High Accuracy TDF72IMU0 Fiber Optic Inertial Unit Full Dynamic Motion Measurement

High Accuracy TDF72IMU0 Fiber Optic Inertial Unit Full Dynamic Motion Measurement

Overview

This type of fiber optic inertial unit contains eight points of vibration reduction, which can meet the application scenarios of large impact and large vibration. It has the advantages of small size, light weight, low power consumption, and high accuracy. It has the dynamic measurement function of carrier angular and linear motion information for the use of small volume and high-precision inertial unit equipment in water/torpedo weapons, as well as land, airborne, and missile weapon platforms.

Performance

Communication protocols

The baud rate of the debugging data output by the software is 460800, with 8 data bits and 1 stop bit, no checksum, and sent in low to high order. General debugging data includes IMU raw data, user command data, satellite navigation record data, navigation result data, etc. The specific agreement is as follows.

Note 1: Calculation method for speed increment

(1)The 5ms velocity increment value output by the accelerometer at time tk is yk (unit: m/s);

(2)Define the initial value of speed increment accumulation SumVelInt=0;

(3)Define Yk=int [yk × 1e5+δ Yk-1], where int [·] represents rounding operation, and δ Yk-1 represents the remainder after rounding the velocity increment in the previous step;

(4)The remainder after rounding Yk: δ Yk=yk × 1e5+δ Yk-1-Yk;

(5)SumVelInt = SumVelInt + Yk；

(6)Integer range limitation for SumVelInt:

If SumVelInt ≥ 1e7, SumVelInt=SumVelInt -1e7;

If SumVelInt<0, SumVelInt=SumVelInt+1e7;

After integer processing, limit the range of SumVelInt values to [0,1e7);

(7)Send the last 3 bytes of SumVelInt after integer processing.

Note 2: Calculation method for angle increment

(1)The 5ms angular increment value of the gyroscope output at time tk is xk (unit: rad);

(2)Define the initial value SumAngInt for angle increment accumulation as 0;

(3)Define Xk=int [xk × 1e7+δ Xk-1], where int [·] represents the rounding operation, and δ Xk-1 represents the remainder after rounding the previous angular increment;

(4)The remainder after rounding Xk: δ Xk=xk × 1e7+δ Xk-1-Xk;

(5)SumAngInt = SumAngInt + Xk；

(6)The integer range limitation of SumAngInt:

If SumAngInt ≥ 1e7, SumAngInt=SumAngInt -1e7;

If SumAngInt<0, SumAngInt=SumAngInt+1e7;

After integer processing, limit the range of SumAngInt values to [0,1e7);

(7)Send the last 3 bytes of SumAngInt after integer processing.

Electrical interfaces

The external electrical interfaces of the inertial group equipment include power interface RS422 communication interface and 100Mbps Ethernet interface. The socket model for the external electrical interface is J30JM-37ZKP, and the matching plug model is J30J-37TJL.

Dimensions

Dimensions: 160mm × 160mm × 115mm (± 1mm, excluding connectors)

Weight: ≤ 3kg

High Accuracy TDF72IMU0 Fiber Optic Inertial Unit Full Dynamic Motion Measurement Images