A wind direction sensor gimbal for a mobile carrier and a method of resisting magnetic interference

Abstract

This invention relates to the field of wind direction sensor gimbal technology, providing a wind direction sensor gimbal for mobile platforms and an anti-magnetic interference method. The device includes a servo motor kit, a rotating platform kit, a hexagonal connecting rod, a lithium battery, a PCB circuit board, a wind direction sensor mounting base, and an ultrasonic wind direction sensor. The rotating platform kit is located at the lower part of the servo motor kit and is drivenly connected to it. The rotating platform kit has a hexagonal connecting rod, the PCB circuit board is mounted on the hexagonal connecting rod, the lithium battery is connected to the PCB circuit board, the wind direction sensor mounting base is located above the PCB circuit board, and the ultrasonic wind direction sensor is fixedly mounted on the wind direction sensor mounting base for collecting wind direction and wind speed information. This invention improves the anti-magnetic interference capability and north-pointing reference stability of wind direction sensors in mobile scenarios, and is suitable for mobile platforms such as vehicles, agricultural machinery, and unmanned platforms.

Description

Technical Field

[0001] This invention belongs to the field of wind direction sensor gimbal technology, and particularly relates to a wind direction sensor gimbal for mobile carriers and an anti-magnetic interference method. Background Technology

[0002] With the development of mobile weather monitoring, hydrology and water conservancy, and intelligent agricultural machinery, the demand for real-time acquisition of wind direction and speed parameters is constantly increasing. Since the orientation of the wind direction sensor greatly affects the accuracy of wind direction information, its accuracy is particularly important. Existing vehicle-mounted wind direction sensors often mount the sensor directly on a bracket or platform, using a magnetometer to correct the wind direction information, without emphasizing the accuracy of wind direction information while the vehicle is moving. However, during vehicle movement, the orientation is constantly changing, and power circuits, metal components, and other complex magnetic fields can interfere with the magnetometer, causing it to drift. Furthermore, existing mobile weather stations focus more on diverse data acquisition and rarely emphasize the accuracy of wind direction information alone.

[0003] Therefore, it is necessary to propose a wind direction sensor gimbal for mobile vehicles and its adaptive anti-magnetic interference control method to improve the stability and anti-interference capability of maintaining the wind direction reference in mobile scenarios. Summary of the Invention

[0004] The purpose of this invention is to provide a wind direction sensor gimbal for mobile carriers and an anti-magnetic interference method, aiming to solve the problems mentioned in the background art.

[0005] The present invention is implemented as follows: a wind direction sensor gimbal for a mobile carrier includes a rotating platform kit, a servo kit, a hexagonal connecting rod, a lithium battery, a PCB circuit board, a wind direction sensor mounting base, and an ultrasonic wind direction sensor.

[0006] The servo kit serves as the drive and shielding base for the wind direction sensor gimbal. The rotating platform kit is located at the lower part of the servo kit and is connected to the servo kit via transmission. The rotating platform kit is equipped with a hexagonal connecting rod, and the PCB circuit board is mounted on the upper part of the hexagonal connecting rod. The lithium battery is located near the PCB circuit board and connected to the PCB circuit board. The wind direction sensor mounting base is located above the PCB circuit board, and the ultrasonic wind direction sensor is fixedly mounted on the wind direction sensor mounting base for collecting wind direction and wind speed information.

[0007] A further technical solution is that the servo kit includes a rotary servo, which is installed in an inverted manner. The body of the rotary servo is fixed to the base of the Faraday cage by a servo bracket. The base of the Faraday cage is connected to the top cover of the Faraday cage by small bolts to form the Faraday cage as a shielding space for the internal electronic components, and copper foil is pasted on the outside of the Faraday cage.

[0008] One side of the Faraday cage cover extends outward to form a connecting ear, and a U-shaped connector is fixed on the other side. The connecting ear and the U-shaped connector are connected to the external support structure through a hexagonal connecting rod.

[0009] In a further technical solution, the rotary platform kit includes a coupling and a chassis support;

[0010] The coupling is mounted on the output shaft of the rotary servo motor;

[0011] The chassis support is equipped with a bearing. The bearing has an upper inner ring flange and a lower inner ring flange symmetrically arranged at its upper and lower ends. The upper inner ring flange is connected to a coupling, and the lower inner ring flange is connected to the chassis support, which is used to fix the wind direction sensor gimbal on the mobile carrier. The bearing also has an upper outer ring flange and a lower outer ring flange symmetrically arranged at its upper and lower ends.

