplify the electrical signal at the output end of the magnetometer chip circuit. Among them, the electrical signal at the output end of the magnetometer chip circuit flows into the input end of the second integrated circuit chip IC2, the fourth integrated circuit chip IC4 and the sixth integrated circuit chip IC6 respectively, in order to amplify the electrical signal. The amplification factor is determined by the resistance values ​​of the tenth resistor R10, the twelfth resistor R12 and the thirteenth resistor R13. The amplified electrical signal flows from the output end of the integrated operational amplifier circuit to the input end of the ADC data acquisition module. The fourteenth integrated circuit chip IC14, the thirty-first resistor R31, the fifty-third capacitor C53, the fifty-fourth capacitor C54, the twentieth capacitor C20, the fifteenth resistor R15, the first MOS tube Q1, the second MOS tube Q2, the twenty-eighth capacitor C28, and the thirty-second capacitor C32 constitute a set reset circuit, which is used to perform a set reset operation on the third integrated circuit chip IC3 to ensure the measurement accuracy of the geomagnetic vector. Among them, the electrical signal for controlling the set reset flows from the output end of the data processing module to the input end of the fourteenth integrated circuit chip IC14, in order to convert the input 3.3V electrical signal into a 5V electrical signal output. The input end of the fourteenth integrated circuit chip IC14 is connected to the control end of the first MOS tube Q1 and the second MOS tube Q2 to control the opening and closing of the MOS tube. The output end of the set reset circuit is connected to the input end of the magnetometer chip circuit, in order to control the set reset of the third integrated circuit chip IC3. When the first MOS tube Q1 is turned on and the second MOS tube Q2 is turned off, current flows from the analog 5V power supply into the twenty-eighth capacitor C28 and the thirty-second capacitor C32, and the output end of the set-reset circuit will output a set signal; when the first MOS tube Q1 is turned off and the second MOS tube Q2 is turned on, current flows from the twenty-eighth capacitor C28 and the thirty-second capacitor C32 into the analog ground, and the output end of the set-reset circuit will output a reset signal.

[0045] Combination Figure 8The barometer module includes a first integrated circuit chip IC1, a first resistor R1, a fifth resistor R5, a third resistor R3, a ninth resistor R9, and a second capacitor C2; port No. 1 of the first integrated circuit chip IC1, one end of the third resistor R3, and one end of the second capacitor C2 are commonly connected to a digital 3.3V voltage; port No. 2 is connected to the other end of the third resistor R3; port No. 3 and the other end of the second capacitor C2 are commonly connected to a digital ground; ports No. 4 and No. 5 are commonly connected to one end of the ninth resistor R9; port No. 7 is connected to one end of the fifth resistor R5 and a data processing module; port No. 8 is connected to one end of the first resistor R1 and the data processing module; the other end of the ninth resistor R9 is connected to a digital ground; the other end of the first resistor R1 and the other end of the fifth resistor R5 are commonly connected to a digital 3.3V voltage.

[0046] The barometer module is used to measure the air pressure and temperature. The first integrated circuit chip IC1 is used to convert the air pressure and temperature into electrical signals at the output end, which flow into the input end of the data processing module through the IIC bus. The first resistor R1 and the fifth resistor R5 are used to pull the default level of the IIC bus up to 3.3V. The third resistor R3 and the ninth resistor R9 are used to set the working mode of the barometer. The second capacitor C2 plays the role of power supply filtering.

