Attitude and heading equipment based on MEMS

Abstract

The utility model provides a navigation attitude device based on MEMS, relates to the technical field of navigation equipment, and is provided with a bottom plate for fixing and supporting other components. The bottom plate comprises a first installation area, a second installation area and a third installation area and provides installation positions for all the modules. The second mounting area is arranged in the notch of the first mounting area, so that the layout reasonability of the mounting modules on the bottom plate is improved, and the space utilization rate of the bottom plate is increased. The IMU module is detachably fixed to the bottom plate, the IMU module can be flexibly replaced according to requirements, the flexible adaptability of the heading and attitude equipment is improved, the interface adapter plate is installed in the third installation area, the heading and attitude equipment can be conveniently connected with other equipment, additional cables do not need to be arranged, and cleanliness of internal connecting wires is guaranteed. Therefore, the device has the advantages of being flexible in structure, high in adaptability and neat in internal wire connection.

Description

Technical Field

[0001] The present application relates to the technical field of navigation equipment, and in particular, provides a MEMS-based heading and attitude equipment. Background Art

[0002] With the rapid development of modern science and technology, intelligent technologies such as intelligent robots, drones, autonomous vehicles, and the Internet of Things (IoT) have become a hot topic in scientific research and social life. In these fields, precise navigation and positioning of moving objects is a crucial support for the development of intelligent technologies. Traditional navigation and positioning methods, such as satellite positioning, radio, radar, ultrasound, vision, and radio frequency, while widely used, suffer from limited application scenarios, susceptibility to external interference, poor reliability, and an inability to provide fast and complete navigation information. Therefore, inertial navigation systems, as autonomous navigation systems that do not rely on external information or radiate energy, have gained widespread application in high-precision weaponry, aerospace, navigation, and other civilian applications due to their complete autonomy, lack of environmental requirements, immunity to interference, large amounts of information output, and strong real-time output.

[0003] However, traditional inertial navigation systems are primarily used on high-value platforms due to their high price, bulk, and high operational requirements. With the development of micro-electromechanical systems (MEMS) technology, new MEMS inertial devices have emerged and are gradually becoming mature, making it possible to replace medium- and low-precision platform-based inertial navigation systems with low-cost MEMS inertial devices.

[0004] However, existing MEMS attitude and navigation devices usually use fixed IMU modules, which are fixed on the core board. Different hardware core boards need to be designed for IMUs with different performance, which makes it difficult to flexibly adapt to customer needs. In addition, too much hardware integrated on the core board is not conducive to the neatness of the internal connections of the MEMS attitude and navigation device.

[0005] In view of the above problems, existing equipment is in urgent need of improvement. Utility Model Content

[0006] The purpose of this application is to provide a MEMS-based heading and attitude device with the advantages of flexible structure, strong adaptability and neat internal wiring.

[0007] In the first aspect, the present application provides a MEMS-based attitude and heading device, the technical solution of which is as follows:

[0008] A MEMS-based attitude and heading device includes: a base plate, a core board mounted on the base plate, an IMU module, and an interface adapter board;

[0009] The base plate includes a first mounting area, a second mounting area and a third mounting area;

[0010] The first installation area is provided with a notch toward any side of the bottom plate, the second installation area is arranged in the notch of the first installation area, the first installation area covers the third installation area, and the third installation area (13) is arranged at the side edge of the first installation area (11);

[0011] The first installation area is used to install the core board, the second installation area is used to install the IMU module; the third installation area is used to install the interface adapter board;

[0012] The IMU module is detachably fixed to the base plate.

[0013] The present application proposes a MEMS-based attitude and navigation device, which is used to fix and support other components by setting a base plate. The base plate includes a first installation area, a second installation area and a third installation area, which provide installation positions for each module. By setting the second installation area in the gap of the first installation area, it is beneficial to improve the rationality of the layout of each installation module on the base plate and improve the space utilization rate of the base plate. By fixing the IMU module detachably on the base plate, the IMU module can be flexibly replaced according to needs, thereby improving the flexibility and adaptability of the attitude and navigation device. By installing an interface adapter plate in the third installation area, the attitude and navigation device can be easily connected to other devices without setting additional cables, thereby ensuring the neatness of the internal wiring. Therefore, the present application has the advantages of flexible structure, strong adaptability and neat internal wiring.

[0014] Furthermore, the core board includes a plurality of mounting sub-areas, which are respectively used to mount an accelerometer, a barometer, a magnetometer and a dual-core processor.

