Multifunctional integrated attitude measurement device, system and method

Abstract

The invention provides a multifunctional integrated attitude measurement device, system and method. The device comprises an inertial measurement module, a geomagnetic acquisition module and a core processing module, the inertial measurement module integrates a gyroscope, an accelerometer and a temperature sensor and is used for collecting original data of angular velocity, acceleration and temperature of a measured target in real time; the core processing module is used for acquiring original data and resolving attitude information such as a pitch angle, a roll angle and a non-reference yaw angle of a measurement target through an adaptive fusion filtering algorithm; the geomagnetic acquisition module comprises a geomagnetic sensor and is used for acquiring geomagnetic field data and sending the geomagnetic field data to the core processing module; and the core processing module is also used for fusing the geomagnetic field data with the attitude information, and resolving a non-offset course angle through a filtering algorithm to obtain target attitude information. According to the invention, high-precision attitude measurement at full high temperature is realized, the dynamic following performance and the vibration suppression capability are improved, and the deployment efficiency and the environmental adaptability are improved.

Description

Technical Field

[0001] This invention relates to the field of attitude measurement technology, and specifically to a multifunctional attitude measurement device, system, and method. Background Technology

[0002] Attitude measurement systems play a crucial role in aerospace, autonomous driving, robotics, and precision instruments. Among them, inertial measurement modules based on microelectromechanical systems (MEMS) are widely used due to their advantages such as small size and low cost.

[0003] However, existing attitude measurement systems still have many shortcomings in practical applications. First, the zero bias, scaling factor, and cross-axis errors of microelectromechanical system (MEMS) sensors are significantly affected by temperature across the entire temperature range (-40-85℃), leading to a decrease in measurement accuracy and failing to meet the high-precision data requirements of precision instruments and platform stability control in all-temperature environments. Second, in high-vibration and high-dynamic application environments such as engineering machinery and robots, the filtering algorithms used by traditional sensors often struggle to balance dynamic response speed and vibration suppression capabilities, resulting in significant drift in the calculated attitude angles and failing to accurately reflect the true motion state of the vehicle. Furthermore, most existing sensor interfaces are limited in function, supporting only a few communication protocols and lacking flexible synchronization mechanisms. This makes it difficult to achieve time and data synchronization with external devices such as global navigation satellite systems, radar, and cameras, increasing the difficulty of multi-device integration and limiting its application in multi-system collaborative scenarios such as low-speed unmanned robots and drones. Finally, some sensors have long startup times (usually more than 3 seconds) and require complex external commands to configure before they can output data, which reduces the efficiency of system deployment and cannot meet the needs of application scenarios with high real-time requirements; or, they are large in size and heavy in weight, and have poor packaging compatibility, making it difficult to integrate them into miniaturized devices (such as small drones and humanoid robots). At the same time, they have insufficient vibration resistance and shock resistance, and are prone to failure under harsh working conditions. Summary of the Invention

[0004] To address this, the present invention provides a multifunctional attitude measurement device, system, and method, aiming to solve the technical problems in the prior art where attitude measurement systems are unable to simultaneously guarantee high measurement accuracy, high dynamic performance, and high robustness under complex working conditions such as wide temperature range and high vibration, and where their interface functions are limited and configurations are complex, leading to difficulties in integration and low deployment efficiency in multi-system collaborative applications.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: According to a first aspect of the present invention, the present invention provides a multifunctional fusion attitude measurement device, the device comprising an inertial measurement module, a geomagnetic acquisition module, and a core processing module that is communicatively connected to the inertial measurement module and the geomagnetic acquisition module respectively; The inertial measurement module integrates a gyroscope, an accelerometer, and a temperature sensor to collect raw data of the angular velocity, acceleration, and temperature of the target in real time, and sends the raw data to the core processing module. The core processing module is used to acquire the raw data and calculate the attitude information of the measured target through an adaptive fusion filtering algorithm; the attitude information includes pitch angle, roll angle and reference-free yaw angle. The geomagnetic acquisition module includes a geomagnetic sensor for acquiring geomagnetic field data and sending the geomagnetic field data to the core processing module; The core processing module is also used to fuse the geomagnetic field data with the attitude information, and calculate the no-off heading angle through a filtering algorithm to obtain the target attitude information; the target attitude information includes pitch angle, roll angle and no-off heading angle.

[0006] Furthermore, the device also includes a communication interface module; the communication interface module is connected to the core processing module and an external navigation and positioning system respectively, and is used to acquire GNSS data from the navigation and positioning system and transmit the GNSS data to the core processing module; the GNSS data includes latitude and longitude data and speed data; The core processing module is used to calculate the real-time status information of the measured target based on the GNSS data and the target attitude information using a strapdown inertial navigation algorithm, and output the real-time status information; the real-time status information includes real-time spatial position and real-time multi-directional velocity.

[0007] Furthermore, the core processing module is also used to perform real-time compensation on the acceleration and angular velocity in the original data based on calibration parameters after acquiring the original data, so as to obtain the compensated original data. The calibration parameters include at least one of the following: zero bias, scaling factor, axis cross-coupling error, and temperature-dependent compensation coefficient.

