Inertial measurement device and movable apparatus

Abstract

The application relates to an inertial measurement device and a movable device, the movable device comprising a body and the inertial measurement device, the inertial measurement device comprising a shell and an inertial measurement assembly arranged in the shell, the shell having a containing cavity therein, the inertial measurement assembly comprising a main plate and a plug-in connector arranged on the main plate; the shell has a mounting surface on one side along a plug-in direction, the mounting surface being provided with a through hole communicating with the containing cavity, one edge or two adjacent edges of the opening of the containing cavity away from the through hole being provided with a limiting slot; the limiting slot can be used as an identification for a user to identify whether the plug-in orientation of the inertial measurement device and the body is correct, so that a cut corner occupying the containing cavity does not need to be arranged on the shell, and a cut corner does not need to be arranged on the main plate, thereby the space of the containing cavity can be more fully utilized, the arrangement utilization rate of electronic components on the main plate is improved, and the overall volume of the inertial measurement device can be designed to be smaller.

Description

Technical Field

[0001] This application relates to the field of inertial measurement technology, and in particular to an inertial measurement device and a mobile device. Background Technology

[0002] An inertial measurement unit (IMU) is a device that uses sensing elements such as gyroscopes and accelerometers to measure the angular velocity and acceleration of a mobile device in three-dimensional space in real time, and uses this to calculate the attitude of the mobile device. It has important application value in navigation.

[0003] Typically, inertial measurement units (INS) have connectors that mate with the connectors of mobile devices. These connectors interlock to allow the INS to transmit signals to the mobile device's body. Existing INS often have markings on their housings to help users verify the correct alignment of the connectors. For example, some INS have chamfered corners on the housing for this purpose. However, this design typically occupies space within the housing and requires a corresponding chamfer on the motherboard, affecting the utilization of electronic components and limiting the INS's overall size. Utility Model Content

[0004] Based on this, the purpose of this application is to provide an inertial measurement device and a movable device including the inertial measurement device, so as to solve the problem that the existing inertial measurement device design cuts to identify the insertion position of the inertial measurement device, which affects the utilization rate of the electronic components on the motherboard, and thus makes it impossible to make the size of the inertial measurement device smaller.

[0005] According to one aspect of this application, an inertial measurement device is provided, comprising:

[0006] The housing has a receiving cavity inside, and the housing has a through hole communicating with the receiving cavity on one side along a plugging direction. The receiving cavity has a polygonal opening at one end away from the through hole, and a limiting groove is formed on one edge or two adjacent edges of the opening.

[0007] An inertial measurement unit includes a motherboard, a main chip, and a connector. The motherboard is disposed within the receiving cavity. The main chip and the connector are disposed on the motherboard and are interconnected through the motherboard. The plug portion of the connector extends out of the receiving cavity through the through hole so as to be connected to the body of a mobile device along the plugging direction.

[0008] In one embodiment, the projection of the receiving cavity onto a plane perpendicular to the insertion direction is rectangular.

[0009] In one embodiment, the sidewall of the receiving cavity has a first step at one end near the opening, and a cap is disposed on the first step, the cap closing the opening.

[0010] In one embodiment, the edge of the cover is provided with a protrusion corresponding to the limiting groove, and the protrusion is limited in the limiting groove.

[0011] In one embodiment, the cavity wall near the end of the through hole has a second step, and the main board is disposed on the second step.

[0012] In one embodiment, the housing has a receiving cavity, and the housing has a mounting surface on one side along the insertion direction. The mounting surface has a mounting portion protruding outward from the housing, and an arrangement space is formed between the mounting portion and the mounting surface.

[0013] In one embodiment, multiple mounting portions are provided at opposite ends of the mounting surface, each mounting portion having a mounting point and / or a guide post. The mounting point is used for fastener connection so that the inertial measurement device and the body of the mobile device are interconnected by the fastener. The guide post is used to provide guidance when the connector is inserted into the body of the mobile device.

