An integrated six-axis accelerometer measurement system based on an array of accelerometers

Abstract

The application is an integrated six-dimensional acceleration measurement system based on an accelerometer array, which is composed of an accelerometer array, a signal processing chain, a six-dimensional acceleration calculation module and a power management module. A rectangular subarray composed of one or more groups of four accelerometers is arranged coplanarly and concentrically to construct the accelerometer array, so as to accurately measure linear acceleration in each direction in space; for analog output or digital output accelerometers, the signal processing chain converts and transmits the accelerometers to the six-dimensional acceleration calculation module through analog signal conditioning and acquisition modules or digital communication; the six-dimensional acceleration calculation module accurately measures six-dimensional linear and angular acceleration through software data fusion, according to the spatial geometric relationship between linear and angular motion and array average processing; the power management module provides high-precision power supply for each part of the system. The application has compact structure, can reduce the influence of eccentricity by means of symmetrical arrangement of the rectangular array, and can improve the six-dimensional acceleration measurement accuracy by means of array average.

Description

Technical Field

[0001] This invention relates to the field of multidimensional motion parameter measurement and signal processing technology, and in particular to an integrated six-dimensional acceleration measurement system based on an accelerometer array, used for high-precision measurement of three-dimensional linear acceleration and three-dimensional angular acceleration in a moving carrier or mechanism. Background Technology

[0002] With the development of intelligent agent technologies such as robots and aircraft, the requirements for motion sensing technology are becoming increasingly stringent. Real-time and accurate acquisition of the spatial three-dimensional linear acceleration and three-dimensional angular acceleration of a moving vehicle is crucial for achieving high-precision control and state perception. Existing six-dimensional acceleration measurement systems typically employ discrete multi-sensor combinations for measurement, as seen in documents such as "Angular Acceleration Estimation with Off-CG Accelerometers for Incremental Nonlinear Dynamic Inversion Control" (Smith J et al., AIAA SCITECH 2024 Forum, 2024:1-15.), "Research Progress on the Operational Performance of Parallel Six-Dimensional Accelerometer Sensing Mechanisms" (Liu Qiang et al., Optics and Precision Engineering, 2023, 31(19):2867-2875.), and Chinese patent CN114251786A (Li Hua. A Multi-Axis Accelerometer Array Arrangement and Error Compensation Method). The technology disclosed in (2022-03-29.) involves arranging multiple acceleration sensors separately at different spatial locations and combining them with geometric relationships for calculation. This method has a large overall physical volume and geometric envelope, which can easily introduce installation geometric errors such as axial non-parallelism and asymmetrical center distance when assembled in a compact space. Furthermore, each channel sensor lacks an effective dynamic suppression mechanism for inherent zero bias and random deviation, resulting in insufficient measurement accuracy in confined spaces.Another approach is to use a dedicated multidimensional accelerometer with a specially customized integrated structure, such as the literature "Nonlinear Decoupling Study of Six-AxisAcceleration Sensor Based on Improved BP Neural Network" (Wang L et al., Sensors, 2025, 25(7):2280.), "Multi-degree of freedom shake table testing of large-scale structural and geotechnical systems with NHERI-UCSD LHPOST6" (Lee K et al., Frontiers in Built Environment, 2025, 11:1573390.), as well as Chinese patents CN115856345A (Wang Qiang. A micro / nano structure six-dimensional force / accelerometer integrated sensor and its manufacturing method, 2023-03-28.), CN119234812A (Chen Bo. A compact MEMS inertial measurement unit and its assembly process, 2025-01-15.), and CN117686000A (Liu Wei). A six-position calibration method based on a dual-axis turntable (disclosed on 2024-03-12) utilizes specific mechanical elastomers, piezoelectric structures, or multi-axis microelectromechanical systems to sense multidimensional inertial forces. While this method improves integration, its internal special mechanical and micro / nano sensitive structures require stringent manufacturing processes, involve complex calibration decoupling, have poor high-frequency vibration and shock resistance, and incur high production and maintenance costs. Therefore, an integrated six-dimensional acceleration measurement system based on an accelerometer array, with a compact structure, effectively reducing installation geometric errors and sensor inherent zero bias, and possessing high dynamic response bandwidth, is of paramount importance for both multidimensional motion control of space-constrained carriers and inertial force compensation in high-frequency dynamic environments. Summary of the Invention

[0003] This invention aims to address the problems of current six-dimensional acceleration measurement systems, which either employ discrete multi-sensor combinations, resulting in large physical volumes and difficulty in compensating for the influence of accelerometer cell position deviations, or adopt integrated special structural designs, leading to demanding manufacturing processes, complex calibration decoupling, and high costs. The invention provides an integrated six-dimensional acceleration measurement system based on an accelerometer array that is compact, reduces the influence of cell position deviations, ensures measurement bandwidth, and achieves accurate measurements.

