Space measurement drawing circuit based on inertial device combined with satellite positioning

Abstract

The utility model relates to the technical field of space measurement drawing, in particular to a space measurement drawing circuit based on an inertial device combined with satellite positioning. Comprising a power supply differential plate and a master control inertial navigation plate which are connected through a wire or a pin header, the power supply differential board layout comprises a differential module and a power supply module, and the differential module is used for receiving satellite differential signals; the power supply module is used for providing voltage for each module, and the master control inertial navigation plate layout comprises a master control module, an inertial navigation module and a data transmission module. The main control module is electrically connected with the difference module, the power supply module, the main control module, the inertial navigation module and the data transmission module, and is used for controlling the inertial navigation module and the difference module to work and carrying out data fusion, power supply management and communication control; the inertial navigation module is integrated with an MEMS inertial measurement unit and a magnetometer sub-module; and the data transmission module is used for transmitting the fused data and receiving an external instruction. According to the technical scheme, the precision and efficiency of space measurement can be improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to space measurement drawing technology field, concretely relates to a space measurement drawing circuit based on inertial device combination satellite positioning. BACKGROUND

[0002] In the field of space measurement and drawing, high-precision and high-reliability measurement technology is the core foundation of realizing precise positioning, map drawing, topographic survey and other applications. The inertial measurement unit can measure the acceleration and angular velocity of the object in real time by integrating accelerometers and gyroscopes and other sensors, and further calculate the position, velocity and attitude information of the object. However, the measurement accuracy of IMU is limited by the accuracy of the sensor itself, environmental noise and temperature changes and other factors, and its error will accumulate with time, resulting in a significant decrease in the accuracy of the measurement results in long-time or long-distance measurement tasks. The differential device determines the user's position by receiving signals from satellites, and has the advantages of global coverage, real-time positioning and the like. However, satellite signals are easily blocked, interfered or attenuated, especially in complex environments such as urban canyons, indoor environments, dense forests or underwater, satellite signals may not be able to effectively penetrate, resulting in positioning failure or a significant decrease in accuracy. SUMMARY

[0003] The utility model aims at: propose a kind of space measurement drawing circuit based on inertial device combination satellite positioning, this technical scheme can improve the precision and efficiency of space measurement.

[0004] To achieve the above object, the present disclosure provides a kind of space measurement drawing circuit based on inertial device combination satellite positioning, including power supply differential board and main control inertial navigation board, is connected by line or row pin;

[0005] The power supply differential board layout includes differential module and power module, differential module is used to receive satellite differential signal;Power module is used to provide voltage for each module,

[0006] The main control inertial navigation board layout includes main control module, inertial navigation module and data transmission module.

[0007] The main control module is electrically connected with differential module, power module, main control module, inertial navigation module and data transmission module, is used to control inertial navigation module and differential module work, and carries out data fusion, power management and communication control;The inertial navigation module integrates MEMS inertial measurement unit;

[0008] The data transmission module is used to transmit fusion data and receive external instructions.

[0009] The beneficial effects of the basic scheme: there is a differential module on the power supply differential board for receiving satellite differential signals, combined with the inertial navigation module on the main control board, to achieve high-precision positioning. Satellite differential signals can effectively correct positioning errors, and the MEMS inertial measurement unit in the inertial navigation module can provide continuous position, attitude and other information in a short time when satellite signals are lost or interfered, and through data fusion of the main control module, the accuracy and stability of positioning are further improved.

[0010] Through the double-board design, the differential module can avoid electromagnetic interference generated by high-frequency digital circuits such as the main control module and the data transmission module, ensuring positioning accuracy. The inertial navigation module will not be affected by high-frequency noise generated by the power module, which will cause measurement errors of the accelerometer / gyroscope.

[0011] As an implementable preferred scheme, the inertial navigation module includes a three-axis accelerometer, a gyroscope, and a magnetometer, which are connected to the main control module through a UART serial port for transmitting inertial navigation data.

[0012] As an implementable preferred scheme, the differential module uses an RTK differential positioning chip to receive satellite differential signals in real time and obtain high-precision position information, and is connected to the main control module through a UART serial port for transmitting differential data.

[0013] As an implementable preferred scheme, the power module includes a lithium battery and a voltage stabilizing circuit, which monitors the power voltage through the ADC of the main control module and displays the power through the LED.

[0014] As an implementable preferred scheme, the power supply of the power module is controlled by the GPIO of the main control module, and automatically powers off in the signal-free area to save energy.

[0015] As an implementable preferred scheme, the data transmission module uses an HC-05 chip or an ESP32 chip, which is connected to the main control module through an SPI interface.

