Attitude and heading reference system

Abstract

The utility model discloses an attitude and heading reference system, relates to the technical field of attitude and heading monitoring, and aims to provide an attitude and heading reference system with high precision, high performance and cost effectiveness, which comprises a power chip set, an acceleration sensor, a plurality of six-axis sensors, a magnetic sensor, a communication chip, a singlechip and a CAN (controller area network) conversion component, the CAN conversion assembly comprises a CAN controller and a CAN transceiver, the CAN controller is used for receiving a signal sent by the single chip microcomputer and transmitting the signal to the CAN transceiver, and the CAN transceiver is used for converting a digital signal output by the CAN controller into a physical signal required by a CAN bus. According to the invention, electromagnetic interference received in the transmission process is suppressed, noise on the CAN bus is reduced, electrical isolation can be provided, and the stability and accuracy of data transmission are further improved.

Description

Technical Field

[0001] This utility model relates to the field of attitude monitoring technology, and more specifically, to an attitude reference system. Background Technology

[0002] With the widespread application of drone technology, its importance in fields such as agricultural plant protection, power line inspection, emergency disaster relief, and surveying is becoming increasingly prominent. However, drones require precise attitude monitoring systems during flight to ensure the stability and safety of their flight attitude. While traditional attitude monitoring systems can provide basic attitude information, their accuracy and reliability remain insufficient under conditions such as highly dynamic environments, complex electromagnetic interference, and severe weather.

[0003] Currently, some high-performance attitude reference systems have emerged on the market. These systems have improved the flight control accuracy and reliability of UAVs to some extent, but they are expensive and their adaptability in complex environments still needs to be improved.

[0004] Furthermore, with technological advancements, the application areas of attitude and bearing reference systems (AHRS) are continuously expanding, gradually extending from traditional aircraft to fields such as drones, industrial robots, autonomous vehicles, and ships. This indicates a growing market demand for high-precision, high-performance, and cost-effective AHRS monitoring systems.

[0005] In summary, while existing attitude and bearing monitoring systems have made some technological progress, they still have shortcomings in terms of adaptability to high-dynamic environments, anti-interference capabilities, and cost control. Therefore, developing a high-precision, high-performance, and cost-effective attitude and bearing reference system is of great significance for improving the flight safety and mission execution efficiency of UAVs. Utility Model Content

[0006] In view of the problems existing in the prior art, this utility model provides an attitude reference system to solve the technical problems mentioned in the background art.

[0007] To achieve the above objectives, this utility model provides the following technical solution: an attitude reference system, comprising a power chipset, an accelerometer, multiple six-axis sensors, a magnetic sensor, a communication chip, and a microcontroller. The power chipset is electrically connected to the accelerometer, the multiple six-axis sensors, the magnetic sensor, the communication chip, and the microcontroller, and is used to supply power to them. The accelerometer, the six-axis sensors, and the magnetic sensor are used to monitor attitude. The microcontroller is electrically connected to the accelerometer, the multiple six-axis sensors, the magnetic sensor, and the communication chip. The microcontroller is used to acquire data signals from the accelerometer, the multiple six-axis sensors, and the magnetic sensor, and to process the signals. The communication chip is used to transmit the processed signals from the microcontroller to external devices.

[0008] The present invention is further configured such that the attitude reference system also includes a CAN conversion component, which is electrically connected to the power chipset and the microcontroller. The power chipset supplies power to the microcontroller, and the CAN conversion component is used to transmit the chip processed by the microcontroller to external devices through the CAN bus.

[0009] The present invention is further configured such that the power chipset includes a power chip one and a power chip two, wherein the power chip one is used to supply power to the communication chip and the CAN conversion component, and the power chip two is used to supply power to the microcontroller, the accelerometer, the six-axis sensor and the magnetic sensor.

[0010] The present invention is further configured such that the microcontroller is connected to multiple SPI interfaces, and each SPI interface has multiple CS lines, which are respectively connected to an accelerometer, multiple six-axis sensors and a magnetic sensor.