[0014] In one embodiment, the projection of the main chip and the projection of the connector are offset from each other; wherein, the projection of the main chip is the projection of the main chip on the motherboard along the insertion direction, and the projection of the connector is the projection of the connector on the motherboard along the insertion direction.

[0015] In one embodiment, the perimeter of the connector includes two long sides of the connector that are parallel to a width direction and opposite to each other, and two short sides of the connector that are parallel to a length direction and opposite to each other. The length direction is perpendicular to the width direction and is perpendicular to the insertion direction. The long sides of the connector are perpendicular to the length direction, and the length of the long sides of the connector along the width direction is greater than the length of the short sides of the connector along the width direction.

[0016] The motherboard has a first side and a second side that are opposite to each other and both perpendicular to the length direction. The distance from the center point of the projection of the connector to the first side is greater than the distance to the second side. The projection of the connector is the projection of the connector on the motherboard along the insertion direction.

[0017] According to another aspect of this application, a mobile device is provided, including a body and an inertial measurement device as described in any of the above embodiments, wherein the body is provided with a connector that is connected to a plug of the inertial measurement device to enable the inertial measurement device to measure the inertial parameters of the mobile device.

[0018] The aforementioned inertial measurement device, by creating a limiting groove on one edge or two adjacent edges of the opening connecting the housing to the receiving cavity, can serve as an indicator for the user to identify whether the insertion orientation of the inertial measurement device and the body is correct. This eliminates the need to create chamfers on the corners of the housing that occupy the receiving cavity, and therefore also eliminates the need to create chamfers on the motherboard. This allows for more efficient use of the space in the receiving cavity, which is beneficial for improving the utilization rate of the electronic components on the motherboard. Consequently, the overall size of the inertial measurement device can be designed to be smaller. Attached Figure Description

[0019] Figure 1 An exploded view of an inertial measurement device provided in an embodiment of this application.

[0020] Figure 2 Axial view of an inertial measurement device provided in an embodiment of this application Figure 1 .

[0021] Figure 3 A side view of an inertial measurement device provided in an embodiment of this application.

[0022] Figure 4 This is a schematic diagram of the internal structure of the housing in an inertial measurement device provided in an embodiment of this application.

[0023] Figure 5 Axial view of an inertial measurement device provided in an embodiment of this application Figure 2 .

[0024] Figure 6 A bottom view of an inertial measurement device provided in an embodiment of this application.

[0025] Figure 7 This is a bottom view of the inertial measurement component in an inertial measurement device provided in an embodiment of this application.

[0026] Explanation of reference numerals in the attached figures:

[0027] 10. Inertial Measurement Unit; 100. Housing; 100a. First side; 100b. Second side; 101. Receiving cavity; 102. Mounting surface; 103. Through hole; 103a. Long side of through hole; 103b. Short side of through hole; 104. Opening; 104a. Limiting groove; 105. First step; 106. Second step; 107. Mounting part; 108. Arrangement space; 109. Mounting point; 1010. Guide post; 1010a. First guide post; 1010b. Second guide post; 1011. Clearance groove; 200. Inertial Measurement Component; 210. Main board; 211. First side; 212. Second side; 220. Connector; 221. Long side of connector; 222. Short side of connector; 230. Main chip; 300. Cover; 301. Protrusion. Detailed Implementation

[0028] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0029] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0030] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0031] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0032] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0033] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0034] This application provides an inertial measurement device applied to a mobile device. The mobile device includes a body and an inertial measurement device. The inertial measurement device is connected to the body to measure the inertial parameters (such as angular velocity or acceleration) of the mobile device when it is in motion, thereby calculating the attitude of the mobile device.

[0035] The structure of the inertial measurement device is described below. It is understood that, in other embodiments, the inertial measurement device of this application can be applied to mobile devices such as automobiles and aircraft, and is not limited thereto.

