Inertial measurement unit

Abstract

The utility model provides an inertial measurement unit, and relates to the field of inertial measurement devices, and the inertial measurement unit comprises a housing, a sensor unit located in the housing, and a support. The shell comprises a base and a shell cover, and the shell cover is detachably connected with the base; the bracket is fixedly connected with the base; the sensor unit comprises a plurality of inertial sensors which are orthogonally arranged in space, and at least part of the inertial sensors are fixed on the bracket; when the inertial sensor is mounted on the bracket, the part of the bracket for fixing the inertial sensor is not blocked by the base. The inertial measurement unit has the remarkable characteristics that the bracket is additionally arranged in the shell, the bracket is fixed on the base, at least part of the inertial sensor is mounted by utilizing the bracket, and the operation space is relatively large in the process of mounting and arranging the sensor unit on the bracket, so that the problems that the inertial sensor in the existing inertial measurement unit is narrow in assembly space and inconvenient to mount are solved. And positioning of the inertial sensor is not facilitated.

Description

Technical Field

[0001] The present application relates to the field of inertial measurement devices, and more particularly to an inertial measurement unit. Background Art

[0002] An inertial measurement unit (IMU) is a device that measures the three-axis attitude angle, angular velocity, and acceleration of an object. Generally, a complete inertial measurement unit contains three single-axis inertial sensors. The inertial sensors of each axis include a gyroscope and an accelerometer. The inertial sensors of different axes form an orthogonal distribution in space, so that the angular velocity and acceleration of the object in three dimensions in three-dimensional space can be measured, and the attitude of the object can be calculated based on this. Therefore, the inertial measurement unit has a very important application value in the field of navigation.

[0003] Figure 1 It is a schematic diagram of the structure of an inertial measurement unit provided by the related art. In the related art, part of the inertial sensor 4' is installed on the inner wall of the shell cover 11' of the housing 1' of the inertial measurement unit, and the assembly space is narrow, which is not conducive to the positioning operation. Utility Model Content

[0004] The present application provides an inertial measurement unit to solve the technical problem that the inertial sensor assembly space in the existing inertial measurement unit is narrow, which is not conducive to the positioning of the inertial sensor.

[0005] The technical solutions of this application are as follows:

[0006] The inertial measurement unit provided in the present application includes a housing, a sensor unit located in the housing, and a bracket. The housing includes a base and a shell cover, and the shell cover is detachably connected to the base. The bracket is fixedly connected to the base. The sensor unit includes a plurality of inertial sensors arranged orthogonally in space, and at least some of the inertial sensors are fixed to the bracket. When the inertial sensor is installed on the bracket, the portion of the bracket where the inertial sensor is fixed is not blocked by the base.

[0007] The notable feature of the inertial measurement unit of the present application is that a bracket is added to the shell, the bracket is fixed on the base, at least part of the inertial sensor is installed by means of the bracket, and the part of the bracket used to install the inertial sensor is not blocked by the base. In this way, by installing the inertial sensor with the help of the bracket, the number of sensors installed on the inner wall of the shell cover can be reduced, and even no inertial sensor is installed on the inner wall of the shell cover. In the process of installing and arranging the sensor unit on the bracket, the operating space is relatively large, which is conducive to the positioning and installation of the inertial sensor, thereby improving the installation accuracy of the inertial sensor and improving the measurement accuracy of the inertial measurement unit.

[0008] In a possible design, the bracket includes a first mounting plate, a second mounting plate and a crossbeam. The first mounting plate and the second mounting plate are used to mount the inertial sensor, the first mounting plate and the second mounting plate are arranged opposite to each other, and are both fixedly connected to the base. The crossbeam is located between the first mounting plate and the second mounting plate, one end of the crossbeam is fixedly connected to the first mounting plate, and the other end of the crossbeam is fixedly connected to the second mounting plate.

[0009] The structure formed by the first mounting plate, the second mounting plate and the crossbeam provided by this embodiment is similar to an H-shaped bracket structure. When the first mounting plate and the second mounting plate are used to mount the inertial sensor, the crossbeam is arranged between the first mounting plate and the second mounting plate, which can increase the support strength of the first mounting plate and the second mounting plate. When the bracket of this structural form is made of the same material, it has a higher strength, which is conducive to reducing the overall weight of the inertial measurement unit.

