Navigation resolving device based on inertial navigation system and inertial navigation system

Abstract

The utility model provides a navigation resolving device based on an inertial navigation system and the inertial navigation system. The navigation resolving device comprises a navigation processing module, a first connector and a peripheral interface module, the navigation processing module comprises a first communication interface connected with a preset external sensor and a preset upper computer, and a second communication interface fixedly connected with a connector of the first connector; one end of the first connector is connected with the output end of the peripheral interface module, and the input end of the peripheral interface module is connected with the expansion external sensor and the expansion upper computer. The utility model solves the problems that the application range of an inertial navigation system is small, so that the development period and the risk of a product are high.

Description

Technical Field

[0001] The utility model relates to the technical field of electronic circuits, and in particular to a navigation solution device based on an inertial navigation system and an inertial navigation system. Background Art

[0002] The inertial navigation system is an autonomous navigation system that does not rely on external information and does not radiate energy to the outside. The inertial navigation system is mainly composed of sensors, navigation solver units and other basic circuits. The navigation solver unit is the core part of the inertial navigation system, which mainly realizes data collection of sensors, digital filtering of sensor data, initial alignment based on sensor data, navigation solution, integrated navigation and other data processing tasks as well as data interaction with the host computer.

[0003] The above sensors mainly refer to three gyroscopes and three accelerometers. With the development of inertial technology, the gyroscopes used in inertial navigation systems include laser gyroscopes, fiber optic gyroscopes, MEMS gyroscopes, and electrostatic gyroscopes, and the accelerometers include quartz accelerometers and MEMS accelerometers. However, various gyroscopes and accelerometers have different interface methods and dedicated data processing modes, so when designing the data acquisition circuit of the navigation solution unit, different interface circuits need to be designed for different gyroscope instruments, which increases the product development cycle and risk. Utility Model Content

[0004] In view of the deficiencies in the prior art, the utility model provides a navigation solution device and an inertial navigation system based on an inertial navigation system, which solves the problem that the inertial navigation system in the prior art has a small application scope and increases the product development cycle and risk.

[0005] According to an embodiment of the utility model, a first aspect provides a navigation solution device based on an inertial navigation system, comprising a navigation processing module, a first connector and a peripheral interface module;

[0006] The navigation processing module includes a first communication interface connected to a preset external sensor and a preset host computer, and a second communication interface fixedly connected to a connector of the first connector;

[0007] One end of the first connector is connected to the output end of the peripheral interface module, and the input end of the peripheral interface module is connected to the extended external sensor and the extended host computer.

[0008] Optionally, the expansion interface reserved by the peripheral interface module includes at least a USART interface, an SPI interface, an I2C interface and a CAN interface.

[0009] Optionally, the navigation processing module includes a digital signal processing unit and a programmable logic array unit connected to each other;

[0010] The programmable logic array unit provides the first communication interface and the second communication interface.

[0011] Optionally, it further includes N second connectors; N is a positive integer;

[0012] The plug-in unit of each second connector is fixedly connected to the first communication interface, and the connector of each second plug-in unit is connected to a preset external sensor.

[0013] Optionally, the first communication interface includes six pulse drive interfaces, three pulse drive interfaces, an amplification and conditioning AD conversion interface, two pulse signal interfaces, one RS232 isolation signal interface, two RS232 isolation signal interfaces, one RS422 isolation signal interface, and two RS422 isolation signal interfaces.

[0014] Optionally, the navigation processing module includes an ARM processor; the ARM processor provides the first communication interface and the second communication interface.

[0015] Optionally, the first communication interface includes a sensor interface, a memory interface, an RS422 interface, an RS232 interface, a spare CAN port, and a spare network port.

[0016] The second aspect provides an inertial navigation system, including a target sensor, a target host computer and the above-mentioned navigation solving device based on the inertial navigation system, wherein the navigation solving device based on the inertial navigation system interacts with the target host computer for data, and the navigation solving device based on the inertial navigation system also receives sensor data of the target sensor.

[0017] The technical principle of the utility model is as follows: the navigation processing module includes a first communication interface connected to a preset external sensor and a preset host computer, on this basis, the navigation processing module is expanded, and the navigation processing module also includes a second communication interface. Then, the second communication interface and the peripheral interface module are connected through a first connector, and when the connector and the plug-in of the first connector are plugged in, the sensor data of the extended external sensor can be received and data can be exchanged with the extended host computer.