[0012] In a further technical solution, the hexagonal connecting rod includes four long hexagonal connecting rods and four short hexagonal connecting rods;

[0013] The four hexagonal connecting rods are evenly distributed around the circumference on the upper outer ring flange. Their lower ends are connected to the excess parts of the bolts that fasten the upper and lower outer ring flanges, their middle parts are fixed to the connecting lugs and U-shaped connectors, and their upper ends are used to support the PCB circuit board.

[0014] The four short hexagonal connecting rods are located on the upper part of the PCB circuit board to clamp and fix the PCB circuit board and provide an installation position for the wind direction sensor mounting bracket.

[0015] In a further technical solution, the PCB circuit board integrates a main control unit, an attitude sensing unit, a power conditioning unit, a timer module, and a communication interface unit.

[0016] In a further technical solution, the lithium battery is located below the PCB circuit board and outside the Faraday cage, wrapped in copper foil, and is used to power the PCB circuit board and the rotating servo.

[0017] Another objective of this invention is to provide an anti-magnetic interference method for a wind direction sensor gimbal for a mobile carrier, comprising the following steps:

[0018] Initialize the main control unit, attitude sensing unit, timer module, and rotary servo motor;

[0019] The attitude sensing unit collects three-axis acceleration, three-axis angular velocity and three-axis magnetic field data, and the main control unit performs zero bias correction, magnetic field offset compensation and outlier processing.

[0020] The current platform attitude is estimated based on acceleration data, and tilt compensation is performed by combining magnetic field data to obtain the magnetometer heading angle. Simultaneously, the inertial heading angle is obtained based on the gyroscope and attitude constraints. ;

[0021] Magnetic field interference index is calculated based on the deviation between the current magnetic field modulus and the reference geomagnetic modulus. Thus, the confidence level of the magnetic field is obtained. ;

[0022] Based on the confidence level of the magnetic field Constructing dynamic weight functions The fused heading angle at the current moment is obtained using a unit vector-based fusion method. ;

[0023] Calculate the original heading deviation using north as the reference direction. The deviation was then normalized to obtain the shortest heading deviation. ;

[0024] Based on the shortest heading deviation Construct a PID control method and calculate the integral term at the current time step. and closed-loop control output ;

[0025] A segmented pulse width compensation method is adopted, based on the closed-loop control output at the current moment. Generate servo control pulse width The rotating servo motor drives the wind direction sensor gimbal to lock in the north direction according to the corresponding direction and speed.

[0026] A further technical solution involves the attitude sensing unit, upon initial activation, orbiting... axis, shaft and Record the complete rotation of the axis. axis, shaft and Maximum value on the axis , and ,as well as axis, shaft and Minimum value on the axis , and The calibrated magnetic field components are:

[0027]

[0028]

[0029] in, Indicates the current moment. , and These are the original components of the triaxial magnetic field. , and This is the compensation amount for the three-axis magnetic field offset. , and The three-axis magnetic field components are after compensation.

[0030] Further technical solutions, magnetic field interference indicators The calculation formula is as follows:

[0031]

[0032]

[0033] in, Indicators of magnetic field interference; This is the current magnetic field modulus; For reference geomagnetic modulus;

[0034] This leads to the magnetic field confidence level. :

[0035]

[0036] in, This indicates a function that takes the larger value. .

[0037] Further technical solutions, integrating heading angle Calculated using the following formula:

[0038]

[0039]

[0040]

[0041] in, The lateral component of the fused heading vector. For the longitudinal component of the fused heading vector, It is the arctangent function in the four quadrants.

[0042] Further technical solutions for the original heading deviation The calculation uses north as the reference direction, and the north reference angle is set as follows: Then the original heading deviation for:

[0043]

[0044] The rotating servo performs normalization on the original heading deviation during operation to obtain the shortest heading deviation at the current moment. :

[0045] .

[0046] Further technical solutions, the integral term at the current moment and closed-loop control output The calculation formula is as follows:

[0047]

[0048]

[0049] in, This is the integral term at the current moment. This is the integral term from the previous time step. The shortest heading deviation at the previous moment. , and These are the proportional coefficient, integral coefficient, and differential coefficient, respectively.

