Miniaturized optical fiber inertial Beidou satellite integrated navigation equipment

Abstract

The utility model discloses a miniaturized optical fiber inertial Beidou satellite integrated navigation device, which relates to the technical field of navigation and comprises a shell, a plurality of sensing devices and a plurality of processing modules. According to the technical scheme of the utility model, the plurality of sensing devices are respectively embedded in the structural base, the plurality of processing modules are respectively connected to different side surfaces of the structural base and cover the sensing devices, and the space of the structural base is reasonably utilized by means of stacked arrangement in a small module and small part manner through distributed module design; the distribution design of the multiple processing modules and the multiple sensing devices is rationalized, the size of the equipment is greatly reduced, the length of the equipment in the specific direction is reduced, adaptive installation between the equipment and other equipment is facilitated, and the adaptive installation range of the equipment is expanded.

Description

Technical Field

[0001] The utility model relates to the technical field of navigation, and particularly relates to a miniaturized fiber optic inertial Beidou satellite integrated navigation device. Background Art

[0002] Unmanned aerial vehicles, optoelectronic payloads, etc. require inertial navigation devices to provide them with real-time / non-real-time measurement data of high-precision position, speed and attitude, so as to meet the requirements of navigation and positioning, surveying and mapping, reconnaissance, and attitude positioning and motion compensation of meteorological payloads.

[0003] In the related art, for the fiber optic inertial integrated navigation device applied to unmanned aerial vehicles and optoelectronic payloads, due to functional requirements, there are multiple modules in different usage directions, which leads to the problems of large volume and large occupied space of the device. Especially in the height direction, the installation space requirements are high, which is not conducive to the miniaturization of the device. Summary of the Utility Model

[0004] The main object of the utility model is to propose a miniaturized fiber optic inertial Beidou satellite integrated navigation device, aiming to reduce the volume of the device and expand the applicable range of the device by adjusting the design of the internal modules of the device.

[0005] To achieve the above object, the miniaturized fiber optic inertial Beidou satellite integrated navigation device proposed by the utility model includes:

[0006] A housing, in which a structural base is provided;

[0007] A plurality of sensing devices, which are respectively embedded on different sides of the structural base;

[0008] A plurality of processing modules, which are respectively arranged on different sides of the structural base and cover the sensing devices;

[0009] Wherein, the housing wraps the structural base.

[0010] In an embodiment, the structural base is a polyhedron hollow structure.

[0011] In an embodiment, a plurality of accommodation grooves are provided on the structural base, and the plurality of accommodation grooves are distributed on different sides of the structural base. The plurality of sensing devices are respectively embedded in different accommodation grooves.

[0012] In an embodiment, the sensing device includes three fiber optic rings, and the three fiber optic rings are respectively arranged on different sides of the structural base, and the three sides of the structural base provided with the fiber optic rings are mutually orthogonal.

[0013] In one embodiment, the sensing device further includes three acceleration sensors, which are respectively arranged on different sides of the structural base, and the sides of the structural base where the acceleration sensors are arranged are orthogonally arranged with each other.

[0014] In one embodiment, the side of the structural base where the optical fiber loop is arranged is not coplanar with the side of the structural base where the acceleration sensor is arranged.

[0015] In one embodiment, a plurality of the processing modules are stacked and arranged on one side of the structural base, and on-board micro-connectors are arranged on all of the plurality of processing modules, and the plurality of on-board micro-connectors are connected to each other.

[0016] In one embodiment, a power supply module is arranged on the bottom surface of the structural base, and the power supply module is electrically connected to the plurality of processing modules.

[0017] In one embodiment, the processing module includes an optical path module arranged on the top surface of the structural base, and the optical path module is far from the power supply module.

[0018] In one embodiment, a radio frequency interface and a power supply interface are arranged on the side surface of the housing, the radio frequency interface is electrically connected to the processing module, and the power supply interface is electrically connected to the power supply module.

[0019] The technical solution of the present utility model embeds a plurality of sensing devices in the structural base respectively, and a plurality of processing modules are respectively connected to different sides of the structural base and cover the sensing devices. Through the distributed module design, they are stacked in the form of small modules and small components, rationally utilizing the space of the structural base, rationalizing the distribution design of the plurality of processing modules and the plurality of sensing devices, greatly reducing the volume of the device, reducing the length of the device in a specific direction, being beneficial to the adaptation and installation between the device and other devices, and expanding the adaptation and installation range of the device. Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0021] Figure 1 It is a schematic structural diagram of an embodiment of a miniaturized fiber optic inertial Beidou satellite integrated navigation device provided by the present utility model;

[0022] Figure 2A schematic structural diagram of another embodiment of the miniaturized optical fiber inertial Beidou satellite integrated navigation device provided by the utility model;

[0023] Figure 3 A schematic structural diagram of another embodiment of the miniaturized optical fiber inertial Beidou satellite integrated navigation device provided by the utility model;

[0024] Figure 4 This is a structural schematic diagram of another embodiment of the miniaturized fiber-optic inertial Beidou satellite integrated navigation device provided by the utility model.

