CN103017785A - Gyroscope sensor calibrating device and calibrating method - Google Patents
Gyroscope sensor calibrating device and calibrating method Download PDFInfo
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- CN103017785A CN103017785A CN2011102873314A CN201110287331A CN103017785A CN 103017785 A CN103017785 A CN 103017785A CN 2011102873314 A CN2011102873314 A CN 2011102873314A CN 201110287331 A CN201110287331 A CN 201110287331A CN 103017785 A CN103017785 A CN 103017785A
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Abstract
The invention discloses a gyroscope sensor calibrating device which comprises a CAN (Controller Area Network) bus, a fixing table, a calibration circuit board, a rotating bracket capable of fixing a plurality of sensor plates, motors for driving the rotating bracket to rotate and a man-machine interaction display board, wherein the fixing table consists of a bottom plate and side plates which are symmetrically arranged on two sides of the bottom plate; the calibration circuit board is arranged on the bottom plate; two ends of a rotating shaft of the rotating bracket are respectively installed on the side plates on two sides of the bottom plate; sensor slot devices through which the sensor plates are supplied with power and communicate with other components are arranged on the rotating bracket; the sensor slot devices are connected with the CAN bus; the motors are installed on the side surfaces of the side plates and are connected with the rotating shaft of the rotating bracket; photoelectric limiting switches for controlling the motors to operate and detecting the position of the rotating bracket are further arranged on the side plates; and both the calibration circuit board and the man-machine interaction display plate are connected with the CAN bus. The invention also discloses a calibrating method of a gyroscope sensor.
Description
Technical field
The present invention relates to a kind of gyro sensor calibrating installation and calibration steps.
Background technology
Gyro sensor of the prior art all exists temperature to float problem, and this brings very large inconvenience just for the enterprise of the high Intelligent Apparatus of ask for something dynamic property.Although the gyro sensor that some prices are higher is compared with the gyro sensor that price is comparatively cheap, its temperature problem of floating is to have alleviated, and has increased the financial burden of enterprise.Given this, gyro sensor is calibrated, just become a kind of mode of a lot of Reducing Cost in Enterprises, yet the device of calibrating for gyro sensor of the prior art, the efficient of its calibration is lower, can not calibrate angular velocity and the acceleration of gyro sensor in batches, and most of operation still needs manually to operate.
Summary of the invention
For deficiency of the prior art, the invention provides a kind of gyro sensor calibrating installation and calibration steps, can't carry out the in batches problem of calibration to solve gyro sensor calibrating installation of the prior art, mainly be to calibrate in batches the circuit board that is equipped with MCU control chip, gyro sensor and acceleration transducer under temperature control box.
For solving the problems of the technologies described above, the invention provides a kind of gyro sensor calibrating installation, comprise the CAN bus, fixed station, calibration circuit board, the fixing swivel mount of polylith sensor board, motor and the man-machine interaction display board of the rotation of driven rotary frame, described fixed station is comprised of base plate and the side plate that is symmetricly set on the base plate both sides, described calibration circuit board places on the described base plate, the rotating shaft two ends of described swivel mount are installed in respectively on the described side plate that is positioned at described base plate both sides, described swivel mount is provided with the sensor slot apparatus for sensor board energising and communication, this sensor slot apparatus is connected with described CAN bus, described motor is installed in the side of described side plate, and be connected with the rotating shaft of described swivel mount, also be provided with the control motor rotation on the described side plate and swivel mount carried out the photoelectric limit switch of position probing, described calibration circuit board be connected the man-machine interaction display board and all be connected with described CAN bus.
In the technical program, on the swivel mount fixedly the polylith sensor board calibrate, realized well the in batches purpose of calibration, with the sensor slot apparatus, calibration circuit board and man-machine interaction display board all access the CAN bus, adopted the means of communication of industrial bus CAN agreement, its reliability, stability and strong interference immunity, the overall construction design of whole device, can Automatic-searching and distribute the ID address, basically do not need manually to participate in calibration process, so its automation and intelligentification degree is high, because it is not calibrated for specific gyro sensor, therefore the equal adjustable of gyro sensor of high low price, convenient and saved the cost of enterprise.
