Integrated multi-gas-path inertial navigation resolving unit

Abstract

The invention discloses an integrated multi-gas-path inertial navigation resolving unit, which comprises a master control single chip microcomputer module, a power supply module, a storage module, an IMU module, a barometer module, a magnetometer module, a positioning module and a communication module, and is characterized in that the storage module, the IMU module, the barometer module, the magnetometer module, the positioning module and the communication module are respectively connected with the master control single chip microcomputer module; the power supply module supplies power to the whole unit, can provide comprehensive necessary data for the attitude resolving unit, can be widely applied to various aircrafts, and provides attitude, height, speed and positioning data sources for the aircrafts. The bottleneck of error accumulation and single-point failure of traditional inertial navigation is effectively broken through, and the system becomes a core component of an autonomous navigation system in a complex environment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of aircraft equipment, in particular to an integrated multi-gas path inertial navigation calculation unit. BACKGROUND

[0002] In today's life, the rapid development of technology has unknowingly improved people's spiritual and material needs, and people are pursuing a comfortable, convenient and rich lifestyle. The rise of unmanned aerial vehicles for photography, unmanned aerial vehicle delivery, distribution, eVTOL and other aircraft all require inertial navigation attitude calculation. As the number of aircraft increases, the stability and safety of the inertial navigation calculation unit are becoming increasingly prominent. SUMMARY

[0003] To solve the problems in the above background art, the present application provides an integrated multi-gas path inertial navigation calculation unit. The multi-gas path inertial navigation calculation unit effectively breaks through the error accumulation and single-point failure bottleneck of traditional inertial navigation through multi-sensor cooperation and intelligent algorithm fusion, becomes the core component of autonomous navigation systems in complex environments, and represents the latest achievements of inertial navigation technology evolving towards high redundancy, high intelligence and high reliability.

[0004] To solve the above technical problems, the present application adopts the following technical scheme: an integrated multi-gas path inertial navigation calculation unit, comprising a main control single-chip microcomputer module, a power module, a storage module, an IMU module, a barometer module, a magnetometer module, a positioning module and a communication module. The storage module, the IMU module, the barometer module, the magnetometer module, the positioning module and the communication module are respectively connected with the main control single-chip microcomputer module, and the power module supplies power to the whole unit.

[0005] Further, the storage module comprises an eeprom storage and an sd card storage.

[0006] Further, the IMU module comprises two different types of 3-axis accelerometers and 3-axis angular velocity sensors.

[0007] Further, the barometer module comprises an integrated air pressure sensor and an array of 11 barometers.

[0008] Further, the magnetometer module adopts a 3-axis magnetic force sensor.

[0009] Further, the positioning module comprises two identical sensors.

[0010] Further, the communication module comprises one serial port, two can buses, two 485 buses and two 422 buses.

[0011] Further, the main control single-chip microcomputer module adopts an STM32H743 type processor.

[0012] The application has the following beneficial effects: the integrated multi-air-path inertial navigation calculation unit provided by the application is powered by a power module, important parameters of the system can be stored by a storage module, and the state or flight attitude of the system during operation can be saved; two sets of three-axis acceleration and three-axis angular velocity can be obtained by an IMU module; the air pressure value at the current height can be obtained by an air pressure gauge module; three-axis magnetic field data can be obtained by a magnetometer module; the current position GPS, Beidou, Galileo positioning, height, speed and heading information can be obtained by a positioning module; the communication module can communicate with the computer host computer and other systems of the aircraft, can provide comprehensive necessary data for the attitude calculation unit, and can be widely applied to various aircraft to provide attitude, height, speed and positioning data sources. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only exemplary, and for those skilled in the art, other drawings can be obtained without creative labor on the basis of the provided drawings.

[0014] The structures, parameters, principles and the like shown in the specification are only used to cooperate with the content disclosed in the specification, for understanding and reading by those skilled in the art, and are not used to limit the limiting conditions of the implementation of the present application, so they do not have technical substantive significance. Any modification of structure, change of proportional relationship or adjustment of size, without affecting the effects and purposes that can be achieved by the present application, should still fall within the scope of the technical content disclosed by the present application.

[0015] Figure 1 A structural block diagram of the integrated multi-air-path inertial navigation calculation unit provided for embodiment 1 of the present application.

[0016] Figures 2-4 A power circuit diagram of the integrated multi-air-path inertial navigation calculation unit provided for embodiment 1 of the present application.

[0017] Figures 5-8 A main control single-chip microcomputer module circuit diagram of the integrated multi-air-path inertial navigation calculation unit provided for embodiment 1 of the present application.

[0018] Figures 9-10 A storage module circuit diagram of the integrated multi-air-path inertial navigation calculation unit provided for embodiment 1 of the present application.

[0019] Figures 11-12 An IMU module circuit diagram of the integrated multi-air-path inertial navigation calculation unit provided for embodiment 1 of the present application.

[0020] Figures 13-15 A barometer module circuit diagram of the integrated multi-gas path inertial navigation calculation unit provided for embodiment 1 of the present application.

[0021] Figure 16 A magnetometer module circuit diagram of the integrated multi-gas path inertial navigation calculation unit provided for embodiment 1 of the present application.

[0022] Figure 17 A positioning module circuit diagram of the integrated multi-gas path inertial navigation calculation unit provided for embodiment 1 of the present application.