[0018] Compared with the prior art, the utility model has the following beneficial effects: according to the characteristic that the connector and the plug-in of the first connector can be flexibly connected and disconnected, the peripheral interface module can be selectively connected and disconnected with the second communication interface. When the peripheral interface module is connected to the second communication interface, the sensor data of the extended external sensor and the host computer of other interface types can be introduced, thereby expanding the application scope of the navigation solver for the external sensor and maintaining the independence of the navigation processing module design. This design is not only conducive to PCB hardware debugging and error correction, but also avoids the contradictions of multi-channel attitude communication, and is also conducive to the design and development of the later software platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of the structure of a navigation solution device based on an inertial navigation system according to an embodiment of the present utility model;

[0020] Figure 2 This is a structural diagram of the navigation processing module of the utility model;

[0021] Figure 3 This is a structural diagram of another navigation processing module of the present utility model;

[0022] Figure 4 The figure is a schematic diagram of the composition structure of the inertial navigation system of the utility model. DETAILED DESCRIPTION

[0023] The technical solution of the present utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0024] like Figure 1 As shown, an embodiment of the utility model proposes a navigation solution device based on an inertial navigation system, including a navigation processing module 1, a first connector 2 and a peripheral interface module 3, wherein the first connector 2 includes a plug-in and a connector that can be completely separated, and the plug-in and the connector can also be plugged in to establish a connection relationship, the navigation processing module 1 includes a first communication interface 11 and a second communication interface 12, the first communication interface 11 is used to realize a communication connection with a preset external sensor 4 and a preset host computer 5, the second communication interface 12 is used to realize a fixed connection with the connector of the first connector 2, and one end of the plug-in of the first connector 2 is connected to the output end of the peripheral interface module 3, and the input end of the peripheral interface module 3 is connected to the extended external sensor 6 and the extended host computer 7.

[0025] Since the connectors and plug-ins of the first connector can be flexibly connected and disconnected, the navigation solving device based on the inertial navigation system proposed in the embodiment of the utility model can selectively connect and disconnect the peripheral interface module with the second communication interface. When connected, the sensor data of the extended external sensor and the host computer of other interface types can be introduced, thereby expanding the application scope of the navigation solving device for external sensors and maintaining the independence of the navigation processing module design. This design is not only conducive to PCB hardware debugging and error correction, but also avoids the contradictions of multi-channel attitude communication, and is also conducive to the design and development of the later software platform.

[0026] In a specific application, the preset external sensor 4 includes a laser gyroscope, a fiber optic gyroscope, a MEMS gyroscope, a MEMS accelerometer, a Beidou / GPS, an altimeter, a magnetometer, etc. The interface requirements of the extended external sensor 6 and the preset external sensor 4 are different, and the interface requirements of the extended host computer 7 and the preset host computer 5 are different.

[0027] In one embodiment, the expansion interface reserved by the peripheral interface module 3 includes at least a USART (Universal Synchronous / Asynchronous Receiver / Transmitter) interface, an SPI (Serial Peripheral Interface) interface, an I2C (Inter-Integrated Circuit, a bus used to connect a microcontroller and its peripheral devices) interface, and a CAN (Controller Area Network) interface.

[0028] It should be noted that the above-mentioned navigation solution device also includes other basic circuits, such as those used to realize basic circuit functions of the navigation solution device, such as system debugging, network connection, etc., which are not limited here.

[0029] The embodiment of the present invention provides two structures of navigation processing modules. One is an architecture integrating a digital signal processing unit 101 and a programmable logic array unit 102, which is suitable for a medium-to-high precision inertial navigation system with small size, low power consumption and high real-time requirements, such as Figure 2 As shown, the navigation processing module 1 includes a digital signal processing unit 101 and a programmable logic array unit 102 connected to each other;

[0030] The programmable logic array unit 102 provides a first communication interface 11 and a second communication interface 12. The first communication interface 11 is used to perform data interaction with the preset host computer 5, receive sensor data uploaded by the preset external sensor 4, and send the sensor data uploaded by the preset external sensor 4 to the digital signal processing unit 101; the second communication interface 12 is used to perform data interaction with the extended host computer 7, receive sensor data uploaded by the extended external sensor 6, and send the sensor data uploaded by the extended external sensor 6 to the digital signal processing unit 101; and the digital signal processing unit 101 is used to perform signal processing on the sensor data uploaded by the preset external sensor 4 and / or the extended external sensor 6, and transmit the processed sensor data back to the programmable logic array unit 102.

[0031] In one embodiment, the navigation solution device further includes N second connectors 8;

[0032] The plug-in unit of each second connector is fixedly connected to the first communication interface 11 , and the connector unit of each second plug-in unit 8 is connected to the preset external sensor 4 .

