CN104316080A - Device for resolving tilt compensation quaternion of attitude gyroscope - Google Patents
Device for resolving tilt compensation quaternion of attitude gyroscope Download PDFInfo
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- CN104316080A CN104316080A CN201410537979.6A CN201410537979A CN104316080A CN 104316080 A CN104316080 A CN 104316080A CN 201410537979 A CN201410537979 A CN 201410537979A CN 104316080 A CN104316080 A CN 104316080A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
- G01C5/06—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels by using barometric means
Abstract
The invention provides a device for resolving a tilt compensation quaternion of an attitude gyroscope. The device comprises an orientation sensor for sensing a geomagnetic vector so as to calculate a course included angle, a six-axis motion sensor for detecting the direction and the speed of the device and calculating a three-axis acceleration and a three-axis angular velocity, a pressure sensor for detecting the atmospheric pressure and calculating the altitude value of the device, and a resolving unit for performing real-time tilt compensation quaternion resolving on the three-axis acceleration, the three-axis angular velocity and the course included angle and performing data optimizing processing by virtue of Kalman filtering and the altitude value so as to obtain accurate real-time parameters of a pitch angle, a roll angle, a course angle and an altitude. The device for resolving the tilt compensation quaternion of the attitude gyroscope is capable of eliminating data errors in case of the tilting of a gyroscope-based attitude sensor so that the attitude sensor is capable of providing accurate pitch angle, roll angle and course angle, and has the beneficial effects of accurate attitude value, low error, no attitude dead angle, low cost and high resolving speed.
Description
Technical field
The present invention relates to gyroscope field, more specifically, relate to a kind of attitude gyroscope slope compensation hypercomplex number resolver.
Background technology
Gyroscope, when High Rotation Speed, can resist the impact of any external force and interference, keeps its axis of rotation constant relative to inertial space direction is stablized.Therefore, by measuring the variable angle relative to gyrostatic rotating shaft, the detection to carrying gyrostatic equipment (as aircraft) pose deviation and correction can be realized.The control system that this kind utilizes gyroscope to realize also is referred to as attitude stabilization system.
Gyroscope used in the market is mostly magnetic compass magnetoresistive transducer, and magnetic compass there will be the situation of magnetic deflection when tilting, can produce the significant errors of about 180 degree when tilting to 90 degree.Thus moment gyroscope instrument normally can only work when self keeping level mostly.Physical construction can be adopted in prior art to hang gyroscope, make it remain horizontality always, to reach the result of correct measurement, or the lasergyro using price high.Above solution all can make gyrostatic complex structure, improves cost of products.
Summary of the invention
In order to overcome above-mentioned defect of the prior art, the invention provides a kind of attitude gyroscope slope compensation hypercomplex number resolver.The object of the invention is data error when eliminating the attitude sensor run-off the straight realized based on gyroscope, thus enable attitude sensor provide the accurate angle of pitch, roll angle and course angle.
Attitude gyroscope slope compensation hypercomplex number resolver of the present invention, is characterized in that, comprising: aspect sensor, calculates course angle for inductively magnetic vector; Six axis movement sensors, for direction and the speed of pick-up unit motion, calculate 3-axis acceleration and three axis angular rates; Pressure transducer, for detecting air pressure, calculation element height value; Solving unit, resolve for carrying out real-time slope compensation hypercomplex number to described 3-axis acceleration, three axis angular rates and course angle and carry out data-optimized process with Kalman filtering and height value, obtaining the accurate angle of pitch, roll angle, course angle and height real-time parameter.
Preferably, described six axis movement sensors are connected to solving unit by I2C interface, and described six axis movement sensors connect solving unit by interrupt pin.
Preferably, described aspect sensor is connected with the main I2C interface of six axis movement sensors, and the data encasement pin of aspect sensor connects solving unit.
Preferably, described pressure transducer connects described solving unit by I2C bus.
Preferably, described six axis movement sensors comprise 3 axle mems accelerometers, 3 axle MEMS gyro instrument, a road temperature sensor, ADC converter, signal-adjusting module, sensors register, main I2C serial line interface and from I2C and SPI interface.
Preferably, described pressure transducer comprises pressure sensor unit, ADC, control module and EPROM.
