IMU device fixing structure and navigation equipment

Abstract

The embodiment of the utility model provides an IMU device fixing structure and navigation equipment. The IMU device fixing structure comprises a lower cover which is provided with an accommodating part for loading a circuit board, and two supporting parts are arranged in the accommodating part; the circuit board is used for bearing an IMU device, and two first through holes are formed in the positions, close to the two sides of the IMU device, of the circuit board; one first through hole is correspondingly matched with one supporting part; the circuit board and the lower cover penetrate through the first through hole through a fixing piece and are fixedly connected with the supporting part. According to the technical scheme of the embodiment of the invention, the fixing point is arranged at the position, close to the IMU device, on the circuit board to reinforce the connection between the circuit board and the shell, so that the IMU device is more stable relative to the lower cover, vibration of the IMU device caused by deformation of the circuit board is reduced, and the accuracy of an output result of the IMU device is ensured.

Description

Technical Field

[0001] This application relates to the field of inertial navigation technology, and particularly to a fixing structure for an IMU device and a navigation device. Background Art

[0002] The development of driverless technology relies on high-precision sensor support. As one of the core sensors, the IMU (Inertial Measurement Unit) device provides key positioning information for the driverless system by detecting the acceleration and angular velocity of the vehicle. However, during the fixing process of the PCB board, which is the electronic substrate of the IMU device, deformation is likely to occur, resulting in increased vibration of the IMU device during movement and affecting the accuracy of the navigation device.

[0003] It should be noted that the above content is not necessarily prior art and does not limit the scope of patent protection of this application. Summary of the Utility Model

[0004] Embodiments of this application provide a fixing structure for an IMU device and a navigation device to solve or alleviate one or more of the above-mentioned technical problems.

[0005] As an aspect of the embodiments of this application, a fixing structure for an IMU device is provided, including:

[0006] A lower cover having a receiving portion for loading a circuit board, and the receiving portion includes two supporting portions;

[0007] A circuit board for carrying the IMU device, and two first through-holes are provided at positions on both sides of the circuit board close to the IMU device;

[0008] Wherein, one of the first through-holes is correspondingly adapted to one of the supporting portions;

[0009] The circuit board and the lower cover are fixedly connected together by a fixing member passing through the first through-hole and the supporting portion.

[0010] Optionally, the distance between the first through-hole and the side of the IMU device is 2 millimeters to 5 millimeters.

[0011] Optionally, it further includes:

[0012] An upper cover covering the lower cover and forming a sealed space with the receiving portion through a gasket.

[0013] Optionally, the upper cover is provided with a heat dissipation portion, and the heat dissipation portion includes a plurality of heat dissipation grooves.

[0014] Optionally, the upper cover is provided with a plurality of indicator lights; among them, the plurality of indicator lights include an indication indicator light, a power indicator light, and a position indicator light.

[0015] Optionally, first fixing parts are provided at the four corners of the inner wall of the upper cover, and the first fixing parts are hollow;

[0016] Second through holes are provided at the four corners of the lower cover, and the through holes are adapted to the first fixing parts;

[0017] The upper cover and the lower cover are fixedly connected by screwing a screw through the second through hole and the first fixing part.

[0018] Optionally, second fixing parts are provided at the four corners of the accommodating part, and the second fixing parts are hollow;

[0019] Third through holes are provided at the four corners of the circuit board, and the through holes are adapted to the second fixing parts;

[0020] The circuit board and the lower cover are fixedly connected by screwing a screw through the third through hole and the second fixing part, and are fixed in the accommodating part.

[0021] Optionally, the lower cover includes a first side face and a second side face opposite to each other, and a third side face and a fourth side face opposite to each other;

[0022] A plurality of interfaces are provided on the second side face, a plurality of ports are provided on the third side face, and connecting parts are provided at both ends of the bottoms of the first side face and the second side face.

[0023] Optionally, the plurality of interfaces include an SD interface and a SIM interface, and the plurality of ports include a 4G port and a GNSS port.