[0036] In a specific application example, the mobile device of this application refers to a car, and the inertial measurement device is installed on the car's airbag control unit (ACU).

[0037] See Figure 1 , Figure 1 A schematic diagram of the structure of an inertial measurement device 10 provided in an embodiment of this application is shown. The inertial measurement device 10 provided in an embodiment of this application includes a housing 100 and an inertial measurement component 200. The inertial measurement component 200 is used to interconnect with the body of a mobile device and transmit data to acquire the inertial parameters of the mobile device in real time; the housing 100 is used to provide support for the inertial measurement component 200 or to provide a mounting base.

[0038] Specifically, the inertial measurement unit 200 includes a motherboard 210, a connector 220, and a main chip 230. The motherboard 210 has circuitry, and the main chip 230 and connector 220 are mounted on the motherboard 210. The main chip 230 and connector 220 are communicatively connected via the motherboard 210. The main chip 230 provides inertial measurement data, and the body has a connector for... Figure 3 The inertial measurement unit 200 is connected to the connector on the fuselage along a connection direction (Z direction shown in the figure) so that the inertial measurement unit 200 can be connected to the fuselage, thereby enabling the sensing element integrated in the main chip to measure the inertial parameters of the fuselage (such as angular velocity or acceleration) in real time. For example, the sensing element may be a gyroscope or an accelerometer.

[0039] In one embodiment, the housing 100 has a hollow structure with an internal cavity 101. The housing 100 has a mounting surface 102 on one side along the insertion direction. The mounting surface 102 has a through hole 103 communicating with the cavity 101. The main board 210 and the connector 220 are both disposed in the cavity 101. The connector 220 has a plug-in portion that extends out of the cavity 101 through the through hole 103, so that the connector can be plugged into the plug-in portion of the connector 220 along the insertion direction.

[0040] Furthermore, to facilitate the insertion of the inertial measurement unit 200 into the receiving cavity 101, such as... Figure 4 As shown, the end of the receiving cavity 101 away from the through hole 103 has an opening 104 that communicates with the receiving cavity 101; preferably, the side wall of the receiving cavity 101 has a first step 105 at the end near the opening 104, and a cover 300 is provided on the first step 105 to close the opening 104.

[0041] like Figure 5 As shown, Figure 5A schematic diagram of the cover 300 covering the housing 100 is shown. In the embodiment shown in the figure, both the opening 104 and the cover 300 are rectangular. The two adjacent edges of the opening 104 are provided with limiting grooves 104a. The two adjacent edges of the cover 300 are provided with protrusions 301 corresponding to the limiting grooves 104a. Each protrusion 301 is confined in a corresponding limiting groove 104a. The purpose of this design is twofold: firstly, when the robotic arm grasps the cover 300 and closes it to the opening 104, it facilitates visual identification to align the protrusion 301 with the limiting groove 104a, thereby making it easy to assemble the cover 300 onto the housing 100; secondly, it enables the inertial measurement device 10 to have a foolproof function, that is, when the cover 300 is closed onto the housing 100, the protrusion 301 and the limiting groove 104a form an indicator for the user to identify whether the insertion orientation is correct, so that there is no need to make chamfers on the corners of the housing 100 that occupy the receiving cavity 101, and therefore there is no need to make chamfers on the motherboard 210, thereby making fuller use of the space of the receiving cavity 101, which is conducive to improving the utilization rate of the electronic components on the motherboard 210, and thus the overall size of the inertial measurement device 10 can be designed to be smaller.

[0042] Of course, the same technical effect can also be achieved by opening a limiting groove 104a on only one edge of the opening 104 and setting a corresponding protrusion 301 on only one edge of the cover 300. This is not a limitation here.

