CN101788297A - Minisize embedded inertia measurement unit having anti-high overload performance - Google Patents
Minisize embedded inertia measurement unit having anti-high overload performance Download PDFInfo
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- CN101788297A CN101788297A CN 201010134747 CN201010134747A CN101788297A CN 101788297 A CN101788297 A CN 101788297A CN 201010134747 CN201010134747 CN 201010134747 CN 201010134747 A CN201010134747 A CN 201010134747A CN 101788297 A CN101788297 A CN 101788297A
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Abstract
The invention relates to an inertia measurement unit, in particular to a minisize embedded inertia measurement unit having the anti-high overload performance, which solves the problems of low installation accuracy and poor anti-overload performance of the existing inertia measurement unit. The minisize embedded inertia measurement unit having the anti-high overload performance comprises an installation body, three accelerometers and three spinning tops, wherein the installation body is an integrated structure; the installation body is provided with three concave platforms for accommodating the three accelerometers, three concave platforms for accommodating the three spinning tops, a hollow bus routing structure, a hollow outlet structure and a hollow embedment structure; the three accelerometers are respectively installed on the three concave platforms thereof, and the three spinning tops are respectively installed on the three concave platforms thereof. The invention effectively solves the problems of low installation accuracy and poor anti-overload performance of the existing inertia measurement unit, and is especially applicable to the guidance-function reconstruction and application of high-overload weapons such as cannonballs and the like.
Description
Technical field
The present invention relates to Inertial Measurement Unit, specifically is a kind of micro embedded Inertial Measurement Unit with anti high overload performance.
Background technology
Inertial Measurement Unit is a kind of navigation, guidance kits, is widely used in military field.Inertial Measurement Unit generally is made up of three accelerometers and three gyroscopes, require three accelerometer pairwise orthogonals installing, three gyroscope pairwise orthogonals, and require three accelerometers and three gyrostatic sensitive axes to will be respectively consistent with X-axis, Y-axis, Z-direction in the motion carrier coordinate system.Application of military field not only requires the Sensitive Apparatus (accelerometer and gyro) of Inertial Measurement Unit that very high installation accuracy is arranged, but also requires Inertial Measurement Unit can bear rugged surroundings, the high overload when launching as ammunition etc.Existing Inertial Measurement Unit generally has three kinds: first kind is to adopt the machining metal framework, welding good accelerometer and mutually orthogonal being fixed in the above of gyroscope P.e.c.; Second kind is that accelerometer and the gyroscope P.e.c. that welding is good is welded on the reference field through various forms of loopers, and guarantees that accelerometer is vertical with reference field with gyroscope, pairwise orthogonal; The third then is to adopt special material to be made into fixing body, directly the circuit pad is printed onto on the fixing body, above then accelerometer and gyro being welded on.Though first kind of Inertial Measurement Unit can guarantee machining precision to a certain extent,, and then be assembled into the mode of framework because it adopts a plurality of parts of processing earlier usually, therefore, can introduce bigger secondary assembly error on the one hand, on the other hand, the anti-overloading performance of self is relatively poor; Though second kind of Inertial Measurement Unit volume is little, can not guarantee the verticality and the orthogonality of three axial acceleration meters and gyro; Therefore the third Inertial Measurement Unit can not bear high overload owing to adopt the mode of general welding, has greatly limited its application.To sum up analyze the existing problem that Inertial Measurement Unit ubiquity installation accuracy is lower and anti-overloading performance is relatively poor; Be necessary to invent a kind of installation accuracy height, novel Inertial Measurement Unit that anti-overloading performance is strong for this reason.
Summary of the invention
The present invention provides a kind of micro embedded Inertial Measurement Unit with anti high overload performance in order to solve the existing problem that the Inertial Measurement Unit installation accuracy is lower and anti-overloading performance is relatively poor.
