Unmanned aerial vehicle remote controller RTK dotting device circuit with AHRS function and equipment

Abstract

The utility model relates to an unmanned aerial vehicle remote controller RTK dotting device circuit and equipment with an AHRS function, which belongs to the technical field of unmanned aerial vehicle circuit design, and comprises an RTK circuit, an IMU circuit, an MAG circuit, an MCU circuit, an interface circuit, a power supply slow start circuit and a direct current buck converter, and a USB interface circuit comprises a power supply interface and a communication interface. A power supply interface of the interface circuit is electrically connected with the RTK circuit, the IMU circuit, the MAG circuit and the MCU circuit through the power supply slow start circuit and the direct current buck converter in sequence; the RTK circuit, the IMU circuit and the MAG circuit are respectively in communication connection with one end of the MCU circuit; the unmanned aerial vehicle remote controller solves the problem that in the prior art, an unmanned aerial vehicle remote controller cannot provide heading attitude signals, so that the operation difficulty is large.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) circuit design technology, and in particular to a UAV remote controller RTK dotting circuit and device with AHRS function. Background Technology

[0002] RTK (Real-Time Kinematic) is a technology that achieves centimeter-level positioning accuracy through real-time data transmission between a base station and a rover (drone). Currently, it's common for existing drone remote controllers to integrate RTK tracking devices to achieve high-precision positioning and meet operational requirements.

[0003] However, existing drone remote controllers that integrate RTK markers only exchange drone attitude information with the drone itself. The remote controllers lack AHRS (Attitude and Heading Reference System) functionality and cannot provide directional reference. When operating the drone across line of sight, the remote controller's direction and the drone's direction may be inconsistent, making it difficult for the operator to determine the drone's actual flight direction and increasing the difficulty of immersive operation. Existing common drone remote controllers achieve accurate drone positioning by integrating RTK markers, but there is still no solution that integrates an RTK marker that supports AHRS into the drone remote controller. Utility Model Content

[0004] Based on the above analysis, this utility model aims to provide a drone remote controller RTK dot-matrix circuit and device with AHRS function, in order to solve the problem that existing drone remote controllers cannot provide attitude signals, resulting in high operational difficulty.

[0005] The objective of this utility model is mainly achieved through the following technical solutions:

[0006] The circuit includes an RTK circuit, an IMU circuit, a MAG circuit, an MCU circuit, an interface circuit, a power soft-start circuit, and a DC buck circuit, wherein the interface circuit includes a power supply circuit and a communication circuit.

[0007] The power supply circuit is electrically connected to the RTK circuit, the IMU circuit, the MAG circuit, and the MCU circuit through the power soft-start circuit and the DC buck circuit, respectively.

[0008] The RTK circuit, IMU circuit, and MAG circuit are respectively communicatively connected to the MCU circuit.

[0009] The MCU circuit is communicatively connected to the communication circuit.

[0010] The beneficial effects of the above solution are as follows: The power supply interface is provided by the interface circuit, and the RTK circuit, IMU circuit, MAG circuit, and MCU circuit are electrically connected in sequence through the power soft start circuit and DC buck circuit, respectively, so that the RTK circuit, IMU circuit, MAG circuit, and MCU circuit are slowly powered on and started, avoiding damage caused by overshoot of the start voltage; the RTK circuit, IMU circuit, and MAG circuit are each connected to one end of the MCU circuit, and the other end of the MCU circuit is connected to the communication interface of the interface circuit. The RTK marker, IMU circuit, and MAG circuit are integrated to facilitate the provision of AHRS function, solving the problem that the lack of attitude reference makes it easy to not be able to distinguish the flight direction of the UAV and the control is difficult.

[0011] Based on a further improvement of the above scheme, the power soft-start circuit includes a PMOS transistor, a PMOS transistor control circuit, and a filter circuit. The input terminal of the PMOS transistor control circuit serves as the input terminal of the power soft-start circuit. The input terminal of the PMOS transistor control circuit is connected to the source of the PMOS transistor. The output terminal of the PMOS transistor control circuit is connected to the gate of the PMOS transistor. The drain of the PMOS transistor is connected to the filter circuit. The drain of the PMOS transistor serves as the output terminal of the power soft-start circuit.

[0012] The beneficial effects of the above-mentioned further improvement scheme are: the output voltage of the interface circuit can be output to the RTK circuit, IMU circuit, MAG circuit and MCU circuit through the power supply soft start circuit, and the voltage rises slowly, avoiding voltage overshoot that could damage the circuit and improving the reliability of the circuit.

[0013] Based on the further improvement of the above scheme, the output terminal of the DC buck circuit is connected to the MCU circuit, the IMU circuit, the MAG circuit, and the RTK circuit through a decoupling circuit.

[0014] The beneficial effects of the above-mentioned further improvement scheme are: the output voltage of the DC buck circuit is more stably supplied to the MCU circuit, IMU circuit, MAG circuit and RTK circuit by suppressing high-frequency noise and filtering through the decoupling circuit, thus ensuring the reliability and stability of power supply and distribution.

[0015] Based on further improvements to the above scheme, the MCU circuit includes an MCU chip, a crystal oscillator circuit, a reset circuit, a power supply circuit, and an indicator light circuit.

[0016] The MCU chip includes a reset pin, a power supply pin, an external clock input pin, an external clock output pin, a power supply pin, an indicator light signal pin, a negative data signal pin, and a positive data signal pin.

[0017] The input terminal of the MCU circuit power supply circuit is connected to the output terminal of the DC step-down circuit through a decoupling circuit, and the output terminal of the MCU circuit power supply circuit is connected to the power supply pin of the MCU chip.

[0018] One end of the MCU circuit reset circuit is connected to the reset pin of the MCU chip, and the other end is connected to the power supply pin of the MCU chip;

[0019] The crystal oscillator circuit includes a crystal oscillator with input pins and output pins. The crystal oscillator input pins are connected to the external clock output pins of the MCU chip, and the crystal oscillator output pins are connected to the external clock input pins of the MCU chip.

[0020] The indicator light circuit includes a built-in chip, which is connected to the MCU chip through the indicator light signal pin.

[0021] The beneficial effects of the above-mentioned further improvement scheme are: the connection mechanism of the MCU chip to the MCU circuit reset circuit, crystal oscillator circuit, indicator light circuit and MCU circuit power supply circuit through corresponding pins enables the MCU circuit to obtain a reference clock, reset signal, mark the working status through indicator lights, and obtain stable power supply, thus ensuring the stability and reliability of the MCU circuit.

