MEMS inertial measurement unit and unmanned aerial vehicle
By introducing positioning components and damping block structures into the MEMS inertial measurement unit, and integrating a three-axis MEMS gyroscope and accelerometer, the problem of MEMS inertial measurement sensor position deviation on the UAV was solved, improving measurement accuracy and installation stability, and achieving highly reliable navigation and control.
Patent Information
- Application Number
- CN202520605827.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-02
- Publication Date
- 2026-01-23
- Estimated Expiration
- 2035-04-02
AI Technical Summary
Existing MEMS inertial measurement sensors are prone to positional deviation during UAV-assisted navigation, leading to instability of the device's center of gravity and affecting measurement accuracy.
A MEMS inertial measurement unit was designed, including a positioning component and a MEMS inertial measurement sensor. Four-axis positioning and clamping positioning are achieved through the cooperation of the positioning rod and the mounting hole and the tilting structure of the damping block. Combined with the integration of a three-axis MEMS gyroscope and a three-axis MEMS accelerometer, full temperature parameter compensation is performed to improve installation accuracy and measurement accuracy.
It effectively reduces the rotation and translation errors of MEMS inertial measurement sensors, improves measurement accuracy, ensures accurate measurement of the angular motion parameters of the carrier even in harsh environments, and provides a low-cost and highly reliable navigation and control solution.
Smart Images
Figure CN223822029U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to MEMS inertial measurement sensor technical field, concretely is a kind of MEMS inertial measurement unit and unmanned plane. BACKGROUND
[0002] MEMS inertial sensor is the micro sensor manufactured based on micro electro mechanical system (MEMS) technology, mainly for detecting and measuring acceleration, angular velocity, attitude and other motion parameters, with the development of integrated navigation system, low-cost micro electromechanical system (MEMS) inertial measurement unit (IMU) sensor has been widely applied.
[0003] Low-cost micro electromechanical system inertial measurement sensor has the advantages such as low cost, small size, the MEMS integrated inertial sensor in prior art is combined by setting acceleration sensor, gyroscope, magnetic sensor etc., the characteristics of various inertial sensors can be utilized, and the detection of all-around, three-dimensional motion can be realized.
[0004] However, the existing MEMS inertial measurement sensor does not have a good positioning structure when used for the auxiliary navigation of unmanned plane, and the MEMS inertial measurement unit is prone to position deviation during the movement of unmanned plane, which can cause the overall center of gravity of the equipment to be unstable, thereby affecting the measurement accuracy of the MEMS inertial measurement sensor, and thus there are certain use defects, therefore, we propose a MEMS inertial measurement unit and unmanned plane to solve the problems raised in the above. UTILITY MODEL CONTENT
[0005] The utility model aims at providing a kind of MEMS inertial measurement unit and unmanned plane to solve the problems raised in the above background art that the existing MEMS inertial measurement sensor is prone to position deviation when used for the auxiliary navigation of unmanned plane, which can cause the overall center of gravity of the equipment to be unstable, thereby affecting the measurement accuracy of the MEMS inertial measurement sensor.
[0006] To achieve the above object, the utility model provides the following technical scheme, first aspect: a kind of MEMS inertial measurement unit, including MEMS inertial measurement sensor, the outer side of the MEMS inertial measurement sensor is provided with positioning assembly, and positioning assembly includes the positioning rod fixedly connected in the inside of unmanned plane body, and positioning rod is about the equal angle distribution of the mounting axis of unmanned plane body, the MEMS inertial measurement sensor includes installation shell and three-axis MEMS gyroscope and three-axis MEMS accelerometer fixedly arranged in installation shell interior.
[0007] As a preferred technical scheme of the utility model, the MEMS inertial measurement sensor further comprises a sealing plate fixedly connected to the top of the mounting shell through a bolt structure, and the bottom of the mounting shell is integrally provided with a mounting bottom plate, and mounting holes are uniformly formed in the mounting bottom plate.