For guaranteeing to reach well the in batches purpose of calibration, the quantity of described swivel mount is at least 4, and all swivel mounts are installed in parallel on the described side plate at the same level height, and a corresponding motor and the calibration circuit board of installing of each swivel mount.
For sensor board can be installed in easily on the swivel mount, described swivel mount is provided with for the fixing metal column of sensor board.
In order to control the anglec of rotation of motor and swivel mount, the unit that each motor and swivel mount consist of all arranges two described photoelectric limit switch.
For solving the problems of the technologies described above, the present invention also provides a kind of gyro sensor calibration steps, may further comprise the steps:
The first step is fixed on sensor board to be detected on the swivel mount of gyro sensor calibrating installation, and by data line access sensor slot apparatus, sensor board namely is connected with the CAN bus with sensor board;
Second step is placed horizontally at temperature control box inside with the gyro sensor calibrating installation, sets the temperature-time curve of temperature control box;
In the 3rd step, the man-machine interaction display board carries out the address ID parsing to calibration circuit board and sensor board;
In the 4th step, the man-machine interaction display board sends calibration command to all calibration circuit board, and then the man-machine interaction display board enters listening state;
In the 5th step, calibration circuit board is carried out angular velocity calibration and angle calibration system to the sensor on the sensor board;
In the 6th step, calibration circuit board is carried out angular velocity verification and angle verification to the sensor on the sensor board;
In the 7th step, whole calibration process finishes.
In the 3rd step, specifically formed by following steps:
Step 301, the man-machine interaction display board sends the calibration circuit board on the command lookup bus, and the man-machine interaction display board records the calibration circuit board address of response, and the number N of record calibration circuit board;
Step 302, man-machine interaction display board begin to send sensor address to i calibration circuit board and obtain order, and wherein i is since 1;
Step 303 after i piece calibration circuit board is received this order, begins to allow corresponding motor rotate;
Step 304, calibration circuit board is waited for after the motor spin stabilization, send an angular velocity test command to the CAN bus, attached the address of calibration circuit board in this order, sensor board is received after the angular velocity test command, judge whether to preserve the calibration circuit board address, if preserve, then without response, if not yet preserve, sensor board judges that then current magnitude of angular velocity is whether in predetermined scope, if so, then acquiescence is to correspond to this calibration circuit board, then the calibration circuit board address in the hold-over command, if not, then without response;
Step 305 is waited for 100ms, and motor stops operating;
Step 306, calibration circuit board sends and seeks address command to the CAN bus, the wait sensor board is responded, sensor board receives and seeks after the address command whether address contained in the contrast order is consistent with own calibration circuit board address of preserving, if consistent, then after the time-delay time at random, if MCU address to CAN bus transmission oneself inconsistent, does not then respond;
Step 307, calibration circuit board are waited for returning of all the sensors plate address value, no matter whether the address value of all the sensors plate all returns, all enter step 308;
Step 308, calibration circuit board is distributed to each MCU address sequence number according to the MCU address size of sensor board;
Step 309, calibration circuit board send the address resolution procedure END instruction to the man-machine interaction display board, and the man-machine interaction display board judges whether i equals N, if equal, then enters for the 4th step, if be not equal to, then enters step 302;
In the 5th step, specifically formed by following steps:
Step 501, all calibration circuit board receive that after the beginning calibration command, motor begins to rotate, and is made zero in the swivel mount position;
Step 502, calibration circuit board send the order of making zero to sensor board, after sensor board is received the order of making zero, begin school zero, time-delay, whether finish in calibration circuit board query sensors plate school zero, if finish, then enter step 503, if do not finish, restart step 502;
Step 503, motor begins rotation, treat that the motor rotational speed is stable after, calibration circuit board sends the angular velocity calibration command to sensor board, sensor board is received after the angular velocity order, begin to carry out the angular velocity calibration, time-delay, the angular velocity align mode is finished in the calibration circuit board inquiry, if all finish, then enter step 504, if all do not finish, restart step 503;
Step 504, motor stops the rotation after forwarding the set angle position to, calibration circuit board sends the angle calibration system order to sensor board, and sensor board is received after the angle calibration system order, begins to carry out angle calibration system, time-delay, calibration circuit board query sensors plate is finished the angle calibration system state, if all finish, then enters step 505, if all do not finish, then restart step 504;
Step 505, swivel mount are rotated to the horizontal reference position, and calibration finishes.
