CN102654401A - Adaptive measurement range control method of gyroscopic sensor - Google Patents
Adaptive measurement range control method of gyroscopic sensor Download PDFInfo
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- CN102654401A CN102654401A CN2012100989113A CN201210098911A CN102654401A CN 102654401 A CN102654401 A CN 102654401A CN 2012100989113 A CN2012100989113 A CN 2012100989113A CN 201210098911 A CN201210098911 A CN 201210098911A CN 102654401 A CN102654401 A CN 102654401A
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Abstract
The invention discloses an adaptive measurement range control method of a gyroscopic sensor. The method comprises the following steps of: setting the initial measurement range of a gyroscope as 250dps, and naming the state as state 0; collecting the angular velocity data output by the gyroscope in real time, judging whether the angular velocity is greater than 240dps, and if so, switching the measurement range to 500dps, and naming the state as state 1; and keeping the state 0 if not. Whether measurement range switching is required through the angular velocity output at present, the measurement accuracy is ensured by utilizing small measurement range under the low-velocity moving state, and under the high-velocity moving state, the measurement range is not exceed when the large measurement range is used in automatic switching, thus the effect of adaptive angular velocity calculation is reached under the condition without human intervention.
Description
Technical field
The present invention relates to have multiple range MEMS (MEMS) sensor, be specifically related to a kind of self-adaptation range control method of gyrosensor.
Background technology
Because the volume of the micro mechanical sensor of based semiconductor technology is little, in light weight, low-cost, makes them be widely used in scientific domain.Particularly gyrosensor is widely used in the various automation equipments, for example fields such as Aeronautics and Astronautics, navigation, automobile, weapons, handheld device.
When utilizing electronic gyroscope, use wide range in the object of measurement high speed rotation such as the space product, thereby and measure in high rotating object of low speed rotation accuracy requirement such as the handheld device and use little range to improve precision.Because range is big more, the unit amount that sensor output can be represented is big more, and just precision is low more.Digital and electronic gyro with 16 bit registers is output as example; When output valve for ± 32767 expression maximum range value angular velocity be respectively ± 250dps (degree/second), ± 2000dps then least unit ± 1 precision that can represent be respectively ± 0.00875dps and ± 0.07dps; The output range that is to say electronic gyroscope selects bigger its precision low more, and more little its precision of range value is high more.The weak point of prior art is: present electronic gyroscope sensor is used wide range in being applied to the situation of high speed rotating; And under the high-precision situation of needs, measure with a small amount of journey, satisfy high-speed case and high precision output thereby can't realize regulating automatically range.
Summary of the invention
The objective of the invention is to overcome the above-mentioned weak point of prior art; A kind of self-adaptation range control method of gyrosensor is provided; Need to judge whether switching range through angular velocity, automatically switch under high-speed motion state for low-speed motion state use a small amount of down journey assurance measuring accuracy and use wide range to guarantee that measurement range can reach current output.Thereby be issued to the effect of self-adaptation angular speed calculation in the situation that does not need human intervention.
Electronic gyroscope commonly used generally has 3 ranges to be respectively 250dps, 500dps, 2000dps.In the gyro rotary course, need initialization to specify register to select range; Can select minimum range 250dps in order to guarantee precision; The situation that causes in rotary course, having no to scale owing to the uncertainty to rotational speed makes the measurement result mistake, if the initialization measurement range selection is crossed conference precision under the low-speed motion situation is impacted.The scheme of robotization range of the present invention is: so begin initialization measurement range selection minimum range 250dps because of initial from stationary state; Switching range is 500dps when speed is increased to 240dps; The magnitude of angular velocity that at every turn collects is carried out real-time judge promptly before next sampled point collection, judge whether need switching range; Prove that through a large amount of experiment tests sensor has the delay of 2 data behind switching range, these 2 data remain the measurement result under the 250dps range, so will be at 240dps; Will switch during promptly less than maximum range 250dps, the output that prevents these 2 data is outrange output.And when under 500dps, switching to 250dps in order to prevent that switching register that near speed 240dps saltus step causes not stopping from influencing the performance of gyro, so the value of setting at negative edge is 200dps.Selected respectively rising edge 480dps of the mutual switching between the 500dps-2000dps range in like manner and negative edge 430dps, the generation that utilizes different rising edge threshold values and the setting of negative edge threshold values to avoid table tennis to switch.
