Inertial navigation system circuit

Abstract

The utility model discloses an inertial navigation system circuit. The inertial navigation system circuit comprises a computer board; the power supply conversion board is a secondary power supply board, and the secondary power supply board comprises a plurality of groups of DC / DC power supply modules, EMI filters and diodes; the DC / DC power supply modules are respectively connected with the computer board through a circuit based on the power supply output ends of the DC / DC power supply modules; the EMI filter is connected with the input ends of the DC / DC power supply modules through circuits; the diode is electrically connected to the input end of the EMI filter, and the diode is connected with the main power supply through a circuit based on the power supply input end; and the high-precision I / F conversion board is connected to the computer board through a circuit. The problems that in the prior art, an inertial navigation system is single in design functionality of secondary power supply utilization, so that subsequent output secondary power supply signals are prone to interference or power failure, and the requirement for system stability is difficult to meet are solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to inertial navigation system technical field, specifically, relate to a kind of inertial navigation system circuit. BACKGROUND

[0002] At present, inertial navigation system is using inertial sensitive device, reference direction and initial position information to determine the position, direction and speed of carrier in inertial space, its can gather the relevant measurement sensor data of carrier, receive the instruction of host computer and carry out work, while sending measurement data to host computer in real time, with satellite / inertial combined navigation, pure inertial navigation and multiple working modes, provide position, speed, attitude, angular velocity and acceleration and other full-parameter navigation information.

[0003] In the related art, the design functionality of the inertial navigation system for its secondary power supply is relatively single, which leads to the secondary power supply signal being easily disturbed or powered off in subsequent output, and it is difficult to meet the stability requirements of the system 。 UTILITY MODEL CONTENT

[0004] Therefore, the utility model provides a kind of inertial navigation system circuit to solve the problem that the design functionality of the inertial navigation system for its secondary power supply is relatively single in prior art, which leads to the secondary power supply signal being easily disturbed or powered off in subsequent output, and it is difficult to meet the stability requirements of the system.

[0005] In order to achieve the above purpose, the utility model provides the following technical scheme:

[0006] A kind of inertial navigation system circuit, comprising:

[0007] Computer board;

[0008] Power conversion board is secondary power supply board, the secondary power supply board includes several groups of DC / DC power module, EMI filter and diode;Several groups of the DC / DC power module are respectively connected based on the circuit between its power output end and the computer board;The EMI filter is connected based on the circuit between the input end of several groups of the DC / DC power module;The diode is electrically connected to the input end of the EMI filter, and the diode is connected based on the circuit between its power input end and main power supply;

[0009] High-precision I / F conversion board is accessed to the computer board by circuit.

[0010] Based on the above technical scheme, the utility model is further described as follows:

[0011] The output end of the DC / DC power module is further provided with a two-stage LC filter circuit.

[0012] The two-stage LC filter circuit is an inductance-capacitance filter circuit, and the rated current of the inductance is 4A.

[0013] The output end of the DC / DC power module is further provided with a magnetic bead filter circuit.

[0014] The rated current of the magnetic bead filter circuit is 6A.

[0015] The EMI filter and the diode are further electrically connected with a fuse.

[0016] The EMI filter and the diode are further electrically connected with a fuse.

[0017] The secondary power board is designed in a modular manner.

[0018] The surface of the modular secondary power board is provided with at least one group of cooling fins.

[0019] The utility model further relates to:

[0020] A satellite signal conversion board is connected to the power conversion board through a circuit.

[0021] The satellite signal conversion board is a BD4B0 full-system GNSS high-precision board card.

[0022] The utility model further relates to:

[0023] An inertial instrument is connected to the computer board through a circuit and is used for displaying current state value parameters.

[0024] The utility model further relates to:

[0025] An external interface is connected to the computer board through a circuit and is used for matching different functional element interfaces to access functional elements.

[0026] The high-precision I / F conversion board is provided with three paths, and the paths are independent of each other.

[0027] Each high-precision I / F conversion board comprises a constant current source circuit, an integration circuit, an analog-digital conversion circuit, a logic control switch circuit, an output circuit and a frequency marker circuit.

[0028] The output end of the constant current source circuit is connected with the integral circuit and the logic control switch circuit through a circuit; the output end of the integral circuit is connected with the input end of the analog-digital conversion circuit through a circuit, the output end of the analog-digital conversion circuit is connected with the input end of the logic control switch circuit through a circuit, and the output end of the logic control switch circuit is connected with the input end of the output circuit through a circuit; the frequency standard circuit is connected with the logic control switch circuit and the output circuit through a circuit.

