Sensor device with elevation and inclination angle fusion measurement function

Abstract

The invention discloses a sensor device with an elevation and inclination angle fusion measurement function, and the device comprises an air pressure sensor which is used for measuring the absolute atmospheric pressure; the acceleration sensor is used for measuring a change value of a gravitational acceleration component; the air temperature sensor is used for sensing an environment temperature value; the signal conditioning unit is used for performing signal conversion and filtering on the collected air pressure signal, acceleration signal, temperature signal and the like; the microprocessor is used for reading the air pressure signal, the acceleration signal and the temperature signal and resolving the signals to obtain information such as the elevation, the pitch angle and the roll angle of the carrier, and meanwhile, the pitch angle and the roll angle further have the function of independently setting relative zero positions. In the sensor device, the air pressure sensor, the acceleration sensor and the air temperature sensor are integrated on the same circuit board and share the power supply module, the microprocessor, the output interface and the like, and the functions of elevation measurement, pitch angle measurement and roll measurement are integrated on the same sensor device, so that the sensor device has the advantages of high integration level, low cost, small size and high reliability.

Description

Technical Field

[0001] This invention relates to the field of sensor device technology, and more specifically, to a sensor device with integrated elevation and tilt measurement. Background Technology

[0002] Barometric altimeters, as important instruments for measuring the current altitude of a vehicle, are widely used not only in surveying, industry, construction, and the military, but also in the aerospace field with the development of the Global Positioning System. As altitude increases, the air becomes thinner, and atmospheric pressure decreases accordingly; barometric altimeters are made based on this principle. According to the international standard atmosphere established by the International Organization for Standardization, altitude (i.e., elevation) can be determined within the range of -2000 to 80000m. and atmospheric pressure The relationship between these is the standard barometric altitude formula.

[0003] (1)

[0004] In the formula, the gas constant for air is: The acceleration due to gravity is The rate of vertical temperature change . These are the lower limits of atmospheric temperature, standard pressure altitude, and atmospheric pressure for the corresponding layers in the international standard atmosphere.

[0005] Regarding tilt angle measurement, according to physics and mechanics, when the carrier has an angle with the reference plane, the ratio of its acceleration in the direction of motion to the acceleration due to gravity is equal to the angle between its acceleration and the acceleration due to gravity when there is no angle. They are different. According to the decomposition of forces, gravitational acceleration will have a component acting on it. Direction, and Therefore, the tilt angle In the formula This refers to gravitational acceleration. Tilt sensors are widely used in measuring the angle of radar antennas, and in the attitude detection of bridges, mountains, dams, engineering robotic arms, observation and aiming devices, artillery turrets, etc. For pitch angles... and roll angle Measurements, as shown in the attached document. Figure 2 As shown, if the vector value of gravitational acceleration measured by the accelerometer is... Then we can obtain,

[0006] (2)

[0007] In the formula, and These are the vector values ​​of gravitational acceleration. In the carrier coordinate system Axis, Axis and The components of the axis, so the pitch angle And the roll angle , can be calculated,

[0008] (3)

[0009] The pitch angle And the roll angle of the carrier are referenced to the geodetic horizontal plane, however, due to the influence of factors such as the structural machining precision, assembly cumulative error of the sensor, when the tilt sensor is installed on the carrier, there may be a biased pitch angle And a biased roll angle , as shown in the accompanying Figure 3 In this case, if the above formula is used to calculate, the absolute pitch angle And the absolute roll angle of the carrier can be obtained, which has a large error with the actual (relative) pitch angle And the actual (relative) roll angle of the carrier.

[0010] Further, for systems that require both height measurement and tilt (pitch angle and roll angle) measurement, such as sighting systems, gun mount systems, fire control systems, etc., a barometric altimeter is needed to measure the height information, and in addition, a tilt sensor is needed to measure the tilt information. This undoubtedly increases the integration difficulty of the system, increases the system cost, increases the system volume, etc., and brings great difficulty and challenge to the system design and adjustment. SUMMARY

[0011] In order to solve the above technical problems, the purpose of the present application is to provide a sensor device with integrated height and tilt measurement, which can provide height information and tilt information (pitch angle and roll angle) for the system, and has the advantages of high integration, low cost, small size and high reliability; further, when measuring the tilt, the relative pitch angle zero And the relative roll angle zero can be set according to the needs, and the relative pitch angle And the relative roll angle are calculated according to the set relative pitch angle zero And the relative roll angle zero , which solves the problem of deviation of the reference plane when the sensor device is installed on the carrier, reduces the adjustment requirements when the sensor device is installed, saves system development time, and provides a convenient and effective way for quick and convenient use of the sensor device.