The present invention adopts following technical scheme to realize: a kind of micro embedded Inertial Measurement Unit with anti high overload performance comprises fixing body, three accelerometers and three gyros; Fixing body adopts integrated fixing body; Fixing body is provided with three installation accelerometers concave station, three installation gyro concave stations, a bus cabling hollow-core construction, outlet a hollow-core construction and an embedding hollow-core construction; Three installation accelerometers are located at upper side, left surface, the trailing flank of fixing body respectively with concave station; Three installation gyros are located at upper side, right flank, the leading flank of fixing body respectively with concave station; The leading flank of fixing body is located in outlet with hollow-core construction; The downside of fixing body is located in embedding with hollow-core construction; The bus cabling is positioned at fixing body inside with hollow-core construction; The left surface of fixing body is provided with and the sidepiece cabling hollow-core construction of the installation gyro that is positioned at the fixing body upper side with the sidewall perforation of concave station; The bus cabling connects with hollow-core construction, sidepiece cabling hollow-core construction with hollow-core construction, embedding with outlet respectively with hollow-core construction; Three accelerometers are installed in three installation accelerometers respectively with on the concave station, and three gyros are installed in three installation gyros respectively with on the concave station; The signal wire of accelerometer that is installed in the upper side of fixing body is walked out with hollow-core construction with hollow-core construction, outlet by sidepiece cabling hollow-core construction, bus cabling successively; The signal wire of accelerometer that is installed in left surface, the trailing flank of fixing body is all walked out with hollow-core construction with hollow-core construction, outlet by the bus cabling successively; The signal wire of three gyros is all walked out with hollow-core construction with hollow-core construction, outlet by the bus cabling successively; The bus cabling has Embedding Material with hollow-core construction, embedding with equal embedding in hollow-core construction, the sidepiece cabling hollow-core construction with hollow-core construction, outlet.The kind of described Embedding Material is decided according to the actual requirements.
During work, the measurement axis of three accelerometers and three gyros coincides with the longitudinal axis, transverse axis and the vertical pivot of carrier coordinate system respectively; Wherein, three accelerometers and three gyros are respectively applied for measurement along three of carrier coordinate system linear acceleration and the rotation angle speed on axially, after obtaining three axial linear accelerations and rotation angle rate information, according to posture renewal algorithm, the real-time attitude of motion carrier and positional information are upgraded and extracted based on hypercomplex number.Compare with existing Inertial Measurement Unit, a kind of micro embedded Inertial Measurement Unit with anti high overload performance of the present invention has adopted the integrated fixing body of disposable machine-shaping, not only eliminated the secondary assembly error, and can satisfy each side of fixing body, hollow-core construction is used in each installation with concave station and each cabling verticality to greatest extent, and guaranteed orthogonality between three accelerometers and three gyros, thereby improved the installation accuracy of Inertial Measurement Unit greatly; In addition; a kind of micro embedded Inertial Measurement Unit with anti high overload performance of the present invention is owing to adopted its each cabling hollow-core construction of Embedding Material embedding; thereby accelerometer and gyro and circuit thereof have been protected; promptly make Inertial Measurement Unit self possess high anti-overloading performance, thereby can satisfy the application requirements under the various overload environment.
The present invention efficiently solves the existing problem that the Inertial Measurement Unit installation accuracy is lower and anti-overloading performance is relatively poor, its installation accuracy height, anti-overloading performance are strong, be applicable to the application under the various overload environment, be particularly useful for the guidance transformation and the application of high overload weapons such as shell.
Description of drawings
Fig. 1 is a structural representation of the present invention.
The vertical view of Fig. 2 fixing body of the present invention.
Fig. 3 is the upward view of fixing body of the present invention.
Fig. 4 is the left view of fixing body of the present invention.
Fig. 5 is the right view of fixing body of the present invention.
Fig. 6 is the front view of fixing body of the present invention.
Fig. 7 is the rear view of fixing body of the present invention.
Among the figure: the 1-fixing body, the 2-accelerometer, the 3-gyro, 4-installs the accelerometer concave station, and 5-installs gyro concave station, 6-bus cabling hollow-core construction, 7-outlet hollow-core construction, 8-embedding hollow-core construction, 9-sidepiece cabling hollow-core construction.
Embodiment
A kind of micro embedded Inertial Measurement Unit with anti high overload performance comprises fixing body 1, three accelerometers 2 and three gyros 3; Fixing body 1 adopts integrated fixing body; Fixing body 1 be provided with three installation accelerometers with concave station 4, three installation gyros with concave station 5, bus cabling with hollow-core construction 6, outlet with hollow-core construction 7 and embedding with hollow-core construction 8; Three installation accelerometers are located at upper side, left surface, the trailing flank of fixing body 1 respectively with concave station 4; Three installation gyros are located at upper side, right flank, the leading flank of fixing body 1 respectively with concave station 5; The leading flank of fixing body 1 is located in outlet with hollow-core construction 7; The downside of fixing body 1 is located in embedding with hollow-core construction 8; The bus cabling is positioned at fixing body 1 inside with hollow-core construction 6; The left surface of fixing body 1 is provided with and the sidepiece cabling hollow-core construction 9 of the installation gyro that is positioned at fixing body 1 upper side with the sidewall perforation of concave station 5; The bus cabling connects with hollow-core construction 8, sidepiece cabling hollow-core construction 9 with hollow-core construction 7, embedding with outlet respectively with hollow-core construction 6; Three accelerometers 2 are installed in three installation accelerometers respectively with on the concave station 4, and three gyros 3 are installed in three installation gyros respectively with on the concave station 5; The signal wire of accelerometer 2 that is installed in the upper side of fixing body 1 is walked out with hollow-core construction 7 with hollow-core construction 6, outlet by sidepiece cabling hollow-core construction 9, bus cabling successively; The signal wire of accelerometer 2 that is installed in left surface, the trailing flank of fixing body 1 is all walked out with hollow-core construction 7 with hollow-core construction 6, outlet by the bus cabling successively; The signal wire of three gyros 3 is all walked out with hollow-core construction 7 with hollow-core construction 6, outlet by the bus cabling successively; The bus cabling has Embedding Material with hollow-core construction 7, embedding with equal embedding in hollow-core construction 8, the sidepiece cabling hollow-core construction 9 with hollow-core construction 6, outlet.During concrete enforcement, described Embedding Material adopts polyurethane or epoxy resin or other compound Embedding Material.