[0029] The utility model has the advantages of the following:

[0030] The device realizes secondary power conversion by the power conversion board and the computer board, and converts the main power into various power varieties required by the system by the secondary power, realizes the output requirement of various power varieties of the system, and ensures that the power output characteristics meet the system load requirement by the filtering, anti-interference and anti-instantaneous power failure design, in addition, satellite signal conversion board, high-precision I / F conversion board, inertial instrument and external interface can be used respectively to complete data signal conversion or transmission with the computer board, and the system function practicability is improved. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or the prior art description, the structure, the proportion, the size and the like shown in the specification, are only used to cooperate with the content disclosed in the specification, so that the person skilled in the art can understand and read, any modification of the structure, change of the proportion relationship or adjustment of the size, which does not affect the effect and the purpose that can be produced by the utility model, should still fall within the scope of the technical content disclosed by the utility model.

[0032] Figure 1 The utility model provides the overall architecture principle schematic drawing of inertial navigation system circuit.

[0033] Figure 2 The utility model provides the architecture principle schematic drawing of power conversion board in inertial navigation system circuit.

[0034] Figure 3 The utility model provides the architecture principle schematic drawing of power conversion board in inertial navigation system circuit.

[0035] Figure 4 The utility model provides the architecture principle schematic drawing of high-precision I / F conversion board in inertial navigation system circuit.

[0036] In the drawings, the component list represented by each sign is as follows:

[0037] computer board 1;

[0038] power conversion board 2: DC / DC power module 21, EMI filter 22, diode 23, surge suppression and anti-instant power-off circuit 24, power input end a, power output end b;

[0039] satellite signal conversion board 3;

[0040] high-precision I / F conversion board 4: constant current source circuit 41, integration circuit 42, analog-to-digital conversion circuit 43, logic control switch circuit 44, output circuit 45, frequency standard circuit 46;

[0041] inertial instrument 5; external interface 6. DETAILED DESCRIPTION

[0042] The embodiments of the present application will be described in detail with specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in the specification. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0043] The terms such as "upper", "lower", "left", "right", "middle" and the like referred to in the specification are only for the convenience of clear description, not to limit the scope of the present application. The change or adjustment of the relative relationship without substantial change of the technical content is also considered as the scope of the present application.

[0044] As shown in Figures 1 to 4 The embodiments of the present application provide an inertial navigation system circuit, which comprises a computer board 1, a power conversion board 2, a satellite signal conversion board 3, a high-precision I / F conversion board 4, an inertial instrument 5 and an external interface 6, to realize secondary power conversion by the power conversion board 2 cooperating with the computer board 1, and to convert the main power into various power varieties required by the system by using the secondary power, to realize the output requirements of various power varieties of the system, and to ensure that the power output characteristics meet the system load requirements by means of filtering, anti-interference and anti-instant power-off design. In addition, the satellite signal conversion board 3, the high-precision I / F conversion board 4, the inertial instrument 5 and the external interface 6 can be used to complete data signal conversion or transmission in cooperation with the computer board 1, to improve the practicality of the system function. The specific settings are as follows:

[0045] Please refer to Figure 1The computer board 1 is integrated with a main CPU and a slave CPU, wherein the main CPU is a TMS320C6747 model with a 200MHz main frequency, adopts a 16-bit data bus, an address bus of 14 bits, and a bus frequency of 50MHz; and the slave CPU is an STM32F407 model with a 168MHz main frequency.

