Nine-axis attitude sensor circuit with temperature compensation

Abstract

The utility model belongs to the technical field of attitude sensors, and particularly discloses a nine-axis attitude sensor circuit with temperature compensation. According to the sensor circuit, through cooperation of the single-chip microcomputer circuit, the first accelerometer sensor circuit, the magnetic field sensor circuit, the angular velocity sensor circuit, the second accelerometer sensor circuit, the communication circuit, the geomagnetic field sensor module circuit and the barometer sensor circuit, stable voltage is provided by using the power supply circuit; therefore, the first accelerometer sensor circuit, the magnetic field sensor circuit, the angular velocity sensor circuit, the second accelerometer sensor circuit, the geomagnetic field sensor module circuit and the barometer sensor circuit can compensate the sensor to a certain extent according to the change of the external environment, thereby reducing the interference of external signals on the sensor. The sensitivity of the sensor can be maintained, drift caused by temperature is reduced, and the stability of data output of the sensor is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of attitude sensors, in particular to a nine-axis attitude sensor circuit with temperature compensation. Background Art

[0002] An attitude sensor is a sensor device used to measure, detect and track the attitude or orientation of an object. It can detect parameters such as the direction, rotation, tilt, etc. of an object, and describe the attitude state of the object in three-dimensional space by outputting corresponding attitude information. In order to improve the accuracy of attitude detection, there are usually three-axis attitude sensors, nine-axis attitude sensors and eighteen-axis attitude sensors on the market. Among them, the three-axis attitude sensor usually includes three basic sensors, namely, a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer; the nine-axis attitude sensor is based on the three-axis attitude sensor, and adds a three-axis gyroscope, a three-axis magnetometer and a three-axis pressure sensor; the eighteen-axis attitude sensor is based on the nine-axis attitude sensor, and adds a three-axis light sensor, a three-axis temperature sensor and a three-axis humidity sensor.

[0003] For example, the patent application number is 201420232975.2, which discloses a 12-axis attitude sensor, which includes a 9-axis motion sensing and tracking component, a pressure sensor, and a temperature and humidity sensor directly connected to a 16-bit microprocessor through a bidirectional data line. The bidirectional data line is also bidirectionally connected to the 16-bit microprocessor through a USB interface. An ESD suppressor is connected in parallel between the USB interface and the 16-bit microprocessor bidirectional connection. The 16-bit microprocessor, ESD suppressor, 9-axis motion sensing and tracking component, pressure sensor, and temperature and humidity sensor are all powered by a voltage regulator, which also outputs a 3.3V DC power supply through a USB interface, and a 5V DC power supply can be input to the voltage regulator through the USB interface. The attitude sensor uses an ultra-small integrated multifunctional chip, which can reduce the number of components and save circuit board space.

[0004] However, when the above-mentioned attitude sensor is used for a long time under the condition of large fluctuations in ambient temperature, the environmental changes will interfere with the sensor signal, making the sensor data output unstable, thereby affecting the stability of the sensor in an environment with large temperature differences. Therefore, we need to propose a nine-axis attitude sensor circuit with temperature compensation to solve the above-mentioned problems. Utility Model Content

[0005] The purpose of the utility model is to provide a nine-axis attitude sensor circuit with temperature compensation, which can compensate the sensor to a certain extent according to changes in the external environment, reduce the interference of the sensor by external signals, enable the sensor to maintain its sensitivity, reduce the drift caused by temperature, and improve the stability of the sensor's data output, so as to solve the problems raised in the background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a nine-axis attitude sensor circuit with temperature compensation, comprising a single-chip microcomputer circuit and a first accelerometer sensor circuit, a magnetic field sensor circuit, an angular velocity sensor circuit, a second accelerometer sensor circuit, a communication circuit, a geomagnetic field sensor module circuit and a barometer sensor circuit respectively connected to the single-chip microcomputer circuit, the single-chip microcomputer circuit is also connected to a power supply circuit, and the output end of the power supply circuit is respectively connected to the first accelerometer sensor circuit, the magnetic field sensor circuit, the angular velocity sensor circuit, the second accelerometer sensor circuit, the communication circuit, the geomagnetic field sensor module circuit and the barometer sensor circuit;

[0007] The geomagnetic field sensor module circuit includes a high-precision geomagnetic field sensor chip U4, which is connected to the single-chip microcomputer circuit via an SPI bus, and a capacitor C6 is connected between pins 1 and 3 of the high-precision geomagnetic field sensor chip U4;

[0008] The barometer sensor circuit includes an air pressure sensor chip U9, and the 4 pins of the air pressure sensor chip U9 are connected to a ground resistor R9. The air pressure sensor chip U9 is also connected to the single-chip microcomputer circuit through the SPI bus.