The technical scheme that realizes the object of the invention is:
A kind of self-adaptation range control method of gyrosensor, comprising the steps: to be provided with the initial range of gyro is 250dps, naming this state is state 0; Gather the angular velocity data of gyro output in real time, whether judge angular velocity greater than 240dps, if then switching range is to 500dps, naming this state is state 1; If, then do not continue hold mode 0.When state exchange, the output of gyro angular velocity data has the time-delay of data, judges that the angular velocity of switching range is 240dps rather than 250dps, and purpose is to prevent that these data from being the outrange output valve.
When state 0 just had been transformed into state 1, the output of gyro angular velocity data had the time-delay of 2 data, and this moment, according under range 250dps state, calculating, naming this handoff procedure was state 0-1 with these 2 data.
Under the situation that is stabilized in state 1, whether judge angular velocity less than 200dps, if, then switching to state 0, this state has the time-delay of 2 data when switching, and naming this handoff procedure is state 1-0;
If not, then continue whether to judge angular velocity greater than 480dps, if, then switch to range 2000dps, naming this state is state 2, switching to state 2 these process namings from state 1 is state 1-2; If, then do not continue hold mode 1.When state 1 just had been transformed into state 2, the output of gyro angular velocity data had the time-delay of data, judged that the angular velocity of switching range is 480dps rather than 500dps, and purpose is to prevent that these data from being the outrange output valve.
Under the situation that is stabilized in state 2, whether judge angular velocity less than 430dps, if, then switch to state 1, switching to this process naming of 1 state from state 2 is state 2-1; If, then do not continue hold mode 2.
When state 0 is transformed into state 1 and is transformed into state 0 with state 1, judge that the angular velocity of switching range is respectively 240dps and 200dps, individual water-head must be arranged to prevent near angular velocity beating heart change certain value between the angular velocity of these 2 switching ranges.
When state 1 is transformed into state 2 and is transformed into state 1 with state 2, judge that the angular velocity of switching range is respectively 480dps and 430dps, individual water-head must be arranged to prevent near angular velocity beating heart change certain value between the angular velocity of these 2 switching ranges.
The present invention includes the conversion between each range, have the processing of data time-delay and the threshold values of conversion in the transfer process and choose.Each sampled point is real-time judge all, and discovery speed disposes the gyro register when exceeding current range or being lower than setting timely, switches to next range.
Because the sensitivity coefficient under each state is different; Like the sensitivity coefficient under the 250dps is 0.00875dps/LSB; Switch to the state of next range at register after; Initial 2 values of its output are still the output of last range, thus will be to the special processing of these 2 values, and the sensitivity coefficient of using a range calculates its value.
The threshold values of conversion must be chosen suitably, for example switches in the process of 500dps at 250dps, and its threshold values is decided to be 240dps, has individual buffering to be unlikely to overflow and to cause output error can for so tail 2 numbers.And switch in the process of 250dps at 500dps, defining its threshold values is 200dps, rather than 240dps is because prevent the range situation of saltus step generation back and forth between 250dps and 500dps always.
Description of drawings
Fig. 1 is a range control flow chart of the present invention.
Embodiment
Below in conjunction with accompanying drawing and specific embodiment the present invention is remake further detailed explanation.
Referring to Fig. 1, a kind of self-adaptation range control method of gyrosensor comprises the steps: that in step 101 it is 250dps that the initial range of gyro is set, and naming this state is state 0; In step 102, gather the angular velocity data of gyro output in real time; In step 103, whether judge angular velocity greater than 240dps, if in step 105, it is 500dps that range then is set, name range 500dps is a state 1; If not,, continue hold mode 0 in step 104.
