Patent Publication Number: US-2021165010-A1

Title: Sensor unit, electronic apparatus, and moving object

Description:
The present application is based on, and claims priority from JP Application Serial Number 2019-216444, filed Nov. 29, 2019 and JP Application Serial Number 2020-110248, filed Jun. 26, 2020 the disclosures of which are hereby incorporated by reference herein in their entireties. 
     BACKGROUND 
     1. Technical Field 
     The present disclosure relates to a sensor unit, an electronic apparatus, and a moving object. 
     2. Related Art 
     For example, a sensor system described in JP-A-2011-85441 includes a printed substrate in which an angular velocity sensor and an acceleration sensor are mounted. Further, the printed substrate is stored in a container in a state in which four corners of the printed substrate are supported by cushioning materials. 
     However, in the sensor system having such a configuration, since the four corners of the substrate are supported by the cushioning materials, a central portion of the substrate is not supported by the cushioning material. Therefore, the central portion of the substrate is bent or resonated due to impact or vibration. The vibration caused by such bending or resonance maybe transmitted to the angular velocity sensor and the acceleration sensor mounted at the substrate, and detection accuracy of the angular velocity sensor and the acceleration sensor may be deteriorated. 
     SUMMARY 
     A sensor unit according to an aspect of the present disclosure includes: a substrate; an inertial sensor module mounted at the substrate; a container including a storage space for storing the substrate and the inertial sensor module; and a gel material disposed in the storage space, in which the gel material is located between the container and the substrate, and disposed to overlap with the inertial sensor module, in plan view of the substrate, and the substrate is kept in a non-contact state with the container by interposition of the gel material. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1A  is a cross-sectional view illustrating a sensor unit according to a first embodiment of the present disclosure. 
         FIG. 1B  is a cross-sectional view illustrating the sensor unit according to the first embodiment of the present disclosure. 
         FIG. 2  is an exploded perspective view illustrating an inertial sensor module. 
         FIG. 3  is a perspective view illustrating a circuit substrate included in the inertial sensor module. 
         FIG. 4  is a plan view illustrating an inside of a storage space of the sensor unit. 
         FIG. 5  is a cross-sectional view illustrating a coupling member. 
         FIG. 6  is a perspective view illustrating a modification example of the coupling member. 
         FIG. 7  is a perspective view illustrating another modification example of the coupling member. 
         FIG. 8  is a perspective view illustrating still another modification example of the coupling member. 
         FIG. 9  is a perspective view illustrating still another modification example of the coupling member. 
         FIG. 10  is an exploded cross-sectional view illustrating the coupling member. 
         FIG. 11  is an exploded cross-sectional view illustrating a coupling member included in a sensor unit according to a second embodiment. 
         FIG. 12  is a cross-sectional view illustrating a coupling member included in a sensor unit according to a third embodiment. 
         FIG. 13  is a cross-sectional view illustrating a coupling member included in a sensor unit according to a fourth embodiment. 
         FIG. 14  is a cross-sectional view illustrating a coupling member included in a sensor unit according to a fifth embodiment. 
         FIG. 15  is a cross-sectional view illustrating a coupling member included in a sensor unit according to a sixth embodiment. 
         FIG. 16  is a cross-sectional view illustrating a sensor unit according to a seventh embodiment. 
         FIG. 17  is a cross-sectional view illustrating a method of manufacturing the sensor unit illustrated in  FIG. 16 . 
         FIG. 18  is a cross-sectional view illustrating the method of manufacturing the sensor unit illustrated in  FIG. 16 . 
         FIG. 19  is a cross-sectional view illustrating the method of manufacturing the sensor unit illustrated in  FIG. 16 . 
         FIG. 20  is a cross-sectional view illustrating the method of manufacturing the sensor unit illustrated in  FIG. 16 . 
         FIG. 21  is a cross-sectional view illustrating the method of manufacturing the sensor unit illustrated in  FIG. 16 . 
         FIG. 22  is a perspective view illustrating a smartphone according to an eighth embodiment. 
         FIG. 23  is a block diagram illustrating an entire system of a moving object positioning apparatus according to a ninth embodiment. 
         FIG. 24  is a diagram illustrating an operation of the moving object positioning apparatus illustrated in  FIG. 23 . 
         FIG. 25  is a perspective view illustrating a moving object according to a tenth embodiment. 
     
    
    
     DESCRIPTION OF EXEMPLARY EMBODIMENTS 
     Hereinafter, a sensor unit, an electronic apparatus, and a moving object according to the present disclosure will be described in detail with reference to embodiments illustrated in the accompanying drawings. 
     First Embodiment 
       FIGS. 1A and 1B  are cross-sectional views illustrating a sensor unit according to a first embodiment of the present disclosure.  FIG. 2  is an exploded perspective view illustrating an inertial sensor module.  FIG. 3  is a perspective view illustrating a circuit substrate included in the inertial sensor module.  FIG. 4  is a plan view illustrating an inside of a storage space of the sensor unit.  FIG. 5  is a cross-sectional view illustrating a coupling member.  FIGS. 6 to 9  are perspective views respectively illustrating modification examples of the coupling member.  FIG. 10  is an exploded cross-sectional view illustrating the coupling member. 
     For convenience of description, each of  FIGS. 1A to 10  illustrates three axes, that is, an X-axis, a Y-axis, and a Z-axis which are orthogonal to each other. In addition, a direction along the X-axis is also referred to as an X-axis direction, a direction along the Y-axis is also referred to as a Y-axis direction, and a direction along the Z-axis is also referred to as a Z-axis direction. Further, a positive side in the Z-axis direction is also referred to as “upper” and a negative side in the Z-axis direction is also referred to as “lower”. In addition, plan view from the Z-axis direction is also simply referred to as “plan view”. 