[0010] In a possible design, the plurality of inertial sensors include a Y-axis inertial sensor, and the Y-axis inertial sensor includes a Y-axis gyroscope and a Y-axis accelerometer. The Y-axis gyroscope is disposed on a side of the first mounting plate away from the second mounting plate, and the Y-axis accelerometer is disposed on a side of the second mounting plate away from the first mounting plate.

[0011] According to the embodiment, the Y-axis gyroscope is arranged on the side of the first mounting plate away from the second mounting plate, and the Y-axis accelerometer is arranged on the side of the second mounting plate away from the first mounting plate. In this way, the Y-axis inertial sensor has a larger operating space and less restriction when installed, which is beneficial to improving the installation accuracy of the inertial sensor and maintaining the balance of both ends of the bracket.

[0012] In a possible design, the multiple inertial sensors include an X-axis inertial sensor, and the X-axis inertial sensor is fixedly connected to the crossbeam.

[0013] According to the embodiment, by installing the X-axis inertial sensor with the help of the crossbeam, more inertial sensors can be installed on the bracket. Then, there is no need to install the inertial sensor with the help of the inner wall of the shell cover, which helps to improve the installation accuracy of the inertial sensor.

[0014] In a possible design, the first mounting plate, the second mounting plate and the crossbeam are detachably connected.

[0015] According to the embodiment, the first mounting plate, the second mounting plate and the crossbeam are independent components and can be manufactured separately. After the manufacturing is completed, the first mounting plate and the second mounting plate can be detachably connected by assembly, so that the processing difficulty of the bracket can be reduced.

[0016] In a possible design, a first positioning slot is provided at one side of the first mounting plate connected to the beam, and one end of the beam is plugged into the first positioning slot. A second positioning slot is provided at one end of the second mounting plate connected to the beam, and the other end of the beam is plugged into the second positioning slot.

[0017] According to the embodiment, the first mounting plate, the crossbeam and the second mounting plate are assembled by plugging together, and the assembly method is relatively simple. During the plug-in assembly process, the first mounting plate, the crossbeam and the second mounting plate are subjected to less force, which is beneficial to improving the matching accuracy of the three, thereby improving the installation accuracy of the inertial sensor.

[0018] In a possible design, a first positioning groove is provided on a side of the first mounting plate away from the second mounting plate. The Y-axis gyroscope is arranged at the first mounting plate by positioning in the first positioning groove. A second positioning groove is provided on a side of the second mounting plate away from the first mounting plate. The Y-axis accelerometer is arranged at the second mounting plate by positioning in the second positioning groove.

[0019] According to the embodiment, the installation position of the Y-axis gyroscope can be determined by the first positioning groove, thereby improving the installation accuracy and efficiency of the Y-axis gyroscope. The installation position of the Y-axis accelerometer can be determined by the second positioning groove, thereby improving the installation accuracy and efficiency of the Y-axis accelerometer.

[0020] In a possible design, the bracket is detachably connected to the base.

[0021] According to the embodiment, the bracket and the base are detachably connected, so that the bracket and the base can be manufactured separately, which helps to reduce the difficulty of manufacturing the two.

[0022] In a possible design, there is a gap between the inertial sensor mounted on the bracket and the housing.

[0023] The gap provided by this embodiment is conducive to the heat dissipation of the inertial sensor, the sensitivity of the output signal of the product to temperature is significantly reduced, and the working reliability of the inertial sensor is increased. The gap is conducive to isolating external mechanical impacts, reducing or avoiding damage to the inertial sensor caused by external impacts.

[0024] In one possible design, the inertial measurement unit includes an internal analog circuit board, and the internal analog circuit board is provided with a fixing hole. The end of the bracket away from the base is also provided with a mounting hole corresponding to the fixing hole. The internal analog circuit board is fixedly connected to the bracket by a fastener passing through the corresponding fixing hole and the mounting hole.

[0025] According to this embodiment, the internal analog circuit board is fixed by means of the end of the bracket away from the base, so the installation is convenient, the structure is simple, and it is easy to implement. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 Shown is a schematic structural diagram of an inertial measurement unit provided by the related art.

[0027] Figure 2 Shown is a schematic diagram of the overall structure of an inertial measurement unit provided in an embodiment of the present application.

[0028] Figure 3 Shown is a schematic diagram of the decomposed structure of an inertial measurement unit provided in an embodiment of the present application.

[0029] Figure 4 for Figure 3 Figure 1 shows the structure of the inertial measurement unit during assembly.