[0008] Furthermore, the core processing module includes a basic calculation unit and a heading calculation unit; The basic calculation unit is communicatively connected to the inertial measurement module and is used to perform data fusion on the compensated raw data based on the adaptive extended Kalman filter algorithm, calculate the pitch and roll angles of the measured target using the gravity reference frame identified by the accelerometer, calculate the reference-free yaw angle through integration, and output the attitude information. The heading calculation unit is communicatively connected to the basic calculation unit and the geomagnetic acquisition module, respectively, and is used to acquire the attitude information from the basic calculation unit and the geomagnetic field data from the geomagnetic acquisition module; The heading calculation unit is also used to perform attitude correction on the gyroscope data based on the adaptive extended Kalman filter algorithm, using the attitude error and gyroscope zero bias error as state vectors, and using accelerometer data and the geomagnetic field data as observations to calculate the target attitude information including the heading angle without deviation, and output the target attitude information.

[0009] Furthermore, the communication interface module includes a GNSS interface unit and a time synchronization unit; The GNSS interface unit and the time synchronization unit are respectively connected to the navigation and positioning system and the core processing module; The GNSS interface unit is used to acquire GNSS data from the navigation and positioning system and transmit the GNSS data to the core processing module; the time synchronization unit is used to acquire PPS synchronization pulse data from the navigation and positioning system and send the PPS synchronization pulse data to the core processing module.

[0010] Furthermore, the core processing module also includes a solution extension unit; The calculation extension unit is connected to the GNSS interface unit, the time synchronization unit and the heading calculation unit respectively, and is used to acquire the GNSS data from the GNSS interface unit, the PPS synchronization pulse data from the time synchronization unit and the target attitude information from the heading calculation unit; The calculation extension unit is also used to, when receiving the PPS synchronization pulse data and the GNSS data, align the local timestamp with the timestamp of the GNSS data; fuse the aligned latitude and longitude data, the velocity data and the target attitude information, and calculate the real-time spatial position and real-time multi-directional velocity of the measured target based on the strapdown inertial navigation algorithm; The real-time spatial location includes latitude and longitude and altitude; the real-time multi-directional velocity includes eastward velocity, northward velocity and celestial velocity.

[0011] Furthermore, the communication interface module also includes a power management unit and a data transmission unit; the data transmission unit includes a UART interface and / or a CAN interface; The power management unit is used to connect to an external power source and regulate the voltage of the external power source through a linear regulator in order to power the attitude measurement device. The data transmission unit supports full-duplex communication and is used to perform data output, instruction configuration, and / or firmware upgrade of the raw data, the attitude information, the target attitude information, and / or the real-time status information.

[0012] According to a second aspect of the present invention, the present invention provides a multi-functional fusion attitude measurement system, comprising a multi-functional fusion attitude measurement device as described in any one of the first aspects of the present invention, a user operation terminal, and a user server terminal; the user server terminal is communicatively connected to the attitude measurement device and the user operation terminal respectively. The user server includes a link support unit, an instruction parsing unit, and a data transmission unit; The link support unit is used to manage interface parameters from the user operation terminal and supports at least one link type among UART, CAN and RS485. The configuration management unit is used to receive and parse configuration instructions from the user operation terminal, obtain identifiable configuration items, and store them; the configuration instructions include at least one of the following: sampling frequency, filtering parameters, algorithm working mode, and output data format; The data transmission unit is used to output the result message to the user operation terminal according to the corresponding format of the recognizable configuration item; the result message includes raw data, attitude information, target attitude information and / or real-time status information.

[0013] According to a third aspect of the present invention, the present invention provides a multi-functional fusion attitude measurement method, applied to a multi-functional fusion attitude measurement device as described in any one of the first aspects of the present invention, the method comprising: The inertial measurement module collects raw data of the angular velocity, acceleration, and temperature of the target in real time and sends the raw data to the core processing module. The core processing module acquires the raw data, performs real-time compensation on the acceleration and angular velocity in the raw data based on calibration parameters, and obtains the compensated raw data; based on the compensated raw data, it calculates and outputs the attitude information of the measured target through an adaptive fusion filtering algorithm; the attitude information includes pitch angle, roll angle and reference-free yaw angle; The core processing module acquires geomagnetic field data collected by the geomagnetic acquisition module, fuses the geomagnetic field data with the attitude information, calculates the no-off heading angle through a filtering algorithm, and obtains and outputs the target attitude information; the target attitude information includes pitch angle, roll angle and no-off heading angle.

[0014] Furthermore, the method also includes: The core processing module acquires GNSS data from the navigation and positioning system through a communication interface module; the GNSS data includes latitude and longitude data and velocity data. The core processing module calculates the real-time status information of the measured target based on the GNSS data and the target attitude information using a strapdown inertial navigation algorithm; the real-time status information includes real-time spatial position and real-time multi-directional velocity. The real-time spatial location includes latitude and longitude and altitude; the real-time multi-directional velocity includes eastward velocity, northward velocity and celestial velocity.