[0009] Preferably, the single-chip microcomputer circuit includes a single-chip microcomputer chip U3, pin 31 of the single-chip microcomputer chip U3 is connected to the communication circuit through a resistor R6, a crystal oscillator Y1 is connected between pins 5 and 6 of the single-chip microcomputer chip U3, and pin 1 of the single-chip microcomputer chip U3 is connected to the power supply circuit.

[0010] Preferably, the first accelerometer sensor circuit includes an acceleration sensor chip U6, pin 10 of the acceleration sensor chip U6 is connected in parallel with capacitors C13 and C14, pin 8 of the acceleration sensor chip U6 is connected in parallel with capacitors C15 and C16, one of the connection ends of the parallel capacitors C13 and C14 and one of the connection ends of the capacitors C15 and C16 are connected to pin 9 of the acceleration sensor chip U6, the other connection end of the capacitor C13 and C14 is grounded, and pin 6 of the acceleration sensor chip U6 is connected in parallel with capacitors C18 and C17 with one end grounded.

[0011] Preferably, the magnetic field sensor circuit includes a magnetic field sensor chip U7, pin 10 of the magnetic field sensor chip U7 is connected to a ground capacitor C12, a capacitor C4 is connected between pins 12 and 8 of the magnetic field sensor chip U7, pin 1 of the magnetic field sensor chip U7 is connected to the power supply circuit through a resistor R8, pin 16 of the magnetic field sensor chip U7 is connected to a resistor R7, and pin 14 of the magnetic field sensor chip U7 is connected to a resistor R3.

[0012] Preferably, the angular velocity sensor circuit includes a gyroscope chip U5, pin 5 of the gyroscope chip U5 is connected to a ground capacitor C10, one end of the ground capacitor C10 is connected to a capacitor C11, and one end of the capacitor C11 is connected to pin 8 of the gyroscope chip U5.

[0013] Preferably, the second accelerometer sensor circuit includes an acceleration sensor chip U1, pin 9 of the acceleration sensor chip U1 is connected to a ground capacitor C21, capacitor C22 is connected between pins 10 and 11 of the acceleration sensor chip U1, and capacitor C23 is connected between pins 1 and 2 of the acceleration sensor chip U1.

[0014] Preferably, the communication circuit includes a wireless transceiver chip U10 and a connector P1, pin 2 of the wireless transceiver chip U10 is connected to a resistor R1, pin 3 of the wireless transceiver chip U10 is connected to a resistor R2, one end of the resistor R1 and one end of the resistor R2 are respectively connected to pin 2 and pin 3 of the connector P1, and pin 1 of the wireless transceiver chip U10 is connected to a ground resistor R5.

[0015] Preferably, the power supply circuit includes a low voltage dropout linear regulator U2, pin 1 of the low voltage dropout linear regulator U2 is connected in parallel with a capacitor C1 to ground, a TVS diode D2 to ground and a fuse F1 for external voltage input, pin 5 of the low voltage dropout linear regulator U2 is connected in parallel with a capacitor C3 and a capacitor C9, and pin 4 of the low voltage dropout linear regulator U2 is connected with a capacitor C5 to ground.

[0016] Compared with the prior art, the beneficial effects of the utility model are:

[0017] 1. The utility model uses a single-chip microcomputer circuit, a first accelerometer sensor circuit, a magnetic field sensor circuit, an angular velocity sensor circuit, a second accelerometer sensor circuit, a communication circuit, a geomagnetic field sensor module circuit and a barometer sensor circuit to cooperate with each other, and uses a power supply circuit to provide a stable voltage, so that the first accelerometer sensor circuit, the magnetic field sensor circuit, the angular velocity sensor circuit, the second accelerometer sensor circuit, the geomagnetic field sensor module circuit and the barometer sensor circuit can compensate the sensor to a certain extent according to changes in the external environment, reduce the interference of the sensor by external signals, enable the sensor to maintain its sensitivity, reduce the drift caused by temperature, and improve the stability of the data output of the sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a circuit diagram of the utility model;

[0019] Figure 2 It is the circuit diagram of the single chip microcomputer circuit of the utility model;

[0020] Figure 3 A circuit diagram of a first accelerometer sensor circuit of the utility model;

[0021] Figure 4 The circuit diagram of the magnetic field sensor circuit of the utility model;

