Multichannel IMU Independent Interface Synchronization
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Solution Overview
Problem
In integrated navigation systems, connecting a single strapdown inertial measurement unit (IMU) with multiple computational modules is challenging due to the need for synchronous operation and identical hardware interface settings, which is often impossible with modules from different manufacturers, requiring additional external matching devices to resample and rearrange data.
Innovation Solution
A multichannel strapdown inertial measurement unit (MIMU) with two or more bidirectional data exchange interfaces, allowing each interface to operate independently with adjustable settings, enabling asynchronous operation and synchronization with external modules using an internal or external clock source.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single IMU with one hardware interface is used to connect multiple computational modules, then the system structure is simplified, but additional external matching devices are required and system complexity increases
Solution Approach 1:
The IMU is divided into multiple independent communication channels, each with its own hardware interface (serial interface 1, serial interface 2, etc.). Each channel can be independently configured and connected to different computational modules, eliminating the need for external multiplexers or matching devices while maintaining system simplicity.
Solution Approach 2:
The IMU is designed with multiple hardware interfaces that support various communication protocols and configurations. Each interface can be independently configured to match different computational modules' requirements, providing universal compatibility without requiring additional external matching devices.
2Adaptability or versatility
If computational modules operate with different timescales and hardware interface settings, then operational flexibility is improved, but additional external matching devices are required
Solution Approach 1:
Each hardware interface of the IMU is independently configurable with its own timescale, data rate, and format settings. This allows each computational module to operate with its own specific requirements while directly connecting to the IMU, eliminating the need for external resampling or data rearrangement devices.
Solution Approach 2:
The IMU's hardware interfaces can dynamically adjust their configuration parameters (timescale, data rate, format) to match the requirements of connected computational modules. This dynamic adaptability allows different modules to operate independently with their own settings without requiring external matching devices.
3Ease of operation
If synchronous operation with identical hardware interface settings is required, then data exchange simplicity is improved, but compatibility with modules from different manufacturers is reduced
Solution Approach 1:
The IMU provides multiple independent hardware interfaces, each capable of operating with its own configuration settings. This allows different computational modules from different manufacturers to connect to different interfaces with their respective optimal settings, maintaining ease of operation while improving manufacturer compatibility.
Solution Approach 2:
Each hardware interface can independently change its operational parameters (timescale, data rate, format) to match the requirements of connected modules. This parameter flexibility maintains simple direct data exchange while enabling compatibility with modules from different manufacturers that have different operational requirements.
Data Source
AI summary
Multichannel inertial measuring unit (MIMU) contains sensors for measurements of vector and scalar parameters of motion (angular speed, specific acceleration, magnetic field, etc.), and independent hardware interfaces to transmit measured data. Measured information is read out from MIMU via each hardware interface irrespective of other hardware interfaces. The format of data presentation for each hardware interface is randomly selected from a predefined list. Measurements from MIMU are generated by a set of sensors within a common timescale. The timescale for synchronization of sensor measurements can be both generated within MIMU by a stable clock generator and transmitted to MIMU from outside, including from one of users of measured data. MIMU also can generate synchronization signals to transmit its timescale to external users. The MIMU allows building navigation systems when the same inertial measurements are used within independent computation modules implementing different algorithms of integrating these measurements with navigation data from satellite measurements, measurements of odometer, altimeter, etc.