Multi-communication high-precision attitude sensing system

Abstract

The utility model relates to a multi-communication high-precision attitude sensing system, which comprises a wired communication module, a wireless communication module, a signal interface module, a control module, a gyroscope assembly and a micro sensing unit, and is characterized in that a plurality of communication paths are arranged between the signal interface module and the control module to realize signal transmission in different communication modes; the signal interface module is used for transmitting communication signals of the wired communication module and the wireless communication module to corresponding communication paths, and an equipment signal transmission port of the control module is connected with an equipment signal transmission port of the gyroscope assembly and an equipment signal transmission port of the micro sensing unit. The combination of multiple communication modes ensures that high-precision attitude data can be continuously and stably obtained in different industrial occasions; and the control module fits the low-precision data of the micro sensing unit with the high-precision original data, so that the output attitude data has low error and low zero offset, and the requirement of high-precision attitude monitoring of industrial equipment is met.

Description

Technical Field

[0001] This application relates to the technical field of high-precision attitude sensing with multiple communications, and in particular to a high-precision attitude sensing system with multiple communications. Background Technology

[0002] Currently, in the industrial field, such as the position measurement of AGV vehicles in factories, the angle monitoring of heavy turntables, and the posture monitoring of excavator booms, it is necessary to ensure the accuracy of machinery operation. Therefore, it is usually necessary to install one or more posture sensors at the location to be detected to detect the posture angle of the machinery in real time. However, if the installed sensors are laid out with signal and power lines in the form of wired cables, there will inevitably be some areas where the design prohibits the laying of signal cables, which will lead to increased cost of signal transmission or difficulty in transmission. Therefore, there is now a need for a posture sensing system with diverse communication methods and high precision. Summary of the Invention

[0003] To address the issues of limited communication methods and low accuracy in traditional attitude sensing systems, this application provides a high-precision attitude sensing system with multiple communication methods.

[0004] The high-precision attitude sensing system with multiple communications provided in this application adopts the following technical solution:

[0005] A high-precision attitude sensing system with multiple communication capabilities includes a wired communication module, a wireless communication module, a signal interface module, a control module, a gyroscope assembly, and a miniature sensing unit. The first communication port of the wired communication module is connected to an external interface, and the second communication port of the wired communication module is connected to the first communication port of the signal interface module. The first communication port of the wireless communication module is connected to an antenna interface, and the second communication port of the wireless communication module is connected to the second communication port of the signal interface module. Multiple communication paths are provided between the signal interface module and the control module to enable signal transmission in different communication modes. The signal interface module transmits communication signals from the wired and wireless communication modules to their respective communication paths. The device signal transmission port of the control module is connected to the device signal transmission ports of the gyroscope assembly and the miniature sensing unit, respectively. The chip select signal output port of the control module is connected to the chip select signal input ports of the gyroscope assembly and the miniature sensing unit, respectively.

[0006] By adopting the above technical solution, this application effectively solves the problems of complex wiring, difficult maintenance, and limited communication methods in industrial environments by integrating wired and wireless communication modules. The signal interface module in the system can intelligently select the appropriate communication path, transmitting both wired and wireless signals to the control module. Through wired communication, the system can maintain stable data transmission in complex signal environments or situations with significant interference; while through wireless communication, the limitations of wired wiring are avoided, making it particularly suitable for scenarios where cable laying is difficult or where flexible movement is required. The combination of multiple communication methods not only improves the system's adaptability but also enhances communication redundancy, ensuring continuous and stable acquisition of high-precision attitude data in different industrial settings, thereby improving the safety and efficiency of industrial equipment operation.

[0007] The gyroscope component consists of multiple high-precision units that can generate high-precision attitude data. Then, the low-precision data (such as gyroscope and acceleration data) from the micro-sensing units is fitted with the high-precision raw data. The control module fuses these data and corrects errors to ensure that the output attitude data has low error and low zero bias, meeting the high-precision attitude monitoring requirements of industrial equipment.

[0008] Preferably, the signal interface module includes a main interface unit and a secondary interface unit. The main interface unit has a high-priority communication path with the control module, and the secondary interface unit has a low-priority communication path with the control module.

[0009] By adopting the above technical solution, the main interface unit and secondary interface unit of the signal interface module can handle various wired and wireless signals respectively, ensuring that different types of signals can be transmitted within their respective optimal frequency ranges. The main communication path is suitable for real-time transmission of large amounts of data, while the secondary communication path ensures low-latency transmission of control and management signals, as well as wireless communication functions, thereby improving the communication efficiency and accuracy of the system in different application scenarios.

[0010] Preferably, the wireless communication module includes a GPS unit and a radio frequency unit. The communication port of the GPS unit is connected to the wireless data communication port of the secondary interface unit, and the communication port of the radio frequency unit is also connected to the wireless data communication port of the secondary interface unit.

[0011] By adopting the above technical solution, the wireless communication module connects the GPS unit and the radio frequency unit to the secondary interface unit, realizing real-time wireless transmission of high-precision location data or wired data. This design can ensure the diversity of communication acquisition and transmission of the system, thereby improving the system's wireless communication capability and positioning capability in complex environments.

[0012] Preferably, the wired communication module includes a USB communication unit, a CAN communication unit, an RS232 communication unit, and an RS485 communication unit. The communication port of the USB communication unit is connected to the USB communication port of the secondary interface unit, the communication port of the CAN communication unit is connected to the CAN communication port of the main interface unit, the communication port of the RS232 communication unit is connected to the RS232 communication port of the main interface unit, and the communication port of the RS485 communication unit is connected to the RS485 communication port of the main interface unit.

[0013] By adopting the above technical solution, multiple communication units in the wired communication module, such as USB, CAN, RS232, and RS485, are connected to the corresponding ports of the signal interface module. This ensures that different types of wired communication methods can transmit data through the most suitable interface. This design improves the system's compatibility with multiple communication protocols, ensuring that different devices can communicate efficiently and accurately within the same system, thereby enhancing the overall system's communication flexibility and adaptability.

[0014] Preferably, a communication management module is provided between the wired communication module and the signal interface module. The communication management module includes a wiring switch array and multiple first level conversion units. The first communication port of the wiring switch array is connected to the second communication port of the wired communication module. The CAN communication port, RS232 communication port and RS485 communication port of the wiring switch array are respectively connected to a first level conversion unit. The other end of the first level conversion unit is connected to the CAN communication port, RS232 communication port or RS485 communication port of the main interface unit.

[0015] By adopting the above technical solution, the wired communication module and the signal interface module are managed through a communication management module. The addition of a wiring switch array and a level conversion unit enables level matching and signal switching for different communication ports, ensuring seamless signal transmission between devices with different voltage standards. This management approach improves the interoperability between different communication protocols, thereby enhancing the system's compatibility and communication stability in complex industrial applications.