[0047] Combination Fig. 9The ADC data acquisition module includes an eleventh integrated circuit chip IC11, a twenty-first resistor R21, a twenty-fifth resistor R25, a thirty-fifth capacitor C35, a thirty-eighth capacitor C38, a forty-first capacitor C41, a forty-fourth capacitor C44, a forty-fifth capacitor C45, a twenty-eighth resistor R28, a fiftieth capacitor C50, a twelfth integrated circuit chip IC12, a twenty-second resistor R22, a twenty-sixth resistor R26, a thirty-sixth capacitor C36, a thirty-ninth capacitor C39, a forty-second capacitor C42, a forty-sixth capacitor C46, ​​a forty-seventh capacitor C47, a twenty-ninth resistor R29, a fifty-first capacitor C51, and a thirteenth integrated circuit chip IC1 3. The 23rd resistor R23, the 27th resistor R27, the 37th capacitor C37, the 40th capacitor C40, the 43rd capacitor C43, the 48th capacitor C48, the 49th capacitor C49, the 30th resistor R30, the 52nd capacitor C52, and the 24th resistor R24; ports 1, 3, and 5 of the 11th integrated circuit chip IC11 are connected to the reference voltage module for obtaining the reference voltage of the ADC pseudo-differential input; ports 2, 4, and 6 are connected to the output end of the gyroscope module for receiving the electrical signal output by the gyroscope; ports 7, 8, 10, 11, and 13 are connected to the analog ground; port 9 and one of the 41st capacitor C41 are connected to the analog ground; The ends are connected to the analog 5V voltage together; port No. 12 is connected to one end of the 44th capacitor C44; port No. 14 is connected to one end of the 45th capacitor C45; ports No. 15, No. 16 and one end of the 50th capacitor C50 are connected to the digital 3.3V voltage together; port No. 17 is connected to one end of the 28th resistor R28; port No. 18 is connected to port No. 23 of the twelfth integrated circuit chip IC12 to realize the multi-chip cascade function; ports No. 19, No. 20, No. 21, No. 22, No. 23, and No. 25 are connected to the data processing module to output the collected gyroscope data to the data processing module; port No. 27 is connected to the digital ground; port No. 28 is connected to the 38th capacitor C38 one end of the 35th capacitor C35; port 29 and one end of the 35th capacitor C35 are connected to the digital 3.3V voltage; port 31 is connected to one end of the 25th resistor R25; port 32 is connected to one end of the 21st resistor R21; the other ports are not connected; the other end of the 41st capacitor C41, the other end of the 44th capacitor C44, and the other end of the 45th capacitor C45 are connected to the analog ground; the other end of the 50th capacitor C50, the other end of the 38th capacitor C38, the other end of the 35th capacitor C35, and the other end of the 21st resistor R21 are connected to the digital ground; the other end of the 28th resistor R28 and the other end of the 25th resistor R25 are connected to the digital 3.3V voltage; ports 1, 3, and 5 of the twelfth integrated circuit chip IC12 are connected to the reference voltage module for obtaining the reference voltage of the ADC pseudo-differential input; ports 2, 4, and 6 are connected to the output end of the accelerometer module for receiving the electrical signal output by the accelerometer; ports 7, 8, 10, 11, and 13 are connected to the analog ground; port 9 and one end of the forty-second capacitor C42 are commonly connected to the analog 5V voltage; port 12 is connected to one end of the forty-sixth capacitor C46; port 14 is connected to one end of the forty-seventh capacitor C47; ports 15, 16, and one end of the fifty-first capacitor C51 are commonly connected to the digital 3.3V voltage; port 17 is connected to the twenty One end of the nine resistor R29; port 18 is connected to port 23 of the thirteenth integrated circuit chip IC13 to realize the multi-chip cascade function; ports 19, 20, 21, 22, 23, and 25 are connected to the data processing module to output the collected accelerometer data to the data processing module; port 27 is connected to the digital ground; port 28 is connected to one end of the thirty-ninth capacitor C39; port 29 and one end of the thirty-sixth capacitor C36 are connected to the digital 3.3V voltage; port 31 is connected to one end of the twenty-sixth resistor R26; port 32 is connected to one end of the twenty-second resistor R22; the remaining ports are not connected; the other end of the forty-second capacitor C42 and the other end of the forty-sixth capacitor C46 One end and the other end of the forty-seventh capacitor C47 are commonly connected to the analog ground; the other end of the fifty-first capacitor C51, the other end of the thirty-ninth capacitor C39, the other end of the thirty-sixth capacitor C36, and the other end of the twenty-second resistor R22 are commonly connected to the digital ground; the other end of the twenty-ninth resistor R29 and the other end of the twenty-sixth resistor R26 are connected to the digital 3.3V voltage; ports 1, 3, and 5 of the thirteenth integrated circuit chip IC13 are connected to the reference voltage module for obtaining the reference voltage of the ADC pseudo-differential input; ports 2, 4, and 6 are connected to the output end of the magnetometer module for receiving the electrical signal output by the magnetometer; ports 7, 8, 10, 11, and 13 are connected to the analog ground; port 9 and one end of the 43rd capacitor C43 are connected to the analog 5V voltage; port 12 is connected to one end of the 48th capacitor C48; port 14 is connected to one end of the 49th capacitor C49; ports 15, 16 and one end of the 52nd capacitor C52 are connected to the digital 3.3V voltage; port 17 is connected to one end of the 30th resistor R30; ports 19, 20, 21, 22, 23 and 25 are connected to the data processing module to output the collected magnetometer data to the data processing module; port 27 is connected to the digital ground; port 28 is connected to one end of the 40th capacitor C40; port 29 and one end of the 37th capacitor C37 are connected to the digital 3.3V voltage; port 31 is connected to one end of the 27th resistor R27; port 32 is connected to one end of the 23rd resistor R23; the other ports are not connected; the other end of the 43rd capacitor C43, the other end of the 48th capacitor C48, and the other end of the 49th capacitor C49 are connected to the analog ground; the other end of the 52nd capacitor C52, the other end of the 40th capacitor C40, the other end of the 37th capacitor C37, and the other end of the 23rd resistor R23 are connected to the digital ground; the other end of the 30th resistor R30 and the other end of the 27th resistor R27 are connected to the digital 3.3V voltage; one end of the 24th resistor R24 ​​is connected to the digital 3.3V voltage, and the other end is connected to port 21 of the 11th integrated circuit chip IC11, port 21 of the 12th integrated circuit chip IC12, and the port of the 13th integrated circuit chip IC13, which is used to pull up the default level of the data line. .

