SYSTEM AND METHOD FOR PROVIDING A SIMPLE AND RELIABLE INERTIA MEASUREMENT UNIT (IMU)

• US 20170059319A1
• Filed: 11/11/2016
• Published: 03/02/2017
• Est. Priority Date: 04/07/2015
• Status: Active Grant

• Current Assignee: SZ DJI Technology Co., Ltd. (d/b/a DJI) (iFlight Technology Company Limited)
• Original Assignee: SZ DJI Technology Co., Ltd. (d/b/a DJI) (iFlight Technology Company Limited)
• Inventors: FENG, Jiangang, TANG, Yin
• Granted Patent: US 10,030,974 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: B64U 50/10 Propulsion rotors specially adapted for rotorcraft or VTOL B64U30/20
• CPC Class Codes: G01C 19/00 Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
• CPC Class Codes: G01C 19/5628 Manufacturing; Trimming; Mounting; Housings
• CPC Class Codes: G01C 21/166 Mechanical, construction or arrangement details of inertial navigation systems
• CPC Class Codes: G01C 21/265 constructional aspects of navigation devices, e.g. housings, mountings, displays G01C21/3688 takes precedence
• CPC Class Codes: G01C 25/00 Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass testing, calibrating or compensating compasses G01C17/38
• CPC Class Codes: G01P 1/003 used for damping
• CPC Class Codes: G01P 15/0802 Details
• CPC Class Codes: H01L 23/345 Arrangements for heating thermal treatment apparatus H01L21/00
• CPC Class Codes: H05K 1/189 characterised by the use of a flexible or folded printed circuit H05K3/326 takes precedence
• CPC Class Codes: H05K 2201/10151 Sensor
• CPC Class Codes: H05K 7/20 Modifications to facilitate cooling, ventilating, or heating

Abstract

System and method can support a measurement module on a movable object. The measurement module includes a first circuit board with one or more sensors. Additionally, the measurement module includes a weight block assembly, wherein the weight block assembly is configured to have a mass that keeps an inherent frequency of the measurement module away from an operation frequency of the movable object. Furthermore, said first circuit board can be disposed in an inner chamber within the weight block assembly.

Claims

1. An apparatus supporting a measurement module, comprising:

a weight block assembly, which is adapted to be placed in the measurement module on a movable object,

wherein the weight block assembly is configured to have a mass that keeps an inherent frequency of the measurement module away from an operation frequency of the movable object, and

an inner chamber, which is adapted to contain a first circuit board with one or more sensors that support the measurement module.

2. The apparatus of claim 1, wherein:

at least one said sensor is an inertia sensor, which includes one or more velocity measurement instruments, one or more acceleration measurement instruments, one or more gyroscopes, and/or one or more gravity gradiometers.

3. The apparatus of claim 1, wherein:

the movable object is a unmanned aircraft, a unmanned vehicle, a hand held device, or a robot.

4. The apparatus of claim 1, further comprising:

a thermal interfacing material, which is filled in a gap in the inner chamber within the weight block assembly, wherein the thermal interfacing material is adapted to conduct heat away from the first circuit board, and prevent the first circuit board from moving inside the inner chamber within the weight block assembly.

5. The apparatus of claim 4, wherein:

the thermal interfacing material is selected from a group consisting of silica gel, thermal gel, epoxy, phase change materials, polyimide, graphite, aluminum tapes, and silicone-coated fabrics.

6. The apparatus of claim 1, further comprising:

a second circuit board, wherein the second circuit board operates to communicate with the first circuit board in the weight block assembly.

7. The apparatus of claim 6, further comprising:

a signal line that passes through an opening of the weight block assembly and connects the first circuit board with the second circuit board.

8. The apparatus of claim 7, wherein:

the signal line is stabilized on an outside surface of the weight block assembly.

9. The apparatus of claim 6, wherein:

the weight block assembly, which contains the first circuit board, is placed on the second circuit board.