[0022] Based on further improvements to the above scheme, the RTK circuit includes an RTK chip, an RTK antenna circuit, an RTK backup power supply circuit, and an antenna feed power supply fuse circuit.

[0023] The RTK chip includes an antenna signal input pin, a power supply input pin, and a backup power supply pin.

[0024] The signal output terminal of the RTK antenna circuit is connected to the antenna signal input pin of the RTK chip.

[0025] The antenna feed power supply fuse circuit includes a switching chip with a power input pin, an enable input pin, and an output pin. The power input pin of the switching chip is connected to the output of the DC step-down circuit through a decoupling circuit. The output pin of the switching chip is connected to the power input of the RTK antenna circuit. The MCU chip also includes an RTK enable pin, and the enable input pin of the switching chip is connected to the RTK enable pin of the MCU chip.

[0026] The backup power circuit includes a supercapacitor, a diode, and a current-limiting resistor. The positive terminal of the supercapacitor is connected to one end of the current-limiting resistor, and the other end of the current-limiting resistor is connected to the negative terminal of the diode. The positive terminal of the diode is connected to the output terminal of the DC-DC step-down circuit through a decoupling circuit. The other end of the current-limiting resistor is also connected to the backup power supply pin of the RTK chip.

[0027] The beneficial effects of the above-mentioned further improvements are: the RTK circuit can be used to achieve RTK point positioning; it can protect the RTK chip and the front-end circuit when a short circuit occurs in the RTK antenna feed, thus enhancing the reliability of the RTK circuit.

[0028] Based on further improvements to the above scheme, both the MCU chip and the RTK chip include the same number of serial port signal receiving pins and serial port signal transmitting pins. The serial port signal receiving pins of the MCU chip are connected to the corresponding serial port signal transmitting pins of the RTK chip, and the serial port signal transmitting pins of the MCU chip are connected to the corresponding serial port signal receiving pins of the RTK chip. The MCU chip also includes pins for receiving second pulse signals, abnormal indications, PVT positioning indications, and RTK positioning indications, respectively. The RTK chip also includes pins for transmitting second pulse signals, abnormal indications, PVT positioning indications, and RTK positioning indications, respectively. The aforementioned pins of the RTK chip are connected to the corresponding pins of the MCU chip.

[0029] The beneficial effects of the above-mentioned further improvement scheme are: the serial port signal connection structure established through the corresponding pin connection enables serial communication between the MCU chip and the RTK chip; the interrupt signal connection structure enables the MCU chip to obtain the second pulse signal, abnormal indication, PVT positioning indication, and RTK positioning indication signal sent by the RTK chip, thereby realizing RTK positioning.

[0030] Based on a further improvement of the above scheme, the IMU circuit includes an IMU chip, and the IMU chip and the MCU chip include the same number of SPI communication pins, with the SPI communication pins of the IMU chip and the SPI communication pins of the MCU chip correspondingly connected; the IMU chip also includes pins for sending IMU status reports and event trigger signals, and the MCU also includes pins for receiving IMU status reports and event trigger signals, which are respectively connected to the pins of the IMU chip used for sending IMU status reports and event trigger signals.

[0031] The beneficial effects of the above-mentioned further improvement scheme are: the SPI communication connection structure established through the corresponding pin connection enables the MCU chip to obtain the attitude data generated by the IMU chip and to obtain the IMU chip status, which is conducive to realizing AHRS and more accurate positioning and control.

[0032] Based on a further improvement of the above scheme, the MAG circuit includes a magnetic compass chip. The magnetic compass chip and the MCU chip include the same number of IIC communication pins, and the IIC communication pins of the magnetic compass chip and the MCU chip are correspondingly connected. The magnetic compass chip also includes a pin for sending a signal to trigger the MCU chip to read data from the magnetic compass chip. The MCU includes a pin for receiving the signal sent by the magnetic compass chip to trigger the MCU chip to read data from the magnetic compass chip, and is correspondingly connected to the pin of the magnetic compass chip for sending magnetic compass status reports and event trigger signals.

[0033] The beneficial effects of the above-mentioned further improvement scheme are: the IIC communication connection structure established through the corresponding pin connection enables the MCU chip to obtain the orientation data generated by the magnetic compass chip and to obtain the status of the magnetic compass chip, which is conducive to realizing AHRS and more accurate positioning and control.

[0034] This utility model also provides an RTK dot-matrix device that supports AHRS via a USB interface. The device includes an RTK dot-matrix circuit for a drone remote controller with AHRS functionality provided by this utility model; the interface circuit is a USB interface circuit.

[0035] The beneficial effects of the above solution are as follows: It provides a device with an AHRS drone remote controller RTK dot-matrix circuit, which can be directly connected to or connected to any drone remote controller via a USB interface, making it compatible with most existing drone remote controllers. It also helps to avoid mutual interference problems caused by the circuit being integrated inside the remote controller by using an external USB interface, and enables the drone remote controller to obtain the AHRS RTK dot-matrix function, which helps to achieve more precise control of the drone. Furthermore, it can be applied to drones with USB interfaces, enabling the drone to achieve dual redundancy of magnetic compass and IMU, thereby enhancing the reliability of the drone.

[0036] Based on the further improvement of the above scheme, the USB interface circuit also includes a socket, and a first pin, a second pin, a third pin, and a fourth pin arranged in parallel in the socket; the USB interface circuit communication circuit includes a data negative signal terminal and a data positive signal terminal;

[0037] The first pin is connected to the power supply input of the USB interface circuit, the second pin is connected to the negative data signal terminal, the third pin is connected to the positive data signal terminal, and the fourth pin is connected to ground.

[0038] The negative data signal terminal and the positive data signal terminal are also respectively connected to a grounded ESD tube;

[0039] The negative data signal terminal and the positive data signal terminal are also connected to the MCU circuit.

[0040] The power supply circuit of the USB interface circuit includes a voltage regulator circuit and a filter circuit connected in parallel. One end of the voltage regulator circuit and the filter circuit are both connected to the input terminal of the power supply circuit of the USB interface circuit, and the other ends of the voltage regulator circuit and the filter circuit are grounded together.

[0041] The MCU chip includes a negative data signal pin and a positive data signal pin; the negative data signal terminal is connected to the negative data signal pin of the MCU chip, and the positive data signal terminal is connected to the positive data signal pin of the MCU chip.