[0015] The present application proposes a MEMS-based attitude and navigation device, which can realize the integration of multiple sensors by setting up multiple installation sub-areas on the core board, which are used to install different sensors and processors respectively, thereby improving the functionality and adaptability of the attitude and navigation device.

[0016] Furthermore, the dual-core processor is electrically connected to the IMU module to transmit information to each other.

[0017] The MEMS-based attitude and heading device proposed in this application electrically connects a dual-core processor and an IMU module to achieve mutual information transmission between the two, thereby solving the problem of poor information transmission.

[0018] Furthermore, the base plate is also provided with a fourth installation area, the first installation area also covers the fourth installation area, the fourth installation area is located at the side edge opposite to the third installation area, and the fourth installation area is used to install the base plate interface.

[0019] This application proposes a MEMS-based attitude and heading device that effectively expands its functionality and applicability by providing a fourth mounting area on the baseplate for mounting baseplate interfaces. The fourth mounting area's location cleverly utilizes baseplate space without interfering with the installation of other components, while providing additional interface options.

[0020] Furthermore, the baseboard interface is electrically connected to at least the dual-core processor on the core board for mutually transmitting information.

[0021] Furthermore, the baseboard interface includes at least power supply, RS232, SPI and UART interfaces. The power supply interface is used to connect a power supply to power the dual-core processor, and the RS232, SPI and UART interfaces are used to connect different data receiving devices to improve the communication flexibility of the attitude and navigation equipment.

[0022] Furthermore, the baseboard interface also includes an interface reserved for expansion IO, and the interface reserved for expansion IO is used to connect an expansion IMU to improve the flexibility of the heading and attitude device to adapt to different needs.

[0023] Furthermore, the extended IMU is electrically connected to the dual-core processor through an interface adapter board to transmit information to each other.

[0024] Furthermore, the power supply interface is used to connect to a power supply with a wide voltage range of 9-24V.

[0025] Furthermore, the interface adapter board is a rigid-flexible adapter board.

[0026] Beneficial effects: A MEMS-based attitude and navigation device provided in the present application is used to fix and support other components by setting a base plate. The base plate includes a first installation area, a second installation area and a third installation area, which provide installation positions for each module. By setting the second installation area in the gap of the first installation area, it is beneficial to improve the rationality of the layout of each installation module on the base plate and improve the space utilization rate of the base plate. By fixing the IMU module detachably on the base plate, the IMU module can be flexibly replaced according to needs, thereby improving the flexibility and adaptability of the attitude and navigation device. By installing an interface adapter plate in the third installation area, the attitude and navigation device can be easily connected to other devices without setting additional cables, thereby ensuring the neatness of the internal connections. Therefore, the present application has the advantages of flexible structure, strong adaptability and neat internal connections. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a structural diagram of a MEMS-based heading and attitude device provided in this application.

[0028] Figure 2This is a structural diagram of the base plate of a MEMS-based attitude and heading device provided in this application.

[0029] Figure 3 This is a block diagram of the overall structure of a MEMS-based heading and attitude device provided in this application.

[0030] In the figure: 1. Baseboard; 2. Core board; 3. IMU module; 21. Accelerometer; 22. Magnetometer; 23. Barometer; 24. Dual-core processor; 11. First installation area; 12. Second installation area; 13. Third installation area; 14. Fourth installation area; 4. Interface adapter board; 5. Baseboard interface. DETAILED DESCRIPTION

[0031] The technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all of the embodiments. The components of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application for which protection is claimed, but merely represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of this application.

[0032] It should be noted that similar reference numerals and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined or explained in subsequent figures. At the same time, in the description of this application, the terms "first" and "second" are used only to distinguish the description and should not be understood as indicating or implying relative importance.

[0033] Currently, existing MEMS attitude and navigation devices typically use fixed IMU modules, which are fixed to the core board. Different hardware core boards need to be designed for different IMU performances, making it difficult to flexibly adapt to customer needs. Furthermore, the excessive hardware integrated on the core board is not conducive to the neatness of the internal connections of the MEMS attitude and navigation device. To address this problem, this application proposes a MEMS-based attitude and navigation device.

[0034] Please refer to Figures 1 to 3 , including: a base plate 1, a core board 2, an IMU module 3, and an interface adapter board 4 installed on the base plate 1;

[0035] The base plate 1 includes a first mounting area 11, a second mounting area 12 and a third mounting area 13;

[0036] The first mounting area 11 is provided with a notch toward any side of the base plate 1 , the second mounting area 12 is arranged in the notch of the first mounting area 11 , the first mounting area 11 covers the third mounting area 13 , and the third mounting area 13 is arranged at the side edge of the first mounting area 11 ;

[0037] The first installation area 11 is used to install the core board 2, and the second installation area 12 is used to install the IMU module 3; the third installation area 13 is set on one side of the first installation area 11 and is used to install the interface adapter board 4;

[0038] The IMU module 3 is detachably fixed on the base plate 1 .