Preferably, the main serial data of I2C of six axis movement sensor chips and clock interface are used for I2C data by lead external aspect sensor chip and clock port; The I2C serial data of six axis movement sensor chips and clock pins are connected to the I/O port of the singlechip chip of solving unit by lead-in wire; The frame synchronization digital port of six axis movement sensors connects the I/O port of singlechip chip by lead-in wire; And the interruptive port of six axis movement sensors connects the I/O port of single-chip microcomputer by lead-in wire; The data encasement port of aspect sensor connects the I/O port of singlechip chip by lead-in wire; The I2C serial data of described pressure transducer and clock port pass through to go between and are connected the I/O port of singlechip chip.
Preferably, described solving unit carries out data-optimized process the acquisition accurate angle of pitch, roll angle and course angle with the height value that Kalman filtering and pressure transducer calculate.Further preferably, obtained all types of data are stored in 6 queue modes by course angle, angular velocity, acceleration, barometric information respectively that provided by six axis movement sensors, aspect sensor, pressure transducer described in described solving unit obtains; By solving unit, 10 secondary data are carried out interference by Kalman filtering algorithm to correct; Based on data acquisition self attitude data after rectification.Further preferably, when low-speed motion, undertaken carrying out self attitude data after interference is corrected with course angle by Kalman filtering algorithm and resolve; When high-speed motion, undertaken carrying out self attitude data after interference is corrected with angular velocity by Kalman filtering algorithm and resolve.
The present invention detects the relativeness in self and magnetic field of the earth, thus do not affect by region, enclosed environment etc., and with pressure transducer for detecting air pressure, to obtain oneself height, thus also not by the impact of space height above sea level, the every field such as aviation, medical treatment, vehicle, Internet of Things, robot, information simulation and digital entertainment can be widely used in, have that attitude value is accurate, error is little, without attitude dead angle, cost is low, computing speed is fast beneficial effect.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation:
Fig. 1 is attitude gyroscope slope compensation hypercomplex number resolver structural representation of the present invention;
Fig. 2 is six axis movement sensors of the present invention and solving unit circuit connecting relation schematic diagram;
Fig. 3 is the circuit connecting relation schematic diagram of aspect sensor of the present invention;
Fig. 4 is pressure transducer of the present invention and solving unit circuit connecting relation schematic diagram;
Fig. 5 is the chip circuit schematic diagram of six axis movement sensors of the present invention;
Fig. 6 is the chip circuit schematic diagram of aspect sensor of the present invention;
Fig. 7 is the chip circuit schematic diagram of pressure transducer of the present invention;
Fig. 8 is the singlechip chip circuit diagram of solving unit of the present invention.
Embodiment
In order to make those skilled in the art person understand technical scheme of the present invention better, and enable above-mentioned purpose of the present invention, feature and advantage become apparent more, below in conjunction with embodiment and embodiment accompanying drawing, the present invention is further detailed explanation.
Fig. 1 is attitude gyroscope slope compensation hypercomplex number resolver structural representation of the present invention, and see this accompanying drawing, described device comprises: aspect sensor, calculates course angle for inductively magnetic vector; Six axis movement sensors, for direction and the speed of pick-up unit motion, calculate 3-axis acceleration and three axis angular rates; Pressure transducer, for detecting air pressure, calculation element height value; Solving unit, resolve for carrying out real-time slope compensation hypercomplex number to described 3-axis acceleration, three axis angular rates and course angle and carry out data-optimized process with Kalman filtering and height value, obtaining the accurate angle of pitch, roll angle, course angle and height real-time parameter.
The aspect sensor of this device, six axis movement sensors and pressure transducer are powered with 3.3V power vd D, communicate with I2C transmission mode with between the single-chip microcomputer realizing solving unit.And data can be communicated with host computers such as the form of RS232 serial ports and PC or other equipment by the UART interface of device, the order that can send according to host computer, to change the parameters such as its transmission frequency, initial value, side-play amount.Single-chip microcomputer programming debugging uses SWD interface.Use power supply and the communications status of two LED indicating devices.
Fig. 2 is described six axis movement sensors and solving unit circuit connecting relation schematic diagram.Six axis movement sensors of the present invention are connected to the single-chip microcomputer as solving unit and master controller by I2C interface.At initial phase, single-chip microcomputer will arrange measurement sensitivity and the sample frequency of this six axis movement sensor, and enable data upgrades and interrupts simultaneously.The pin of single-chip microcomputer configuration afterwards oneself is interrupting input INT.After a new sampling completes, six axis movement sensors produce and interrupt like this, and monolithic is machine-readable gets new data in calling.