[0043] Furthermore, to facilitate fixing the motherboard 210 within the receiving cavity 101, the receiving cavity 101 of the housing 100 has a second step 106 on the cavity wall near the through hole 103, and the motherboard 210 is disposed on the second step 106. Additionally, adhesive can be applied to the second step 106 to fix the motherboard 210 to the second step 106, thus preventing the motherboard 210 from detaching from the second step 106. It can be seen that because the first step 105 and the second step 106 are spaced apart, there is a certain gap between the motherboard 210 and the cover 300, which allows for better heat dissipation of the electronic components on the motherboard 210.

[0044] Please continue reading. Figure 2 In a preferred embodiment, the mounting surface 102 of the housing 100 has a mounting surface 102 on one side along the insertion direction, and the mounting surface 102 is provided with a mounting portion 107 protruding outward toward the housing 100. For example, as shown in the figure, there are two mounting portions 107, which are spaced apart along a length direction perpendicular to the insertion direction (X direction shown in the figure). A through hole 103 is located between the two mounting portions 107, and any edge of the through hole 103 is spaced apart from the mounting portion 107.

[0045] By creating a layout space 108 on the mounting surface 102, when the connector of the inertial measurement device 10 is connected to the connector mounted on the housing, the mounting part 107 contacts the housing. Due to the presence of the layout space 108, the motherboard 210 and the connector mounted on the housing are separated by a large distance, thus effectively reducing electronic interference between the main chip 230 on the motherboard 210 and the connector. Furthermore, since the layout space 108 is a large space, it can also be used for wiring, preventing exposed wiring and effectively protecting the wiring.

[0046] It is understood that in other embodiments, the number of mounting portions 107 is not limited to two. There may be multiple mounting portions 107 at both ends of the mounting surface 102, or there may be only one mounting portion 107. A mounting portion 107 may extend in a ring along the circumference of the mounting surface 102, as long as it can form an arrangement space 108. There is no limitation on this.

[0047] Based on the above embodiments, see [link to relevant documentation] Figure 2 Each mounting portion 107 is provided with a mounting point 109, which is used for fastener connection such as screws. For example, the mounting point 109 can be a mounting hole, and the fastener is sequentially inserted into the body of the mobile device and the mounting hole, so that the inertial measurement device 10 is connected to the body by the fastener. In the embodiment shown in the figure, of the two mounting portions 107, the mounting portion 107 provided at one end in the length direction is the first mounting portion 107, and the mounting portion 107 provided at the opposite end in the length direction is the second mounting portion 107. The first mounting portion 107 and the second mounting portion 107 are each provided with a mounting point 109, and the two mounting points 109 are diagonally distributed, so that the inertial measurement device 10 can be more securely connected to the body.

[0048] Furthermore, the mounting surface 102 is provided with guide posts 1010 protruding from the mounting portion 107 at both ends along its length. The guide posts 1010 include a first guide post 1010a and a second guide post 1010b. In the embodiment shown in the figure, the first guide post 1010a and the second guide post 1010b are each respectively disposed on a mounting portion 107 and are also diagonally distributed. The first guide post 1010a and the second guide post 1010b are used to provide guidance when the plug 220 is plugged into the connector on the body, thereby avoiding misalignment when the plug 220 and the connector are plugged into each other, thus ensuring that the two can be plugged into each other effectively and avoiding poor contact.

[0049] Preferably, the diameter of the first guide post 1010a is different from the diameter of the second guide post 1010b. This design also ensures that when the inertial measurement device 10 is inserted into the connector mounted on the machine body along the insertion direction, it can only be inserted in a specific orientation, avoiding damage to the inertial measurement device 10 or the connector of the machine body caused by incorrect insertion orientation.

[0050] It is understandable that the end of the mounting part 107 facing away from the mounting surface 102 may only have a mounting point 109 without a guide post 1010, or it may only have a guide post 1010 without a mounting point 109; this is not limited here.

