Comparison test system for MEMS inertial navigation device

Abstract

The utility model discloses a comparison test system for an MEMS inertial navigation device. The comparison test system comprises a comparison test device, an antenna and a plurality of MEMS inertial navigation devices, wherein the comparison test device comprises a processor, a GNSS module and a plurality of first interfaces used for being connected with the MEMS inertial navigation device, the processor is respectively connected with the GNSS module and the plurality of first interfaces, and the GNSS module is connected with an antenna. The inertial navigation device comprises the GNSS module, can be installed on a carrier to carry out a sports car test, can also carry out a comparison test on a plurality of inertial navigation devices through the three-axis turntable, and can also carry out a comparison test on position, speed and other information obtained by inertial navigation and position, speed and other information obtained by the GNSS module, so that the inertial navigation device is more suitable for the actual use environment of inertial navigation. According to the utility model, the MEMS inertial navigation can be tested conveniently, quickly, comprehensively and reliably.

Description

Technical Field

[0001] The utility model relates to the technical field of MEMS inertial navigation, in particular to a MEMS inertial navigation device comparison test system. Background Art

[0002] The MEMS inertial navigation device test system is a system specially developed to test MEMS inertial navigation devices. Inertial navigation devices (referred to as inertial navigation) are measurement devices that use three-axis gyroscopes and accelerometers to sense the carrier's angular velocity and acceleration respectively, and then automatically calculate the carrier's attitude, speed and position in three directions according to a certain algorithm. It has the advantages of strong autonomy, not susceptible to external interference, and reliable accuracy. GNSS is a global satellite navigation system that can provide real-time information such as the carrier's 3D coordinates and speed.

[0003] The existing MEMS inertial navigation device test system is to assemble the MEMS inertial navigation device on a three-axis turntable and then use the three-axis turntable to test it. The three-axis turntable can only be installed in the laboratory, and the installation position is fixed. Although the test results are accurate and reliable, they are not comprehensive enough, after all, all navigation acts on the carrier. Utility Model Content

[0004] The utility model aims to solve at least one of the technical problems existing in the prior art and proposes a MEMS inertial navigation device comparison test system.

[0005] The technical solution of the utility model is implemented as follows: the utility model discloses a MEMS inertial navigation device comparison test system, including a comparison test device, an antenna and multiple MEMS inertial navigation devices; wherein the comparison test device includes a processor, a GNSS module and multiple first interfaces for connecting to the MEMS inertial navigation devices, the processor is respectively connected to the GNSS module and the multiple first interfaces, and the GNSS module is connected to the antenna.

[0006] Furthermore, the plurality of MEMS inertial navigation devices are connected to the processor via the plurality of first interfaces respectively.

[0007] Furthermore, the first interface is an RS422 interface.

[0008] Furthermore, the MEMS inertial navigation device comparison test system of the present invention also includes a host computer and / or a three-axis turntable, and the comparison test device is connected to the host computer and / or the three-axis turntable.

[0009] Furthermore, the comparison test device also includes a plurality of second interfaces for connecting to a host computer and / or a three-axis turntable, and the plurality of second interfaces are connected to the processor.

[0010] Furthermore, the second interface is an RS232 interface.

[0011] Furthermore, the comparison test device also includes a housing and a circuit board, the processor and the GNSS module are arranged on the circuit board, the circuit board is installed in the housing, and the multiple first interfaces are installed on the housing.

[0012] Furthermore, the antenna includes a main antenna and an auxiliary antenna, and the main antenna and the auxiliary antenna are respectively connected to the GNSS module.

[0013] Furthermore, the antenna is connected to the GNSS module via a coaxial cable.

[0014] Furthermore, the comparison test device also includes a power supply module for supplying power to the comparison test device and multiple MEMS inertial navigation devices.

[0015] Furthermore, the processor is an MCU.

[0016] Furthermore, the antenna is connected to the GNSS module via a coaxial cable.