[0024] Another aspect of the embodiment of the present application provides a navigation device, including the IMU device fixing structure as described above.

[0025] The embodiment of the present application adopting the above technical solution may include the following advantages: By setting fixing points at positions on the circuit board close to the IMU device to reinforce the connection between the circuit board and the housing, the IMU device is made more stable relative to the lower cover, reducing the vibration of the IMU device itself caused by the deformation of the circuit board, thereby ensuring the accuracy of the output result of the IMU device. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In the drawings, unless otherwise specified, the same reference numerals throughout the several views denote the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments disclosed in accordance with the present application and should not be regarded as limiting the scope of the present application.

[0027] Figure 1 is an exploded view of the IMU device fixing structure provided by the embodiment of the present application.

[0028] Figure 2 It is another exploded view of the IMU device fixing structure provided by the embodiments of the present application.

[0029] Figure 3 It is a top view of the IMU device fixing structure provided by the embodiments of the present application.

[0030] Figure 4 It is a schematic structural diagram of the IMU device fixing structure provided by the embodiments of the present application.

[0031] Figure 5 It is a noise comparison diagram of the IMU device fixing structure with and without installation of screws according to the embodiments of the present application.

[0032] Wherein: 1. Lower cover; 11. Support part; 12. Washer; 13. Second through hole; 14. Second fixing part; 15. First side; 16. Second side; 17. Third side; 18. Connection part; 19. SD interface; 110. SIM interface; 111. 4G port; 112. GNSS port; 2. Circuit board; 21. IMU device; 22. First through hole; 23. Third through hole; 3. Upper cover; 31. Heat dissipation part; 32. Indicator light; 33. First fixing part. Detailed implementation manners

[0033] In order to make the objectives, technical solutions and advantages of the present application more clear and understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0034] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such terms can be interchanged under appropriate circumstances so that the embodiments of the present application described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily need to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0035] The following provides an explanation of the terms of the present application.

[0036] SD interface: The SD interface is an interface for connecting an SD memory card. The SD memory card is a common storage medium for storing digital data, such as photos, videos, audio files, etc.

[0037] SIM Interface: The SIM interface is an interface used to connect the SIM card. The SIM card is a chip card stored in a mobile communication device, which is used to store user identity information, phone numbers, address books, etc.

[0038] 4G Port: The 4G port generally refers to the port for connecting to the 4G network, which is usually the 4G data transmission interface on mobile devices. These interfaces can support data transmission and communication services of the 4G network.

[0039] GNSS Port: The GNSS port is an interface used to connect the GNSS antenna. GNSS is the abbreviation of Global Navigation Satellite System, including Beidou Satellite Navigation System, Global Positioning System (GPS), Galileo Navigation System, GLONASS, etc.

[0040] IMU Device: The IMU device, i.e., Inertial Measurement Unit, is used to measure and report the specific force, angular velocity of an object, and the position of the object around the magnetic field.

[0041] PCB Board: The PCB board, i.e., Printed Circuit Board, is a circuit board used in electronic devices and manufactured by printing. The PCB board is the support for electronic components and provides electrical connections between electronic components.

[0042] IMU Noise: The noise of the IMU device mainly refers to the measurement errors caused by various factors during the measurement process.

[0043] To facilitate the understanding of the technical solutions provided in the embodiments of the present application by those skilled in the art, the related technologies are described below:

[0044] The inventor of the present application found that after the PCB board is fixed by screws at the four corners, the middle of the PCB board is prone to deformation, causing the vibration of the IMU device on it to intensify during movement. In the unmanned driving system, the IMU needs to be rigidly connected to the carrier. At this time, the results obtained by integrating the acceleration and angular velocity output by the IMU can truly reflect the position and attitude changes of the carrier. Therefore, the vibration of the IMU relative to the carrier will greatly reduce the accuracy of the navigation device.