[0050] Further technical solutions, specifically the segmented pulse width control method, are as follows:

[0051]

[0052] in, For servo motor control pulse width; Indicates the stop pulse width; This indicates the control dead zone threshold; To initiate pulse width compensation; and This represents the pulse width control coefficient in both the forward and reverse directions.

[0053] Further technical solutions also include low-power management steps:

[0054] Construct posture activity indicators based on posture change trends:

[0055]

[0056]

[0057]

[0058]

[0059]

[0060] in, For posture and activity indicators; For the rate of change of heading, The fusion heading angle of the previous moment. To control the cycle; For the angular velocity modulus, , and These are the three-axis angular velocity components collected by the attitude sensing unit at the current moment; For acceleration fluctuation, and These are the acceleration magnitudes at the current and previous moments, respectively. , and These are the three-axis acceleration components collected by the attitude sensing unit at the current moment; , and These are the weighting coefficients;

[0061] Finally, to determine whether the system will remain stable in the next moment, the trend of course change is predicted:

[0062]

[0063] in, Take the current heading angle. ; To predict the heading angle;

[0064] When the attitude activity index and predicted heading angle are within a stable range, the system enters a low-power mode, reducing the attitude sampling frequency and control frequency; when the attitude activity index and predicted heading angle exceed the stable range, the system exits the low-power mode and resumes normal control frequency.

[0065] The wind direction sensor gimbal and anti-magnetic interference method provided in this embodiment of the invention have the following beneficial effects:

[0066] (1) Improved the accuracy of existing wind direction sensors used on mobile vehicles and provided a gimbal that can respond in real time for existing vehicle-mounted wind direction sensors. Electromagnetic shielding was also added to the structure to reduce the influence of the servo motor, power circuit and external electromagnetic environment on the internal electronic system.

[0067] (2) By using the dynamic weight fusion model, the fusion ratio of magnetometer heading information and inertial heading information can be adjusted according to the magnetic field confidence level, thereby improving the stability of heading calculation output in complex magnetic environments.

[0068] (3) By using the shortest heading deviation and segmented pulse width control method of the rotary servo design, the sudden change of direction of the rotary servo during operation can be effectively avoided, the wind direction sensor can be actively locked to the north direction, and the jitter and asymmetry of forward and reverse control near the stop can be reduced.

[0069] (4) By combining attitude prediction with low power management, the sampling and control frequency can be reduced under stable operating conditions, and normal control can be quickly restored when disturbance occurs, thus taking into account both response speed and power consumption control.

[0070] (5) It adopts a modular structure design and scalable control method, making it suitable for use in wind direction reference maintenance scenarios for vehicles, agricultural machinery and other mobile carriers, or as a load for other sensors. Attached Figure Description

[0071] Figure 1 This is a schematic diagram of the structure of a wind direction sensor gimbal for a mobile carrier provided in an embodiment of the present invention;

[0072] Figure 2 A schematic diagram of the structure of an explosion of a wind direction sensor gimbal for a mobile carrier, provided as an embodiment of the present invention;

[0073] Figure 3 This is a schematic diagram of the servo assembly in a wind direction sensor gimbal for a mobile carrier, provided by an embodiment of the present invention (where a is a schematic diagram of the mutual cooperation between the Faraday cage cover, the U-shaped connector and the connecting ear, and b is a schematic diagram of the mutual cooperation between the rotating servo, the servo bracket and the Faraday cage base).

[0074] Figure 4 An exploded view of a rotating platform kit in a wind direction sensor gimbal for a mobile carrier, provided in an embodiment of the present invention;

[0075] Figure 5 This is a flowchart illustrating an anti-magnetic interference method for a wind direction sensor gimbal used on a mobile carrier, as provided in an embodiment of the present invention.

[0076] In the attached diagram: Rotary platform kit 1; chassis bracket 1-1; lower inner ring flange 1-2; lower outer ring flange 1-3; upper inner ring flange 1-4; coupling 1-5; bearing 1-6; upper outer ring flange 1-7; servo kit 2; rotary servo 2-1; servo bracket 2-2; Faraday cage base 2-3; Faraday cage top cover 2-4; U-shaped connector 2-5; connecting lug 2-6; hexagonal connecting rod 3; long hexagonal connecting rod 3-1; short hexagonal connecting rod 3-2; lithium battery 4; PCB circuit board 5; wind direction sensor mounting base 6; ultrasonic wind direction sensor 7. Detailed Implementation

[0077] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0078] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0079] like Figures 1-3 As shown, a wind direction sensor gimbal for a mobile carrier provided in an embodiment of the present invention includes a rotating platform kit 1, a servo kit 2, a hexagonal connecting rod 3, a lithium battery 4, a PCB circuit board 5, a wind direction sensor mounting base 6, and an ultrasonic wind direction sensor 7.

