A shock absorption structure of a flight control inertial measurement unit based on a spherical centripetal octahedral topology

Abstract

This invention relates to a vibration damping structure for a flight control inertial measurement unit (INS) based on a spherical centripetal octahedral topology. The structure constructs a virtual sphere with the overall center of gravity of the INS mounting module as its center, and evenly distributes eight damping mounting surfaces on this sphere, forming two sets of staggered square topologies at 45° intervals. The lines connecting the centers of any three adjacent damping mounting surfaces form an equilateral triangle, and the normals of all damping mounting surfaces precisely point to the overall center of gravity. The damping spheres are installed in this centripetal arrangement, ensuring that all elastic reaction forces converge at the center of gravity, eliminating eccentric moments. This invention achieves spatial omnidirectional equal-stiffness vibration isolation, zero eccentric moment decoupling, and modal homogenization, significantly improving the attitude measurement accuracy and stability of the UAV flight control system in complex vibration environments.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) flight control technology, and in particular to a vibration reduction structure for a flight control inertial measurement unit (IMU) based on a spherical centripetal octahedral topology. This invention is also applicable to the fields of vibration reduction, vibration isolation, and sensor mounting structure technology for flight control systems of various aircraft such as multi-rotor UAVs, fixed-wing UAVs, and unmanned helicopters. Background Technology

[0002] The inertial measurement unit (IMU) built into the UAV flight controller is the core sensing component for flight attitude calculation and high-precision positioning control. High-frequency vibrations generated by the UAV's motors, rotors, and frame are easily transmitted to the IMU chip, directly causing attitude drift, hovering jitter, heading deviation, and even loss of flight control. Therefore, flight controller IMUs generally employ a rubber damping ball suspension vibration isolation structure to achieve vibration isolation.

[0003] However, the mainstream vibration damping solutions for flight control inertial measurement units (INS) currently available in the industry generally suffer from the following inherent defects: First, the layout topology is flawed. Existing solutions mostly adopt orthogonal hexahedral arrangements or simple stacked asymmetrical arrangements, which cannot achieve omnidirectional equal stiffness support in space. There are obvious damping blind spots for non-axial oblique impacts, and triaxial vibration coupling interference is severe. Second, the force design is flawed. The damping support surface cannot achieve precise centripetal perpendicular design with the center of gravity and principal axis of the INS. The vibration transmission path is messy and prone to generating lateral shear forces and... Torsional torque amplifies angular vibration interference; third, there is a modal resonance defect. Regular orthogonal arrangement or simple stacking arrangement can easily lead to the spatial position of damping support points coinciding and severe modal frequency coupling. The rotor's fundamental frequency and its harmonics are very likely to trigger structural resonance; fourth, there is a defect in geometric accuracy. Existing solutions cannot achieve a high-precision topological layout in which the centers of adjacent damping support points are equidistant and any three adjacent support points form an equilateral triangle, resulting in uneven force distribution. Under high-speed maneuvering conditions of the aircraft, inertial impact imbalance occurs, and the accuracy of attitude angular velocity measurement decreases significantly. Summary of the Invention

[0004] Therefore, the purpose of this invention is to overcome the above-mentioned defects of the prior art and provide a vibration reduction structure for a flight control inertial measurement unit based on a spherical centripetal octahedral topology.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A vibration damping structure for a flight control inertial measurement unit based on a spherical centripetal octahedral topology includes an inertial measurement unit mounting module and a vibration damping component. The vibration damping component includes several sets of vibration damping spheres and a vibration damping mounting bracket. The inertial measurement unit mounting module is located inside the vibration damping mounting bracket.

[0007] A virtual sphere is constructed with the center of gravity of the inertial measurement unit mounting module as its center. Eight damping mounting surfaces are evenly distributed on the virtual sphere, and a damping ball is set between each damping mounting surface and the damping mounting bracket. The eight damping mounting surfaces are spatially divided into an upper group and a lower group, each group containing four damping mounting surfaces. The four damping mounting surfaces of the upper group are connected in sequence to form an upper square, and the four damping mounting surfaces of the lower group are connected in sequence to form a lower square. The upper square and the lower square are offset from each other by 45° on the horizontal projection plane.

[0008] In space, the line connecting the center points of any three adjacent damping mounting surfaces forms an equilateral triangle, and the distance between the center points of any two adjacent damping mounting surfaces is exactly equal; the normal direction of each damping mounting surface points to the overall center of gravity of the inertial measurement unit mounting module, so that the elastic reaction force of the damping ball mounted on it converges at the overall center of gravity along the normal direction.