[0008] As a preferred technical scheme of the utility model, the positioning rod is arranged in cooperation with the mounting hole, and the positioning rod forms a sliding connection with the mounting bottom plate through the mounting hole and plays a positioning role on the MEMS inertial measurement sensor.
[0009] As a preferred technical scheme of the utility model, the positioning assembly further comprises a connecting rod fixedly arranged in the inside of the unmanned aerial vehicle body, the outer side of the connecting rod is provided with a connecting block and a damping pressing block, and the side end face of the damping pressing block is arranged in an inclined manner.
[0010] As a preferred technical scheme of the utility model, the outer surface of the connecting rod is fixedly provided with a male thread structure, and the inner surface of the connecting block is provided with a female thread structure matched with the connecting rod, and the positioning assembly is uniformly distributed on the outside of the MEMS inertial measurement sensor.
[0011] As a preferred technical scheme of the utility model, the positioning assembly further comprises a limiting block overlapped on the outer end face of the mounting bottom plate, the side end face of the limiting block is arranged in an inclined manner, and the inclined face is arranged in cooperation with the inclined face on the damping pressing block.
[0012] Second aspect: an unmanned aerial vehicle, comprising a MEMS inertial measurement unit, a visual positioning board card and a lightweight photoelectric pod, the MEMS inertial measurement unit is the MEMS inertial measurement unit described above.
[0013] As a preferred technical scheme of the utility model, the mounting axis of the MEMS inertial measurement unit is coaxially arranged with the axis of the unmanned aerial vehicle body.
[0014] As a preferred technical scheme of the utility model, the lightweight photoelectric pod is fixedly installed at the bottom position of the unmanned aerial vehicle body, and the mounting axis of the lightweight photoelectric pod is arranged in parallel with the axis direction of the unmanned aerial vehicle body.
[0015] Compared with the prior art, the MEMS inertial measurement unit and the unmanned aerial vehicle have the advantages that: the auxiliary positioning structure is good, the MEMS inertial measurement unit can be positioned and installed, the rotation and translation errors of the MEMS inertial measurement sensor are reduced, the measurement deviation caused by the deflection of the MEMS inertial measurement sensor is avoided, and the measurement precision of the MEMS inertial measurement sensor is effectively improved.
[0016] 1. By distributing the positioning rods at equal angles around the mounting axis of the UAV body and setting the positioning rods to cooperate with the mounting holes, when installing the MEMS inertial measurement sensor, the positioning rods are inserted into the interior of the mounting base plate through the mounting holes. The positioning rods are distributed at the four corners of the MEMS inertial measurement sensor, which plays a four-axis positioning role for the MEMS inertial measurement sensor and improves the installation accuracy of the MEMS inertial measurement sensor.
[0017] Furthermore, by tilting one end face of the damping block, the connecting block is rotated to press down on the damping block, which in turn presses the limiting block against the outer end face of the mounting base plate. At the same time, the limiting block has a protruding foot structure that mates with the mounting housing on the side facing the MEMS inertial measurement sensor. By pressing and positioning the MEMS inertial measurement sensor with the limiting block, the installation accuracy of the MEMS inertial measurement sensor can be improved, and the MEMS inertial measurement sensor can be prevented from shifting relative to the UAV body.
[0018] 2. By integrating a three-axis MEMS gyroscope and a three-axis MEMS accelerometer inside the mounting housing, the three-axis MEMS gyroscope senses the angular motion of the carrier, and the three-axis MEMS accelerometer senses the linear motion of the carrier. The module has undergone compensation for zero-point, scaling factor, and non-orthogonal error of all temperature parameters, which can maintain high measurement accuracy for a long time. The module adopts shock and vibration resistant design and other measures to ensure that the product can accurately measure the angular motion parameters of the carrier even in harsh environments. In GNSS denied environments, the UAV can use inertial navigation and vision fusion autonomous navigation technology to achieve long-term autonomous positioning, providing users with a low-cost and high-reliability solution that can be widely used in navigation, control, and measurement fields such as inertial navigation and attitude stabilization. Attached Figure Description
[0019] Figure 1 This is a schematic diagram of the overall structure of the UAV in this utility model;
[0020] Figure 2 This is a schematic diagram of the installation location structure of the MEMS inertial measurement unit of this utility model in a drone;
[0021] Figure 3 This is an exploded structural diagram of the MEMS inertial measurement sensor and positioning component of this utility model;
[0022] Figure 4 This is an exploded structural diagram of the MEMS inertial measurement sensor of this utility model.