[0042] The beneficial effects of the above-mentioned further improvement scheme are: providing an interface that can be adapted to drone remote controllers or drones with USB interfaces, and providing anti-static protection by connecting the negative data signal terminal and the positive data signal terminal to a grounded ESD tube, thereby improving the reliability and compatibility of the device; the power supply circuit of the USB interface circuit includes a parallel-connected voltage regulator circuit to stabilize the voltage, avoiding damage to the circuit due to input voltage changes during hot-plugging, thus improving the reliability of the device; and establishing a communication connection between the MCU chip and external devices by connecting the negative data signal pin and the positive data signal pin of the USB interface circuit to the corresponding pins of the MCU chip, which is easy to implement.

[0043] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages will become apparent from the description or be learned by practicing this invention. The objectives and other advantages of this invention can be realized and obtained from the details specifically pointed out in the text and accompanying drawings. Attached Figure Description

[0044] The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0045] Figure 1 is an overall structural diagram of this utility model.

[0046] Figure 2 This is a circuit diagram for a power supply soft-start.

[0047] Figure 3 This is a diagram of a DC step-down circuit.

[0048] Figure 4a This is a circuit diagram of an MCU chip.

[0049] Figure 4b The circuit diagram includes the power supply circuit, crystal oscillator circuit, reset circuit, and indicator light circuit for the MCU circuit.

[0050] Figure 5 This is a circuit diagram of an RTK chip.

[0051] Figure 6 This is a circuit diagram for an RTK antenna.

[0052] Figure 7 This is a circuit diagram for the antenna power supply fuse in an RTK circuit.

[0053] Figure 8 RTK backup power circuit

[0054] Figure 9 This is the IMU circuit diagram.

[0055] Figure 10 This is a MAG circuit diagram.

[0056] Figure 11 This is a circuit diagram of the USB interface communication interface.

[0057] Figure 12 Circuit diagram of the power supply interface for the USB interface circuit. Detailed Implementation

[0058] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0059] Example 1:

[0060] A specific embodiment of this utility model discloses an RTK dot-matrix circuit for a drone remote controller with AHRS functionality, such as... Figure 1 As shown.

[0061] The circuit includes an RTK circuit, an IMU circuit, a MAG circuit, an MCU circuit, an interface circuit, a power soft-start circuit, and a DC buck circuit, wherein the interface circuit includes a power supply circuit and a communication circuit.

[0062] The power supply circuit is electrically connected to the RTK circuit, the IMU circuit, the MAG circuit, and the MCU circuit through the power soft-start circuit and the DC buck circuit, respectively.

[0063] The RTK circuit, IMU circuit, and MAG circuit are respectively communicatively connected to the MCU circuit.

[0064] The MCU circuit is communicatively connected to the communication circuit.

[0065] In principle, this embodiment provides a circuit structure that connects the RTK circuit, IMU circuit, and MAG circuit to the MCU circuit to achieve RTK positioning and pose / azimuth combination. After receiving the external power supply signal from the interface circuit power supply circuit, the power supply to the RTK circuit, IMU circuit, MAG circuit, and MCU circuit are sequentially powered through the power soft-start circuit and DC buck circuit, respectively. In the RTK circuit, the RTK positioning signal collected by the RTK antenna is input to the RTK chip to generate and output RTK positioning data. The RTK positioning data is then output to the MCU circuit through the communication connection between the RTK chip and the MCU circuit. The IMU circuit acquires attitude data and outputs it to the MCU circuit through the communication connection with the MCU circuit. The MAG circuit acquires azimuth data and also outputs it to the MCU circuit through the communication connection with the MCU circuit. After processing the RTK positioning data, attitude data, and azimuth data, the MCU circuit interacts with the external devices through the communication circuit in the interface circuit to realize RTK positioning with AHRS function. The RTK data acquisition and generation, IMU attitude data generation, MAG orientation data generation, and MCU data processing are all accomplished by programs integrated within their respective chips based on existing technologies. This is only used to illustrate the working principle of the circuit structure in this embodiment and does not involve any improvements in methods, software, or programs.

[0066] Optionally, the interface circuit can be a USB interface circuit (such as USB Type-A, Type-B, Type-C), a serial port, a parallel port, etc. Those skilled in the art can select the corresponding interface type according to actual needs and implement the power supply circuit and communication circuit in the corresponding interface circuit using existing technology.

[0067] First, the circuit structure related to power supply in this embodiment will be explained.

[0068] Furthermore, such as Figure 2 As shown, the power soft-start circuit includes a PMOS transistor, a PMOS transistor control circuit, and a filter circuit. The input terminal of the PMOS transistor control circuit serves as the input terminal of the power soft-start circuit. The input terminal of the PMOS transistor control circuit is connected to the source of the PMOS transistor. The output terminal of the PMOS transistor control circuit is connected to the gate of the PMOS transistor. The drain of the PMOS transistor is connected to the filter circuit, and the drain of the PMOS transistor serves as the output terminal of the power soft-start circuit.

[0069] In principle, the power supply soft-start circuit achieves a soft start by adding an anti-jitter design to the circuit to filter out the unstable jitter of the initial input voltage components and controlling the rise slope of the input voltage, thus preventing the power supply from damaging subsequent circuits due to the maximum impact of the power supply.

[0070] Specifically, Figure 2The power soft-start circuit shown primarily uses a PMOS transistor Q1. The PMOS transistor control circuit includes a capacitor C37, a resistor R39, a resistor R40, and a resistor R41. The source (S) of the PMOS transistor Q2 is connected to the input terminal of the power soft-start circuit. The input terminal of the power soft-start circuit is also connected to the anode of capacitor C37 and one end of resistor R39. The other end of resistor R39 is connected to one end of resistor R40 and one end of resistor R41. The other end of resistor R40 is connected to the gate (G) of PMOS transistor Q1 and the cathode of capacitor C37. The other end of resistor R41 is grounded. The drain (D) of PMOS transistor Q1 serves as the output terminal of the power soft-start circuit and is also connected to a filter circuit composed of capacitors C38 and C39.