[0022] Figure 5 The circuit diagram of the angular velocity sensor circuit of the utility model;

[0023] Figure 6 A circuit diagram of the communication circuit of the utility model;

[0024] Figure 7 The circuit diagram of the geomagnetic field sensor module circuit of the utility model;

[0025] Figure 8 The circuit diagram of the air pressure sensor circuit of the utility model;

[0026] Fig. 9 A circuit diagram of the power supply circuit of the utility model;

[0027] Fig.10 This is a circuit diagram of the second accelerometer sensor circuit of the utility model. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0029] See also Figure 1-10The utility model provides a technical solution: a nine-axis attitude sensor circuit with temperature compensation, including a single-chip microcomputer circuit and a first accelerometer sensor circuit, a magnetic field sensor circuit, an angular velocity sensor circuit, a second accelerometer sensor circuit, a communication circuit, a geomagnetic field sensor module circuit and a barometer sensor circuit respectively connected to the single-chip microcomputer circuit, the single-chip microcomputer circuit is also connected to a power supply circuit, and the output end of the power supply circuit is respectively connected to the first accelerometer sensor circuit, the magnetic field sensor circuit, the angular velocity sensor circuit, the second accelerometer sensor circuit, the communication circuit, the geomagnetic field sensor module circuit and the barometer sensor circuit; the first accelerometer sensor circuit, the magnetic field sensor circuit, the angular velocity sensor circuit, the second accelerometer sensor circuit, the geomagnetic field sensor module circuit and the barometer sensor circuit can compensate the sensor to a certain extent according to changes in the external environment, reduce the interference of the sensor with external signals, enable the sensor to maintain its sensitivity, reduce the drift caused by temperature, and improve the stability of the data output of the sensor.

[0030] The single-chip microcomputer circuit includes a single-chip microcomputer chip U3, pin 31 of the single-chip microcomputer chip U3 is connected to the communication circuit through a resistor R6, a crystal oscillator Y1 is connected between pins 5 and 6 of the single-chip microcomputer chip U3, pin 1 of the single-chip microcomputer chip U3 is connected to the power supply circuit, and resistor R6 serves as a current limiter for the RX of the single-chip microcomputer chip U3; the single-chip microcomputer circuit has many different pins, supports different external communication methods such as TTL, CAN, 485, 232, and can communicate with different internal sensor circuits through SPI and I2C buses.

[0031] The first accelerometer sensor circuit includes an acceleration sensor chip U6, and the 10th pin of the acceleration sensor chip U6 is connected in parallel with a capacitor C13 and a capacitor C14, and the 8th pin of the acceleration sensor chip U6 is connected in parallel with a capacitor C15 and a capacitor C16, one of the connection ends of the parallel capacitor C13 and capacitor C14 and one of the connection ends of the capacitor C15 and capacitor C16 are connected to the 9th pin of the acceleration sensor chip U6, and the other connection end of the capacitor C13 and capacitor C14 is grounded, and the 6th pin of the acceleration sensor chip U6 is connected in parallel with a capacitor C18 and a capacitor C17 with one end being grounded.

[0032] The magnetic field sensor circuit includes a magnetic field sensor chip U7, wherein the 10th pin of the magnetic field sensor chip U7 is connected to a ground capacitor C12, the 12th pin and the 8th pin of the magnetic field sensor chip U7 are connected to a capacitor C4, the 1st pin of the magnetic field sensor chip U7 is connected to a power supply circuit through a resistor R8, the 16th pin of the magnetic field sensor chip U7 is connected to a resistor R7, the 14th pin of the magnetic field sensor chip U7 is connected to a resistor R3, and the magnetic field sensor chip U7 detects the magnetic field strength by measuring the change of the surrounding magnetic field. The connected capacitors C12, C4 and resistors R3, R7, R8 are used for filtering, denoising, gain adjustment or circuit protection purposes, to improve the performance and stability of the sensor, and to ensure the accuracy of the sensor measurement. When the surrounding magnetic field changes, the magnetic field sensor chip U7 will generate a corresponding electrical signal, which is transmitted to the single-chip microcomputer chip U3 through the connected capacitors C12, C4 and resistors R3, R7, R8. The single-chip microcomputer chip U3 determines the change of the magnetic field according to these signals and makes real-time adjustments and compensations.