[0048] The eleventh integrated circuit chip IC11, the twenty-first resistor R21, the twenty-fifth resistor R25, the thirty-fifth capacitor C35, the thirty-eighth capacitor C38, the forty-first capacitor C41, the forty-fourth capacitor C44, the forty-fifth capacitor C45, the twenty-eighth resistor R28, and the fiftieth capacitor C50 constitute a gyroscope data acquisition circuit, which is used to convert the electrical signal output by the gyroscope module into a digital output. Among them, the electrical signal at the output end of the gyroscope module and the 2.5V electrical signal output by the reference voltage module are connected to the input end of the eleventh integrated circuit chip IC11, and the output end of the eleventh integrated circuit chip IC11 is connected to the data acquisition module. The twenty-first resistor R21, the twenty-fifth resistor R25, and the twenty-eighth resistor R28 play the role of setting the working mode of the eleventh integrated circuit chip IC11, and the remaining capacitors all play the role of filtering. The twelfth integrated circuit chip IC12, the twenty-second resistor R22, the twenty-sixth resistor R26, the thirty-sixth capacitor C36, the thirty-ninth capacitor C39, the forty-second capacitor C42, the forty-sixth capacitor C46, ​​the forty-seventh capacitor C47, the twenty-ninth resistor R29, and the fifty-first capacitor C51 constitute an accelerometer data acquisition circuit, which is used to convert the electrical signal output by the accelerometer module into a digital output. Among them, the electrical signal at the output end of the accelerometer module and the 1.65V electrical signal output by the reference voltage module are connected to the input end of the twelfth integrated circuit chip IC12, and the output end of the twelfth integrated circuit chip IC12 is connected to the data acquisition module. The twenty-second resistor R22, the twenty-sixth resistor R26, and the twenty-ninth resistor R29 play the role of setting the working mode of the twelfth integrated circuit chip IC12, and the remaining capacitors all play the role of filtering. The 13th integrated circuit chip IC13, the 23rd resistor R23, the 27th resistor R27, the 37th capacitor C37, the 40th capacitor C40, the 43rd capacitor C43, the 48th capacitor C48, the 49th capacitor C49, the 30th resistor R30, and the 52nd capacitor C52 constitute a magnetometer data acquisition circuit, which is used to convert the electrical signal output by the magnetometer module into a digital output. Among them, the electrical signal at the output end of the magnetometer module and the 2.5V electrical signal output by the reference voltage module are connected to the input end of the 13th integrated circuit chip IC13, and the output end of the 13th integrated circuit chip IC13 is connected to the data acquisition module. The 23rd resistor R23, the 27th resistor R27, and the 30th resistor R30 play a role in setting the working mode of the 13th integrated circuit chip IC13, and the remaining capacitors all play a role in filtering. In addition, by cascading, multiple ADC chips are mounted on the same bus, and the chip select pins of each chip are selected in turn to achieve sequential access to multiple ADC chips. All chips are controlled by the synchronization signal sent by the data processing module to achieve data synchronization of all ADC chips. If an ADC chip loses synchronization, the ADC chip can automatically resynchronize when the next synchronization signal arrives.The synchronous sampling of the ADC chip greatly improves the reliability of the data and the accuracy of subsequent attitude calculation.

[0049] Combination Fig.10 The reference voltage module includes a ninth integrated circuit chip IC9, a seventeenth resistor R17, a nineteenth resistor R19, a twenty-fifth capacitor C25, a tenth integrated circuit chip IC10, an eighteenth resistor R18, a twentieth resistor R20, and a twenty-sixth capacitor C26; port 3 of the ninth integrated circuit chip IC9 is connected to one end of the seventeenth resistor R17, one end of the nineteenth resistor R19, and one end of the twenty-fifth capacitor C25; port 7 is connected to an analog 5V voltage; port 4 is connected to an analog ground; ports 6 and 2 jointly provide a 1.65V reference voltage for the ADC data acquisition module and the magnetometer module; the other end of the seventeenth resistor R17 is connected to The analog 3.3V voltage is connected to the other end of the nineteenth resistor R19 and the other end of the twenty-fifth capacitor C25 are connected to the analog ground; the port 3 of the tenth integrated circuit chip IC10 is connected to one end of the eighteenth resistor R18, one end of the twentieth resistor R20 and one end of the twenty-sixth capacitor C26; the port 7 is connected to the analog 5V voltage; the port 4 is connected to the analog ground, and the ports 6 and 2 jointly provide a 2.5V reference voltage for the ADC data acquisition module and the magnetometer module; the other end of the eighteenth resistor R18 is connected to the analog 5V voltage; the other end of the twentieth resistor R20 and the other end of the twenty-sixth capacitor C26 are connected to the analog ground.

[0050] The ninth integrated circuit chip IC9, the seventeenth resistor R17, the nineteenth resistor R19, and the twenty-fifth capacitor C25 constitute a 1.65V reference voltage circuit, which is used to divide the 1.65V reference voltage from the analog 3.3V power supply. Among them, the analog 3.3V voltage flows into the input end of the ninth integrated circuit chip IC9 through the voltage division of the seventeenth resistor R17 and the nineteenth resistor R19, and its output end will output a reference voltage of 1.65V. The tenth integrated circuit chip IC10, the eighteenth resistor R18, the twentieth resistor R20, and the twenty-sixth capacitor C26 constitute a 2.5V reference voltage circuit, which is used to divide the 2.5V reference voltage from the analog 5V power supply. Among them, the analog 5V voltage flows into the input end of the tenth integrated circuit chip IC10 through the voltage division of the eighteenth resistor R18 and the twentieth resistor R20, and its output end will output a reference voltage of 2.5V. The role of the ninth integrated circuit chip IC9 and the tenth integrated circuit chip IC10 is to improve the stability and load capacity of the reference voltage at the output end. The voltage follower design has high input and output impedance and can continuously output stable 1.65V and 2.5V voltages. Because the output voltage of the gyroscope and magnetometer is 2.5V at zero input, the 2.5V reference voltage is used for the pseudo-differential input of the ADC acquisition chip of the gyroscope and magnetometer. The output voltage of the accelerometer is 1.65V at zero input, so the 1.65V reference voltage is used for the pseudo-differential input of the ADC acquisition chip of the accelerometer. In addition, the 2.5V reference voltage is also used as the reference voltage of the amplifier in the magnetometer module in order to adjust the voltage range of the magnetometer output to 0V~5V.