[0015] The present invention, by adopting the above technical solution, has at least the following beneficial effects: 1) Achieved high accuracy across the entire temperature range: By pre-calibrating the sensor data at the factory within a wide temperature range and using compensation parameters to compensate the sensor data in real time, combined with an adaptive filtering algorithm, the error caused by temperature drift was significantly suppressed, ensuring that the system can maintain high-precision measurement across a wide temperature range. 2) Improved dynamic tracking and vibration resistance performance: The adaptive fusion filtering algorithm is used to intelligently identify the motion state of the target being measured. When stationary or in low dynamic conditions, the accelerometer and magnetometer are trusted to correct drift. When in high dynamic or high vibration conditions, the gyroscope integration is relied on more to ensure dynamic response, thereby effectively suppressing vibration interference and achieving low-drift dynamic attitude tracking. 3) Enhanced interface and synchronization capabilities: It integrates multiple mainstream communication interfaces and a dedicated time synchronization interface, enabling the system to flexibly connect directly to various external sensors or controllers such as global navigation satellite systems, radars, and cameras without the need for additional synchronization or conversion modules, which greatly reduces the hardware cost and development complexity of multi-system integration. 4) Improved deployment efficiency and environmental adaptability: Through pre-calibrated and optimized software logic, it enables rapid startup and power-on functionality, simplifying the user configuration process. Meanwhile, its highly integrated and compact design makes it lightweight, highly vibration-resistant, and shock-resistant, easily integrated into miniaturized devices, and adaptable to harsh working environments.

[0016] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic diagram of the structure of a multifunctional fusion attitude measurement device provided in an embodiment of the present invention is shown; Figure 2 A schematic diagram of the structure of a multifunctional fusion attitude measurement device provided in another embodiment of the present invention is shown; Figure 3 This diagram illustrates the coordinate orientation silkscreen of a module provided in an embodiment of the present invention. Figure 4 A schematic diagram of the three-dimensional structure dimensions of a module provided in an embodiment of the present invention is shown; Figure 5 A schematic diagram of the package dimensions of a module provided in an embodiment of the present invention is shown; Figure 6 A schematic diagram of the structure of a multi-functional fusion attitude measurement system provided in an embodiment of the present invention is shown; Figure 7 A flowchart illustrating a multi-functional fusion attitude measurement method according to an embodiment of the present invention is shown. Figure 8 A flowchart illustrating a multi-functional fusion attitude measurement method provided in another embodiment of the present invention is shown. Detailed Implementation

[0019] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0020] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0021] In related technologies, attitude measurement systems have the following shortcomings in practical applications: 1) Insufficient accuracy in full-temperature environment: Existing MEMS-IMU sensors have not undergone accurate temperature compensation and calibration in the full temperature range (-40-85℃). Temperature changes will cause a significant increase in zero bias, scaling factor and cross axis errors. For example, the zero bias instability of gyroscope may exceed 10° / h in low temperature environment, and the zero bias instability of accelerometer may exceed 0.1mg, which cannot meet the requirements of precision scenarios. 2) Poor dynamic and vibration resistance performance: Traditional sensors use simple filtering algorithms, have weak dynamic tracking performance, and poor vibration suppression effect. In high vibration scenarios (such as construction machinery operation), the dynamic drift of the attitude angle exceeds 10° / h, which cannot accurately reflect the attitude of the carrier. 3) Weak interface and synchronization capabilities: Most sensors only support 1-2 communication interfaces (such as only supporting UART), and the synchronization method is limited (no PPS or UTC time synchronization). When integrated with satellite navigation and positioning systems (GNSS), radar and other equipment, an additional synchronization module is required, which increases hardware costs and integration complexity. 4) Low deployment efficiency: Existing sensors generally have a startup time of more than 3 seconds and require multiple external commands to configure parameters (such as enabling data output, output frame rate, protocol type) before they can output data, which increases system debugging time and makes rapid deployment impossible; 5) Poor integration and environmental adaptability: Some sensors are larger than 20×20×5mm in size and weigh more than 3g. They have low compatibility with surface mount packaging and are difficult to integrate into small devices. At the same time, they have insufficient vibration resistance (can only withstand ≤10g vibration) and weak shock resistance (mechanical shock ≤5000g), resulting in a high failure rate under harsh working conditions.

[0022] To address at least one of the technical problems existing in the aforementioned related technologies, embodiments of the present invention provide a multifunctional fusion attitude measurement device, such as... Figure 1 As shown, it includes an inertial measurement module 110, a geomagnetic acquisition module 120, and a core processing module 130 that is communicatively connected to the inertial measurement module 110 and the geomagnetic acquisition module 120, respectively.

[0023] First, it should be noted that, as a specific implementation of the present invention, the multifunctional attitude measurement device proposed in the embodiments of the present invention is highly integrated on a miniaturized circuit board, thereby forming a compact attitude measurement module.

[0024] Specifically, the inertial measurement module 110 integrates a gyroscope, an accelerometer, and a temperature sensor, which can be used to collect raw data of the angular velocity, acceleration, and temperature of the target in real time and send the raw data to the core processing module; the core processing module 130 can be used to acquire the raw data and calculate the attitude information of the target through an adaptive fusion filtering algorithm.

[0025] In this embodiment of the invention, the inertial measurement module 110 serves as a sensing module, and its key component can be an IMU chip integrating a 3-axis MEMS gyroscope, a 3-axis MEMS accelerometer, and a temperature sensor. The gyroscope's function is to detect the angular velocity of the target around its X, Y, and Z axes in real time; the accelerometer is used to detect its linear acceleration along the X, Y, and Z axes in real time; and the temperature sensor measures the operating temperature of the IMU chip itself, providing real-time data for subsequent temperature error compensation. In actual assembly, the IMU chip corresponding to the inertial measurement module 110 is soldered to the central area of ​​the module, and the temperature sensor is packaged together with the gyroscope and accelerometer to ensure real-time acquisition of sensor temperature.