[0039] The base plate 1 is the main structural component that provides the installation foundation for the attitude and heading equipment. The first installation area 11, the second installation area 12, and the third installation area 13 are three different functional areas reserved on the base plate 1 for installing key components such as the core board 2, the IMU module 3, and the interface adapter board 4. In addition, the detachable IMU module 3 design allows it to be replaced and upgraded independently of the core board 2, improving the flexibility and adaptability of the equipment.

[0040] Specifically, the base plate 1 of the present application is provided with a first installation area 11 for installing a core board 2. The core board 2 serves as the central control unit of the device and integrates functional modules such as processors and sensors. The second installation area 12 is provided in the gap of the first installation area 11 for installing a detachable IMU module 3. The third installation area 13 is located on one side of the first installation area 11 and is used to install an interface adapter board 4 to realize communication connection between the device and the external system. This layout design not only ensures the installation position of each component, but also ensures the neatness of the internal connection.

[0041] In some specific embodiments, the first installation area 11 occupies most of the space of the base plate 1 to accommodate the larger core board 2. The first installation area 11 covers the third installation area 13.

[0042] The second mounting area 12 is located in the gap of the first mounting area 11, and the IMU module 3 can be fixed in this area by means of bolts or other means. The third mounting area 13 is set at the edge on the other side of the first mounting area 11, and the interface adapter board 4 can be installed in this area. The upper and lower ends of the interface adapter board 4 are respectively inserted into the core board 2 and the base plate 1, and fixed between the core board 2 and the base plate 1. Through this layout design, the various key components are rationally arranged on the base plate 1, ensuring both space utilization and neat and orderly internal wiring.

[0043] Furthermore, the core board 2 includes a plurality of mounting sub-areas, which are used to mount the accelerometer 21 , the barometer 23 , the magnetometer 22 and the dual-core processor 24 , respectively.

[0044] The accelerometer 21 measures the device's acceleration, the barometer 23 measures atmospheric pressure changes, and the magnetometer 22 measures the Earth's magnetic field. The dual-core processor 24 handles data processing and system control. This multifunctional, integrated design enables the attitude and heading device to adapt to a wider range of application scenarios and provide more comprehensive data support.

[0045] In a specific implementation, core board 2 can employ a multi-layer PCB design, with each mounting sub-area located at a different level or region. For example, accelerometer 21 can be mounted in the center of core board 2 for the most accurate acceleration measurement; barometer 23 can be mounted near the edge for easy access to the outside air; magnetometer 22 needs to be positioned away from other electronic components to reduce electromagnetic interference; and dual-core processor 24 can be mounted on one side of core board 2, near the power and data ports. This layout effectively reduces interference between components and improves measurement accuracy.

[0046] Furthermore, each installation sub-area can be connected via a high-speed data bus to ensure real-time and reliable data transmission. The dual-core processor 24 can adopt a master-slave architecture, with one core responsible for data acquisition and preprocessing, and the other core responsible for complex algorithm calculations and external communications, thereby improving the overall performance and response speed of the system.

[0047] As a preferred embodiment, the accelerometer 21 can be a three-axis MEMS acceleration sensor; the barometer 23 can be a high-precision MEMS pressure sensor with a resolution of up to 0.1 Pa; the magnetometer 22 can be a three-axis magnetoresistive sensor; and the dual-core processor 24 can be an ARM Cortex-M4+M0 architecture with a main frequency of up to 180 MHz. The use of these high-performance components ensures that the attitude and heading device obtains high-precision and high-reliability data.

[0048] Compared with the existing technology, the multifunctional integrated core board 2 design of this application has obvious advantages. Conventional attitude and heading equipment usually only integrates an accelerometer 21 and a gyroscope, and its functions are relatively simple. However, this application greatly expands the application range and performance of the equipment by integrating multiple sensors and high-performance processors.

[0049] Furthermore, the dual-core processor 24 is electrically connected to the IMU module 3 to transmit information to each other.

[0050] The electrical connection can be implemented in a variety of ways, such as using a flexible printed circuit board, a rigid printed circuit board, or a rigid-flexible board. Specifically, a dedicated data transmission line can be set between the dual-core processor 24 and the IMU module 3 to ensure high-speed and stable transmission of information.

