CN104546391A - Gyro stabilizer for tactile sticks and complementary filtering method thereof - Google Patents
Gyro stabilizer for tactile sticks and complementary filtering method thereof Download PDFInfo
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Abstract
Disclosed are a gyro stabilizer for tactile sticks and a complementary filtering method thereof. The gyro stabilizer comprises a microcontroller unit, a posture sensor and a motor and carries a ranging module which is connected with a mobile terminal through a wireless module. The complementary filtering method includes: 1, preprocessing data of the sensors; 2, estimating an iterative process based on the angle of an acceleration sensor; 3, compensating measuring results of the acceleration sensor through angular acceleration of a gyro sensor. The gyro stabilizer and the complementary filtering method thereof have the advantages that shaking caused by movement of a blind person is avoided, a preset direction can be effectively locked for ranging, the danger detecting range of a tactile stick is widened, obstacles in air can be accurately recognized, practicality of the tactile stick is effectively improved, great convenience is brought to the blind person, stability is good, response speed is high, an algorithm is simple, noise and drift are significantly suppressed, data are smoother, and high response and high accuracy are ensured in case of great angular change.
Description
Technical Field
The invention relates to the technical field of gyro stabilizing devices and multi-sensor fusion, in particular to a gyro stabilizing device for a tactile stick and a complementary filtering method thereof.
Background
Visually impaired people are a group that receives a great deal of social attention. The traditional blind stick has the obvious defects that the sensing distance is limited, and the obstacles on the upper half of the body cannot be conveniently detected. The novel blind stick is added with a ranging function so as to detect obstacles and dangers in the air. However, the movement of the visually impaired people holding the blind stick results in unstable distance measurement, which greatly limits the function of the blind stick, and no effective solution is found in the prior documents and patents.
The gyro stabilizing device is widely applied to the fields of military, navigation, detection and the like. Through some high-precision sensors and some data fusion methods, the control system can be tracked rapidly and stably, and meanwhile, the motion servo system, the stability control system and the like are matched, so that stable tracking and correction can be realized. The traditional data fusion method applied to the gyro stabilizing device comprises complementary filtering and Kalman filtering. The complementary filtering method is difficult to solve the noise influence of the acceleration sensor. The Kalman filtering method needs to establish a plurality of system equations, and the calculation amount of a small stabilizing platform applied to a blind stick is too large. The patent publication CN103913171A "method for measuring carrier rotation speed and rotation angle compensation based on accelerometer and gyroscope" gives a general method for angle measurement, but only one degree of freedom of rotation angle can be measured, and the response speed still cannot meet the requirement.
Disclosure of Invention
The invention aims to solve the problems and the defects, and provides the gyro stabilizing device for the blind stick, which can avoid shaking caused by the movement of the blind person, can effectively lock the preset direction for ranging, expands the risk measuring range of the blind stick, enables obstacles in the space to be accurately identified, effectively improves the practicability of the blind stick, and brings great convenience to the blind person. On the basis, the further object of the present invention is to provide a complementary filtering method for a gyro stabilization device, which has better stability and response speed, simpler algorithm, obvious suppression on noise and drift, smoothness on data, and fast response speed and high accuracy under the condition of large angular variation.
The technical scheme of the invention is realized as follows:
the invention relates to a gyro stabilizing device for a tactile stick, which is characterized by comprising a microcontroller, and an attitude sensor and a motor which are connected with the microcontroller, wherein the attitude sensor comprises an acceleration sensor and a gyro sensor, the microcontroller is also connected with a distance measuring module and a wireless module which is used for signal connection with a mobile terminal, the distance measuring module is connected with the motor, the motor can be a steering engine or a brushless motor or a servo steering engine, and the acceleration sensor and the gyro sensor are three-axis sensors.