[0023] In the diagram: 110, MEMS inertial measurement sensor; 111, mounting housing; 112, mounting base plate; 113, mounting hole; 114, sealing plate; 115, triaxial MEMS gyroscope; 116, triaxial MEMS accelerometer; 120, positioning assembly; 121, positioning rod; 122, connecting rod; 123, damping block; 124, connecting block; 125, limit block. Detailed Implementation
[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0025] Please see Figures 1-4 This utility model provides a technical solution: a MEMS inertial measurement unit, including a MEMS inertial measurement sensor 110, a positioning component 120 disposed on the outer side of the MEMS inertial measurement sensor 110, and the positioning component 120 including a positioning rod 121 fixedly connected to the interior of a UAV body, combined with... Figure 2 and Figure 3 As shown, the positioning rods 121 are distributed at equal angles with respect to the mounting axis of the UAV body. Meanwhile, the bottom of the mounting housing 111 is integrally fixed with a mounting base plate 112, and the mounting base plate 112 is evenly provided with mounting holes 113 inside. Since the positioning rods 121 are matched with the mounting holes 113 and the positioning rods 121 are slidably connected to the mounting base plate 112 through the mounting holes 113, when installing the MEMS inertial measurement sensor 110, the positioning rods 121 are inserted into the interior of the mounting base plate 112 through the mounting holes 113. The positioning rods 121 are distributed at the four corners of the MEMS inertial measurement sensor 110, which plays a four-axis positioning role for the MEMS inertial measurement sensor 110 and improves the installation accuracy of the MEMS inertial measurement sensor 110.
[0026] Furthermore, by keeping the axis of the MEMS inertial measurement sensor 110 coaxial with the mounting axis of the UAV body, that is, by setting the MEMS inertial measurement sensor 110 at the center of gravity of the UAV, the rotation and translation errors of the MEMS inertial measurement sensor 110 can be reduced, and measurement deviations caused by installation tilt can be avoided.
[0027] Specific examples Figure 4As shown, the MEMS inertial measurement sensor 110 includes a mounting housing 111 and a triaxial MEMS gyroscope 115 and a triaxial MEMS accelerometer 116 fixedly disposed inside the mounting housing 111. The MEMS inertial measurement sensor 110 also includes a sealing plate 114 fixedly connected to the top of the mounting housing 111 by bolts. The sealing plate 114 seals the mounting housing 111. The triaxial MEMS gyroscope 115 and the triaxial MEMS accelerometer 116 are integrated inside the mounting housing 111. The triaxial MEMS gyroscope 115 senses the angular motion of the carrier, and the triaxial MEMS accelerometer 116 senses the linear motion of the carrier. The module has performed zero-point, scaling factor, and non-orthogonal error compensation for all temperature parameters, which can maintain high measurement accuracy for a long time. The module adopts shock and vibration resistant design and other measures to ensure that the product can still accurately measure the angular motion parameters of the carrier in harsh environments. It provides users with a low-cost and high-reliability solution and can be widely used in navigation, control and measurement fields represented by inertial navigation and attitude stabilization.
[0028] Specific examples Figure 2 and Figure 3 As shown, the positioning components 120 are evenly distributed on the outside of the MEMS inertial measurement sensor 110. The positioning components 120 also include a connecting rod 122 fixedly installed inside the drone body. A connecting block 124 and a damping block 123 are provided on the outside of the connecting rod 122. The outer surface of the connecting rod 122 is fixedly provided with a convex thread structure, and the inner surface of the connecting block 124 is provided with a concave thread structure that cooperates with the connecting rod 122. Since the connecting rod 122 and the connecting block 124 form a threaded connection, when the MEMS inertial measurement sensor 110 is installed inside the drone body through the positioning rod 121, the connecting block 124 is rotated clockwise to move the connecting block 124 down on the outside of the connecting rod 122, so that the connecting block 124 can press down on the damping block 123.