[0012] To achieve the above-mentioned technical objectives, this application provides a sensor device with fusion measurement of elevation and tilt angle, comprising: A barometric pressure sensor is used to measure absolute atmospheric pressure, preferably by altitude (i.e., elevation). and atmospheric pressure The elevation information is calculated using the relationship between the two (i.e., the standard barometric altitude formula), and then the elevation information is calibrated using the temperature value measured by the air temperature sensor. An acceleration sensor is used to measure the change in the gravitational acceleration component, preferably based on the gravitational acceleration vector obtained in real time in a coordinate system. axis, shaft and The components of the axis are used to calculate the pitch angle. and roll angle Then, the tilt angle information is calibrated using the temperature value measured by the air temperature sensor; A temperature sensor is used to sense ambient temperature values ​​and to calibrate in real time the deviations of the barometric pressure sensor and accelerometer caused by temperature, thereby improving the environmental adaptability of the sensor device. The signal conditioning unit is used to convert and filter the acquired air pressure signals, acceleration signals, temperature signals, etc. The microprocessor is used to sequentially read and calculate air pressure, acceleration, and temperature signals, and preferably, simultaneously calculate the elevation and pitch angle of the carrier. Roll angle Information such as elevation and pitch angle obtained from the solution. Roll angle Perform temperature calibration.

[0013] Preferably, to address the aforementioned offset pitch angle and the offset roll angle To address the pitch and roll angle calculation errors, the system enables independent setting of the relative zero position for both pitch and roll angles. The solution is as follows: Assume that due to factors such as structural machining accuracy and accumulated assembly errors, the tilt sensor, when installed on the carrier, has an offset pitch angle relative to the horizontal plane. and the offset roll angle The carrier's attitude changes, assuming the carrier revolves around itself. The angle of rotation of the axis (horizontal axis) is (i.e., pitch angle is) ), the carrier orbits itself The angle of rotation of the axis (vertical axis) is (i.e., roll angle is) ), at this time, the gravity acceleration vector measured by the acceleration sensor is , then,

[0014] (4)

[0015] In the formula,

[0016] (5)

[0017] is a rotation matrix; (6)

[0018] is the pitch angle , the roll angle under the condition of the gravity acceleration vector; and are the gravity acceleration value vectors in the carrier coordinate system axis, axis and axis.

[0019] According to the above formula, an equation group is established,

[0020] (7)

[0021] The equation group is solved to obtain,

[0022] (8)

[0023] The components of the gravity acceleration value vector in the carrier coordinate system axis, axis and axis and directly calculated carrier pitch angle and roll angle are respectively denoted as absolute pitch angle and absolute roll angle , and the calculation formula is,

[0024] (9)

[0025] The present application discloses the following technical effects: The present application integrates the air pressure sensor, the acceleration sensor and the air temperature sensor on the same circuit board, shares the power module, the microprocessor, the output interface and the like, integrates the height measurement and the pitch angle and roll measurement functions in the same sensor device, and has the advantages of high integration, low cost, small size and high reliability; the relative pitch angle zero position and the relative roll angle zero position can be set, and the relative pitch angle is solved and relative roll angle , solve the deviation problem of reference datum plane when the sensor device is installed on the carrier, reduce the installation and adjustment requirement when the sensor device is installed, save the system development time, and provide a convenient and effective way for quick and convenient use of the sensor device. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and all other drawings obtained by those skilled in the art without creative labor on the basis of these drawings also belong to the protection scope of the present application.

[0027] Figure 1 The component structure diagram of the sensor device with elevation and inclination fusion measurement according to the present application is shown in the figure. Figure 2 The carrier pitch angle and roll angle schematic diagram.

[0028] Figure 3 The carrier relative pitch angle zero and relative roll angle zero schematic diagram.

[0029] The figure shows: 1, air pressure sensor, 2, air temperature sensor, 3, acceleration sensor, 4, signal conditioning unit, 5, microprocessor, 6, power module, 7, output interface. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor also belong to the protection scope of the present application.

[0031] As Figure 1As shown, the sensor device with fusion measurement of elevation and tilt mentioned in this invention includes: (1) a barometric pressure sensor for measuring atmospheric absolute pressure and calculating elevation information from the atmospheric absolute pressure; (2) a temperature sensor for sensing ambient temperature values ​​and for calibrating the deviations of the barometric pressure sensor and the acceleration sensor caused by temperature, thereby improving the environmental adaptability of the sensor device; and (3) an acceleration sensor for measuring the change in the gravitational acceleration component and calculating the pitch angle from the gravitational acceleration component. and roll angle (4) Signal conditioning unit, used to convert and filter the collected air pressure signal, acceleration signal, temperature signal, etc.; (5) Microprocessor, used to read air pressure signal, acceleration signal, temperature signal, and perform calculations to obtain the elevation and pitch angle of the carrier. Roll angle Information such as the relative pitch angle zero position is used to determine the relative pitch angle zero position. Relative roll angle zero position The relative pitch angle is calculated. and relative roll angle (6) Power supply module, providing power to the system; (7) Output interface, used to output elevation information and pitch angle. Roll angle and relative pitch angle and relative roll angle Output.

