Inertial measurement device

Abstract

The utility model discloses an inertial measurement device, which relates to the technical field of inertial measurement and comprises an outer cover, a base frame and a plurality of first shock absorbers. Wherein the outer cover comprises a bottom cover and a plurality of side plates, the side plates are connected end to end to define a side wall, and the bottom cover and the side wall define a containing cavity; the base frame is arranged in the containing cavity and comprises a base, the base is installed on the bottom cover, the base is provided with a plurality of first installation faces facing the side plates, and the first installation faces are connected end to end in the circumferential direction of the base; the first installation faces are connected with the side plates through the first shock absorbers, and the first shock absorbers and the first installation faces are equal in number and are arranged in a one-to-one correspondence mode. According to the scheme, the first shock absorbers are arranged in the circumferential direction of the base, so that vibration conducted into the outer cover is absorbed by the first shock absorbers as much as possible, excessive vibration of the base frame is avoided, the possibility that a sensor on the base frame is overloaded is reduced, and meanwhile the situation that the signal transmission quality of optical fibers is affected by excessive vibration is avoided.

Description

Technical Field

[0001] This utility model relates to the field of inertial measurement technology, and in particular to an inertial measurement device. Background Technology

[0002] An inertial measurement unit (INS) is a device used to measure the three-axis attitude angles (or angular rates) and acceleration of an object. It is widely used in the automotive, robotics, and aerospace industries. The core components of an INS are multiple sensors (accelerometers, gyroscopes, etc.) and a complex communication unit. When an INS is installed in a host device (such as a drone), the jitter generated during the operation of the host device is transmitted to the INS. When the vibration transmitted to the sensors is excessive, it may exceed the measurement range of the accelerometers and gyroscopes, causing sensor overload. Furthermore, when the vibration frequency or amplitude is too high, it can cause excessive vibration of the optical fiber in the communication unit, resulting in vibration of the optical core and the generation of more intermediate and high-frequency components in the signal spectrum. This change in the spectrum can lead to signal distortion and increased noise, affecting the signal transmission quality. Utility Model Content

[0003] The main purpose of this invention is to propose an inertial measurement device that aims to solve the technical problems of sensor overload and inaccurate data transmission caused by external vibrations.

[0004] To achieve the above objectives, this utility model proposes an inertial measurement device, comprising:

[0005] The outer cover includes a bottom cover and multiple side panels, which are connected end to end to form a side enclosure, and the bottom cover and the side enclosure together form an accommodating cavity.

[0006] A base frame is disposed in the accommodating cavity. The base frame includes a base, which is mounted on the bottom cover. The base has multiple first mounting surfaces facing multiple side plates, and the multiple first mounting surfaces are connected end to end along the circumference of the base.

[0007] Multiple first vibration dampers are provided, and the first mounting surface is connected to the side plate through the first vibration damper. The number of first vibration dampers and the number of first mounting surfaces are equal and are arranged in a one-to-one correspondence.

[0008] In one embodiment, the base frame further includes a top seat, which is disposed away from the base and has a plurality of second mounting surfaces facing the plurality of side plates;

[0009] The inertial measurement device also includes a plurality of second vibration dampers. The second mounting surface is connected to the side plate through the second vibration dampers. The number of the second vibration dampers is equal to the number of the second mounting surfaces, and they are arranged in a one-to-one correspondence.

[0010] In an embodiment, it is defined that the number of the side plates is m, the number of the first mounting surfaces is n, and the number of the second mounting surfaces is k.

[0011] The m, n and k satisfy: k≤n≤m.

[0012] In an embodiment, the first damper comprises a first upper shell, a first fixed seat and a first elastic member, the first upper shell covers the first fixed seat, two ends of the first elastic member are connected with the first upper shell and the first fixed seat respectively, the first upper shell is connected with the side plate, and the first fixed seat is mounted on the first mounting surface.

[0013] The second damper comprises a second upper shell, a second fixed seat and a second elastic member, the second upper shell covers the second fixed seat, two ends of the second elastic member are connected with the second upper shell and the second fixed seat respectively, the second upper shell is connected with the side plate, and the second fixed seat is mounted on the second mounting surface.

[0014] In an embodiment, the top seat further comprises a construction surface, and a construction gap exists between the construction surface and the side plate, the construction gap is used for passing at least part of the cables in the inertial measurement device.