[0071] In principle, resistors R39, R40, and R41, and capacitor C37 constitute the PMOS transistor control circuit. Resistors R39, R40, and R41 act as bias resistors to prevent input current overload. The PMOS transistor has a preset turn-on threshold. When the power supply soft-start circuit input is powered on, capacitor C37 is charged first, and the PMOS transistor drain (D) is not conducting. During the charging process of capacitor C37, the gate (G) and source (S) voltages of the PMOS transistor gradually decrease below the preset turn-on threshold, at which point the PMOS transistor drain (D) turns on, generating an output voltage at the soft-start power supply output terminal. As C37 charges, the output voltage at the soft-start power supply output terminal gradually increases, thus preventing voltage overshoot that could damage the circuit. The filter circuit formed by capacitors C38 and C39 ensures the stability of the output voltage from the PMOS transistor drain.

[0072] Preferably, the PMOS transistor is model CJ2333.

[0073] In one specific embodiment, the soft-start circuit has an input voltage of 5V, an output voltage of 3.3V, resistors R39 with a capacitance of 100KΩ, R40 with a capacitance of 10Ω, R41 with a capacitance of 10KΩ, capacitor C37 with parameters of 2.2μF / 16V, capacitor C38 with a capacitance of 22F / 10V, and capacitor C39 with a capacitance of 100nF / 50V.

[0074] Furthermore, the output of the DC buck circuit is connected to the MCU circuit, the IMU circuit, the MAG circuit, and the RTK circuit through a decoupling circuit, respectively.

[0075] The DC step-down circuit is as follows Figure 3As shown, specifically, the DC-DC buck circuit includes a first filter circuit, a buck chip, an inductor, a feedback circuit, and a second filter circuit. The first filter circuit consists of capacitors C42, C43, C44, and C45. The input terminal of the DC-DC buck circuit is connected to the IN pin of the buck chip through the first filter circuit, and also to the EN pin of the buck chip through the first filter circuit and resistor R42. The LX pin of the buck chip is connected to one end of inductor L2, and the other end of inductor L2 is connected to the output terminal of the DC-DC buck circuit through the second filter circuit composed of capacitors C47, C48, and C49. The feedback circuit... The feedback network includes resistors R43 and R44 connected in series, and capacitor C46. One end of capacitor C46 is connected to the BS pin of the buck converter chip, and the other end is connected to one end of inductor L2 connected to the LX pin of the buck converter chip. One end of resistor R43 is connected to the output terminal of the DC buck converter circuit, and the other end is connected to one end of resistor R44 and the FB pin of the buck converter chip. The other end of resistor R44 is grounded. The purpose and principle of this feedback network is to regulate the stability of the output voltage. One end of capacitor C50 is connected to the other end of resistor R42 and the enable pin of the buck converter chip, and the other end is grounded. It is used to limit the current surge during startup and protect the buck converter chip.

[0076] The working principle of the DC buck circuit is as follows: the input voltage is input to the IN pin of the buck chip through the first filter circuit, and is connected to the EN pin of the buck chip through resistor R42 to switch the buck chip, and the current surge protection of the buck chip is limited by capacitor C50 during startup; the buck chip outputs a voltage that has been stepped down, which is first provided with a stable voltage output through inductor L2 and filter circuit connected to the output terminal, and the stability of the output voltage is also adjusted through feedback network connected to the FB pin of the buck chip, thereby achieving the stability of the output voltage after direct step-down.

[0077] Preferably, the step-down chip model is SY8113BADBC.

[0078] Preferably, the inductor L2 model is MWSA0402S-6R8MT.

[0079] In one specific embodiment, the DC buck circuit inputs a DC 5V voltage and outputs a DC 3.3V voltage. The capacitors C42, C43, C44, C5, C6, C7, C8, C49, and C50 have parameters of 22μF / 10V, 100nF / 50V, 100pF / 50V, 100nF / 50V, 100pF / 50V, 100pF / 50V, 22μF / 10V, 100nF / 50V, and 100nF / 50V respectively. The resistors R42, R43, and R44 have parameters of 10KΩ, 100KΩ, and 22KΩ respectively.

[0080] The output of the DC buck circuit is connected to the MCU circuit, the IMU circuit, the MAG circuit, and the RTK circuit through a decoupling circuit. Each decoupling circuit includes a ferrite bead for suppressing high-frequency noise and a filter capacitor. In each decoupling circuit, one end of the ferrite bead serves as the input of the decoupling circuit, the other end of the ferrite bead is connected to one end of the filter capacitor, and the other end of the filter capacitor serves as the output of the decoupling circuit.

[0081] Preferably, the magnetic bead model is CBM100505U102.

[0082] In one specific embodiment, the filter capacitor parameters of the decoupling circuit are 100nF / 50V.

[0083] Next, the communication-related circuit structure in this embodiment will be described.

[0084] Furthermore, such as Figure 4a , Figure 4b As shown, the MCU circuit includes an MCU chip, a crystal oscillator circuit, a reset circuit, a power supply circuit, and an indicator light circuit.

[0085] The MCU chip includes a reset pin, a power supply pin, an external clock input pin, an external clock output pin, a power supply pin, an indicator light signal pin, a negative data signal pin, and a positive data signal pin.

[0086] The input terminal of the MCU circuit power supply circuit is connected to the output terminal of the DC step-down circuit through a decoupling circuit, and the output terminal of the MCU circuit power supply circuit is connected to the power supply pin of the MCU chip.

[0087] One end of the MCU circuit reset circuit is connected to the reset pin of the MCU chip, and the other end is connected to the power supply pin of the MCU chip;

[0088] The crystal oscillator circuit includes a crystal oscillator with input pins and output pins. The crystal oscillator input pins are connected to the external clock output pins of the MCU chip, and the crystal oscillator output pins are connected to the external clock input pins of the MCU chip.

[0089] The indicator light circuit includes a built-in chip, which is connected to the MCU chip through the indicator light signal pin.

[0090] In principle, the crystal oscillator circuit provides the reference frequency source, the reset circuit generates a reset signal to improve the overall reliability of the MCU circuit, the power supply circuit supplies power to the MCU circuit, and the indicator light circuit uses different colors of the indicator lights to indicate the working status of the MCU circuit.

[0091] Figure 4a The circuit diagram of the MCU chip is shown; Figure 4bFrom left to right at the top center are the MCU power supply circuit, crystal oscillator circuit, and reset circuit. Below is the indicator light circuit. The crystal oscillator circuit, reset circuit, power supply circuit, and indicator light circuit are connected to the corresponding pins of the MCU chip.

[0092] Preferably, the MCU chip model is STM32F103RCT6.

