Drone including advance means for compensating the bias of the inertial unit as a function of the temperature

摘要

The inertial unit, IMU, of the drone is mounted on a main circuit board. The IMU (26) includes an internal temperature sensor delivering a chip temperature signal (θ°_chip). A heating component (36) is mounted on the circuit board near the IMU, and it is provided a thermal guide, incorporated to the circuit board, extending between the heating component and the IMU so as to allow a transfer to the IMU of the heat produced by the heating component. This thermal guide may in particular be a metal planar layer incorporated to the board, in particular a ground plane. A thermal regulation circuit (44-62) receives as an input the chip temperature signal (θ_chip) and a set-point temperature signal (θ°_ref), and delivers a piloting signal (TH_PWM) of the heating component, so as to control the heat supply to the IMU. It is in particular possible to use this fast increase in temperature to perform a complete calibration of the IMU in a few minutes.