[0030] Figure 5 for Figure 3 A schematic diagram of the structure of the bracket in the inertial measurement unit is shown.

[0031] Figure 6 for Figure 5 Schematic diagram of the exploded structure of the bracket shown.

[0032] Figure 7 for Figure 3 Another decomposed structural schematic diagram of the inertial measurement unit is shown.

[0033] The reference numerals in the related art are: 1 ′, housing; 11 ′, cover; 4 ′, inertial sensor.

[0034] The accompanying drawings in this application are as follows:

[0035] 1. housing; 11. housing cover; 12. base; 121. interface end; 122. jack;

[0036] 2. Bracket; 21. First mounting plate; 211. First positioning slot; 212. Plug pin; 22. Second mounting plate; 221. Second positioning groove; 23. Crossbeam; 24. Mounting hole;

[0037] 4. Inertial sensor;

[0038] 41. Y-axis inertial sensor; 411. Y-axis gyroscope; 412. Y-axis accelerometer;

[0039] 42. X-axis inertial sensor;

[0040] 43. Z-axis inertial sensor;

[0041] 5. Internal analog circuit board; 51. Fixing holes. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of the application are only for the purpose of describing specific embodiments and are not intended to limit this application. The terms "including" and "having" and any variations thereof in the specification and claims and the accompanying drawings of this application are intended to cover non-exclusive inclusions.

[0044] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase "embodiments" in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0045] The term "and / or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists, A and B exist at the same time, and B exists. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0046] The directional words appearing in the following description are all directions shown in the figures, and do not limit the specific structure of the current limiting module of the present application. For example, in the description of the present application, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0047] In addition, the terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects rather than to describe a specific order, and may explicitly or implicitly include one or more of the features.

[0048] In the description of the present application, unless otherwise specified, "plurality" means more than two (including two), and similarly, "multiple groups" means more than two groups (including two).

[0049] In the description of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, the "connection" or "connection" of a mechanical structure may refer to a physical connection. For example, the physical connection may be a fixed connection, such as a fixed connection through a barrier member, such as a fixed connection through screws, bolts or other barrier members. The physical connection may also be a detachable connection, such as a mutual snap-on or snap-fit ​​connection. The physical connection may also be an integral connection, such as a connection formed by welding, bonding or integral molding. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0050] Please refer to Figure 1 As described in the background technology, when the inertial sensor 4' is installed on the inner wall of the housing 11', the space inside the housing 1' is limited and the operating space is restricted, so the inertial sensor 4' is not easy to install. And since the installation of the inertial sensor 4' requires high precision, installing the inertial sensor 4' in a small space is not conducive to improving the installation precision of the inertial sensor 4'.

[0051] In view of this, the present application provides an inertial measurement unit, Figure 2 FIG. 1 is a schematic diagram of the overall structure of an inertial measurement unit provided in an embodiment of the present application. Figure 3 FIG. 1 is a schematic diagram of the decomposed structure of an inertial measurement unit provided in an embodiment of the present application. Figure 4 for Figure 3 Figure 1 shows the structure of the inertial measurement unit during assembly.

[0052] Please refer to Figure 2 , Figure 3 and Figure 4 The inertial measurement unit provided in the present application includes a housing 1, a sensor unit located in the housing 1, and a bracket 2. The housing 1 includes a base 12 and a shell cover 11, and the shell cover 11 is detachably connected to the base 12. The bracket 2 is fixedly connected to the base 12. The sensor unit includes a plurality of inertial sensors 4 arranged orthogonally in space, and at least some of the inertial sensors 4 are fixed to the bracket 2. When the inertial sensor 4 is installed on the bracket 2, the portion of the bracket 2 where the inertial sensor 4 is fixed is not blocked by the base 12.

[0053] The housing 1 is an external structure of the inertial measurement unit, used to provide physical protection for the internal components and also serves as a fixed support for the internal components.

[0054] The sensor unit in the inertial measurement unit generally includes a three-axis inertial sensor, which is an X-axis inertial sensor 42, a Y-axis inertial sensor 41 and a Z-axis inertial sensor 43. In the three-dimensional XYZ coordinate system, according to the right-hand coordinate system principle, the X-axis inertial sensor 42 is used to measure the linear acceleration of the object in the left and right directions and the angular velocity along the X-axis direction, the Y-axis inertial sensor 41 is used to measure the linear acceleration of the object in the front and back directions or the angular velocity around the Y-axis, and the Z-axis inertial sensor 43 is used to measure the linear acceleration of the object in the front and back directions or the angular velocity around the Y-axis. Each axis inertial sensor 4 includes a gyroscope and an accelerometer. The gyroscope is used to measure the angular velocity of the object around three orthogonal axes (X, Y, Z) to determine the rotation or posture change of the object. The accelerometer is used to measure the linear acceleration of the object on the three orthogonal axes (X, Y, Z), including gravity acceleration and dynamic acceleration, so as to determine the motion state and direction of the object.