[0009] Therefore, the vibration damping structure of the flight control inertial measurement unit based on a spherical centripetal octahedral topology according to the present invention solves the anisotropy problem of traditional planar or orthogonal layouts from a geometric perspective by constructing a spherical layout with a regular octahedral topology. The 45° offset design of the horizontal projection of the upper and lower squares and the strict geometric constraint that any three adjacent points form an equilateral triangle together achieve omnidirectional symmetry of the support structure in three-dimensional space. The technical effect of this method is that, regardless of the direction of vibration in space, the support stiffness and deformation response of the eight damping spheres are highly consistent, completely eliminating the damping blind zone and achieving true omnidirectional equal stiffness vibration isolation. The consistency of vibration isolation in the roll, pitch, and yaw axes is qualitatively improved. At the same time, the centripetal design with the normal of all damping mounting surfaces precisely pointing to the center of gravity ensures that the vibration transmission path is purely radial, and the elastic reaction force of all damping spheres converges at the center of gravity along the normal, structurally eliminating the generation of lateral shear force and torsional moment. The technical effect of this method is that it fundamentally eliminates the interference of eccentric torque on the inertial measurement unit, significantly reduces angular vibration noise, and ensures that the inertial main axis of the inertial measurement unit is always in a stable stress state, thereby significantly improving the accuracy of attitude measurement data such as angular velocity.

[0010] In one implementation, the side length of the upper square is equal to the side length of the lower square; the center points of the four damping mounting surfaces constituting the upper square are coplanar, and the center points of the four damping mounting surfaces constituting the lower square are coplanar, and the plane containing the upper square is parallel to the plane containing the lower square. In this implementation, the upper and lower damping mounting surfaces are constrained within two parallel planes, and the side lengths of the upper and lower squares are made equal, constructing a perfectly symmetrical geometric configuration. The technical effect of this method is that it ensures a high degree of symmetry and predictability in the stiffness of the structure in the vertical and horizontal directions, further enhancing the isotropic mechanical properties in space, and ensuring that the support constraints felt by the inertial measurement unit during vertical and horizontal maneuvers are completely consistent.

[0011] In one embodiment, the inertial measurement unit (IMU) mounting module includes an upper outer cover, a lower outer cover, and an IMU PCB module fixedly installed inside both. The four damping mounting surfaces of the upper group are arranged on the outer contour of the upper outer cover, and the four damping mounting surfaces of the lower group are arranged on the outer contour of the lower outer cover. Each damping mounting surface has a first circular groove for accommodating and securing the damping ball. In this embodiment, the four damping mounting surfaces of the upper and lower groups are integrated onto the outer periphery of the upper and lower outer covers of the IMU, respectively, and the first circular groove serves as the interface with the damping ball. The technical effect of this method is that it achieves modular and lightweight integration between the damping structure and the IMU. The circular groove design reliably secures the damping ball while ensuring the radial freedom of the damping ball, thus ensuring accurate transmission of centripetal forces.

[0012] In one embodiment, the vibration damping mounting bracket includes an upper vibration damping bracket and a lower vibration damping base, wherein the upper vibration damping bracket is detachably connected to the lower vibration damping base. The inner contour of the upper vibration damping bracket has a second circular groove corresponding to a first circular groove on the upper outer shell cover, and the inner contour of the lower vibration damping base has a third circular groove corresponding to a first circular groove on the lower outer shell cover. In this embodiment, the detachably connected upper and lower vibration damping brackets constitute the vibration damping mounting bracket, with corresponding second and third circular grooves on their inner sides. The technical advantage of this method is that it provides a structure that facilitates assembly, disassembly, and maintenance. Furthermore, through the cooperation of the grooves on the rigid bracket and the damping balls, the inertial measurement unit mounting module is completely suspended and supported inside the bracket, forming a stable force transmission closed loop.

[0013] In one implementation, four of the eight damping balls are pressed and fixed between the first circular groove of the upper outer shell cover and the second circular groove of the upper damping bracket, while the other four damping balls are pressed and fixed between the first circular groove of the lower outer shell cover and the third circular groove of the lower damping base, so that the inertial measurement unit mounting module is completely suspended inside the combination of the upper damping bracket and the lower damping base. This implementation clarifies the method of pressing and fixing the damping balls between the grooves of the inertial measurement unit outer shell cover and the bracket, ensuring that the entire inertial measurement unit mounting module is completely suspended. The technical effect of this method is that it ensures that the only connection channel between the inertial measurement unit and the external rigid structure is the eight damping balls, blocking the solid-borne sound transmission path and maximizing the vibration isolation and energy absorption effect of the damping balls.