[0004] The technical solution adopted in this invention is as follows: Four accelerometers are arranged coplanarly in a rectangular pattern to construct an accelerometer rectangular subarray; one or more rectangular subarrays are coplanarly and concentrically mounted on a reference platform to construct an accelerometer array for measuring the linear acceleration at each accelerometer mounting position on the reference platform; the four accelerometers in each rectangular subarray are broadband accelerometers of the same model and batch, with either analog or digital signal output, to reduce the influence of accelerometer cell position deviation and ensure the bandwidth of the six-dimensional acceleration measurement by means of the rectangular arrangement; for accelerometers with analog signal output, their output signal is transmitted via an amplifier... An analog signal conditioning and acquisition module, composed of a large-scale, filtering, and A / D conversion circuit, converts the signal into a digital signal and sends it to the six-dimensional acceleration calculation module. For accelerometers with digital signal output, their output signals are transmitted to the six-dimensional acceleration calculation module via digital communication. The six-dimensional acceleration calculation module uses a programmable digital processor as its core computing platform. Through software, it fuses the output signals of each accelerometer in the accelerometer array and calculates the six-dimensional linear and angular accelerations of the reference platform under the motion of the carrier based on the spatial geometric relationship between linear and angular motion and array averaging. This achieves accurate measurement of the six-dimensional linear and angular accelerations of the moving carrier. The six-dimensional linear and angular accelerations refer to the three-dimensional linear accelerations of the carrier motion along the three mutually perpendicular coordinate axes X, Y, and Z of the Cartesian coordinate system OXYZ. , , and angular acceleration about the X, Y, and Z axes , , For ease of explanation, the origin O of the spatial Cartesian coordinate system OXYZ is defined at the center of the reference platform on which the accelerometer array is mounted. Its XOY plane lies on the reference platform, the mutually perpendicular X and Y axes lie on the reference platform, and the Z axis is perpendicular to the reference platform.

[0005] Accordingly, the integrated six-dimensional acceleration measurement system based on an accelerometer array of the present invention consists of an accelerometer array 1, a signal processing chain 2, a six-dimensional acceleration calculation module 3, and a power management module 4.

[0006] The accelerometer array 1 consists of one or more rectangular sub-arrays 5 of accelerometers arranged concentrically and coplanarly on a reference platform. Each rectangular sub-array 5 consists of four accelerometers arranged in a rectangle, coplanarly on the XOY plane of the reference platform; the center of the rectangle is located at the origin O of the coordinate system OXYZ on the reference platform; the four accelerometers are the four vertices of the rectangular sub-array 5, located in the 1st, 2nd, 3rd, and 4th quadrants of the XOY plane, respectively; the four accelerometers are single-axis, dual-axis, or tri-axis broadband accelerometers of the same model and batch, with analog or digital signal output, thereby reducing the influence of accelerometer core position deviation and ensuring the bandwidth of six-dimensional acceleration measurement by means of the symmetrical rectangular arrangement. The acceleration sensitive direction of the single-axis accelerometer is set as u, the mutually perpendicular acceleration sensitive directions of the dual-axis accelerometer are set as u and v, and the mutually perpendicular acceleration sensitive directions of the tri-axis accelerometer are set as u, v, and w, respectively forming the single-axis, dual-axis, and tri-axis accelerometer rectangular sub-arrays 5. The four accelerometers in the rectangular subarray 5 have their sensitive axes u, v, and w parallel to each other and parallel to the coordinate axes of the OXYZ coordinate system. The single-axis, dual-axis, and tri-axis accelerometer rectangular subarrays 5 each have linear acceleration measurement rectangular subarrays in one, two, and three directions, respectively. The accelerometer array 1 should contain at least three sets of single-axis accelerometer rectangular subarrays 5, or at least one set of single-axis accelerometer rectangular subarrays and one set of dual-axis accelerometer rectangular subarrays 5, or at least two sets of dual-axis accelerometer rectangular subarrays 5, or at least one set of tri-axis accelerometer rectangular subarrays 5. One or more sets of rectangular subarrays 5 in the accelerometer array 1 should each contain at least one single-direction linear acceleration measurement rectangular subarray whose acceleration sensitive axis is parallel to the X, Y, and Z axes of the OXYZ coordinate system, to meet the measurement requirements for linear acceleration in the three coordinate axes of the OXYZ coordinate system. The accelerometer array 1 contains N rectangular subarrays 5. The distance between the accelerometers in the 1st and 2nd quadrants and the 3rd and 4th quadrants in the i-th rectangular subarray is... The accelerometer distances in quadrants 1 and 4, and quadrants 2 and 3 are: The number of rectangular subarrays measuring linear acceleration in the X, Y, and Z directions in N rectangular subarrays 5 are respectively , , The accelerometers in the accelerometer array 1 are small, micro, or MEMS accelerometers to effectively improve the compactness and integration of the system.