[0045] For this reason, the embodiments of the present application provide a fixing structure for the IMU device. Based on this, fixing holes are left at the position of the PCB board close to the IMU device in the navigation device made according to the present invention, and a protruding support structure is designed on the object structure. The rigid connection between the IMU device and the housing is ensured through fixing parts, reducing the vibration of the IMU itself caused by the deformation of the PCB board and ensuring the accuracy of the output result of the IMU. See the following for details.

[0046] Next, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings. It should be noted that these exemplary embodiments can be implemented in many different forms and should not be construed as being limited only to the embodiments set forth herein.

[0047] As Figures 1 to 4 shown, the IMU device fixing structure may include: a lower cover 1 and a circuit board 2. The structures and mating relationships of the lower cover 1 and the circuit board 2 will be described below.

[0048] The lower cover 1 has a receiving portion for loading the circuit board 2, and the receiving portion includes two supporting portions 11. In some embodiments, the lower cover 1 may be in the shape of a box with an upward opening and may be made of metal or other materials. Different circuit boards 2 with various functions can be fixed and loaded in the receiving portion of the lower cover 1 according to actual needs, or a single circuit board 2 with multiple functions can be loaded, which is not limited herein. According to actual needs, more than two supporting portions 11 may also be provided in the receiving portion. In actual use, the supporting portion 11 may be a hollow column, and the inner wall of the hollow portion may have threads, and the shapes and sizes of the respective supporting portions 11 are the same.

[0049] The circuit board 2 is used to carry the IMU device 21, and two first through holes 22 are provided at positions on both sides of the circuit board 2 close to the IMU device 21. The circuit board 2 can be selected as a PCB board, an FPC board, an HDI board, etc. according to actual needs. In actual use, preferably, a first through hole 22 is symmetrically provided at each of the upper and lower ends of the circuit board 2 close to the IMU device 21. At this time, a good fixing effect on the IMU device 21 can be achieved at a relatively low fixing cost.

[0050] According to actual needs, the number of the first through holes 22 can also be set to more than two, and the positions of the first through holes 22 can also be set on the left and right sides of the circuit board 2 close to the IMU device 21.

[0051] Among them, one of the first through holes 22 correspondingly fits one of the supporting portions 11; the circuit board 2 and the lower cover 1 are fixedly connected together by a fixing member passing through the first through hole 22 and the supporting portion 11. According to the actual situation, the fixing member can be a bolt, a rivet, a peg, etc. In actual use, a bolt can be used to pass through the first through hole 22 and be screwed with the supporting portion 11, so as to fixedly connect the circuit board 2 and the lower cover 1 together.

[0052] In this embodiment, a first through hole 22 is formed at a position on the circuit board 2 close to the IMU device 21, and a corresponding support structure is provided on the lower cover 1. Then, a fixing member is used to fixedly connect the circuit board 2 and the lower cover 1 at a position close to the IMU device, making the IMU device 21 more stable relative to the lower cover 1 and reducing the vibration of the IMU device 21 itself caused by the deformation of the circuit board 2, thereby ensuring the accuracy of the output result of the IMU device 21.

[0053] In an alternative embodiment, the distance between the first through hole 22 and the side of the IMU device 21 is 2 mm to 5 mm. In actual use, the distance between the first through hole 22 and the side of the IMU device 21 can also be set as needed.

[0054] In this embodiment, setting at a position of 2 mm to 5 mm can enhance the fixing effect on the IMU device, further ensure the accuracy of the output result of the IMU device 21, and at the same time does not affect the normal operation of the IMU device 21.

[0055] In an alternative embodiment, the IMU device fixing structure further includes an upper cover 3, which covers the lower cover 1, and a sealing space can be formed with the accommodating part through a gasket 12. The structure of the upper cover 3 can be a convex structure and can be made of metal or other materials. The gasket 12 can be made of rubber, silicone or composite materials, etc.

[0056] In this embodiment, a sealing space is formed by the combination of the upper cover 3, the lower cover 1 and the gasket 12, which can protect the devices such as the circuit board 2 loaded therein, enabling it to adapt to various working environments and ensuring the reliability and durability of the devices.