[0026] The core processing module 130, serving as a logic processing module, can be configured as a high-performance MCU microcontroller (such as an ARM Cortex-M4 core with a clock frequency ≥ 200MHz). In practical applications, the MCU microcontroller reads raw data from the IMU chip via the SPI bus, including raw acceleration data, raw gyroscope data, and raw temperature sensor data. During actual assembly, the MCU microcontroller can be placed in the core area of ​​the PCB and connected to the IMU chip via an SPI bus supporting high transmission rates (such as ≥ 10MHz).

[0027] To ensure the accuracy of the acquired data, the core processing module 130 can also parse the acquired raw data and perform real-time compensation on the raw data from the gyroscope and accelerometer based on pre-stored calibration parameters. The resulting compensated raw data significantly eliminates deterministic errors introduced by sensor defects and temperature drift. The calibration parameters may include zero bias, scaling factor, axis cross-coupling error, and compensation coefficients that vary with temperature.

[0028] The following describes the factory calibration process for generating the aforementioned calibration parameters. This process is crucial for ensuring high accuracy across the entire temperature range and various attitudes. First, a batch of modules (IMU devices) to be calibrated are fixed onto the fixtures of a high-precision temperature chamber turntable. Then, the temperature chamber is controlled to undergo multiple high and low temperature cycles within a preset wide temperature range (e.g., -40°C to 85°C). Throughout the temperature change process, multi-attitude calibration can be performed on the turntable, collecting acceleration and angular velocity data at different angles and generating corresponding scaling factors, cross-axis coupling, and zero-bias compensation parameters. These calibration parameters are then written into the core processing module 130. After calibration, the validity of the calibration parameters is immediately checked to ensure the correctness of the calculation process. After validity confirmation, the turntable is driven to rotate 345° to dynamically test the attitude angles of each IMU device, determining whether they fall within a preset threshold range to ensure the consistency and accuracy of attitude calculation. After completing the turntable test, the IMU devices are removed from the fixture. Finally, the software and hardware versions must be checked to ensure they meet factory requirements and that the software and hardware platforms are consistent. To ensure no abnormalities occur during module handling and off-line testing, the calibration matrix can be rechecked, thus concluding the entire calibration and testing process. Through these steps, the attitude measurement device shipped from the factory guarantees accuracy, stability, and consistency, meeting the quality standards for industrial applications.

[0029] Furthermore, the geomagnetic acquisition module 120 includes a geomagnetic sensor, which can be used to acquire geomagnetic field data and send the geomagnetic field data to the core processing module 130. The core processing module 130 can also be used to fuse the geomagnetic field data with attitude information, and calculate the no-off heading angle through a filtering algorithm to obtain the target attitude information.

[0030] In this embodiment of the invention, a key component of the geomagnetic acquisition module 120 can be a 3-axis TMR geomagnetic sensor (e.g., 20 Gauss range, 450 nT noise), which can be used to measure the components of the external environmental geomagnetic field on the X, Y, and Z axes, providing an absolute reference for the heading angle in attitude calculation. To reduce electromagnetic interference from other electronic components, the geomagnetic acquisition module 120 is deliberately positioned on the edge of the PCB away from strong electromagnetic interference sources such as the core processing module 130 (distance ≥ 3 mm), and is connected to the MCU microcontroller via an I2C interface (e.g., 400 kHz speed).

[0031] like Figure 2As shown, specifically, the core processing module 130 may include a basic calculation unit 131 (VRU) and a heading calculation unit 132 (AHRS). The basic calculation unit 131 is communicatively connected to the inertial measurement module 110 and can be used to acquire compensated raw data at frequencies up to several kilohertz (e.g., sampling rate 1000Hz). It performs data fusion on the compensated raw data based on an adaptive extended Kalman filter algorithm, calculates the pitch angle (-90°-90°) and roll angle (-180°-180°) of the measured target using the gravity reference frame identified by the accelerometer (when in a stationary or uniform motion state, the acceleration vector mainly reflects the gravitational acceleration). It also calculates the referenceless yaw angle through integration (accumulating from 0° upon power-on) and outputs attitude information including pitch angle, roll angle, and referenceless yaw angle.

[0032] The heading calculation unit 132 is communicatively connected to the basic calculation unit 131 and the geomagnetic acquisition module 120, respectively, and can be used to acquire attitude information from the basic calculation unit 131 and geomagnetic field data 120 from the geomagnetic acquisition module 120. The heading calculation unit 132 can also be used to perform attitude correction on the gyroscope data based on the adaptive extended Kalman filter algorithm, using the attitude error and gyroscope zero bias error as the state vector, and using accelerometer data and geomagnetic field data as observations, to calculate the yaw angle (-180°-180°) based on magnetic north, thus obtaining target attitude information including the heading angle without deviation.