[0017] Furthermore, the main antenna and the auxiliary antenna are installed on the roof of the carrier vehicle, the auxiliary antenna and the main antenna are in the same direction as the front of the carrier vehicle, there is a gap between the auxiliary antenna and the main antenna, and the auxiliary antenna is located in front of the main antenna. The utility model adopts the above antenna arrangement scheme to obtain more real and accurate navigation information.

[0018] Compared with the prior art, the utility model has the following beneficial effects: the MEMS inertial navigation device comparison test system of the utility model includes a comparison test device, an antenna and multiple MEMS inertial navigation devices; wherein the comparison test device includes a processor, a GNSS module and multiple first interfaces for connecting to the MEMS inertial navigation device, the processor is respectively connected to the GNSS module and the multiple first interfaces, and the GNSS module is connected to the antenna. The utility model includes a GNSS module, which can be installed on a vehicle for sports car testing, and there are multiple first interfaces for connecting to the inertial navigation device to be tested, so that multiple inertial navigation devices (such as two inertial navigation devices) can be compared and tested.

[0019] The utility model can perform comparative tests on multiple inertial navigation devices respectively through a three-axis turntable, and can also perform comparative tests on information such as position and speed obtained through the inertial navigation and information such as position and speed obtained by the GNSS module, which is more in line with the actual use environment of the inertial navigation.

[0020] The main antenna and the auxiliary antenna are installed on the roof of the carrier vehicle, the auxiliary antenna and the main antenna are in the same direction as the front of the carrier vehicle, there is a gap between the auxiliary antenna and the main antenna, and the auxiliary antenna is located in front of the main antenna. The utility model adopts the above antenna arrangement scheme to obtain true and accurate navigation information.

[0021] In short, the utility model can test MEMS inertial navigation conveniently, quickly, comprehensively and reliably. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of the appearance of a comparative test device provided by an embodiment of the utility model from one viewing angle;

[0023] Figure 2 A schematic diagram of the appearance of a comparative test device provided by an embodiment of the utility model from another perspective;

[0024] Figure 3 A schematic diagram of a MEMS inertial navigation device comparison test system provided by an embodiment of the utility model.

[0025] In the accompanying drawings, 1 is a housing, 2 is an RS422 interface, 3 is an antenna interface, 4 is an RS232 interface, 5 is a clock synchronization interface, 6 is a USB interface, 7 is a power input interface, and 8 is a power output interface. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0027] Unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Multiple means two or more. Similarly, words such as "one", "one" or "the" do not indicate quantity restrictions, but indicate the existence of at least one. Words such as "include" or "include" mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described target changes, the relative positional relationship may also change accordingly.

[0028] In each of the accompanying drawings, identical elements are represented by similar reference numerals. For the sake of clarity, the various parts in the accompanying drawings are not all drawn to scale. In addition, some well-known parts may not be shown in the drawings.

[0029] Many specific details of the present invention are described below, such as the structure, materials, dimensions, processing techniques and technologies of the components, so as to more clearly understand the present invention. However, as those skilled in the art will appreciate, the present invention may be implemented without following these specific details.

[0030] See also Figures 1 to 3 The utility model embodiment discloses a MEMS inertial navigation device comparison test system, including a comparison test device, an antenna and multiple MEMS inertial navigation devices; wherein the comparison test device includes a processor, a GNSS (Global Satellite Navigation System) module and multiple first interfaces for connecting to the MEMS inertial navigation devices, the processor is respectively connected to the GNSS module and the multiple first interfaces, the GNSS module is connected to the antenna, and the multiple MEMS inertial navigation devices are respectively connected to the processor through the multiple first interfaces, and the processor obtains multiple inertial navigation device data and GNSS module data for test comparison.

[0031] Furthermore, the processor tests and compares a plurality of inertial navigation device data or tests and compares a plurality of inertial navigation data and GNSS data.

[0032] There are at least two MEMS inertial navigation devices and at least two first interfaces. The number of MEMS inertial navigation devices and first interfaces is set according to actual needs. Preferably, there are two MEMS inertial navigation devices and two first interfaces.

[0033] In some embodiments, the processor is an MCU module or a single chip microcomputer.

