Magnetometer for inhibiting continuous divergence of IMU course

Abstract

The utility model relates to the technical field of course adjustment, and discloses a magnetometer for inhibiting continuous divergence of IMU course, which comprises a mounting rack. The magnetometer is detachably mounted on the mounting rack; the fixed seat is fixed on the side surface of the magnetometer; the socket is formed in the fixed seat; the inserting plate is fixed on the mounting frame; and the clamping structure is arranged on the mounting frame. According to the utility model, the data of the IMU and the magnetometer are combined, and particularly the magnetometer is used as an absolute reference source to correct the course divergence caused by IMU integration, so that the accuracy and the stability of the course direction in long-time navigation are obviously improved.

Description

Technical Field

[0001] The utility model relates to the technical field of heading adjustment, and particularly relates to a magnetometer for suppressing the continuous divergence of the IMU heading. Background Art

[0002] Suppressing the continuous divergence of the IMU heading is a common and important problem in the navigation system. The heading divergence of the IMU is mainly due to the cumulative error of its internal sensors increasing gradually over time.

[0003] In the prior art, although the magnetometer can provide information about the direction of the earth's magnetic field to help correct the heading drift of the IMU, the magnetometer itself is very sensitive to magnetic interference. In an environment with strong magnetic field interference, the output of the magnetometer may be seriously affected, resulting in inaccurate calculated magnetic heading angle values, and thus unable to effectively suppress the heading divergence of the IMU.

[0004] Therefore, it is necessary to design a magnetometer for suppressing the continuous divergence of the IMU heading to solve the above problems. Summary of the Utility Model

[0005] The purpose of the utility model is to solve the deficiencies existing in the prior art, and to provide a magnetometer for suppressing the continuous divergence of the IMU heading.

[0006] To achieve the above purpose, the utility model adopts the following technical scheme:

[0007] A magnetometer for suppressing the continuous divergence of the IMU heading, comprising:

[0008] A mounting bracket;

[0009] A magnetometer, detachably mounted on the mounting bracket;

[0010] A fixed seat, fixed on the side of the magnetometer;

[0011] A socket, opened on the fixed seat;

[0012] A plug board, fixed on the mounting bracket;

[0013] A clamping structure, arranged on the mounting bracket.

[0014] As a preferred technical scheme of the utility model, the clamping structure comprises:

[0015] A fixed frame, fixed on the mounting bracket and in a U-shaped structure;

[0016] A clamping block, slidably arranged on the fixed frame, and provided with an inclined surface thereon;

[0017] The side plate is fixed on the fixing frame and is arranged opposite to the clamping block.

[0018] The elastic piece is fixed on the side of the side plate and is arranged opposite to the clamping block.

[0019] As a preferred technical solution of the present invention, a stop block is fixed at one end of the clamping block close to the side plate.

[0020] As a preferred technical solution of the present invention, a push button is installed on the stop block.

[0021] As a preferred technical solution of the present invention, the side surface of the fixing frame is in mutual fit with the side surface of the clamping block.

[0022] As a preferred technical solution of the present invention, the shapes of the socket and the plug board are adapted to each other.

[0023] The present invention has the following beneficial effects:

[0024] 1. By combining the data of the IMU and the magnetometer, especially using the magnetometer as an absolute reference source to correct the heading divergence caused by IMU integration, the accuracy and stability of the heading in long-term navigation are significantly improved. This correction mechanism ensures that even when the heading drifts due to the accumulation of IMU gyroscope integration errors, the system can quickly return to the correct heading. Although the solution itself does not directly solve the problem of magnetic interference, by combining the attitude information of the IMU and the magnetic field information of the magnetometer, the system can still maintain a relatively high heading accuracy when encountering a certain degree of magnetic interference. The real-time attitude tracking of the IMU helps to accurately project the magnetometer readings onto the horizontal plane, reducing the influence of non-horizontal magnetic field components on the heading calculation;