[0007] The signal processing chain 2 is used to transmit and adapt the output signals of each accelerometer in the accelerometer array 1. For accelerometers with analog signal output, the signal processing chain 2 is a signal conditioning and acquisition circuit including signal amplification, filtering, and A / D conversion circuits to convert the accelerometer output signal into a digital signal and transmit it to the six-dimensional acceleration calculation module 3. For accelerometers with digital signal output, the signal processing chain 2 is a digital communication link, including a communication bus and address logic and level conversion circuits that can be optionally configured according to actual circuit requirements, to transmit the digital output of the accelerometer to the six-dimensional acceleration calculation module 3.

[0008] The six-dimensional acceleration calculation module 3 uses a programmable digital processor as its core computing platform. Through software, it integrates the measurement output signals from each accelerometer in the accelerometer array 1 transmitted by the signal processing chain 2. Based on the spatial geometric relationship between linear and angular motion and the array averaging, it calculates the six-dimensional linear and angular accelerations of the reference platform as it moves with the carrier, including the linear accelerations in the X, Y, and Z directions of the coordinate system OXYZ. , , and angular acceleration about the X, Y, Z axes , , The specific calculation method is as follows:

[0009] If the i-th rectangular subarray 5 contains an X-axis linear acceleration measurement rectangular subarray and the X-axis linear accelerations measured by the four accelerometers located in quadrants 1, 2, 3, and 4 of the XOY coordinate system are, respectively, , , , Then the linear acceleration in the X direction measured by the i-th rectangular subarray 5 is... With Z-axis angular acceleration The calculation formula is:

[0010]

[0011]

[0012] If the i-th rectangular subarray 5 contains a rectangular subarray for measuring Y-axis linear acceleration, and the Y-axis linear acceleration measured by the four accelerometers located in quadrants 1, 2, 3, and 4 of the XOY coordinate system is, in order, , , , Then the linear acceleration in the Y direction measured by the i-th rectangular subarray 5 is... With Z-axis angular acceleration The calculation formula is:

[0013]

[0014]

[0015] If the i-th rectangular subarray 5 contains a rectangular subarray for measuring Z-axis linear acceleration, and the Z-axis linear accelerations measured by the four accelerometers located in quadrants 1, 2, 3, and 4 of the XOY coordinate system are respectively: , , , Then the linear acceleration in the Z direction measured by the i-th rectangular subarray 5 is... Angular acceleration in the X and Y directions , The calculation formula is:

[0016]

[0017]

[0018]

[0019] For all calculations obtained indivual The measured X-axis linear acceleration is obtained by adding them together and averaging them. ;

[0020] For all calculations obtained indivual The measured Y-axis linear acceleration is obtained by adding them together and averaging them. ;

[0021] For all calculations obtained indivual The measured Z-axis linear acceleration is obtained by adding the two components together and averaging them. ;

[0022] For all calculations obtained indivual The measured X-axis angular acceleration is obtained by adding them together and averaging them. ;

[0023] For all calculations obtained indivual The measured angular acceleration in the Y direction is obtained by adding them together and averaging them. ;

[0024] For all calculations obtained indivual and indivual The measured Z-axis angular acceleration is obtained by adding the components together and averaging them. .

[0025] The power management module 4 can be implemented using a DC-DC converter, a linear regulator, or a combination thereof, to convert the external power supply into various low-noise power supplies required for the operation of the accelerometer array 1, the signal processing chain 2, and the six-dimensional acceleration calculation module 3, thereby ensuring high-precision measurement of six-dimensional acceleration.