[0033] It should be noted that since the first communication interface 11 is used to realize the communication connection with the preset external sensor 4 and the preset host computer 5, the first communication interface 11 has a large number of interfaces and interface types. The utility model uses multiple second connectors 8 to establish the communication connection between the first communication interface 11 and the preset external sensor 4 and the preset host computer 5, and can selectively connect to the preset external sensor 4.

[0034] Exemplarily, the first communication interface 11 includes six pulse drive interfaces, three pulse drive interfaces, an amplification and conditioning AD conversion interface, two pulse signal interfaces, one RS232 isolation signal interface, two RS232 isolation signal interfaces, one RS422 isolation signal interface, and two RS422 isolation signal interfaces. Figure 2 Some preset external sensors 4 are connected to the second connector 8 by their output representations, including three gyro pulse differential signals output by laser gyro, fiber optic gyro, and MEMS gyro, three meter current signals output by MEMS accelerometer, and three platinum resistance temperature signals.

[0035] Another architecture of the navigation processing module 1 includes an ARM processor with a DSP structure and double-precision FPU instructions, whose operating frequency is not less than 400MHz, meeting the requirements of the navigation computer algorithm solution accuracy and solution speed, such as Figure 3 As shown, the navigation processing module 1 includes an ARM processor; the ARM processor provides a first communication interface 11 and a second communication interface 12 for interacting with a host computer, receiving sensor data uploaded by a preset external sensor 4 and / or an extended external sensor 6, and performing signal processing on the sensor data.

[0036] In one embodiment, the first communication interface 11 includes a sensor interface, a memory interface, an RS422 interface, an RS232 interface, a spare CAN port, and a spare network port.

[0037] like Figure 4 As shown, according to another embodiment of the utility model, an inertial navigation system 40 is also provided, including a target sensor 41, a target host computer 42 and the above-mentioned navigation solution device 43 based on the inertial navigation system, the navigation solution device 43 based on the inertial navigation system exchanges data with the target host computer 42, the navigation solution device 43 based on the inertial navigation system also receives sensor data of the target sensor 41, when the interface requirement of the target sensor 41 does not match the first communication interface 11, the second communication interface 12 and the peripheral interface module 3 are used to establish a connection, similarly, when the interface requirement of the target host computer 42 does not match the first communication interface 11, the second communication interface 12 and the peripheral interface module 3 are used to establish a connection.

[0038] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A navigation solution device based on an inertial navigation system, characterized in that: It includes a navigation processing module, a first connector and a peripheral interface module; The navigation processing module includes a first communication interface connected to a preset external sensor and a preset host computer, and a second communication interface fixedly connected to a connector of the first connector; One end of the first connector is connected to the output end of the peripheral interface module, and the input end of the peripheral interface module is connected to the extended external sensor and the extended host computer.

2. The navigation solution device based on the inertial navigation system according to claim 1, characterized in that: The expansion interfaces reserved by the peripheral interface module at least include a USART interface, an SPI interface, an I2C interface and a CAN interface.

3. The navigation solution device based on the inertial navigation system as claimed in claim 1, characterized in that: The navigation processing module includes a digital signal processing unit and a programmable logic array unit connected to each other; The programmable logic array unit provides the first communication interface and the second communication interface.

4. The navigation solution device based on the inertial navigation system as claimed in claim 2, characterized in that: Also includes N second connectors; N is a positive integer; The plug-in unit of each second connector is fixedly connected to the first communication interface, and the connector of each second plug-in unit is connected to a preset external sensor.

5. The navigation solution device based on the inertial navigation system according to any one of claims 2 to 4, characterized in that: The first communication interface includes six pulse drive interfaces, three pulse drive interfaces, an amplification and conditioning AD conversion interface, two pulse signal interfaces, one RS232 isolation signal interface, two RS232 isolation signal interfaces, one RS422 isolation signal interface, and two RS422 isolation signal interfaces.

6. The navigation solution device based on the inertial navigation system as claimed in claim 1, characterized in that: The navigation processing module includes an ARM processor; the ARM processor provides the first communication interface and the second communication interface.

7. The navigation solution device based on the inertial navigation system as claimed in claim 6, characterized in that: The first communication interface includes a sensor interface, a memory interface, an RS422 interface, an RS232 interface, a spare CAN port, and a spare network port.

8. An inertial navigation system, characterized in that: It comprises a target sensor, a target host computer and a navigation and solving device based on an inertial navigation system as described in any one of claims 1 to 7, wherein the navigation and solving device based on an inertial navigation system performs data exchange with the target host computer, and the navigation and solving device based on an inertial navigation system also receives sensor data of the target sensor.

Images