[0014] In one implementation, the upper damping bracket and the lower damping base are locked together by multiple fixing screws, thereby applying a preload force to press all the damping balls along their respective normal directions. In this implementation, multiple fixing screws are used to achieve the closed locking of the bracket and apply a normal preload force to the damping balls. The technical effect of this method is twofold: firstly, it ensures that the inertial measurement unit module does not experience spatial position drift under dynamic operating conditions and is always stably constrained at its designed center of gravity position; secondly, the preload force along the normal direction keeps the damping balls within the predetermined working stress range, ensuring the stable performance of their stiffness characteristics.

[0015] In one embodiment, the damping ball is a silicone damping ball or a rubber damping ball, and its shape is cylindrical, spherical, or stepped shaft-shaped. This embodiment defines the material and selectable shape of the damping ball. Silicone or rubber materials have good viscoelastic damping characteristics, effectively converting vibrational mechanical energy into heat energy for dissipation. Cylindrical, spherical, or stepped shaft-shaped configurations can provide different combinations of stiffness and damping characteristics. The technical effect of this method is that damping balls can be flexibly selected according to parameters such as rotor speed and takeoff weight of different UAVs, optimizing the frequency response characteristics of the damping system to specifically avoid specific excitation frequencies and dissipate broadband vibration energy.

[0016] In one implementation, the angles formed by the normal directions of the four damping mounting surfaces of the upper group and the horizontal plane are all acute angles, and all acute angles have the same degree measure. Similarly, the angles formed by the normal directions of the four damping mounting surfaces of the lower group and the horizontal plane are all acute angles, and all acute angles have the same degree measure. In this implementation, the angles between the normals of the upper and lower groups and the horizontal plane are all defined as the same acute angle. The technical effect of this method is that the spatial attitude of the damping spheres is highly consistent. When subjected to combined vertical and horizontal vibrations, the compression-tension component ratio of each damping sphere is exactly the same, resulting in the overall structure's stiffness matrix and damping matrix exhibiting ideal diagonal-dominant characteristics. This further reduces the coupling between vibration modes and ensures the consistency of the decoupling effect.

[0017] In one implementation, the center of gravity of the inertial measurement unit (IMU) mounting module coincides with its geometric center, and the center of the virtual sphere coincides with both the overall center of gravity and the geometric center. In this embodiment, the structural design enables the IMU mounting module to achieve the coincidence of its center of mass and geometric center, and the center of the virtual sphere coincides with these dual centers. The technical effect of this method is that the geometric symmetry axis and the principal axis of inertia of the entire damping structure are completely unified, minimizing the additional inertial coupling caused by uneven mass distribution. When subjected to impacts in the horizontal and vertical directions, the IMU only generates translational components without additional rotational components, providing a manufacturing and assembly basis for centripetal force design.

[0018] The vibration reduction structure of the flight control inertial measurement unit based on the spherical centripetal octahedral topology of the present invention can be applied to the field of vibration reduction, vibration isolation and sensor installation structure technology of flight control systems of various aircraft such as multi-rotor UAVs, fixed-wing UAVs, and unmanned helicopters.

[0019] To better understand and implement this invention, the following detailed description is provided in conjunction with the accompanying drawings. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the vibration reduction structure of the flight control inertial measurement unit based on the spherical centripetal octahedral topology of the present invention;

[0021] Figure 2 This is one of the exploded schematic diagrams of the vibration reduction structure of the flight control inertial measurement unit based on the spherical centripetal octahedral topology of the present invention;

[0022] Figure 3 This is the second exploded schematic diagram of the vibration reduction structure of the flight control inertial measurement unit based on the spherical centripetal octahedral topology of the present invention;

[0023] Figure 4 This is one of the structural schematic diagrams of the inertial measurement unit mounting module of the present invention;

[0024] Figure 5 This is a second schematic diagram of the inertial measurement unit mounting module of the present invention;

[0025] Figure 6 This is the third structural schematic diagram of the inertial measurement unit mounting module of the present invention;

[0026] Figure 7 This is a schematic diagram showing the connection between the inertial measurement unit mounting module and the shock-absorbing ball of the present invention;

[0027] Figure 8 This is a schematic diagram of the structure of the shock-absorbing upper bracket of the present invention;

[0028] Figure 9 This is a schematic diagram of the structure of the shock-absorbing lower base of the present invention.