Claims (1)
1. the micro embedded Inertial Measurement Unit with anti high overload performance comprises fixing body (1), three accelerometers (2) and three gyros (3); It is characterized in that: fixing body (1) adopts integrated fixing body; Fixing body (1) is provided with three installation accelerometers concave station (4), three installation gyro concave stations (5), a bus cabling hollow-core construction (6), outlet a hollow-core construction (7) and an embedding hollow-core construction (8); Three installation accelerometers are located at upper side, left surface, the trailing flank of fixing body (1) respectively with concave station (4); Three installation gyros are located at upper side, right flank, the leading flank of fixing body (1) respectively with concave station (5); The leading flank of fixing body (1) is located in outlet with hollow-core construction (7); The downside of fixing body (1) is located in embedding with hollow-core construction (8); The bus cabling is positioned at fixing body (1) inside with hollow-core construction (6); The left surface of fixing body (1) is provided with and the sidepiece cabling hollow-core construction (9) of the installation gyro that is positioned at fixing body (1) upper side with the sidewall perforation of concave station (5); The bus cabling connects with hollow-core construction (8), sidepiece cabling hollow-core construction (9) with hollow-core construction (7), embedding with outlet respectively with hollow-core construction (6); Three accelerometers (2) are installed in three installation accelerometers respectively with on the concave station (4), and three gyros (3) are installed in three installation gyros respectively with on the concave station (5); The signal wire of accelerometer (2) that is installed in the upper side of fixing body (1) is walked out with hollow-core construction (7) with hollow-core construction (6), outlet by sidepiece cabling hollow-core construction (9), bus cabling successively; The signal wire that is installed in the left surface of fixing body (1), the accelerometer of trailing flank (2) is all walked out with hollow-core construction (7) with hollow-core construction (6), outlet by the bus cabling successively; The signal wire of three gyros (3) is all walked out with hollow-core construction (7) with hollow-core construction (6), outlet by the bus cabling successively; The bus cabling has Embedding Material with hollow-core construction (7), embedding with equal embedding in hollow-core construction (8), the sidepiece cabling hollow-core construction (9) with hollow-core construction (6), outlet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101347478A CN101788297B (en) | 2010-03-26 | 2010-03-26 | Minisize embedded inertia measurement unit having anti-high overload performance |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010101347478A CN101788297B (en) | 2010-03-26 | 2010-03-26 | Minisize embedded inertia measurement unit having anti-high overload performance |
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| CN101788297A true CN101788297A (en) | 2010-07-28 |
| CN101788297B CN101788297B (en) | 2011-10-12 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102175243A (en) * | 2011-01-24 | 2011-09-07 | 中北大学 | Multi-high overload resistant device applicable to semi-strapdown inertia measurement system |
| CN103940422A (en) * | 2014-05-08 | 2014-07-23 | 中北大学 | System for acquiring composite posture parameters of shooting and archery |
| CN104132689A (en) * | 2014-07-02 | 2014-11-05 | 北京机械设备研究所 | On-missile data measurement recorder |
| CN104567922A (en) * | 2014-12-05 | 2015-04-29 | 中国航空工业集团公司北京航空精密机械研究所 | Axis perpendicularity dynamic base measuring method based on accelerometers |
| CN105352501A (en) * | 2015-11-18 | 2016-02-24 | 中国船舶重工集团公司第七〇五研究所 | Modular extensible MEMS inertial measurement unit |
| CN108692723A (en) * | 2018-04-02 | 2018-10-23 | 中国兵器工业集团第二四研究所苏州研发中心 | A kind of micro-inertia measuring modular construction of anti high overload |