[0034] In some embodiments, the comparative test device further includes a power module for supplying power to the comparative test device and the plurality of MEMS inertial navigation devices. The input end of the power module is connected to the power input interface 7, and the output end of the power module is used to output the required voltage to the processor and the GNSS module. 、 The inertial navigation device to be tested is powered, but not the three-axis turntable and the host computer. The total power of the power module of this embodiment is 10W, the input voltage range is 9-36V, and the output voltage includes 12V, 5V, and 3.3V. The power module of this embodiment can also have overcurrent and overvoltage protection functions.

[0035] In some embodiments, there is at least one power input interface 7. For example, the power input interface 7 in this embodiment is a 12V power input interface.

[0036] In some embodiments, the comparative test device of the utility model is further provided with at least one power output interface 8 for providing power to the outside. In some embodiments, there are two power output interfaces 8, and the two power output interfaces 8 are 5V power output interfaces 8, which can provide 5V / 1A power to the outside.

[0037] In some embodiments, the power input interface 7 and the power output interface 8 are aviation plugs.

[0038] In some embodiments, the model of the MCU module is GD32F470.

[0039] In some embodiments, the model of the GNSS module is UM982.

[0040] In some embodiments, the power module uses an isolated power module, model URB1205YMD-10WR3.

[0041] As a preferred embodiment, there are two first interfaces for connecting to the inertial navigation device to be tested. The two first interfaces can be connected to the first inertial navigation device and the second inertial navigation device respectively, and are used to perform a comparative test on the first inertial navigation device and the second inertial navigation device. The position and speed information obtained by the inertial navigation and the position and speed information obtained by the GNSS module can also be compared and tested, which is more suitable for the actual use environment of the inertial navigation. For example, the two first interfaces of this embodiment can be connected to inertial navigation devices of two different manufacturers respectively, and are used to perform a comparative test on the inertial navigation devices of two different manufacturers.

[0042] In some embodiments, the first interface is an RS422 interface 2 .

[0043] In some embodiments, the RS422 interface may use a chip of model MM3096W.

[0044] In some embodiments, the MEMS inertial navigation device comparison test system of the present invention further includes a host computer and / or a three-axis turntable, and the comparison test device is connected to the host computer and / or the three-axis turntable. The comparison test device of the utility model also includes a plurality of second interfaces for connecting to the host computer and / or the three-axis turntable, and the plurality of second interfaces are connected to the processor.

[0045] In some embodiments, the comparison test device is connected to the three-axis turntable through a second interface, and the first inertial navigation device and the second inertial navigation device can be respectively compared and tested through the three-axis turntable. The comparison test device is connected to the host computer through another second interface, and the processor (i.e., MCU module) of the comparison test device mainly controls and collects data of the GNSS module, the first inertial navigation device, the second inertial navigation device and the three-axis turntable. It can process the collected data to obtain the test results of the first inertial navigation device and the second inertial navigation device, and finally feed back the test results to the host computer for display, or directly transmit the collected raw data of all modules to the host computer, and the software on the host computer performs data processing.

[0046] In some embodiments, the second interface is an RS232 interface 4 .

[0047] In some embodiments, the RS232 interface 4 may use a chip of model MAX3232.

[0048] In some embodiments, both the RS422 interface and the power module may adopt an isolation design.

[0049] The comparative test device of this embodiment includes 2 RS422 interfaces and 2 RS232 interfaces, wherein the 2 RS422 interfaces are mainly used for communication with the inertial navigation device, and the 2 RS232 interfaces can communicate with the three-axis turntable and the host computer respectively.

[0050] In some embodiments, the comparison test device of the present invention further includes a USB interface 6 , and the USB interface 6 can also be connected to a host computer but is not limited to being connected to the host computer.

[0051] In some embodiments, the comparison test device of the present utility model further comprises a clock synchronization interface 5, wherein the clock synchronization interface 5 is used to provide the comparison test device with a clock synchronization signal during the sports car test. The clock synchronization interface 5 is connected to the MCU module.

[0052] In some embodiments, the clock synchronization interface 5 may adopt an SMA interface.