[0051] Combination Fig.11 The indicator light module includes a fourth resistor R4, a first light emitting diode LED1, a seventh resistor R7, and a second light emitting diode LED2. The cathode of the first light emitting diode LED1 is connected to the digital ground, and the other end is connected to one end of the fourth resistor R4, indicating the power-on state of the device. The cathode of the second light emitting diode LED2 is connected to the data processing module, and the anode is connected to one end of the seventh resistor R7, receiving the indicator light control signal, indicating the operating state of the device. The other end of the fourth resistor R4 and the other end of the seventh resistor R7 are connected to the digital 3.3V voltage.

[0052] The attitude sensor data acquisition device supporting synchronous sampling described in the present invention can customize N sensor data sampling channels supporting synchronous sampling.

Claims

1. A gesture sensor data acquisition device supporting synchronous sampling, characterized in that: It includes a power conversion module, a data processing module, a data storage module, a gyroscope module, an accelerometer module, a magnetometer module, a barometer module, an ADC data acquisition module, a reference voltage module, and an indicator light module; wherein the input end of the magnetometer module is connected to the output end of the reference voltage module to obtain the reference voltage for electrical signal processing; the output ends of the gyroscope module, the accelerometer module, and the magnetometer module are respectively connected to the input end of the ADC data acquisition module to transmit the electrical signals output by the corresponding modules to the ADC data acquisition module; the output end of the reference voltage module is connected to the input end of the ADC data acquisition module to provide a reference for data sampling; the output end of the ADC data acquisition module is connected to the input end of the data processing module to sample the electrical signals output by the gyroscope module, the accelerometer module, and the magnetometer module. The barometer module is connected to the input of the data processing module to convert the air pressure and temperature data into digital signals and output them to the data processing module; the data processing module is cross-connected with the input and output of the data storage module, and after the data processing module reads the output data of the ADC data acquisition module and the barometer module, the data is written to the data storage module, and the data can be read from the data storage module and sent to the host computer; the indicator light module is used to indicate the working status of the system; the power conversion module is responsible for converting a single voltage power supply into voltage power supplies of different levels to power the data processing module, the data storage module, the gyroscope module, the accelerometer module, the magnetometer module, the barometer module, the ADC data acquisition module, the reference voltage module and the indicator light module.

2. The attitude sensor data acquisition device supporting synchronous sampling according to claim 1, characterized in that: The power conversion module includes a first switching diode D1, a first tantalum capacitor E1, a first capacitor C1, a first power conversion chip V1, a second tantalum capacitor E2, a third capacitor C3, a second power conversion chip V2, a third tantalum capacitor E3, a fourth capacitor C4, a second resistor R2, a sixth resistor R6, an eighth resistor R8, and a first terminal JP1; the power conversion module is powered by a 7.4V-12V single power supply; the positive electrode of the single power supply is connected to the input end of the first power conversion chip V1, the positive electrode of the first tantalum capacitor E1 and the first capacitor C1 through the first switching diode D1. one end; the output end of the first power conversion chip V1 is connected to the input end of the second power conversion chip V2, the positive electrode of the second tantalum capacitor E2 and one end of the third capacitor C3, and provides a digital 5V voltage for other modules; the output end of the second power conversion chip V2 is connected to the positive electrode of the third tantalum capacitor E3, one end of the fourth capacitor C4, and provides a digital 3.3V voltage for other modules; the negative electrode of the first tantalum capacitor E1, the other end of the first capacitor C1, the ground end of the first power conversion chip V1, the negative electrode of the second tantalum capacitor E2, the other end of the third capacitor C3, the second The V2 grounding terminal of the power conversion chip, the negative electrode of the third tantalum capacitor E3 and the other end of the fourth capacitor C4 are connected to the same ground and connected to the negative electrode of the single power supply; one end of the second resistor R2 is connected to the digital 3.3V voltage, and the other end provides an analog 3.3V voltage for other modules; one end of the sixth resistor R6 is connected to the digital 5V voltage, and the other end provides an analog 5V voltage for other modules; one end of the eighth resistor R8 is connected to the digital ground, and the other end is connected to the analog ground; the first wiring terminal JP1 is respectively connected to the positive electrode of the power supply, the digital ground, the digital 3.3V voltage, and the digital 5V voltage, and is used to output the corresponding voltage to the outside; the indicator light module includes a fourth resistor R4, a first light-emitting diode LED1, a seventh resistor R7, and a second light-emitting diode LED2; the negative electrode of the first light-emitting diode LED1 is connected to the digital ground, and the other end is connected to one end of the fourth resistor R4, indicating the power-on state of the device; the negative electrode of the second light-emitting diode LED2 is connected to the data processing module, and the positive electrode is connected to one end of the seventh resistor R7, receiving the indicator light control signal, indicating the running state of the device; the other end of the fourth resistor R4 and the other end of the seventh resistor R7 are commonly connected to the digital 3.3V voltage.