In step 106, when state 0 just had been transformed into state 1, the output of gyro angular velocity data had the time-delay of 2 data, and this moment, according under range 250dps state, calculating, naming this handoff procedure was state 0-1 with these 2 data.
In step 107, under the situation that is stabilized in state 1; In step 108, gather the angular velocity data of gyro output in real time; In step 109, whether judge angular velocity less than 200dps, if in step 110, it is 250dps that range is set; In step 113, state 1 switches to state 0, and this state has the time-delay of 2 data when switching, and this moment, according under range 500dps state, calculating, naming this handoff procedure was state 1-0 with these 2 data;
If not, in step 112, continue then whether to judge angular velocity that if in step 111, it is 2000dps that range then is set, name range 2000dps is a state 2 greater than 480dps; In step 114, switching to state 2 these process namings from state 1 is state 1-2, and this state has the time-delay of 2 data when switching, this moment with these 2 data according to calculating under range 500dps state; If not,, continue hold mode 1 in step 115.
In step 116, under the situation that is stabilized in state 2; In step 117, gather the angular velocity data of gyro output in real time; In step 118, whether judge angular velocity less than 430dps, if in step 119, it is 500dps that range is set; In step 121, switching to this process naming of 1 state from state 2 is state 2-1, and this state has the time-delay of 2 data when switching, this moment with these 2 data according to calculating under range 2000dps state; If,, then do not continue hold mode 2 in step 120.
The present invention need to judge whether switching range through the angular velocity to current output, automatically switches under high-speed motion state for low-speed motion state use a small amount of down journey assurance measuring accuracy and uses wide range to guarantee that measurement range can reach.Thereby be issued to the effect of self-adaptation angular velocity in the situation that does not need human intervention.
Except that the foregoing description, the present invention can also have other embodiments, and all employings are equal to the technical scheme of replacement or equivalent transformation formation, all drop within the protection domain of requirement of the present invention.
Claims (8)
1. the self-adaptation range control method of a gyrosensor is characterized in that comprising the steps: to be provided with the initial range of gyro is 250dps, and naming this state is state 0; Gather the angular velocity data of gyro output in real time, whether judge angular velocity greater than 240dps, if then switching range is to 500dps, naming this state is state 1; If, then do not continue hold mode 0.
2. the self-adaptation range control method of gyrosensor according to claim 1; It is characterized in that; When state 0 just has been transformed into state 1; The output of gyro angular velocity data has the time-delay of 2 data, and this moment, according under range 250dps state, calculating, naming this handoff procedure was state 0-1 with these 2 data.
3. the self-adaptation range control method of gyrosensor according to claim 1 is characterized in that, under the situation that is stabilized in state 1; Judge that whether angular velocity is less than 200dps; If, then switching to state 0, this state has the time-delay of 2 data when switching; This moment, according under range 500dps state, calculating, naming this handoff procedure was state 1-0 with these 2 data;
If not; Then continue whether to judge angular velocity, if then switch to range 2000dps greater than 480dps; Naming this state is state 2; Switching to state 2 these process namings from state 1 is state 1-2, and this state has the time-delay of 2 data when switching, this moment with these 2 data according to calculating under range 500dps state; If, then do not continue hold mode 1.
4. the self-adaptation range control method of gyrosensor according to claim 3 is characterized in that, under the situation that is stabilized in state 2; Judge that whether angular velocity is less than 430dps; If, then switch to state 1, switching to this process naming of 1 state from state 2 is state 2-1; This state has the time-delay of 2 data when switching, this moment with these 2 data according to calculating under range 2000dps state; If, then do not continue hold mode 2.
5. the self-adaptation range control method of gyrosensor according to claim 1; It is characterized in that; When state exchange; The output of gyro angular velocity data has the time-delay of data, judges that the angular velocity of switching range is 240dps rather than 250dps, and purpose is to prevent that these data from being the outrange output valve.