     A sensor unit  1  illustrated in  FIGS. 1A and 1B  is an inertial measurement apparatus which detects a posture or behavior of a moving object such as an automobile, an agricultural machine, a construction machine, a robot, and a drone. The sensor unit  1  can function as a 6-axis motion sensor including an angular velocity sensor and a 3-axis acceleration sensor which measure a 3-axis angular velocity as an inertial sensor, and can function as a 3-axis motion sensor including an acceleration sensor which measures 3-axis acceleration. The sensor unit  1  is a rectangular parallelepiped having a rectangular shape in plan view, and has a size with a long side of approximately 120 mm along the X-axis direction, a short side of approximately 40 mm along the Y-axis direction, and a thickness of approximately 30 mm along the Z-axis direction. Meanwhile, the size of the sensor unit  1  is not particularly limited. 
     As illustrated in  FIGS. 1A and 1B , the sensor unit  1  includes a container  2  having a storage space S inside the container  2 , an inertial sensor module  5  and a substrate  6  stored in the storage space S, and a gel material G filled in the storage space S. 
     First, the inertial sensor module  5  will be described. As illustrated in  FIG. 2 , the inertial sensor module  5  has an outer case  51  and an inner case  52 , and is configured so that the inner case  52  is inserted into the outer case  51  and the outer case  51  and the inner case  52  are joined by a joining member  53 . Further, an opening  521  for exposing a connector  541  to be described below is formed at the inner case  52 . 
     The inertial sensor module  5  has a circuit substrate  54  supported by the inner case  52  and stored between the outer case  51  and the inner case  52 . As illustrated in  FIG. 3 , the connector  541  exposed from the opening  521 , an angular velocity sensor  542   x  which measures an angular velocity around the X-axis, an angular velocity sensor  542   y  which measures an angular velocity around the Y-axis, an angular velocity sensor  542   z  which measures an angular velocity around the Z-axis, an acceleration sensor  543  which measures acceleration in each of the X-axis, Y-axis, and Z-axis directions, and a control IC  544  are mounted at the circuit substrate  54 . 
     The control IC  544  is a Micro Controller Unit (MCU), and controls each portion of the inertial sensor module  5 . A storage portion (not illustrated) in the control IC  544  stores a program which defines an order and a content for measuring acceleration and an angular velocity, a program which digitizes measured data and incorporates the data into packet data, or accompanying data. A plurality of electronic components are mounted at the circuit substrate  54 . 
     Next, the substrate  6  will be described. The substrate  6  is a circuit substrate. As illustrated in  FIGS. 1A and 1B , the substrate  6  is located below the inertial sensor module  5 , that is, on the negative side in the Z-axis direction, and supports the inertial sensor module  5 . Further, the substrate  6  is electrically coupled to the connector  541  of the inertial sensor module  5 . The inertial sensor module  5  may be fixed to the substrate  6  only by coupling the connector  541 , alternatively, for example, the inertial sensor module  5  maybe screwed to the substrate  6  or bonded with an adhesive. 
     The substrate  6  includes a control circuit and an I/F circuit. The control circuit is, for example, a Micro Controller Unit (MCU), and includes a storage portion including a non-volatile memory, an A/D converter, and the like and controls each portion of the sensor unit  1 . The I/F circuit has an interface function between the sensor unit  1  and another sensor or a circuit unit. Meanwhile, a configuration of the substrate  6  is not particularly limited, and for example, the I/F circuit maybe stored in the storage space S as a substrate different from the substrate  6 . 
     Next, the container  2  will be described. As illustrated in  FIGS. 1A and 1B , the container  2  has a base  3  including a recess portion  311  which opens toward an upper surface and forms the storage space S, and a lid  4  fixed to the base  3  so as to close an opening of the recess portion  311 . The inertial sensor module  5  is stored in the storage space S in a state of being supported by the substrate  6 . Accordingly, it is possible to protect the inertial sensor module  5  and the substrate  6 . 
     As illustrated in  FIGS. 1A and 1B , the base  3  has a main body  31  and a pair of flanges  38  and  39  protruding from the main body  31  on both sides in the X-axis direction. The main body  31  has a longitudinal shape extending in the X-axis direction when seen from the Z-axis direction in plan view. Further, the main body  31  has the bottomed recess portion  311  which opens toward the upper surface. The inertial sensor module  5  described above is accommodated in the recess portion  311  in a state of being supported by the substrate  6 . Further, the substrate  6  is installed at a bottom surface of the recess portion  311  via the three coupling members  8 . Accordingly, the inertial sensor module  5  is fixed to the container  2 , and unnecessary displacement of the inertial sensor module  5  inside the container  2  can be suppressed. Therefore, it is possible to suppress a decrease in detection accuracy of the inertial sensor module  5 . The coupling member  8  will be described in detail below. 
     A connector  33  is attached to a side wall, located on the positive side in the X-axis direction, of the main body  31 . The connector  33  has a function of electrically coupling the inside and the outside of the container  2 , and is electrically coupled to the substrate  6  via wiring. Here, the connector  33  overlaps with the flange  38  in plan view from the Z-axis direction. In this manner, by disposing the connector  33  at a position overlapping the flange  38 , a size of the container  2  can be reduced. 
