Inertial module and small inertial navigation device

Abstract

The utility model relates to an inertia module, which comprises a flange, a second sensitive element circuit board and a plurality of first sensitive element circuit boards, the second sensitive element circuit board and the plurality of first sensitive element circuit boards are arranged on the flange, and each first sensitive element circuit board is connected with the second sensitive element circuit board through a flexible circuit board. According to the utility model, the flexible circuit board is adopted to connect the sensitive element circuit boards, the sensitive elements are the sensitive gyroscope and the sensitive accelerometer, compared with the conventional fly wire connection, the complexity of the platform body structure can be reduced, the higher integration degree is provided, the size of the navigation device is reduced, the assembly is simplified, and the cost is reduced. The production efficiency is improved; according to the inertial navigation device, the X-direction sensitive meter circuit, the Y-direction sensitive meter circuit, the Z-direction sensitive meter circuit, the X-direction sensitive gyroscope circuit, the Y-direction sensitive gyroscope circuit and the Z-direction sensitive gyroscope circuit are ingeniously arranged on the first sensitive element circuit board and the second sensitive element circuit board respectively, so that the size of the circuit boards is greatly reduced, and the miniaturization of the inertial navigation device can be realized.

Description

Technical Field

[0001] The utility model relates to the technical field of inertial navigation, in particular to an inertial module and a small inertial navigation device. Background Art

[0002] An inertial navigation unit (INU) consists of a three-axis gyroscope, a three-axis accelerometer, and a control circuit. It measures the angular velocity and acceleration of an object in space, thereby inferring its posture and position. This unit is crucial in navigation applications. With the advancement of technology, higher requirements are being placed on the integration and miniaturization of INUs.

[0003] In the prior art, the connection between the sensitive gyro circuit board and the sensitive plus meter circuit board of the gyroscope is made by flying wires. The structure of the platform is complex, the degree of integration is not high, the inertial navigation device is relatively large, and the production process and assembly are relatively complicated.

[0004] In addition, in the prior art, the sensitive counter circuit and the sensitive gyroscope circuit are both arranged on a large circuit board, which makes it impossible to achieve miniaturization of the inertial navigation device. Utility Model Content

[0005] The purpose of the present invention is to provide an inertial module and a small inertial navigation device, which can at least solve some of the defects in the prior art.

[0006] To achieve the above objectives, an embodiment of the present invention provides the following technical solution: an inertial module, comprising a flange, and also comprising a first sensitive element circuit board and a second sensitive element circuit board arranged on multiple surfaces of the flange, wherein there are multiple first sensitive element circuit boards, and each of the first sensitive element circuit boards is connected to the second sensitive element circuit board via a flexible circuit board.

[0007] Furthermore, the flange is square, the first sensitive element circuit board is arranged on a side surface of the square flange, and the second sensitive element circuit board is arranged on a top surface of the square flange.

[0008] Furthermore, the second sensitive element circuit board is integrated with a Z-direction sensitive gyro circuit, an X-direction sensitive adding circuit, and a Y-direction sensitive adding circuit.

[0009] Furthermore, each of the first sensitive element circuit boards is provided with a Y-direction sensitive gyro circuit, an X-direction sensitive gyro circuit and a Z-direction sensitive adding circuit.

[0010] Furthermore, it also includes an information processing circuit board installed on the flange, and the information processing circuit board is connected to the second sensitive element circuit board.

[0011] Furthermore, the information processing circuit board is connected to the second sensitive element circuit board via a connector.

[0012] Furthermore, it also includes connecting screws installed on the flange.

[0013] An embodiment of the present utility model provides another technical solution: a small inertial navigation device, comprising a housing and the above-mentioned inertial module, wherein the housing comprises an upper cover having a concave cavity, the upper cover having an opening for the inertial module to be installed in the concave cavity, and the opening is installed with a base plate.

[0014] Furthermore, it also includes a power circuit board with a communication interface, and the inertial module is connected to the power circuit board via a flexible cable.

[0015] Furthermore, a sealing groove is provided on the bottom plate, a sealing strip is provided in the sealing groove, and the upper cover is pressed onto the sealing strip of the sealing groove.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] 1. By using flexible circuit boards to connect the circuit boards of various sensitive components, including sensitive gyroscopes and sensitive accelerometers, compared with the conventional flying wire connection, the complexity of the platform structure can be reduced, a higher degree of integration can be provided, the volume of the inertial navigation device can be reduced, the assembly can be simplified, and the production efficiency can be improved.