[0016] Preferably, a second level conversion unit is provided on the secondary communication path. The second level conversion unit includes a level conversion chip U6. The D- and D+ pins of the level conversion chip U6 are both connected to the secondary interface unit, and the UART2 RX and UART2 TX pins of the level conversion chip U6 are connected to the control module.

[0017] By adopting the above technical solution, the second level conversion unit in the secondary communication path, especially the addition of the level conversion chip U6, can convert signals of different levels into voltage standards that the system can recognize, ensuring that the transmission of secondary signals will not result in data loss or transmission errors due to voltage differences, thereby improving the stability and reliability of secondary signal transmission.

[0018] Preferably, the gyroscope assembly includes three single-axis high-precision chips, and every two single-axis high-precision chips are fixedly soldered perpendicularly to each other. The device signal input terminal of each single-axis high-precision chip is connected to the device signal output terminal of the control module, the device signal output terminal of the single-axis high-precision chip is connected to the device signal input terminal of the control module, and the chip select signal input terminal of the single-axis high-precision chip is connected to the chip select signal output port of the control module.

[0019] By adopting the above technical solution, the gyroscope component consists of three single-axis high-precision chips, which are perpendicularly and fixedly soldered together, ensuring that the sensor can accurately measure attitude data in different axes. This design not only improves the accuracy of the system's attitude data acquisition but also ensures the synchronization and stability of multi-axis data, thereby significantly improving the overall accuracy and stability of the attitude sensing system.

[0020] Preferably, the miniature sensing unit includes a gyroscope and an accelerometer. The gyroscope and accelerometer include a first sensing chip U3. The SPI1_MOSI pin of the first sensing chip U3 is connected to the device signal output terminal of the control module, the SPI1_MISO pin of the first sensing chip U3 is connected to the device signal input terminal of the control module, and the GyroII_CS pin of the first sensing chip U3 is connected to the chip select signal output port of the control module.

[0021] By adopting the above technical solution, the gyroscope and accelerometer in the micro sensing unit acquire data through the first sensing chip U3 and communicate with the control module through the SPI interface. This design can ensure that the sensor data is transmitted to the control module at a high speed and with low latency, thereby improving the real-time performance of the system and the reliability of data transmission.

[0022] Preferably, the miniature sensing unit includes a barometer, the barometer includes a second sensing chip U4, the SPI1_MOSI pin of the second sensing chip U4 is connected to the device signal output terminal of the control module, the SPI1_MISO pin of the second sensing chip U4 is connected to the device signal input terminal of the control module, and the Pressure_CS pin of the second sensing chip U4 is connected to the chip select signal output port of the control module.

[0023] By adopting the above technical solution, the barometer in the miniature sensing unit acquires data through the second sensing chip U4 and transmits it to the control module via the SPI interface, enabling high-speed transmission of barometric pressure data. This design ensures that barometric pressure data is acquired and transmitted to the control module in a timely and accurate manner under different environments, thereby improving the system's adaptability and response speed to changes in the external environment.

[0024] Preferably, the miniature sensing unit includes a magnetometer, the magnetometer includes a third sensing chip U5, the I2C1_SCL pin of the third sensing chip U5 is connected to the I2C clock data port of the control module, the I2C1_SDA pin of the third sensing chip U5 is connected to the I2C sensor data port of the control module, and the Magnetometer_DRDY pin is connected to the signal output port of the control module.

[0025] By adopting the above technical solution, the magnetometer in the miniature sensing unit communicates with the control module via the I2C interface of the third sensing chip U5, enabling low-latency and high-precision transmission of magnetic data. This design ensures that the system can capture and transmit magnetic data in real time, thereby improving the system's attitude sensing accuracy and overall stability, especially its adaptability in complex electromagnetic environments.

[0026] In summary, this application includes at least one of the following beneficial technical effects:

[0027] This application effectively solves the problems of complex wiring, difficult maintenance, and limited communication methods in industrial environments by integrating wired and wireless communication modules. The system's signal interface module can intelligently select the appropriate communication path, transmitting both wired and wireless signals to the control module. Wired communication allows the system to maintain stable data transmission even in complex or highly interference-prone environments; while wireless communication avoids the limitations of wired cabling, making it particularly suitable for scenarios where cable laying is difficult or where flexible movement is required. The combination of multiple communication methods not only improves the system's adaptability but also enhances communication redundancy, ensuring continuous and stable acquisition of high-precision attitude data in various industrial settings, thereby improving the safety and efficiency of industrial equipment operation.

[0028] The gyroscope component consists of multiple high-precision units that can generate high-precision attitude data. Then, the low-precision data from the micro-sensing units (such as gyroscope and acceleration data) is fitted with the high-precision raw data. The control module fuses these data, corrects errors, and ensures that the output attitude data has low error and low zero bias, meeting the needs of high-precision attitude monitoring for industrial equipment.

[0029] In summary, this application includes at least one of the following beneficial technical effects:

[0030] This application effectively solves the problems of complex wiring, difficult maintenance, and limited communication methods in industrial environments by integrating wired and wireless communication modules. The system's signal interface module can intelligently select the appropriate communication path, transmitting both wired and wireless signals to the control module. Wired communication allows the system to maintain stable data transmission even in complex or highly interference-prone environments; while wireless communication avoids the limitations of wired cabling, making it particularly suitable for scenarios where cable laying is difficult or where flexible movement is required. The combination of multiple communication methods not only improves the system's adaptability but also enhances communication redundancy, ensuring continuous and stable acquisition of high-precision attitude data in various industrial settings, thereby improving the safety and efficiency of industrial equipment operation.

[0031] The gyroscope component consists of multiple high-precision units that can generate high-precision attitude data. Then, the low-precision data from the micro-sensing units (such as gyroscope and acceleration data) is fitted with the high-precision raw data. The control module fuses these data, corrects errors, and ensures that the output attitude data has low error and low zero bias, meeting the needs of high-precision attitude monitoring for industrial equipment. Attached Figure Description

[0032] Figure 1 This is a flowchart of a high-precision attitude sensing system with multiple communications in one embodiment of this application.

[0033] Figure 2 This is a flowchart illustrating the implementation of a high-precision attitude sensing system with multiple communications in one embodiment of this application.