10. The apparatus of claim 1, wherein:

the weight block assembly comprises multiple sections that are tightly coupled together to form the inner chamber within the weight block assembly.

11. The apparatus of claim 10, wherein:

the first circuit board is coupled with a section of the weight block assembly.

12. The apparatus of claim 1, further comprising:

a housing assembly, wherein the housing assembly comprises a first housing member and a second housing member, which are adapted to be locked together.

13. The apparatus of claim 12, wherein:

the weight block assembly is positioned on an inner surface of the housing assembly using a positioning device and fixed in the housing assembly using an adhesive material and/or a foam.

14. The apparatus of claim 12, wherein:

the housing assembly is placed on a part of the movable object.

15. A method for assembling a measurement module for a movable object, comprising:

providing a first circuit board with one or more sensors that support the measurement module;

providing a weight block assembly in the measurement module, wherein the weight block assembly is configured to have a mass that keeps an inherent frequency of the measurement module away from an operation frequency of the movable object, and

disposing said first circuit board in an inner chamber within the weight block assembly.

16. The method of claim 15, wherein:

at least one said sensor is an inertia sensor, which includes one or more velocity measurement instruments, one or more acceleration measurement instruments, one or more gyroscopes, and/or one or more gravity gradiometers.

17. The method of claim 15, wherein:

the movable object is a unmanned aircraft, a unmanned vehicle, a hand held device, or a robot.

18. The method of claim 15, further comprising:

filling a thermal interfacing material in a gap in the inner chamber within the weight block assembly, wherein the thermal interfacing material is adapted to conduct heat away from the first circuit board, and prevent the first circuit board from moving inside the inner chamber within the weight block assembly.

19. The method of claim 18, wherein:

the thermal interfacing material is selected from a group consisting of silica gel, thermal gel, epoxy, phase change materials, polyimide, graphite, aluminum tapes, and silicone-coated fabrics.

20. The method of claim 15, further comprising:

providing a second circuit board, wherein the second circuit board operates to communicate with the first circuit board in the weight block assembly.

21. The method of claim 20, further comprising:

passing a signal line through an opening of the weight block assembly and connects the first circuit board with the second circuit board.

22. The method of claim 21, further comprising:

stabilizing the signal line on an outside surface of the weight block assembly.

23. The method of claim 20, further comprising:

placing the weight block assembly, which contains the first circuit board, on the second circuit board.

24. The method of claim 15, wherein:

the weight block assembly comprises multiple sections that are tightly coupled together to form the inner chamber within the weight block assembly.

25. The method of claim 24, further comprising:

coupling the first circuit board with a section of the weight block assembly before said multiple sections are coupled together.

26. The method of claim 15, further comprising:

providing a housing assembly, wherein the housing assembly comprises a first housing member and a second housing member, which are adapted to be locked together.

27. The method of claim 26, further comprising:

using a positioning device to position the weight block assembly on an inner surface of the housing assembly, and using an adhesive material and/or a foam to fix the weight block assembly in the housing assembly.

28. The method of claim 26, further comprising:

placing the housing assembly on a part of the movable object.

29. A measurement module, comprising:

a first circuit board with one or more sensors that support the measurement module; and

a first weight block and a second weight block in the measurement module, wherein the first weight block and the second weight block are configured to have a total mass that keeps an inherent frequency of the measurement module away from an operation frequency of the movable object, and

wherein said first circuit board is disposed in an inner chamber that is formed between the first weight block and the second weight block.

30. A method for assembling a measurement module for a movable object, comprising:

providing a first circuit board with one or more sensors that support the measurement module;

providing a first weight block and a second weight block, wherein the first weight block and the second weight block are configured to have a total mass that keeps an inherent frequency of the measurement module away from an operation frequency of the movable object; and

disposing the first circuit board in an inner chamber that is formed between the first weight block and the second weight block.