[0018] 2. The X-direction sensitive adding circuit, the Y-direction sensitive adding circuit, the Z-direction sensitive adding circuit, the X-direction sensitive gyroscope circuit, the Y-direction sensitive gyroscope circuit, and the Z-direction sensitive gyroscope circuit are cleverly arranged on the first sensitive element circuit board and the second sensitive element circuit board, respectively, which greatly reduces the volume of the circuit board and can achieve miniaturization of the inertial navigation device. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of an inertial module from a first perspective provided by an embodiment of the present utility model;

[0020] Figure 2 A schematic diagram from a second perspective of an inertial module provided by an embodiment of the present utility model;

[0021] Figure 3 An exploded schematic diagram of a small inertial navigation device provided by an embodiment of the present utility model;

[0022] In the accompanying drawings: 1-flange; 2-first sensitive element circuit board; 3-second sensitive element circuit board; 4-flexible circuit board; 5-information processing circuit board; 6-connector; 7-connecting screw; 8-inertial module; 9-upper cover; 10-bottom plate; 11-power circuit board; 12-communication interface; 13-flexible cable. DETAILED DESCRIPTION

[0023] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0024] See also Figure 1 、 Figure 2 and Figure 3 An embodiment of the present invention provides an inertial module, comprising a flange 1. The inertial module further comprises a first sensitive element circuit board 2 and a second sensitive element circuit board 3, disposed on multiple surfaces of the flange 1. Multiple first sensitive element circuit boards 2 are provided, each of which is connected to the second sensitive element circuit board 3 via a flexible circuit board 4. In this embodiment, the first sensitive element circuit board 2 and the second sensitive element circuit board 3 are connected to sensitive elements, namely a sensitive gyroscope and a sensitive accelerometer, which are connected to circuits on the sensitive element circuit boards to achieve communication. Where the sensitive gyroscope and the sensitive accelerometer are installed can be selected as needed. For example, the sensitive gyroscope can be installed on the second sensitive element circuit board 3, and the sensitive accelerometer can be installed on the flange 1. The sensitive element circuit board is divided into multiple pieces and arranged on the flange 1. On the one hand, compared with a single large circuit board in the prior art, multiple circuit boards can reduce the deformation caused by the vibration of the single large circuit board. On the other hand, it is only necessary to design the size of the flange 1. Since each circuit board is arranged on the flange 1, the integration level can be improved and the size of the inertial module 8 can be reduced. In addition, there are multiple first sensitive element circuit boards 2 and only one second sensitive element circuit board 3. In this way, each first sensitive element circuit board 2 can be connected to the second sensitive element circuit board 3 through the flexible circuit board 4. Compared with the conventional flying wire connection, the complexity of the platform structure can be reduced, a higher degree of integration can be provided, the volume of the navigation device can be reduced, and the assembly can be simplified, thereby improving production efficiency.

[0025] As an optimization solution of the embodiment of the utility model, please refer to Figure 1 、 Figure 2 and Figure 3The first sensitive element circuit board 2 is disposed on the side surface of the flange 1, and the second sensitive element circuit board 3 is disposed on the top surface of the flange 1. In this embodiment, when the flange 1 is in a cubic shape, it has a top surface, a bottom surface, and multiple side surfaces. Multiple first sensitive element circuit boards 2 can be disposed on the side surfaces. For example, if three first sensitive element circuit boards 2 are used in this embodiment, then these three first sensitive element circuit boards 2 can be disposed on the three side surfaces of the flange 1, respectively. The second sensitive element circuit board 3 can be disposed on the top surface of the flange 1. This also facilitates electrical connection of the three first sensitive element circuit boards 2 on the side surfaces to the second sensitive element circuit board 3 on the top surface via the flexible circuit board 4.