[0025] 2. Through the designed clamping structure, the magnetometer can be quickly and conveniently installed on the mounting frame and can also be quickly disassembled from the mounting frame. This design greatly saves the time and effort of the staff during installation, maintenance, and repair. The installation and disassembly processes are simple and intuitive, and only need to align the socket and the plug board and push the push button to complete, without the need for complex tools or additional operation steps, reducing the operation difficulty. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic structural diagram of a magnetometer for suppressing the continuous divergence of the IMU heading proposed by the present invention;

[0027] Figure 2 It is a schematic structural diagram of a magnetometer for suppressing the continuous divergence of the IMU heading from another perspective proposed by the present invention;

[0028] Figure 3 It is Figure 1 The enlarged view of the structure at A of

[0029] In the figure: 1 mounting bracket, 2 magnetometer, 3 fixing base, 4 socket, 5 plug board, 61 fixing frame, 62 clamping block, 63 side plate, 64 elastic piece, 7 stopper, 8 push button. Specific implementation mode

[0030] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0031] Refer to Figures 1-3 , a magnetometer for suppressing the continuous divergence of the IMU heading, including a mounting bracket 1; a magnetometer 2 detachably mounted on the mounting bracket 1; a fixing base 3 fixed on the side of the magnetometer 2; a socket 4 opened on the fixing base 3; a plug board 5 fixed on the mounting bracket 1, and the socket 4 and the plug board 5 are adapted in shape;

[0032] The magnetometer further includes a clamping structure provided on the mounting bracket 1. The clamping structure includes: a fixing frame 61 fixed on the mounting bracket 1 and having a U-shaped structure; a clamping block 62 slidably disposed on the fixing frame 61, and the side surface of the fixing frame 61 is in mutual fit with the side surface of the clamping block 62. A stopper 7 is fixed at one end of the clamping block 62 close to the side plate 63, and a push button 8 is mounted on the stopper 7 and has an inclined surface thereon; a side plate 63 fixed on the fixing frame 61 and disposed opposite to the clamping block 62; an elastic piece 64 fixed on the side surface of the side plate 63 and disposed opposite to the clamping block 62. The elastic piece 64 has an arc-shaped structure and is made of a metal material to make it elastic.

[0033] The specific working principle of the present invention is as follows:

[0034] The magnetometer 2 proposed by the present invention is used to suppress the continuous divergence of the IMU heading. An inertial measurement unit (IMU) and a magnetometer are integrated in the device, and the two work together to provide more stable and accurate heading information. The IMU measures the angular velocity and acceleration of the device in real time through the internal gyroscope and accelerometer, and the attitude angle of the device, including the pitch angle, roll angle and heading angle, can be calculated through integral operation (although the heading angle directly integrated by the gyroscope is prone to divergence). The magnetometer is responsible for measuring the components of the earth's magnetic field in the device coordinate system, and this information is crucial for determining the direction of the device relative to the earth's magnetic north;

[0035] First, using the attitude angles (mainly pitch and roll angles) calculated by the IMU, the output data of the magnetometer is transformed from the device coordinate system to the geographical coordinate system (i.e., the horizontal plane coordinate system). This transformation process usually involves operations with a direction cosine matrix (DCM) or quaternions, aiming to "project" the magnetometer readings from the coordinate system affected by the device's attitude onto an imaginary horizontal plane parallel to the Earth's magnetic field lines;

[0036] Next, on the horizontal plane, using the projected magnetometer data (mainly the X-axis and Y-axis components), the angle between the current direction of the device and the Earth's magnetic north can be calculated, i.e., the magnetic heading angle value. This calculation process usually involves the application of the arctangent function (atan2), which can determine a unique angle based on the magnetic field components of the X-axis and Y-axis;