[0026] The advantages of this invention are: it proposes an integrated six-dimensional acceleration measurement system based on an accelerometer array, which uses single-axis, dual-axis, or tri-axis broadband accelerometers of the same model and batch to construct a rectangular sub-array. One or more sets of rectangular sub-arrays are arranged coplanarly and concentrically to construct the accelerometer array, thereby measuring the linear acceleration of each array point in space. With the aid of software fusion processing, the six-dimensional linear and angular accelerations are calculated based on the spatial geometric relationship between linear and angular motions and array averaging. This effectively suppresses the influence of accelerometer core position deviation and improves measurement accuracy, achieving accurate measurement of the six-dimensional linear and angular accelerations of a moving vehicle. Furthermore, the integrated layout design combined with a miniature accelerometer effectively improves the problems of large physical volume and complex manufacturing process and high cost of traditional discrete acceleration measurement schemes, achieving compact integration. This system is suitable for broadband measurement of multi-dimensional motion parameters under compact spatial constraints, such as those found in mobile robots. Attached Figure Description

[0027] Figure 1 This is a block diagram of an integrated six-dimensional acceleration measurement system based on an accelerometer array according to the present invention;

[0028] Figure 2 This is a schematic diagram of an accelerometer array based on a concentric circularly distributed rectangular subarray according to the present invention;

[0029] Figure 3 This is a schematic diagram of an accelerometer array based on a concentric circle uniformly distributed single rectangular subarray according to the present invention;

[0030] Figure 4 This is a schematic diagram of an accelerometer array based on a concentric circle uniformly distributed three rectangular subarray according to the present invention;

[0031] Figure 5 This is a schematic diagram of an accelerometer array based on a rectangular subarray of a single-axis accelerometer according to the present invention;

[0032] Figure 6 This is a schematic diagram of an accelerometer array based on a rectangular subarray of single-axis and dual-axis accelerometers according to the present invention;

[0033] Figure 7 This is a schematic diagram of an accelerometer array based on a rectangular subarray of triaxial accelerometers according to the present invention. Detailed Implementation

[0034] The present invention will be further described below with reference to the accompanying drawings:

[0035] The design concept of this invention is as follows: An integrated six-dimensional acceleration measurement system based on an accelerometer array is designed. Four broadband accelerometers are arranged coplanarly in a rectangular subarray, and one or more sets of rectangular subarrays are arranged coplanarly and concentrically to construct an accelerometer array, acquiring linear acceleration information of each array point under multi-dimensional spatial motion. A signal processing chain adapted to different accelerometers is designed, consisting of a signal conditioning and acquisition circuit (including amplification, filtering, and A / D conversion circuits) for accelerometers with analog signal output, and a digital communication bus for accelerometers with digital signal output, enabling the digital transmission of signals from each accelerometer in the array to the six-dimensional accelerometer array. The velocity calculation module and the six-dimensional acceleration calculation module employ software signal fusion processing to calculate six-dimensional linear and angular accelerations based on the spatial geometric relationship between linear and angular motions and array averaging, achieving accurate measurement of six-dimensional linear and angular accelerations in spatial motion. This scheme uses accelerometers of the same model and batch to construct a rectangular sub-array for each accelerometer, combining array averaging calculations to effectively suppress the influence of accelerometer cell position deviations and improve measurement accuracy. An integrated layout design combined with the selection of miniature accelerometer sensors enhances the system's compactness and integration, thus adapting to broadband measurement of multi-dimensional motion parameters under compact spatial constraints, such as in mobile robots.

[0036] A block diagram of an integrated six-dimensional acceleration measurement system based on an accelerometer array according to the present invention is shown below. Figure 1 As shown, it mainly consists of an accelerometer array 1, a signal processing chain 2, a six-dimensional acceleration calculation module 3, and a power management module 4.