[0080] The servo kit 2 serves as the drive and shielding base for the wind direction sensor gimbal. The rotating platform kit 1 is located at the lower part of the servo kit 2 and is connected to the servo kit 2 via transmission. The rotating platform kit 1 is provided with a hexagonal connecting rod 3, and the PCB circuit board 5 is installed on the upper part of the hexagonal connecting rod 3. The lithium battery 4 is located near the PCB circuit board 5 and is connected to the PCB circuit board 5. The wind direction sensor mounting base 6 is located above the PCB circuit board 5. The ultrasonic wind direction sensor 7 is fixedly installed on the wind direction sensor mounting base 6 and is used to collect wind direction and wind speed information.

[0081] like Figure 3 a and Figure 3 As shown in b, in a preferred embodiment of the present invention, the servo kit 2 includes a 360° continuously rotatable servo 2-1, which is installed in an inverted manner. The body of the servo 2-1 is fixed to the Faraday cage base 2-3 via a servo bracket 2-2. The Faraday cage base 2-3 is connected to the Faraday cage cover 2-4 via small bolts, forming a Faraday cage as a shielding space for internal electronic components. Finally, copper foil is pasted on the outside of the Faraday cage to improve its sealing. One side of the Faraday cage cover 2-4 extends outward to form a connecting lug 2-6, and a U-shaped connector 2-5 is fixed on the other side. The connecting lug 2-6 and the U-shaped connector 2-5 are connected to the external support structure via a hexagonal connecting rod 3, thereby making the Faraday cage a relatively fixed whole.

[0082] like Figure 4 As shown, in a preferred embodiment of the present invention, the rotary platform kit 1 includes a coupling 1-5 and a chassis support 1-1;

[0083] The coupling 1-5 is mounted on the output shaft of the rotary servo motor 2-1;

[0084] The chassis support 1-1 is equipped with a bearing 1-6. The upper inner ring flange 1-4 and the lower inner ring flange 1-2 are symmetrically arranged at the upper and lower ends of the inner side of the bearing 1-6. The upper inner ring flange 1-4 is connected to the coupling 1-5, and the lower inner ring flange 1-2 is connected to the chassis support 1-1, which is used to fix the wind direction sensor gimbal on the mobile carrier. The upper outer ring flange 1-7 and the lower outer ring flange 1-3 are symmetrically arranged at the upper and lower ends of the outer side of the bearing 1-6.

[0085] like Figure 2 As shown, in a preferred embodiment of the present invention, the hexagonal connecting rod 3 includes four long hexagonal connecting rods 3-1 and four short hexagonal connecting rods 3-2;

[0086] The four hexagonal connecting rods 3-1 are evenly distributed around the circumference on the upper outer ring flange 1-7. Their lower ends are connected to the excess parts of the bolts that fasten the upper outer ring flange 1-7 and the lower outer ring flange 1-3. Their middle parts are fixed to the connecting lugs 2-6 and the U-shaped connectors 2-5. Their upper ends are used to support the PCB circuit board 5.

[0087] The four short hexagonal connecting rods 3-2 are arranged on the upper part of the PCB circuit board 5 to press and fix the PCB circuit board 5 and to provide an installation position for the wind direction sensor mounting base 6.

[0088] like Figure 2 As shown, in a preferred embodiment of the present invention, the PCB circuit board 5 integrates a main control unit, an attitude sensing unit, a power conditioning unit, a timer module, and a communication interface unit; wherein, the main control unit is specifically an STM32F103C8T6 main control unit, and the attitude sensing unit is specifically an MPU9250 motion sensor.

[0089] like Figure 2 As shown, in a preferred embodiment of the present invention, the lithium battery 4 is disposed below the PCB circuit board 5, outside the Faraday cage, and is wrapped with copper foil, for supplying power to the PCB circuit board 5 and the rotating servo 2-1.