[0016] As an implementable preferred scheme, the data transmission module integrates a Bluetooth / Wi-Fi dual-mode chip.

[0017] As an implementable preferred scheme, the power supply differential board is close to the top of the device shell, and the main control inertial navigation board is placed in the middle of the device. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 A structure diagram of a space measurement and mapping circuit based on inertial devices combined with satellite positioning. DETAILED DESCRIPTION

[0019] In order to make the technical solutions of the present application and its advantages clearer, the technical solutions of the present application will be described in further detail below in conjunction with the drawings. It can be understood that the specific embodiments described herein are only part of the embodiments of the present application, and are only used to explain the present application, but not to limit the present application. It should be noted that the technical features or combinations of technical features described in the following embodiments should not be considered in isolation, and they can be combined with each other to achieve better technical effects. The same reference numerals in the drawings of the following embodiments represent the same features or components, which can be applied to different embodiments.

[0020] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "set", "connected" should be understood broadly. For example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected (including various mechanical connection forms, such as shaft coupling or gear pair, etc.), or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be connected inside two elements. For ordinary skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0021] In addition, unless otherwise defined, the technical terms or scientific terms used in the description of the present application should be understood as the usual meaning understood by the ordinary skilled in the art in the field to which the present application belongs.

[0022] The present application will be described in further detail below in conjunction with the drawings:

[0023] Reference signs: main control module 1, inertial navigation module 2, differential module 3, power module 4, data transmission module 5.

[0024] Referring to Figure 1 A space measurement mapping circuit based on inertial devices combined with satellite positioning includes the following core modules:

[0025] The main control module 1 is used to control the inertial navigation module 2 and / or the differential module 3 to work, and to perform data fusion, power management and communication control. In an embodiment, an STM32 series microcontroller can be used. The installation and configuration method of this type of microcontroller is well known to those skilled in the art, and therefore will not be described here.

[0026] The inertial navigation module 2 integrates a MEMS inertial measurement unit (IMU) and a magnetometer sub-module. The MEMS inertial measurement unit (IMU) includes a three-axis accelerometer and a gyroscope. The inertial navigation module 2 is connected to the main control module 1 through a UART serial port, and transmits data of the inertial navigation module 2 to the main control module 1. The main control module 1 also controls and reacts to the inertial navigation module 2.

[0027] The differential module 3 adopts an RTK differential positioning chip (such as ublox F9P) to receive satellite differential signals in real time and obtain high-precision position information; the differential module 3 is connected with the main control module 1 through a UART serial port, transmits data of the differential module 3 to the main control module 1, and controls and reacts to the inertial navigation module 2.

[0028] In an embodiment, the UART interfaces of the inertial navigation module 2 and the differential module 3 are respectively connected to UART1 and UART2 of the main control module 1, and the baud rates are both 115200 bps.

[0029] The power module 4 includes a lithium battery and a voltage stabilizing circuit, which is used to provide voltage for each module to work in a normal working state. The main control module 1 monitors the voltage of the power module 4 through an ADC and displays the power through an LED; the power supply of the differential module 3 is controlled by a GPIO of the main control module 1, and the power supply can be automatically turned off in a signal-free area to save energy.

[0030] The data transmission module 5 integrates a Bluetooth / Wi-Fi dual-mode chip (such as HC-05 and ESP32), which is connected with the main control module 1 through an SPI interface (serial peripheral interface) and is used for wireless transmission of fusion data and reception of external instructions.

[0031] The circuit is divided into a power differential board (A board) and a main control inertial navigation board (B board), which are connected through wires or pin rows.

[0032] The power differential board is used to layout the differential module 3 and the power module 4, and is close to the top of the device shell to reduce the shielding of satellite signals.

[0033] The main control inertial navigation board is used to layout the main control module 1, the inertial navigation module 2 and the data transmission module 5, and is placed in the middle of the device to reduce electromagnetic interference.

[0034] Through the double-board design, the differential module 3 can avoid electromagnetic interference generated by the main control module 1 and the data transmission module 5, etc., to ensure the positioning accuracy. The inertial navigation module 2 will not be affected by high-frequency noise generated by the power module, which will cause measurement errors of the accelerometer / gyroscope.

[0035] In addition, the differential module 3 has high power consumption, and the same board with the power module 4 can optimize heat dissipation (such as adding heat dissipation copper foil) for the power differential board and optimize the heat insulation design between the two boards to avoid temperature affecting the accuracy of the inertial navigation module 2 (such as the temperature drift of MEMS devices affecting the zero offset).

[0036] The modular design can also ensure the stability of the device. Since the positioning core modules of the circuit are the differential module 3 and the inertial navigation module 2, if a fault occurs or maintenance and upgrade is needed after the two modules are isolated, only one of the two boards needs to be operated, which reduces the cost of replacing the board.