[0057] In an alternative embodiment, the upper cover 3 is provided with a heat dissipation part 31, and the heat dissipation part 31 includes a plurality of heat dissipation grooves. In addition to the heat dissipation method of heat dissipation strips, there can be other alternative solutions for the heat dissipation method of the heat dissipation part 31, such as heat sinks: the upper cover 3 can be designed to have a structure with heat sinks, and these heat sinks can increase the surface area, improve the heat dissipation efficiency, and reduce the device through convection or radiation heat dissipation. Thermal conductive materials can also be used, and thermal conductive materials such as heat pipes or thermal conductive adhesives can be added to the heat dissipation part to increase the heat conduction speed and improve the heat dissipation efficiency.

[0058] In this embodiment, the heat dissipation part 31 can improve the heat dissipation efficiency of the device to prevent the device from overheating as much as possible and maintain its normal working state. Which specific method to choose depends on factors such as design requirements, cost considerations and the actual working environment of the device.

[0059] In an alternative embodiment, the upper cover 3 is provided with a plurality of indicator lights 32; among them, the plurality of indicator lights 32 include an indication indicator light, a power indicator light, and a position indicator light. According to the actual situation, the indicator light can also be a communication indicator light: used to indicate the communication status of the device, such as Wi-Fi connection status, network connection status, etc. Among them, the warning indicator light: can be used to indicate the alarm or fault status of the device, such as low battery power, system error, etc. The warning indicator light: can be used to indicate whether an abnormality has occurred to the device or a situation that requires the user's attention.

[0060] In this embodiment, the indicator lights can help users understand the working status, performance, and connection status of the device, improving the usability and user experience of the device. Through the light prompt, users can timely understand the operating status of the device so as to take appropriate measures or make adjustments.

[0061] In an alternative embodiment, first fixing parts 33 are provided at the four corners of the inner wall of the upper cover 3, and the first fixing parts 33 are hollow; second through holes 13 are provided at the four corners of the lower cover 1, and the second through holes 13 are adapted to the first fixing parts 33; the upper cover 3 and the lower cover 1 are fixedly connected by screws passing through the second through holes 13 and being threadedly connected to the first fixing parts 33. In addition to being fixed by screws between the upper cover 3 and the lower cover 1, the upper cover 3 and the lower cover 1 can also be designed with a snap structure, and the two can be fixed by snaps. This method can simplify the assembly process and improve production efficiency; the edges of the upper cover 3 and the lower cover 1 are designed to have a mutually fitting structure, and through appropriate design and processing, a tight connection between the two can be achieved.

[0062] In this embodiment, the upper cover 3 and the lower cover 1 are connected by screws to fix the structures of the two. The function of this design is to ensure a firm connection between the upper cover 3 and the lower cover 1, thereby protecting the internal parts of the device and providing structural stability.

[0063] In an alternative embodiment, second fixing parts 14 are provided at the four corners of the accommodating part, and the second fixing parts 14 are hollow; third through holes 23 are provided at the four corners of the circuit board 2, and the third through holes 23 are adapted to the second fixing parts 14; the circuit board 2 and the lower cover 1 are fixedly connected by screws passing through the third through holes 23 and being threadedly connected to the second fixing parts 14, and are fixed inside the accommodating part. In actual use, the circuit board 2 and the lower cover 1 can also be connected and fixed by rivets, peg feet, etc. The number and positions of the third through holes 23 and the second fixing parts 14 can also be set to other schemes according to actual needs, such as providing a second fixing part 14 at each of the four corners and the center point of the accommodating part, and correspondingly providing five third through holes 23 at the corresponding positions of the circuit board 2.

[0064] In this embodiment, the circuit board 2 is fixed within the accommodation portion through the cooperation of the third through hole 23 and the second fixing portion 14, forming a firm connection between the circuit board 2 and the lower cover 1, thereby protecting the components (such as the IMU device 21) carried on the circuit board 2 and providing structural stability.