[0033] The adaptive error state extended Kalman fusion algorithm proposed in this invention is a data fusion method for attitude and heading reference, achieving high-precision attitude calculation by estimating attitude error and gyroscope bias error. This algorithm does not directly estimate the attitude itself, but rather estimates the error quantities of the attitude, thus exhibiting better numerical stability and linearization characteristics. The motion state of the measured target is defined as a six-dimensional error state vector, including three-dimensional attitude error and three-dimensional gyroscope bias error. Quaternions are used to represent the attitude, but axis-angle representation is used in the error state to avoid over-parameterization. Specifically, attitude prediction is performed using gyroscope data, attitude correction is performed by fusing accelerometer and magnetometer measurement information, and the nonlinear attitude kinematic model is processed using an extended Kalman filter framework. In the prediction phase of the algorithm, attitude integration is performed using compensated high-frequency gyroscope data, and prior estimates of state quantities are predicted. In the update phase of the algorithm, a gravity vector observation model is constructed using compensated accelerometer data, and a geomagnetic field vector observation model is constructed using compensated magnetometer data. Then, the predicted gravity vector and geomagnetic field vector are compared with the actual measured vectors to obtain residuals. These residuals are then combined with the adaptively adjusted measurement noise covariance matrix to calculate the Kalman gain, and finally, the state variables are corrected a posteriori. By correcting attitude errors, drift caused by gyroscope integration can be corrected; by estimating and feeding back gyroscope bias online, drift growth can be further suppressed. An adaptive mechanism adjusts the noise covariance matrix in real time according to the motion state of the measured target and sensor characteristics. When stationary, the accelerometer noise weight is reduced to improve accuracy; when moving, the noise weight is increased to reduce interference. Simultaneously, the magnetometer noise parameters are adjusted according to changes in the magnetic field environment, significantly improving the accuracy and robustness of attitude calculation under different motion states and environmental conditions.

[0034] In an alternative embodiment, such as Figure 2 As shown, the device may also include a communication interface module 140. The communication interface module 140 is connected to the core processing module 130 and an external navigation and positioning system (not shown in the figure), respectively, for acquiring GNSS data from the navigation and positioning system and transmitting the GNSS data to the core processing module 130. The GNSS data includes latitude and longitude data and velocity data.

[0035] Specifically, the communication interface module 140 may include a GNSS interface unit 141 and a time synchronization unit 142. The GNSS interface unit 141 can be used to acquire GNSS data from the navigation and positioning system and transmit the GNSS data to the core processing module 130; the time synchronization unit 142 can be used to acquire PPS synchronization pulse data from the navigation and positioning system and transmit the PPS synchronization pulse data to the core processing module 130.

[0036] In practical applications, the GNSS interface unit 141 can be configured as (UART3, baud rate 115200bps), located at the edge of the PCB, and connected to an external satellite navigation and positioning system via a wiring harness through the UART3_TX / RX pins (compatible with 3.3V level); the time synchronization unit 142 can be configured to input GPRMC messages to the UART2 port through the PPS signal receiving pin (IO1, supporting 5V / 3.3V level).

[0037] The core processing module 130 can be used to calculate and output the real-time status information of the target based on GNSS data and target attitude information using a strapdown inertial navigation algorithm.

[0038] Specifically, the core processing module 130 may further include a calculation extension unit 133 (INS). The calculation extension unit 133 is connected to the GNSS interface unit 141, the time synchronization unit 142, and the heading calculation unit 132, respectively, and is used to acquire GNSS data from the GNSS interface unit 141, PPS synchronization pulse data from the time synchronization unit 142, and target attitude information from the heading calculation unit 132. The calculation extension unit 133 can also be used to, upon receiving PPS synchronization pulse data and GNSS data, align the local timestamp with the timestamp of the GNSS data; fuse the aligned latitude and longitude data, velocity data, and target attitude information; and calculate the real-time spatial position and real-time multi-directional velocity of the target based on a strapdown inertial navigation algorithm.

[0039] It is understandable that the external navigation and positioning system transmits latitude and longitude data and velocity data (GPGGA, GPRMC protocol) to the calculation extension unit 133 through UART3, and sends PPS synchronization pulse data through IO1. After receiving the PPS synchronization pulse data and GPRMC message, the calculation extension unit 133 aligns the local timestamp with the timestamp of the GNSS data and calculates the real-time spatial position (latitude and longitude, altitude) and real-time multi-directional velocity (east, north, and sky) of the measured target.

[0040] In an alternative embodiment, such as Figure 2 As shown, the communication interface module 140 may also include a power management unit 143 and a data transmission unit 144.

[0041] Specifically, the power management unit 143 can be connected to an external power supply (not shown in the figure) and regulated by a linear regulator to power the attitude measurement device. The data transmission unit 144 supports full-duplex communication and is used to perform data output, command configuration, and / or firmware upgrades for raw data, attitude information, target attitude information, and / or real-time status information.

[0042] Furthermore, the data transmission unit 144 may include a UART interface (UART1 / UART2 / UART3), a CAN interface (supporting CAN2.0B), and / or an I2C interface to realize communication functions; the time synchronization unit may include an IO interface (IO1 / SYNC_IN, IO2 / SYNC_OUT) to realize synchronization functions.

[0043] In actual assembly, all communication interface pins are located at the edge of the PCB; the power management unit 142 includes an LDO linear regulator (input 3.3-5.5V, output 3.3V) located near the PCB power input pin (VDD).

[0044] To enable the communication function of the attitude measurement device, the interfaces can be configured as follows: UART1 / UART2 supports full-duplex communication (default 8N1 format, baud rate 115200bps, which can be modified to 9600-921600bps through configuration), used for data output (attitude information, real-time status information, raw data), command configuration (such as modifying the output frame rate), and firmware upgrades; UART3 is dedicated to connecting to external navigation and positioning systems; the CAN interface (MI0 interface requires an external TJA1044 transceiver, MI1 interface integrates a transceiver) supports the CANopen / SAEJ1939 protocol (default baud rate 500kbps, which can be modified to 125-1000kbps). Additionally, the I2C interface supports a 400kHz rate and can be used to expand external sensors.