     The flange  38  protrudes from an upper end of the main body  31  toward a positive side in the X-axis direction. On the other hand, the flange  39  protrudes from the upper end of the main body  31  toward a negative side in the X-axis direction, that is, a side opposite to the flange  38 . That is, the base  3  does not have a flange protruding from the main body  31  in the Y-axis direction. In this manner, by projecting the flanges  38  and  39  from the main body  31  having the X-axis direction as a longitudinal direction toward both sides in the X-axis direction, a length of the container  2  in the Y-axis direction can be effectively suppressed. Therefore, it is possible to miniaturize the container  2 . 
     Further, as illustrated in  FIGS. 1A and 1B , lower surfaces of the flanges  38  and  39  and a side surfaces of the main body  31  are coupled to a coupling portion between the flanges  38  and  39  and the main body  31  by a recess curved surface. Therefore, the portion has a tapered shape in which thicknesses of the flanges  38  and  39  gradually decrease toward the tip sides of the flanges  38  and  39 . With such a configuration, a mechanical strength of the coupling portion between the flanges  38  and  39  and the main body  31  can be increased, and stress concentration on the portion can be reduced. Therefore, the container  2  has an excellent mechanical strength and is hard to break. 
     Further, as illustrated in  FIG. 4 , through holes  381  and  391  are formed in the flanges  38  and  39 , and the container  2  is screwed to a target object via through holes  381  and  391 . 
     The base  3  and the lid  4  are each made of aluminum. Accordingly, the container  2  is sufficiently hard. Meanwhile, constituent materials of the base  3  and the lid  4  are not particularly limited to aluminum, and for example, other metal materials such as zinc and stainless steel, various types of ceramics, various resin materials, and a composite material of a metal material and a resin material can also be used. Further, the base  3  and the lid  4  may be made of different constituent materials. 
     A configuration of the container  2  is not limited to the above configuration. For example, the flanges  38  and  39  may protrude on both sides in the Y-axis direction. Further, base end portions of the flanges  38  and  39  may not have a tapered shape but may have a flat shape having substantially the same thickness. In addition, the flanges  38  and  39  may be omitted. Further, the lid  4  may be omitted. 
     Next, the coupling member  8  will be described. As described above, the coupling member  8  couples the substrate  6  and the bottom surface of the recess portion  311 . Accordingly, the substrate  6  is fixed to the container  2  and a posture of the inertial sensor module  5  is stabilized. Therefore, a detection characteristic of the inertial sensor module  5  is stabilized. 
     As illustrated in  FIGS. 1A and 1B , in a state in which the substrate  6  is coupled to the bottom surface of the recess portion  311  via the coupling member  8 , the substrate  6  floats from the bottom surface of the recess portion  311  and is not in contact with the container  2 . The coupling member  8  has elasticity and is sufficiently soft. Specifically, an elastic modulus E 1  of the coupling member  8  is smaller than an elastic modulus E 2  of the base  3 . That is, E 1 &lt;E 2 . Further, E 2 /E 1 ≥10 is preferable, and E 2 /E 1 ≥100 is more preferable. In this specification, “elastic modulus” means Young&#39;s modulus. Meanwhile, the present embodiment is not limited to this and may be, for example, E 1 ≥E 2 . 
     As described above, the substrate  6  and the container  2  are coupled with each other via the elastic coupling member  8  and the substrate  6  and the container  2  are kept in non-contact with each other, so that a vibration noise is less likely to be transmitted from the container  2  to the substrate  6 . Specifically, as transmission paths of the vibration noise from the container  2  to the substrate  6 , a first path which directly transmits from the container  2  to the substrate  6  and a second path which transmits from the container  2  to the substrate  6  via the coupling member  8  are provided. Of these, the substrate  6  and the container  2  are kept in non-contact with each other, so that transmission of the vibration noise through the first path can be effectively suppressed. On the other hand, transmission of the vibration noise through the second path can be effectively suppressed by using the coupling member  8  having elasticity and by absorbing and relaxing the vibration noise by the coupling member  8 . Therefore, in the present embodiment, it is possible to suppress the transmission of the vibration noise from both the first and second paths, and to effectively suppress the transmission of the vibration noise from the container  2  to the substrate  6 . Therefore, deterioration of the detection characteristic of the inertial sensor module  5  can be effectively suppressed. 
     The elastic modulus (Young&#39;s modulus) E 1  is not particularly limited, but is preferably 1 GPa or less, more preferably 0.1 GPa or less, and still more preferably 0.01 GPa or less. Accordingly, the coupling member  8  can be provided with elasticity sufficient to absorb and relax the vibration noise. Therefore, the above effect can be more remarkably exhibited. 
     Further, the coupling member  8  is disposed in a natural state. The natural state means that compressive stress or tensile stress in the Z-axis direction due to a weight of the substrate  6  and the inertial sensor module  5  and a force other than pressure received from the gel material G is not substantially applied. When the coupling member  8  is deformed by applying the compressive stress or the tensile stress, the deformation may reduce the absorption and relaxation characteristics for the vibration noise of the coupling member  8 . Therefore, by disposing the coupling member  8  in a natural state, it is possible to stably exhibit desired absorption and relaxation characteristics for the vibration noise. 
     A constituent material of the coupling member  8  is not particularly limited, and for example, various rubber materials such as natural rubber, isoprene rubber, butadiene rubber, styrene-butadiene rubber, nitrile rubber, chloroprene rubber, butyl rubber, acrylic rubber, ethylene-propylene rubber, hydrin-rubber, urethane rubber, silicone rubber, fluorine rubber or various thermoplastic elastomers such as styrene-based, polyolefin-based, polyvinyl chloride-based, polyurethane-based, polyester-based, polyamide-based, polybutadiene-based, trans-polyisoprene-based, fluorine rubber-based, chlorinated polyethylene-based are used, and one or two or more of these may be mixed and used. With such a material, the coupling member  8  having sufficient elasticity can be easily formed. 