[0033] The angular velocity sensor circuit includes a gyroscope chip U5, wherein the 5th pin of the gyroscope chip U5 is connected to a ground capacitor C10, one end of the ground capacitor C10 is connected to a capacitor C11, one end of the capacitor C11 is connected to the 8th pin of the gyroscope chip U5, and the gyroscope chip U5 detects the rotation state by measuring the angular velocity of the object. The connected capacitors C10 and C11 are used for filtering, denoising or circuit protection, etc., to improve the performance and stability of the sensor and ensure the accuracy of the sensor measurement. When the object rotates, the gyroscope chip U5 generates a corresponding electrical signal, which is transmitted to the single-chip microcomputer chip U3 through the connected capacitors C10 and C11. The single-chip microcomputer chip U3 determines the rotation state change of the object according to these signals and makes real-time adjustments and compensations.

[0034] The second accelerometer sensor circuit includes an acceleration sensor chip U1, wherein the 9th pin of the acceleration sensor chip U1 is connected to a ground capacitor C21, the 10th and 11th pins of the acceleration sensor chip U1 are connected to a capacitor C22, and the 1st and 2nd pins of the acceleration sensor chip U1 are connected to a capacitor C23. The acceleration sensor chip U1 detects the motion state by measuring the acceleration of the object. The connected capacitors C21, C22 and C23 are used for filtering, denoising or circuit protection. When the acceleration of the object changes, the acceleration sensor chip U1 generates a corresponding electrical signal, which is transmitted to the single-chip microcomputer chip U3 through the capacitors C21, C22 and C23. The single-chip microcomputer chip U3 determines the motion state of the object based on these signals and makes real-time adjustments and compensations.

[0035] The communication circuit includes a wireless transceiver chip U10 and a connector P1, wherein pin 2 of the wireless transceiver chip U10 is connected to a resistor R1, and pin 3 of the wireless transceiver chip U10 is connected to a resistor R2, one end of the resistor R1 and one end of the resistor R2 are respectively connected to pin 2 and pin 3 of the connector P1, and pin 1 of the wireless transceiver chip U10 is connected to a ground resistor R5, and data transmission and communication functions are realized through the wireless transceiver chip U10, thereby improving the stability of remote communication.

[0036] The geomagnetic field sensor module circuit includes a high-precision geomagnetic field sensor chip U4, which is connected to the single-chip microcomputer circuit via the SPI bus, and a capacitor C6 is connected between pins 1 and 3 of the high-precision geomagnetic field sensor chip U4; the high-precision geomagnetic field sensor chip U4 can detect the strength and direction of the geomagnetic field. When the geomagnetic field changes, the high-precision geomagnetic field sensor chip U4 will generate corresponding electrical signals, which will be transmitted to the single-chip microcomputer chip U3 via the SPI bus. The single-chip microcomputer chip U3 will judge the change of the geomagnetic field based on these signals and make real-time adjustments and compensations.

[0037] The barometer sensor circuit includes a pressure sensor chip U9, and the 4 pins of the pressure sensor chip U9 are connected to a ground resistor R9. The pressure sensor chip U9 is also connected to the single-chip circuit through the SPI bus. The pressure sensor chip U9 detects changes in air pressure by measuring changes in gas pressure. When the air pressure changes, the pressure sensor chip U9 generates corresponding electrical signals, which are transmitted to the single-chip chip U3 through the SPI bus. The single-chip chip U3 determines the changes in air pressure based on these signals and makes real-time adjustments and compensations.

[0038] The power supply circuit includes a low-voltage difference linear regulator U2, wherein pin 1 of the low-voltage difference linear regulator U2 is connected in parallel with a capacitor C1 to ground, a TVS diode D2 to ground and a fuse F1 for external voltage input, pin 5 of the low-voltage difference linear regulator U2 is connected in parallel with capacitors C3 and C9, pin 4 of the low-voltage difference linear regulator U2 is connected with a capacitor C5 to ground, and fuse F1 is set to a 500mA fuse. The external power supply transmits the 5V voltage to the low-voltage difference linear regulator U2 through the fuse F1 for conversion, converting it into a 3.3V VCC voltage, and the converted voltage is used to power the single-chip microcomputer circuit and each sensor circuit.