| CN111045437A (en) * | 2018-10-12 | 2020-04-21 | 北京理工大学 | Anti-high-overload integrated guidance control system |
| CN113090709A (en) * | 2021-04-12 | 2021-07-09 | 西安航弓机电科技有限公司 | Inertia module with vibration isolation structure |
| CN113654552A (en) * | 2021-06-30 | 2021-11-16 | 贵州航天控制技术有限公司 | MEMS inertia measuring device capable of resisting large overload |
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| US5854678A (en) * | 1996-06-28 | 1998-12-29 | Honeywell Inc. | Three-axis fiber optic gyroscope having a single source and multi-coupler configuration |
| CN101038173A (en) * | 2007-02-07 | 2007-09-19 | 北京航空航天大学 | A implicit type structure mini inertia measurement unit |
| CN101290227A (en) * | 2008-06-17 | 2008-10-22 | 北京航空航天大学 | Three axis optical fibre gyroscope inertia measurement unit integral structure |
| CN101349564A (en) * | 2008-06-13 | 2009-01-21 | 北京航空航天大学 | Inertial measurement apparatus |
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2010
- 2010-03-26 CN CN2010101347478A patent/CN101788297B/en not_active Expired - Fee Related
Patent Citations (4)
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| US5854678A (en) * | 1996-06-28 | 1998-12-29 | Honeywell Inc. | Three-axis fiber optic gyroscope having a single source and multi-coupler configuration |
| CN101038173A (en) * | 2007-02-07 | 2007-09-19 | 北京航空航天大学 | A implicit type structure mini inertia measurement unit |
| CN101349564A (en) * | 2008-06-13 | 2009-01-21 | 北京航空航天大学 | Inertial measurement apparatus |
| CN101290227A (en) * | 2008-06-17 | 2008-10-22 | 北京航空航天大学 | Three axis optical fibre gyroscope inertia measurement unit integral structure |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102175243A (en) * | 2011-01-24 | 2011-09-07 | 中北大学 | Multi-high overload resistant device applicable to semi-strapdown inertia measurement system |
| CN103940422A (en) * | 2014-05-08 | 2014-07-23 | 中北大学 | System for acquiring composite posture parameters of shooting and archery |
| CN104132689A (en) * | 2014-07-02 | 2014-11-05 | 北京机械设备研究所 | On-missile data measurement recorder |
| CN104567922A (en) * | 2014-12-05 | 2015-04-29 | 中国航空工业集团公司北京航空精密机械研究所 | Axis perpendicularity dynamic base measuring method based on accelerometers |
| CN104567922B (en) * | 2014-12-05 | 2017-09-12 | 中国航空工业集团公司北京航空精密机械研究所 | Shafting perpendicularity moving base measuring method based on accelerometer |
| CN105352501A (en) * | 2015-11-18 | 2016-02-24 | 中国船舶重工集团公司第七〇五研究所 | Modular extensible MEMS inertial measurement unit |
| CN108692723A (en) * | 2018-04-02 | 2018-10-23 | 中国兵器工业集团第二四研究所苏州研发中心 | A kind of micro-inertia measuring modular construction of anti high overload |
| CN111045437A (en) * | 2018-10-12 | 2020-04-21 | 北京理工大学 | Anti-high-overload integrated guidance control system |
| CN113090709A (en) * | 2021-04-12 | 2021-07-09 | 西安航弓机电科技有限公司 | Inertia module with vibration isolation structure |
| CN113090709B (en) * | 2021-04-12 | 2024-04-09 | 西安航弓机电科技有限公司 | Inertial module with vibration isolation structure |
| CN113654552A (en) * | 2021-06-30 | 2021-11-16 | 贵州航天控制技术有限公司 | MEMS inertia measuring device capable of resisting large overload |
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| CN101788297B (en) | 2011-10-12 |
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Inventor after: Li Jie Inventor after: Liu Jun Inventor after: Zhang Wendong Inventor after: Yang Wei Inventor after: Duan Xiaomin Inventor after: Sha Chengxian Inventor after: Wang Bo Inventor before: Liu Jun Inventor before: Li Jie Inventor before: Zhang Wendong Inventor before: Yang Wei Inventor before: Duan Xiaomin Inventor before: Sha Chengxian Inventor before: Wang Bo |
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Free format text: CORRECT: INVENTOR; FROM: LIU JUN LI JIE ZHANG WENDONG YANG WEI DUAN XIAOMIN SHA CHENGXIAN WANG BO TO: LI JIE LIU JUN ZHANG WENDONG YANG WEI DUAN XIAOMIN SHA CHENGXIAN WANG BO |
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Granted publication date: 20111012 |