[0051] In one embodiment, the plane corresponding to the motherboard 210 is arranged perpendicular to the insertion direction, and the main chip 230 and the connector 220 are arranged on the same side or different sides of the motherboard 210 along the insertion direction. Preferably, the projections of the main chip 230 and the connector 220 are offset from each other, wherein the projection of the main chip 230 is the projection of the main chip 230 onto the motherboard 210 along the insertion direction, and the projection of the connector 220 is the projection of the connector 220 onto the motherboard 210 along the insertion direction. In a specific embodiment, such as Figure 6 As shown, Figure 6 A bottom view of the inertial measurement unit 200 is shown. Viewed from below (i.e., perpendicular to the plane of the paper in the figure), the motherboard 210 is rectangular, having a first side 211 and a second side 212 oppositely arranged, both perpendicular to the length direction. The distance from the center point of the projection of the connector 220 to the first side 211 is greater than the distance to the second side 212. Optionally, the projection of the main chip 230 is located on the area of ​​the motherboard 210 between the projection of the connector 220 and the first side 211. This allows the connector 220 to be positioned in a non-central position on the motherboard 210, thus providing sufficient space on the motherboard 210 to mount the main chip 230. This ensures that the projection of the main chip 230 along the insertion direction on the motherboard 210 is offset from the projection of the connector 220 along the insertion direction on the motherboard 210.

[0052] Thus, through the above design, the main chip 230 and the connector 220 do not interfere with each other in the insertion direction. Therefore, when the inertial measurement device 10 is inserted into the body of the mobile device, the insertion force applied by the connector 220 to the motherboard 210 will not affect the main chip 230, thereby avoiding damage to the main chip 230 and effectively protecting the main chip 230.

[0053] Furthermore, viewed from below, the connector 220 is quadrilateral, but it can be rectangular, trapezoidal, or other shapes. Specifically, the four edges of the connector 220 include two long sides 221 arranged opposite each other along the length direction and two short sides 222 arranged opposite each other along the width direction (Y direction shown in the figure), which is perpendicular to both the length direction and the insertion direction. The length of the long sides 221 along the width direction is greater than the length of the short sides 222 along the width direction, and the long sides 221 are perpendicular to the length direction. For example, in Figure 6 and Figure 7 In the embodiment, both the motherboard 210 and the connector 220 are rectangular. The long side 221 of the connector is perpendicular to the long side of the motherboard 210. Since the connector 220 is not located in the center of the motherboard 210, there are more spaces on the motherboard 210 to arrange the main chip 230.

[0054] Based on the above design, such as Figure 7 As shown in the embodiment depicted in the figure, viewed from a bottom-up direction, at both ends of the mounting surface 102, the housing 100 has a first side 100a and a second side 100b arranged opposite each other along the length direction. The first side 211 of the motherboard 210 is located near the first side 100a, and the second side 212 of the motherboard 210 is located near the second side 100b. Since the distance from the center point of the projection of the connector 220 to the first side 211 of the motherboard 210 is greater than the distance to the second side 212, correspondingly, the distance from the center point of the through hole 103 to the first side 100a is greater than the distance to the second side 100b. In other words, the through hole 103 is not located in a central position on the surface of the housing 100 where the through hole 103 is located, thereby reducing the overall length dimension of the inertial measurement device 10 and making the inertial measurement device 10 more compact in structure.

[0055] Corresponding to connector 220, in Figure 7 In the embodiment, the through hole 103 is also rectangular, having a long side 103a of the through hole arranged opposite each other along the length direction and a short side 103b of the through hole arranged opposite each other along the width direction. Since the long side 221 of the plug is perpendicular to the length direction, the long side 103a of the through hole is also perpendicular to the length direction.

[0056] It is understandable that the through hole 103 can be of any shape, as long as the connector 220 and the through hole 103 can be aligned with each other. It is also understandable that when viewed from below, the housing 100 can also be of any shape, such as any polygon, circle, ellipse, etc., without limitation.