[0025] Description of Figure Numbers:

[0026] 100. Miniaturized fiber-optic inertial Beidou satellite integrated navigation device; 10. Shell; 11. Upper shell cover; 12. Bottom plate; 13. Structural base; 20. Processing module; 21. Optical path module; 22. Navigation receiving module; 23. Navigation solution module; 24. Data conversion module; 25. Data storage module; 26. Accelerometer signal processing module; 27. Three-in-one light source module; 30. Sensing device; 31. Optical fiber ring; 32. Acceleration sensing component; 60. Power supply module.

[0027] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0029] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0030] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present utility model, such descriptions of "first", "second", etc. are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel scenarios. Taking "A and / or B" as an example, it includes scenario A, or scenario B, or the scenario where both A and B are satisfied simultaneously. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0031] The present utility model provides a miniaturized fiber optic inertial Beidou satellite integrated navigation device.

[0032] Please refer to Figure 1 , in an embodiment of the present utility model, the miniaturized fiber optic inertial Beidou satellite integrated navigation device includes:

[0033] A housing 10, in which a structural base 13 is provided;

[0034] A plurality of sensing devices 30, and the plurality of sensing devices 30 are respectively embedded in different sides of the structural base 13;

[0035] A plurality of processing modules 20, and the plurality of processing modules 20 are respectively arranged on different sides of the structural base 13 and cover the sensing devices 30;

[0036] Among them, the housing 10 encloses the structural base 13.

[0037] In an embodiment, the structural base 13 is a polyhedron hollow structure.

[0038] As Figure 1 shown, the housing 10 includes an upper shell cover 11 and a bottom plate 12. The upper shell cover 11 is a housing structure with an open bottom surface, and the bottom plate 12 is connected to the bottom surface of the upper shell cover 11 to seal the opening of the upper shell cover 11.

[0039] It should be noted that the structural base 13 is arranged inside the upper shell cover 11, and the bottom plate 12 is arranged on the bottom surface of the structural base 13.

[0040] In order to improve the heat dissipation efficiency of the device, heat dissipation grids are provided inside the side surface of the upper shell cover 11.

[0041] The technical solution of the present utility model embeds multiple said sensing devices 30 in the structure base 13 respectively, and connects multiple said processing modules 20 to different sides of the structure base 13 respectively, and covers the sensing devices 30. Through the distributed module design, in the way of small modules and small components, they are stacked and arranged, rationally utilizing the space of the structure base 13, rationalizing the distribution design of multiple said processing modules and multiple said sensing devices 30, greatly reducing the volume of the device, reducing the length of the device in a specific direction, being beneficial to the adaptive installation between the device and other devices, and expanding the adaptive installation range of the device.

[0042] In an embodiment, the structure base 13 is a polyhedron hollow structure.

[0043] In order to facilitate the embedded installation of multiple said sensing devices 30, the structure base 13 is set as a polyhedron hollow structure, so that multiple said sensing devices 30 are respectively embedded in different sides of the structure base 13. By reasonably distributing multiple said sensing devices 30, the way of stacking and installing multiple said sensing devices 30 is avoided, which may lead to an increase in the volume of the device.

[0044] It can be understood that by embedding multiple said sensing devices 30 in the structure base 13 of the polyhedron hollow structure, the reasonable distribution of multiple said sensing devices 30 is realized, the increase in the volume of the device is avoided, and it is convenient to respectively arrange multiple said processing modules 20 on different sides of the structure base 13. By stacking with multiple said sensing devices 30, the space of the structure base 13 is rationally utilized, and the volume of the device is reduced.

[0045] In an embodiment, multiple receiving grooves are provided on the structure base 13, and multiple said receiving grooves are distributed on different sides of the structure base 13, and multiple said sensing devices 30 are respectively embedded in different said receiving grooves.

[0046] As Figure 1 shown, the receiving groove is used to receive the sensing device 30, so that the sensing device 30 can be hidden in the structure base 13, avoiding the exposed sensing device 30 from increasing the volume of the device.

[0047] It can be understood that multiple said receiving grooves are distributed on different sides of the structure base 13, which is convenient to disperse multiple said sensing devices 30 on different sides of the structure base 13, avoiding the mutual interference between multiple said sensing devices 30, effectively utilizing the space of the structure base 13, and improving the space utilization rate.

[0048] In one embodiment, the sensing device 30 includes three optical fiber loops 31, and the three optical fiber loops 31 are respectively disposed on different sides of the structural base 13, and the three sides of the structural base 13 provided with the optical fiber loops 31 are orthogonally arranged with each other.