     Further, as illustrated in  FIG. 4 , in the present embodiment, the substrate  6  and the bottom surface of the recess portion  311  are coupled by the three coupling members  8 . When viewed from the Z-axis direction in plan view, each coupling member  8  is disposed outside the inertial sensor module  5 , that is, so as not to overlap with the inertial sensor module  5 . With such a disposition, even when a vibration noise cannot be completely absorbed by the coupling member  8  and a part of the vibration noise is transmitted to the substrate  6 , it is possible to keep a transmission location of the vibration noise away from the inertial sensor module  5 , and it becomes difficult for the vibration noise to be transmitted to the inertial sensor module  5 . Therefore, the transmission of the vibration noise to the inertial sensor module  5  can be effectively suppressed. 
     Further, in plan view from the Z-axis direction, two of the three coupling members  8  are located on the positive side in the X-axis direction based on the inertial sensor module  5 , and the remaining one coupling member  8  is provided to be located on the negative side in the X-axis direction based on the inertial sensor module  5 . The two coupling members  8  located on the positive side in the X-axis direction are arranged side by side in the Y-axis direction. By arranging the three coupling members  8  in this manner, the substrate  6  can be supported by a surface by locating the inertial sensor module  5  at a center, so that the posture of the inertial sensor module  5  in the container  2  is more stabilized. Further, by setting the number of coupling members  8  to three, which is a minimum number capable of supporting the substrate  6  by the surface, the number of the second paths described above can be reduced, and it is possible to effectively suppress the transmission of the vibration noise from the container  2  to the substrate  6 . Meanwhile, the number of coupling members  8  is not particularly limited, and may be one, two, or four or more. Further, the arrangement of the coupling member  8  is not particularly limited thereto. 
     As illustrated in  FIG. 5 , the coupling member  8  has a base portion  81  located between the substrate  6  and the bottom surface of the recess portion  311 , a first engaging portion  82  for engaging with the substrate  6 , and a second engaging portion  83  for engaging with the container  2 . The base portion  81  functions as a spacer for forming a gap Q 1  between the substrate  6  and the bottom surface of the recess portion  311  and the substrate  6  and the container  2  are kept in non-contact with each other. With such a configuration, the coupling member  8  has a simple configuration. 
     The first engaging portion  82  is configured to include a first protrusion  821  protruding from the base portion  81  toward the substrate  6  side, that is, on the positive side in the Z-axis direction. A first hole  60  penetrating through the substrate  6  in the thickness direction is formed at the substrate  6 , and the first protrusion  821  is inserted into the first hole  60 . With such a configuration, the coupling member  8  and the substrate  6  can be engaged with each other by a simple method. The first hole  60  may be a bottomed recess portion which opens toward the lower surface of the substrate  6  instead of a through hole. On the other hand, the second engaging portion  83  is configured to include a second protrusion  831  protruding from the base portion  81  to the bottom surface side of the recess portion  311 , that is, on the negative side in the Z-axis direction. A second hole  30  which opens toward the bottom surface of the recess portion  311  is formed at the container  2 , and the second protrusion  831  is inserted into the second hole  30 . With such a configuration, the coupling member  8  and the container  2  can be engaged with each other by a simple method. 
     In the present embodiment, the base portion  81 , the first protrusion  821 , and the second protrusion  831  each have a circular shape in plan view from the Z-axis direction and are arranged concentrically with each other. Meanwhile, a shape of the coupling member  8  is not particularly limited. For example, in a modification example illustrated in  FIG. 6 , the base portion  81 , the first protrusion  821 , and the second protrusion  831  each have a rectangular shape in plan view. In another modification example illustrated in  FIG. 7 , the base portion  81  has a rectangular shape in plan view, and the first protrusions  821  and the second protrusions  831  have circular shapes in plan view. In still another modification example illustrated in  FIG. 8 , the base portion  81  has a circular shape in plan view, and the first protrusions  821  and the second protrusions  831  have rectangular shapes in plan view. Instill another modification example illustrated in  FIG. 9 , the first protrusion  821  and the second protrusion  831  are arranged eccentrically based on the base portion  81 . Further, in plan view, the first protrusion  821  and the second protrusion  831  are arranged so as to face each other via a center of the base portion  81  so that axes of the first protrusion  821  and the second protrusion  831  do not overlap with each other. 
     Here, in the present embodiment, as illustrated in  FIG. 10 , a diameter R 2  of the first protrusion  821  is larger than a diameter R 1  of the first hole  60 . That is, R 1 &lt;R 2 , and the first protrusion  821  is inserted into the first hole  60  in a compressed state. Therefore, the first protrusion  821  is press-fitted into the first hole  60 . Accordingly, a frictional resistance between the coupling member  8  and the substrate  6  increases, and the coupling member  8  and the substrate  6  can be more firmly fixed to each other. In the same manner, a diameter R 4  of the second protrusion  831  is larger than a diameter R 3  of the second hole  30 . That is, R 3 &lt;R 4 , and the second protrusion  831  is inserted into the second hole  30  in a compressed state. Therefore, the second protrusion  831  is press-fitted into the second hole  30 . Accordingly, a frictional resistance between the coupling member  8  and the base  3  increases, and the coupling member  8  and the base  3  can be more firmly fixed to each other. As illustrated in  FIGS. 6 and 8 , when the first protrusion  821  and the second protrusion  831  do not have circular shapes in plan view, the diameters R 2  and R 4  described above can be respectively read as the maximum widths. 