[0034] Figure 3 This is a partial circuit diagram of the control module in one embodiment of this application;

[0035] Figure 4 This is a partial circuit diagram of the GPS unit in one embodiment of this application;

[0036] Figure 5 This is a partial circuit diagram of the radio frequency unit in one embodiment of this application;

[0037] Figure 6 This is one embodiment of the present application Figure 2 A partial circuit diagram of connector 2 in the signal transmission module;

[0038] Figure 7 This is one embodiment of the present application Figure 2 A partial circuit diagram of connector 3 in the signal transmission module;

[0039] Figure 8 This is one embodiment of the present application Figure 2A partial circuit diagram of connector 6 in the signal transmission module;

[0040] Figure 9 This is one embodiment of the present application Figure 2 A partial circuit diagram of connector 7 in the signal transmission module;

[0041] Figure 10 This is one embodiment of the present application Figure 2 A partial circuit diagram of the gyroscope and accelerometer in a miniature sensing unit;

[0042] Figure 11 This is one embodiment of the present application Figure 2 A partial circuit diagram of the barometer in a miniature sensing unit;

[0043] Figure 12 This is one embodiment of the present application Figure 2 A partial circuit diagram of the magnetometer in the miniature sensing unit.

[0044] Explanation of reference numerals in the attached figures:

[0045] 10. Wired communication module; 20. Wireless communication module; 30. Signal interface module; 301. Main interface unit; 302. Secondary interface unit; 40. Control module; 50. Gyroscope assembly; 60. Miniature sensing unit; 70. Communication management module; 701. Wiring switch array; 702. First level conversion unit; 80. Second level conversion unit. Detailed Implementation

[0046] The following is in conjunction with the appendix Figure 1-6 This application will be described in further detail.

[0047] like Figure 1-2As shown, a high-precision attitude sensing system with multiple communication components includes a wired communication module 10, a wireless communication module 20, a signal interface module 30, a control module 40, a gyroscope assembly 50, and a miniature sensing unit 60. The first communication port of the wired communication module 10 is connected to an external interface, and the second communication port of the wired communication module 10 is connected to the first communication port of the signal interface module 30. The first communication port of the wireless communication module 20 is connected to an antenna interface, and the second communication port of the wireless communication module 20 is connected to the second communication port of the signal interface module 30. The signal interface module 30 is connected to the... The control modules 40 are provided with multiple communication paths to realize signal transmission of different communication methods. The signal interface module 30 is used to transmit the communication signals of the wired communication module 10 and the wireless communication module 20 to the corresponding communication paths. The device signal transmission port of the control module 40 is connected to the device signal transmission port of the gyroscope component 50 and the device signal transmission port of the micro-sensing unit 60, respectively. The chip select signal output port of the control module 40 is connected to the chip select signal input port of the gyroscope component 50 and the chip select signal input port of the micro-sensing unit 60, respectively.

[0048] In this embodiment, the system achieves precise attitude monitoring and signal transmission via multiple communication methods through port connections between multiple modules. First, the wired communication module 10 connects to an external interface via its first communication port, ensuring that external devices can communicate with the system via a wired connection. Simultaneously, the second communication port of the wired communication module 10 connects to the first communication port of the signal interface module 30, further ensuring that wired signals can be transmitted to the signal interface module 30 for processing and routing. The wireless communication module 20 connects to the antenna interface via its first communication port, responsible for receiving and transmitting wireless signals. Its second communication port connects to the second communication port of the signal interface module 30, allowing wireless signals to be transmitted to the control module 40 via the signal interface module 30. The signal interface module 30 plays a core data routing role in the entire system, transmitting signals from the wired and wireless communication modules 20 to the control module 40 through multiple communication paths. The control module 40 connects to the gyroscope assembly 50 and the miniature sensing unit 60 via its device signal transmission port, ensuring that sensor data can be transmitted to the control module 40 for processing in a timely and accurate manner. Meanwhile, the control module 40 is connected to the chip select signal input ports of the gyroscope assembly 50 and the micro-sensing unit 60 through the chip select signal output port, ensuring that each sensor can be independently selected and activated as needed, thereby achieving efficient data acquisition and processing.

[0049] Preferably, in the algorithm of this application, the data fitting process involves the fusion and processing of multi-sensor data to improve the accuracy and stability of attitude measurement. First, the lower-precision gyroscope and acceleration data collected by the micro-sensing unit 60 are transmitted to the control module 40. This data typically includes information such as angular velocity and linear acceleration under dynamic motion. However, due to noise, drift, and zero bias in the low-precision sensor data, it is difficult to obtain high-precision attitude information by relying solely on this data. Therefore, the system fuses this data with the high-precision raw data from the gyroscope component 50 for fitting. The high-precision gyroscope component 50 can provide relatively stable and accurate attitude angle data, serving as a reference in the fitting process. The core principle of this fitting algorithm is to match and correct the data from low-precision and high-precision sensors using sensor fusion technology. First, the algorithm synchronizes the data from different sources in time to ensure that the data is consistent at the same point in time. Then, the system uses filtering techniques, such as Kalman filtering or complementary filtering, to adjust and correct the low-precision sensor data in real time. Kalman filters can dynamically estimate the optimal state of sensors based on system noise and measurement noise, and eliminate the accumulation of short-term noise, zero drift and errors by continuously iterating and correcting the data from gyroscopes and accelerometers.

[0050] Furthermore, the algorithm processes the nonlinear components of the sensor data, ensuring that data from low-precision sensors can be corrected by data from high-precision gyroscopes during rapid movement or rotation. This fusion not only corrects errors in dynamic environments but also significantly reduces the system's bias, ultimately generating stable, low-error data.

[0051] Throughout the process, the processor evaluates the reliability of the sensor data in real time. If some data sources are abnormal, the system reduces their impact using a weighted approach, prioritizing the use of more reliable, high-precision data. Meanwhile, the miniature sensing units 60, namely barometers and magnetometers, further enhance the accuracy and stability of the algorithm under specific conditions. These sensors provide additional data compensation or correction information under specific environments or operations to ensure the algorithm maintains high accuracy even in complex environments.

[0052] Regarding software tools, data processing can utilize the real-time operating system (RTOS) of an embedded system to schedule filtering algorithms, or specialized attitude calculation software libraries such as **Madgwick Filter** or **Mahony Filter** to achieve efficient attitude calculation and sensor fusion. These tools, combined with hardware accelerators or digital signal processors (DSPs), can further improve computational speed and efficiency, ensuring the system provides real-time and accurate attitude information even during high-speed motion.

[0053] Finally, the data processed by the fitting algorithm is output to the control system, providing stable and accurate attitude information for navigation, control, or other applications. Through this multi-sensor data fusion and correction algorithm, this application achieves high-precision, low-latency attitude measurement, significantly improving the system's stability and accuracy in dynamic environments.

[0054] In summary, this application effectively solves the problems of complex wiring, difficult maintenance, and limited communication methods in industrial environments by integrating wired communication module 10 and wireless communication module 20. The signal interface module 30 in the system can intelligently select the appropriate communication path, transmitting both wired and wireless signals to the control module 40. Through wired communication, the system can maintain stable data transmission in complex signal environments or situations with significant interference; while through wireless communication, the limitations of wired wiring are avoided, making it particularly suitable for scenarios where cable laying is difficult or where flexible movement is required. The combination of multiple communication methods not only improves the system's adaptability but also enhances communication redundancy, ensuring continuous and stable acquisition of high-precision attitude data in different industrial settings, thereby improving the safety and efficiency of industrial equipment operation.