[0046] Please refer to Figure 2 The power conversion board 2 is a secondary power board, which is used for converting a main power supply of a direct current of 18V-36V into various power supply varieties required by the system, and providing the system with a direct current of +5V, +15V, -15V, +3.3V and +2.5V, wherein the direct current of +2.5V is a reference power supply, and the accuracy requirement is 2mV. Specifically, the power conversion board 2 comprises a DC / DC power module 21, an EMI filter 22 and a diode 23; wherein the DC / DC power module 21 is provided with a plurality of groups, and the plurality of groups of the DC / DC power module 21 are respectively connected through a circuit between a power output end b and the computer board 1, so as to correspondingly convert and output various power supply varieties by means of the plurality of groups of the DC / DC power module 21, and the DC / DC power module 21 is small in size, high in efficiency, convenient to use and mature in technology, the input voltage range of which is 16V-40V, and the power supply requirement of 18V-36V can be effectively met; the EMI filter 22 is connected through a circuit between the input end of the plurality of groups of the DC / DC power module 21, and the EMI filter 22 forms a secondary power board EMI filter circuit before the input of the DC / DC power module 21, so as to make the secondary power board first pass through the EMI filter for filtering at the input end of the DC / DC power module, and the switching power supply will generate great electromagnetic interference and radiation due to the high-frequency switching, so as to enhance the electromagnetic compatibility of the power supply by means of the EMI filter, and inhibit the conductive emission of the power line; the output end of the DC / DC power module is further provided with a two-stage LC filter circuit and a magnetic bead filter circuit, the two-stage LC filter circuit is an inductance-capacitance filter circuit, which is used for filtering the output power supply signal by means of the two-stage LC filter circuit formed by the inductance and the capacitance, the rated current of the inductance is 4A, the inductance is used for filtering low-frequency noise, reducing the ripple of voltage and current, and enhancing the anti-interference ability of the circuit; and the rated current of the magnetic bead filter circuit is 6A, which is used for inhibiting high-frequency noise and peak interference on the power line, so as to ensure that the power output characteristics meet the system requirements.

[0047] The diode 23 is electrically connected to the input end of the EMI filter 22, and the diode 23 is electrically connected between the power input end a and the external main power supply, so as to realize the anti-reverse connection function of the circuit by the diode 23, and ensure that the power supply board can be reliably powered off in the case of input power reverse connection; the circuit between the EMI filter 22 and the diode 23 is also electrically connected with a fuse, so as to effectively form a shutdown type short circuit protection circuit by using the fuse protection mode and the overload and short circuit protection function of the DC / DC power supply module itself, that is, when the load is short-circuited, the output is shut down, and after the fault is removed, it automatically recovers to normal.

[0048] As a preferred scheme of the embodiment, please refer to Figure 3 , the EMI filter 22 and the diode 23 are correspondingly provided with a surge suppression and anti-instantaneous power failure circuit 24, which can be but is not limited to a surge protector, so as to effectively suppress the peak value exceeding the stable value that appears instantaneously by using the surge suppression and anti-instantaneous power failure circuit 24, and at the same time, the normal work can be maintained when the power is off for 1s during the on-board power transfer.

[0049] Further preferably, the secondary power supply board adopts a modular design, and at least one set of cooling fins is arranged on the surface of the secondary power supply board, so as to effectively match the large weight and large heat dissipation of the power supply module, and the high-level requirements for the strength and heat conduction of the circuit board.

[0050] Please continue to refer to Figure 1 , the satellite signal conversion board 3 is connected to the power conversion board 2 through a circuit, and the satellite signal conversion board 3 selects a BD4B0 full-system GNSS high-precision board card, the BD4B0 is a full-system GNSS high-precision board card developed based on a new-generation Nebulas II high-performance SoC chip, supports multiple satellite navigation systems such as BDS, GPS, GLONASS, Galileo and QZSS, and three-frequency RTK technology, and mainly faces ground-based enhancement systems, high-precision positioning, surveying and mapping and other applications. The BD4B0 can simultaneously track the signals of the BDS, GPS, GLONASS, Galileo and QZSS satellite navigation systems, and support the three-frequency signals of the BDS, GPS and Galileo. Thanks to more satellite navigation system signals and reliable three-frequency RTK technology, the BD4B0 can realize “instant” RTK initialization and achieve a positioning accuracy of 1-2 cm. Even in scenes such as tree shade and long distance, the BD4B0 can still quickly and reliably obtain RTK positioning results. Through corresponding authorization and hardware, the BD4B0 can simultaneously track the BDS B1 and B3 code, and is more suitable for current various application requirements.

[0051] The high-precision I / F conversion board 4, the inertial instrument 5 and the external interface 6 are respectively connected to the computer board 1 through circuits, so that the analog output signal of the quartz flexible accelerometer is converted into equivalent digital signal by the high-precision I / F conversion board 4 and sent to the computer board 1, the current state value parameter is displayed by the inertial instrument 5 connected to the computer board 1, and the external interface 6 is effectively matched with different functional element interfaces, so that the functional element is connected to effectively improve the overall functional diversification of the system.