     A shape, a structure, an installation location, and the installation number of the coupling member  8  are not limited to the illustrated configuration, and the coupling member  8  may not exist. 
     Next, the gel material G will be described. As illustrated in  FIG. 1A , the storage space S is filled with the gel material G. That is, the gel material G is disposed in the entire storage space S. Therefore, the substrate  6  and the inertial sensor module  5  are covered with the gel material G. Accordingly, the substrate  6  and the inertial sensor module  5  can be protected from moisture and water. Further, by filling the storage space S with the gel material G, the substrate  6  can be supported by a gel material G together with the coupling member  8  from the container  2 . Therefore, the posture of the inertial sensor module  5  is more stabilized. In addition, regarding the gap Q 1  between the substrate  6  and the bottom surface of the recess portion  311  and a gap Q 2  between the substrate  6  and the lid  4 , since the gel material G is also filled in particularly a portion overlapping with the inertial sensor module  5  in plan view from the Z-axis direction, that is, a portion surrounded by a triangle coupling the three coupling members  8 , as compared with a case without the gel material G, it is possible to suppress bending of the substrate  6  in the thickness direction when acceleration in the Z-axis direction is applied. Therefore, it is possible to suppress occurrence of a vibration noise due to the bending of the substrate  6 , and it is possible to effectively suppress deterioration of the detection characteristic of the inertial sensor module  5 . Although it can be said that the gel material G is disposed in the entire storage space S, the gel material G may be disposed in the storage space S to the extent that the inertial sensor module  5  is not displaced. That is, as illustrated in  FIG. 1B , when there is a space in which the gel material G is not disposed in a part of the storage space S, it is sufficient that a hardness of the gel material G or an adhesive force between the gel material G and the inner wall surface of the container  2  is equal to or more than a force necessary for supporting a weight of the inertial sensor module  5 , for example, regarding an inner wall area of the container  2  facing the storage space S, an area in which the gel material G adheres to the container  2  maybe larger than an area in which the gel material G does not adhere to the container  2 , and the inertial sensor module  5  may be covered with the gel material G. 
     A penetration degree of the gel material G is not particularly limited, but is preferably equal to or more than 30 and equal to or less than 100, more preferably equal to or more than 40 and equal to or less than 90, and further preferably equal to or more than 50 and equal to or less than 70. Accordingly, the gel material G having an appropriate hardness is obtained, and the substrate  6  can be supported from the container  2  in a more stable posture. It is also possible to effectively suppress the transmission of the vibration noise from the container  2  to the substrate  6  via the gel material G. Further, the bending of the substrate  6  in the thickness direction described above can be effectively suppressed. The penetration degree can be measured by a test method according to JIS K2207. The constituent material of such a gel material G is not particularly limited, but, for example, silicone gel, various kinds of grease or the like can be used. 
     Hereinbefore, the sensor unit  1  is described. Such a sensor unit  1  includes the substrate  6 , the inertial sensor module  5  mounted at the substrate  6 , the container  2  having the storage space S for storing the substrate  6  and the inertial sensor module  5 , and the gel material G disposed in the storage space S. Further, the gel material G is located between the container  2  and the substrate  6 , and is disposed so as to overlap with the inertial sensor module  5  in plan view of the substrate  6 , that is, in plan view from the Z-axis direction. The substrate  6  is kept in a non-contact state with the container  2  by the interposition of the gel material G. In addition, the substrate  6  and the container  2  are kept in non-contact with each other in this manner, so it becomes difficult for a vibration noise to be transmitted from the container  2  to the substrate  6 . Further, by disposing the gel G at a position overlapping with the inertial sensor module  5 , it is possible to suppress bending of the substrate  6  in the thickness direction when acceleration in the Z-axis direction is applied, and it is possible to suppress occurrence of a vibration noise due to the bending of the substrate  6 . Therefore, according to the sensor unit  1 , it is possible to effectively suppress deterioration of the detection characteristic of the inertial sensor module  5 . 
     Further, as described above, the substrate  6  and the inertial sensor module  5  are covered with the gel material G. Accordingly, the substrate  6  and the inertial sensor module  5  can be protected from moisture and water. 
     As described above, the gel material G is filled in the storage space S. Accordingly, with the gel material G, the substrate  6  can be supported from the container  2  in a more stable posture. 
     Further, as described above, the penetration degree of the gel material G is equal to or more than 30 and equal to or less than 100. Accordingly, the gel material G having an appropriate hardness is obtained, and the substrate  6  can be supported from the container  2  in a more stable posture. It is also possible to effectively suppress the transmission of the vibration noise from the container  2  to the substrate  6  via the gel material G. Further, the bending of the substrate  6  in the thickness direction described above can be effectively suppressed. 
     In addition, as described above, the sensor unit  1  includes the coupling member  8  which couples the container  2  and the substrate  6 . Accordingly, the substrate  6  can be supported from the container  2  by the gel G and the coupling member  8 . Therefore, the posture of the inertial sensor module  5  is more stabilized. 
     Further, as described above, the coupling member  8  has elasticity. Accordingly, the coupling member  8  can absorb and relax a vibration noise, and the vibration noise is less likely to be transmitted to the substrate  6  via the coupling member  8 . 