3. The attitude sensor data acquisition device supporting synchronous sampling according to claim 1, characterized in that: The data processing module includes a first main control chip U1, a sixth capacitor C6, a seventh capacitor C7, a tenth capacitor C10, a twelfth capacitor C12, a fifteenth capacitor C15, a sixteenth capacitor C16, a fourteenth resistor R14, an eighteenth capacitor C18, a fifth capacitor C5, a ninth capacitor C9, a first crystal oscillator X1, an eleventh resistor R11, and a second wiring terminal JP2; port 2 of the first main control chip U1 is connected to the indicator light module to control the indicator light to flash; port 5 is connected to one end of the first crystal oscillator X1 and one end of the fifth capacitor C5; port 6 is connected to the other end of the first crystal oscillator X1 and one end of the ninth capacitor C9 for obtaining a crystal oscillator signal; port 7 is connected to one end of the twelfth capacitor C12; port 8 is connected to a digital ground; port 9, one end of the fifteenth capacitor C15, and one end of the sixteenth capacitor C16 are connected to a digital 3.3V voltage; ports 13, 14, 15, 16, 17, and 18 are connected to the output end of the ADC data acquisition module for obtaining the collected sensor data; Port 19 is connected to the magnetometer module and is used to control the setting and resetting of the magnetometer; Port 20 is connected to one end of the fourteenth resistor R14; Port 23 is connected to the digital ground; Port 24 and one end of the eighteenth capacitor C18 are connected to the digital 3.3V voltage; Ports 25, 26, 27, and 28 are connected to the data storage module for reading and storing data; Ports 30 and 31 are connected to the host computer for receiving commands from the host computer and sending data to the host computer; Port 35 and one end of the tenth capacitor C10 are connected to the digital ground; Port 36 and the other end of the tenth capacitor C10 are connected to the digital 3.3V voltage; Ports 42 and 43 are connected to the barometer module for obtaining barometer data; Port 44 is connected to one end of the eleventh resistor R11; Port 47 and one end of the sixth capacitor C6 , one end of the seventh capacitor C7 is commonly connected to the digital ground; port No. 48 and the other end of the sixth capacitor C6, and the other end of the seventh capacitor C7 are commonly connected to the digital 3.3V voltage; the remaining ports are not connected; the other end of the twelfth capacitor C12, the other end of the fifteenth capacitor C15, the other end of the sixteenth capacitor C16, the other end of the fourteenth resistor R14, and the other end of the eighteenth capacitor C18 are all connected to the digital ground; the grounding end of the first crystal oscillator X1 and the other end of the fifth capacitor C5 and the other end of the ninth capacitor C9 are commonly connected to the digital ground, which is used to provide a crystal oscillator signal to the data processing module; the second wiring terminal JP2 is respectively connected to the digital 3.3V voltage, the other end of the eleventh resistor R11 and the digital ground, which is used to set the startup mode of the first main control chip U1.

4. The attitude sensor data acquisition device supporting synchronous sampling according to claim 1, characterized in that: The data storage module includes a fifth integrated circuit chip IC5 and a fourteenth capacitor C14; ports 1, 2, 5 and 6 of the fifth integrated circuit chip IC5 are connected to the data processing module for storing and reading data; port 3 is connected to a digital 3.3V voltage; port 4 is connected to a digital ground; ports 7 and 8 and one end of the fourteenth capacitor C14 are commonly connected to a digital 3.3V voltage; and the other end of the fourteenth capacitor C14 is connected to a digital ground.

5. The posture sensor data acquisition device supporting synchronous sampling according to claim 1, characterized in that: The gyroscope module includes a seventh integrated circuit chip IC7, a nineteenth capacitor C19, a twenty-first capacitor C21, a twenty-fourth capacitor C24, a twenty-seventh capacitor C27, a thirty-first capacitor C31, a thirty-third capacitor C33, and a thirty-fourth capacitor C34; the D7 port of the seventh integrated circuit chip IC7 is connected to one end of the nineteenth capacitor C19; the B7 port is connected to one end of the twenty-fourth capacitor C24; the C7 port is connected to the other end of the twenty-fourth capacitor C24; the A5 port is connected to one end of the twenty-seventh capacitor C27; the A4 port is connected to the other end of the twenty-seventh capacitor C27; the A3 port and one end of the thirty-first capacitor C31 are connected to the analog 5V voltage; the B1 port Port, one end of the thirty-third capacitor C33 is connected to the ADC data acquisition module, used for sending the signal of the gyroscope to the ADC data acquisition module for acquisition; port C1 is connected to the other end of the thirty-third capacitor C33; port E1 and one end of the twenty-first capacitor C21 are connected to the analog 5V voltage; port F1 and the other end of the twenty-first capacitor C21 are connected to the analog ground; port F7 and one end of the thirty-fourth capacitor C34 are connected to the digital ground; port E7 and the other end of the thirty-fourth capacitor C34 are connected to the digital 5V voltage; other ports are not connected; the other end of the nineteenth capacitor C19 is connected to the digital ground; the other end of the thirty-first capacitor C31 is connected to the analog ground.