[0090] From an overall structural perspective, the wind direction sensor gimbal includes a fixed part and a rotating part; the rotating part includes the stator of the rotating servo motor 2-1, the servo motor bracket 2-2, the Faraday cage base 2-3, the Faraday cage cover 2-4, the hexagonal connecting rod 3, the PCB circuit board 5, the lithium battery 4, the wind direction sensor mounting base 6, and the ultrasonic wind direction sensor 7; the fixed part includes the output shaft of the rotating servo motor 2-1, the coupling 1-5, and the rotating platform kit 1.

[0091] like Figure 5 As shown, another embodiment of the present invention provides a method for resisting magnetic interference of a wind direction sensor gimbal for a mobile carrier, comprising the following steps:

[0092] First, the main control unit, attitude sensing unit, timer module, and servo 2-1 are initialized. The attitude sensing unit collects three-axis acceleration, three-axis angular velocity, and three-axis magnetic field data, and the main control unit performs zero-bias correction, magnetic field offset compensation, and outlier handling.

[0093] When the attitude sensing unit is first activated, it will circle around... axis, shaft and Record the complete rotation of the axis. axis, shaft and Maximum value on the axis , and ,as well as axis, shaft and Minimum value on the axis , and The calibrated magnetic field components are:

[0094]

[0095]

[0096] in, Indicates the current moment. , and These are the original components of the triaxial magnetic field. , and This is the compensation amount for the three-axis magnetic field offset. , and The three-axis magnetic field components are after compensation.

[0097] Then, the current platform attitude is estimated based on the acceleration data, and tilt compensation is performed by combining the magnetic field data to obtain the magnetometer heading angle. The inertial heading angle is obtained based on the gyroscope and attitude constraints. .

[0098] The system calculates the magnetic field interference index based on the deviation between the current magnetic field modulus and the reference geomagnetic modulus:

[0099]

[0100]

[0101] in, Indicators of magnetic field interference; This is the current magnetic field modulus; The reference geomagnetic mode length is preset by the system.

[0102] Further obtain the confidence level of the magnetic field :

[0103]

[0104] in, This indicates a function that takes the larger value. .

[0105] The system constructs a dynamic weighting function based on the confidence level of the magnetic field. The fused heading angle at the current moment is obtained using a unit vector-based fusion method. :

[0106]

[0107]

[0108]

[0109] in, The lateral component of the fused heading vector. For the longitudinal component of the fused heading vector, It is the arctangent function in the four quadrants.

[0110] Since this method uses north as the reference direction, let the north reference angle be... Then the original heading deviation for:

[0111]

[0112] To ensure that the rotary servo 2-1 rotates along the shortest correction path and to prevent sudden changes in direction, the rotary servo 2-1 performs normalization processing on the original heading deviation during operation to obtain the shortest heading deviation at the current moment. :

[0113]

[0114] In this method, the direction-locking control method does not directly send the target angle to the rotating servo 2-1. Instead, it constructs a PID control method based on the shortest heading deviation to control the rotation of servo 2-1. Specifically, the integral term and output are calculated based on the shortest heading deviation:

[0115]

[0116]

[0117] in, This is the integral term at the current moment. This is the integral term from the previous time step. The shortest heading deviation at the previous moment. This represents the closed-loop control output at the current moment. , and These are the proportional coefficient, integral coefficient, and differential coefficient, respectively.

[0118] Further This is converted into a PWM pulse width signal that can be read by the rotary servo 2-1. To address the dead zone near the stop and the potential asymmetry between forward and reverse directions in the rotary servo 2-1, a segmented pulse width control method is adopted:

[0119]

[0120] in, For servo motor control pulse width; This indicates the stop pulse width, which is the midpoint pulse width that keeps the rotary servo 2-1 in a stopped state; This represents the control dead zone threshold, which is the minimum control quantity corresponding to when the rotary servo 2-1 just begins to rotate stably. To activate the compensation pulse width, this indicates the additional pulse width compensation amount added when the rotary servo 2-1 transitions from a stationary state to a rotating state; and These are the pulse width control coefficients for the positive and negative directions. , , and All parameters must be tested and calibrated under rated load conditions. After receiving the PWM pulse width signal, the rotating servo 2-1 drives the wind direction sensor gimbal to lock in the north direction with the corresponding direction and speed.