[0037] The working process of a space measurement mapping circuit based on an inertial device combined with satellite positioning includes an initialization stage, a real-time measurement stage and a data transmission stage.

[0038] In the initialization stage, after the main control module 1 is powered on, the differential module 3 is started preferentially to obtain initial latitude and longitude coordinates; the inertial navigation module 2 calibrates zero offset through the main control to initialize the attitude angle.

[0039] In the real-time measurement stage, the differential module 3 outputs high-precision positioning data in a signal area, and the main control module 1 records the point as a reference point for inertial navigation measurement; after entering a signal-free area, the main control module 1 switches to the data of the inertial navigation module 2, and takes the position of the previous reference point as an initial value to update the current position through dead reckoning; the main control module 1 can adopt a Kalman filtering algorithm to fuse the inertial navigation data and the differential data, and output a fusion result with latitude and longitude coordinates.

[0040] In the data transmission stage, the fusion data are wirelessly sent to a terminal device (such as a computer, a tablet computer, a mobile phone, etc.) through the data transmission module 5 to realize space measurement mapping, and meanwhile, calibration instructions fed back by the terminal are received.

[0041] The space measurement mapping circuit of the utility model can realize real-time fusion and transmission of inertial navigation data and differential data, and improve the precision and efficiency of space measurement. The circuit has the advantages of simple structure, easy implementation, high reliability, etc., and is suitable for various occasions requiring high-precision space measurement.

[0042] The above content is only an embodiment of the utility model, and the common knowledge of specific structures and properties in the scheme is not described in detail, the ordinary skilled in the art knows all the ordinary technical knowledge in the technical field of the utility model before the application date or the priority date, can know all the prior art in the field and has the ability to apply conventional experimental means before the date, the ordinary skilled in the art can improve and implement the scheme under the inspiration of the present application, and some typical known structures or known methods should not be an obstacle for the ordinary skilled in the art to implement the present application. It should be pointed out that, for the skilled in the art, without departing from the structure of the utility model, a number of modifications and improvements can be made, which should be regarded as the protection scope of the utility model, and these will not affect the effect and practicality of the utility model. The protection scope of the present application should be subject to the content of its claims, and the specific implementation mode in the specification can be used to explain the content of the claims.

Claims

1. A space measurement and mapping circuit based on inertial devices combined with satellite positioning, characterized in that: Includes a power differential board and a main control inertial navigation board, connected by wires or pin headers; The power differential board layout includes a differential module and a power module. The differential module is used to receive satellite differential signals; the power module is used to provide voltage to each module. The main control inertial navigation board layout includes a main control module, an inertial navigation module, and a data transmission module; The main control module is electrically connected to the differential module, power supply module, inertial navigation module, and data transmission module. It is used to control the operation of the inertial navigation module and differential module, and to perform data fusion, power management, and communication control. The inertial navigation module integrates a MEMS inertial measurement unit and a magnetometer submodule. The data transmission module is used to transmit fused data and receive external instructions.

2. The space measurement and mapping circuit based on inertial devices combined with satellite positioning according to claim 1, characterized in that: The inertial navigation module includes a three-axis accelerometer, a gyroscope, and a magnetometer, and is connected to the main control module via a UART serial port for transmitting inertial navigation data.

3. The space measurement and mapping circuit based on inertial devices combined with satellite positioning according to claim 1, characterized in that: The differential module uses an RTK differential positioning chip to receive satellite differential signals in real time, obtain high-precision position information, and connects to the main control module via a UART serial port for transmitting differential data.

4. A space measurement and mapping circuit based on inertial devices combined with satellite positioning according to claim 1, characterized in that: The power module includes a lithium battery and a voltage regulator circuit. It monitors the power supply voltage through the ADC of the main control module and displays the power level through LEDs.

5. A space measurement and mapping circuit based on inertial devices combined with satellite positioning according to claim 4, characterized in that: The power supply module is controlled by the GPIO of the main control module, and automatically cuts off power in areas without signals to save energy.

6. A space measurement and mapping circuit based on inertial devices combined with satellite positioning according to claim 1, characterized in that: The data transmission module uses an HC-05 chip or an ESP32 chip and is connected to the main control module via an SPI interface.

7. A space measurement and mapping circuit based on inertial devices combined with satellite positioning according to claim 6, characterized in that: The data transmission module integrates a Bluetooth / Wi-Fi dual-mode chip.

8. A space measurement and mapping circuit based on inertial devices combined with satellite positioning according to claim 1, characterized in that: The power differential board is located near the top of the equipment casing, and the main control inertial navigation board is located in the middle of the equipment.

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