[0029] Explanation of reference numerals in the attached drawings: 10, Inertial Measurement Unit mounting module; 11, Virtual sphere; 12, Vibration damping mounting surface; 13, Upper outer shell cover; 14, Lower outer shell cover; 15, First circular groove; 20, Inertial Measurement Unit PCB module; 30, Vibration damping ball; 40, Upper vibration damping bracket; 41, Second circular groove; 42, Connecting arm; 50, Lower vibration damping base; 51, Third circular groove; 52, Support arm; 60, Fixing screw. Detailed Implementation

[0030] To further illustrate the various embodiments, the present invention provides accompanying drawings. These drawings are part of the disclosure of the present invention, primarily used to illustrate the embodiments, and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these drawings, those skilled in the art should be able to understand other possible implementations and the advantages of the present invention.

[0031] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "left," "right," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be understood as limiting this invention.

[0032] Please see Figures 1 to 9 The present invention provides a vibration reduction structure for a flight control inertial measurement unit based on a spherical centripetal octahedral topology, which is applicable to various unmanned aerial vehicles such as multi-rotor, fixed-wing, and unmanned helicopters.

[0033] Specifically, the vibration damping structure of the flight control inertial measurement unit based on a spherical centripetal octahedral topology in this embodiment of the invention constructs a virtual sphere 11 in space with the overall center of gravity of the inertial measurement unit mounting module 10 as its center. Eight damping mounting surfaces 12 are evenly distributed on this sphere in a vertices-like pattern, forming an omnidirectionally symmetrical support system. These eight damping mounting surfaces 12 are divided into upper and lower groups, with four in each group. The four damping mounting surfaces 12 in the upper group form an upper square when connected sequentially, and the four damping mounting surfaces 12 in the lower group form a lower square when connected sequentially. Viewed from a horizontal projection direction, the upper and lower squares are offset by a 45-degree angle, presenting a carefully designed torsional symmetry. From a strict geometric perspective, any three adjacent damping mounting surfaces 12 selected in three-dimensional space can form a standard equilateral triangle when their center points are connected, ensuring that the distance between the center points of all adjacent damping mounting surfaces 12 is completely equal. More importantly, each damping mounting surface 12 is not arbitrarily set; the normal direction of its plane is precisely constrained to point towards the overall center of gravity of the aforementioned inertial measurement unit mounting module 10. This centripetal structure ensures that the elastic reaction force generated by the damping balls 30 mounted on the damping mounting surface 12 can converge completely along the normal direction and pass through the center of gravity, fundamentally eliminating the generation of eccentric torque.

[0034] The inertial measurement unit (IMU) mounting module 10 is precisely assembled from multiple components. Its core is an IMU PCB module 20 integrating an accelerometer and a gyroscope, which is fixedly mounted inside a protective housing consisting of an upper outer cover 13 and a lower outer cover 14. The outer contours of the upper and lower outer covers 13 and 14 are specially designed, with eight vibration-damping mounting surfaces 12 machined at specific locations. Specifically, the upper outer cover 13 has four upper-group vibration-damping mounting surfaces 12 distributed around its outer contour, and the lower outer cover 14 has four lower-group vibration-damping mounting surfaces 12 distributed around its outer contour. Each vibration-damping mounting surface 12 has a first circular groove 15 at its center. The size and shape of this first circular groove 15 match one end of the vibration-damping ball 30, reliably accommodating and securing the vibration-damping ball 30.

[0035] Furthermore, the inertial measurement unit mounting module 10 is suspended and supported inside a shock-absorbing mounting bracket by a shock-absorbing component. The shock-absorbing mounting bracket adopts a split design, consisting of an upper shock-absorbing bracket 40 located above and a lower shock-absorbing base 50 located below. The two are detachably locked together by multiple fixing screws 60.

