CN103017785B - Gyro sensor calibrating installation and calibration steps - Google Patents
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Abstract
The invention discloses a kind of gyro sensor calibrating installation, comprise CAN, fixed station, calibration circuit board, the swivel mount of polylith sensor board can be fixed, the motor that driven rotary frame rotates and man-machine interaction display board, described fixed station is made up of base plate and the side plate being symmetricly set on base plate both sides, described calibration circuit board is placed on described base plate, the rotating shaft two ends of described swivel mount be arranged on respectively be positioned at described base plate both sides described side plate on, described swivel mount is provided with the sensor slot device for sensor board energising and communication, this sensor slot device is connected with described CAN, described motor is arranged on the side of described side plate, and be connected with the rotating shaft of described swivel mount, described side plate is also provided with the photoelectric limit switch controlling motor rotation and swivel mount is carried out to position detection, described calibration circuit board is all connected with described CAN with described man-machine interaction display board.The invention also discloses a kind of calibration steps of gyro sensor.
Description
Technical field
The present invention relates to a kind of gyro sensor calibrating installation and calibration steps.
Background technology
, all there is warm drift problem in gyro sensor of the prior art, this brings very large inconvenience just to the enterprise of the high Intelligent Apparatus of ask for something dynamic property.Although the gyro sensor that some prices are higher, compared with price gyro sensor inexpensively, its warm drift problem alleviates, and is the increase in 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, but the device carrying out calibrating for gyro sensor of the prior art, the efficiency comparison of its calibration is low, batch can not be calibrated by the angular velocity of gyro sensor and acceleration, 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, to solve the problem that gyro sensor calibrating installation of the prior art cannot carry out batch calibration, mainly under temperature control box, batch calibration is equipped with the circuit board of MCU control chip, gyro sensor and acceleration transducer.
For solving the problems of the technologies described above, the invention provides a kind of gyro sensor calibrating installation, comprise CAN, fixed station, calibration circuit board, the swivel mount of polylith sensor board can be fixed, the motor that driven rotary frame rotates and man-machine interaction display board, described fixed station is made up of base plate and the side plate being symmetricly set on base plate both sides, described calibration circuit board is placed on described base plate, the rotating shaft two ends of described swivel mount be arranged on respectively be positioned at described base plate both sides described side plate on, described swivel mount is provided with the sensor slot device for sensor board energising and communication, this sensor slot device is connected with described CAN, described motor is arranged on the side of described side plate, and be connected with the rotating shaft of described swivel mount, described side plate is also provided with the photoelectric limit switch controlling motor rotation and swivel mount is carried out to position detection, described calibration circuit board is all connected with described CAN with described man-machine interaction display board.
In the technical program, swivel mount can be fixed polylith sensor board to calibrate, achieve the object of batch calibration well, by sensor slot device, calibration circuit board and man-machine interaction display board all access CAN, have employed the means of communication of industrial bus CAN protocol, its reliability, stability and strong interference immunity, the overall construction design of whole device, can Automatic-searching distribute ID address, substantially 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 the gyro sensor of high low price, facilitate and saved the cost of enterprise.
For guaranteeing the object reaching batch calibration well, the quantity of described swivel mount is at least 4, and all swivel mounts are installed in parallel on described side plate on same level height, and each swivel mount correspondence installs a motor and a calibration circuit board.
In order to allow sensor board be arranged on swivel mount easily, 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 are formed all arranges two described photoelectric limit switch.
For solving the problems of the technologies described above, present invention also offers a kind of gyro sensor calibration steps, comprising the following steps:
The first step, is fixed on the swivel mount of gyro sensor calibrating installation by sensor board to be detected, by sensor board by data line access sensor slot device, namely sensor board is connected with CAN;
Second step, is placed horizontally at temperature control box inside by gyro sensor calibrating installation, the temperature-time curve of setting temperature control box;
3rd step, man-machine interaction display board carries out address ID parsing to calibration circuit board and sensor board;
4th step, man-machine interaction display board sends calibration command to all calibration circuit board, and then man-machine interaction display board enters listening state;
5th step, calibration circuit board carries out angular velocity calibration and angle calibration system to the sensor on sensor board;
6th step, calibration circuit board carries out the verification of angular velocity School Affairs angle to the sensor on sensor board;
7th step, whole calibration process terminates.