     Further, as described above, the coupling member  8  is located outside the inertial sensor module  5  in plan view from the Z-axis direction. Accordingly, even when a vibration noise cannot be completely absorbed by the coupling member  8  and a part of the vibration noise is transmitted to the substrate  6 , it is possible to keep a transmission location of the vibration noise away from the inertial sensor module  5 . Therefore, the vibration noise is less likely to be transmitted to the inertial sensor module  5 . Therefore, the sensor unit  1  can effectively suppress the transmission of the vibration noise from the container  2  to the substrate  6 . 
     Second Embodiment 
       FIG. 11  is an exploded cross-sectional view illustrating a coupling member included in a sensor unit according to a second embodiment. 
     The sensor unit  1  according to the present embodiment has the same manner as the sensor unit  1  of the above-described first embodiment except that the coupling member  8  has a different configuration. In the following description, the sensor unit  1  according to the second embodiment will be described focusing on differences from the first embodiment described above, and the description of the same matters will be omitted. Further, in  FIG. 11 , the same components as those in the above-described embodiment are denoted by the same reference numerals. Since the three coupling members  8  have the identical configuration, the one coupling member  8  will be described below as a representative. 
     As illustrated in  FIG. 11 , in the coupling member  8  according to the present embodiment, a tip portion of the first protrusion  821  is tapered. That is, at the tip portion of the first protrusion  821 , the diameter R 2  gradually decreases toward the tip side. A diameter R 2   t  of the tip is smaller than the diameter R 1  of the first hole  60 . Accordingly, this facilitates insertion of the first protrusion  821  into the first hole  60 . In the same manner, a tip portion of the second protrusion  831  is tapered. That is, at the tip portion of the second protrusion  831 , the diameter R 4  gradually decreases toward the tip side. A diameter R 4   t  of the tip is smaller than the diameter R 3  of the second hole  30 . Accordingly, it becomes easy to insert the second protrusion  831  into the second hole  30 . 
     According to the second embodiment as described above, the same effect as that of the first embodiment can be obtained. 
     Third Embodiment 
       FIG. 12  is a cross-sectional view illustrating a coupling member included in a sensor unit according to a third embodiment. 
     The sensor unit  1  according to the present embodiment has the same manner as the sensor unit  1  of the above-described first embodiment except that the coupling member  8  has a different configuration. In the following description, the sensor unit  1  according to the third embodiment will be described focusing on differences from the first embodiment described above, and the description of the same matters will be omitted. Further, in  FIG. 12 , the same components as those in the above-described embodiment are denoted by the same reference numerals. Since the three coupling members  8  have the identical configuration, the one coupling member  8  will be described below as a representative. 
     As illustrated in  FIG. 12 , the coupling member  8  according to the present embodiment includes a regulation portion  84  which regulates detachment of the substrate  6  from the first protrusion  821 . By providing the regulation portion  84 , it is possible to suppress unintended detachment of the substrate  6  from the coupling member  8 . Therefore, the posture of the inertial sensor module  5  with respect to the container  2  is more stabilized. The regulation portion  84  is provided at the tip portion of the first protrusion  821  so that the substrate  6  is interposed between the regulation portion  84  and the base portion  81 . Further, the regulation portion  84  has a tapered shape in which a diameter gradually decreases toward the tip side, and a maximum diameter R 5 max located at a lower end portion is larger than the diameter R 1  of the first hole  60 . That is, R 5 max&gt;R 1 . Accordingly, the substrate  6  is caught by the regulation portion  84 , and it is possible to effectively suppress detachment of the substrate  6  from the first protrusion  821 . On the other hand, a minimum diameter R 5 min located at the upper end of the regulation portion  84  is smaller than the diameter R 1 . That is, R 5 min&lt;R 1 . Accordingly, it becomes easy to insert the first protrusion  821  into the first hole  60 . 
     According to the third embodiment as described above, the same effect as that of the first embodiment can be obtained. Meanwhile, the configuration of the regulation portion  84  is not particularly limited as long as the above-described function can be exhibited. Further, the coupling member  8  may have a regulation portion which regulates detachment of the second protrusion  831  from the second hole  30 . In this case, the same configuration as that of the regulation portion  84  can be used. 
     Fourth Embodiment 
       FIG. 13  is a cross-sectional view illustrating a coupling member included in a sensor unit according to a fourth embodiment. 
     The sensor unit  1  according to the present embodiment has the same manner as the sensor unit  1  of the above-described first embodiment except that the coupling member  8  has a different configuration. In the following description, the sensor unit  1  according to the fourth embodiment will be described focusing on differences from the first embodiment described above, and the description of the same matters will be omitted. Further, in  FIG. 13 , the same components as those in the above-described embodiment are denoted by the same reference numerals. Since the three coupling members  8  have the identical configuration, the one coupling member  8  will be described below as a representative. 
     As illustrated in  FIG. 13 , in the coupling member  8  according to the present embodiment, the diameter R 2  of the first protrusion  821  is smaller than the diameter R 1  of the first hole  60 . That is, R 1 &gt;R 2 , and the first protrusion  821  is loosely fitted into the first hole  60 . In other words, the first protrusion  821  is inserted into the first hole  60  with a wide margin. Accordingly, the substrate  6  can be displaced in the Z-axis direction based on the first protrusion  821  while being regulated by the gel material G. Therefore, for example, when an excessive impact is applied in the Z-axis direction, the substrate  6  is displaced in the Z-axis direction based on the first protrusion  821 , so that it is possible to soften the impact applied to the substrate  6  or the inertial sensor module  5 . The second protrusion  831  is press-fitted into the second hole  30  in the same manner as in the first embodiment described above. Accordingly, it is possible to effectively suppress the substrate  6  together with the coupling member  8  from being detached from the container  2  due to the impact. 