[0032] To address the offset pitch angle and the offset roll angle To address the pitch and roll angle calculation errors, the system enables independent setting of the relative zero position for both pitch and roll angles. The solution is as follows: Assume that due to factors such as structural machining accuracy and accumulated assembly errors, the tilt sensor, when installed on the carrier, has an offset pitch angle relative to the horizontal plane. and the offset roll angle The carrier's attitude has changed; assuming the carrier revolves around itself... The angle of rotation of the axis (horizontal axis) is (i.e., pitch angle is) ), the carrier orbits itself The angle of rotation of the axis (vertical axis) is (i.e., roll angle is) At this time, the gravitational acceleration vector measured by the accelerometer is Then you can get,

[0033] (10)

[0034] In the formula,

[0035] (11)

[0036] is a rotation matrix; (12)

[0037] is a pitch angle is a roll angle under the condition of the gravity acceleration vector; and is a gravity acceleration value vector in the carrier coordinate system axis, axis and axis.

[0038] According to the above formula, an equation group is established,

[0039] (13)

[0040] Solving the equation group can obtain,

[0041] (14)

[0042] The components of the gravity acceleration value vector in the carrier coordinate system axis, axis and axis and The carrier pitch angle and roll angle directly calculated are respectively denoted as absolute pitch angle and absolute roll angle , and the calculation formula is,

[0043] (15)

[0044] The application uses the technical route of multi-sensor integration and data fusion processing in the sensor device, integrates the air pressure sensor, acceleration sensor and air temperature sensor on the same circuit board in the same sensor device, shares the power module, microprocessor, output interface and the like, integrates the height measurement and pitch angle and roll measurement functions in the same sensor device, and has the advantages of high integration, low cost, small size and high reliability; when solving the inclination angle information such as the relative pitch angle and relative roll angle of the carrier, the equivalent principle of carrier coordinate system rotation in the inertial navigation technology is adopted, the relative pitch angle zero position and relative roll angle zero position can be set according to the requirement, and the relative pitch angle is solved according to the set relative pitch angle zero position and relative roll angle zero position . and relative roll angle This solves the problem of the deviation of the reference plane of the sensor device from the carrier during installation, reduces the installation and adjustment requirements of the sensor device during installation, saves system development time, and provides a convenient and effective way for quick and convenient use of the sensor device.

[0045] The present application is described in reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device that implements the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that carries out the function specified in the flow or flows and / or block or blocks.

[0046] In the description of the present application, it should be understood that the terms "first", "second", are used only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0047] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application also intends to include these modifications and variations.

Claims

1. A sensor device with integrated elevation and tilt measurement, characterized in that, include: A barometric pressure sensor is used to measure atmospheric absolute pressure and calculate elevation information from the atmospheric absolute pressure. A temperature sensor is used to sense ambient temperature values ​​and to calibrate temperature-induced deviations in barometric pressure and accelerometer sensors, thereby improving the environmental adaptability of the sensor device. An accelerometer is used to measure the change in the gravitational acceleration component, and the pitch angle is calculated from the gravitational acceleration component. and roll angle ; The signal conditioning unit is used to convert and filter the acquired air pressure signals, acceleration signals, temperature signals, etc. The microprocessor is used to read air pressure signals, acceleration signals, and temperature signals, and perform calculations to obtain the carrier's elevation and pitch angle. Roll angle According to the set relative pitch angle zero position Relative roll angle zero position The relative pitch angle is calculated. and relative roll angle ; The power module provides operating power to the system; The output interface is used to transmit elevation information and pitch angle. Roll angle and relative pitch angle and relative roll angle Output.

2. The sensor device with fusion measurement of elevation and tilt angle according to claim 1, characterized in that: The barometric pressure sensor, accelerometer, and temperature sensor are integrated on the same circuit board, sharing a power module, microprocessor, and output interface, thus integrating elevation measurement, pitch angle, and roll measurement functions into a single sensor device.

3. The sensor device with fusion measurement of elevation and tilt angle according to claim 1, characterized in that: When performing tilt angle measurements, the absolute pitch angle of the carrier can be calculated. Absolute roll angle It can set the relative pitch angle zero position as needed. Relative roll angle zero position According to the set relative pitch angle zero position Relative roll angle zero position Calculate the relative pitch angle and relative roll angle .

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