[0045] To achieve the synchronization function of the attitude measurement device, the interface can be configured as follows: IO1 (SYNC_IN / PPS) can receive external trigger signals (such as GNSS PPS) and align with the internal clock through the time synchronization circuit; IO2 (SYNC_OUT) can output a Data Ready signal (at the same frequency as the data output frame rate, such as 100 pulses / second at 100Hz) for synchronization with radar, camera and other devices; the synchronization signals all support 3.3V / 5V level compatibility.

[0046] To provide power to the attitude measurement device, the power management unit 142 can be configured to receive an external 3.3-5.5V voltage, regulate it to 3.3V via an LDO linear regulator, and supply it to each functional module to ensure stable power supply to the module.

[0047] Specifically, in this embodiment, the device is implemented as a miniaturized surface-mount package module. Please refer to [reference needed]. Figure 3 , Figure 4 and Figure 5 ,in, Figure 3 The coordinate system definition and outline silkscreen of the module are shown. Figure 4 It shows its three-dimensional structural dimensions, and Figure 5 This shows its package dimensions. For example... Figure 3 As shown, the physical directions of the X, Y, and Z axes of the sensor's measurement coordinate system are clearly marked on the top surface of the module. This coordinate system is defined as a right-handed coordinate system, providing a clear reference for users to perform physical installation and software coordinate system conversion. Figure 4 As shown, the module has extremely small physical dimensions, with a typical length and width of 15 mm and a typical thickness of 2.6 mm. This miniaturized and lightweight design makes the module easily integrated into applications with stringent space and weight requirements, such as small drones, wearable devices, or robotic end effectors. The module is mounted using surface mount technology, and its pin spacing is optimized for easy soldering. Figure 5 The package dimensions shown include precise dimensions such as the total length of the pad array and the pin pitch, providing users with a standardized process guide for designing the main circuit board that houses this module, thereby ensuring the reliability and consistency of soldering. It is this surface-mount package format that allows the device to be easily integrated into the measurement target as a standalone functional module.

[0048] The multifunctional fusion attitude measurement device provided by this invention can achieve at least the following beneficial effects: 1) Achieve high-precision measurement across the entire temperature range (-40-85℃), ensuring that the gyroscope's zero-bias instability is ≤1.7° / h and the accelerometer's zero-bias instability is ≤0.012mg, thus meeting the requirements for full-temperature accuracy in precision scenarios; 2) Improved dynamic tracking performance and vibration suppression capability, low-latency data output, attitude angle dynamic drift (AHRS mode) ≤3° / h, adaptable to high dynamic and high vibration scenarios; 3) Rich interfaces and synchronization functions, supporting multiple communication interfaces such as UART / CAN / I2C / SPI, and integrating PPS, UTC / GPRMC time synchronization I / O ports, which can synchronize with multiple external devices without additional modules, reducing integration costs; 4) Shorten startup time (≤1s), achieve "no external command configuration required, direct data output", and improve system deployment efficiency; 5) Reduced size (15×15×2.6mm) and weight (<1.5g), using compatible surface mount packaging, while improving vibration resistance (≤20g) and shock resistance (10000 g) to meet the needs of miniaturization and harsh working conditions.

[0049] Furthermore, as Figure 1 Alternatively, in addition to the technical supplement 2, this embodiment of the invention also provides a multi-functional fusion attitude measurement system, such as... Figure 6 As shown, the system may include: Figure 1The multi-functional integrated attitude measurement device 610, user operation terminal 620, and user server 630 shown in Figure 2 are configured to provide a unified configuration management mechanism. The user server 630 is connected to the attitude measurement device 610 and the user operation terminal 620 to provide a unified configuration management mechanism. It is designed with three core components: lsvr, cli, and vcom to realize a complete link from physical interface access, command parsing to data output.

[0050] Specifically, the user server 630 includes a link support unit (LSVR) 631, an instruction parsing unit (CLI) 632, and a data transmission unit (VCOM) 633.

[0051] The link support unit 631 can be used to manage interface parameters from the user operation terminal 620, supporting at least one link type among UART, CAN, and RS485. As an abstraction layer for the physical interface, the link support unit 631 shields the underlying hardware differences and supports multiple link types such as UART, CAN, and RS485. Interface parameters (such as baud rate, frame format, and port selection) issued by the user during the configuration phase are uniformly managed by the link support unit, enabling the system to flexibly adapt to different hardware environments.

[0052] The configuration management unit 632 can receive and parse configuration commands from the user operation terminal 620, obtain identifiable configuration items, and store them. Configuration commands include sampling frequency, filtering parameters, algorithm operating mode, and output data format, etc. The configuration management unit is responsible for receiving and parsing user configuration commands. Users can input commands via serial port or virtual communication link, and the configuration management unit 632 converts them into identifiable configuration items and executes them through configuration management functions. Typical configurations include sampling frequency, filtering parameters, algorithm operating mode, and output data format, etc. The introduction of the configuration management unit 632 allows users to dynamically adjust system operating parameters using intuitive commands without modifying the underlying code.