Fig. 3 is the circuit connecting relation schematic diagram of described aspect sensor.Aspect sensor is not directly connected with the I2C interface of single-chip microcomputer, but is connected with the AUXI2C interface of six axis movement sensors, like this, makes single-chip microcomputer have the data of two kinds of mode access side level sensors.First be arranged to direct-connected by the AUX interface of six axis movement sensors, single-chip microcomputer can pass through the direct access side's level sensor of I2C; Then the AUX interface opening six axis movement sensors is master controller, the sampled result gathering direction sensor is responsible for by AUXI2C interface six axis movement sensor, and result being left in the fifo register of oneself, single-chip microcomputer reads the transformation result of aspect sensor by access six axis movement sensor.Above two modes do not need extra increase or modification circuits, only need to arrange the corresponding control register of six axis movement sensors.The data encasement pin DRDY of aspect sensor is connected to single-chip microcomputer, by inquiring about the level of this pin, judges whether new translation data.
Fig. 4 is pressure transducer and solving unit circuit connecting relation schematic diagram.Pressure transducer is articulated in the I2C bus of single-chip microcomputer, thus single-chip microcomputer directly can access the translation data reading pressure transducer.
Introduce the inside structure of six axis movement sensors of attitude gyroscope slope compensation hypercomplex number resolver of the present invention, aspect sensor, pressure transducer below.
Six axis movement sensor inside are integrated with 3 axle mems accelerometers, 3 axle MEMS gyro instrument and an extendible digital moving processor DMP; And I2C interface can be utilized to connect a third-party digital sensor, namely in the present invention as three axle magnetometers of aspect sensor.After spreading, six axis movement sensors just can export the signal of 9 axles by itself I2C or SPI interface.3 axle mems accelerometers of six axis movement sensors comprise the acceleration analysis module of X, Y, Z tri-on axle, and 3 axle MEMS gyro instrument comprise the angular velocity measurement module of X, Y, Z tri-on axle, and a road temperature sensor.In order to accurate tracking motion fast and at a slow speed, the measurement range of sensor is all that user is controlled, and it is ± 250 that gyroscope can survey scope, ± 500, ± 1000, ± 2000 °s/sec (dps), and it is ± 2 that accelerometer can survey scope, ± 4, ± 8, ± 16g.Adopt the ADC of 16, the analog quantity measured is converted into exportable digital quantity.Signal-adjusting module with numeral export comprise the rotation matrix of 6 axles or 9 axles, hypercomplex number (quaternion), Eulerian angle form (Euler Angle forma) fusion calculation data to sensors register.In external signaling interface, comprising: main I2C serial line interface, realize main serial data by serial line interface Bypass with AUX_CL with AUX_DA port and main serial clock is connected; And from I2C and SPI interface, provide SPI serial data to export by SDO port, and provide I2C serial data and clock by SDA and SCL.FSYNC port provides the input of frame synchronization numeral.Have interrupt status register, INT port provides and interrupts numeral output.
Aspect sensor adopts reluctance type three-axis sensor and applies special auxiliary circuit to measure magnetic field.By applying power supply, any incident magnetic on sensitive axis direction can be transformed into a kind of differential voltage and export by this sensor.Magnetoresistive transducer is placed on silicon chip by ferronickel (permalloy) film, and form a band resistance element.In the presence of a magnetic field, the corresponding variation that will cause across bridge output voltage of the change of bridge-type resistive element.These magnetoresistive elements align between two, and form a common sensitive axes, along with magnetic field constantly strengthens on sensitive direction, voltage also increases with regard to forward.Because export only with proportional along the magnetoresistive element on direction of principal axis, other magnetoresistive bridge are also placed in that orthogonal direction, just the magnetic field intensity in energy other directions of precision measurement.
The inside structure of pressure transducer comprises pressure sensor unit, ADC, control module and EPROM.