In the 6th step, specifically formed by following steps:
Step 601, calibration circuit board send the order of making zero to sensor board, after sensor is received the order of making zero, begin school zero, time-delay, whether finish in calibration circuit board query sensors school zero, if finish, then enter step 602, if do not finish, restart step 601;
Step 602, motor begins rotation, after treating that the motor rotational speed is stable, calibration circuit board sends the angular velocity check command to sensor board, sensor board is received after the angular velocity check command, begins to carry out the angular velocity verification, and the contrast angular velocity data whether data during with calibration approaches or be consistent, time-delay, angular velocity verification state is finished in the calibration circuit board inquiry;
Step 603, motor stops the rotation after forwarding the set angle position to, calibration circuit board sends the angle check command to sensor board, after sensor board is received the angle check command, begin to carry out the angle verification, the contrast angle-data whether data during with calibration approaches or is consistent, delays time, calibration circuit board query sensors plate is finished angle verification state, and checking procedure finishes.
In calibration and checking procedure, the temperature variation of temperature control box is set as three processes: first process, the greenhouse cooling of temperature control box stopped 10 minutes at-25 ℃ to-25 ℃; Second process begins to heat up from-25 ℃, is warmed up to 65 ℃ with 2 hours; The 3rd process stopped 10 minutes at 65 ℃.
During the slow liter of temperature control box temperature, calibration circuit board is carried out 150 times calibration continuously, wherein satisfies 70 correct data of calibration verification and preserves into the flash space of the MCU of sensor board.
Calibrating installation of the present invention has following useful technique effect:
(1) realized well the calibration of the batch of gyro sensor, solved gyro sensor and before calibration not, floated the output data of bringing because of temperature and depart from the problem at zero point, allowed the efficient of gyro sensor calibration be improved;
(2) this device adopts modern industry bus CAN agreement as means of communication, its reliability, stability and strong interference immunity;
(3) the intelligent degree of this plant automation is high, can Automatic-searching and distribute the ID address, substantially need not artificial Attended Operation;
(4) the equal adjustable of the gyroscope of high low price, the convenient cost of saving enterprise.
Calibration steps of the present invention has following useful technique effect:
(1) control of the temperature in when calibration is very reasonable, and the difference of the temperature environment by three processes changes, and has increased the accuracy of calibrate gyroscope sensor;
(2) in the process of calibration, the process of the checking data of increase has been avoided the error of calibrating;
(3) method of whole calibration is to design for the calibration of batch gyro sensor, has therefore solved in the prior art the in enormous quantities difficult problem of calibrate gyroscope sensor.
Description of drawings
Fig. 1 is the perspective view of gyro sensor calibrating installation of the present invention.
Fig. 2 is the front view that fixed station is connected with miscellaneous part among Fig. 1.
Fig. 3 is the CAN bus connection diagram of the embodiment of calibrating installation of the present invention.
Fig. 4 is the workflow diagram of the described calibration steps of the embodiment of the invention.
Among the figure: 11-base plate, 12-side plate, 2-calibration circuit board, 3-swivel mount, 4-motor, 5-man-machine interaction display board, 6-sensor slot apparatus, 7-photoelectric limit switch, 8-metal column.
Embodiment
Below in conjunction with drawings and the specific embodiments the present invention is described in further detail.