[0015] In an embodiment, the projection of the bottom seat to the bottom cover is a polygon, and at least one symmetry axis exists in the polygon, and the projection of each first mounting surface on the bottom cover corresponds to one side of the polygon.

[0016] In an embodiment, the bottom cover is provided with a plurality of mounting through holes, the mounting through holes are threadedly connected with the main body device to fix the bottom cover to the main body device, and the plurality of mounting through holes are symmetrically arranged along at least one of the symmetry axes.

[0017] In an embodiment, the inertial measurement device further comprises a top cover, the top cover covers the top of the plurality of side plates to seal the accommodation cavity.

[0018] In an embodiment, the inertial measurement device further comprises a data interface, the data interface is mounted on the side of the top cover away from the bottom cover, and the side of the data interface facing the accommodation cavity is connected with at least part of the cables in the accommodation cavity.

[0019] In an embodiment, the inertial measurement device further comprises a plurality of sensors, and a plurality of mounting positions are provided in the base frame, each mounting position is used for mounting one sensor.

[0020] According to the technical solution provided by this utility model, the inertial measurement device includes an outer cover, a base frame, and multiple first vibration dampers. The outer cover includes a bottom cover and multiple side plates, which are connected end-to-end to form a side enclosure. The bottom cover and the side enclosure together form a receiving cavity. The base frame is disposed in the receiving cavity and includes a base mounted on the bottom cover. The base has multiple first mounting surfaces facing the multiple side plates, which are connected end-to-end along the circumference of the base. The first mounting surfaces are connected to the side plates via first vibration dampers. The number of first vibration dampers and first mounting surfaces are equal and correspond one-to-one. When the main equipment transmits vibration to the inertial measurement device, relative vibration will occur between the outer casing and the base frame due to mass differences. Through the design of this scheme, first vibration dampers are installed around the circumference of the base frame, so that the vibration in the outer casing is absorbed by the first vibration dampers as much as possible, thereby reducing the vibration impact intensity on the base frame. Furthermore, due to the presence of the first vibration dampers, the probability of resonance between the base frame and the outer casing is small, thus avoiding overload of the sensors installed on the base frame and preventing excessive vibration from affecting the signal transmission quality of the optical fiber. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0022] Figure 1 A schematic diagram of the structure of an embodiment of the inertial measurement device provided by this utility model;

[0023] Figure 2 for Figure 1 A schematic diagram of the decomposed structure;

[0024] Figure 3 for Figure 1 A partial structural diagram;

[0025] Figure 4 for Figure 1 A schematic diagram of the cross-sectional structure of the inertial measurement unit with the central axis plane of the data interface as the cross section;

[0026] Figure 5 for Figure 1 A schematic diagram of the structure after removing the top cover.

[0027] Explanation of icon numbers:

[0028] 100. Inertial measurement unit;

[0029] 1, cover; 11, bottom cover; 111, mounting hole; 12, side plate; 13, accommodating cavity;

[0030] 2, base; 21, base; 211, first mounting surface; 22, top seat; 221, second mounting surface; 222, construction surface; 23, mounting position;

[0031] 3, first damper; 31, first upper shell; 32, first fixed seat; 33, first elastic member;

[0032] 4, second damper; 41, second upper shell; 42, second fixed seat; 43, second elastic member;

[0033] 5, top cover;

[0034] 6, data interface.

[0035] The realization, functional features and advantages of the utility model will be further described with reference to the drawings in combination with embodiments. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the utility model will be clearly and completely described below in combination with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the utility model.

[0037] It should be noted that if the embodiments of the utility model involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement condition, etc. between components in a certain posture, and if the certain posture changes, the directional indications also change accordingly.

[0038] In addition, if the embodiments of the utility model involve descriptions such as "first", "second", etc., the descriptions of "first", "second", etc. are only for description purposes, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one feature. In addition, "and / or" or "and / or" appearing throughout the text means that the three parallel schemes are included, taking "A and / or B" as an example, including A scheme, or B scheme, or A and B simultaneously meet the scheme. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor is it within the protection scope required by the utility model.