In the third step, be specifically made up of following steps:
Step 301, man-machine interaction display board sends the calibration circuit board in command lookup bus, and man-machine interaction display board records the calibration circuit board address of response, and records the number N of calibration circuit board;
Step 302, man-machine interaction display board starts to send sensor address to i-th calibration circuit board and obtains order, and wherein i is from 1;
Step 303, after i-th piece of calibration circuit board receives this order, starts to allow corresponding motor rotate;
Step 304, after calibration circuit board waits for motor spin stabilization, an angular velocity test command is sent to CAN, the address of calibration circuit board has been attached in this order, after sensor board receives angular velocity test command, judge whether to preserve calibration circuit board address, if preserved, then without response, if not yet preserved, sensor board then judges current angular velocity value whether in predetermined scope, if so, then acquiescence corresponds to this calibration circuit board, the calibration circuit board address then in hold-over command, if not, then without response;
Step 305, waits for 100ms, motor stalls;
Step 306, calibration circuit board sends and seeks address command to CAN, wait sensor board is responded, after sensor board receives and seeks address command, whether the calibration circuit board address that in contrast order, contained address is preserved with oneself is consistent, if unanimously, after the time that then time delay is random, send the MCU address of oneself to CAN, if inconsistent, then do not respond;
Step 307, calibration circuit board waits for returning of all the sensors plate address value, and whether the address value regardless of all the sensors plate all returns, and all enters step 308;
Step 308, calibration circuit board distributes to each MCU address sequence number according to the MCU address size of sensor board;
Step 309, calibration circuit board sends address resolution procedure END instruction to man-machine interaction display board, and man-machine interaction display board judges whether i equals N, if equaled, then enters the 4th step, if be not equal to, then enters step 302;
In the 5th step, be specifically made up of following steps:
Step 501, after all calibration circuit board receive and start calibration command, motor starts to rotate, and is made zero in swivel mount position;
Step 502, calibration circuit board sends zero order to sensor board, and sensor board starts school zero after receiving zero order, time delay, whether calibration circuit board query sensors plate school zero completes, if completed, then enter step 503, if do not completed, restart step 502;
Step 503, motor starts to rotate, and after treating that motor rotational speed is stable, calibration circuit board sends angular velocity calibration command to sensor board, after sensor board receives angular velocity order, start to carry out angular velocity calibration, time delay, calibration circuit board has inquired about angular velocity align mode, if all completed, then enter step 504, if all do not completed, restart step 503;
Step 504, motor stops the rotation after forwarding set angle position to, calibration circuit board sends angle calibration system order to sensor board, after sensor board receives angle calibration system order, starts to carry out angle calibration system, time delay, calibration circuit board query sensors plate completes angle calibration system state, if all completed, then enters step 505, if all do not completed, then restart step 504;
Step 505, swivel mount rotates to horizontal reference position, and calibration terminates.
In the 6th step, be specifically made up of following steps:
Step 601, calibration circuit board sends zero order to sensor board, and sensor starts school zero after receiving zero order, time delay, whether calibration circuit board query sensors school zero completes, if completed, then enter step 602, if do not completed, restart step 601;
Step 602, motor starts to rotate, after treating that motor rotational speed is stable, calibration circuit board sends angular velocity check command to sensor board, after sensor board receives angular velocity check command, start to carry out angular velocity verification, whether contrast angular velocity data is close or consistent with data during calibration, time delay, calibration circuit board has inquired about angular velocity verification state;
Step 603, motor stops the rotation after forwarding set angle position to, calibration circuit board sends angle check command to sensor board, after sensor board receives angle check command, start to carry out angle verification, whether contrast angle-data is close or consistent with data during calibration, time delay, calibration circuit board query sensors plate completes angle verification state, and checking procedure terminates.