     According to the fourth embodiment as described above, the same effect as that of the first embodiment can be obtained. The regulation portion  84  according to the third embodiment described above may be combined with the coupling member  8  according to the present embodiment. In this case, a distance between the regulation portion  84  and the base portion  81  is preferably set to be larger than a thickness of the substrate  6 , so the substrate  6  can be preferably displaced in the Z-axis direction between the regulation portion  84  and the base portion  81 . 
     Fifth Embodiment 
       FIG. 14  is a cross-sectional view illustrating a coupling member included in a sensor unit according to a fifth embodiment. 
     The sensor unit  1  according to the present embodiment has the same manner as the sensor unit  1  of the above-described first embodiment except that the coupling member  8  has a different configuration. In the following description, the sensor unit  1  according to the fifth embodiment will be described focusing on differences from the first embodiment described above, and the description of the same matters will be omitted. Further, in  FIG. 14 , the same components as those in the above-described embodiment are denoted by the same reference numerals. Since the three coupling members  8  have the identical configuration, the one coupling member  8  will be described below as a representative. 
     As illustrated in  FIG. 14 , in the coupling member  8  according to the present embodiment, the first engaging portion  82  is configured to include a recess portion  822  which opens at the upper surface of the base portion  81 . A protrusion  600  protruding downward is formed at the substrate  6 , and the protrusion  600  is inserted into the recess portion  822 . With such a configuration, the coupling member  8  and the substrate  6  can be engaged with each other by a simple method. On the other hand, the second engaging portion  83  is configured to include a recess portion  832  which opens toward the lower surface of the base portion  81 . A protrusion  300  protruding upward from the bottom surface of the recess portion  311  is formed at the base  3 , and the protrusion  300  is inserted into the recess portion  832 . With such a configuration, the coupling member  8  and the container  2  can be engaged with each other by a simple method. 
     According to the fifth embodiment as described above, the same effect as that of the first embodiment can be obtained. 
     Sixth Embodiment 
       FIG. 15  is a cross-sectional view illustrating a coupling member included in a sensor unit according to a sixth embodiment. 
     The sensor unit  1  according to the present embodiment has the same manner as the sensor unit  1  of the above-described first embodiment except that the coupling member  8  has a different configuration. In the following description, the sensor unit  1  according to the fifth embodiment will be described focusing on differences from the first embodiment described above, and the description of the same matters will be omitted. Further, in  FIG. 15 , the same components as those in the above-described embodiment are denoted by the same reference numerals. Since the three coupling members  8  have the identical configuration, the one coupling member  8  will be described below as a representative. 
     As illustrated in  FIG. 15 , in the coupling member  8  according to the present embodiment, the first engaging portion  82  and the second engaging portion  83  are omitted from the configuration of the first embodiment described above. That is, the coupling member  8  is configured to include the base portion  81 . The coupling member  8  is joined to the substrate  6  via a joining member B 1  and is joined to a bottom surface of the recess portion  311  via a joining member B 2 . The joining members B 1  and B 2  are not particularly limited, and various adhesives can be used, for example. 
     According to the sixth embodiment as described above, the same effect as that of the first embodiment can be obtained. 
     Seventh Embodiment 
       FIG. 16  is a cross-sectional view illustrating a sensor unit according to a seventh embodiment.  FIG. 17  to FIG. are cross-sectional views illustrating a method of manufacturing the sensor unit illustrated in  FIG. 16 . 
     The sensor unit  1  according to the present embodiment has the same manner as the sensor unit  1  according to the first embodiment described above except that the coupling member  8  is omitted. In the following description, the sensor unit  1  according to the seventh embodiment will be described focusing on differences from the first embodiment described above, and the description of the same matters will be omitted. Further, in  FIG. 16 , the same components as those in the above-described embodiment are denoted by the same reference numerals. 
     As illustrated in  FIG. 16 , the sensor unit  1  according to the present embodiment has a configuration in which the coupling member  8  is omitted from the configuration of the first embodiment described above. Accordingly, for example, the number of components is reduced and the cost of the sensor unit  1  is reduced as compared with the configuration of the first embodiment described above. 
     In the sensor unit  1  according to the present embodiment, for example, the substrate  6  can be disposed inside the recess portion  311  as follows. First, as illustrated in  FIG. 17 , a gel material in an uncured state is disposed halfway inside the recess portion  311 , and the gel material is gelled by curing to form the gel G. Next, as illustrated in  FIG. 18 , the substrate  6  at which the inertial sensor module  5  is mounted is disposed over the gel G. Next, as illustrated in  FIG. 19 , an uncured gel material is disposed in the remaining region inside the recess portion  311 , and the gel material is gelled by curing to form the gel G. Accordingly, the substrate  6  can be disposed inside the recess portion  311  in non-contact with the container  2 . 
     In another example, first, as illustrated in  FIG. 20 , the substrate  6  at which the inertial sensor module  5  is mounted is disposed inside the recess portion  311  while being suspended by a wire W. Next, as illustrated in  FIG. 21 , the recess portion  311  is filled with an uncured gel material, and the gel material is gelled by curing to form the gel G. Then, after that, the wire W is removed. Accordingly, the substrate  6  can be disposed inside the recess portion  311  in non-contact with the container  2 . Depending on viscosity in the uncured state, the wire W may be removed before gelling the gel material. 
     According to the seventh embodiment as described above, the same effect as that of the first embodiment can be obtained. 
     Eighth Embodiment 
       FIG. 22  is a perspective view illustrating a smartphone according to an eighth embodiment. 