[0055] Please combine Figure 3 and Figure 4 The notable feature of the inertial measurement unit of the present application is that a bracket 2 is added to the housing 1, the bracket 2 is fixed on the base 12, at least part of the inertial sensor 4 is installed by the bracket 2, and the part of the bracket 2 for installing the inertial sensor 4 is not blocked by the base 12. In this way, by installing the inertial sensor 4 with the help of the bracket 2, the number of sensors arranged on the inner wall of the housing 11 can be reduced, and even no inertial sensor 4 is arranged on the inner wall of the housing 11.

[0056] Please continue to refer to Figure 4 When forming the inertial measurement unit, the bracket 2 and the base 12 can be fixed first, and then the sensor unit can be installed on the bracket 2, and then the shell cover 11 can be assembled. In this process, since the part of the bracket 2 for installing the inertial sensor 4 is not blocked by the base 12, and since the shell cover 11 is assembled last, the operation space is relatively large during the installation and arrangement of the sensor unit on the bracket 2, which is conducive to the positioning and installation of the inertial sensor 4, thereby improving the installation accuracy of the inertial sensor 4 and the measurement accuracy of the inertial measurement unit.

[0057] It should be noted that, in the present application, one of the functions of the base 12 is to fix the bracket 2 and the shell 11. In some cases, part of the inertial sensor 4 can also be set. For example, in some embodiments of the present application, part of the three inertial sensors 4 is fixed to the base 12, and the other part is fixed to the bracket 2, and no inertial sensor 4 is installed on the inner wall of the shell 11. The base 12 can have various forms:

[0058] like Figure 3-4As shown, in one embodiment of the present application, an interface end 121 connected to the outside world is provided on one circumferential side of the base 12, and no side walls are provided on the other sides of the base 12. Then, the portion of the bracket 2 for mounting the inertial sensor 4 can be oriented toward the side of the base 12 where no side walls are provided.

[0059] In some other embodiments of the present application, the base 12 is approximately flat and has no side walls in the circumferential direction. In this way, the portion of the bracket 2 used to mount the inertial sensor 4 can be oriented toward any side of the circumferential direction of the base 12 .

[0060] In some other embodiments of the present application, the base 12 may have a side wall of a certain height in the circumference, so that when the bracket 2 is set, the portion of the bracket 2 for mounting the inertial sensor 4 may be higher than the side wall to avoid obstruction by the side wall.

[0061] The above examples illustrate several forms of the base 12 of the present application, which is intended to illustrate the situation in which the portion of the bracket 2 for mounting the inertial sensor 4 is not blocked by the base 12. However, the form of the base 12 of the present application is not limited to the examples given above. Based on the idea of ​​the present application, the base 12 structure may also adopt other shapes and structures, such as approximately circular, or other polygonal, etc. Correspondingly, the circumferential structure of the base 12 may also have multiple forms, which is not limited by the present application.

[0062] It should also be noted that, in the present application, the circumferential side walls on the shell 1 for protecting the internal components can be more arranged on the shell cover 11, so as to avoid as much as possible the base 12 from blocking the sensor installation part on the bracket 2, and when the inertial sensor 4 is installed on the bracket 2, there is a larger operating space.

[0063] Figure 5 for Figure 3 A schematic diagram of the structure of the bracket in the inertial measurement unit shown in FIG. Figure 5 In one embodiment of the present application, the bracket 2 includes a first mounting plate 21, a second mounting plate 22 and a crossbeam 23. The first mounting plate 21 and the second mounting plate 22 are used to mount the inertial sensor 4. The first mounting plate 21 and the second mounting plate 22 are arranged opposite to each other and are both fixedly connected to the base 12. The crossbeam 23 is located between the first mounting plate 21 and the second mounting plate 22. One end of the crossbeam 23 is fixedly connected to the first mounting plate 21, and the other end of the crossbeam 23 is fixedly connected to the second mounting plate 22.