[0037] The accelerometer array 1 consists of one or more rectangular sub-arrays 5 of accelerometers arranged concentrically and coplanarly on a reference platform. Each rectangular sub-array 5 consists of four accelerometers arranged in a rectangle, coplanarly on the XOY plane of the reference platform; the center of the rectangle is located at the origin O of the coordinate system OXYZ on the reference platform; the four accelerometers are the four vertices of the rectangular sub-array 5, located in the 1st, 2nd, 3rd, and 4th quadrants of the XOY plane, respectively; the four accelerometers are single-axis, dual-axis, or tri-axis broadband accelerometers of the same model and batch, with analog or digital signal output, thereby reducing the influence of accelerometer core position deviation and ensuring the bandwidth of six-dimensional acceleration measurement by means of the symmetrical rectangular arrangement. The acceleration sensitive direction of the single-axis accelerometer is set as u, the mutually perpendicular acceleration sensitive directions of the dual-axis accelerometer are set as u and v, and the mutually perpendicular acceleration sensitive directions of the tri-axis accelerometer are set as u, v, and w, respectively forming the single-axis, dual-axis, and tri-axis accelerometer rectangular sub-arrays 5. The four accelerometers in the rectangular subarray 5 have their sensitive axes u, v, and w parallel to each other and parallel to the coordinate axes of the OXYZ coordinate system. The single-axis, dual-axis, and tri-axis accelerometer rectangular subarrays 5 each have linear acceleration measurement rectangular subarrays in one, two, and three directions, respectively. The accelerometer array 1 should contain at least three sets of single-axis accelerometer rectangular subarrays 5, or at least one set of single-axis accelerometer rectangular subarrays and one set of dual-axis accelerometer rectangular subarrays 5, or at least two sets of dual-axis accelerometer rectangular subarrays 5, or at least one set of tri-axis accelerometer rectangular subarrays 5. One or more sets of rectangular subarrays 5 in the accelerometer array 1 should each contain at least one single-direction linear acceleration measurement rectangular subarray whose acceleration sensitive axis is parallel to the X, Y, and Z axes of the OXYZ coordinate system, to meet the measurement requirements for linear acceleration in the three coordinate axes of the OXYZ coordinate system. The accelerometer array 1 contains N rectangular subarrays 5. The distance between the accelerometers in the 1st and 2nd quadrants and the 3rd and 4th quadrants in the i-th rectangular subarray is... The accelerometer distances in quadrants 1 and 4, and quadrants 2 and 3 are: The number of rectangular subarrays measuring linear acceleration in the X, Y, and Z directions in N rectangular subarrays 5 are respectively , , The accelerometers in the accelerometer array 1 are small, micro, or MEMS accelerometers to effectively improve the compactness and integration of the system.

[0038] Figure 2The diagram illustrates an accelerometer array based on a concentric circularly distributed rectangular subarray according to the present invention. The XOY plane of the coordinate system OXYZ is located on the mounting reference platform of the accelerometer array 1, and the Z-axis direction is determined by the right-hand rule with respect to the X and Y axes. In the diagram, the accelerometer array 1 consists of N groups of rectangular subarrays 5, and the accelerometers in the i-th rectangular subarray 5... , , , They are located in the 1st, 2nd, 3rd, and 4th quadrants of the XOY plane, respectively. , and , The distance of the accelerometer is , , and , The distance of the accelerometer is The accelerometers in the accelerometer array 1 are uniformly distributed on a concentric circle at an angle θ. ; Accelerometers of the first rectangular subarray 5 The angle between the line connecting the position and the origin O and the X-axis is θ / 2; the accelerometer in the i-th rectangular subarray 5 The angle between the line connecting the position and the origin O and the X-axis Let the diameter of the concentric circles be D, then , .

[0039] Figure 3 The diagram shows an accelerometer array based on a concentric circularly distributed single rectangular subarray according to the present invention. The accelerometers in the first quadrant of this single rectangular subarray 5 are shown. The angle between the line connecting the position and the origin O and the X-axis is . The four accelerometers in accelerometer array 1 are evenly distributed in a circle at a 90° angle. .

[0040] Figure 4 The diagram shows an accelerometer array based on a concentrically distributed three rectangular subarrays according to the present invention. The accelerometer array 1 contains three rectangular subarrays 5, totaling 12 accelerometers; each accelerometer is evenly distributed in a 30° circumference; the accelerometers in the first group of rectangular subarrays 5 located in the first quadrant... The angle between the line connecting the position and the origin O and the X-axis is . The distances between the accelerometers in the first, second, and third rectangular subarrays 5 are:

[0041] ,

[0042] ,

[0043] ,

[0044] Figure 5 The diagram shown illustrates an accelerometer array based on a rectangular subarray of single-axis accelerometers according to the present invention. The accelerometer array 1 consists of three sets of rectangular subarrays 5 of single-axis accelerometers; the first set of rectangular subarrays 5 contains four accelerometers... , , , The sensitive axis direction u is all parallel to the Y-axis and points in the positive Y direction; the four accelerometers of the second rectangular subarray 5 , , , The sensitive axis direction u is all parallel to the Z-axis and points in the positive Z direction; the four accelerometers of the third rectangular subarray 5 , , , The sensitive axis direction u is entirely parallel to the X-axis and points in the positive X direction. The number of rectangular sub-arrays 5 in the three groups of accelerometer array 1 that measure single-direction linear acceleration in the X, Y, and Z directions are respectively... =1、 =1、 =1.