[0065] In an alternative embodiment, the lower cover 1 includes opposite first side 15 and second side 16, as well as opposite third side 17 and fourth side; a plurality of interfaces are provided on the second side 16, a plurality of ports are provided on the third side 17, and connection portions 18 are provided at both ends of the bottom of the first side 15 and the second side 16. The design of the lower cover 1 takes into account the layout of different functional modules. A plurality of interfaces are provided on the second side 16 for connecting external devices or expansion modules, while a plurality of ports are provided on the third side 17 for providing external connection interfaces (such as USB, HDMI, etc.). Such a layout helps to improve the functionality and usability of the device. The layout method is not limited to the above method, and can be redesigned or the positions of the functional components can be redistributed according to actual needs.

[0066] In this embodiment, connection portions 18 are provided at both ends of the bottom of the second side 16 and the fourth side of the lower cover 1, and these connection portions 18 can be used to connect or fix the lower cover 1, thereby enhancing the stability and structural integrity of the device. By embedding functional components such as interfaces and ports into different sides of the lower cover 1 and considering the setting of the connecting components, the overall aesthetics of the device appearance can be achieved and the user experience can be improved.

[0067] In an alternative embodiment, the plurality of interfaces include an SD interface 19 and a SIM interface 110, and the plurality of ports include a 4G port 111 and a GNSS port 112. The above interfaces and ports can also be other interfaces and ports, and the settings of the interfaces and ports are determined according to actual situations. For example, a USB interface: for connecting external devices such as storage devices, external sensors or other peripheral devices; an HDMI interface: for connecting an external display to display navigation information or multimedia content on a larger screen; an RS232 or RS485 interface: for connecting other serial devices such as sensors or data acquisition devices.

[0068] In this embodiment, these interfaces and ports can expand the functionality of the device, provide external connection options, and enhance the interactivity between the device and external devices or networks. They allow users to connect different types of devices or provide options for data transmission, thereby enhancing the flexibility and practicality of the device.

[0069] The embodiment of the present application further provides a navigation device, including the IMU device fixing structure as described in the above embodiment.

[0070] In an embodiment of the present application, by providing first through holes 22 at the upper and lower positions of the circuit board 2 close to the IMU device 21, and designing a protruding support portion in the accommodating portion of the lower cover 1, the rigid connection between the IMU device and the lower cover is ensured by fixing members, reducing the vibration of the IMU device itself caused by the deformation of the circuit board, and ensuring the accuracy of the output result of the IMU device.

[0071] Figure 5 For the comparison of the noise (measurement errors caused by various factors during the measurement process) of the IMU device in two scenarios: fixing the IMU device using the structure of the embodiment of the present application (such as fixing the IMU with mounting screws) and fixing the IMU device without using the structure of the embodiment of the present application (such as not mounting screws). It can be seen that when mounting screws are used, in the case where the carrier is stationary, the gyroscope noise of the IMU device is significantly lower than that of the IMU device without mounting screws, proving that fixing the IMU device through the structure of the embodiment of the present application plays an obvious role in suppressing the noise of the IMU device, that is, it can reduce the vibration of the IMU device itself caused by the deformation of the circuit board and ensure the accuracy of the output result of the IMU device.

[0072] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0073] For the sake of convenience of description, the orientation or positional relationship indicated by orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description. Without contrary instructions, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the protection scope of the present application; the orientation words "inside, outside" refer to the inside and outside relative to the contour of each component itself. For example, if the device in the drawing is inverted, the device described as "above other devices or structures" or "on other devices or structures" will be positioned as "below other devices or structures" or "under other devices or structures" afterwards. Thus, the exemplary term "above..." can include both "above..." and "below...". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding explanations are made for the relative spatial descriptions used here.