In calibration and checking procedure, the temperature variation of temperature control box is set as three processes: first process, and the greenhouse cooling of temperature control box, to-25 DEG C, stops 10 minutes at-25 DEG C; Second process, heats up, was warmed up to 65 DEG C with 2 hours from-25 DEG C; 3rd process, stops 10 minutes at 65 DEG C.
During the slow liter of temperature control box temperature, calibration circuit board carries out the calibration of 150 times continuously, wherein meets 70 calibrations and verifies the flash space that correct data preserve the MCU into sensor board.
Calibrating installation of the present invention has following Advantageous Effects:
(1) achieve well and calibrate the batch of gyro sensor, solve gyro sensor and float in the cause temperature of not calibrating the problem that the output data brought depart from zero point, the efficiency allowing gyro sensor calibrate is improved;
(2) this device adopts modern industry bus CAN protocol as means of communication, its reliability, stability and strong interference immunity;
(3) this plant automation intelligence degree is high, can Automatic-searching distribute ID address, substantially without the need to artificial Attended Operation;
(4) the equal adjustable of the gyroscope of high low price, the convenient cost saving enterprise.
Calibration steps of the present invention has following Advantageous Effects:
(1) temperature during calibration controls very reasonable, is changed, add the accuracy of calibrate gyroscope sensor by the difference of the temperature environment of three processes;
(2) in the process of calibration, the process of the checking data of increase, avoids the error of calibration;
(3) method of whole calibration is calibration for batch gyro sensor and designs, and therefore solving in prior art cannot the difficult problem of calibrate gyroscope sensor in enormous quantities.
Accompanying drawing explanation
Fig. 1 is the perspective view of gyro sensor calibrating installation of the present invention.
Fig. 2 is the front view that in Fig. 1, fixed station is connected with miscellaneous part.
Fig. 3 is the CAN connection diagram of the embodiment of calibrating installation of the present invention.
Fig. 4 is the workflow diagram of calibration steps described in the embodiment of the present invention.
In 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 device, 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, comprise CAN, fixed station, calibration circuit board 2, the swivel mount 3 that polylith sensor board can be fixed, driven rotary frame 3 rotate motor 4 and man-machine interaction display board 5.Described fixed station is made up 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 is placed on described base plate 11, the rotating shaft two ends of described swivel mount 3 be arranged on respectively be positioned at described base plate 11 both sides described side plate 12 on.Described swivel mount 3 is provided with the sensor slot device 6 for sensor board energising and communication, and this sensor slot device 6 is connected with described CAN.Described motor 4 is arranged on the side of described side plate 12, and is connected with the rotating shaft of described swivel mount 3.Described side plate 12 is also provided with control motor 4 operate and swivel mount 3 carried out to the photoelectric limit switch 7 of position detection.Described calibration circuit board 2 is all connected with described CAN with described man-machine interaction display board 5.For guaranteeing the object reaching batch calibration well, the quantity of described swivel mount 3 be 4 (also passable more than 4, size mainly for temperature control box decides), all swivel mounts 3 are installed in parallel on described side plate 12 on same level height, and each swivel mount 3 correspondence installs a motor 4 and a calibration circuit board 2.In order to sensor board can be arranged on easily on 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, the unit that each motor 4 and swivel mount 3 are formed all arranges two described photoelectric limit switch 7.
As shown in Figure 3, Fig. 3 is the CAN 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 CAN, have employed the means of communication of industrial bus CAN protocol, its reliability, stability and anti-interference are just stronger.
Gyro sensor calibrating installation disclosed in the present embodiment, 4 swivel mounts 3 can be fixed altogether 16 pieces of sensor boards to calibrate, achieve the object of batch calibration well, the overall construction design of whole device, can Automatic-searching distribute ID address, substantially 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 the gyro sensor of high low price, facilitates and has saved the cost of enterprise.