[0045] Figure 6 The diagram shows an accelerometer array based on a single-axis and dual-axis accelerometer rectangular subarray according to the present invention. The accelerometer array 1 consists of one set of dual-axis accelerometer rectangular subarrays 5 and one set of single-axis accelerometer rectangular subarrays 5; the four accelerometers of the dual-axis accelerometer rectangular subarray 5... , , , The sensitive axis direction u is all parallel to the X-axis and points in the positive X direction, and the sensitive axis direction v is all parallel to the Y-axis and points in the positive Y direction; the four accelerometers of the single-axis accelerometer rectangular subarray 5 , , , The sensitive axis direction u is entirely parallel to the Z-axis and points in the positive Z direction. The number of rectangular sub-arrays 5 in the two groups of accelerometer array 1 measuring single-direction linear acceleration in the X, Y, and Z directions are respectively... =1、 =1、 =1.

[0046] Figure 7 The diagram shown illustrates an accelerometer array based on a triaxial accelerometer rectangular subarray according to the present invention. The accelerometer array 1 consists of one set of triaxial accelerometer rectangular subarrays 5; the four accelerometers of the triaxial accelerometer rectangular subarray 5... , , , The sensitive axis directions u, v, and w are parallel to the X, Y, and Z axes, respectively, and point in the positive direction of each coordinate axis. The number of rectangular subarrays 5 in the accelerometer array 1 measuring single-direction linear acceleration in the X, Y, and Z directions are respectively... =1、 =1、 =1.

[0047] The signal processing chain 2 is used to transmit and adapt the output signals of each accelerometer in the accelerometer array 1. For accelerometers with analog signal output, the signal processing chain 2 is a signal conditioning and acquisition circuit including signal amplification, filtering, and A / D conversion circuits to convert the accelerometer output signal into a digital signal and transmit it to the six-dimensional acceleration calculation module 3. For accelerometers with digital signal output, the signal processing chain 2 is a digital communication link, including a communication bus and address logic and level conversion circuits that can be optionally configured according to actual circuit requirements, to transmit the digital output of the accelerometer to the six-dimensional acceleration calculation module 3.

[0048] The six-dimensional acceleration calculation module 3 uses a programmable digital processor as its core computing platform. Through software, it integrates the measurement output signals from each accelerometer in the accelerometer array 1 transmitted by the signal processing chain 2. Based on the spatial geometric relationship between linear and angular motion and the array averaging, it calculates the six-dimensional linear and angular accelerations of the reference platform as it moves with the carrier, including the linear accelerations in the X, Y, and Z directions of the coordinate system OXYZ. , , and angular acceleration about the X, Y, Z axes , , The specific calculation method is as follows:

[0049] If the i-th rectangular subarray 5 contains an X-axis linear acceleration measurement rectangular subarray and the X-axis linear accelerations measured by the four accelerometers located in quadrants 1, 2, 3, and 4 of the XOY coordinate system are, respectively, , , , Then the linear acceleration in the X direction measured by the i-th rectangular subarray 5 is... With Z-axis angular acceleration The calculation formula is:

[0050]

[0051]

[0052] If the i-th rectangular subarray 5 contains a rectangular subarray for measuring Y-axis linear acceleration, and the Y-axis linear acceleration measured by the four accelerometers located in quadrants 1, 2, 3, and 4 of the XOY coordinate system is, in order, , , , Then the linear acceleration in the Y direction measured by the i-th rectangular subarray 5 is... With Z-axis angular acceleration The calculation formula is:

[0053]

[0054]

[0055] If the i-th rectangular subarray 5 contains a rectangular subarray for measuring Z-axis linear acceleration, and the Z-axis linear accelerations measured by the four accelerometers located in quadrants 1, 2, 3, and 4 of the XOY coordinate system are respectively: , , , Then the linear acceleration in the Z direction measured by the i-th rectangular subarray 5 is... Angular acceleration in the X and Y directions , The calculation formula is:

[0056]

[0057]

[0058]

[0059] For all calculations obtained indivual The measured X-axis linear acceleration is obtained by adding the components together and averaging them. ;

[0060] For all calculations obtained indivual The measured Y-axis linear acceleration is obtained by adding the components together and averaging them. ;

[0061] For all calculations obtained indivual The measured Z-axis linear acceleration is obtained by adding the two components together and averaging them. ;

[0062] For all calculations obtained indivual The measured X-axis angular acceleration is obtained by adding them together and averaging them. ;

[0063] For all calculations obtained indivual The measured angular acceleration in the Y direction is obtained by adding them together and averaging them. ;

[0064] For all calculations obtained indivual and indivual The measured Z-axis angular acceleration is obtained by adding the components together and averaging them. .