Embodiment:
As depicted in figs. 1 and 2, a kind of gyro sensor calibrating installation comprises CAN bus, fixed station, calibration circuit board 2, the fixedly swivel mount 3, motor 4 and the man-machine interaction display board 5 of driven rotary frame 3 rotations of polylith sensor board.Described fixed station is comprised of base plate 11 and the side plate 12 that is symmetricly set on base plate 11 both sides, and described calibration circuit board 2 places on the described base plate 11, and the rotating shaft two ends of described swivel mount 3 are installed in respectively on the described side plate 12 that is positioned at described base plate 11 both sides.Described swivel mount 3 is provided with the sensor slot apparatus 6 for sensor board energising and communication, and this sensor slot apparatus 6 is connected with described CAN bus.Described motor 4 is installed in the side of described side plate 12, and is connected with the rotating shaft of described swivel mount 3.Also be provided with the photoelectric limit switch 7 that control motor 4 turns round and swivel mount 3 carried out position probing on the described side plate 12.Described calibration circuit board 2 be connected man-machine interaction display board 5 and all be connected with described CAN bus.For guaranteeing to reach well the in batches purpose of calibration, the quantity of described swivel mount 3 be 4 (also passable more than 4, mainly be that size for temperature control box decides), all swivel mounts 3 are installed in parallel on the described side plate 12 at the same level height, and each swivel mount 3 a corresponding motor 4 and calibration circuit board 2 of installing.For sensor board can be installed in easily on the swivel mount 3, described swivel mount 3 is provided with for the fixing metal column 8 of sensor board.In order to control the anglec of rotation of motor 4 and swivel mount 3, each motor 4 all arranges two described photoelectric limit switch 7 with the unit that swivel mount 3 consists of.
As shown in Figure 3, Fig. 3 is the CAN bus connection diagram of the embodiment of calibrating installation of the present invention.As can be seen from Figure 3, sensor board, calibration circuit board 2 and man-machine interaction display board 5 are all accessed the CAN bus, adopted the means of communication of industrial bus CAN agreement, its reliability, stability and anti-interference are just more intense.
The disclosed gyro sensor calibrating installation of present embodiment, can fix altogether 16 sensor boards on 4 swivel mounts 3 calibrates, realized well the in batches purpose of calibration, the overall construction design of whole device, can Automatic-searching and distribute the ID address, basically do not need manually to participate in calibration process, therefore its automation and intelligentification degree is high, because it is not calibrated for specific gyro sensor, therefore the equal adjustable of gyro sensor of high low price, convenient and saved the cost of enterprise.
As shown in Figure 4, Fig. 4 is the workflow diagram of the described calibration steps of present embodiment.A kind of calibration steps of gyro sensor may further comprise the steps:
S401, the first step is fixed on sensor board to be detected on the swivel mount 3 of gyro sensor calibrating installation, and by data line access sensor slot apparatus, sensor board namely is connected with the CAN bus with sensor board;
S402, second step is placed horizontally at temperature control box inside with the gyro sensor calibrating installation, sets the temperature-time curve of temperature control box;
S403, in the 3rd step, man-machine interaction display board 5 sends the calibration circuit board 2 on the command lookup CAN bus;
S404, in the 4th step, man-machine interaction display board 5 records calibration circuit board 2 addresses of response, and the number N of record calibration circuit board 2;
S405, in the 5th step, 5 beginnings of man-machine interaction display board send sensor address to i calibration circuit board 2 and obtain order, and wherein i is since 1;
S406 in the 6th step, after i piece calibration circuit board 2 is received this order, begins to allow corresponding motor 4 rotate;
S407, the 7th step, calibration circuit board 2 is waited for after motor 4 spin stabilizations, send an angular velocity test command to the CAN bus, attached the address of calibration circuit board 2 in this order, sensor board is received after the angular velocity test command, judges whether to preserve calibration circuit board 2 addresses, if preserve, then without response, if not yet preserve, sensor board is then judged current magnitude of angular velocity whether in predetermined scope, if, then acquiescence is to correspond to this calibration circuit board 2, then 2 addresses of the calibration circuit board in the hold-over command, if not, then without response;
S408 in the 8th step, treats after the 7th EOS that wait for 100ms, motor 4 stops operating;
S409, the 9th step, calibration circuit board 2 sends seeks address command to the CAN bus, waits for the sensor board response, and sensor board is received and sought after the address command, whether address contained in the contrast order is consistent with own calibration circuit board 2 addresses of preserving, if consistent, then after the time-delay time at random, send the MCU address of oneself to the CAN bus, if inconsistent, then do not respond;