[0064] For more details, please refer to Figure 5The bracket 2 is mainly composed of a first mounting plate 21, a second mounting plate 22 and a crossbeam 23. The structure composed of the first mounting plate 21, the second mounting plate 22 and the crossbeam 23 is similar to an H-shaped bracket structure. When the first mounting plate 21 and the second mounting plate 22 are used to install the inertial sensor 4, the crossbeam 23 is arranged between the first mounting plate 21 and the second mounting plate 22, which can increase the support strength of the first mounting plate 21 and the second mounting plate 22. When the bracket 2 of this structural form uses the same material, it has a higher strength, which is conducive to reducing the overall weight of the inertial measurement unit.

[0065] Please combine Figure 3 , Figure 4 and Figure 5 In some embodiments of the present application, the plurality of inertial sensors 4 include a Y-axis inertial sensor 41, and the Y-axis inertial sensor 41 includes a Y-axis gyroscope 411 and a Y-axis accelerometer 412. The Y-axis gyroscope 411 is disposed on a side of the first mounting plate 21 away from the second mounting plate 22, and the Y-axis accelerometer 412 is disposed on a side of the second mounting plate 22 away from the first mounting plate 21.

[0066] Please combine Figure 4 and Figure 5 The Y-axis gyroscope 411 is arranged on the side of the first mounting plate 21 away from the second mounting plate 22, and the Y-axis accelerometer 412 is arranged on the side of the second mounting plate 22 away from the first mounting plate 21. In this way, the Y-axis inertial sensor 41 has a larger operating space during installation and is less restricted, which is beneficial to improving the installation accuracy of the inertial sensor 4 and maintaining the balance of the two ends of the bracket 2.

[0067] Please continue to refer to Figure 4 and Figure 5 In some embodiments of the present application, the plurality of inertial sensors 4 include an X-axis inertial sensor 42 , and the X-axis inertial sensor 42 is fixedly connected to the crossbeam 23 .

[0068] Specifically, by installing the X-axis inertial sensor 42 with the help of the crossbeam 23 , more inertial sensors 4 can be installed on the bracket 2 . Then, there is no need to install the inertial sensor 4 with the help of the inner wall of the shell cover 11 , which helps to improve the installation accuracy of the inertial sensor 4 .

[0069] For example, please combine Figures 3 to 5In one embodiment of the present application, a Z-axis inertial sensor 43 is disposed at the base 12, a Y-axis inertial sensor 41 is disposed at the first mounting plate 21 and the second mounting plate 22 of the bracket 2, and an X-axis inertial sensor 42 is disposed at the crossbeam 23 of the bracket 2. The inertial sensor 4 does not need to be disposed on the inner wall of the shell cover 11. During the installation of the inertial sensor 4, the Z-axis inertial sensor 43 can be first disposed on the base 12, and then the bracket 2 is fixed on the base 12, and the X-axis inertial sensor 42 and the Y-axis inertial sensor 41 are fixed on the bracket 2. After all the internal components are installed, the shell cover 11 is assembled. In this way, the assembly of the inertial sensor 4 can be unaffected by the shell cover 11, and the installation operation space is larger, which is conducive to improving the installation accuracy of the inertial measurement unit.

[0070] In some embodiments of the present application, the gyroscope in the inertial sensor is a MEMS gyroscope, and the accelerometer is a MEMS accelerometer.

[0071] Figure 6 for Figure 5 For a schematic diagram of the exploded structure of the bracket 2, please refer to Figure 6 The first mounting plate 21, the second mounting plate 22 and the crossbeam 23 are detachably connected.

[0072] Specifically, the first mounting plate 21, the second mounting plate 22 and the crossbeam 23 are independent components and can be manufactured separately. After manufacturing, the first mounting plate 21 and the second mounting plate 22 can be detachably connected by assembly, so that the processing difficulty of the bracket 2 can be reduced.

[0073] Please continue to refer to Figure 6 In some embodiments of the present application, a first positioning slot 211 is provided at one side where the first mounting plate 21 is connected to the crossbeam 23, and one end of the crossbeam 23 is plugged into the first positioning slot 211. A second positioning slot is provided at one end where the second mounting plate 22 is connected to the crossbeam 23, and the other end of the crossbeam 23 is plugged into the second positioning slot.