[0039] An inertial measurement unit (IMU) is a device used to measure the three-axis attitude angle (or angular rate) and acceleration of an object, and its core components include an accelerometer and a gyroscope. The accelerometer is responsible for detecting the acceleration signal of the independent three-axis of the object in the carrier coordinate system, while the gyroscope is used to detect the angular velocity signal of the carrier relative to the navigation coordinate system. IMU has a very wide range of applications, covering multiple fields such as automobiles, robots, aviation, aerospace, and navigation. In the automotive field, IMU can be used for attitude estimation and dead reckoning in autonomous driving systems, filling the gap between GNSS signal updates. In the field of robots, IMU is a key component of motion control and attitude adjustment, which helps to improve the stability and operation accuracy of robots. In addition, IMU is also widely used in inertial navigation equipment such as aircraft, submarines, and missiles, providing accurate navigation and attitude control information for these complex systems.

[0040] According to the research of the applicant, some main equipment (such as aircraft) installed with inertial measurement device will produce large vibration during operation, or due to sudden adjustment of attitude, the internal part of the main equipment will be subjected to large inertia. The vibration generated by the operation of the main equipment will be conducted to the inside of the inertial measurement device. When the vibration conducted to the sensor is too large, it may exceed the range of the sensor such as accelerometer and gyroscope, causing the sensor to overload. This overload not only reduces the measurement accuracy of the sensor, but also may damage the internal structure of the sensor, affecting its long-term stability. In addition, when the vibration frequency is too high or the amplitude is too large, it will cause excessive vibration of the optical fiber in the communication unit. The excessive vibration of the optical fiber will cause the displacement of the optical core, thereby generating more medium and high frequency components on the signal spectrum. This change in spectrum will cause distortion and noise of the signal to increase, thereby affecting the transmission quality of the signal. In high-precision navigation and control applications, this increase in signal distortion and noise may cause the accumulation of navigation errors, affecting the performance of the entire system. In view of the above technical background, the utility model provides an inertial measurement device.

[0041] Please refer to Figures 1 to 3 In an embodiment of the utility model, the inertial measurement device 100 includes a cover 1, a base frame 2 and a plurality of first dampers 3. Among them, the cover 1 includes a bottom cover 11 and a plurality of side plates 12, the plurality of side plates 12 are connected head to tail to form a side wall, and the bottom cover 11 and the side wall form a containing cavity 13; the base frame 2 is arranged in the containing cavity 13, and the base frame 2 includes a base 21, the base 21 is installed on the bottom cover 11, the base 21 is provided with a plurality of first mounting surfaces 211 facing the plurality of side plates 12, and the plurality of first mounting surfaces 211 are connected head to tail along the circumference of the base 21; the first mounting surface 211 is connected with the side plate 12 through the first damper 3, the number of the first damper 3 and the first mounting surface 211 is equal, and they are arranged one by one.

[0042] Specifically, the plurality of first mounting surfaces 211 are evenly distributed along the circumference of the base 21, and each first mounting surface 211 corresponds to the installation of a first damper 3. The first damper 3 is used to absorb kinetic energy, reduce the vibration of the outer cover 1 conducted into the base frame 2, and reduce the impact force on the base frame 2. Since the vibration is multidirectional, by installing a plurality of dampers in the circumferential direction of the base 21, it can be ensured that the vibration can be effectively absorbed and isolated in all directions, improving the comprehensiveness and consistency of the damping effect. And the first damper 3 can change the natural frequency of the inertial measurement device 100, so that it is different from the frequency of the external vibration source, thereby avoiding the occurrence of resonance. In this embodiment, one end of the first damper 3 is installed on the first mounting surface 211 by a screw, and the other side is connected to the side plate 12 by a screw. The base 21 is placed on the top of the bottom cover 11, and the two are connected by a screw. It should be noted that any one first mounting surface 211 and its corresponding side plate 12 are connected by a first damper 3, and the side plate 12 corresponding to the first mounting surface 211 is the side plate 12 parallel to the first mounting surface 211, that is, when a first mounting surface 211 is arranged to face a side plate 12, and the two are parallel to each other, the side plate 12 is the side plate 12 corresponding to the first mounting surface 211.

[0043] The technical scheme provided in this embodiment sets a plurality of first dampers 3 between the base 21 and the side plate 12, so that the vibration in the outer cover 1 is absorbed by the first damper 3 as much as possible, thereby reducing the vibration impact strength on the base frame 2, and due to the presence of the first damper 3, the probability of resonance between the base frame 2 and the outer cover 1 is small, thereby avoiding the overload of the sensor arranged on the base frame 2, and avoiding excessive vibration affecting the signal transmission quality of the optical fiber.

