Coaxial angular velocity sensor system
The Coaxial Angular Velocity Sensor System is an electronic sensor, which processes and supplies the output signal of the inertial angular velocity with high accuracy and great reliability. The device consists of the main components: angular velocity sensor, analog-digital converter, microcontroller, temperature sensor, power source, mechanical anti-noise-proof chassis. The device's microprocessor comes with a signal processing algorithm that helps increase the accuracy of the device's output. Because of its compact size, high precision, and low cost, the device is used in high precision devices such as UAV cameras, or in life applications such as self-balancing vehicles.
1. A coaxial angular velocity sensor system comprising:
a gyroscope hardware circuit with two layers: a top layer and a bottom layer and protected by a mechanical cover:
the top layer includes the gyroscope hardware circuit, an analog to digital converter (ADC), a low pass filter circuit, connectors;
the bottom layer includes a microcontroller, a power source, a temperature sensor circuit, wherein,
the gyroscope hardware circuit comprises N gyroscope sensors that are arranged on a same symmetric layer, staggered according to an equilateral N shape;
the analog to digital converter (ADC) comprises a SAR (successive approximation register) structure arranged in a space between the N gyroscope sensors;
the microcontroller is connected to peripheral devices by the connectors, the microcontroller contains a Kalman Observer to filter sensor input data and provide high precision angular velocity results for the system;
the power source is an electronic element arranged in the top layer, near an input source connector; ensured to be at least 10 mm away from any high-speed element and a gyroscope sensor signal to avoid heat from a radiating source to affect signal processing;
the low pass filter circuit is a passive filter comprising two passive components, which are resistors and capacitors with a cutoff frequency calculated satisfying fc=(4/5)*f where f. is a cutoff frequency, f is a sampling rate the of the analog to digital converter (ADC) circuit; fc=1/2πRC, R is a resistor value; C is capacitor value;
the temperature sensor circuit is an element that measures temperature value of the gyroscope hardware circuit, a value collected by the microcontroller, acting as reference value correcting a sensor parameter;
the connector has 6 pins, that are used to connect with the power supply for active sensors and connect to buses which transmit information from the microcontroller to peripheral devices.
2. The coaxial angular velocity sensor system according to claim 1 including a power indicator of any color LED, indicating a status of the circuit when connected to the power source, the power indicator arranged in a visible location and has no effect to an arrangement of other elements, at the top layer of the gyroscope hardware circuit.
3. The coaxial angular velocity sensor system according to claim 2 , wherein the system is covered in an anti-electromagnetic mechanical housing made of aluminum, having a fan shape design covering the entire coaxial angular velocity sensor system, wherein connectors and port are provided for manipulating the installation and assembly thereof.
4. The coaxial angular velocity sensor system according to claim 2 , wherein the microcontroller uses a 32-bit register and an Arithmetic Logic Unit (ALU) is 32 bit.
5. The coaxial angular velocity sensor system according to claim 2 , wherein the analog to digital converter (ADC) circuit has ≥a 14-bit resolution, a number of analog channels is greater than or equal to 8.
6. The coaxial angular velocity sensor system according to claim 2 , wherein the microcontroller comprises an ARM Cortex M7 series.
7. The coaxial angular velocity sensor system according to claim 1 , wherein the number of the gyroscope sensors in the gyroscope hardware circuit is an even number greater than or equal to 8.
8. The coaxial angular velocity sensor system according to claim 7 , wherein the microcontroller uses a 32-bit register and an Arithmetic Logic Unit (ALU) is 32 bit.
9. The coaxial angular velocity sensor system according to claim 7 , wherein the analog to digital converter (ADC) circuit has ≥a 14-bit resolution, a number of analog channels is greater than or equal to 8.
10. The coaxial angular velocity sensor system according to claim 7 , wherein the microcontroller comprises an ARM Cortex M7 series.
11. The coaxial angular velocity sensor system according to claim 1 , wherein 8 gyroscope sensors are used, divided into two groups, a group 1 and a group 2, group 1 placed on an edge of an octagon shape configuration, group 2 placed on straight lines parallel to an other side of the octagon shape configuration, translating to a distance of 5-7 mm between the gyroscope sensors.
12. The coaxial angular velocity sensor system according to claim 1 , wherein the system is covered in an anti-electromagnetic mechanical housing made of aluminum, having a fan shape design covering the entire coaxial angular velocity sensor system, wherein connectors and port are provided for manipulating installation and assembly thereof.
13. The coaxial angular velocity sensor system according to claim 1 , wherein the microcontroller uses a 32-bit register and an Arithmetic Logic Unit (ALU) is 32 bit.
14. The coaxial angular velocity sensor system according to claim 1 , wherein the analog to digital converter (ADC) circuit has ≥a 14-bit resolution, a number of analog channels is greater than or equal 8.
15. The coaxial angular velocity sensor system according to claim 1 , wherein the microcontroller comprises an ARM Cortex M7 series.