[0039] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. Nine-axis attitude sensor circuit with temperature compensation, characterized by: It includes a single-chip microcomputer circuit and a first accelerometer sensor circuit, a magnetic field sensor circuit, an angular velocity sensor circuit, a second accelerometer sensor circuit, a communication circuit, a geomagnetic field sensor module circuit and a barometer sensor circuit respectively connected to the single-chip microcomputer circuit, the single-chip microcomputer circuit is also connected to a power supply circuit, and the output end of the power supply circuit is respectively connected to the first accelerometer sensor circuit, the magnetic field sensor circuit, the angular velocity sensor circuit, the second accelerometer sensor circuit, the communication circuit, the geomagnetic field sensor module circuit and the barometer sensor circuit; The geomagnetic field sensor module circuit includes a high-precision geomagnetic field sensor chip U4, which is connected to the single-chip microcomputer circuit via an SPI bus, and a capacitor C6 is connected between pins 1 and 3 of the high-precision geomagnetic field sensor chip U4; The barometer sensor circuit includes an air pressure sensor chip U9, and the 4 pins of the air pressure sensor chip U9 are connected to a ground resistor R9. The air pressure sensor chip U9 is also connected to the single-chip microcomputer circuit through the SPI bus.

2. The nine-axis attitude sensor circuit with temperature compensation according to claim 1, characterized in that: The single-chip circuit includes a single-chip chip U3, pin 31 of the single-chip chip U3 is connected to the communication circuit via a resistor R6, a crystal oscillator Y1 is connected between pins 5 and 6 of the single-chip chip U3, and pin 1 of the single-chip chip U3 is connected to the power supply circuit.

3. The nine-axis attitude sensor circuit with temperature compensation according to claim 2, characterized in that: The first accelerometer sensor circuit includes an acceleration sensor chip U6, and the 10th pin of the acceleration sensor chip U6 is connected in parallel with a capacitor C13 and a capacitor C14, and the 8th pin of the acceleration sensor chip U6 is connected in parallel with a capacitor C15 and a capacitor C16, one of the connection ends of the parallel capacitor C13 and capacitor C14 and one of the connection ends of the capacitor C15 and capacitor C16 are connected to the 9th pin of the acceleration sensor chip U6, and the other connection end of the capacitor C13 and capacitor C14 is grounded, and the 6th pin of the acceleration sensor chip U6 is connected in parallel with a capacitor C18 and a capacitor C17 with one end being grounded.

4. The nine-axis attitude sensor circuit with temperature compensation according to claim 3 is characterized in that: The magnetic field sensor circuit includes a magnetic field sensor chip U7, pin 10 of the magnetic field sensor chip U7 is connected to a ground capacitor C12, a capacitor C4 is connected between pins 12 and 8 of the magnetic field sensor chip U7, pin 1 of the magnetic field sensor chip U7 is connected to a power supply circuit via a resistor R8, pin 16 of the magnetic field sensor chip U7 is connected to a resistor R7, and pin 14 of the magnetic field sensor chip U7 is connected to a resistor R3.

5. The nine-axis attitude sensor circuit with temperature compensation according to claim 4, characterized in that: The angular velocity sensor circuit includes a gyroscope chip U5, pin 5 of the gyroscope chip U5 is connected to a ground capacitor C10, one end of the ground capacitor C10 is connected to a capacitor C11, and one end of the capacitor C11 is connected to pin 8 of the gyroscope chip U5.

6. The nine-axis attitude sensor circuit with temperature compensation according to claim 5, characterized in that: The second accelerometer sensor circuit includes an acceleration sensor chip U1, wherein pin 9 of the acceleration sensor chip U1 is connected to a ground capacitor C21, a capacitor C22 is connected between pins 10 and 11 of the acceleration sensor chip U1, and a capacitor C23 is connected between pins 1 and 2 of the acceleration sensor chip U1.

7. The nine-axis attitude sensor circuit with temperature compensation according to claim 6, characterized in that: The communication circuit includes a wireless transceiver chip U10 and a connector P1, pin 2 of the wireless transceiver chip U10 is connected to a resistor R1, pin 3 of the wireless transceiver chip U10 is connected to a resistor R2, one end of the resistor R1 and one end of the resistor R2 are respectively connected to pin 2 and pin 3 of the connector P1, and pin 1 of the wireless transceiver chip U10 is connected to a ground resistor R5.

8. The nine-axis attitude sensor circuit with temperature compensation according to claim 7, characterized in that: The power supply circuit includes a low voltage dropout linear regulator U2, wherein pin 1 of the low voltage dropout linear regulator U2 is connected in parallel with a capacitor C1 to ground, a TVS diode D2 to ground and a fuse F1 for external voltage input, pin 5 of the low voltage dropout linear regulator U2 is connected in parallel with a capacitor C3 and a capacitor C9, and pin 4 of the low voltage dropout linear regulator U2 is connected with a capacitor C5 to ground.

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