Fig. 5 to Fig. 8 respectively illustrates the chip circuit figure of six axis movement sensors of attitude gyroscope slope compensation hypercomplex number resolver of the present invention, aspect sensor, pressure transducer and solving unit.The chip circuit of six axis movement sensors as shown in Figure 5, wherein AUX_DA and AUX_CL port is as the main serial data of I2C and clock interface, for passing through chip I 2C data and clock port SDA and SCL of the external aspect sensor of lead-in wire AUX_SDA and AUX_SCL, realize the reception to the three axle bearing datas that aspect sensor provides; Port SDA and SCL of six axis movement sensor chips is as I2C serial data and clock pins, be connected to I/O port PB6 and PB7 of the single-chip microcomputer as solving unit and main control unit by lead-in wire SDA and SCL, realized sampled data the uploading to single-chip microcomputer such as 3-axis acceleration, three axis angular rates, temperature and above-mentioned position angle by this port; The FSYNC port of six axis movement sensors connects the I/O port PA7 of single-chip microcomputer by lead-in wire MP_FS, achieve frame synchronous digital inputs; And the INT port of six axis movement sensors connects the I/O port PA6 of single-chip microcomputer by lead-in wire MP_INT, realize interrupting controlling.The data encasement port DRDY of aspect sensor, by the I/O port PA5 of lead-in wire HM_INT connection single-chip microcomputer, by inquiring about the level of this pin, judges whether new translation data.The I2C serial data of pressure transducer and clock port SDA and SCL are as I2C serial data and clock pins, and I/O port PB6 and PB7 being connected single-chip microcomputer by lead-in wire SDA with SCL, realizes uploading of air pressure sensing data.
As main control unit and the solving unit of device, the program that singlechip chip runs for a large amount of mathematics of this needs of attitude algorithm, need faster processing speed more to resolve and optimization.Each sensor of this device is connected with this single-chip microcomputer by I2C interface, and the data interrupt pin of each sensor is connected with the I/O of single-chip microcomputer simultaneously.Make each sensor after completing ADC rotation, single-chip microcomputer can read up-to-date data in the very first time, fast the change of response attitude.Such connection makes controller have maximum initiative, full out obtains state and the transformation result of each sensor.
It is that the height value calculated with Kalman filtering and pressure transducer carries out data-optimized process that attitude gyroscope slope compensation hypercomplex number performed by solving unit is resolved, to reach the result obtaining exact posture, thus attitude sensor is enable to provide the accurate angle of pitch, roll angle and course angle.The detailed process that attitude gyroscope slope compensation hypercomplex number is resolved is as follows: solving unit is with the frequency of 500 times/second, the course angle, angular velocity, acceleration, the barometric information that are thered is provided by six axis movement sensors, aspect sensor, pressure transducer are provided by I2C interface, obtained all types of data are stored in 6 queue modes respectively; By solving unit, 10 secondary data are carried out interference by Kalman filtering algorithm to correct, carry out course angle numerical value when equipment low-speed motion and correct, provide angular velocity to resolve when high-speed motion with six axis movement sensors, to reach real-time synchronization bias free; Last 4 secondary data of correcting are resolved, is obtained from body attitude data; And calculation result is exported with predetermined data rate and baud rate by R232 communication interface by solving unit.
The present invention detects the relativeness in self and magnetic field of the earth, thus do not affect by region, enclosed environment etc., and with pressure transducer for detecting air pressure, to obtain oneself height, thus also not by the impact of space height above sea level, the every field such as aviation, medical treatment, vehicle, Internet of Things, robot, information simulation and digital entertainment can be widely used in, have that attitude value is accurate, error is little, without attitude dead angle, cost is low, computing speed is fast beneficial effect.
The above, be only the specific embodiment of the present invention, and the present invention can also be applied in miscellaneous equipment; Size in more than describing and quantity are all only informative, and those skilled in the art can select suitable application size according to actual needs, and do not depart from the scope of the present invention.Protection scope of the present invention is not limited thereto, and is anyly familiar with those skilled in the art in the technical scope that the present invention discloses, the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.Therefore, the protection domain that protection scope of the present invention should define with claim is as the criterion.
Claims (9)
1. an attitude gyroscope slope compensation hypercomplex number resolver, is characterized in that, comprising: aspect sensor, calculates course angle for inductively magnetic vector; Six axis movement sensors, for direction and the speed of pick-up unit motion, calculate 3-axis acceleration and three axis angular rates; Pressure transducer, for detecting air pressure, calculation element height value; Solving unit, resolve for carrying out real-time slope compensation hypercomplex number to described 3-axis acceleration, three axis angular rates and course angle and carry out data-optimized process with Kalman filtering and height value, obtaining the accurate angle of pitch, roll angle, course angle and height real-time parameter.