[0093] Specifically, the MCU circuit power supply circuit includes a filter circuit composed of capacitors C13, C14, C15, C16, C17, C18, and C19. The input voltage is input to the MCU chip through the filter circuit, the purpose of which is to filter out noise in the input voltage and maintain the stability of the input voltage.

[0094] In one specific embodiment, capacitors C13-C18 are all 100nF / 50V, and C19 is 4.7μF / 10V.

[0095] Specifically, the MCU circuit reset circuit includes a resistor R30 and a capacitor C22. One end of the resistor R30 is connected to the output terminal of the MCU circuit power supply circuit, and the other end is connected to one end of the capacitor C22 and the reset pin. The other end of the capacitor C22 is grounded for anti-jitter.

[0096] In one specific embodiment, capacitor C22 is 100nF / 50V and resistor R30 is 10KΩ.

[0097] Specifically, the crystal oscillator circuit has four pins, two of which are grounded; pin X1 is an output pin, connected to one end of capacitor C20 and the external clock input pin OSC_IN of the MCU chip; pin X2 is an input pin, connected to one end of capacitor C21 and the external clock output pin OSC_OUT of the MCU chip; the other ends of capacitor C20 and capacitor C21 are grounded.

[0098] Preferably, the crystal oscillator model is AD-CJ16-160001210D80.

[0099] In one specific embodiment, capacitors C20 and C21 are both 12pF / 50V.

[0100] Specifically, the indicator light circuit includes a built-in chip, which includes a voltage input pin VCC and a signal input pin DIN. The built-in chip connects one end of capacitor C27 and the output terminal of the DC transformer circuit through the input pin VCC, and connects to the indicator light signal pin of the MCU chip through the signal input pin DIN to obtain the indicator light signal issued by the MCU chip; the other end of capacitor C27 is grounded.

[0101] In principle, the built-in chip of the indicator light circuit changes the color of the indicator light based on the indicator light signal emitted by the MCU chip to indicate the status of the MCU circuit.

[0102] Compared to existing technologies that commonly use multiple pins to control indicator light brightness, this embodiment uses a built-in chip to reduce the number of pins and is easier to maintain.

[0103] Preferably, the built-in chip signal of the indicator light circuit is WS2812B-4020.

[0104] In one specific embodiment, capacitor C27 is 100nF / 50V, and the input voltage of the built-in chip in the indicator light circuit is 5V.

[0105] Furthermore, such as Figure 5-8 As shown, the RTK circuit includes an RTK chip, an RTK antenna circuit, an RTK backup power supply circuit, and an antenna feed power supply fuse circuit.

[0106] The RTK chip includes an antenna signal input pin, a power supply input pin, and a backup power supply pin.

[0107] The signal output terminal of the RTK antenna circuit is connected to the antenna signal input pin of the RTK chip.

[0108] The antenna feed power supply fuse circuit includes a switching chip with a power input pin, an enable input pin, and an output pin. The power input pin of the switching chip is connected to the output of the DC step-down circuit through a decoupling circuit. The output pin of the switching chip is connected to the power input of the RTK antenna circuit. The MCU chip also includes an RTK enable pin, and the enable input pin of the switching chip is connected to the RTK enable pin of the MCU chip.

[0109] The backup power circuit includes a supercapacitor, a diode, and a current-limiting resistor. The positive terminal of the supercapacitor is connected to one end of the current-limiting resistor, and the other end of the current-limiting resistor is connected to the negative terminal of the diode. The positive terminal of the diode is connected to the output terminal of the DC-DC step-down circuit through a decoupling circuit. The other end of the current-limiting resistor is also connected to the backup power supply pin of the RTK chip.

[0110] In principle, the RTK antenna circuit collects the RTK positioning signal and outputs it to the RTK chip to generate RTK positioning data, which is then output to the MCU circuit. The RTK antenna circuit requires a separate power supply from the RTK antenna power supply.

[0111] Figure 5 The diagram shown is of an RTK chip circuit.

[0112] Preferably, the RTK chip model is UM982.

[0113] Figure 6 The diagram shown is of an RTK antenna circuit.

[0114] Specifically, Figure 6 The RTK antenna circuit shown above the antenna output and matching circuit is connected to the antenna signal input pin RF_RTK1 of the RTK chip via an antenna matching circuit composed of capacitors C1, C2, and C3. Below the RTK antenna circuit is the antenna power supply circuit, which includes a first filter circuit composed of capacitors C4 and C5, a second filter circuit composed of capacitors C6, C7, and C8, an inductor L1, and an ESD protection transistor D1. The input of the antenna power supply circuit is connected to one end of the inductor L1 via the first filter circuit, resistor R1, and the second filter circuit. The other end of the inductor L1 is connected to one end of the ESD transistor D1 and the output of the RTK antenna socket J1. The other end of the ESD transistor D1 is grounded. The resistor R1 is used as a test or debugging resistor to facilitate the switching circuit.

[0115] In principle, the input terminal of the antenna power supply circuit obtains the input voltage by connecting to the output terminal of the RTK circuit antenna power supply fuse circuit, and provides a stable input voltage to the RTK antenna through the antenna power supply circuit of the RTK antenna circuit.

[0116] Preferably, the RTK antenna socket J1 model is KH-MMCX-JE;

[0117] Preferably, the inductor L1 is model LQW18AN88NG00D;

[0118] Preferably, the ESD tube D1 is model SYT21S03WC.

[0119] In one specific embodiment, capacitor C1 is 100pF / 50V, C4 and C7 are 100nF / 50V, C5 and C8 are 100pF / 50V; C6 is 22uF / 10V; and the input voltage of the RTK antenna power supply circuit is 3.3V.

[0120] Figure 7 The RTK circuit antenna power supply fuse circuit shown includes a switching chip U6. The IN pin of the switching chip is connected to one end of capacitor C56 and is also connected to the output of the DC-DC step-down circuit through a decoupling circuit. The EN pin is connected to one end of resistor R47 and the RTK enable pin of the MCU chip (shown as VCC_3V3_RF_EN). The OCB pin is connected to one end of resistor R46. The VOUT pin is connected to one end of capacitor C53 and is also connected to the input of the RTK antenna power supply circuit. The other ends of capacitors C52 and C53, resistor R46 and resistor R47 are all grounded.

[0121] In principle, the switch chip U6 is an electronic power switch chip that supports switching the RTK power supply based on comparing a preset current threshold and the output current, thus preventing damage to the RTK antenna power supply circuit due to antenna short circuit and protecting the RTK antenna circuit; the switch chip U6 also receives the MCU's enable signal to start working.