[0121] In terms of low-power management, attitude activity metrics can be constructed based on attitude change trends:

[0122]

[0123]

[0124]

[0125]

[0126]

[0127] in, For posture and activity indicators, For the rate of change of heading, The fusion heading angle of the previous moment. To control the cycle, For the angular velocity modulus, , and These are the three-axis angular velocity components collected by the attitude sensing unit at the current moment; For acceleration fluctuation, and These are the acceleration magnitudes at the current and previous moments, respectively. , and These are the three-axis acceleration components collected by the attitude sensing unit at the current moment. , and These are the weighting coefficients.

[0128] Finally, to further determine whether the system will continue to maintain a stable state in the next moment, it is also necessary to predict the trend of course change:

[0129]

[0130] in, The current heading angle is taken in this method. , To control the cycle, To predict the heading angle.

[0131] This method needs to be combined with posture activity indicators. and predicted heading angle The results are used to jointly determine whether to enter low-power mode. When the attitude activity index and predicted heading angle are within a stable range, the system enters low-power mode, and the attitude sampling frequency and control frequency can be reduced as needed; when the attitude activity index and predicted heading angle exceed the stable range, the system exits low-power mode and resumes normal control frequency.

[0132] In practical applications, this device can be installed on vehicles, agricultural machinery or other mobile carriers to actively maintain the northward orientation and resist magnetic interference of the wind direction sensor in mobile scenarios.

[0133] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A wind direction sensor gimbal for a mobile carrier, characterized by, Includes a rotating platform kit, servo kit, hexagonal connecting rod, lithium battery, PCB circuit board, wind direction sensor mounting bracket, and ultrasonic wind direction sensor; The servo kit serves as the drive and shielding base for the wind direction sensor gimbal. The rotating platform kit is located at the lower part of the servo kit and is connected to the servo kit via transmission. The rotating platform kit is equipped with a hexagonal connecting rod, and the PCB circuit board is mounted on the upper part of the hexagonal connecting rod. The lithium battery is located near the PCB circuit board and connected to the PCB circuit board. The wind direction sensor mounting base is located above the PCB circuit board, and the ultrasonic wind direction sensor is fixedly mounted on the wind direction sensor mounting base for collecting wind direction and wind speed information. The servo kit includes a rotary servo, which is installed in an inverted manner. The body of the rotary servo is fixed to the base of the Faraday cage by a servo bracket. The base of the Faraday cage is connected to the top cover of the Faraday cage, forming the Faraday cage as a shielding space for the internal electronic components. Copper foil is pasted on the outside of the Faraday cage. One side of the Faraday cage cover extends outward to form a connecting ear, and a U-shaped connector is fixed on the other side. The connecting ear and the U-shaped connector are connected to the external support structure through a hexagonal connecting rod.

2. A wind direction sensor gimbal for a mobile carrier according to claim 1, wherein, The rotary platform kit includes a coupling and a chassis support; The coupling is mounted on the output shaft of the rotary servo motor; The chassis support is equipped with a bearing. The bearing has an upper inner ring flange and a lower inner ring flange symmetrically arranged at its upper and lower ends. The upper inner ring flange is connected to a coupling, and the lower inner ring flange is connected to the chassis support, which is used to fix the wind direction sensor gimbal on the mobile carrier. The bearing also has an upper outer ring flange and a lower outer ring flange symmetrically arranged at its upper and lower ends.

3. The wind direction sensor gimbal for a mobile carrier according to claim 2, characterized in that, The hexagonal connecting rod includes four long hexagonal connecting rods and four short hexagonal connecting rods; The four hexagonal connecting rods are evenly distributed around the circumference on the upper outer ring flange. Their lower ends are connected to the excess parts of the bolts that fasten the upper and lower outer ring flanges, their middle parts are fixed to the connecting lugs and U-shaped connectors, and their upper ends are used to support the PCB circuit board. The four short hexagonal connecting rods are located on the upper part of the PCB circuit board to clamp and fix the PCB circuit board and provide an installation position for the wind direction sensor mounting bracket.

4. The wind direction sensor gimbal for a mobile carrier according to claim 3, characterized in that, The PCB circuit board integrates a main control unit, an attitude sensing unit, a power conditioning unit, a timer module, and a communication interface unit.