[0065] The power management module 4 can be implemented using a DC-DC converter, a linear regulator, or a combination thereof, to convert the external power supply into various low-noise power supplies required for the operation of the accelerometer array 1, the signal processing chain 2, and the six-dimensional acceleration calculation module 3, thereby ensuring high-precision measurement of six-dimensional acceleration.

[0066] In summary, this invention combines a coplanar, concentric rectangular subarray physical topology with a fusion calculation method based on spatial geometry and array averaging, solving the hardware installation and decoupling challenges of multidimensional acceleration measurement in compact spaces. Without requiring complex manufacturing processes or special sensitive structures, this invention utilizes the redundancy of a symmetrical array to effectively suppress the influence of accelerometer cell position deviations and reduces random noise during measurement through array averaging. Through hardware and software synergy, this invention achieves effective decoupling calculation of complex spatial motion parameters, providing a comprehensive solution for motion platforms that is compact, has guaranteed measurement bandwidth, and can accurately measure three-dimensional linear and three-dimensional angular accelerations.

Claims

1. An integrated six-dimensional acceleration measurement system based on an accelerometer array, comprising multiple broadband linear accelerometers to construct an accelerometer array, and signal acquisition and array sensor data fusion processing to achieve high-precision measurement of six-dimensional linear and angular acceleration; the system consists of: The accelerometer array, signal processing chain, six-dimensional acceleration calculation module, and power management module are characterized by: The accelerometer array is composed of one or more sets of rectangular sub-arrays of accelerometers arranged in a coplanar and concentric manner. Each rectangular sub-array is constructed by arranging four broadband accelerometers of the same model and batch with analog or digital signal output in a rectangular coplanar manner. The rectangular arrangement is used to reduce the influence of accelerometer core position deviation and ensure the bandwidth of six-dimensional acceleration measurement, so as to achieve high-precision measurement of six-dimensional linear and angular acceleration. The signal processing chain is used to transmit and adapt the output signals of each accelerometer in the accelerometer array. For accelerometers with analog signal output, the signal processing chain is a signal conditioning and acquisition circuit including signal amplification, filtering, and A / D conversion circuits to convert the accelerometer output signal into a digital signal and transmit it to the six-dimensional acceleration calculation module. For accelerometers with digital signal output, the signal processing chain is a digital communication link, including a communication bus and address logic and level conversion circuits that can be optionally configured according to actual circuit requirements, to transmit the digital output of the accelerometer to the six-dimensional acceleration calculation module. The six-dimensional acceleration calculation module uses a programmable digital processor as its core computing platform. It integrates the measurement output signals of each accelerometer in the accelerometer array transmitted by the signal processing chain through software programs. Based on the spatial geometric relationship between linear motion and angular motion and the array averaging, it calculates the six-dimensional linear and angular acceleration of the reference platform as it moves with the carrier, thereby achieving high-precision measurement. The power management module can be implemented using a DC-DC converter, a linear regulator, or a combination thereof, to convert external power into various low-noise power supplies required for the operation of the accelerometer array, signal processing chain, and six-dimensional acceleration calculation module, ensuring high-precision measurement of six-dimensional acceleration.