[0055] The gyroscope component 50 consists of multiple high-precision units, which can generate high-precision attitude data. Then, the low-precision data (such as gyroscope and acceleration data) from the micro-sensing unit 60 is fitted with the high-precision raw data. The control module 40 fuses these data and corrects errors to ensure that the output attitude data has low error and low zero bias, meeting the needs of high-precision attitude monitoring of industrial equipment.

[0056] Furthermore, commercially available solutions typically use a single integrated chip for all three axes, which often sacrifices accuracy for integration. This application addresses this by combining three high-precision single-axis chips into a sensor assembly. Each of the three axes is physically fixed (e.g., with structural components or multiple PCBs perpendicularly soldered together) to pre-calibrate them onto their respective axes, reducing system errors. Following a specific calibration process, the data is processed by an algorithm to obtain even higher-precision sensor data. Finally, a lower-precision but wider-range integrated chip is added to assist in fitting and calculating the data, resulting in ultimately higher-precision sensor data with smaller errors. Specifically, the gyroscope assembly 50 consists of three... Each single-axis high-precision gyroscope unit 1, 2, and 3 is placed on a different axis to generate the original high-precision data of this application. Then, through the 6-axis gyroscope (3-axis) and accelerometer (3-axis) included in the micro-sensing unit 60, the lower-precision gyroscope data and acceleration data of this unit are fitted with the original data of the gyroscope component 50 in the control module 40 through an algorithm to generate stable algorithm-adjusted data with low error and low zero bias. The barometer and magnetometer included in the micro-sensing unit 60 further assist in enhancing the accuracy and stability of the algorithm-adjusted data under selected scenarios.

[0057] After the above processing, the sensor unit sends the generated data to the control module 40 for processing via a specific internal communication method, and then converts it into a communication type that can be acquired externally via a level conversion unit through a connector.

[0058] Furthermore, such as Figure 2 As shown, the signal interface module 30 includes a main interface unit 301 and a secondary interface unit 302. The main interface unit 301 and the control module 40 are connected by a high-priority communication path, and the secondary interface unit 302 and the control module 40 are connected by a low-priority communication path.

[0059] In this embodiment, the signal interface module 30 not only routes between wired and wireless signals, but also ensures that different types of signals are transmitted in appropriate frequency bands by dividing the primary and secondary paths, thus optimizing the stability and real-time performance of data transmission. The logical connection of the entire system ensures high-precision acquisition of attitude data and flexible switching between multiple communication modes, achieving efficient and reliable operation of the system.

[0060] In summary, the main interface unit 301 and the secondary interface unit 302 of the signal interface module 30 can handle various wired and wireless signals respectively, ensuring that different types of signals can be transmitted within their respective optimal frequency ranges. The main communication path is suitable for real-time transmission of large amounts of data, while the secondary communication path ensures low-latency transmission of control and management signals, as well as wireless communication functions, thereby improving the communication efficiency and accuracy of the system in different application scenarios.

[0061] Furthermore, such as Figure 2 , 4 As shown in Figure 5, the wireless communication module 20 includes a GPS unit and a radio frequency unit. The communication port of the GPS unit is connected to the wireless data communication port of the secondary interface unit 302, and the communication port of the radio frequency unit is also connected to the wireless data communication port of the secondary interface unit 302.

[0062] In this embodiment, the wireless communication module 20 includes a GPS unit and a radio frequency (RF) unit, each processing different types of wireless signals. The communication port of the GPS unit is connected to the wireless data communication port of the secondary interface unit 302. This connection ensures that high-precision GPS positioning data can be transmitted through this path, thereby meeting the requirements for GPS data acquisition. In the combined navigation system, the combination of GPS data and attitude sensor data can enhance the navigation accuracy of the system, especially in environments with unstable satellite signals. Through attitude sensor data compensation, navigation stability is improved. On the other hand, the communication port of the RF unit is connected to the wireless data communication port of the secondary interface unit 302. This design allows other types of RF signals to be transmitted through this path, typically used for transmitting signals with large data volumes, high rates, but short distances, such as the high-volume, high-rate sensor attitude information transmitted via Wi-Fi or Bluetooth. This division of different wireless communication options along a single path ensures greater redundancy and adaptability for navigation and communication in complex environments.

[0063] In summary, the wireless communication module 20, by connecting the GPS unit and the radio frequency unit to the secondary interface unit 302, achieves a real-time and stable transmission channel that provides high-precision location data or wireless data. This design ensures that the system maintains high accuracy and stability when transmitting large amounts of real-time data, thereby improving the system's wireless communication capabilities and data transmission accuracy in complex environments.

[0064] Furthermore, such as Figure 2 , 5As shown in Figures 6 and 7, the wired communication module 10 includes a USB communication unit, a CAN communication unit, an RS232 communication unit, and an RS485 communication unit. The communication port of the USB communication unit is connected to the USB communication port of the secondary interface unit 302. The communication port of the CAN communication unit is connected to the CAN communication port of the main interface unit 301. The communication port of the RS232 communication unit is connected to the RS232 communication port of the main interface unit 301. The communication port of the RS485 communication unit is connected to the RS485 communication port of the main interface unit 301.

[0065] In this embodiment, the wired communication module 10 includes a USB communication unit, a CAN communication unit, an RS232 communication unit, and an RS485 communication unit. These units are connected to the main interface unit 301 and the secondary interface unit 302, respectively, forming different communication paths. First, the communication port of the USB communication unit is connected to the USB communication port of the secondary interface unit 302. USB is typically used for transmitting high-speed wired data streams, such as device status information or high-speed data transmission. The secondary interface unit 302 ensures the stability and reliability of data transmission through the USB interface. Second, the communication port of the CAN communication unit is connected to the CAN communication port of the main interface unit 301. The CAN bus is typically used for transmitting high-priority, long-distance real-time control data, especially in industrial environments where the real-time performance and anti-interference capabilities of data transmission are crucial. The main path ensures high-speed and long-distance transmission of large amounts of control signals. The communication ports of the RS232 and RS485 communication units are also connected to the corresponding ports of the main interface unit 301. RS232 and RS485 are used for long-distance and high-reliability communication, respectively. These protocols also rely on the main path to transmit large amounts of data or high-precision real-time data. This connection logic ensures that different communication protocols can find the most suitable transmission path in the system according to their characteristics, guaranteeing both the efficiency of real-time data transmission and the anti-interference and stability of data transmission. Simultaneously, when handling different types of wired communication, the system can achieve dynamic data management and optimization through the division of interface modules, ensuring the reliability and flexibility of communication in complex industrial environments.