[0011] The present invention is further configured such that the CAN conversion component includes a CAN controller and a CAN transceiver, wherein the microcontroller, the CAN controller, the CAN transceiver and the CAN bus are electrically connected in sequence, the CAN controller is used to receive the signal sent by the microcontroller and transmit the signal to the CAN transceiver, and the CAN transceiver is used to convert the digital signal output by the CAN controller into the physical signal required by the CAN bus.

[0012] The present invention is further configured such that the axes of the plurality of six-axis sensors intersect each other.

[0013] The present invention is further configured such that the attitude reference system also includes an input power supply, which is connected to power chip one and power chip two, both of which are used to convert the voltage value of the input power supply into the required voltage value.

[0014] The present invention is further configured such that the attitude reference system also includes a UART chip, which is electrically connected between the microcontroller and the communication chip, for converting the output signal of the microcontroller and transmitting the converted signal to the communication chip.

[0015] The present invention is further configured such that the microcontroller is connected to a spare IIC interface.

[0016] Compared with the prior art, the present invention provides an attitude reference system with the following advantages:

[0017] 1. In this application, the attitude is monitored by an accelerometer, multiple six-axis sensors with different installation directions, and a magnetic sensor, and accurate and reliable attitude data is transmitted to external devices.

[0018] 2. In this application, a CAN transceiver is used to achieve stable data transmission, suppress electromagnetic interference received during transmission, reduce noise on the CAN bus, and provide electrical isolation, thereby further improving the stability and accuracy of data transmission. Attached Figure Description

[0019] Figure 1 A schematic diagram of the circuit framework of the attitude reference system;

[0020] Figure 2 This is a flowchart of the attitude and bearing reference system. Detailed Implementation

[0021] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0022] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0023] In this utility model, unless otherwise stated, the orientations used, such as "up" and "down", usually refer to the direction shown in the accompanying drawings, or to the vertical, perpendicular, or gravitational direction; similarly, for ease of understanding and description, "left" and "right" usually refer to the left and right shown in the accompanying drawings; "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not used to limit this utility model.

[0024] An attitude reference system includes a power chipset, an accelerometer, multiple six-axis sensors, a magnetic sensor, a communication chip, and a microcontroller. The power chipset is electrically connected to the accelerometer, the multiple six-axis sensors, the magnetic sensor, the communication chip, and the microcontroller, and is used to supply power to them. The accelerometer, the six-axis sensors, and the magnetic sensor are used to monitor attitude. The microcontroller is electrically connected to the accelerometer, the multiple six-axis sensors, the magnetic sensor, and the communication chip, and is used to acquire and process the data signals from the accelerometer, the multiple six-axis sensors, and the magnetic sensor. The communication chip is used to transmit the processed signals from the microcontroller to external devices. The axes of the multiple six-axis sensors intersect each other.

[0025] In practical applications, the attitude is monitored by accelerometers, six-axis sensors and magnetometers, and the data is sent to a microcontroller for data processing. The microcontroller then transmits the processed data to external devices through a communication chip. During this process, the power chipset supplies power to the sensors, microcontroller and communication chip.

[0026] In this embodiment, the attitude reference system also includes a CAN conversion component. The CAN conversion component is electrically connected to the power chip and the microcontroller. The power chip group supplies power to it. The CAN conversion component is used to transmit the chip processed by the microcontroller to external devices through the CAN bus.

[0027] In practical applications, the microcontroller can also transmit the processed data to the CAN bus via the CAN conversion component, and finally transmit it to external devices via the CAN bus.

[0028] In this embodiment, the power chipset includes power chip one and power chip two. Power chip one is used to supply power to the communication chip and CAN conversion component, and power chip two is used to supply power to the microcontroller, accelerometer, six-axis sensor and magnetic sensor. The attitude reference system also includes an input power supply, which is connected to power chip one and power chip two. Both power chip one and power chip two are used to convert the voltage value of the input power supply into the required voltage value.

[0029] In practical applications, power chip one converts the input voltage of the input power supply into the 5V voltage required by the communication chip and CAN conversion component, while power chip two converts the input voltage of the input power supply into the 3.3V voltage required by the microcontroller, accelerometer, six-axis sensor and magnetic sensor.

[0030] In this embodiment, the microcontroller is connected to multiple SPI interfaces, and each SPI interface has multiple CS lines, which are respectively connected to an accelerometer, multiple six-axis sensors and a magnetic sensor.

