CN101256085A - Self-correcting system for vehicle-mounted navigation low precision gyroscope - Google Patents

Abstract

The invention provides a self-correction gyroscope system. The invention is based on civil low accuracy gyroscope, and uses precise signal conditioning circuit and zero point self-correction arithmetic to process the original output, which solves the problems of bad consistency of zero point of low accuracy gyroscope and drift temperature, improves the precision and stability of gyroscope, and meets the need of vehicle carried navigation.

Description

Self-correcting system for vehicle-mounted navigation low precision gyroscope

Affiliated technical field

The utility model relates to a kind of gyrosystem that is used for in-vehicle navigation apparatus, and it can improve degree of accuracy and stability to carrying out self-correcting the zero point of gyro based on the low precision gyroscope of civilian level.

Background technology

Gyro is the sensing component of a kind of angle or angular velocity, in order to measure the attitude and the direction of carrier, is the significant components that stable control, inertia guiding and attitude measure.Now, the piezoelectric crystal gyro of high-precision laser gyro, mechanical gyro and medium accuracy is in Aeronautics and Astronautics, naval vessel, weapons, robot and the widespread use of industrial automation field, but these devices cost an arm and a leg, and are difficult to a large amount of universal uses on civilian vehicle mounted guidance market.And the low precision gyroscope low price of civilian level, be easy to volume production, can satisfy the requirement of vehicle mounted guidance in cost and production in enormous quantities, but its shortcoming be zero point consistance poor, temperature drift is serious, currently generally guarantees the gyro consistance at zero point by manual the correction for addressing this problem, and improves the temperature drift of gyro with the heated constant temperature technology, but need a large amount of manpower and materials to go to proofread and correct, and power consumption is big, volume is big, and setup time is long, and in use limitation is bigger.

Summary of the invention

For the low precision gyroscope that makes civilian level can well be applied on the vehicle mounted guidance terminal, the utility model has carried out certain Filtering Processing to the output of original gyro, She Ji self-tuning algorithm simultaneously can well solve consistance difference and the problem of temperature drift at zero point.

The technical scheme that its technical matters that solves the utility model adopts is: the output terminal at gyro adds accurate signal conditioning circuit, gyro output simulating signal is carried out pre-service, mainly comprise amplification, filtering, long-pending differential, strain bridge balancing and linearization etc., to improve signal to noise ratio (S/N ratio), be easy to transmission and suitable with follow-up link.To using the high-performance microprocessor that carries the A/D change-over circuit that signal is carried out digitizing, carry out the self-correcting algorithm process then, and the various states of real-time learning gyro changes correction output at any time through the signal after the conditioning.

The self-correcting algorithm carries out based on Several principles once: always change within a definite scope zero point of each gyro; Each gyro the time float that though to float curve inequality with temperature, the speed of its variation is slowly, and change direction is unidirectional; The mechanicalness of gyro has determined that the signal of its output is continuous, can not suddenly change;

The beneficial effects of the utility model are, can remedy the deficiency of low precision gyroscope on degree of accuracy and stability of civilian level, make it to satisfy the requirement of vehicle mounted guidance.

Description of drawings

Below in conjunction with drawings and Examples the utility model is further specified.

Fig. 1 is the composition structural representation of gyro self correcting system.

Fig. 2 is accurate signal conditioning circuit part schematic diagram

Among Fig. 1, the output of gyro is through after the processing of accurate signal conditioning circuit, and microprocessor carries out digitizing to simulating signal, and uses self-tuning algorithm to revise, at last output.Wherein power down memory module is used to store some some systematic parameters according to the change calculations of the self performance of gyro.

Fig. 2 is circuit theory diagrams, and in circuit diagram, input signal carries out smothing filtering to input signal, filtering low-and high-frequency undesired signal with size two capacitor C 48, C47 earlier through after the resistors match.Little because of the rate of change of gyro signal, can input signal be carried out smoothly with the electric capacity of 10uF.C47, C45, R44 and R45 form the symmetrical JI type filtering circuit small noise of filtering as far as possible simultaneously, this is very helpful to the angular velocity resolution that improves gyro, even small corner information all can reflect strictly according to the facts, otherwise subsequent conditioning circuit just is difficult to distinguish that the subtle change of input signal is noise or corner information on earth.

In addition, C44, C46, R40 and R42 are connected into the symmetric difference input, can suppress the influence of common mode voltage to greatest extent, avoid original signal that gyro comes out to be carried out lifting or reduction and cause be affected the true zero point of gyro by the bias voltage of subsequent conditioning circuit to useful signal.To disturb in order further reducing to exchange,,, to make output level more stable with the AC compounent in the filtering output voltage at low-pass filter of output terminal adjunction (forming) by R41, R37, C40 and C41.

Claims (2)

1. gyro self correcting system, this system can be automatically to proofreading and correct the zero point of gyro based on the low precision gyroscope of civilian level, and removal conformity error at zero point and temperature drift error are exported accurate and stable signal.

2. gyro self correcting system according to claim 1 is characterized in that: adopt accurate modulate circuit that signal is carried out pre-service, then through the A/D conversion, carry out self-correcting algorithm process and output at last.

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