[0066] In summary, the multiple communication units in the wired communication module 10, such as USB, CAN, RS232, and RS485, are connected to the corresponding ports of the signal interface module 30, ensuring that different types of wired communication methods can transmit data through the most suitable interface. This design improves the system's compatibility with multiple communication protocols, ensuring that different devices can communicate efficiently and accurately within the same system, thereby enhancing the overall system's communication flexibility and adaptability.

[0067] Furthermore, such as Figure 2 As shown, a communication management module 70 is provided between the wired communication module 10 and the signal interface module 30. The communication management module 70 includes a wiring switch array 701 and a plurality of first level conversion units 702. The first communication port of the wiring switch array 701 is connected to the second communication port of the wired communication module 10. The CAN communication port, RS232 communication port and RS485 communication port of the wiring switch array 701 are respectively connected to a first level conversion unit 702. The other end of the first level conversion unit 702 is connected to the CAN communication port, RS232 communication port or RS485 communication port of the main interface unit 301.

[0068] In this embodiment, within the high-precision attitude sensing system of this application, the wired communication module 10 is connected to the signal interface module 30 via the communication management module 70 to optimize and manage different types of wired communication. The communication management module 70 includes a wiring switch array 701 and a first level conversion unit 702. The first communication port of the wiring switch array 701 is connected to the second communication port of the wired communication module 10, ensuring that various communication signals flow from the wired communication module 10 to the wiring switch array 701. This switch array allows the system to dynamically select different communication protocols, such as CAN, RS232, or RS485, providing appropriate channels for different communication needs. Each communication port—CAN, RS232, and RS485—is connected to a first level conversion unit 702. These conversion units are responsible for converting signal levels to levels that the main interface unit 301 can process, thus ensuring compatibility with the main communication path in the system. This design not only ensures efficient data transmission and reduces data loss or errors that may result from level mismatch, but also improves the overall stability and reliability of the signal, especially in industrial environments requiring long-distance transmission or with significant electromagnetic interference. This method allows the system to flexibly handle multiple communication protocols, optimize the integration of various communication protocols, and ensure efficient and accurate data transmission between different parts, meeting the stringent requirements of high-precision attitude sensing systems in diverse industrial applications.

[0069] In summary, the wired communication module 10 and the signal interface module 30 are managed by the communication management module 70. The addition of the wiring switch array 701 and the level conversion unit enables level matching and signal switching for different communication ports, ensuring seamless signal transmission between devices with different voltage standards. This management method improves the interoperability between different communication protocols, thereby enhancing the system's compatibility and communication stability in complex industrial applications.

[0070] Furthermore, such as Figure 2As shown, a second level conversion unit 80 is provided on the secondary communication path. The second level conversion unit 80 includes a level conversion chip U6. The D- and D+ pins of the level conversion chip U6 are both connected to the secondary interface unit 302. The UART2RX and UART2TX pins of the level conversion chip U6 are connected to the control module 40.

[0071] In this embodiment, in the secondary communication path of the system, the second level conversion unit 80 ensures reliable signal transmission through the pin configuration of the level conversion chip U6. The D- and D+ pins of the level conversion chip U6 are connected to the secondary interface unit 302; these two pins are typically used for data transmission in the USB communication protocol. They ensure that the differential signal remains stable upon entering the system, and the level conversion performed by U6 allows for level matching between different devices. Furthermore, the UART2RX and UART2TX pins of the level conversion chip U6 are connected to the control module 40, meaning that the chip can convert the signals in the secondary interface unit 302 into UART signals and transmit them to the control module 40 for processing. Through this design, USB signals can be reliably received and processed with minimal impact from level differences, ensuring that the control module 40 can receive and process data signals from the secondary communication path. This level conversion process not only improves the system's compatibility in differential signal communication but also enhances the stability and accuracy of differential signal transmission, effectively avoiding communication interference and malfunctions caused by voltage mismatch, and ensuring the overall reliability and flexibility of the system.

[0072] In summary, the addition of the second level conversion unit 80 in the frequency communication path, especially the level conversion chip U6, can convert signals of different levels into a voltage standard that the system can recognize, ensuring that the transmission of secondary differential signals will not result in data loss or transmission errors due to voltage differences, thereby improving the stability and reliability of secondary differential signal transmission.

[0073] Furthermore, such as Figure 2 As shown, the gyroscope assembly 50 includes three single-axis high-precision chips, and every two single-axis high-precision chips are fixedly soldered perpendicularly to each other. The device signal input terminal of each single-axis high-precision chip is connected to the device signal output terminal of the control module 40, the device signal output terminal of the single-axis high-precision chip is connected to the device signal input terminal of the control module 40, and the chip select signal input terminal of the single-axis high-precision chip is connected to the chip select signal output port of the control module 40.

[0074] In this embodiment, the gyroscope component 50 of the system employs three single-axis high-precision chips, with each pair of chips fixedly soldered vertically. This layout ensures that the system can accurately acquire attitude data on three mutually perpendicular axes. The device signal input terminal of each single-axis high-precision chip is connected to the device signal output terminal of the control module 40, allowing the control module 40 to transmit control signals to each chip to control its data acquisition. Simultaneously, the device signal output terminal of each single-axis high-precision chip is also connected to the device signal input terminal of the control module 40, ensuring that the acquired attitude data can be promptly transmitted back to the control module 40 for processing. The connection between the chip select signal input terminal and the chip select signal output terminal allows the control module 40 to flexibly select a specific chip for data acquisition, avoiding data corruption caused by multiple chips operating simultaneously. Through this design, the system can selectively activate gyroscope chips along different axes under different attitude measurement requirements, ensuring high-precision acquisition and real-time performance of three-axis attitude data, greatly improving the accuracy of attitude measurement and the system's response speed. Meanwhile, the control module 40, through precise control of the chip select signal, can ensure the reliability of the individual data acquisition and transmission sequence, avoid the possibility of multiple signal confusion, and further enhance the stability and reliability of the system.

[0075] In summary, the gyroscope assembly 50 consists of three single-axis high-precision chips, which are perpendicularly and fixedly soldered together to each other, ensuring that the sensor can accurately measure attitude data in different axes. This design not only improves the accuracy of the system's attitude data acquisition but also ensures the synchronization and stability of multi-axis data, thereby significantly improving the overall accuracy and stability of the attitude sensing system.

[0076] Furthermore, such as Figure 10 As shown, the miniature sensing unit 60 includes a gyroscope and an accelerometer. The gyroscope and accelerometer include a first sensing chip U3. The SPI1_MOSI pin of the first sensing chip U3 is connected to the device signal output terminal of the control module 40, the SPI1_MISO pin of the first sensing chip U3 is connected to the device signal input terminal of the control module 40, and the GyroII_CS pin of the first sensing chip U3 is connected to the chip select signal output port of the control module 40.