[0051] In some specific embodiments, the dual-core processor 24 and the IMU module 3 can be electrically connected via a standard interface such as SPI or I2C. The SPI interface offers higher data transfer rates and is suitable for scenarios requiring fast data exchange. The I2C interface, on the other hand, offers simplified wiring and high scalability, making it suitable for scenarios where multiple devices share a bus. The appropriate interface type can be selected based on actual needs.

[0052] Furthermore, the base plate 1 is also provided with a fourth installation area 14 , the first installation area 11 also covers the fourth installation area 14 , the fourth installation area 14 is located at the side edge opposite to the third installation area 13 , and the fourth installation area 14 is used to install the base plate interface 5 .

[0053] The fourth mounting area 14 on the base plate 1 is provided to accommodate the base plate interface 5, effectively expanding the functionality and applicability of the attitude and heading device. The placement of the fourth mounting area 14 cleverly utilizes the space on the base plate 1 without affecting the installation of other components, while providing additional interface options.

[0054] Specifically, the bottom plate interface 5 is installed in the fourth installation area 14, and the plugs at the upper and lower ends are respectively inserted into the core board 2 and the bottom plate 1 to be fixed, so that the dual-core processor 24 on the core board 2 can better connect with external devices and avoid cluttered internal wiring. The fourth installation area 14 is set on the side opposite to the third installation area 13. This layout design fully utilizes the edge space of the bottom plate 1 and avoids space conflicts with the core board 2, IMU module 3 and interface adapter board 4.

[0055] The installation of baseboard interface 5 provides more connection options for the attitude and navigation device. For example, it can include a power interface, a data communication interface (such as RS232, SPI, UART, etc.), and an interface reserved for expansion I / O. The provision of these interfaces greatly enhances the flexibility and scalability of the attitude and navigation device.

[0056] The power interface can connect to power supplies with different voltage ranges to adapt to various operating environments. The data communication interface supports multiple protocols, enabling the attitude and heading device to communicate with different types of data receivers. A reserved expansion I / O interface allows for future functional expansion, such as connecting additional sensors or actuators.

[0057] In some preferred embodiments, the baseboard interface 5 can adopt a standardized interface design, such as a pin-type interface or a board-to-board connector. This design not only facilitates installation and maintenance, but also increases the modularity of the attitude and heading device, allowing users to selectively use or replace interface modules with different functions according to actual needs.

[0058] Furthermore, the backplane interface 5 is electrically connected to at least the dual-core processor 24 on the core board 2 for exchanging information.

[0059] The baseboard interface 5 can be electrically connected to the dual-core processor 24 at least via RS232, SPI, and UART to meet the communication requirements of different data receiving devices and improve the communication flexibility of the heading attitude device.

[0060] Furthermore, the baseboard interface 5 includes at least power supply, RS232, SPI and UART interfaces. The power supply interface is used to connect the power supply to power the dual-core processor 24, and the RS232, SPI and UART interfaces are used to connect different data receiving devices to improve the communication flexibility of the attitude and navigation equipment.

[0061] The lack of communication flexibility is effectively addressed by providing multiple interfaces on the baseboard 1, including power, RS232, SPI, and UART. This design allows the attitude and navigation device to adapt to different communication requirements, improving its compatibility and application range.

[0062] The power interface is designed to ensure power supply stability and adaptability. Connecting to a power source via the power interface provides a stable power supply for the dual-core processor 24. This design ensures that the attitude and heading device can operate normally in different operating environments.

[0063] The RS232 interface is designed for compatibility with legacy devices. RS232 is a widely used serial communication standard. By providing an RS232 interface, the attitude and heading device can communicate with many traditional data receiving devices, expanding the device's application range.

[0064] The SPI interface is designed with high-speed data transmission in mind. SPI is a full-duplex synchronous serial interface with a high data rate. By providing an SPI interface, the attitude and heading device can communicate with devices requiring high-speed data exchange, meeting the needs of some high-performance applications.

[0065] The UART interface is designed with versatility and ease of use in mind. UART is a simple, flexible asynchronous serial communication protocol. By providing a UART interface, the attitude and navigation device can communicate with most microcontrollers and embedded systems, improving the device's versatility.

[0066] Through this multi-interface design, the navigation and attitude device of the present application generally only provides a single type of interface compared to traditional navigation and attitude devices, which not only improves the communication flexibility of the device, but also enhances its ability to adapt to different application scenarios, so that the navigation and attitude device can better meet the needs of different users.