S410, in the tenth step, calibration circuit board 2 is waited for returning of all the sensors plate address value, no matter whether the address value of all the sensors plate all returns, all enters for the 11 step;
S411, in the 11 step, calibration circuit board 2 is distributed to each MCU address sequence number according to the MCU address size of sensor board;
S412, in the 12 step, calibration circuit board 2 sends the address resolution procedure END instruction to man-machine interaction display board 5, and man-machine interaction display board 5 judges whether i equals N, if equal, then enters for the 13 step, if be not equal to, then enters for the 5th step;
S413, in the 13 step, man-machine interaction display board 5 sends the beginning calibration command to all calibration circuit board 2, and then man-machine interaction display board 5 enters listening state;
S414, in the 14 step, all calibration circuit board 2 receive that after the beginning calibration command, motor 4 begins to rotate, and is made zero in swivel mount 3 positions;
S415, in the 15 step, calibration circuit board 2 sends the order of making zero to sensor board, after sensor board is received the order of making zero, begin school zero, time-delay, whether finish in calibration circuit board 2 query sensors plate schools zero, if finish, then entered for the 16 step, if do not finish, restarted for the 15 step;
S416, in the 16 step, motor 4 begins rotation, after treating that motor 4 rotational speeies are stable, calibration circuit board 2 sends the angular velocity calibration command to sensor board, and sensor board is received after the angular velocity order, begins to carry out the angular velocity calibration, time-delay, the angular velocity align mode is finished in calibration circuit board 2 inquiries, if all finish, then enters for the 17 step, if all do not finish, restarted for the 16 step;
S417, in the 17 step, motor 4 stops the rotation after forwarding the set angle position to, and calibration circuit board 2 sends the angle calibration system order to sensor board, sensor board is received after the angle calibration system order, begin to carry out angle calibration system, time-delay, calibration circuit board 2 query sensors plates are finished the angle calibration system state, if all finish, then entered for the 18 step, if all do not finish, then restarted for the 17 step;
S418, in the 18 step, primary calibration finishes, and swivel mount 3 rotates to the horizontal reference position, then enters checking procedure;
S419, in the 19 step, calibration circuit board 2 sends the order of making zero to sensor board, after sensor is received the order of making zero, begin school zero, time-delay, whether finish in calibration circuit board 2 query sensors schools zero, if finish, then entered for the 20 step, if do not finish, restarted for the 19 step;
S420, the 20 step, motor 4 begins rotation, after treating that motor 4 rotational speeies are stable, calibration circuit board 2 sends the angular velocity check command to sensor board, and sensor board is received after the angular velocity check command, begin to carry out the angular velocity verification, the contrast angular velocity data whether data during with calibration approaches or is consistent, time-delay, and calibration circuit board 2 is inquired about the angular velocity verification state of finishing;
S421, the 21 step, motor 4 stops the rotation after forwarding the set angle position to, calibration circuit board 2 sends the angle check command to sensor board, after sensor board is received the angle check command, begins to carry out the angle verification, the contrast angle-data whether data during with calibration approaches or is consistent, time-delay, calibration circuit board 2 query sensors plates are finished angle verification state, and checking procedure finishes;
S422, in the 22 step, whole calibration process finishes.
In the calibration and checking procedure of present embodiment, the temperature variation of temperature control box is set as three processes: first process, the temperature of temperature control box is with maximum rate of temperature fall (different temperature control box, the maximal value of its rate of temperature fall is different, therefore the numerical value of maximum rate of temperature fall is set according to actual conditions) cool to-25 ℃, stopped 10 minutes at-25 ℃; Second process begins to heat up from-25 ℃, is warmed up to 65 ℃ with 2 hours; The 3rd process stopped 10 minutes at 65 ℃.During the slow liter of temperature control box temperature, calibration circuit board 2 is carried out 150 times calibration continuously, wherein satisfies 70 correct data of calibration verification and preserves into the flash space of the MCU of sensor board.
Above-listed detailed description is that this embodiment limits claim of the present invention for the specifying of possible embodiments of the present invention, and the equivalence that all the present invention of disengaging do is implemented or change, all should be contained in the claim of this case.