[0077] In this embodiment, the miniature sensing unit 60 includes a gyroscope and an accelerometer, and a first sensing chip U3 is used for data acquisition and transmission. The SPI1_MOSI pin of this sensing chip is connected to the device signal output of the control module 40, responsible for receiving data commands from the control module 40. These commands are used to control the operating state and data acquisition behavior of the sensing chip. Simultaneously, the SPI1_MISO pin of the U3 chip is connected to the device signal input of the control module 40, enabling the attitude and acceleration data acquired by the U3 chip to be transmitted back to the control module 40 for processing in a timely manner. This SPI communication interface ensures efficient and low-latency data transmission, making it particularly suitable for sensor data acquisition systems with high real-time requirements. Furthermore, the GyroII_CS pin of the U3 chip is connected to the chip select signal output port of the control module 40, allowing the control module 40 to precisely select and control the operating state of the sensing chip through the chip select signal. Through this chip select signal, the system can flexibly manage the operation of different sensors, avoiding signal conflicts caused by multiple sensors starting simultaneously, and ensuring the sequentiality and independence of data acquisition. This design enables efficient acquisition and transmission of data from gyroscopes and accelerometers, ensuring that the control module 40 can select the output of a specific sensor according to the chip select signal, thereby improving the system's response speed and measurement accuracy, and ensuring the stability and reliability of data processing.

[0078] In this system, the gyroscope and accelerometer included in the miniature sensing unit 60 acquire and process data through the first sensing chip U3. Their synergistic effect is crucial for the system's high-precision attitude measurement. The gyroscope detects angular velocity, while the accelerometer measures linear acceleration. By complementing each other, they overcome their respective limitations in different situations. Especially in dynamic environments, gyroscope data may drift or contain errors, which accelerometer data can use to correct for. Simultaneously, the control module 40 processes the gyroscope and accelerometer data using a fusion algorithm, fitting the data to generate a more stable, low-error, and low-biased data output. This fitting process significantly improves the accuracy and stability of attitude measurement, ensuring highly accurate attitude information even during long-term operation and in complex environments. Furthermore, in certain specific scenarios, the gyroscope and accelerometer in the miniature sensing unit 60 can further assist in the data processing of other sensors, enhancing the overall algorithm's accuracy and the system's reliability. This multi-sensor data fusion method effectively solves the limitations of a single sensor in complex dynamic scenarios, greatly improving the system's measurement accuracy and robustness.

[0079] In summary, the gyroscope and accelerometer in the micro-sensing unit 60 acquire data through the first sensing chip U3 and communicate with the control module 40 through the SPI interface. This design ensures that sensor data is transmitted to the control module 40 at a high speed and with low latency, thereby improving the real-time performance of the system and the reliability of data transmission.

[0080] Furthermore, such as Figure 11 As shown, the miniature sensing unit 60 includes a barometer, which includes a second sensing chip U4. The SPI1_MOSI pin of the second sensing chip U4 is connected to the device signal output terminal of the control module 40, the SPI1_MISO pin of the second sensing chip U4 is connected to the device signal input terminal of the control module 40, and the Pressure_CS pin of the second sensing chip U4 is connected to the chip select signal output port of the control module 40.

[0081] In this embodiment, the miniature sensing unit 60 further includes a barometer, which acquires and transmits data via a second sensing chip U4. The SPI1_MOSI pin of the U4 chip is connected to the device signal output of the control module 40, used to receive commands sent by the control module 40, which control the barometer to perform data acquisition and processing operations. Simultaneously, the SPI1_MISO pin of the U4 chip is connected to the device signal input of the control module 40, ensuring that the acquired pressure data can be quickly and accurately fed back to the control module 40 for further processing and analysis. The SPI interface design ensures high-speed transmission of pressure data, making it particularly suitable for scenarios requiring real-time pressure data for environmental monitoring or altitude estimation. Furthermore, the Pressure_CS pin of the U4 chip is connected to the chip select signal output of the control module 40, allowing the control module 40 to precisely select and activate the barometer via the chip select signal, ensuring data acquisition when needed without affecting the normal operation of other sensors in the system. Through this design, the control module 40 can flexibly manage the activation and deactivation of the barometer as needed, ensuring the accuracy and timeliness of data acquisition while avoiding signal interference between multiple sensors. The barometer data can be combined with other sensor data in the system, particularly for altitude calculation and barometric pressure change monitoring, further enhancing the overall system's measurement accuracy and adaptability in different environments.

[0082] In summary, the barometer in the miniature sensing unit 60 acquires data via the second sensing chip U4 and transmits it to the control module 40 through the SPI interface, enabling high-speed transmission of barometric pressure data. This design ensures that barometric pressure data is acquired and transmitted to the control module 40 in a timely and accurate manner under different environments, thereby improving the system's adaptability and response speed to changes in the external environment.

[0083] Furthermore, such as Figure 12 As shown, the miniature sensing unit 60 includes a magnetometer, which includes a third sensing chip U5. The I2C1_SCL pin of the third sensing chip U5 is connected to the I2C clock data port of the control module 40, the I2C1_SDA pin of the third sensing chip U5 is connected to the I2C sensor data port of the control module 40, and the Magnetometer_DRDY pin is connected to the signal output port of the control module 40.

[0084] In this embodiment, the miniature sensing unit 60 further includes a magnetometer, which performs data acquisition and transmission via a third sensing chip U5. The I2C1_SCL pin of the U5 chip is connected to the I2C clock data port of the control module 40, and the I2C1_SDA pin of the U5 chip is connected to the I2C sensor data port of the control module 40. This allows the magnetometer to exchange data with the control module 40 via the I2C communication interface. The use of the I2C bus allows the system to achieve communication between multiple devices using only two data lines, saving wiring space while ensuring the simplicity and reliability of magnetometer data transmission. Through the clock signal provided by the I2C1_SCL pin, the control module 40 can effectively control the data transmission speed and synchronization of the magnetometer, enabling magnetic data to be transmitted to the control module 40 for processing with low latency. Furthermore, I2C communication has strong anti-interference capabilities, making it suitable for devices like magnetometers that are sensitive to external electromagnetic environments, thus ensuring that the system can still acquire accurate magnetic field data in various environments. The data from the magnetometer can be combined with data from other sensors in the system, such as the gyroscope and accelerometer, to achieve higher-precision attitude detection through a fusion algorithm within the control module 40. Especially in navigation or orientation applications, the magnetometer can provide crucial orientation information, further enhancing the measurement accuracy and stability of the entire system in complex environments.

[0085] In summary, the magnetometer in the miniature sensing unit 60 communicates with the control module 40 via the I2C interface of the third sensing chip U5, enabling low-latency, high-precision transmission of magnetic data. This design ensures that the system can capture and transmit magnetic data in real time, thereby improving the system's attitude sensing accuracy and overall stability, especially its adaptability in complex electromagnetic environments.