5. A method for resisting magnetic interference of a wind direction sensor gimbal for a mobile vehicle, based on the wind direction sensor gimbal for a mobile vehicle as described in claim 4, characterized in that, Includes the following steps: Initialize the main control unit, attitude sensing unit, timer module, and rotary servo motor; The attitude sensing unit collects three-axis acceleration, three-axis angular velocity and three-axis magnetic field data, and the main control unit performs zero bias correction, magnetic field offset compensation and outlier processing. The current platform attitude is estimated based on acceleration data, and tilt compensation is performed by combining magnetic field data to obtain the magnetometer heading angle. , This indicates the current moment, and the inertial heading angle is obtained based on the gyroscope and attitude constraints. ; Magnetic field interference index is calculated based on the deviation between the current magnetic field modulus and the reference geomagnetic modulus. Thus, the confidence level of the magnetic field is obtained. ; Based on the confidence level of the magnetic field Constructing dynamic weight functions The fused heading angle at the current moment is obtained using a unit vector-based fusion method. ; Calculate the original heading deviation using north as the reference direction. The deviation was then normalized to obtain the shortest heading deviation. ; Based on the shortest heading deviation Construct a PID control method and calculate the integral term at the current time step. and closed-loop control output ; A segmented pulse width compensation method is adopted, based on the closed-loop control output at the current moment. Generate servo control pulse width The rotating servo motor drives the wind direction sensor gimbal to lock in the north direction according to the corresponding direction and speed.

6. The method for resisting magnetic interference of a wind direction sensor gimbal for a mobile carrier according to claim 5, characterized in that, When the attitude sensing unit is first activated, it will circle around... axis, shaft and Record the complete rotation of the axis. axis, shaft and Maximum value on the axis , and ,as well as axis, shaft and Minimum value on the axis , and The calibrated magnetic field components are: in, , and These are the original components of the triaxial magnetic field. , and This is the compensation amount for the three-axis magnetic field offset. , and The three-axis magnetic field components are after compensation.

7. The anti-magnetic interference method for a wind direction sensor gimbal for a mobile carrier according to claim 6, characterized in that, Magnetic field interference index The calculation formula is as follows: in, Indicators of magnetic field interference; This is the current magnetic field modulus; For reference geomagnetic modulus; This leads to the magnetic field confidence level. : in, This indicates a function that takes the larger value. .

8. The method for resisting magnetic interference of a wind direction sensor gimbal for a mobile carrier according to claim 7, characterized in that, Combined heading angle Calculated using the following formula: in, The lateral component of the fused heading vector. For the longitudinal component of the fused heading vector, It is the arctangent function in the four quadrants.

9. The method for resisting magnetic interference of a wind direction sensor gimbal for a mobile carrier according to claim 8, characterized in that, For the original heading deviation The calculation uses north as the reference direction, and the north reference angle is set as follows: Then the original heading deviation for: The rotating servo performs normalization on the original heading deviation during operation to obtain the shortest heading deviation at the current moment. : 。 10. The anti-magnetic interference method for a wind direction sensor gimbal for a mobile carrier according to claim 9, characterized in that, The integral term at the current moment and closed-loop control output The calculation formula is as follows: in, This is the integral term from the previous time step. The shortest heading deviation at the previous moment. , and These are the proportional coefficient, integral coefficient, and differential coefficient, respectively.

11. The method for resisting magnetic interference of a wind direction sensor gimbal for a mobile carrier according to claim 10, characterized in that, The segmented pulse width control method is as follows: in, Indicates the stop pulse width; This indicates the control dead zone threshold; To initiate pulse width compensation; and This represents the pulse width control coefficient in both the forward and reverse directions.

12. The method for resisting magnetic interference of a wind direction sensor gimbal for a mobile carrier according to claim 11, characterized in that, It also includes low-power management steps: Construct posture activity indicators based on posture change trends: in, For posture and activity indicators; For the rate of change of heading, The fusion heading angle of the previous moment. To control the cycle; For the angular velocity modulus, , and These are the three-axis angular velocity components collected by the attitude sensing unit at the current moment; For acceleration fluctuation, and These are the acceleration magnitudes at the current and previous moments, respectively. , and These are the three-axis acceleration components collected by the attitude sensing unit at the current moment; , and These are the weighting coefficients; Finally, to determine whether the system will remain stable in the next moment, the trend of course change is predicted: in, Take the current heading angle. ; To predict the heading angle; When the attitude activity index and predicted heading angle are within a stable range, the system enters a low-power mode, reducing the attitude sampling frequency and control frequency; when the attitude activity index and predicted heading angle exceed the stable range, the system exits the low-power mode and resumes normal control frequency.

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