[0026] As an optimization solution of the embodiment of the utility model, please refer to Figure 1 、 Figure 2 and Figure 3, the second sensitive element circuit board 3 is integrated with a Z-direction sensitive gyroscope circuit, an X-direction sensitive adding circuit and a Y-direction sensitive adding circuit. Preferably, each of the first sensitive element circuit boards 2 is provided with a Y-direction sensitive gyroscope circuit, an X-direction sensitive gyroscope circuit and a Z-direction sensitive adding circuit. In this embodiment, the above-mentioned first sensitive element circuit board 2 and the second sensitive element circuit board 3 are defined as "first" and "second" only for the convenience of description and marking in the figure, and have no other limiting meaning. It can also be said that there are multiple second sensitive element circuit boards 3 and only one first sensitive element circuit board 2. In order to facilitate the connection of multiple sensitive element circuit boards with the remaining sensitive element circuit board, the sensitive element circuit board that is only provided is preferably provided on the top surface of the flange 1, so that it is convenient to connect with the other sensitive element circuit boards on the side of the flange 1 through the flexible circuit board 4. In the prior art, the X-direction sensitive adding circuit, the Y-direction sensitive adding circuit, the Z-direction sensitive adding circuit, the X-direction sensitive gyroscope circuit, the Y-direction sensitive gyroscope circuit, and the Z-direction sensitive gyroscope circuit are all provided on a single large circuit board. This embodiment ingeniously separates these circuits on several sensor circuit boards. When only four sensor circuit boards are used, namely, one second sensor circuit board 3 and three first sensor circuit boards 2, the Z-direction sensitive gyroscope circuit, the X-direction sensitive adding circuit, and the Y-direction sensitive adding circuit can be integrated on the second sensor circuit board 3. The Y-direction sensitive gyroscope circuit, the X-direction sensitive gyroscope circuit, and the Z-direction sensitive adding circuit can then be provided on the remaining three first sensor circuit boards 2. In this manner, when the four sensor circuit boards are electrically connected via the flexible circuit board 4, the X-direction sensitive adding circuit, the Y-direction sensitive adding circuit, the Z-direction sensitive adding circuit, the X-direction sensitive gyroscope circuit, the Y-direction sensitive gyroscope circuit, and the Z-direction sensitive gyroscope circuit are effectively connected together, just as if a single large circuit board were used to implement the functions of a sensitive gyroscope and a sensitive accelerometer. Of course, the second sensitive element can also integrate other circuits, such as a Y-direction sensitive gyro circuit, an X-direction sensitive gyro circuit, and a Z-direction sensitive adding circuit, and is not limited to the Z-direction sensitive gyro circuit, the X-direction sensitive adding circuit, and the Y-direction sensitive adding circuit. The number of integrated circuits is also not limited to three and can be adjusted according to actual needs. Thus far, the above embodiment has refined the installation locations of each circuit, solving the problem of circuit installation location. The following embodiment further refines the communication. Preferably, the second sensitive element circuit board 3 is flat. There are three layout methods for the Z-direction sensitive gyro circuit, the X-direction sensitive adding circuit, and the Y-direction sensitive adding circuit. The first method is to have two of these circuits on the upper surface of the second sensitive element circuit board 3 and another circuit on the lower surface. The second method is to have one of these circuits on the upper surface of the second sensitive element circuit board 3 and the other two circuits on the lower surface. The third method is to have all three circuits located on either the upper or lower surface. The third method is the largest in size. If device miniaturization is a concern, the first and second methods can be used.

[0027] As an optimization solution of the embodiment of the utility model, please refer to Figure 1 、 Figure 2 and Figure 3 The inertial module 8 also includes an information processing circuit board 5 mounted on the flange 1. This information processing circuit board 5 is connected to the second sensor circuit board 3. In this embodiment, after the sensor circuit board is installed, the second sensor circuit board 3 can be connected to the information processing circuit board 5 to achieve communication. The information processing circuit on the information processing circuit board 5 is an existing circuit and is used for information processing of the sensor. Preferably, the information processing circuit board 5 is fixed to the bottom of the flange 1 via fasteners and communicates with the second sensor circuit board 3 on the upper side of the flange 1 via a connector 6.

[0028] As an optimization solution of the embodiment of the utility model, please refer to Figure 1 、 Figure 2 and Figure 3 The inertial module 8 further comprises connecting screws 7 mounted on the flange 1. In this embodiment, by installing the connecting screws 7 on the flange 1, the inertial module 8 can be conveniently connected to an external structure.