As shown in Figure 4, Fig. 4 is the workflow diagram of calibration steps described in the present embodiment.A calibration steps for gyro sensor, comprises the following 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 sensor board by data line access sensor slot device, namely sensor board is connected with CAN;
S402, second step, is placed horizontally at temperature control box inside by gyro sensor calibrating installation, the temperature-time curve of setting temperature control box;
S403, the 3rd step, man-machine interaction display board 5 sends the calibration circuit board 2 in command lookup CAN;
S404, the 4th step, man-machine interaction display board 5 records calibration circuit board 2 address of response, and records the number N of calibration circuit board 2;
S405, the 5th step, man-machine interaction display board 5 starts to send sensor address to i-th calibration circuit board 2 and obtains order, and wherein i is from 1;
S406, the 6th step, after i-th piece of calibration circuit board 2 receives this order, starts to allow corresponding motor 4 rotate;
S407, 7th step, after calibration circuit board 2 waits for motor 4 spin stabilization, an angular velocity test command is sent to CAN, the address of calibration circuit board 2 has been attached in this order, after sensor board receives angular velocity test command, judge whether to preserve calibration circuit board 2 address, if preserved, then without response, if not yet preserved, sensor board then judges current angular velocity value whether in predetermined scope, if, then acquiescence corresponds to this calibration circuit board 2, then calibration circuit board 2 address in hold-over command, if not, then without response,
S408, the 8th step, after treating the 7th EOS, wait for 100ms, motor 4 stops operating;
S409,9th step, calibration circuit board 2 sends and seeks address command to CAN, waits for that sensor board is responded, after sensor board receives and seeks address command, whether calibration circuit board 2 address that in contrast order, contained address is preserved with oneself is consistent, if consistent, then after the time that time delay is random, send the MCU address of oneself to CAN, if inconsistent, then do not respond;
S410, the tenth step, calibration circuit board 2 waits for returning of all the sensors plate address value, and whether the address value regardless of all the sensors plate all returns, and all enters the 11 step;
S411, the 11 step, calibration circuit board 2 distributes to each MCU address sequence number according to the MCU address size of sensor board;
S412, the 12 step, calibration circuit board 2 sends 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 equaled, then enters the 13 step, if be not equal to, then enters the 5th step;
S413, the 13 step, man-machine interaction display board 5 sends and starts calibration command to all calibration circuit board 2, and then man-machine interaction display board 5 enters listening state;
S414, the 14 step, after all calibration circuit board 2 receive and start calibration command, motor 4 starts to rotate, and is made zero in swivel mount 3 position;
S415, the 15 step, calibration circuit board 2 sends zero order to sensor board, after sensor board receives zero order, start school zero, time delay, whether calibration circuit board 2 query sensors plate school zero completes, if completed, then enter the 16 step, if do not completed, restart the 15 step;
S416, the 16 step, motor 4 starts to rotate, after treating that motor 4 rotational speed is stable, calibration circuit board 2 sends angular velocity calibration command to sensor board, after sensor board receives angular velocity order, starts to carry out angular velocity calibration, time delay, calibration circuit board 2 has inquired about angular velocity align mode, if all completed, then enters the 17 step, if all do not completed, restart the 16 step;
S417,17 step, motor 4 stops the rotation after forwarding set angle position to, and calibration circuit board 2 sends angle calibration system order to sensor board, after sensor board receives angle calibration system order, start to carry out angle calibration system, time delay, calibration circuit board 2 query sensors plate completes angle calibration system state, if all completed, then enter the 18 step, if all do not completed, then restart the 17 step;
S418, the 18 step, primary calibration terminates, and swivel mount 3 rotates to horizontal reference position, then enters checking procedure;
S419, the 19 step, calibration circuit board 2 sends zero order to sensor board, after sensor receives zero order, start school zero, time delay, whether calibration circuit board 2 query sensors school zero completes, if completed, then enter the 20 step, if do not completed, restart the 19 step;
S420,20 step, motor 4 starts to rotate, after treating that motor 4 rotational speed is stable, calibration circuit board 2 sends angular velocity check command to sensor board, after sensor board receives angular velocity check command, start to carry out angular velocity verification, whether contrast angular velocity data is close or consistent with data during calibration, time delay, and calibration circuit board 2 has inquired about angular velocity verification state;
S421,21 step, motor 4 stops the rotation after forwarding set angle position to, calibration circuit board 2 sends angle check command to sensor board, after sensor board receives angle check command, starts to carry out angle verification, whether contrast angle-data is close or consistent with data during calibration, time delay, calibration circuit board 2 query sensors plate completes angle verification state, and checking procedure terminates;
S422, the 22 step, whole calibration process terminates.