[0086] In addition, industrial applications typically consider using wireless sensors to replace existing solutions. However, the basic replacement cost or difficulty is high, and some factories embed or assemble sensors inside their machines, requiring a certain size limit. In other words, there is a need for sensor miniaturization. Therefore, a low-cost, miniaturized hardware system is needed that can convert sensor data into wireless communication based on existing wired sensors.

[0087] Furthermore, attitude sensor data is also commonly used in integrated navigation applications. However, current high-precision integrated navigation products suffer from issues such as excessive size and high cost. Alternatively, some solutions combine GPS devices with attitude sensors, but these also suffer from insufficient integration and excessive space requirements. Therefore, a more compact, lower-cost, and higher-precision product is needed to meet the growing demand for miniaturized and integrated functionality.

[0088] A typical hardware system for a wireless attitude sensor usually consists of a control module 40, an RF transceiver module, a communication level conversion unit, a sensor unit, and a power management unit. The control module 40 converts the data obtained by the serial port signal conversion unit into a wireless signal that can be broadcast by the RF transceiver module through its internal program. The power management unit is responsible for supplying external power sources such as batteries or cables into the system and converting them into a low voltage that the system can use.

[0089] Typically, when using attitude sensors in the aforementioned systems, purchasing commercially available sensors may encounter issues such as insufficient dust and water resistance, inability to support USB or CAN wired communication input types, inability to use local area network data storage, insufficient communication data transmission volume over continuous time, excessively large and heavy size for devices suitable for integrated navigation, and insufficient sensor accuracy.

[0090] To address the aforementioned shortcomings, this application aims to design and construct a portable, high-data-volume distributed hardware system using a custom-shaped metal housing with a wide operating temperature range and waterproof accessories. This system is designed to meet the requirements of long-term continuous use in industrial, outdoor, and vehicle environments, with optional GPS navigation data acquisition or industrial IoT deployment. The system will enable wired-to-wireless communication, attitude monitoring, integrated navigation, embeddability, dust and water resistance, high precision, and miniaturization.

[0091] In particular, the problem of insufficient communication throughput is solved through the following four points:

[0092] 1. Wireless communication type: Use hardware that supports WIFI or higher data transfer rates and frequencies to solve the problem;

[0093] 2. Under the premise of point 1, this hardware supports multiple devices connecting to the same server simultaneously, enabling large-scale data transmission;

[0094] 3. Level conversion unit hardware: Solved using hardware with high data transmission capacity;

[0095] 4. Data is transmitted in batches, that is, after collecting a segment of data, it is compressed and then uploaded to the terminal server.

[0096] In summary, compressing data before transmission reduces the amount of data sent in a single data packet, thereby increasing the data transmission frequency.

[0097] Furthermore, such as Figure 2 As shown in the figure, power management module 1 is referred to as the first power management module, power management module 2 is referred to as the second power management module, level conversion unit 1, level conversion unit 2 and level conversion unit 3 are referred to as the first level conversion unit 702, level conversion unit 4 is referred to as the second level conversion unit 80, component 1 is referred to as the first component, and component 2 is referred to as the second component.

[0098] The entire system mainly consists of two components: 1. Signal transmission and power supply components (first component); 2. Data processing components (second component). The core of the first component is the wireless module and the power management module, while the second component operates around the control module 40.

[0099] The first component can be further subdivided into:

[0100] The external interface and connector 1 serve as the external connection part of the system;

[0101] Power supply section: The first power management module is responsible for converting the power input voltage of the external interface into a voltage usable by the whole system, and connecting the converted primary power to the connector 6 of the second component via connector 2 through a connector plug;

[0102] For the internal connection part: First, connector 1 is connected to connector 2, and then connector 2 is connected to connector 6 of the second component through a connector, thereby realizing one of the communication paths 1 of the external interface from the first component to the second component; Second, also from connector 1, but through the wiring switch array, and then through the wiring switch array to distribute three paths, the first level conversion unit 702 of which is selected is connected to connector 3, and then connected to connector 7 of the second component through a connector, thereby realizing the other three communication paths 2, 3, and 4 of the external interface from the first component to the second component.

[0103] Radio frequency transceiver section: The system externally uses a matching antenna for this application. The antenna interface is connected to the selected wireless module that matches one of the two connectors via optional connector 4 or connector 5. After the wireless module performs preliminary data processing, it communicates with the second component via connector 2 and connector 3.

[0104] The above components enable four basic functions: carrying the second component, connecting external devices to the system via wired or wireless means to read sensor data, acquiring GPS-related data, and providing power input to the system.

[0105] The second component can be further divided into:

[0106] Data transceiver processing section: The control module 40 and its input / output interfaces, redundant interfaces, and second level conversion unit 80 together form the core part of the second component that transmits and processes data to and from the first component and then to the external Q interface;

[0107] Power supply section: The second power management module is connected to the connector 2 via the connector 6 and then the connector plug, to obtain the primary power from the first power management module of the first component and convert it into secondary power that can be used by all units of the second component and some units of the first component.

[0108] Specifically, the secondary power generated by the second power management module is connected to the connector 3 via connector 7 through a connector plug to supply power to a portion of the first component.

[0109] Sensor data generation section: This section mainly includes four types of sensor data: 3-axis gyroscope data, 6-axis gyroscope (3-axis) and accelerometer (3-axis) data, barometer data, and 3-axis magnetometer data. The gyroscope assembly 50 consists of three single-axis high-precision gyroscope units 1, 2, and 3, placed on different axes, used to generate the original high-precision data of this application. Furthermore, through the micro-sensing unit 601, the lower-precision gyroscope data and acceleration data of this unit are fitted with the original data of the gyroscope assembly 50 in the control module 40 using the algorithm of this application, generating stable, low-error, and low-bias post-algorithm data. The micro-sensing unit 60, namely the barometer and magnetometer, further assists in enhancing the accuracy and stability of the post-algorithm data under selected scenarios.

[0110] After the above processing, the sensor unit sends the generated data to the control module 40 for processing through a specific internal communication method. Then, the data is converted into a communication type that can be acquired externally through the connector using the first level conversion unit 702 and the second level conversion unit.

[0111] Based on the above system and component descriptions, this application is applicable to the following, but not limited to, the listed use cases:

[0112] Scenario 1: In factories where dustproof, waterproof, and high-low temperature environments are required, a number of units of this application can be connected wirelessly within a certain small space to form an Internet of Things (IoT) and transmit and summarize sensor data to the host terminal, enabling a computer to monitor the operation of equipment within a certain range in the factory, such as the vibration and angle of the equipment.