[0052] Specifically, referring to Figure 4 , the high-precision I / F conversion board 4 is provided with three paths, each path is independent of each other, and each path of the high-precision I / F conversion board 4 includes a constant current source circuit 41, an integration circuit 42, an analog-to-digital conversion circuit 43, a logic control switch circuit 44, an output circuit 45 and a frequency marker circuit 46; wherein the output end of the constant current source circuit 41 is connected through a circuit between the integration circuit 42 and the logic control switch circuit 44, the output end of the integration circuit 42 is connected through a circuit between the input end of the analog-to-digital conversion circuit 43, the output end of the analog-to-digital conversion circuit 43 is connected through a circuit between the input end of the logic control switch circuit 44, the output end of the logic control switch circuit 44 is connected through a circuit between the input end of the output circuit 45, and the frequency marker circuit 46 is connected through a circuit between the logic control switch circuit 44 and the output circuit 45.

[0053] The functions of each part of the high-precision I / F conversion board 4 are as follows:

[0054] The constant current source circuit 41, specifically a positive and negative constant current source circuit 41, is used to provide accurate reference current, and its success or failure is related to the accuracy of the entire circuit.

[0055] The integration circuit 42, specifically but not limited to an integrator, is used to convert the input signal of the high-precision I / F conversion board 4.

[0056] The analog-to-digital conversion circuit 43, specifically a comparison circuit / comparator, is used to compare the voltage output by the integrator with the threshold voltage, convert it into high and low levels through the comparator, and provide input for the subsequent circuit.

[0057] The logic control switch circuit 44 is used to determine the switch state of the switch circuit according to the direction of the input current, and provide a basis for output.

[0058] The output circuit 45 is used to output a digital pulse signal matched with the subsequent circuit.

[0059] The frequency marker circuit 46 is used to generate a pattern with frequency markers according to the signal, superimposed on the amplitude-frequency characteristic curve, and read out the corresponding frequency value of each point.

[0060] Although the utility model has been described in detail above with general description and specific embodiments, some modifications or improvements can be made on the basis of the utility model, which is obvious to those skilled in the art. Therefore, these modifications or improvements made on the basis of not deviating from the spirit of the utility model all belong to the scope of protection required by the utility model.

Claims

1. An inertial navigation system circuit, characterized by It comprises: a computer board; a power conversion board, which is a secondary power board, comprising several groups of DC / DC power modules, an EMI filter and a diode; each group of the DC / DC power modules is connected by circuit between its power output end and the computer board; the EMI filter is connected by circuit between the input end of each group of the DC / DC power modules; the diode is connected by circuit between the input end of the EMI filter and the main power supply based on its power input end; a high-precision I / F conversion board connected by circuit to the computer board.

2. The inertial navigation system circuit according to claim 1, wherein the output end of the DC / DC power module is further provided with a two-stage LC filter circuit; the two-stage LC filter circuit is an inductor-capacitor filter circuit, and the rated current of the inductor is 4A.

3. The inertial navigation system circuit according to claim 1 or 2, wherein the output end of the DC / DC power module is further provided with a magnetic bead filter circuit; the rated current of the magnetic bead filter circuit is 6A.

4. The inertial navigation system circuit according to claim 1, wherein the circuit between the EMI filter and the diode is further connected by circuit with a fuse.

5. The inertial navigation system circuit according to claim 1 or 4, wherein the circuit between the EMI filter and the diode is provided with a surge suppression and anti-instantaneous power failure circuit.

6. The inertial navigation system circuit according to claim 1, wherein the secondary power board is modularly designed; and the surface of the modular secondary power board is provided with at least one group of cooling fins.

7. The inertial navigation system circuit of claim 1, wherein, It further comprises: a satellite signal conversion board connected by circuit to the power conversion board; the satellite signal conversion board is a BD4B0 full-system GNSS high-precision board card.

8. The inertial navigation system circuit of claim 1, wherein, It further comprises: an inertial instrument connected by circuit to the computer board, for displaying current state value parameters.

9. The inertial navigation system circuit of claim 1, wherein, It further comprises: an external interface connected by circuit to the computer board, for matching different functional element interfaces to access functional elements.

10. The inertial navigation system circuit according to claim 1, wherein the high-precision I / F conversion board is provided with three channels, each of which is independent of the others; each of the high-precision I / F conversion boards comprises a constant current source circuit, an integration circuit, an analog-to-digital conversion circuit, a logic control switch circuit, an output circuit and a frequency marker circuit; the output end of the constant current source circuit is connected by circuit between the integration circuit and the logic control switch circuit; the output end of the integration circuit is connected by circuit between the input end of the analog-to-digital conversion circuit; the output end of the analog-to-digital conversion circuit is connected by circuit between the input end of the logic control switch circuit; the output end of the logic control switch circuit is connected by circuit between the input end of the output circuit; and the frequency marker circuit is connected by circuit between the logic control switch circuit and the output circuit.

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