In the calibration of the present embodiment and checking procedure, 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 sets according to actual conditions) cool to-25 DEG C, stop 10 minutes at-25 DEG C; Second process, heats up, was warmed up to 65 DEG C with 2 hours from-25 DEG C; 3rd process, stops 10 minutes at 65 DEG C.During the slow liter of temperature control box temperature, calibration circuit board 2 carries out the calibration of 150 times continuously, wherein meets 70 calibrations and verifies the flash space that correct data preserve the MCU into sensor board.
Above-listed detailed description is illustrating for possible embodiments of the present invention, and this embodiment is also not used to limit the scope of the claims of the present invention, and the equivalence that all the present invention of disengaging do is implemented or changed, and all should be contained in the scope of the claims of this case.
Claims (5)
1. a gyro sensor calibration steps, is characterized in that, comprises the following steps:
The first step, is fixed on the swivel mount of gyro sensor calibrating installation by sensor board to be detected, by sensor board by data line access sensor slot device, namely sensor board is connected with CAN;
Second step, is placed horizontally at temperature control box inside by gyro sensor calibrating installation, the temperature-time curve of setting temperature control box;
3rd step, man-machine interaction display board carries out address ID parsing to calibration circuit board and sensor board;
4th step, man-machine interaction display board sends calibration command to all calibration circuit board, and then man-machine interaction display board enters listening state;
5th step, calibration circuit board carries out angular velocity calibration and angle calibration system to the sensor on sensor board;
6th step, calibration circuit board carries out the verification of angular velocity School Affairs angle to the sensor on sensor board;
7th step, whole calibration process terminates;
Wherein, described 3rd step specifically comprises the steps:
Step 301, man-machine interaction display board sends the calibration circuit board in command lookup bus, and man-machine interaction display board records the calibration circuit board address of response, and records the number N of calibration circuit board;
Step 302, man-machine interaction display board starts to send sensor address to i-th calibration circuit board and obtains order, and wherein i is from 1;
Step 303, after i-th piece of calibration circuit board receives this order, starts to allow corresponding motor rotate;
Step 304, after calibration circuit board waits for motor spin stabilization, an angular velocity test command is sent to CAN, the address of calibration circuit board has been attached in this order, after sensor board receives angular velocity test command, judge whether to preserve calibration circuit board address, if preserved, then without response, if not yet preserved, sensor board then judges current angular velocity value whether in predetermined scope, if so, then acquiescence corresponds to this calibration circuit board, the calibration circuit board address then in hold-over command, if not, then without response;
Step 305, waits for 100ms, motor stalls;
Step 306, calibration circuit board sends and seeks address command to CAN, wait sensor board is responded, after sensor board receives and seeks address command, whether the calibration circuit board address that in contrast order, contained address is preserved with oneself is consistent, if unanimously, after the time that then time delay is random, send the MCU address of oneself to CAN, if inconsistent, then do not respond;
Step 307, calibration circuit board waits for returning of all the sensors plate address value, and whether the address value regardless of all the sensors plate all returns, and all enters step 308;
Step 308, calibration circuit board distributes to each MCU address sequence number according to the MCU address size of sensor board;
Step 309, calibration circuit board sends address resolution procedure END instruction to man-machine interaction display board, and man-machine interaction display board judges whether i equals N, if equaled, then enters the 4th step, if be not equal to, then enters step 302.