[0113] Scenario 2: Construction machinery such as excavators and boom lifts need to be deployed in a certain posture for operation (with requirements for ambient temperature and humidity, vibration resistance, dust and water resistance, and protection against certain external forces). It is usually necessary to measure the posture of each boom to obtain a relatively accurate angle. At this time, a number of these applications can be set at each selected node of the boom, and a number of these applications can also be set on the vehicle body at the same time to realize the function of safe monitoring and control of boom posture model and vehicle body rotation angle and tilt angle. If the wireless function of this application is used, the data can also be transmitted to a nearby wireless base station through wireless communication to realize the IoT intelligent monitoring function of one or even multiple machines at the same time.

[0114] Scenario 3: In highly mobile workstations, such as AGVs (Automated Guided Vehicles) in factories, the driving path needs to be dynamically adjusted based on real-time attitude angles to achieve stable operation according to given requirements. This application can provide real-time attitude angles to help mobile vehicles maintain stability in the horizontal direction or on roads with a certain slope angle, while also moving relatively accurately along a predetermined route. Similarly, the wireless function of this application can be used to realize intelligent IoT monitoring of one or more vehicles.

[0115] Scenario 4: In highly mobile workstations, such as engineering vehicles undergoing road testing, GPS or RTK functionality is required to assist navigation and other operations, and there may be a certain distance of wading through water. This application, in conjunction with a given wireless module, can connect to the system via an antenna interface, provided it has at least IP67 dust and water resistance, and, combined with sensor units, output a certain degree of fused data to assist in the work.

[0116] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A high-precision attitude sensing system with multiple communication channels, characterized in that, It includes a wired communication module (10), a wireless communication module (20), a signal interface module (30), a control module (40), a gyroscope assembly (50), and a miniature sensing unit (60). The first communication port of the wired communication module (10) is connected to an external interface, and the second communication port of the wired communication module (10) is connected to the first communication port of the signal interface module (30). The first communication port of the wireless communication module (20) is connected to an antenna interface, and the second communication port of the wireless communication module (20) is connected to the second communication port of the signal interface module (30). The signal interface module (30) is connected to the control module (60). Multiple communication paths are provided between the wired communication module (10) and the wireless communication module (20) to realize signal transmission of different communication methods. The signal interface module (30) is used to transmit the communication signals of the wired communication module (10) and the wireless communication module (20) to the corresponding communication paths. The device signal transmission port of the control module (40) is connected to the device signal transmission port of the gyroscope component (50) and the device signal transmission port of the micro-sensing unit (60) respectively. The chip select signal output port of the control module (40) is connected to the chip select signal input port of the gyroscope component (50) and the chip select signal input port of the micro-sensing unit (60) respectively.

2. The high-precision attitude sensing system with multiple communications according to claim 1, characterized in that, The signal interface module (30) includes a main interface unit (301) and a secondary interface unit (302). The main interface unit (301) and the control module (40) have a high-priority communication path, and the secondary interface unit (302) and the control module (40) have a low-priority communication path.

3. The high-precision attitude sensing system with multiple communications according to claim 2, characterized in that, The wireless communication module (20) includes a GPS unit and a radio frequency unit. The communication port of the GPS unit is connected to the wireless data communication port of the secondary interface unit (302), and the communication port of the radio frequency unit is also connected to the wireless data communication port of the secondary interface unit (302).

4. The high-precision attitude sensing system with multiple communications according to claim 2, characterized in that, The wired communication module (10) includes a USB communication unit, a CAN communication unit, an RS232 communication unit, and an RS485 communication unit. The communication port of the USB communication unit is connected to the USB communication port of the secondary interface unit (302). The communication port of the CAN communication unit is connected to the CAN communication port of the main interface unit (301). The communication port of the RS232 communication unit is connected to the RS232 communication port of the main interface unit (301). The communication port of the RS485 communication unit is connected to the RS485 communication port of the main interface unit (301).

5. The high-precision attitude sensing system with multiple communications according to claim 4, characterized in that, A communication management module (70) is provided between the wired communication module (10) and the signal interface module (30). The communication management module (70) includes a wiring switch array (701) and multiple first level conversion units (702). The first communication port of the wiring switch array (701) is connected to the second communication port of the wired communication module (10). The CAN communication port, RS232 communication port and RS485 communication port of the wiring switch array (701) are respectively connected to a first level conversion unit (702). The other end of the first level conversion unit (702) is connected to the CAN communication port, RS232 communication port or RS485 communication port of the main interface unit (301).

6. The high-precision attitude sensing system with multiple communications according to claim 2, characterized in that, A second level conversion unit (80) is provided on the low-priority communication path between the secondary interface unit (302) and the control module (40). The second level conversion unit (80) includes a level conversion chip U6. The D- and D+ pins of the level conversion chip U6 are both connected to the secondary interface unit (302), and the UART2 RX and UART2 TX pins of the level conversion chip U6 are connected to the control module (40).

7. The high-precision attitude sensing system with multiple communications according to claim 1, characterized in that, The gyroscope assembly (50) includes three single-axis high-precision chips, and each pair of single-axis high-precision chips is fixedly soldered perpendicularly to each other. The device signal input terminal of each single-axis high-precision chip is connected to the device signal output terminal of the control module (40), the device signal output terminal of the single-axis high-precision chip is connected to the device signal input terminal of the control module (40), and the chip select signal input terminal of the single-axis high-precision chip is connected to the chip select signal output port of the control module (40).

8. A high-precision attitude sensing system with multiple communications according to claim 1, characterized in that, The miniature sensing unit (60) includes a gyroscope and an accelerometer. The gyroscope and accelerometer include a first sensing chip U3. The SPI1_MOSI pin of the first sensing chip U3 is connected to the device signal output terminal of the control module (40). The SPI1_MISO pin of the first sensing chip U3 is connected to the device signal input terminal of the control module (40). The GyroII_CS pin of the first sensing chip U3 is connected to the chip select signal output port of the control module (40).

9. A high-precision attitude sensing system with multiple communications according to claim 1, characterized in that, The miniature sensing unit (60) includes a barometer, which includes a second sensing chip U4. The SPI1_MOSI pin of the second sensing chip U4 is connected to the device signal output terminal of the control module (40), the SPI1_MISO pin of the second sensing chip U4 is connected to the device signal input terminal of the control module (40), and the Pressure_CS pin of the second sensing chip U4 is connected to the chip select signal output port of the control module (40).

10. A high-precision attitude sensing system with multiple communications according to claim 1, characterized in that, The miniature sensing unit (60) includes a magnetometer, which includes a third sensing chip U5. The I2C1_SCL pin of the third sensing chip U5 is connected to the I2C clock data port of the control module (40), the I2C1_SDA pin of the third sensing chip U5 is connected to the I2C sensor data port of the control module (40), and the Magnetometer_DRDY pin of the third sensing chip U5 is connected to the signal output port of the control module (40).

Images