[0053] In some embodiments, the antenna is connected to the comparative test device via a coaxial cable.

[0054] In some embodiments, the comparative test device of the present invention further includes an antenna interface 3, the GNSS module is connected to the antenna interface 3, and the antenna interface 3 is connected to the antenna via a coaxial cable.

[0055] In some embodiments, the antenna interface is a coaxial cable interface, namely, an SMA interface.

[0056] In some embodiments, the antenna includes a main antenna and an auxiliary antenna matched with a GNSS module, and the main antenna and the auxiliary antenna are connected to the GNSS module respectively. The GNSS (Global Navigation Satellite System) module and the main and auxiliary antennas jointly obtain information such as the three-dimensional coordinates and speed of the current carrier.

[0057] In some embodiments, the comparison test device further includes a housing and a circuit board, the MCU module, the power module and the GNSS module are arranged on the circuit board, and the circuit board is installed in the housing 1 .

[0058] The RS232 interface, RS422 interface, antenna interface, power input interface, power output interface, USB interface, and clock synchronization interface are all installed on the housing 1 .

[0059] Because the comparison test device of the present invention includes a GNSS module, it can be directly installed on a vehicle to perform a comparison test on the first inertial navigation device and the second inertial navigation device.

[0060] Furthermore, when testing a sports car, antennas need to be installed. The main antenna and the auxiliary antenna are installed on the roof of the carrier. The auxiliary antenna and the main antenna are in the same direction as the front of the carrier. There is a gap between the auxiliary antenna and the main antenna. The auxiliary antenna is located in front of the main antenna. The utility model adopts the above antenna arrangement scheme to obtain more real and accurate navigation information.

[0061] In some embodiments, the auxiliary antenna and the main antenna need to be in the same direction as the front of the vehicle, with a spacing of 1.5 meters, and the auxiliary antenna is in front.

[0062] The device and system of the utility model are applicable to the field of MEMS inertial navigation, and can test the MEMS inertial navigation conveniently, quickly, comprehensively and reliably.

[0063] It is understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present invention, but the present invention is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A MEMS inertial navigation device comparison test system, characterized in that: The method comprises a comparative test device, an antenna and a plurality of MEMS inertial navigation devices; wherein the comparative test device comprises a processor, a GNSS module and a plurality of first interfaces for connecting with the MEMS inertial navigation devices, the processor is respectively connected with the GNSS module and the plurality of first interfaces, and the GNSS module is connected with the antenna; It also includes a host computer and / or a three-axis turntable, and the comparison test device is connected to the host computer and / or the three-axis turntable.

2. The MEMS inertial navigation device comparison test system according to claim 1, characterized in that: The multiple MEMS inertial navigation devices are connected to the processor through the multiple first interfaces respectively.

3. The MEMS inertial navigation device comparison test system according to claim 1 or 2, characterized in that: The first interface is an RS422 interface.

4. The MEMS inertial navigation device comparison test system as claimed in claim 1, characterized in that: The comparison test device also includes a plurality of second interfaces for connecting to a host computer and / or a three-axis turntable, and the plurality of second interfaces are connected to the processor.

5. The MEMS inertial navigation device comparison test system as claimed in claim 4, characterized in that: The second interface is an RS232 interface.

6. The MEMS inertial navigation device comparison test system as claimed in claim 1, characterized in that: The comparison test device further includes a housing and a circuit board. The processor and the GNSS module are arranged on the circuit board. The circuit board is installed in the housing. The plurality of first interfaces are installed on the housing.

7. The MEMS inertial navigation device comparison test system as claimed in claim 1, characterized in that: The antenna includes a main antenna and an auxiliary antenna, and the main antenna and the auxiliary antenna are connected to the GNSS module respectively.

8. The MEMS inertial navigation device comparison test system as claimed in claim 1, characterized in that: The antenna is connected to the GNSS module via a coaxial cable.

9. The MEMS inertial navigation device comparison test system as claimed in claim 1, characterized in that: The comparison test device also includes a power supply module, which is used to supply power to the comparison test device and a plurality of MEMS inertial navigation devices.

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