6. The attitude sensor data acquisition device supporting synchronous sampling according to claim 1, characterized in that: The accelerometer module includes an eighth integrated circuit chip IC8, a twenty-second capacitor C22, a twenty-third capacitor C23, a twenty-ninth capacitor C29, and a thirtieth capacitor C30; port 1 of the eighth integrated circuit chip IC8 is connected to the analog ground; port 4 is connected to one end of the twenty-ninth capacitor C29 and the ADC data acquisition module to send the accelerometer electrical signal to the ADC data acquisition module; port 5 is connected to one end of the thirtieth capacitor C30 and the ADC data acquisition module to send the accelerometer electrical signal to the ADC data acquisition module; port 16 is connected to one end of the twenty-second capacitor C22 and the ADC data acquisition module to send the accelerometer electrical signal to the ADC data acquisition module; ports 6 and 7 are connected to the analog ground; ports 14 and 15 and one end of the twenty-third capacitor C23 are commonly connected to the analog 3.3V voltage; the remaining ports are not connected; the other ends of the twenty-second capacitor C22, the twenty-third capacitor C23, the twenty-ninth capacitor C29 and the thirtieth capacitor C30 are connected to the analog ground.

7. The attitude sensor data acquisition device supporting synchronous sampling according to claim 1, characterized in that: The magnetometer module includes a second integrated circuit chip IC2, a tenth resistor R10, an eighth capacitor C8, a fourth integrated circuit chip IC4, a twelfth resistor R12, a thirteenth capacitor C13, a sixth integrated circuit chip IC6, a thirteenth resistor R13, a seventeenth capacitor C17, a third integrated circuit chip IC3, an eleventh capacitor C11, a fourteenth integrated circuit chip IC14, a thirty-first resistor R31, a fifty-third capacitor C53, a fifty-fourth capacitor C54, a twentieth capacitor C20, a fifteenth resistor R15, a first MOS tube Q1, a second MOS tube Q2, a twenty-eighth capacitor C28, and a thirty-second capacitor C32; port No. 1 of the third integrated circuit chip IC3 and one end of the eleventh capacitor C11 are commonly connected to an analog 5V voltage; port No. 3 and the other end of the eleventh capacitor C11 are commonly connected to an analog ground; ports No. 10 and No. 16 are connected to the input end of the second integrated circuit chip IC2 to output the electrical signal of the first axis of the magnetometer to the amplifier; Ports 4 and 12 are connected to the input end of the fourth integrated circuit chip IC4 to output the electrical signal of the second axis of the magnetometer to the amplifier; Ports 9 and 13 are connected to the input end of the sixth integrated circuit chip IC6 to output the electrical signal of the third axis of the magnetometer to the amplifier; Port 8 is connected to one end of the 28th capacitor C28 and the 32nd capacitor C32 to obtain the magnetometer reset current; Ports 5, 6, 11, 14, and 15 are connected to the analog ground; the remaining ports are not connected; Ports 1 and 8 of the second integrated circuit chip IC2 are connected to the two ends of the tenth resistor R10 to set the amplifier gain; Port 4 is connected to the analog ground; Port 5 is connected to the reference voltage module; Port 6 is connected to the ADC data acquisition module to send the amplified electrical signal to the ADC data acquisition module; Port 7 and one end of the eighth capacitor C8 are jointly connected to the analog 5V voltage; the other end of the eighth capacitor C8 is connected to the analog ground; Ports 1 and 8 of the fourth integrated circuit chip IC4 are connected to the two ends of the twelfth resistor R12 to set the amplifier gain; Port 4 is connected to the analog ground; Port 5 is connected to the reference voltage module; Port 6 is connected to the ADC data acquisition module, and the amplified electrical signal is sent to the ADC data acquisition module; port 7 and one end of the thirteenth capacitor C13 are connected to the analog 5V voltage; the other end of the thirteenth capacitor C13 is connected to the analog ground; ports 1 and 8 of the sixth integrated circuit chip IC6 are connected to the two ends of the thirteenth resistor R13 to set the amplifier gain; port 4 is connected to the analog ground; port 5 is connected to the reference voltage module; port 6 is connected to the ADC data acquisition module, and the amplified electrical signal is sent to the ADC data acquisition module; port 7 and one end of the seventeenth capacitor C17 are connected to the analog 5V voltage; the other end of the seventeenth capacitor C17 is connected to the analog ground; the VCCA port of the fourteenth integrated circuit chip IC14 and one end of the fifty-fourth capacitor C54 are connected to the digital 3.3V voltage; the VCCB port and one end of the fifty-third capacitor C53 are connected to the digital 5V voltage; the GND port is connected to the digital ground; port A is connected to the data processing module to receive the magnetometer reset signal; The DIR port is connected to one end of the thirty-first resistor R31; the B port is connected to the gate of the first MOS tube Q1 and the gate of the second MOS tube Q2, for controlling opening and closing; the other end of the thirty-first resistor R31 is connected to the digital 3.3V voltage; one end of the fifteenth resistor R15 is connected to the analog 5V voltage, and the other end is connected to one end of the twentieth capacitor C20 and the source of the first MOS tube Q1; the other end of the twentieth capacitor C20 is connected to the analog ground; the drain of the first MOS tube Q1 is connected to the drain of the second MOS tube Q2, one end of the twenty-eighth capacitor C28 and one end of the thirty-second capacitor 32; the source of the second MOS tube Q2 is connected to the analog ground; the other end of the twenty-eighth capacitor C28 and the other end of the thirty-second capacitor C32 are connected to the third integrated circuit chip IC3, for outputting the magnetometer set reset current.