2. attitude gyroscope slope compensation hypercomplex number resolver according to claim 1, it is characterized in that, described six axis movement sensors are connected to solving unit by I2C interface, and described six axis movement sensors connect solving unit by interrupt pin.
3. attitude gyroscope slope compensation hypercomplex number resolver according to claim 2, is characterized in that, described aspect sensor is connected with the main I2C interface of six axis movement sensors, and the data encasement pin of aspect sensor connects solving unit.
4. attitude gyroscope slope compensation hypercomplex number resolver according to claim 3, it is characterized in that, described pressure transducer connects described solving unit by I2C bus.
5. attitude gyroscope slope compensation hypercomplex number resolver according to claim 4, it is characterized in that, described six axis movement sensors comprise 3 axle mems accelerometers, 3 axle MEMS gyro instrument, a road temperature sensor, ADC converter, signal-adjusting module, sensors register, main I2C serial line interface and from I2C and SPI interface.
6. attitude gyroscope slope compensation hypercomplex number resolver according to claim 5, it is characterized in that, described pressure transducer comprises pressure sensor unit, ADC, control module and EPROM.
7. attitude gyroscope slope compensation hypercomplex number resolver according to claim 6, it is characterized in that, the main serial data of I2C of six axis movement sensor chips and clock interface are used for I2C data by lead external aspect sensor chip and clock port; The I2C serial data of six axis movement sensor chips and clock pins are connected to the I/O port of the singlechip chip of solving unit by lead-in wire; The frame synchronization digital port of six axis movement sensors connects the I/O port of singlechip chip by lead-in wire; And the interruptive port of six axis movement sensors connects the I/O port of single-chip microcomputer by lead-in wire; The data encasement port of aspect sensor connects the I/O port of singlechip chip by lead-in wire; The I2C serial data of described pressure transducer and clock port pass through to go between and are connected the I/O port of singlechip chip.
8. attitude gyroscope slope compensation hypercomplex number resolver according to claim 6, it is characterized in that, obtained all types of data are stored in 6 queue modes by course angle, angular velocity, acceleration, barometric information respectively that provided by six axis movement sensors, aspect sensor, pressure transducer described in described solving unit obtains; By solving unit, 10 secondary data are carried out interference by Kalman filtering algorithm to correct; Based on data acquisition self attitude data after rectification.
9. attitude gyroscope slope compensation hypercomplex number resolver according to claim 7, is characterized in that, when low-speed motion, is undertaken carrying out self attitude data after interference is corrected resolve with course angle by Kalman filtering algorithm; When high-speed motion, undertaken carrying out self attitude data after interference is corrected with angular velocity by Kalman filtering algorithm and resolve.
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| CN111935379B (en) * | 2016-01-08 | 2022-04-29 | 三星电子株式会社 | Electronic device |
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| CN108801260A (en) * | 2018-05-07 | 2018-11-13 | 约肯机器人（上海）有限公司 | Data processing method based on underwater robot and device |
| CN110764448B (en) * | 2019-10-28 | 2022-05-03 | 同济大学 | Multi-sensor information acquisition system and method for operating parameters of handheld electric tool |
| CN110764448A (en) * | 2019-10-28 | 2020-02-07 | 同济大学 | Multi-sensor information acquisition system and method for operating parameters of handheld electric tool |
| CN112461199A (en) * | 2020-11-13 | 2021-03-09 | 恒鸿达科技有限公司 | Antenna attitude detection method and terminal based on NBIoT |
| CN112461199B (en) * | 2020-11-13 | 2023-02-14 | 恒鸿达科技有限公司 | NBIoT-based antenna attitude detection method and terminal |
| CN113641953A (en) * | 2021-06-17 | 2021-11-12 | 东方红卫星移动通信有限公司 | Transmission frame format data analysis method, data packaging method and system of gyroscope |
| CN113641953B (en) * | 2021-06-17 | 2023-09-01 | 东方红卫星移动通信有限公司 | Gyroscope transmission frame format data analysis method, data encapsulation method and system |
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