[0029] Furthermore, the damping block 123 has one end face that is inclined. The positioning assembly 120 also includes a limiting block 125 that overlaps the outer end face of the mounting base plate 112. One end face of the limiting block 125 is also inclined, and this inclined surface cooperates with the inclined surface on the damping block 123. By pressing down the damping block 123 with the connecting block 124, the damping block 123 can press the limiting block 125 tightly against the outer end face of the mounting base plate 112. Specifically, as shown... Figure 3 As shown, the limiting block 125 has a protruding foot structure that mates with the mounting housing 111 on the side facing the MEMS inertial measurement sensor 110. By pressing and positioning the MEMS inertial measurement sensor 110 through the limiting block 125, the installation accuracy of the MEMS inertial measurement sensor 110 can be improved, and the MEMS inertial measurement sensor 110 can be prevented from shifting relative to the UAV body.
[0030] Specific examples Figure 1 As shown, a drone includes a MEMS inertial measurement unit, a visual positioning board, and a lightweight optoelectronic pod. The mounting axis of the MEMS inertial measurement unit is coaxial with the axis of the drone body. The MEMS inertial measurement unit has an operating temperature of -45 to 80°C and a storage temperature of -55 to 85°C. Its performance is comparable to that of a medium-to-low precision fiber optic inertial navigation system. Its miniaturization, lightweight design, and low power consumption reduce the load on the aircraft, providing precise navigation for short-distance, short-duration flights of unmanned equipment, ensuring the stability of the aircraft's flight, and preventing it from being induced, crashing, or landing abnormally.
[0031] The visual positioning board compares real-time images from the downward-facing camera with a pre-set map, calculates its own position based on the coordinates of reference objects, and can periodically correct inertial navigation positioning errors, enabling the unmanned aerial vehicle to maintain accurate positioning even during ultra-long-distance flights.
[0032] Furthermore, the lightweight optoelectronic pod is fixedly installed at the bottom of the drone's body, with its mounting axis parallel to the drone's axis. This lightweight optoelectronic pod can operate simultaneously with both lights 24 / 7, possessing target recognition, positioning, and tracking capabilities. It can identify and lock onto targets at a distance of 2km in visible light / 1km in infrared, guiding the aircraft towards the final target until it hits or arrives. The product also features AI learning capabilities, allowing it to autonomously identify new targets through short-term training. The dual-light configuration weighs 320g, and the power consumption with the AI board is ≤10W.
[0033] The working principle of this utility model is as follows: The MEMS inertial measurement sensor 110 integrates a three-axis MEMS gyroscope 115 and a three-axis MEMS accelerometer 116. The three-axis MEMS gyroscope 115 senses the angular motion of the carrier, and the three-axis MEMS accelerometer 116 senses the linear motion of the carrier. The three-axis MEMS gyroscope 115 and the three-axis MEMS accelerometer 116 form a six-axis sensor combination. At the same time, the positioning rods 121 are distributed at equal angles with respect to the mounting axis of the UAV body, and the positioning rods 121 are set to cooperate with the mounting holes 113. When installing the MEMS inertial measurement sensor 110, the positioning rods 121 are inserted into the mounting base plate 112 through the mounting holes 113. The positioning rods 121 are distributed at the four corners of the MEMS inertial measurement sensor 110, which plays a four-axis positioning role for the MEMS inertial measurement sensor 110, thereby improving the installation accuracy of the MEMS inertial measurement sensor 110.