[0122] Preferably, the switch chip model is SY6280AAC.

[0123] In one specific embodiment, capacitors C52 and C53 are 100nF / 50V; resistors R46 are 13KΩ and R47 are 10KΩ.

[0124] Figure 8 The backup power circuit shown includes a supercapacitor SC1, a diode D6, and a current-limiting resistor R45. The positive terminal of the supercapacitor SC1 is connected to the output terminal of the DC step-down circuit through the current-limiting resistor R45, the diode D6, and the decoupling circuit. It is also connected to the backup power supply pin VCC_BCKP of the RTK chip through the current-limiting resistor R45.

[0125] In principle, the supercapacitor SC1 serves as a backup emergency circuit for the RTK circuit, providing power for a short period after the external power supply fails, and outputting to the RTK chip through the VCC_BCKP pin.

[0126] The supercapacitor SC1 is powered by the DC step-down circuit output through the current-limiting resistor R45, diode D6, and decoupling circuit for charging, and prevents VCC_BCKP from backflowing to VCC_3V3 through diode D6.

[0127] Furthermore, such as Figure 4a , Figure 5 As shown, both the MCU chip and the RTK chip include the same number of serial port signal receiving pins and serial port signal transmitting pins. The serial port signal receiving pins of the MCU chip are connected to the corresponding serial port signal transmitting pins of the RTK chip, and the serial port signal transmitting pins of the MCU chip are connected to the corresponding serial port signal receiving pins of the RTK chip. The MCU chip also includes pins for receiving second pulse signals, abnormal indications, PVT positioning indications, and RTK positioning indications, respectively. The RTK chip also includes pins for transmitting second pulse signals, abnormal indications, PVT positioning indications, and RTK positioning indications, respectively, and these pins are respectively connected to the pins of the MCU chip used for receiving second pulse signals, abnormal indications, PVT positioning indications, and RTK positioning indications.

[0128] In principle, the MCU chip and the RTK chip communicate through corresponding pin connections, enabling the MCU chip to obtain RTK positioning data and status, and exchange information with the RTK chip. Specifically, there are two types: one is a serial communication connection that enables bidirectional communication, and the other is an interrupt signal connection where the RTK reports the status to the MCU via an interrupt signal.

[0129] like Figure 4a , Figure 5 As shown, in one specific embodiment, pins 51-54 of the MCU chip and pins 17-20 of the RTK chip define two corresponding sets of serial port signal receiving pins and serial port signal transmitting pins, respectively. Specifically, MCU chip pin 51 is MCU_UART4_TX, corresponding to RTK chip pin 19 as RTK_USART2_RX; MCU chip pin 52 is MCU_UART4_RX, corresponding to RTK chip pin 20 as RTK_USART2_TX; MCU chip pin 53 is MCU_UART5_TX, corresponding to RTK chip pin 17 as RTK_USART1_RX; and MCU chip pin 54 is MCU_UART4_TX, corresponding to RTK_USART1_RX. K chip pin 18 is RTK_USART1_TX, used for bidirectional serial communication; MCU chip pins 10, 11, 14, and 24, and RTK chip pins 14-16 and 30 are also defined with corresponding exception indicators, PVT positioning indicators, second pulse signals, and RTK positioning indicator pins, including the exception indicator interrupt signal connection obtained by connecting MCU chip pin 10 to RTK chip pin 14, the PVT positioning indicator interrupt signal connection obtained by connecting MCU chip pin 11 to RTK chip pin 15, the second pulse signal connection obtained by connecting MCU chip pin 14 to RTK chip pin 30, and the RTK positioning indicator interrupt signal connection obtained by connecting MCU chip pin 24 to RTK chip pin 16.

[0130] Preferably, the serial communication connection between the MCU chip and the RTK chip is USART, and the interrupt signal connection is GPIO.

[0131] Furthermore, the MAG circuit includes a magnetic compass chip, and the magnetic compass chip and the MCU chip include the same number of IIC communication pins, which are correspondingly connected. The magnetic compass chip also includes a pin for sending a signal to trigger the MCU chip to read data from the magnetic compass chip, and the MCU includes a pin for receiving the signal sent by the magnetic compass chip to trigger the MCU chip to read data from the magnetic compass chip, which is correspondingly connected to the pin of the magnetic compass chip for sending magnetic compass status reports and event trigger signals.

[0132] In principle, the MCU chip and the magnetic compass chip communicate with each other through corresponding pins, enabling the magnetic compass chip to obtain orientation data and status, and exchange information with the magnetic compass chip. Specifically, this includes bidirectional communication connection and interrupt signal connection.

[0133] like Figure 4a , Figure 9 As shown, in one specific embodiment, pins 58-59 of the MCU chip and pins 15 and 16 of the magnetic compass chip are defined with corresponding IIC communication pins, including I2CT_SCL_MAG for pin 58 of the MCU chip corresponding to pin 16 of the magnetic compass chip, and I2CT_SDA_MAG for pin 59 of the MCU chip corresponding to pin 15 of the magnetic compass chip. Pins 57 of the MCU chip and pin 14 of the magnetic compass chip are also defined with corresponding pins for magnetic compass status reports and event trigger signals. Pin 57 of the MCU chip is connected to pin 14 of the magnetic compass chip to obtain an interrupt signal connection for sending magnetic compass status reports and event trigger signals.

[0134] Preferably, the communication connection and interrupt signal connection between the MCU chip and the magnetic compass chip are both IIC.

[0135] Preferably, the magnetic compass chip model is IST8310.

[0136] Furthermore, the IMU circuit includes an IMU chip, and the IMU chip and the MCU chip include the same number of SPI communication pins, which are correspondingly connected to each other. The IMU chip also includes pins for sending IMU status reports and event trigger signals, and the MCU also includes pins for receiving IMU status reports and event trigger signals, which are respectively connected to the pins of the IMU chip used to send IMU status reports and event trigger signals.

[0137] In principle, the MCU chip and the IMU chip communicate through corresponding pin connections, enabling the MCU chip to obtain pose data and status, and exchange information with the IMU chip. Specifically, this includes bidirectional communication connections and interrupt signal connections.