[0036] The main body of the shock-absorbing lower base 50 is a square frame. At each of the four corners of this square frame, there is an integrally formed protrusion extending inward and upward. The inclination angle of these protrusions is precisely set to meet the geometric constraints of the aforementioned centripetal normal. The inner surface of each protrusion serves as a support surface corresponding to the shock-absorbing mounting surface 12 of the lower outer shell cover 14, and a third circular groove 51 is formed thereon, the position of which is precisely aligned with the first circular groove 15 on the lower outer shell cover 14. Vertical support arms are also provided extending upward from the outer center of the four sides of the square frame. The shock-absorbing upper bracket 40 consists of a shock-absorbing upper cover in a central area and connecting arms 42 integrally formed from its four sides and extending outward and downward. The inclination direction of the connecting arms 42 corresponds to the protrusions of the shock-absorbing lower base 50, and a second circular groove 41 is also formed on its inner surface, the position of which is precisely aligned with the first circular groove 15 on the upper outer shell cover 13. Each connecting arm 42 has an outward-facing flange structure at its end, and a through hole is provided on the flange.

[0037] Therefore, when the upper shock absorber bracket 40 and the lower shock absorber base 50 are assembled, the flange of the connecting arm 42 is precisely aligned with the top of the support arm on the lower shock absorber base 50. The fixing screw 60 passes through the through hole on the flange and locks into the corresponding screw hole on the top of the support arm, thereby firmly locking the upper shock absorber bracket 40 onto the lower shock absorber base 50. After assembly, the eight shock absorber balls 30 are precisely pressed between the corresponding grooves. Specifically, the lower ends of four of the shock absorber balls 30 are inserted into the first circular groove 15 of the lower outer shell cover 14, and the upper ends are inserted into the third circular groove 51 of the lower shock absorber base 50; the upper ends of the other four shock absorber balls 30 are inserted into the first circular groove 15 of the upper outer shell cover 13, and the lower ends are inserted into the second circular groove 41 of the upper shock absorber bracket 40. By tightening the fixing screws 60 connecting the upper damping bracket 40 and the lower damping base 50, a normal preload force is applied along the installation direction of the damping balls 30, pressing all the damping balls 30 together, so that the inertial measurement unit mounting module 10 is completely suspended in the internal space surrounded by the upper damping bracket 40 and the lower damping base 50, and is stably constrained at the pre-calculated design center of gravity position.

[0038] In this embodiment of the invention, the upper square and the lower square have equal side lengths, and their respective planes are parallel to each other. The normal directions of the four damping mounting surfaces 12 in the upper group all form acute angles with the horizontal plane, and all angle values ​​are consistent; the normal directions of the four damping mounting surfaces 12 in the lower group also all form acute angles with the horizontal plane, and all angle values ​​are consistent. This highly symmetrical design provides a structural basis for the inertial measurement unit mounting module 10 to achieve the coincidence of its overall center of gravity and geometric center. When the center of mass of the inertial measurement unit mounting module 10 coincides with its geometric center, the center of the virtual sphere 11 can simultaneously and completely coincide with both, making the geometric center, center of mass, and center of force of the damping structure unified, thereby achieving optimal dynamic characteristics.

[0039] The damping ball 30 can be made of silicone or rubber, and its shape can be selected as a cylinder, sphere, or stepped shaft, depending on the required stiffness and damping characteristics. By replacing the damping ball 30 with different hardness and configuration, the natural frequency and damping ratio of the entire system can be adjusted to adapt to UAV platforms with different takeoff weights and rotor speeds, ensuring that its natural frequency is far away from the rotor operating frequency and its harmonics, thus achieving modal decoupling and resonance suppression.

[0040] In operation, when the UAV frame experiences multi-directional high-frequency vibrations due to the operation of the motors and rotors, the vibration energy is transmitted through the fuselage to the vibration damping mounting bracket. The vibration damping bracket transmits the vibration displacement to the damping balls 30. Since all the damping balls 30 are supported along the normal direction pointing towards the center of gravity, the vibration force is decomposed into components along the axial direction of each damping ball 30. The viscoelastic material inside the damping balls 30 converts the mechanical vibration energy into heat energy dissipation through its own compression, tension, and shear deformation, thereby significantly attenuating the vibration amplitude transmitted to the inertial measurement unit mounting module 10. At the same time, since all elastic reaction forces pass through the center of gravity, the inertial measurement unit is not subject to additional eccentric torque interference, ensuring that the measured angular velocity and acceleration data can accurately reflect the attitude changes of the aircraft, rather than noise signals generated by structural resonance or torsional vibration.

[0041] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the vibration reduction structure for the flight control inertial measurement unit based on a spherical centripetal octahedral topology. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the scope of protection of the present invention.