[0023] Figures 18-28 A communication module circuit diagram of the integrated multi-gas path inertial navigation calculation unit provided for embodiment 1 of the present application. DETAILED DESCRIPTION

[0024] The embodiments of the present application will be described in detail by specific embodiments, and those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in the specification. Obviously, the described embodiments are part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application. EMBODIMENT

[0025] As shown in Figure 1 , the integrated multi-gas path inertial navigation calculation unit provided by the present application includes a master control single-chip microcomputer module 110, a power module 120, a storage module 130, an IMU module 140, a barometer module 150, a magnetometer module 160, a positioning module 170, and a communication module 180. The storage module 130, the IMU module 140, the barometer module 150, the magnetometer module 160, the positioning module 170, and the communication module 180 are respectively connected to the master control single-chip microcomputer module 110, and the power module 120 supplies power to the entire unit.

[0026] The circuit diagram of the power module 120 is shown in Figures 2-4 .

[0027] The circuit diagram of the master control single-chip microcomputer (MCU) module 110 is shown in Figures 5-8 , which uses an STM32H743 type processor.

[0028] The circuit diagram of the storage module 130 is shown in Figures 9-10 . The storage module 130 includes an eeprom storage and an sd card storage. Through the storage module 130, important system parameters can be stored, and the state or flight attitude during system operation can be saved.

[0029] The circuit diagram of the IMU module 140 is shown inFigures 11-12 As shown in the circuit diagram of the IMU module 140, the IMU module 140 includes two different types of 3-axis accelerometers and 3-axis angular velocity sensors, and two sets of three-axis acceleration and three-axis angular velocity can be obtained through the IMU module 140.

[0030] The circuit diagram of the barometer module 150 is shown in the following figure: Figures 13-15 As shown in the circuit diagram of the barometer module 150, the barometer module 150 includes an integrated barometric sensor and an array of 11 barometers, and the barometric value at the current height can be obtained through the barometer module 150 to obtain the barometric value at the current height.

[0031] The circuit diagram of the magnetometer module 160 is shown in the following figure: Figure 16 As shown in the circuit diagram of the magnetometer module 160, the magnetometer module 160 uses a 3-axis magnetic sensor, and three-axis magnetic field data can be obtained through the magnetometer module 160.

[0032] The circuit diagram of the positioning module 170 is shown in the following figure: Figure 17 As shown in the circuit diagram of the positioning module 170, the positioning module 170 includes two identical sensors, and the GPS, Beidou, Galileo positioning, height, speed, and heading information of the current position can be obtained through the positioning module 170.

[0033] The circuit diagram of the communication module 180 is shown in the following figure: Figures 18-28 As shown in the circuit diagram of the communication module 180, the communication module 180 includes one serial port, two CAN buses, two 485 buses, and two 422 buses, and the communication module 180 can communicate with the computer host computer, can communicate with other systems of the aircraft, can provide comprehensive necessary data for the attitude calculation unit, and can be widely used in various aircraft to provide attitude, height, speed, and positioning data sources.

[0034] The integrated multi-airway inertial navigation calculation unit proposed in this embodiment is powered by the power module 120 to power the entire system. Important parameters of the system can be stored through the storage module 130, and the state or flight attitude of the system during operation can be saved. Two sets of three-axis acceleration and three-axis angular velocity can be obtained through the IMU module 140. The barometric value at the current height can be obtained through the barometer module 150 to obtain the barometric value at the current height. Three-axis magnetic field data can be obtained through the magnetometer module 160. The GPS, Beidou, Galileo positioning, height, speed, and heading information of the current position can be obtained through the positioning module 170. The communication module 180 can communicate with the computer host computer and communicate with other systems of the aircraft. The communication module 180 can provide comprehensive necessary data for the attitude calculation unit. The communication module 180 can provide attitude, height, speed, and positioning data sources for various aircraft.

[0035] Although the present application has been described in detail with general description and specific embodiments above, it is obvious to those skilled in the art that some modifications or improvements can be made on the basis of the present application. Therefore, these modifications or improvements made on the basis of not deviating from the spirit of the present application, all belong to the scope of protection claimed by the present application.

Claims

1. An integrated multi-air-path inertial navigation calculation unit, characterized in that, The unit includes a main control microcontroller module (110), a power supply module (120), a storage module (130), an IMU module (140), a barometer module (150), a magnetometer module (160), a positioning module (170), and a communication module (180). The storage module (130), IMU module (140), barometer module (150), magnetometer module (160), positioning module (170), and communication module (180) are connected to the main control microcontroller module (110), and the power supply module (120) supplies power to the entire unit.

2. The integrated multi-air-path inertial navigation calculation unit according to claim 1, characterized in that, The storage module (130) includes an EEPROM storage device and an SD card storage device.

3. An integrated multi-air-path inertial navigation calculation unit according to any one of claims 1 or 2, characterized in that, The IMU module (140) includes two different models of 3-axis accelerometers and 3-axis angular velocity sensors.

4. An integrated multi-airflow inertial navigation calculation unit according to any one of claims 1 or 2, characterized in that, The barometer module (150) includes an integrated barometer sensor and an array of 11 barometers.

5. An integrated multi-airflow inertial navigation calculation unit according to any one of claims 1 or 2, characterized in that, The magnetometer module (160) uses a 3-axis magnetometer sensor.

6. An integrated multi-air-path inertial navigation calculation unit according to any one of claims 1 or 2, characterized in that, The positioning module (170) includes two identical sensors.

7. An integrated multi-air-path inertial navigation calculation unit according to any one of claims 1 or 2, characterized in that, The communication module (180) includes one serial port, two CAN buses, two 485 buses, and two 422 buses.

8. An integrated multi-airflow inertial navigation calculation unit according to any one of claims 1 or 2, characterized in that, The main control microcontroller module (110) uses an STM32H743 processor.

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