[0074] Specifically, the first mounting plate 21, the cross beam 23 and the second mounting plate 22 are assembled by plugging, and the assembly method is relatively simple. During the plug-in assembly process, the first mounting plate 21, the cross beam 23 and the second mounting plate 22 are subjected to less force, which is beneficial to improving the matching accuracy of the three, and thus improving the installation accuracy of the inertial sensor 4.

[0075] Of course, there are other assembly forms between the first mounting plate 21, the second mounting plate 22 and the crossbeam 23, such as bolt connection, adhesive bonding, etc., and this application does not limit this.

[0076] Please combine Figure 4 and Figure 5In some embodiments of the present application, a first positioning groove is provided on a side of the first mounting plate 21 away from the second mounting plate 22. The Y-axis gyroscope 411 is provided at the first mounting plate 21 by positioning in the first positioning groove. A second positioning groove 221 is provided on a side of the second mounting plate 22 away from the first mounting plate 21. The Y-axis accelerometer 412 is provided at the second mounting plate 22 by positioning in the second positioning groove 221.

[0077] Specifically, a first positioning groove is provided on a side of the first mounting plate 21 away from the second mounting plate 22, so that the installation position of the Y-axis gyroscope 411 can be determined by the first positioning groove, thereby improving the installation accuracy and efficiency of the Y-axis gyroscope 411. Similarly, a second positioning groove 221 is provided on a side of the second mounting plate 22 away from the first mounting plate 21, so that the installation position of the Y-axis accelerometer 412 can be determined by the second positioning groove 221, thereby improving the installation accuracy and efficiency of the Y-axis accelerometer 412.

[0078] In addition, in some embodiments of the present application, adhesive is also provided at the first positioning groove, and the Y-axis gyroscope 411 is positioned by the first positioning groove, and is fixedly connected to the bracket 2 by the adhesive provided at the first positioning groove. Similarly, adhesive is also provided at the second positioning groove 221, and the Y-axis accelerometer 412 is positioned by the second positioning groove 221, and is fixedly connected to the bracket 2 by the adhesive provided at the second positioning groove 221.

[0079] In addition, in some embodiments of the present application, the adhesive for fixing the inertial sensor 4 has a thermal conductive property, so that the inertial sensor 4 can dissipate heat more efficiently during operation, reducing the impact of temperature on system performance.

[0080] Please continue to refer to Figure 3 In some embodiments of the present application, the bracket 2 is detachably connected to the base 12.

[0081] Specifically, the bracket 2 and the base 12 are detachably connected, so that the bracket 2 and the base 12 can be manufactured separately, which helps to reduce the difficulty of manufacturing the two.

[0082] As a specific embodiment of the detachable connection, a plug pin 212 is provided at one end of the first mounting plate 21 and the second mounting plate 22 connected to the base 12. A socket 122 corresponding to the plug pin 212 is provided on the base 12. The first mounting plate 21 and the second mounting plate 22 are positioned at the socket 122 of the base 12 through the plug pin 212. A fixing glue can also be provided at the matching place between the plug pin 212 and the socket 122, so as to ensure the stability of the installation of the bracket 2 and the base 12. When the bracket 2 and the base 12 are separated, the fixing glue is removed, so that the bracket 2 and the base 12 can be separated.

[0083] It should be noted that the above only describes the detachable connection between the bracket 2 and the base 12. In some other embodiments, the bracket 2 and the base 12 may also be fixed by screw connection or other fixing methods, and this application does not impose any limitation on this.

[0084] Please continue to refer to Figure 3 and Figure 4 In some embodiments of the present application, there is a gap between the inertial sensor 4 mounted on the bracket 2 and the shell 11.

[0085] For more details, please refer to Figure 1 As mentioned above, in the related art, the inertial sensor 4' is bonded to the inner wall of the shell cover 11'. This structure easily brings two problems. On the one hand, it is not conducive to the heat dissipation of the inertial sensor 4'. When the inertial measurement unit works for a long time, the heat generated by the inertial sensor 4' will affect the overall performance, and the long-term stability of the overall operation of the product is not good. On the other hand, when the outside world has a mechanical impact on the shell cover 11', the inertial sensor 4' bonded to the inner wall of the shell cover 11' is also easily affected by the mechanical impact, and the performance is reduced.

[0086] Please combine Figures 3 to 7 In the present application, at least part of the inertial sensor 4 is installed by the bracket 2, and there is a gap between the inertial sensor 4 installed on the bracket 2 and the housing 11, which also brings the following two advantages:

[0087] First, the gap is beneficial to the heat dissipation of the inertial sensor 4 , and the sensitivity of the product's output signal to temperature is significantly reduced, thereby increasing the working reliability of the inertial sensor 4 .