Claims (10)
1. gyro sensor calibrating installation, it is characterized in that: comprise the CAN bus, fixed station, calibration circuit board, the fixing swivel mount of polylith sensor board, motor and the man-machine interaction display board of the rotation of driven rotary frame, described fixed station is comprised of base plate and the side plate that is symmetricly set on the base plate both sides, described calibration circuit board places on the described base plate, the rotating shaft two ends of described swivel mount are installed in respectively on the described side plate that is positioned at described base plate both sides, described swivel mount is provided with the sensor slot apparatus for sensor board energising and communication, this sensor slot apparatus is connected with described CAN bus, described motor is installed in the side of described side plate, and be connected with the rotating shaft of described swivel mount, also be provided with the control motor rotation on the described side plate and swivel mount carried out the photoelectric limit switch of position probing, described calibration circuit board be connected the man-machine interaction display board and all be connected with described CAN bus.
2. gyro sensor calibrating installation according to claim 1, it is characterized in that: the quantity of described swivel mount is at least 4, all swivel mounts are installed in parallel on the described side plate at the same level height, and a corresponding motor and the calibration circuit board of installing of each swivel mount.
3. gyro sensor calibrating installation according to claim 1 and 2 is characterized in that: described swivel mount is provided with for the fixing metal column of sensor board.
4. gyro sensor calibrating installation according to claim 1 and 2 is characterized in that: the unit that each motor and swivel mount consist of all arranges two described photoelectric limit switch.
5. a gyro sensor calibration steps is characterized in that, may further comprise the steps:
The first step is fixed on sensor board to be detected on the swivel mount of gyro sensor calibrating installation, and by data line access sensor slot apparatus, sensor board namely is connected with the CAN bus with sensor board;
Second step is placed horizontally at temperature control box inside with the gyro sensor calibrating installation, sets the temperature-time curve of temperature control box;
In the 3rd step, the man-machine interaction display board carries out the address ID parsing to calibration circuit board and sensor board;
In the 4th step, the man-machine interaction display board sends calibration command to all calibration circuit board, and then the man-machine interaction display board enters listening state;
In the 5th step, calibration circuit board is carried out angular velocity calibration and angle calibration system to the sensor on the sensor board;
In the 6th step, calibration circuit board is carried out angular velocity verification and angle verification to the sensor on the sensor board;
In the 7th step, whole calibration process finishes.
6. method according to claim 5 is characterized in that, in the 3rd step, specifically is comprised of following steps:
Step 301, the man-machine interaction display board sends the calibration circuit board on the command lookup bus, and the man-machine interaction display board records the calibration circuit board address of response, and the number N of record calibration circuit board;
Step 302, man-machine interaction display board begin to send sensor address to i calibration circuit board and obtain order, and wherein i is since 1;
Step 303 after i piece calibration circuit board is received this order, begins to allow corresponding motor rotate;
Step 304, calibration circuit board is waited for after the motor spin stabilization, send an angular velocity test command to the CAN bus, attached the address of calibration circuit board in this order, sensor board is received after the angular velocity test command, judge whether to preserve the calibration circuit board address, if preserve, then without response, if not yet preserve, sensor board judges that then current magnitude of angular velocity is whether in predetermined scope, if so, then acquiescence is to correspond to this calibration circuit board, then the calibration circuit board address in the hold-over command, if not, then without response;
Step 305 is waited for 100ms, and motor stops operating;
Step 306, calibration circuit board sends and seeks address command to the CAN bus, the wait sensor board is responded, sensor board receives and seeks after the address command whether address contained in the contrast order is consistent with own calibration circuit board address of preserving, if consistent, then after the time-delay time at random, if MCU address to CAN bus transmission oneself inconsistent, does not then respond;
Step 307, calibration circuit board are waited for returning of all the sensors plate address value, no matter whether the address value of all the sensors plate all returns, all enter step 308;
Step 308, calibration circuit board is distributed to each MCU address sequence number according to the MCU address size of sensor board;
Step 309, calibration circuit board send the address resolution procedure END instruction to the man-machine interaction display board, and the man-machine interaction display board judges whether i equals N, if equal, then enters for the 4th step, if be not equal to, then enters step 302.