[0138] like Figure 4a , Figure 10As shown, in one specific embodiment, pins 33-36 of the MCU chip and pins 12-14 of the IMU chip are defined as corresponding SPI communication pins, including SPI2_CS1_ICM42688 corresponding to IMU chip pin 12 of the MCU chip, SPI2_SCK_IMU corresponding to IMU chip pin 13 of the MCU chip, SPI2_MISO_IMU corresponding to IMU chip pin 1 of the MCU chip, and SPI2_MOSI_IMU corresponding to IMU chip pin 14 of the MCU chip. Pins 61 and 62 of the MCU chip and pins 4 and 9 of the IMU chip are also defined as corresponding pins for transmitting IMU status reports and event trigger signals, including connecting pin 61 of the MCU chip to pin 4 of the IMU chip and connecting pin 62 of the MCU chip to pin 9 of the IMU chip to obtain the connection for transmitting IMU status reports and event trigger signals.

[0139] Preferably, the communication connection between the MCU chip and the IMU chip is SPI, and the interrupt signal connection is GPIO.

[0140] Preferably, the IMU chip model is STM32F103RCT6.

[0141] This embodiment discloses an RTK dot-matrix circuit for a drone remote controller with AHRS functionality, including an RTK circuit, an IMU circuit, a MAG circuit, an MCU circuit, an interface circuit, a power soft-start circuit, and a DC-DC buck converter. The interface circuit includes a power supply interface and a communication interface. The power supply interface of the interface circuit is electrically connected to the RTK circuit, the IMU circuit, the MAG circuit, and the MCU circuit sequentially through the power soft-start circuit and the DC-DC buck converter, respectively. The RTK circuit, the IMU circuit, and the MAG circuit are each communicatively connected to one end of the MCU circuit. The other end of the MCU circuit is communicatively connected to the communication interface of the interface circuit. In addition to the connections between the RTK circuit, the IMU circuit, and the MAG circuit and the MCU circuit, a power soft-start circuit is used to slowly power on the circuit to achieve RTK dot-matrix positioning and to the MAG and IMU, avoiding voltage overshoot damage to the circuit. This solves the problem in existing technologies where there is a lack of RTK dot-matrix integration solutions supporting AHRS into drone remote controllers.

[0142] Example 2

[0143] The second specific embodiment of this utility model discloses an RTK dotting device with AHRS function, the device including the RTK dotting circuit of a drone remote controller with AHRS function disclosed in Embodiment 1.

[0144] This embodiment can be easily integrated into various industrial drone remote controllers with USB interfaces, facilitating the provision of RTK positioning and AHRS functions, thereby reducing the difficulty of drone operation;

[0145] This embodiment can also be easily integrated into various industrial drones with USB interfaces, providing dual redundancy for magnetic compass positioning through MAG circuitry and dual redundancy for angular velocity and acceleration through IMU circuitry, thus helping to improve the reliability of drones.

[0146] Furthermore, such as Figure 11 As shown, the power supply circuit of the USB interface circuit includes a voltage regulator circuit and a filter circuit connected in parallel. One end of the voltage regulator circuit and the filter circuit are both connected to the input terminal of the power supply circuit of the USB interface circuit, and the other ends of the voltage regulator circuit and the filter circuit are grounded together.

[0147] Specifically, such as Figure 11 As shown, the voltage regulator circuit includes a Zener diode D9 and a TVS diode D8 connected in parallel to regulate the voltage and prevent damage to the circuit from input voltage changes during hot-swapping; the filter circuit includes capacitors C61 and C62 connected in parallel.

[0148] Furthermore, such as Figure 12 As shown, the USB interface circuit also includes a connector, which includes a first pin, a second pin, a third pin, and a fourth pin; the USB interface circuit communication circuit includes a negative data signal terminal and a positive data signal terminal.

[0149] The first pin is connected to the power supply input of the USB interface circuit, the second pin is connected to the negative data signal terminal, the third pin is connected to the positive data signal terminal, and the fourth pin is connected to ground.

[0150] The negative data signal terminal and the positive data signal terminal are also respectively connected to a grounded ESD tube;

[0151] The negative data signal terminal and the positive data signal terminal are also connected to the MCU circuit.

[0152] Specifically, the communication circuit of the USB interface circuit includes a USB-DM terminal and a UDB-DP terminal. The USB-DM terminal is connected to the second pin, and the UDB-DP terminal is connected to the third pin. The USB-DM terminal and the UDB-DP terminal are also each connected to a grounded ESD tube for electrostatic protection of the data signal line.

[0153] Furthermore, such as Figure 4a , Figure 12As shown, the MCU chip includes a negative data signal pin and a positive data signal pin; the negative data signal pin is connected to the negative data signal pin of the MCU chip, and the positive data signal pin is connected to the positive data signal pin of the MCU chip.

[0154] In one specific embodiment, the MCU chip includes a USB_DM pin 44 and a UDB_DP pin 45. The USB_DM pin 44 is connected to the USB-DM terminal of the USB interface circuit via a USB-DM signal line, and the UDB_DP pin 45 is connected to the UDB-DP terminal of the USB interface circuit via a UDB-DP signal line. Communication between the MCU chip and external devices can be achieved using only two pins, making implementation and maintenance easy.

[0155] This embodiment discloses an RTK dotting device with AHRS function, which enhances the compatibility of the solution with the circuit interface of existing drone remote controllers by using a USB interface circuit as the power supply and communication interface.

[0156] Those skilled in the art will understand that the programs / software involved in the above embodiments are common methods in the prior art, and the principle explanations of the functions are also prior art. In the above embodiments, they can be directly executed by integrating them into the corresponding chips or circuits. This utility model does not involve any software improvements. This utility model only requires connecting the various devices with corresponding functions through the connection relationships given in the embodiments of this utility model, without involving any program or software improvements. As for the connection methods between the various hardware devices with corresponding functions, these can all be implemented by those skilled in the art using existing technology, and will not be described in detail here.

[0157] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present utility model should be included within the protection scope of the present utility model.

Claims

1. An unmanned aerial vehicle remote controller RTK pinger circuit with AHRS functionality, characterized in that, The circuit comprises an RTK circuit, an IMU circuit, an MAG circuit, an MCU circuit, an interface circuit, a power supply slow start circuit, and a direct current step-down circuit, wherein the interface circuit comprises a power supply circuit and a communication circuit; The power supply circuit is electrically connected to the RTK circuit, the IMU circuit, the MAG circuit, and the MCU circuit through the power supply slow start circuit and the direct current step-down circuit; The RTK circuit, the IMU circuit, and the MAG circuit are in communication connection with the MCU circuit; The MCU circuit is in communication connection with the communication circuit.