[0049] In one embodiment, the sensing device 30 further includes three acceleration sensors 32, and the three acceleration sensors 32 are respectively disposed on different sides of the structural base 13, and the sides of the structural base 13 provided with the acceleration sensors 32 are orthogonally arranged with each other.

[0050] It should be noted that in this embodiment, the structural base 13 is a hexahedron hollow structure, and the three optical fiber loops 31 and the three acceleration sensors 32 are respectively disposed on different sides of the structural base 13, and the sides of the structural base 13 provided with the acceleration sensors 32 are orthogonally arranged with each other, and the three sides of the structural base 13 provided with the optical fiber loops 31 are orthogonally arranged with each other.

[0051] It can be understood that the sides of the structural base 13 provided with the acceleration sensors 32 are orthogonally arranged with each other to facilitate measuring the acceleration data in three mutually orthogonal directions of the device, and the three sides of the structural base 13 provided with the optical fiber loops 31 are orthogonally arranged with each other to facilitate collecting the optical signals in three mutually orthogonal directions.

[0052] In one embodiment, the side of the structural base 13 provided with the optical fiber loop 31 and the side of the structural base 13 provided with the acceleration sensor 32 are not coplanar.

[0053] It can be understood that the three optical fiber loops 31 and the three acceleration sensors 32 are respectively disposed on different sides of the structural base 13, avoiding the mutual influence between the three optical fiber loops 31 and the three acceleration sensors 32, and reasonably utilizing the space of the structural base 13, which is beneficial to controlling the volume of the device.

[0054] In one embodiment, a plurality of the processing modules 20 are stacked on one side of the structural base 13, and on-board micro-connectors are provided on the plurality of processing modules 20, and the on-board micro-connectors are connected to each other.

[0055] As Figure 1 shown, the plurality of processing modules 20 are distributed on different sides of the structural base 13 and are stacked with different sensing devices 30, reasonably utilizing the space of the structural base 13 and improving the space utilization rate of the structural base 13.

[0056] It can be understood that the processing module 20 includes a triple-in-one light source module 27, an accelerometer signal processing module 26, a navigation receiving module 22, a navigation solution module 23, a data storage module 25, and a data conversion module 24. The triple-in-one light source module 27 is connected to the side surface of the structural base 13, and the sensing device 30 passes through the triple-in-one light source module 27. The accelerometer signal processing module 26 is connected to the side surface of the triple-in-one light source module 27 facing away from the structural base 13 and is stacked with the triple-in-one light source module 27. The navigation structure module 22 and the navigation solution module 23 are respectively connected to adjacent side surfaces of the structural base 13. The data storage module 25 and the data conversion module 24 are stacked and arranged on the same side surface of the structural base 13.

[0057] It should be noted that the triple-in-one light source module 27, the accelerometer signal processing module 26, the navigation receiving module 22, the navigation solution module 23, the data storage module 25, and the data conversion module 24 are respectively connected to different vertical side surfaces of the structural base 13.

[0058] It should be noted that on-board micro connectors are provided on the triple-in-one light source module 27, the accelerometer signal processing module 26, the navigation receiving module 22, the navigation solution module 23, the data storage module 25, and the data conversion module 24. Signals are transmitted between multiple processing modules 20 through the on-board micro connectors.

[0059] It can be understood that by installing multiple processing modules 20 in a dispersed and assembled manner on different side surfaces of the structural base 13, and connecting signals between multiple processing modules 20 through on-board micro connectors, it not only ensures the normal operation between multiple processing modules 20, but also reasonably utilizes the space of the structural base 13, which is beneficial to the body of the smaller device. Moreover, arranging multiple processing modules 20 in a decentralized manner is beneficial to avoiding heat source accumulation and affecting heat dissipation.

[0060] In an embodiment, a power supply module 60 is provided on the bottom surface of the structural base 13, and the power supply module is electrically connected to multiple processing modules 20.

[0061] As Figure 1 shown, the power supply module 60 is connected to the bottom surface of the structural base 13, and the ground power module 60 passes through the bottom plate 12.

[0062] It can be understood that when connecting the device to other devices, the bottom plate 12 is connected to other devices, and the power supply module 60 is connected to the bottom plate 12, so as to better conduct heat to external structural members and achieve the purpose of rapid heat dissipation.

[0063] In one embodiment, the processing module 20 includes an optical path module 21 disposed on the top surface of the structural base 13, and the optical path module 21 is away from the power module 60.

[0064] In one embodiment, a radio frequency interface and a power interface are provided on the side surface of the housing 10. The radio frequency interface is electrically connected to the processing module 20, and the power interface is electrically connected to the power module 60.

[0065] It can be understood that the optical path module 21 is disposed away from the power module 60 to prevent the high temperature generated by the operation of the power module 60 from affecting the operation of the optical path module 21.