7. method according to claim 5 is characterized in that, in the 5th step, specifically is comprised of following steps:
Step 501, all calibration circuit board receive that after the beginning calibration command, motor begins to rotate, and is made zero in the swivel mount position;
Step 502, calibration circuit board send the order of making zero to sensor board, after sensor board is received the order of making zero, begin school zero, time-delay, whether finish in calibration circuit board query sensors plate school zero, if finish, then enter step 503, if do not finish, restart step 502;
Step 503, motor begins rotation, treat that the motor rotational speed is stable after, calibration circuit board sends the angular velocity calibration command to sensor board, sensor board is received after the angular velocity order, begin to carry out the angular velocity calibration, time-delay, the angular velocity align mode is finished in the calibration circuit board inquiry, if all finish, then enter step 504, if all do not finish, restart step 503;
Step 504, motor stops the rotation after forwarding the set angle position to, calibration circuit board sends the angle calibration system order to sensor board, and sensor board is received after the angle calibration system order, begins to carry out angle calibration system, time-delay, calibration circuit board query sensors plate is finished the angle calibration system state, if all finish, then enters step 505, if all do not finish, then restart step 504;
Step 505, swivel mount are rotated to the horizontal reference position, and calibration finishes.
8. method according to claim 5 is characterized in that, in the 6th step, specifically is comprised of following steps:
Step 601, calibration circuit board send the order of making zero to sensor board, after sensor is received the order of making zero, begin school zero, time-delay, whether finish in calibration circuit board query sensors school zero, if finish, then enter step 602, if do not finish, restart step 601;
Step 602, motor begins rotation, after treating that the motor rotational speed is stable, calibration circuit board sends the angular velocity check command to sensor board, sensor board is received after the angular velocity check command, begins to carry out the angular velocity verification, and the contrast angular velocity data whether data during with calibration approaches or be consistent, time-delay, angular velocity verification state is finished in the calibration circuit board inquiry;
Step 603, motor stops the rotation after forwarding the set angle position to, calibration circuit board sends the angle check command to sensor board, after sensor board is received the angle check command, begin to carry out the angle verification, the contrast angle-data whether data during with calibration approaches or is consistent, delays time, calibration circuit board query sensors plate is finished angle verification state, and checking procedure finishes.
9. method according to claim 5 is characterized in that, in calibration and checking procedure, the temperature variation of temperature control box is set as three processes: first process, the greenhouse cooling of temperature control box stopped 10 minutes at-25 ℃ to-25 ℃; Second process begins to heat up from-25 ℃, is warmed up to 65 ℃ with 2 hours; The 3rd process stopped 10 minutes at 65 ℃.
10. according to claim 5 or 9 described methods, it is characterized in that: the temperature control box temperature is slow rise during, calibration circuit board is carried out 150 times calibration continuously, wherein satisfies 70 correct data of calibration verification and preserves into the flash space of the MCU of sensor board.
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| CN103776468A (en) * | 2014-02-21 | 2014-05-07 | 深圳乐行天下科技有限公司 | Gyroscope and accelerometer batch calibration device and gyroscope and accelerometer batch calibration method |
| CN104501837A (en) * | 2015-01-15 | 2015-04-08 | 大连楼兰科技股份有限公司 | Vehicle-mounted OBD (On Board Diagnostic) device internally arranged inertia assembly parallel calibration and detection method and system thereof |
| CN106052741A (en) * | 2016-07-04 | 2016-10-26 | 苏州光之翼智能科技有限公司 | Batch calibration apparatus and method for temperatures of multi-axis aircraft sensors |
| CN107907144A (en) * | 2017-12-18 | 2018-04-13 | 苏州市建设工程质量检测中心有限公司 | A kind of deviational survey automatic calibration of sensor equipment |
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| US20110018688A1 (en) * | 2009-07-24 | 2011-01-27 | Keyence Corporation | Connected Sensor System, Network Unit, And Sensor Unit |
| CN201653429U (en) * | 2010-04-29 | 2010-11-24 | 北京航天控制仪器研究所 | MEMS gyro test system with double-shaft turntable |
| CN102147264A (en) * | 2010-12-30 | 2011-08-10 | 东莞易步机器人有限公司 | Method for calibrating gyroscope modules in batch |
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| CN106052741A (en) * | 2016-07-04 | 2016-10-26 | 苏州光之翼智能科技有限公司 | Batch calibration apparatus and method for temperatures of multi-axis aircraft sensors |
| CN106052741B (en) * | 2016-07-04 | 2018-07-20 | 苏州光之翼智能科技有限公司 | A kind of Multi-axis aircraft sensor batch temperature calibrating installation and its method |
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