[0044] Further, in an embodiment of the utility model, the base frame 2 further includes a top base 22, the top base 22 is arranged away from the base 21, and the top base 22 is provided with a plurality of second mounting surfaces 221 facing the plurality of side plates 12; the inertial measurement device 100 further includes a plurality of second dampers 4, the second mounting surface 221 is connected with the side plate 12 through the second damper 4, the number of the second damper 4 is equal to that of the second mounting surface 221, and they are arranged one by one. Please refer to Figures 2 to 5Since a plurality of sensors and communication units need to be installed in the base frame 2, the base frame 2 has a certain height, in the embodiment, the top base 22 is not connected with the outer cover 1 when the second damper 4 is not installed, so the top base 22 is in a cantilever state at this time, when the vibration is conducted from the bottom base 21 to the top base 22, the base frame 2 may have a phenomenon similar to the "whipping effect" in the building structure (when the structure is vibrated, the amplitude of the top of the structure is significantly larger than that of the bottom), in order to avoid this phenomenon, the second damper 4 is installed on the second mounting surface 221 of the top base 22, the top base 22 is connected with the side plate 12 through the second damper 4, so that the second damper 4 can provide lateral support to the top base 22 when the top base 22 is vibrated, and provide a certain buffering effect to the top base 22. Since the plurality of first dampers 3 are uniformly arranged in the circumferential direction of the bottom base 21, most of the vibration or impact energy conducted to the base frame 2 will be absorbed and dissipated by the first dampers 3, and the remaining energy will be conducted to the top base 22 and absorbed and dissipated by the second dampers 4, so as to further ensure that the base frame 2 can avoid being subjected to strong impact. Since less energy is transmitted to the top frame, the number of the second mounting surfaces 221 and the second dampers 4 can be flexibly set according to the actual needs of the inertial measurement device 100, in the embodiment, the number of the second mounting surfaces 221 and the second dampers 4 is five. In other embodiments, the number of the second mounting surfaces 221 can be four or three. It also needs to be explained that the second damper 4 connects the mutually corresponding second mounting surface 221 and the side plate 12, when one second mounting surface 221 is arranged to face a side plate 12 and the two are parallel to each other, the second mounting surface 221 and the side plate 12 correspond to each other. It also needs to be explained that in order to facilitate space layout, the projections of the second dampers 4 and the first dampers 3 on the bottom cover 11 coincide.

[0045] Further, in an embodiment of the utility model, it is defined that the number of side plates 12 is m, the number of first mounting surfaces 211 is n, and the number of second mounting surfaces 221 is k; m, n and k satisfy: k≤n≤m. Please refer to Figure 2In the embodiment, the number of the side plates 12 is eight, the number of the first mounting surfaces 211 is six, and the number of the second mounting surfaces 221 is five, and correspondingly, the number of the first dampers 3 is six, and the number of the second dampers 4 is five. The number of the side plates 12 and the included angle between the adjacent side plates 12 need to be designed according to the space requirement of the main equipment, the six first mounting surfaces 211 are arranged correspondingly with six of the eight side plates 12, and the five second mounting surfaces 221 are arranged correspondingly with five of the eight side plates 12. This arrangement makes the side plates 12 be able to be connected with different base frames 2 through the first dampers 3 and the second dampers 4 flexibly, for example, if the number of the first dampers 3 needs to be increased to eight, only the number of the first mounting surfaces 211 in the base 21 needs to be increased to eight, and the specification of the outer cover 1 does not need to be changed, so that one specification of the outer cover 1 can adapt to multiple base frames 2, and greater flexibility is provided for the design of the base frame 2.