[0031] In practical applications, four six-axis sensors are set up, referred to as six-axis sensor 1, six-axis sensor 2, six-axis sensor 3 and six-axis sensor 4 respectively. There are two SPI interfaces, referred to as SPI 1 and SPI 2 respectively. SPI 1 has three CS lines, CS1, CS2 and CS3, which are connected to the accelerometer, magnetometer and six-axis sensor 1 respectively. SPI 2 has three CS lines, CS4, CS5 and CS6, which are connected to six-axis sensor 2, six-axis sensor 3 and six-axis sensor 4 respectively.

[0032] In this embodiment, the CAN conversion component includes a CAN controller and a CAN transceiver. The microcontroller, CAN controller, CAN transceiver, and CAN bus are electrically connected in sequence. The CAN controller is used to receive the signal sent by the microcontroller and transmit the signal to the CAN transceiver. The CAN transceiver is used to convert the digital signal output by the CAN controller into the physical signal required by the CAN bus.

[0033] In practical applications, the CAN controller receives signals sent by the microcontroller and transmits the signals to the CAN transceiver. The CAN transceiver converts the digital signals into physical signals and transmits them to the CAN bus, which then transmits them to external devices.

[0034] In this embodiment, the attitude reference system also includes a UART chip, which is electrically connected between the microcontroller and the communication chip. It is used to convert the output signal of the microcontroller and send the converted signal to the communication chip.

[0035] In practical applications, the UART chip converts the output signal of the microcontroller into the signal required by the communication chip, and then transmits the signal to the communication chip and then to the external device.

[0036] In this embodiment, the microcontroller is connected to a spare IIC interface.

[0037] In all the solutions mentioned above, although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An attitude reference system, characterized in that, It includes a power chipset, an accelerometer, multiple six-axis sensors, a magnetometer, a communication chip, and a microcontroller. The power chipset is electrically connected to the accelerometer, multiple six-axis sensors, a magnetometer, a communication chip, and a microcontroller, and is used to power them. Accelerometers, six-axis sensors, and magnetometers are used to monitor attitude and bearing. The microcontroller is electrically connected to an accelerometer, multiple six-axis sensors, a magnetic sensor, and a communication chip. The microcontroller is used to acquire data signals from the accelerometer, multiple six-axis sensors, and the magnetometer, and to process these signals. Communication chips are used to transmit signals processed by a microcontroller to external devices.

2. The attitude reference system according to claim 1, characterized in that, It also includes a CAN conversion component, which is electrically connected to the power chipset and the microcontroller. The power chipset supplies power to it, and the CAN conversion component is used to transmit the chip processed by the microcontroller to external devices via the CAN bus.

3. The attitude reference system according to claim 1, characterized in that, The power chipset includes power chip one and power chip two. Power chip one is used to supply power to the communication chip and CAN conversion component, while power chip two is used to supply power to the microcontroller, accelerometer, six-axis sensor and magnetic sensor.

4. The attitude reference system according to claim 1, characterized in that, The microcontroller is connected to multiple SPI interfaces, and each SPI interface has multiple CS lines, which are respectively connected to an accelerometer, multiple six-axis sensors and a magnetic sensor.

5. The attitude reference system according to claim 2, characterized in that, The CAN conversion component includes a CAN controller and a CAN transceiver. The microcontroller, CAN controller, CAN transceiver, and CAN bus are electrically connected in sequence. The CAN controller is used to receive signals sent by the microcontroller and transmit those signals to the CAN transceiver. A CAN transceiver is used to convert the digital signals output by the CAN controller into the physical signals required by the CAN bus.

6. The attitude reference system according to claim 1, characterized in that, It also includes an input power supply, which is connected to power chip one and power chip two. Both power chip one and power chip two are used to convert the voltage value of the input power supply into the required voltage value.

7. The attitude reference system according to claim 1, characterized in that, It also includes a UART chip, which is electrically connected between the microcontroller and the communication chip. It is used to convert the output signal of the microcontroller and send the converted signal to the communication chip.

8. The attitude reference system according to claim 1, characterized in that, The microcontroller is connected to a spare IIC interface.

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