8. The attitude sensor data acquisition device supporting synchronous sampling according to claim 1, characterized in that: The barometer module includes a first integrated circuit chip IC1, a first resistor R1, a fifth resistor R5, a third resistor R3, a ninth resistor R9, and a second capacitor C2; port 1 of the first integrated circuit chip IC1, one end of the third resistor R3, and one end of the second capacitor C2 are commonly connected to a digital 3.3V voltage; port 2 is connected to the other end of the third resistor R3; port 3 and the other end of the second capacitor C2 are commonly connected to a digital ground; ports 4 and 5 are commonly connected to one end of the ninth resistor R9; port 7 is connected to one end of the fifth resistor R5 and a data processing module; port 8 is connected to one end of the first resistor R1 and a data processing module; The other end of the ninth resistor R9 is connected to the digital ground; the other end of the first resistor R1 and the other end of the fifth resistor R5 are commonly connected to the digital 3.3V voltage.

9. The posture sensor data acquisition device supporting synchronous sampling according to claim 1, characterized in that: The ADC data acquisition module includes an eleventh integrated circuit chip IC11, a twenty-first resistor R21, a twenty-fifth resistor R25, a thirty-fifth capacitor C35, a thirty-eighth capacitor C38, a forty-first capacitor C41, a forty-fourth capacitor C44, a forty-fifth capacitor C45, a twenty-eighth resistor R28, a fiftieth capacitor C50, a twelfth integrated circuit chip IC12, a twenty-second resistor R22, a twenty-sixth resistor R26, a thirty-sixth capacitor C36, a thirty-ninth capacitor C39, a forty-second capacitor C42, a forty-sixth capacitor C46, ​​a forty-seventh capacitor C47, a twenty-ninth resistor R29, a forty-second capacitor C43, a forty-sixth capacitor C44, a forty-seventh capacitor C47, a twenty-ninth resistor R29, a twenty-second resistor R22, a twenty-sixth resistor R26, a thirty-sixth capacitor C36, a thirty-ninth capacitor C39, a forty-second capacitor C42, a forty-sixth capacitor C46, ​​a forty-seventh capacitor C47, a twenty-ninth resistor R29, a A fifty-first capacitor C51, a thirteenth integrated circuit chip IC13, a twenty-third resistor R23, a twenty-seventh resistor R27, a thirty-seventh capacitor C37, a fortieth capacitor C40, a forty-third capacitor C43, a forty-eighth capacitor C48, a forty-ninth capacitor C49, a thirtieth resistor R30, a fifty-second capacitor C52, and a twenty-fourth resistor R24; ports 1, 3, and 5 of the eleventh integrated circuit chip IC11 are connected to a reference voltage module for obtaining a reference voltage of an ADC pseudo-differential input; ports 2, 4, and 6 are connected to an output end of a gyroscope module for receiving an electrical signal output by the gyroscope; Ports 7, 8, 10, 11, and 13 are connected to analog ground; port 9 and one end of the 41st capacitor C41 are connected to analog 5V voltage; port 12 is connected to one end of the 44th capacitor C44; port 14 is connected to one end of the 45th capacitor C45; ports 15 and 16 and one end of the 50th capacitor C50 are connected to digital 3.3V voltage; port 17 is connected to one end of the 28th resistor R28; port 18 is connected to port 23 of the twelfth integrated circuit chip IC12 to realize multi-chip cascade function; ports 19, 20, 21, 22, 23, and 25 are connected to the data processing module to output the collected gyroscope data to the data processing module; Port 27 is connected to digital ground; Port 28 is connected to one end of the 38th capacitor C38; Port 29 and one end of the 35th capacitor C35 are connected to the digital 3.3V voltage; Port 31 is connected to one end of the 25th resistor R25; Port 32 is connected to one end of the 21st resistor R21; the remaining ports are not connected; the other end of the 41st capacitor C41, the other end of the 44th capacitor C44, and the other end of the 45th capacitor C45 are connected to the analog ground; the other end of the 50th capacitor C50, the other end of the 38th capacitor C38, the other end of the 35th capacitor C35, and the other end of the 21st resistor R21 are connected to the digital ground; the other end of the 28th resistor R28 and the other end of the 25th resistor R25 are connected to the digital 3.3V voltage; Ports 1, 3, and 5 of the twelfth integrated circuit chip IC12 are connected to the reference voltage module for obtaining the reference voltage of the ADC pseudo-differential input; Ports 2, 4, and 6 are connected to the output end of the accelerometer module for receiving the electrical signal output by the accelerometer; Ports 7, 8, 10, 11, and 13 are connected to analog ground; port 9 and one end of the 42nd capacitor C42 are commonly connected to the analog 5V voltage; port 12 is connected to one end of the 46th capacitor C46; port 14 is connected to one end of the 47th capacitor C47; ports 15 and 16 and one end of the 51st capacitor C51 are commonly connected to the digital 3.3V voltage; port 17 is connected to one end of the 29th