[0088] Second, the gap is conducive to isolating external mechanical impacts, reducing or avoiding damage to the inertial sensor 4 caused by external impacts.

[0089] Figure 7 for Figure 3 Another schematic diagram of the decomposition structure of the inertial measurement unit is shown in Figure 2. Figure 7 In one embodiment of the present application, the inertial measurement unit includes an internal analog circuit board 5, and a fixing hole 51 is provided on the internal analog circuit board 5. The end of the bracket 2 away from the base 12 is also provided with a mounting hole 24 corresponding to the fixing hole 51. The internal analog circuit board 5 is fixedly connected to the bracket 2 by a fastener passing through the corresponding fixing hole 51 and the mounting hole 24.

[0090] In the present application, the main function of the internal analog circuit board 5 is to ensure accurate collection, processing and transmission of data from the inertial sensor 4. In the present application, the internal analog circuit board 5 is fixed by means of the end of the bracket 2 away from the base 12, which is convenient to install, simple in structure and easy to implement.

[0091] Those skilled in the art will appreciate that, although some embodiments herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present application and form different embodiments. For example, in the claims, any one of the claimed embodiments may be used in any combination.

[0092] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application is described in detail with reference to the above embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An inertial measurement unit, characterized in that: It comprises a housing, a sensor unit and a bracket located in the housing; The housing comprises a base and a shell cover, and the shell cover is detachably connected to the base; The bracket is fixedly connected to the base; The sensor unit includes a plurality of inertial sensors arranged orthogonally in space, and at least some of the inertial sensors are fixed on the bracket; When the inertial sensor is mounted on the bracket, the portion of the bracket where the inertial sensor is fixed is not blocked by the base.

2. The inertial measurement unit according to claim 1, characterized in that The bracket includes a first mounting plate, a second mounting plate and a crossbeam; The first mounting plate and the second mounting plate are used to mount the inertial sensor, the first mounting plate and the second mounting plate are arranged opposite to each other, and are both fixedly connected to the base; The crossbeam is located between the first mounting plate and the second mounting plate, one end of the crossbeam is fixedly connected to the first mounting plate, and the other end of the crossbeam is fixedly connected to the second mounting plate.

3. The inertial measurement unit according to claim 2, characterized in that: The plurality of inertial sensors include a Y-axis inertial sensor, and the Y-axis inertial sensor includes a Y-axis gyroscope and a Y-axis accelerometer; The Y-axis gyroscope is arranged on a side of the first mounting plate away from the second mounting plate, and the Y-axis accelerometer is arranged on a side of the second mounting plate away from the first mounting plate.

4. The inertial measurement unit according to claim 2 or 3, characterized in that: The plurality of inertial sensors include an X-axis inertial sensor, and the X-axis inertial sensor is fixedly connected to the crossbeam.

5. The inertial measurement unit according to claim 2 or 3, characterized in that: The first mounting plate, the second mounting plate and the crossbeam are detachably connected.

6. The inertial measurement unit according to claim 5, characterized in that: A first positioning slot is provided on one side of the first mounting plate connected to the crossbeam, and one end of the crossbeam is plugged into the first positioning slot; One end of the second mounting plate connected to the crossbeam is provided with a second positioning slot, and the other end of the crossbeam is plugged into the second positioning slot.

7. The inertial measurement unit according to claim 3, characterized in that: A first positioning groove is provided on a side of the first mounting plate away from the second mounting plate; the Y-axis gyroscope is positioned on the first mounting plate by the first positioning groove; A second positioning groove is provided on a side of the second mounting plate away from the first mounting plate; the Y-axis accelerometer is positioned on the second mounting plate by the second positioning groove.

8. The inertial measurement unit according to claim 1, characterized in that: The bracket is detachably connected to the base.

9. The inertial measurement unit according to claim 1, characterized in that: A gap is formed between the inertial sensor mounted on the bracket and the housing.

10. The inertial measurement unit according to claim 1, characterized in that: The inertial measurement unit includes an internal analog circuit board, and the internal analog circuit board is provided with a fixing hole; The bracket is further provided with a mounting hole corresponding to the fixing hole at one end away from the base; The internal analog circuit board is fixedly connected to the bracket by fasteners passing through corresponding fixing holes and mounting holes.

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