[0029] See also Figure 1 、 Figure 2 and Figure 3 The embodiment of the present utility model provides a small inertial navigation device, including a shell and the above-mentioned inertial module 8. The shell includes an upper cover 9 with a concave cavity, and the upper cover 9 has an opening for the inertial module 8 to be installed in the concave cavity, and the opening is installed with a base plate 10. In this embodiment, the above-mentioned inertial module 8 is installed in the shell to be used as a small inertial navigation device. The use of a shell can protect the sensitive components from damage. The small inertial navigation device using the above-mentioned inertial module 8 uses a flexible circuit board 4 to connect the circuit boards of each sensitive component, wherein the sensitive components are sensitive gyroscopes and sensitive accelerometers. Compared with the conventional flying wire connection, it can reduce the complexity of the platform structure, provide a higher degree of integration, reduce the volume of the navigation device, simplify assembly, and improve production efficiency. The above-mentioned inertial module 8 is fixed to the base plate 10 by screws 7.

[0030] As an optimization solution of the embodiment of the utility model, please refer to Figure 1 、 Figure 2 and Figure 3, the device also includes a power circuit board 11 having a communication interface 12, and the inertial module 8 is connected to the power circuit board 11 via a flexible flat cable 13. In this embodiment, the communication interface 12 can be fixed to the power circuit by welding to form a whole, thereby improving the overall connectivity, and a small opening is provided on the shell for exposing the communication interface 12. The power circuit board 11 can be fixed to the base plate 10 by fasteners. The information processing circuit board 5 of the inertial module 8 is connected and communicated with the power circuit board 11 via a flexible flat cable 13. The power circuit board 11 is used for communication and power supply. The use of a flexible flat cable 13 for connection and communication can effectively avoid affecting the vibration reduction effect.

[0031] As an optimization solution of the embodiment of the utility model, please refer to Figure 1 、 Figure 2 and Figure 3 The bottom plate 10 is provided with a sealing groove, in which a sealing strip is provided, and the upper cover 9 is pressed against the sealing strip of the sealing groove. In this embodiment, a corresponding sealing groove is designed on the bottom plate 10. By adding a sealing strip in the sealing groove, the airtightness of the entire structure can be effectively enhanced.

[0032] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An inertial module, comprising a flange, characterized in that: It also includes a second sensitive element circuit board and a plurality of first sensitive element circuit boards arranged on the flange, and each of the first sensitive element circuit boards is connected to the second sensitive element circuit board through a flexible circuit board.

2. The inertial module according to claim 1, wherein: The flange includes a top surface, a bottom surface, and a plurality of side surfaces. The first sensitive element circuit board is arranged on the side surfaces of the flange, and the second sensitive element circuit board is arranged on the top surface of the flange.

3. The inertial module according to claim 1, wherein: The second sensitive element circuit board is integrated with a Z-direction sensitive gyro circuit, an X-direction sensitive adding circuit, and a Y-direction sensitive adding circuit.

4. The inertial module according to claim 1, wherein: Each of the first sensitive element circuit boards is provided with a Y-direction sensitive gyro circuit, an X-direction sensitive gyro circuit and a Z-direction sensitive adding circuit.

5. The inertial module according to claim 2, wherein: It also includes an information processing circuit board installed on the bottom of the flange, and the information processing circuit board is connected to the second sensitive element circuit board.

6. The inertial module according to claim 5, wherein: The information processing circuit board is connected to the second sensitive element circuit board via a connector.

7. The inertial module according to claim 1, wherein: Also included are connecting screws mounted on the flange.

8. A small inertial navigation device, comprising a housing, characterized in that: The inertial module according to any one of claims 1 to 7 is further included, wherein the housing includes an upper cover having a concave cavity, the upper cover has an opening for the inertial module to be installed in the concave cavity, and a bottom plate is installed in the opening.

9. The small inertial navigation device according to claim 8, wherein: It also includes a power circuit board with a communication interface, and the inertial module is connected to the power circuit board via a flexible cable.

10. The small inertial navigation device according to claim 8, wherein: A sealing groove is provided on the bottom plate, a sealing strip is provided in the sealing groove, and the upper cover is pressed onto the sealing strip of the sealing groove.

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