[0057] For other structures of the housing 100, such as Figure 6As shown, the surface of the housing 100 is also provided with a clearance groove 1011. For example, the clearance groove 1011 can be provided at opposite ends of the housing 100, so that the housing 100 can avoid each other with other modules on the body, and avoid damage to the housing 100 or the body due to mutual interference when they are connected.

[0058] In addition, this application also provides a mobile device, which includes the inertial measurement device 10 as described above. As mentioned above, the mobile device includes a body and a connector mounted on the body, the connector being connected to the plug 220 of the inertial measurement device 10. The specific structure of the inertial measurement device 10 is as described in the above embodiments; in a preferred embodiment, the hardness of the housing 100 of the inertial measurement device 10 can be greater than the hardness of the outer shell of the body, so that when the inertial measurement device 10 and the body collide due to vibration, damage to the structure of the inertial measurement device 10 can be effectively avoided. Since the mobile device adopts all the technical solutions of the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated further here.

[0059] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0060] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An inertial measurement device, characterized in that, include: The housing has a receiving cavity inside, and the housing has a through hole communicating with the receiving cavity on one side along a plugging direction. The receiving cavity has a polygonal opening at one end away from the through hole, and a limiting groove is formed on one edge or two adjacent edges of the opening. An inertial measurement unit includes a motherboard, a main chip, and a connector. The motherboard is disposed within the receiving cavity. The main chip and the connector are disposed on the motherboard and are interconnected through the motherboard. The plug portion of the connector extends out of the receiving cavity through the through hole so as to be connected to the body of a mobile device along the plugging direction.

2. The inertial measurement device according to claim 1, characterized in that, The projection of the receiving cavity onto a plane perpendicular to the insertion direction is rectangular.

3. The inertial measurement device according to claim 1, characterized in that, The sidewall of the receiving cavity has a first step at one end near the opening, and a cover is provided on the first step to close the opening.

4. The inertial measurement device according to claim 3, characterized in that, The edge of the cover is provided with a protrusion corresponding to the limiting groove, and the protrusion is limited in the limiting groove.

5. The inertial measurement device according to claim 1, characterized in that, The cavity wall near the through hole has a second step, and the main board is disposed on the second step.

6. The inertial measurement device according to claim 1, characterized in that, The housing has a receiving cavity, and the housing has a mounting surface on one side along the insertion direction. The mounting surface has a mounting part that protrudes outward from the housing, and an arrangement space is formed between the mounting part and the mounting surface.

7. The inertial measurement device according to claim 6, characterized in that, The mounting surface has multiple mounting portions at opposite ends. Each mounting portion has a mounting point and / or a guide post. The mounting point is used for fastener connection so that the inertial measurement device and the body of the mobile device are connected to each other through the fastener. The guide post is used to provide guidance when the connector is inserted into the body of the mobile device.

8. The inertial measurement device according to claim 1, characterized in that, The projection of the main chip and the projection of the connector are offset from each other; wherein, the projection of the main chip is the projection of the main chip on the motherboard along the insertion direction, and the projection of the connector is the projection of the connector on the motherboard along the insertion direction.

9. The inertial measurement device according to claim 1, characterized in that, The four edges of the connector include two long sides of the connector that are parallel to a width direction and opposite to each other, and two short sides of the connector that are parallel to a length direction and opposite to each other. The length direction is perpendicular to the width direction and is also perpendicular to the insertion direction. The long sides of the connector are perpendicular to the length direction, and the length of the long sides of the connector along the width direction is greater than the length of the short sides of the connector along the width direction. The motherboard has a first side and a second side that are opposite to each other and both perpendicular to the length direction. The distance from the center point of the projection of the connector to the first side is greater than the distance to the second side. The projection of the connector is the projection of the connector on the motherboard along the insertion direction.

10. A mobile device, characterized in that, The device includes a body and an inertial measurement unit as described in any one of claims 1-9, wherein the body is provided with a connector that is connected to a plug of the inertial measurement unit to enable the inertial measurement unit to measure the inertial parameters of the mobile device.

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