Claims

1. A vibration damping structure for a flight control inertial measurement unit based on a spherical centripetal octahedral topology, characterized in that: It includes an inertial measurement unit mounting module and a vibration damping assembly. The vibration damping assembly includes several sets of vibration damping balls and vibration damping mounting brackets. The inertial measurement unit mounting module is located inside the vibration damping mounting brackets. A virtual sphere is constructed with the center of gravity of the inertial measurement unit mounting module as its center. Eight damping mounting surfaces are evenly distributed on the virtual sphere, and a damping ball is set between each damping mounting surface and the damping mounting bracket. The eight damping mounting surfaces are spatially divided into an upper group and a lower group, each group containing four damping mounting surfaces. The four damping mounting surfaces of the upper group are connected in sequence to form an upper square, and the four damping mounting surfaces of the lower group are connected in sequence to form a lower square. The upper square and the lower square are offset from each other by 45° on the horizontal projection plane. In space, the line connecting the center points of any three adjacent damping mounting surfaces forms an equilateral triangle, and the distance between the center points of any two adjacent damping mounting surfaces is exactly equal; the normal direction of each damping mounting surface points to the overall center of gravity of the inertial measurement unit mounting module, so that the elastic reaction force of the damping ball mounted on it converges at the overall center of gravity along the normal direction. The inertial measurement unit mounting module includes an upper outer cover, a lower outer cover, and an inertial measurement unit PCB module fixedly installed inside the two. The four damping mounting surfaces of the upper group are arranged on the outer contour of the upper outer cover, and the four damping mounting surfaces of the lower group are arranged on the outer contour of the lower outer cover. Each damping mounting surface is provided with a first circular groove for accommodating and securing the damping ball. The shock-absorbing mounting bracket includes an upper shock-absorbing bracket and a lower shock-absorbing base. The upper shock-absorbing bracket is detachably connected to the lower shock-absorbing base. The inner contour of the upper shock-absorbing bracket is provided with a second circular groove whose position corresponds one-to-one with the first circular groove on the upper outer shell cover. The inner contour of the lower shock-absorbing base is provided with a third circular groove whose position corresponds one-to-one with the first circular groove on the lower outer shell cover. Four of the eight shock-absorbing balls are pressed and fixed between the first circular groove of the upper outer shell cover and the second circular groove of the upper shock-absorbing bracket, and the other four shock-absorbing balls are pressed and fixed between the first circular groove of the lower outer shell cover and the third circular groove of the lower shock-absorbing base, so that the inertial measurement unit mounting module is completely suspended inside the combination of the upper shock-absorbing bracket and the lower shock-absorbing base.

2. The vibration damping structure of the flight control inertial measurement unit based on a spherical centripetal octahedral topology according to claim 1, characterized in that: The side length of the upper square is equal to the side length of the lower square; the center points of the four damping mounting surfaces constituting the upper square are coplanar, the center points of the four damping mounting surfaces constituting the lower square are coplanar, and the plane containing the upper square is parallel to the plane containing the lower square.

3. The vibration damping structure of the flight control inertial measurement unit based on a spherical centripetal octahedral topology according to claim 1, characterized in that: The upper shock-absorbing bracket and the lower shock-absorbing base are connected by multiple fixing screws, thereby applying a preload force to press all the shock-absorbing balls together along their respective normal directions.

4. The vibration damping structure of the flight control inertial measurement unit based on a spherical centripetal octahedral topology according to claim 1, characterized in that: The shock-absorbing ball is a silicone shock-absorbing ball or a rubber shock-absorbing ball, and its shape is cylindrical, spherical or stepped shaft.

5. The vibration damping structure of the flight control inertial measurement unit based on a spherical centripetal octahedral topology according to claim 1, characterized in that: The angles formed by the normal directions of the four damping mounting surfaces of the upper group and the horizontal plane are all acute angles, and all acute angles have the same degree. The angles formed by the normal directions of the four damping mounting surfaces of the lower group and the horizontal plane are all acute angles, and all acute angles have the same degree.

6. The vibration damping structure of the flight control inertial measurement unit based on a spherical centripetal octahedral topology according to claim 1, characterized in that: The center of gravity of the inertial measurement unit mounting module coincides with its geometric center, and the center of the virtual sphere coincides with both the overall center of gravity and the geometric center.

7. An unmanned aerial vehicle (UAV), characterized in that: Including the vibration damping structure of the flight control inertial measurement unit based on a spherical centripetal octahedral topology as described in any one of claims 1 to 6.

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