[0067] Furthermore, the baseboard interface 5 also includes an interface reserved for expansion IO, which is used to connect an expansion IMU to improve the flexibility of the heading attitude device to adapt to different needs.

[0068] The addition of a reserved expansion IO port in baseboard interface 5 allows the connection of an additional IMU to the attitude and heading device. This design takes into account that different users may have different performance requirements. The reserved port allows for flexible expansion of system functionality without redesigning the entire device.

[0069] Furthermore, the extended IMU is electrically connected to the dual-core processor 24 via the interface adapter board 4 to transmit information to each other.

[0070] The interface adapter board 4 realizes the electrical connection between the extended IMU and the dual-core processor 24, enabling the extended IMU to exchange information with the dual-core processor 24. This design not only improves the scalability and flexibility of the attitude and heading device, but also ensures the stability and reliability of data transmission.

[0071] Furthermore, the power supply interface is used to connect to a power supply with a wide voltage range of 9-24V.

[0072] The 9-24V voltage range covers a variety of common power supply standards, allowing the device to adapt to different power supply environments. For example, it can be powered directly from a 12V vehicle power supply, a 24V industrial power supply, or even a 9V battery pack. This flexibility allows the device to be used in a variety of scenarios without the need for additional power conversion equipment.

[0073] Furthermore, the interface adapter board 4 is a rigid-flexible adapter board.

[0074] The interface adapter board 4 is designed as a rigid-flexible combination. The rigid portion is used to install various interfaces and components, while the flexible portion provides greater wiring flexibility, allowing the expansion IMU to be installed in various locations without restriction. This design further enhances the flexibility and scalability of the system.

[0075] The foregoing is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. Persons skilled in the art will readily appreciate that the present application may be modified and altered in various ways. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A MEMS-based heading and attitude device, characterized in that: include: A base plate (1), a core board (2), an IMU module (3), and an interface adapter board (4) mounted on the base plate (1); The base plate (1) comprises a first installation area (11), a second installation area (12) and a third installation area (13); The first installation area (11) is provided with a notch facing any side of the base plate (1); the second installation area (12) is arranged in the notch of the first installation area (11); the first installation area (11) covers the third installation area (13); and the third installation area (13) is arranged at the side edge of the first installation area (11); The first installation area (11) is used to install the core board (2), the second installation area (12) is used to install the IMU module (3); the third installation area (13) is used to install the interface adapter board (4); The IMU module (3) is detachably fixed on the base plate (1).

2. A MEMS-based attitude and heading device according to claim 1, characterized in that: The core board (2) comprises a plurality of mounting sub-areas, which are respectively used for mounting an accelerometer (21), a barometer (23), a magnetometer (22) and a dual-core processor (24).

3. A MEMS-based attitude and heading device according to claim 2, characterized in that: The dual-core processor (24) is electrically connected to the IMU module (3) to transmit information to each other.

4. The MEMS-based attitude and heading device according to claim 1, characterized in that: The base plate (1) is further provided with a fourth installation area (14), the first installation area (11) also covers the fourth installation area (14), the fourth installation area (14) is located at a side edge opposite to the third installation area (13), and the fourth installation area (14) is used to install the base plate interface (5).

5. A MEMS-based heading and attitude device according to claim 4, characterized in that: The baseboard interface (5) is electrically connected to at least the dual-core processor (24) on the core board (2) for mutually transmitting information.

6. A MEMS-based attitude and heading device according to claim 5, characterized in that: The baseboard interface (5) includes at least power supply, RS232, SPI and UART interfaces, the power supply interface is used to connect a power supply to power the dual-core processor (24), and the RS232, SPI and UART interfaces are used to connect different data receiving devices to improve the communication flexibility of the navigation equipment.

7. A MEMS-based heading and attitude device according to claim 6, characterized in that: The baseboard interface (5) also includes an interface reserved for expansion IO, and the interface reserved for expansion IO is used to connect an expansion IMU to improve the flexibility of the heading and attitude device in adapting to different needs.

8. The MEMS-based attitude and heading device according to claim 7, characterized in that: The extended IMU is electrically connected to the dual-core processor (24) via an interface adapter board (4) to transmit information to each other.

9. The MEMS-based attitude and heading device according to claim 6, characterized in that: The power supply interface is used to connect to a power supply with a wide voltage range of 9-24V.

10. The MEMS-based attitude and heading device according to claim 1, characterized in that: The interface adapter board (4) is a rigid-flexible adapter board.

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