[0053] The data transmission unit 633 can be used to output result messages to the user operation terminal 620 according to the corresponding format of the identifiable configuration items; the result messages include raw data, attitude information, target attitude information, and / or real-time status information. The data transmission unit 633 undertakes the data output task. After the raw data from the inertial measurement module 110 has undergone acquisition, filtering, attitude calculation, and time synchronization, the data transmission unit 633 will output the result messages to the host computer or external system through a virtual serial port according to the format and rate configured by the user. The output data includes attitude quaternions, Euler angles, acceleration, angular velocity, and status flags, and supports standard protocol encapsulation for integration in different application scenarios.

[0054] It can be understood that through the linkage mechanism of the Link Support Unit (LSVR), Command Parsing Unit (CLI), and Data Transmission Unit (VCOM), this system achieves a closed loop of configuration and output: the user modifies the configuration through the Command Parsing Unit, the Link Support Unit applies it to the physical interface, and then the Data Transmission Unit outputs the processing results. This not only ensures high configurability and scalability but also provides a unified and flexible solution for the real-time reliable output of the inertial measurement module.

[0055] Furthermore, embodiments of the present invention also provide a multi-functional fusion attitude measurement method, applicable to, for example... Figure 1 Or the multi-functional fusion attitude measurement device shown in Figure 2, such as Figure 7 As shown, it may include at least the following steps S701~S703: Step S701: The inertial measurement module collects raw data of the angular velocity, acceleration and temperature of the target in real time and sends the raw data to the core processing module. In step S702, the core processing module acquires the raw data and performs real-time compensation on the acceleration and angular velocity in the raw data based on the calibration parameters to obtain the compensated raw data. Based on the compensated raw data, the attitude information of the measured target is calculated and output through an adaptive fusion filtering algorithm. The attitude information includes pitch angle, roll angle and no-reference yaw angle. In step S703, the core processing module acquires the geomagnetic field data collected by the geomagnetic acquisition module, fuses the geomagnetic field data with the attitude information, calculates the no-off heading angle through a filtering algorithm, and obtains and outputs the target attitude information; the target attitude information includes pitch angle, roll angle and no-off heading angle.

[0056] In an alternative embodiment, such as Figure 8 As shown, the above-mentioned multi-functional fusion attitude measurement method may further include the following steps S704~S705: In step S704, the core processing module obtains GNSS data from the navigation and positioning system through the communication interface module; the GNSS data includes latitude and longitude data and velocity data. In step S705, the core processing module calculates the real-time state information of the target based on GNSS data and target attitude information using a strapdown inertial navigation algorithm; the real-time state information includes real-time spatial position and real-time multi-directional velocity. The real-time spatial location includes latitude, longitude, and altitude; the real-time multi-directional velocity includes eastward velocity, northward velocity, and celestial velocity.

[0057] It should be noted that other corresponding descriptions of the functional steps involved in the multi-functional fusion attitude measurement method provided in this embodiment of the invention can be found in [reference]. Figure 1 The corresponding description of the device shown in Figure 2 will not be repeated here.

[0058] Those skilled in the art will clearly understand that the specific working process of the systems, devices, modules and units described above can be referred to the corresponding process in the foregoing method embodiments. For the sake of brevity, it will not be repeated here.

[0059] Furthermore, the functional units in the various embodiments of the present invention can be physically independent of each other, or two or more functional units can be integrated together, or all functional units can be integrated into one processing unit. The integrated functional units described above can be implemented in hardware, or in software or firmware.

[0060] Those skilled in the art will understand that if the integrated functional unit is implemented in software and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or all or part of it, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computing device (e.g., a personal computer, server, or network device) to execute all or part of the steps of the methods described in the embodiments of the present invention when running the instructions. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0061] Alternatively, all or part of the steps of the foregoing method embodiments can be implemented by hardware (such as a computing device, personal computer, server, or network device) related to program instructions. The program instructions can be stored in a computer-readable storage medium. When the program instructions are executed by the processor of the computing device, the computing device executes all or part of the steps of the methods described in the various embodiments of the present invention.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that within the spirit and principles of the present invention, modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein; and these modifications or substitutions do not cause the corresponding technical solutions to depart from the protection scope of the present invention.

Claims

1. A multifunctional fusion attitude measurement device, characterized in that, The device includes an inertial measurement module, a geomagnetic acquisition module, and a core processing module that is communicatively connected to the inertial measurement module and the geomagnetic acquisition module, respectively. The inertial measurement module integrates a gyroscope, an accelerometer, and a temperature sensor to collect raw data of the angular velocity, acceleration, and temperature of the target in real time, and sends the raw data to the core processing module. The core processing module is used to acquire the raw data and calculate the attitude information of the measured target through an adaptive fusion filtering algorithm; the attitude information includes pitch angle, roll angle and reference-free yaw angle. The geomagnetic acquisition module includes a geomagnetic sensor for acquiring geomagnetic field data and sending the geomagnetic field data to the core processing module; The core processing module is also used to fuse the geomagnetic field data with the attitude information, and calculate the no-off heading angle through a filtering algorithm to obtain the target attitude information; the target attitude information includes pitch angle, roll angle and no-off heading angle.

2. The apparatus according to claim 1, characterized in that, The device further includes a communication interface module; the communication interface module is connected to the core processing module and an external navigation and positioning system respectively, and is used to acquire GNSS data from the navigation and positioning system and transmit the GNSS data to the core processing module; The GNSS data includes latitude and longitude data and velocity data; The core processing module is used to calculate the real-time status information of the measured target based on the GNSS data and the target attitude information using a strapdown inertial navigation algorithm, and output the real-time status information; the real-time status information includes real-time spatial position and real-time multi-directional velocity.