     A smartphone  1200  as an electronic apparatus illustrated in  FIG. 22  includes the sensor unit  1  and a control circuit  1210  which performs a control based on a detection signal output from the sensor unit  1 . Detection data detected by the sensor unit  1  is transmitted to the control circuit  1210 , and the control circuit  1210  recognizes a posture and behavior of the smartphone  1200  from the received detection data, so that an image displayed on a display portion  1208  can be changed, a warning sound or a sound effect can be emitted, and a vibration motor can be driven to vibrate a main body. 
     The smartphone  1200  as such an electronic apparatus includes the sensor unit  1  and the control circuit  1210  which performs a control based on a detection signal output from the sensor unit  1 . Therefore, the effect of the sensor unit  1  described above can be obtained, and high reliability can be exhibited. 
     In addition to the smartphone  1200  described above, the electronic apparatus can be applied to, for example, a wearable terminal such as a personal computer, a digital still camera, a tablet terminal, a watch, a smart watch, an ink jet printer, a laptop personal computer, a TV, and a head mounted display (HMD), a video camera, a video tape recorder, a car navigation system, a pager, an electronic organizer, an electronic dictionary, a calculator, an electronic game apparatus, a word processor, a workstation, a videophone, a security TV monitor, electronic binoculars, a POS terminal, a medical apparatus, a fish detector, various measurement apparatuses, a moving object terminal base station apparatus, various instruments such as a vehicle, an aircraft, and a ship, a flight simulator, a network server, and the like. 
     Ninth Embodiment 
       FIG. 23  is a block diagram illustrating an entire system of a moving object positioning apparatus according to a ninth embodiment.  FIG. 24  is a diagram illustrating an operation of the moving object positioning apparatus illustrated in  FIG. 23 . 
     A moving object positioning apparatus  3000  illustrated in  FIG. 23  is an apparatus which is used by being mounted at a moving object to perform positioning of the moving object. The moving object is not particularly limited, and may be a bicycle, an automobile, a motorcycle, a train, an airplane, a ship, or the like, but in the present embodiment, a use of a four-wheeled automobile as the moving object will be described. 
     The moving object positioning apparatus  3000  includes the sensor unit  1 , an arithmetic processing portion  3200 , a GPS reception portion  3300 , a reception antenna  3400 , a position information acquisition portion  3500 , a position combination portion  3600 , a processing portion  3700 , a communication portion  3800 , and a display portion  3900 . 
     The arithmetic processing portion  3200  receives acceleration data and angular velocity data from the sensor unit  1 , performs an inertial navigation arithmetic process on these pieces of data, and outputs inertial navigation positioning data including acceleration and a posture of the moving object. The GPS reception portion  3300  receives a signal from a GPS satellite via the reception antenna  3400 . Further, the position information acquisition portion  3500  outputs GPS positioning data indicating a position (a latitude, a longitude, and an altitude), a speed, and an azimuth of the moving object positioning apparatus  3000  based on the signal received by the GPS reception portion  3300 . The GPS positioning data also includes status data indicating a reception state, a reception time, and the like. 
     The position combination portion  3600  calculates a position of the moving object, specifically, which position on a ground the moving object is traveling, based on the inertial navigation positioning data output from the arithmetic processing portion  3200  and the GPS positioning data output from the position information acquisition portion  3500 . For example, even when positions of moving objects included in the GPS positioning data are the same, as illustrated in  FIG. 24 , when postures of the moving objects are different from each other due to the influence of an inclination θ of the ground or the like, it means that the moving objects are traveling at different positions on the ground. Therefore, it is not possible to calculate an accurate position of the moving object only with the GPS positioning data. Therefore, the position combination portion  3600  uses the inertial navigation positioning data to calculate which position on the ground the moving object is traveling. 
     The processing portion  3700  performs a predetermined process on the position data output from the position combination portion  3600  and displays the position data on the display portion  3900  as a positioning result. Further, the position data may be transmitted to an external apparatus by the communication portion  3800 . 
     Tenth Embodiment 
       FIG. 25  is a perspective view illustrating a moving object according to a tenth embodiment. 
     An automobile  1500  as a moving object illustrated in  FIG. 25  includes a system  1510  of at least one of an engine system, a brake system, and a keyless entry system, the sensor unit  1 , and the control circuit  1502 , and can detect a posture of a vehicle body by the sensor unit  1 . A detection signal of the sensor unit  1  is supplied to the control circuit  1502 , and the control circuit  1502  can control the system  1510  based on the signal. 
     As described above, the automobile  1500  as a moving object has the sensor unit  1  and the control circuit  1502  which performs a control based on the detection signal output from the sensor unit  1 . Therefore, the automobile  1500  can obtain the effect of the sensor unit  1  described above, and can exhibit high reliability. 
     In addition, the sensor unit  1  is also widely applied to an electronic control unit (ECU) such as a car navigation system, a car air conditioner, an anti-lock brake system (ABS), an airbag, a tire pressure monitoring system (TPMS), an engine control, a battery monitor for a hybrid automobile or an electric automobile. Further, the moving object is not limited to the automobile  1500 , and may be applied to, for example, an airplane, a rocket, an artificial satellite, a ship, an automated guided vehicle (AGV), a biped robot, an unmanned airplane such as a drone. 
     Hereinbefore, a sensor unit, an electronic apparatus, and a moving object according to the present disclosure are described based on the illustrated embodiments, but the present disclosure is not limited thereto and the configuration of each portion can be replaced with any configuration having the same function. Further, any other component may be added to the present disclosure. In addition, each of the embodiments may be appropriately combined.