2. method according to claim 1, is characterized in that, in the 5th step, is specifically made up of following steps:
Step 501, after all calibration circuit board receive and start calibration command, motor starts to rotate, and is made zero in swivel mount position;
Step 502, calibration circuit board sends zero order to sensor board, and sensor board starts school zero after receiving zero order, time delay, whether calibration circuit board query sensors plate school zero completes, if completed, then enter step 503, if do not completed, restart step 502;
Step 503, motor starts to rotate, and after treating that motor rotational speed is stable, calibration circuit board sends angular velocity calibration command to sensor board, after sensor board receives angular velocity order, start to carry out angular velocity calibration, time delay, calibration circuit board has inquired about angular velocity align mode, if all completed, then enter step 504, if all do not completed, restart step 503;
Step 504, motor stops the rotation after forwarding set angle position to, calibration circuit board sends angle calibration system order to sensor board, after sensor board receives angle calibration system order, starts to carry out angle calibration system, time delay, calibration circuit board query sensors plate completes angle calibration system state, if all completed, then enters step 505, if all do not completed, then restart step 504;
Step 505, swivel mount rotates to horizontal reference position, and calibration terminates.
3. method according to claim 1, is characterized in that, in the 6th step, is specifically made up of following steps:
Step 601, calibration circuit board sends zero order to sensor board, and sensor board starts school zero after receiving zero order, time delay, whether calibration circuit board query sensors plate school zero completes, if completed, then enter step 602, if do not completed, restart step 601;
Step 602, motor starts to rotate, after treating that motor rotational speed is stable, calibration circuit board sends angular velocity check command to sensor board, after sensor board receives angular velocity check command, start to carry out angular velocity verification, whether contrast angular velocity data is close or consistent with data during calibration, time delay, calibration circuit board has inquired about angular velocity verification state;
Step 603, motor stops the rotation after forwarding set angle position to, calibration circuit board sends angle check command to sensor board, after sensor board receives angle check command, start to carry out angle verification, whether contrast angle-data is close or consistent with data during calibration, time delay, calibration circuit board query sensors plate completes angle verification state, and checking procedure terminates.
4. method according to claim 1, is characterized in that, in calibration and checking procedure, the temperature variation of temperature control box is set as three processes: first process, and the greenhouse cooling of temperature control box, to-25 DEG C, stops 10 minutes at-25 DEG C; Second process, heats up, was warmed up to 65 DEG C with 2 hours from-25 DEG C; 3rd process, stops 10 minutes at 65 DEG C.
5. the method according to claim 1 or 4, is characterized in that: during the slow liter of temperature control box temperature, calibration circuit board carries out the calibration of 150 times continuously, wherein meets 70 calibrations and verifies the flash space that correct data preserve the MCU into 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 |
| CN104501837B (en) * | 2015-01-15 | 2017-09-12 | 大连楼兰科技股份有限公司 | The parallel demarcation of inertia component and the method for inspection and its system built in vehicle-mounted OBD equipment |
| 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 |
| 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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| DE10157377B4 (en) * | 2001-11-22 | 2005-10-06 | Daimlerchrysler Ag | Vehicle data bus system with sensor module |
| JP5346726B2 (en) * | 2009-07-24 | 2013-11-20 | 株式会社キーエンス | Continuous sensor system, network unit, and sensor unit |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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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Effective date of registration: 20191225 Address after: 333124 Lin Hu Xiang Mu Li Xin Cun 110, Poyang County, Shangrao City, Jiangxi Province Patentee after: Zhang Mingming Address before: Science and technology Songshan Lake Science and Technology Industrial Park in Guangdong province Dongguan City nine road 523808 No. 1 Patentee before: Dongguan Robstep Robot Co., Ltd. |