2. The integrated six-dimensional acceleration measurement system based on an accelerometer array as described in claim 1, characterized in that: The accelerometer array consists of one or more rectangular sub-arrays of accelerometers arranged concentrically and coplanarly on a reference platform. Each rectangular sub-array consists of four accelerometers arranged in a rectangular pattern, coplanarly on the XOY plane of the reference platform. The center of the rectangle is located at the origin O of the coordinate system OXYZ on the reference platform. The four accelerometers are the four vertices of the rectangular sub-array, located in the first, second, third, and fourth quadrants of the XOY plane, respectively. The four accelerometers are single-axis, dual-axis, or tri-axis broadband accelerometers of the same model and batch, with analog or digital signal output, thereby reducing the influence of accelerometer core position deviation and ensuring the bandwidth of the six-dimensional acceleration measurement through the symmetrical rectangular arrangement. The acceleration sensing direction of the single-axis accelerometer is set to u, the mutually perpendicular acceleration sensing directions of the dual-axis accelerometer are set to u and v, and the mutually perpendicular acceleration sensing directions of the tri-axis accelerometer are set to u, v, and w, respectively forming single-axis, dual-axis, and tri-axis accelerometer rectangular sub-arrays. The sensitive axes u, v, and w of each accelerometer are parallel to each other and parallel to the coordinate axes of the OXYZ coordinate system. The single-axis, dual-axis, and tri-axis accelerometer rectangular sub-arrays each have linear acceleration measurement rectangular sub-arrays in one, two, and three directions, respectively. The accelerometer array should contain at least three sets of single-axis accelerometer rectangular sub-arrays, or at least one set of single-axis accelerometer rectangular sub-array and one set of dual-axis accelerometer rectangular sub-arrays, or at least two sets of dual-axis accelerometer rectangular sub-arrays, or at least one set of tri-axis accelerometer rectangular sub-arrays. Each set of rectangular sub-arrays in the accelerometer array should contain at least one single-direction linear acceleration measurement rectangular sub-array whose acceleration sensitive axis is parallel to the X, Y, and Z axes of the OXYZ coordinate system, to meet the measurement requirements of linear acceleration in the three coordinate axes of the OXYZ coordinate system. The accelerometer array contains a total of N sets of rectangular sub-arrays, and the distance between the accelerometers in the first and second quadrants and the third and fourth quadrants of the i-th rectangular sub-array is... The accelerometer distances in quadrants 1 and 4, and quadrants 2 and 3 are: The number of rectangular subarrays measuring linear acceleration in the X, Y, and Z directions in N rectangular subarrays 5 are respectively , , The accelerometers in the accelerometer array are small, micro, or MEMS accelerometers to effectively improve the compactness and integration of the system.

3. The integrated six-dimensional acceleration measurement system based on an accelerometer array as described in claim 1, characterized in that: The six-dimensional acceleration calculation module uses a programmable digital processor as its core computing platform. Through software, it fuses the measurement output signals from each accelerometer in the accelerometer array transmitted by the signal processing chain. Based on the spatial geometric relationship between linear and angular motion and the array averaging, it calculates the six-dimensional linear and angular accelerations of the reference platform as it moves with the carrier, including the linear accelerations along the X, Y, and Z axes of the OXYZ coordinate system. , , and angular acceleration about the X, Y, Z axes , , The specific calculation method is as follows: If the i-th rectangular subarray contains an X-axis linear acceleration measurement rectangular subarray, and the X-axis linear accelerations measured by the four accelerometers located in quadrants 1, 2, 3, and 4 of the XOY coordinate system are respectively... , , , Then the linear acceleration in the X direction measured by the i-th rectangular subarray is... With Z-axis angular acceleration The calculation formula is: If the i-th rectangular subarray contains a rectangular subarray for measuring Y-axis linear acceleration, and the Y-axis linear accelerations measured by the four accelerometers located in quadrants 1, 2, 3, and 4 of the XOY coordinate system are respectively... , , , Then the linear acceleration in the Y direction measured by the i-th rectangular subarray is... With Z-axis angular acceleration The calculation formula is: If the i-th rectangular subarray contains a rectangular subarray for measuring Z-axis linear acceleration, and the Z-axis linear accelerations measured by the four accelerometers located in quadrants 1, 2, 3, and 4 of the XOY coordinate system are respectively: , , , Then the linear acceleration in the Z direction measured by the i-th rectangular subarray is... Angular acceleration in the X and Y directions , The calculation formula is: For all calculations obtained indivual The measured X-axis linear acceleration is obtained by adding the components together and averaging them. ; For all calculations obtained indivual The measured Y-axis linear acceleration is obtained by adding the components together and averaging them. ; For all calculations obtained indivual The measured Z-axis linear acceleration is obtained by adding the two components together and averaging them. ; For all calculations obtained indivual The measured X-axis angular acceleration is obtained by adding them together and averaging them. ; For all calculations obtained indivual The measured angular acceleration in the Y direction is obtained by adding them together and averaging them. ; For all calculations obtained indivual and indivual The measured Z-axis angular acceleration is obtained by adding the components together and averaging them. .

Images