6. the self-adaptation range control method of gyrosensor according to claim 3; It is characterized in that; When state 1 just has been transformed into state 2; The output of gyro angular velocity data has the time-delay of data, judges that the angular velocity of switching range is 480dps rather than 500dps, and purpose is to prevent that these data from being the outrange output valve.
7. the self-adaptation range control method of gyrosensor according to claim 4; It is characterized in that; When state 0 is transformed into state 1 and is transformed into state 0 with state 1; The angular velocity of judging switching range is respectively 240dps and 200dps, must have individual water-head to become to prevent near angular velocity beating heart certain value between the angular velocity of these 2 switching ranges.
8. the self-adaptation range control method of gyrosensor according to claim 4; It is characterized in that; When state 1 is transformed into state 2 and is transformed into state 1 with state 2; The angular velocity of judging switching range is respectively 480dps and 430dps, must have individual water-head to become to prevent near angular velocity beating heart certain value between the angular velocity of these 2 switching ranges.
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Cited By (7)
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| CN103900551A (en) * | 2014-03-08 | 2014-07-02 | 哈尔滨工程大学 | Method for enlarging range of high-precision closed loop fiber-optic gyroscope assisted by MEMS (Micro-electromechanical Systems) |
| CN104061922A (en) * | 2014-06-23 | 2014-09-24 | Tcl通讯（宁波）有限公司 | Mobile terminal gyroscope range setting method, system and mobile terminal |
| CN103900551B (en) * | 2014-03-08 | 2016-11-30 | 哈尔滨工程大学 | A kind of method of increase high-precision closed-loop optical fiber gyroscope range based on MEMS auxiliary |
| CN106289209A (en) * | 2016-07-22 | 2017-01-04 | 北京时代民芯科技有限公司 | A kind of gyroscope control method being applicable to wide-range and control system |
| CN106568997A (en) * | 2016-11-15 | 2017-04-19 | 深圳市鼎阳科技有限公司 | Switching control method and device of multimeter current range |
| CN108777738A (en) * | 2018-04-27 | 2018-11-09 | Oppo广东移动通信有限公司 | Fall method of adjustment and Related product |
| CN108931336A (en) * | 2017-05-23 | 2018-12-04 | 北京航天计量测试技术研究所 | A kind of high stability pressure control algorithm |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103900551A (en) * | 2014-03-08 | 2014-07-02 | 哈尔滨工程大学 | Method for enlarging range of high-precision closed loop fiber-optic gyroscope assisted by MEMS (Micro-electromechanical Systems) |
| CN103900551B (en) * | 2014-03-08 | 2016-11-30 | 哈尔滨工程大学 | A kind of method of increase high-precision closed-loop optical fiber gyroscope range based on MEMS auxiliary |
| CN104061922A (en) * | 2014-06-23 | 2014-09-24 | Tcl通讯（宁波）有限公司 | Mobile terminal gyroscope range setting method, system and mobile terminal |
| CN106289209A (en) * | 2016-07-22 | 2017-01-04 | 北京时代民芯科技有限公司 | A kind of gyroscope control method being applicable to wide-range and control system |
| CN106289209B (en) * | 2016-07-22 | 2019-07-23 | 北京时代民芯科技有限公司 | A kind of gyroscope control method and control system suitable for wide-range |
| CN106568997A (en) * | 2016-11-15 | 2017-04-19 | 深圳市鼎阳科技有限公司 | Switching control method and device of multimeter current range |
| CN106568997B (en) * | 2016-11-15 | 2019-06-07 | 深圳市鼎阳科技有限公司 | A kind of multimeter current range method for handover control and device |
| CN108931336A (en) * | 2017-05-23 | 2018-12-04 | 北京航天计量测试技术研究所 | A kind of high stability pressure control algorithm |
| CN108777738A (en) * | 2018-04-27 | 2018-11-09 | Oppo广东移动通信有限公司 | Fall method of adjustment and Related product |
| CN108777738B (en) * | 2018-04-27 | 2020-06-16 | Oppo广东移动通信有限公司 | Fall adjustment method and related product |
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Application publication date: 20120905 |