[0034] Furthermore, by keeping the axis of the MEMS inertial measurement sensor 110 coaxial with the mounting axis of the UAV body, i.e., by positioning the MEMS inertial measurement sensor 110 at the center of gravity of the UAV, the rotational and translational errors of the MEMS inertial measurement sensor 110 can be reduced, avoiding measurement deviations caused by installation tilt. Simultaneously, since the connecting rod 122 and the connecting block 124 form a threaded connection, after the MEMS inertial measurement sensor 110 is installed inside the UAV body via the positioning rod 121, rotating the connecting block 124 clockwise causes it to move downwards on the outside of the connecting rod 122, thus pressing down the damping block 123. Figure 2 and Figure 3 As shown, by pressing down the damping block 123 with the connecting block 124, the damping block 123 can press the limiting block 125 onto the outer end face of the mounting base plate 112. Since the limiting block 125 has a protruding foot structure that cooperates with the mounting housing 111 on the side facing the MEMS inertial measurement sensor 110, the limiting block 125 presses and positions the MEMS inertial measurement sensor 110, further improving the installation accuracy of the MEMS inertial measurement sensor 110 and preventing the MEMS inertial measurement sensor 110 from shifting relative to the UAV body, thereby improving the overall measurement accuracy of the MEMS inertial measurement sensor 110.
[0035] Finally, it should be noted that the above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.
Claims
1. A MEMS inertial measurement unit, comprising a MEMS inertial measurement sensor (110), characterized in that: The MEMS inertial measurement sensor (110) is provided with a positioning component (120) on its outer side. The positioning component (120) includes a positioning rod (121) fixedly connected to the inside of the UAV body. The positioning rod (121) is distributed at equal angles with respect to the mounting axis of the UAV body. The MEMS inertial measurement sensor (110) includes a mounting housing (111) and a three-axis MEMS gyroscope (115) and a three-axis MEMS accelerometer (116) fixedly disposed inside the mounting housing (111).
2. The MEMS inertial measurement unit according to claim 1, characterized in that: The MEMS inertial measurement sensor (110) also includes a sealing plate (114) that is fixedly connected to the top of the mounting housing (111) by bolts. The bottom of the mounting housing (111) is integrally fixed with a mounting base plate (112), and mounting holes (113) are uniformly opened inside the mounting base plate (112).
3. The MEMS inertial measurement unit according to claim 2, characterized in that: The positioning rod (121) is configured to cooperate with the mounting hole (113), and the positioning rod (121) is slidably connected to the mounting base plate (112) through the mounting hole (113) and plays a positioning role for the MEMS inertial measurement sensor (110).
4. The MEMS inertial measurement unit according to claim 3, characterized in that: The positioning component (120) also includes a connecting rod (122) fixedly installed inside the drone body. A connecting block (124) and a damping block (123) are provided on the outside of the connecting rod (122), and one end face of the damping block (123) is inclined.
5. A MEMS inertial measurement unit according to claim 4, characterized in that: The outer surface of the connecting rod (122) is fixedly provided with a convex thread structure, and the inner surface of the connecting block (124) is provided with a concave thread structure that cooperates with the connecting rod (122). The positioning components (120) are evenly distributed on the outside of the MEMS inertial measurement sensor (110).
6. A MEMS inertial measurement unit according to claim 5, characterized in that: The positioning component (120) also includes a limiting block (125) that overlaps the outer end face of the mounting base plate (112). One end face of the limiting block (125) is inclined, and the inclined surface is matched with the inclined surface on the damping pressure block (123).
7. An unmanned aerial vehicle (UAV), characterized in that: It includes a MEMS inertial measurement unit, a visual positioning board, and a lightweight optoelectronic pod, wherein the MEMS inertial measurement unit is the MEMS inertial measurement unit as described in claim 6.
8. The unmanned aerial vehicle according to claim 7, characterized in that: The mounting axis of the MEMS inertial measurement unit is coaxial with the axis of the UAV body.
9. The unmanned aerial vehicle (UAV) according to claim 8, characterized in that: The lightweight optoelectronic pod is fixedly installed at the bottom of the UAV body, and the installation axis of the lightweight optoelectronic pod is set parallel to the axis of the UAV body.