[0046] In addition, referring to Figure 4 In an embodiment of the utility model, the first damper 3 includes a first upper shell 31, a first fixed seat 32 and a first elastic piece 33, the first upper shell 31 is covered on the first fixed seat 32, the two ends of the first elastic piece 33 are connected with the first upper shell 31 and the first fixed seat 32 respectively, the first upper shell 31 is connected with the side plate 12, and the first fixed seat 32 is installed on the first mounting surface 211;The second damper 4 includes a second upper shell 41, a second fixed seat 42 and a second elastic piece 43, the second upper shell 41 is covered on the second fixed seat 42, the two ends of the second elastic piece 43 are connected with the second upper shell 41 and the second fixed seat 42 respectively, the second upper shell 41 is connected with the side plate 12, and the second fixed seat 42 is installed on the second mounting surface 221. The first damper 3 and the second damper 4 in the embodiment adopt spring damping structure, wherein the first fixed seat 32 is installed on the first mounting surface 211 by screw, and the first upper shell 31 is connected with the side plate 12 by screw;The second fixed seat 42 is installed on the second mounting surface 221 by screw, and the second upper shell 41 is connected with the side plate 12 by screw. The spring damping structure has the advantages of simple structure, strong reliability and convenient maintenance. At the same time, the working principle of the spring damping structure is relatively simple, taking the first damper 3 as an example, when vibration is conducted to the first upper shell 31 and the first fixed seat 32, the first upper shell 31 and the first fixed seat 32 move relatively, the first elastic piece 33 is compressed and deformed, and this deformation enables the first elastic piece 33 to absorb vibration energy and convert it into deformation energy of the first elastic piece 33. In the vibration process, kinetic energy and potential energy are converted into each other repeatedly. The first elastic piece 33 absorbs and releases this part of energy repeatedly, so that vibration is gradually attenuated.

[0047] Referring to Figure 3In an embodiment of the utility model, top seat 22 still includes structure surface 222, there is structure gap between structure surface 222 and side plate 12, and structure gap is used for the cable of at least part of inertia measuring device 100 to pass through.Structure surface 222 can be set as plane or curved surface, by this setting, on the one hand, structure gap can be used for the cable to pass through, and it is favorable to optimize cable layout;On the other hand, by designing structure surface 222 as different shapes, such as convex or concave design, the function of adjusting the centroid of base frame 2 can be played.

[0048] In an embodiment of the utility model, the outer contour of the projection of base 21 to bottom cover 11 is polygon, and there is at least one symmetry axis in the polygon, and the projection of each first mounting surface 211 on bottom cover 11 corresponds to one side of the polygon. Figure 2 With Figure 3 In the embodiment, the outer contour of the projection of base 21 to bottom cover 11 is an open-round-cornered regular hexagon, and there are six symmetry axes in the projection, and by this setting, the first damper 3 can be uniformly arranged around the circumference of base 21, so that the plurality of first dampers 3 can absorb vibrations from multiple directions.

[0049] Further, in an embodiment of the utility model, bottom cover 11 is provided with a plurality of mounting through holes 111, the mounting through holes 111 are threadedly connected with the main body device (aircraft, etc.), so as to fix bottom cover 11 to the main body device, and the plurality of mounting through holes 111 are symmetrically arranged along at least one symmetry axis. Figure 1 With Figure 2 In the embodiment, the number of mounting through holes 111 is four, the four mounting through holes 111 are threadedly connected with the mounting parts in the main body device, and the connecting line of the centers of the four mounting through holes 111 forms a rectangle, which makes bottom cover 11 stably installed on the main body device, avoids the shaking of bottom cover 11, and affects the normal work of inertia measuring device 100.

[0050] In an embodiment of the utility model, inertia measuring device 100 further includes top cover 5, and top cover 5 is arranged on the top of the plurality of side plates 12 to close containing cavity 13. Figure 1 And Figure 2 The top of side plate 12 is provided with a threaded hole, and top cover 5 is correspondingly provided with a threaded through hole, and the threaded hole and the threaded through hole are connected by a screw, so that top cover 5 is arranged on the top of side plate 12, and top cover 5 can seal containing cavity 13. By this setting, the components inside inertia measuring device 100 are prevented from being affected by external pollutants or external environment. When assembling, first, base frame 2 installed with various components is installed into containing cavity 13, then base 21 is connected with bottom cover 11 by a screw, and finally top cover 5 is arranged on side plate 12 and fixed by a screw.

[0051] In an embodiment of the utility model, the inertia measurement device 100 further includes a data interface 6, the data interface 6 is installed on the side of the top cover 5 away from the bottom cover 11, and the side of the data interface 6 facing the accommodating cavity 13 is connected with at least part of the cable in the accommodating cavity 13. The data interface 6 provides power input internally and provides three-axis inertia measurement data output externally. The type of the data interface 6 can be one of RS422 interface, RS232 interface or CAN interface, and can also be other interfaces with power supply and data transmission functions. Installing the data interface 6 on the top cover 5 can effectively utilize the vertical space of the device, avoid occupying too much space on the bottom cover 11 or the side plate 12, and provide more space for the installation and layout of other components.