[0066] It should be noted that the optical path module 21 is a main control module of the fiber optic gyroscope. The main control module of the fiber optic gyroscope is connected to the three fiber optic loops 31 and is used to collect the signals of the three fiber optic loops 31 for closed-loop control.

[0067] It should be noted that the accelerometer signal processing module 26 is used to collect the accelerometer signals of the three acceleration sensors 32, convert them into digital quantity information, and calibrate and compensate the main control module of the fiber optic gyroscope. On the one hand, the accelerometer signal processing module 26 outputs angular rate and acceleration information signals of 200 Hz, and through signal transmission between the on-board micro connectors, transmits them to the navigation solution module 23 for inertial navigation processing; on the other hand, it outputs angular rate and acceleration information signals of 4000 Hz and transmits them to the external power interface for high-frequency control.

[0068] It should be noted that the navigation receiving module 22 uses a multi-system multi-frequency high-precision positioning and orientation module, which can simultaneously track BDS B1I / B2I + GPS L1 / L2, supports full-system multi-frequency point RTK positioning and orientation, and outputs raw observation information and precise time pulses. According to needs, it can be extended to a dual-antenna mode to avoid the situation of only being able to externally connect GNSS signals, and through the tight combination algorithm of Beidou satellite signals with acceleration and gyro signals, improve the real-time performance and navigation accuracy of the system.

[0069] It can be understood that by providing the navigation structure module 22 on the side surface of the structural base 13, the navigation receiving module 22 can be added without increasing the size, and satellite signals such as Beidou and GPS can be directly received, without the need for external forwarding of satellite navigation information, reducing transmission delay and improving system accuracy.

[0070] It can be understood that by adding the data storage module 25, the original information of the sensor, navigation information, and various external information can be stored in real time, enabling continuous long-term cyclic storage; and the flight parameters and status information of the payload can be recorded in real time.

[0071] The above is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structural transformation made under the technical concept of the present invention by using the content of the specification and drawings of the present invention, or any direct / indirect application in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A miniaturized fiber-optic inertial Beidou satellite integrated navigation device, characterized in that: include: A housing, wherein a structural base is provided in the housing; A plurality of sensing devices, wherein the plurality of sensing devices are respectively embedded in different sides of the structural base; A plurality of processing modules, wherein the plurality of processing modules are respectively arranged on different sides of the structural base and cover the sensing device; Wherein, the shell wraps the structural base.

2. The miniaturized fiber-optic inertial Beidou satellite integrated navigation device according to claim 1, characterized in that: The structural base is a polyhedral hollow structure.

3. The miniaturized fiber-optic inertial Beidou satellite integrated navigation device according to claim 1, characterized in that: The structural base is provided with a plurality of accommodating grooves, and the plurality of accommodating grooves are distributed on different sides of the structural base, and the plurality of sensing devices are respectively embedded in different accommodating grooves.

4. The miniaturized fiber-optic inertial Beidou satellite integrated navigation device as claimed in claim 2, characterized in that: The induction device includes three optical fiber rings, which are respectively arranged on different sides of the structural base, and the three sides of the structural base on which the optical fiber rings are arranged are orthogonal to each other.

5. The miniaturized fiber-optic inertial Beidou satellite integrated navigation device as claimed in claim 4, characterized in that: The sensing device further comprises three acceleration sensing elements, which are respectively arranged on different sides of the structural base, and the sides of the structural base on which the acceleration sensing elements are arranged are orthogonal to each other.

6. The miniaturized fiber-optic inertial Beidou satellite integrated navigation device as claimed in claim 5, characterized in that: The side surface of the structural base on which the optical fiber ring is disposed is not coplanar with the side surface of the structural base on which the acceleration sensing element is disposed.

7. The miniaturized fiber-optic inertial Beidou satellite integrated navigation device as claimed in claim 2, characterized in that: A plurality of the processing modules are stacked on one side of the structural base, and each of the plurality of processing modules is provided with an onboard micro connector, and the plurality of onboard micro connectors are interconnected.

8. The miniaturized fiber-optic inertial Beidou satellite integrated navigation device as claimed in claim 7, characterized in that: A power module is provided on the bottom surface of the structural base, and the power module is electrically connected to the plurality of processing modules.

9. The miniaturized fiber-optic inertial Beidou satellite integrated navigation device as claimed in claim 8, characterized in that: The processing module comprises an optical path module arranged on the top surface of the structural base, and the optical path module is far away from the power supply module.

10. The miniaturized fiber-optic inertial Beidou satellite integrated navigation device according to claim 8, characterized in that: A radio frequency interface and a power supply interface are provided on the side of the shell. The radio frequency interface is electrically connected to each of the processing modules, and the power supply interface is electrically connected to the power supply module.

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