resistor R29; port 18 is connected to port 23 of the 13th integrated circuit chip IC13 to realize the multi-chip cascade function; ports 19, 20, 21, 22, 23, and 25 are connected to the data processing module to output the collected accelerometer data to the data processing module; Port 27 is connected to digital ground; Port 28 is connected to one end of the thirty-ninth capacitor C39; Port 29 and one end of the thirty-sixth capacitor C36 are connected to the digital 3.3V voltage; Port 31 is connected to one end of the twenty-sixth resistor R26; Port 32 is connected to one end of the twenty-second resistor R22; the remaining ports are not connected; the other end of the forty-second capacitor C42, the other end of the forty-sixth capacitor C46, ​​and the other end of the forty-seventh capacitor C47 are connected to the analog ground; the other end of the fifty-first capacitor C51, the other end of the thirty-ninth capacitor C39, the other end of the thirty-sixth capacitor C36, and the other end of the twenty-second resistor R22 are connected to the digital ground; the other end of the twenty-ninth resistor R29 and the other end of the twenty-sixth resistor R26 are connected to the digital 3.3V voltage; Ports 1, 3, and 5 of the thirteenth integrated circuit chip IC13 are connected to the reference voltage module for obtaining the reference voltage of the ADC pseudo-differential input; Ports 2, 4, and 6 are connected to the output end of the magnetometer module for receiving the electrical signal output by the magnetometer; Ports 7, 8, 10, 11, and 13 are connected to analog ground; port 9 and one end of the 43rd capacitor C43 are connected to the analog 5V voltage; port 12 is connected to one end of the 48th capacitor C48; port 14 is connected to one end of the 49th capacitor C49; ports 15 and 16 and one end of the 52nd capacitor C52 are connected to the digital 3.3V voltage; port 17 is connected to one end of the 30th resistor R30; ports 19, 20, 21, 22, 23, and 25 are connected to the data processing module to output the collected magnetometer data to the data processing module; port 27 is connected to digital ground; port 28 is connected to one end of the 40th capacitor C40; port 29 and one end of the 37th capacitor C37 are connected to the digital 3.3V voltage; port 31 is connected to the 27th resistor One end of R27; port No. 32 is connected to one end of the twenty-third resistor R23; the other ports are not connected; the other end of the forty-third capacitor C43, the other end of the forty-eighth capacitor C48, and the other end of the forty-ninth capacitor C49 are commonly connected to the analog ground; the other end of the fifty-second capacitor C52, the other end of the fortieth capacitor C40, the other end of the thirty-seventh capacitor C37, and the other end of the twenty-third resistor R23 are commonly connected to the digital ground; the other end of the thirtieth resistor R30 and the other end of the twenty-seventh resistor R27 are connected to the digital 3.3V voltage; one end of the twenty-fourth resistor R24 ​​is connected to the digital 3.3V voltage, and the other end is connected to port No. 21 of the eleventh integrated circuit chip IC11, port No. 21 of the twelfth integrated circuit chip IC12, and the port of the thirteenth integrated circuit chip IC13, which is used to pull up the default level of the data line.

10. The posture sensor data acquisition device supporting synchronous sampling according to claim 1, characterized in that: The reference voltage module includes a ninth integrated circuit chip IC9, a seventeenth resistor R17, a nineteenth resistor R19, a twenty-fifth capacitor C25, a tenth integrated circuit chip IC10, an eighteenth resistor R18, a twentieth resistor R20, and a twenty-sixth capacitor C26; port 3 of the ninth integrated circuit chip IC9 is connected to one end of the seventeenth resistor R17, one end of the nineteenth resistor R19, and one end of the twenty-fifth capacitor C25; port 7 is connected to an analog 5V voltage; port 4 is connected to an analog ground; ports 6 and 2 jointly provide a 1.65V reference voltage for the ADC data acquisition module and the magnetometer module; the other end of the seventeenth resistor R17 is connected to The analog 3.3V voltage is connected to the other end of the nineteenth resistor R19 and the other end of the twenty-fifth capacitor C25 are connected to the analog ground; the port 3 of the tenth integrated circuit chip IC10 is connected to one end of the eighteenth resistor R18, one end of the twentieth resistor R20 and one end of the twenty-sixth capacitor C26; the port 7 is connected to the analog 5V voltage; the port 4 is connected to the analog ground, and the ports 6 and 2 jointly provide a 2.5V reference voltage for the ADC data acquisition module and the magnetometer module; the other end of the eighteenth resistor R18 is connected to the analog 5V voltage; the other end of the twentieth resistor R20 and the other end of the twenty-sixth capacitor C26 are connected to the analog ground.

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