3. The system according to claim 1, characterized in that, The core processing module is also used to perform real-time compensation on the acceleration and angular velocity in the original data based on calibration parameters after acquiring the original data, so as to obtain the compensated original data. The calibration parameters include at least one of the following: zero bias, scaling factor, axis cross-coupling error, and temperature-dependent compensation coefficient.

4. The system according to claim 3, characterized in that, The core processing module includes a basic calculation unit and a heading calculation unit; The basic calculation unit is communicatively connected to the inertial measurement module and is used to perform data fusion on the compensated raw data based on the adaptive extended Kalman filter algorithm, calculate the pitch and roll angles of the measured target using the gravity reference frame identified by the accelerometer, calculate the reference-free yaw angle through integration, and output the attitude information. The heading calculation unit is communicatively connected to the basic calculation unit and the geomagnetic acquisition module, respectively, and is used to acquire the attitude information from the basic calculation unit and the geomagnetic field data from the geomagnetic acquisition module; The heading calculation unit is also used to perform attitude correction on the gyroscope data based on the adaptive extended Kalman filter algorithm, using the attitude error and gyroscope zero bias error as state vectors, and using accelerometer data and the geomagnetic field data as observations to calculate the target attitude information including the heading angle without deviation, and output the target attitude information.

5. The apparatus according to claim 4, characterized in that, The communication interface module includes a GNSS interface unit and a time synchronization unit; The GNSS interface unit and the time synchronization unit are respectively connected to the navigation and positioning system and the core processing module; The GNSS interface unit is used to acquire GNSS data from the navigation and positioning system and transmit the GNSS data to the core processing module. The time synchronization unit is used to acquire PPS synchronization pulse data from the navigation and positioning system and send the PPS synchronization pulse data to the core processing module.

6. The apparatus according to claim 5, characterized in that, The core processing module also includes a solution extension unit; The calculation extension unit is connected to the GNSS interface unit, the time synchronization unit and the heading calculation unit respectively, and is used to acquire the GNSS data from the GNSS interface unit, the PPS synchronization pulse data from the time synchronization unit and the target attitude information from the heading calculation unit; The calculation extension unit is also used to align the local timestamp with the timestamp of the GNSS data when it receives the PPS synchronization pulse data and the GNSS data; The aligned latitude and longitude data, velocity data, and target attitude information are fused together, and the real-time spatial position and real-time multi-directional velocity of the measured target are calculated based on the strapdown inertial navigation algorithm. The real-time spatial location includes latitude, longitude, and altitude; the real-time multi-directional velocity includes eastward velocity, northward velocity, and celestial velocity.

7. The apparatus according to any one of claims 1 to 6, characterized in that, The communication interface module further includes a power management unit and a data transmission unit; the data transmission unit includes a UART interface and / or a CAN interface. The power management unit is used to connect to an external power source and regulate the voltage of the external power source through a linear regulator in order to power the attitude measurement device. The data transmission unit supports full-duplex communication and is used to perform data output, instruction configuration, and / or firmware upgrade of the raw data, the attitude information, the target attitude information, and / or the real-time status information.

8. A multi-functional fusion attitude measurement system, characterized in that, It includes the multi-functional fusion attitude measurement device as described in any one of claims 1 to 7, a user operation terminal, and a user server; the user server is communicatively connected to the attitude measurement device and the user operation terminal respectively; The user server includes a link support unit, an instruction parsing unit, and a data transmission unit; The link support unit is used to manage interface parameters from the user operation terminal and supports at least one link type among UART, CAN and RS485. The configuration management unit is used to receive and parse configuration instructions from the user operation terminal, obtain identifiable configuration items, and store them; the configuration instructions include at least one of the following: sampling frequency, filtering parameters, algorithm working mode, and output data format; The data transmission unit is used to output the result message to the user operation terminal according to the corresponding format of the recognizable configuration item; the result message includes raw data, attitude information, target attitude information and / or real-time status information.

9. A multi-functional fusion attitude measurement method, characterized in that, The method, applied to the multi-functional fusion attitude measurement device as described in any one of claims 1 to 7, comprises: The inertial measurement module collects raw data of the angular velocity, acceleration, and temperature of the target in real time and sends the raw data to the core processing module. The core processing module acquires the raw data, performs real-time compensation on the acceleration and angular velocity in the raw data based on calibration parameters, and obtains the compensated raw data; based on the compensated raw data, it calculates and outputs the attitude information of the measured target through an adaptive fusion filtering algorithm; the attitude information includes pitch angle, roll angle and reference-free yaw angle; The core processing module acquires geomagnetic field data collected by the geomagnetic acquisition module, fuses the geomagnetic field data with the attitude information, calculates the no-off heading angle through a filtering algorithm, and obtains and outputs the target attitude information; the target attitude information includes pitch angle, roll angle and no-off heading angle.

10. The method according to claim 9, characterized in that, The method further includes: The core processing module acquires GNSS data from the navigation and positioning system through a communication interface module; the GNSS data includes latitude and longitude data and velocity data. The core processing module calculates the real-time status information of the measured target based on the GNSS data and the target attitude information using a strapdown inertial navigation algorithm; the real-time status information includes real-time spatial position and real-time multi-directional velocity. The real-time spatial location includes latitude, longitude, and altitude; the real-time multi-directional velocity includes eastward velocity, northward velocity, and celestial velocity.

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