2. The RTK plotter circuit of claim 1, wherein, The power supply slow start circuit comprises a PMOS tube, a PMOS tube control circuit, and a filter circuit, the input end of the PMOS tube control circuit is used as the input end of the power supply slow start circuit, the input end of the PMOS tube control circuit is connected to the source level of the PMOS tube, the output end of the PMOS tube control circuit is connected to the gate of the PMOS tube, the drain of the PMOS tube is connected to the filter circuit, and the drain of the PMOS tube is used as the output end of the power supply slow start circuit.

3. The RTK plotter circuit of claim 1, wherein, The output end of the direct current step-down circuit is connected to the MCU circuit, the IMU circuit, the MAG circuit, and the RTK circuit through a decoupling circuit.

4. The RTK plotter circuit of claim 2, wherein, The MCU circuit comprises an MCU chip, a crystal oscillator circuit, a reset circuit, a power supply circuit, and a indicator light circuit; The MCU chip comprises a reset pin, a power supply pin, an external clock input pin, an external clock output pin, a power supply pin, and an indicator light signal pin, The input end of the power supply circuit of the MCU circuit is connected to the output end of the direct current step-down circuit through a decoupling circuit, and the output end of the power supply circuit of the MCU circuit is connected to the power supply pin of the MCU chip; One end of the reset circuit of the MCU circuit is connected to the reset pin of the MCU chip, and the other end is connected to the power supply pin of the MCU chip; The crystal oscillator circuit comprises a crystal oscillator with an input pin and an output pin, the input pin of the crystal oscillator is connected to the external clock output pin of the MCU chip, and the output pin of the crystal oscillator is connected to the external clock input pin of the MCU chip; The indicator light circuit comprises a built-in chip, and the built-in chip of the indicator light circuit is connected to the MCU chip through the indicator light signal pin.

5. The RTK plotter circuit of claim 4, wherein, The RTK circuit comprises an RTK chip, an RTK antenna circuit, an RTK backup power supply circuit, and an antenna feed power supply fuse circuit; The RTK chip comprises an antenna signal input pin, a power supply input pin, and a backup power supply pin; The signal output end of the RTK antenna circuit is connected to the antenna signal input pin of the RTK chip; The antenna feed power supply fuse circuit comprises a switch chip with a power supply input pin, an enable input pin, and an output pin, the power supply input pin of the switch chip is connected to the output end of the direct current step-down circuit through a decoupling circuit, the output pin of the switch chip is connected to the power supply input end of the RTK antenna circuit, the MCU chip further comprises an RTK enable pin, and the enable input pin of the switch chip is connected to the RTK enable pin of the MCU chip. The standby power supply circuit comprises a super capacitor, a diode and a current-limiting resistor, the positive pole of the super capacitor is connected with one end of the current-limiting resistor, the other end of the current-limiting resistor is connected with the negative pole of the diode, the positive pole of the diode is connected with the output end of the DC voltage reduction circuit through a decoupling circuit, and the other end of the current-limiting resistor is also connected with the standby power supply pin of the RTK chip.

6. The RTK plotter circuit of claim 5, wherein, The MCU chip and the RTK chip each comprise the same number of serial port signal receiving pins and serial port signal sending pins, the serial port signal receiving pins of the MCU chip are connected with the corresponding serial port signal sending pins of the RTK chip, and the serial port signal sending pins of the MCU chip are connected with the corresponding serial port signal receiving pins of the RTK chip. The MCU chip further comprises pins for receiving a second pulse signal, an abnormality indication, a PVT positioning indication and an RTK positioning indication respectively, the RTK chip further comprises pins for sending the second pulse signal, the abnormality indication, the PVT positioning indication and the RTK positioning indication respectively, and the above-mentioned pins of the RTK chip are connected with the corresponding pins of the MCU chip.

7. The RTK plotter circuit of claim 6, wherein, The IMU circuit comprises an IMU chip, the IMU chip and the MCU chip each comprise the same number of SPI communication pins, and the SPI communication pins of the IMU chip and the MCU chip are connected correspondingly. The IMU chip further comprises a pin for sending an IMU state report and an event trigger signal, and the MCU further comprises a pin for receiving the IMU state report and the event trigger signal and connected with the pin of the IMU chip for sending the IMU state report and the event trigger signal correspondingly.

8. The RTK plotter circuit of claim 6, wherein, The MAG circuit comprises a magnetic compass chip, the magnetic compass chip and the MCU chip each comprise the same number of IIC communication pins, and the IIC communication pins of the magnetic compass chip and the MCU chip are connected correspondingly. The magnetic compass chip further comprises a pin for sending a signal for triggering the MCU chip to read data from the magnetic compass chip, and the MCU comprises a pin for receiving the signal for triggering the MCU chip to read data from the magnetic compass chip sent by the magnetic compass chip and connected with the pin of the magnetic compass chip for sending a magnetic compass state report and an event trigger signal correspondingly.

9. An RTK dotter device supporting AHRS with USB interface, characterized in that, The device comprises the RTK dotter circuit of the unmanned aerial vehicle remote controller with an AHRS function according to any one of claims 1-8; and the interface circuit is a USB interface circuit.

10. The RTK dotter device supporting AHRS with USB interface according to claim 9, wherein, The USB interface circuit comprises a socket, and the socket comprises a first pin, a second pin, a third pin and a fourth pin. The USB interface circuit communication circuit comprises a data negative signal terminal and a data positive signal terminal. The first pin is connected with the input end of the power supply circuit of the USB interface circuit, the second pin is connected with the data negative signal terminal, the third pin is connected with the data positive signal terminal, and the fourth pin is connected with a ground wire. The data negative signal terminal and the data positive signal terminal are further connected with one ground ESD tube respectively. The data negative signal terminal and the data positive signal terminal are further connected with the MCU circuit respectively. The USB interface circuit power supply circuit comprises a voltage stabilizing circuit and a filter circuit connected in parallel, one end of the voltage stabilizing circuit and the filter circuit is connected to the input end of the USB interface circuit power supply circuit, and the other end of the voltage stabilizing circuit and the filter circuit is grounded. The MCU chip comprises a data negative signal pin and a data positive signal pin; the data negative signal terminal is connected to the data negative signal pin of the MCU chip, and the data positive signal terminal is connected to the data positive signal pin of the MCU chip.

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