[0052] In an embodiment of the utility model, the inertia measurement device 100 further includes a plurality of sensors, and a plurality of installation positions 23 are formed in the base frame 2, and one sensor is installed in each installation position 23. The plurality of sensors at least include an accelerometer and a gyroscope, and can further include a magnetometer and other sensors with special functions. The functions and positions of the plurality of installation positions 23 are designed according to the sizes and purposes of different sensors, and the design of the remaining parts (such as the base 21 and the top seat 22) of the base frame 2, so that the center of mass of the base frame 2 after installing the plurality of sensors is located at the center of the inertia measurement device 100, to improve the stability of the inertia measurement device 100 during operation.

[0053] The above-mentioned is only the exemplary embodiment of the utility model, and does not limit the patent range of the utility model, and any equivalent structural transformation made by the utility model specification and the accompanying drawings, or direct / indirect application in other related technical fields under the technical concept of the utility model is included in the patent protection range of the utility model.

Claims

1. An inertial measurement device, characterized by, The utility model relates to an inertial measurement device, comprising: an outer cover including a bottom cover and a plurality of side plates, the plurality of side plates being connected end to end to form a side wall, and the bottom cover and the side wall forming a containing cavity; a base frame disposed in the containing cavity, the base frame including a base, the base being mounted on the bottom cover, the base being provided with a plurality of first mounting surfaces facing the plurality of side plates, the plurality of first mounting surfaces being connected end to end along the circumference of the base; a plurality of first dampers connecting the first mounting surfaces and the side plates, the first dampers being equal in number to the first mounting surfaces and being arranged one to one.

2. The inertial measurement device of claim 1, wherein, The base frame further includes a top base disposed away from the base, the top base being provided with a plurality of second mounting surfaces facing the plurality of side plates; the inertial measurement device further includes a plurality of second dampers connecting the second mounting surfaces and the side plates, the second dampers being equal in number to the second mounting surfaces and being arranged one to one.

3. The inertial measurement device of claim 2, wherein the number of side plates is defined as m, the number of first mounting surfaces is defined as n, and the number of second mounting surfaces is defined as k; the m, n, and k satisfy: k≤n≤m.

4. The inertial measurement device of claim 2, wherein, The first damper includes a first upper shell, a first fixed seat, and a first elastic member, the first upper shell being disposed on the first fixed seat, the two ends of the first elastic member being connected to the first upper shell and the first fixed seat respectively, the first upper shell being connected to the side plate, and the first fixed seat being mounted on the first mounting surface; The second damper includes a second upper shell, a second fixed seat, and a second elastic member, the second upper shell being disposed on the second fixed seat, the two ends of the second elastic member being connected to the second upper shell and the second fixed seat respectively, the second upper shell being connected to the side plate, and the second fixed seat being mounted on the second mounting surface.

5. The inertial measurement device of claim 2, wherein, The top base further includes a construction surface, a construction gap being present between the construction surface and the side plate, the construction gap being used for at least part of the cables in the inertial measurement device to pass through.

6. The inertial measurement device of claim 1, wherein, The projection of the base on the bottom cover is a polygon, the polygon having at least one axis of symmetry, and the projection of each first mounting surface on the bottom cover corresponds to one side of the polygon.

7. The inertial measurement device of claim 6, wherein, The bottom cover is provided with a plurality of mounting through holes, the mounting through holes being threadedly connected to a main device to fix the bottom cover to the main device, and the plurality of mounting through holes being symmetrically arranged along at least one of the axes of symmetry.

8. The inertial measurement device of any one of claims 1 to 7, wherein, The inertial measurement device further includes a top cover, the top cover being disposed on the top of the plurality of side plates to close the containing cavity.

9. The inertial measurement device of claim 8, wherein, The inertial measurement device further includes a data interface, the data interface being mounted on the side of the top cover away from the bottom cover, and the side of the data interface facing the containing cavity being connected to at least part of the cables in the containing cavity.

10. The inertial measurement device of any one of claims 1 to 7, wherein, The inertial measurement device further includes a plurality of sensors, a plurality of mounting sites being provided in the base frame, and each mounting site being used for mounting one sensor.

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