[0074] Unless otherwise clearly defined and limited, terms such as "installation", "connection", "attachment", "fixation", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0075] Unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps described in these embodiments do not limit the scope of this application. At the same time, it should be understood that for the convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationships. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such technologies, methods, and devices should be regarded as part of the authorization specification. In all the examples shown and discussed here, any specific value should be interpreted as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0076] Unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps described in these embodiments do not limit the scope of this application. At the same time, it should be understood that for the convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationships. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such technologies, methods, and devices should be regarded as part of the authorization specification. In all the examples shown and discussed here, any specific value should be interpreted as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0077] It should also be noted that the "one embodiment", "another embodiment", "embodiment", etc. mentioned in this specification refer to the specific features, structures, or characteristics described in connection with that embodiment being included in at least one embodiment generally described in this application. The same expression appearing in multiple places in the specification does not necessarily refer to the same embodiment. Further, when describing a specific feature, structure, or characteristic in connection with any one embodiment, it is intended that the implementation of such feature, structure, or characteristic in combination with other embodiments also falls within the scope of this application.

[0078] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0079] It should also be noted that the above are only the preferred embodiments of the present application, and do not limit the patent protection scope of the present application. Any equivalent structural or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present application.

Claims

1. An IMU device (21) fixing structure, characterized in that: include: The lower cover (1) has a receiving portion for loading the circuit board (2), wherein the receiving portion includes two supporting portions (11); A circuit board (2) for carrying an IMU device (21), wherein the circuit board (2) is provided with two first through holes (22) at positions close to two sides of the IMU device (21); Wherein, one of the first through holes (22) is correspondingly adapted to one of the supporting parts (11); The circuit board (2) and the lower cover (1) are fixedly connected together with the support portion (11) via a fixing piece passing through the first through hole (22).

2. The IMU device fixing structure according to claim 1, characterized in that: The distance between the first through hole (22) and the side of the IMU device (21) is 2 mm to 5 mm.

3. The IMU device fixing structure according to claim 1, characterized in that: Also includes: An upper cover (3) is arranged on the lower cover (1) and forms a sealed space with the accommodating portion through a gasket (12).

4. The IMU device fixing structure according to claim 3, characterized in that: The upper cover (3) is provided with a heat dissipation portion (31), and the heat dissipation portion (31) comprises a plurality of heat dissipation slots.

5. The IMU device fixing structure according to claim 3, characterized in that: The upper cover (3) is provided with a plurality of indicator lights (32); The plurality of indicator lights (32) include an indication indicator light, a power indicator light and a position indicator light.

6. The IMU device fixing structure according to claim 3, characterized in that: The four corners of the inner wall of the upper cover (3) are each provided with a first fixing portion (33), and the first fixing portion (33) is hollow; Second through holes (13) are provided at the four corners of the lower cover (1), and the second through holes (13) are adapted to fit the first fixing portion (33); The upper cover (3) and the lower cover (1) are threadedly connected and fixed to the first fixing portion (33) by screws passing through the second through holes (13).

7. The IMU device fixing structure according to claim 1, characterized in that: Second fixing parts (14) are provided at the four corners of the accommodating part, and the second fixing parts (14) are hollow; The circuit board (2) is provided with third through holes (23) at four corners, and the third through holes (23) are adapted to fit the second fixing portion (14); The circuit board (2) and the lower cover (1) are fixed in the accommodating portion by screws passing through the third through holes (23) and being threadedly connected with the second fixing portion (14).

8. The IMU device fixing structure according to claim 1, characterized in that: The lower cover (1) comprises a first side surface (15) and a second side surface (16) opposite to each other, and a third side surface (17) and a fourth side surface opposite to each other; The second side surface (16) is provided with a plurality of interfaces, the third side surface (17) is provided with a plurality of ports, and connecting parts (18) are provided at both ends of the bottom of the first side surface (15) and the second side surface (16).

9. The IMU device fixing structure according to claim 8, characterized in that: The plurality of interfaces include an SD interface (19) and a SIM interface (110), and the plurality of ports include a 4G port (111) and a GNSS port (112).

10. A navigation device, characterized in that: It comprises an IMU device (21) fixing structure as claimed in any one of claims 1 to 9.

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