[0037] However, due to the accumulation of errors in the gyroscope of the IMU during long-term integration, the heading angle gradually diverges, affecting the accuracy of the entire navigation system. To suppress this divergence phenomenon, the scheme sets an angle accumulation threshold. When the change in the heading angle calculated by the IMU reaches or exceeds this threshold, it is considered that the heading information of the IMU is no longer reliable. At this time, the magnetic heading angle value calculated by the magnetometer is used to correct the heading of the IMU. This correction can be a one-time operation or gradually incorporated into the IMU's heading estimation, depending on the implemented algorithm;

[0038] In this way, the scheme can effectively suppress the continuous divergence of the IMU heading without relying on magnetometer calibration and can also maintain a relatively high accuracy level in the presence of magnetic interference. This is because the magnetometer, as an absolute reference source, can provide heading information that is not affected by time-accumulated errors, while the IMU can provide fast and continuous attitude updates. The two complement each other and jointly improve the performance of the entire navigation system;

[0039] For the magnetometer 2, it is installed on the mounting bracket 1 through a clamping structure. The clamping structure supports the magnetometer 2 to achieve quick disassembly and assembly, which is convenient for the staff to perform maintenance on the magnetometer 2. Specifically, when installing the magnetometer 2, the staff aligns the socket 4 with the plug board 5 and inserts the plug board 5 into the socket 4. During this process, the fixed seat 3 will squeeze the inclined surface part of the block 62, causing the block 62 to move. When the plug board 5 is completely inserted into the socket 4, the top surface of the fixed seat 3 is exactly flush with the top surface of the mounting bracket 1. At this time, the fixed seat 3 no longer blocks the block 62, and the block 62 will reset under the elastic force of the spring 64 and move to directly above the socket 4. At this time, the block 62 plays a limiting role on the fixed seat 3, preventing the fixed seat 3 from falling off the mounting bracket 1 and realizing the quick installation of the magnetometer 2;

[0040] When disassembling the magnetometer 2, the staff member pushes the push button 8. When the push button 8 moves, it can drive the stopper 7 to move, so that the stopper 7 drives the latch 62 to move until the latch 62 no longer blocks the fixing seat 3. Without the restriction of the latch 62, the staff member can directly remove the fixing seat 3 from the mounting bracket 1, realizing the rapid disassembly of the magnetometer 2.

[0041] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution of the present invention and its inventive concept, makes equivalent substitutions or changes, and should be covered within the protection scope of the present invention.

Claims

1. A magnetometer for suppressing continuous divergence of IMU heading, characterized in that: include: Mounting frame (1); A magnetometer (2) detachably mounted on the mounting frame (1); A fixing seat (3) fixed on a side of the magnetometer (2); A socket (4) is provided on the fixing seat (3); An insert plate (5) fixed on the mounting frame (1); A clamping structure is arranged on the mounting frame (1).

2. A magnetometer for suppressing continuous divergence of IMU heading according to claim 1, characterized in that: The clamping structure comprises: A fixing frame (61) fixed on the mounting frame (1) and having a U-shaped structure; A clamping block (62) is slidably disposed on the fixing frame (61) and has an inclined surface disposed thereon; A side plate (63) is fixed on the fixing frame (61) and is arranged facing the clamping block (62); The spring sheet (64) is fixed on the side surface of the side plate (63) and is arranged facing the clamping block (62).

3. A magnetometer for suppressing continuous divergence of IMU heading according to claim 2, characterized in that: A stopper (7) is fixed to one end of the clamping block (62) close to the side plate (63).

4. A magnetometer for suppressing continuous divergence of IMU heading according to claim 3, characterized in that: A push button (8) is mounted on the stopper (7).

5. A magnetometer for suppressing continuous divergence of IMU heading according to claim 2, characterized in that: The side surface of the fixing frame (61) and the side surface of the clamping block (62) are in contact with each other.

6. A magnetometer for suppressing continuous divergence of IMU heading according to claim 1, characterized in that: The socket (4) is adapted to the shape of the plug board (5).

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