The complementary filtering method for the gyro stabilizing device of the blind crutch is characterized by comprising the following steps of:
the first step is as follows: placing an acceleration sensor and a gyro sensor, constructing a gyro stabilizing device, and respectively acquiring the angles of the acceleration sensor after pretreatmentθ i And angular acceleration of gyro sensorω i Data; wherein the angleθ i Angular acceleration obtained from a three-dimensional spatial geometryω i Acquired and processed by a sensor;
the second step is that: smoothing the angle of the acceleration sensor firstθ i To obtain the intermediate quantity of the smooth anglex 1The calculation formula is as follows:
in the formula, the first step is that,θ i is the current angle value;θ’ ois the angle output value after the previous correction,K 1taking a certain proportion of smooth weight value; that is, the angle of the acceleration sensor is smoothedθ i The process comprises the following steps: using the current angle valueθ i And the angle output value after the previous correctionθ’ oThe difference value of (1-K 1)2Multiplying to obtain the intermediate quantity of the smooth anglex 1；
x 1After calculation, the acceleration is converted into angle-like acceleration quantity capable of representing rapid changex 2The calculation formula is as follows:
in the formula,. DELTA.tIs the sampling interval;x ’ 2the previous angular acceleration measurement; that is, into angular-like accelerationx 2The process comprises the following steps: intermediate of smooth anglex 1As a function of the integrand, it is integrated over time, here only at a distance Δ from the samplingtMultiplied by the previous angular accelerationx ’ 2Accumulating to obtain the angular acceleration of the current classx 2；
The third step: first using angular acceleration of gyro sensorω i The angle of the acceleration sensor is compensated, and the calculation formula is as follows:
in the formula, the first step is that,x 3calculating the angle intermediate quantity of the acceleration sensor;x 2is the angular acceleration of the class;ω i is the angular acceleration of the gyro sensor;x 1is the intermediate quantity of the smooth angle;K 2a certain proportion of compensation weight value is taken; that is, the process of compensating the angle of the acceleration sensor is: angular acceleration of handlebarx 2Angular acceleration of gyro sensorω i Is added and is added with (1-K 2) Multiplied by an intermediate anglex 1A process of addition by which an intermediate amount of angle is obtainedx 3；
Then, angle estimation is carried out to finally obtain the attitude angle of the timeθ o The calculation formula is as follows:
in the formula,. DELTA.tIs the sampling interval;θ’ ian angle for iterative solution; that is, the process of angle estimation is: intermediate anglex 3As a function of the integrand, it is integrated over time, here only at a distance Δ from the samplingtMultiplying and then multiplying with iteratively resolved anglesθ’ iAccumulating to obtain the angle of this timeθ o The process of (1).
In the first step, the preprocessing includes sensor data acquisition and raw data processing.
In the first step, the acceleration sensor and the gyro sensor need to be placed in parallel so as to eliminate the influence of coordinate conversion operation, and the acceleration sensor and the gyro sensor can be placed in the gyro stabilizing device at will.
In the second step, the smooth weight valueK 1The value range of (1) is 0-1.
In the third step, the compensation weight valueK 2The value range of (1) is 0-1.
Compared with the prior art, the invention has the following advantages:
on one hand, the gyro stabilizing device provided by the invention is applied to a blind stick and can provide great stability, the functional module is connected with the blind stick through the gyro stabilizing device and can work in a stable environment, the application improves the practicability of the blind stick, the distance measuring module is used as the functional module, the detection range of the blind stick is improved, and obstacles in the space can be accurately identified by the blind stick, so that great convenience is brought to the blind;
on the other hand, on the premise of meeting the use accuracy of the tactile stick using the gyro stabilizing device, the invention provides an improved complementary filtering method, compared with the traditional complementary filtering method which only performs simple weighted average on the data of an acceleration sensor and a gyro sensor, the method respectively processes different characteristics of the two sensors, namely, a 'smoothing' process is introduced into the accelerometer sensor with large dynamic error, and only the angular acceleration value of the gyro sensor with time accumulation effect is taken for algorithm compensation, thereby effectively reducing the dynamic error of the acceleration sensor and the time accumulated error of the gyro sensor, more effectively utilizing the multi-sensor data to realize the fusion of information, therefore, the method can eliminate the influence of noise to the maximum extent, simplify the calculation complexity and greatly improve the response speed and the detection accuracy.
The invention will be further described with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic block structure diagram of a gyro stabilizing device for a blind stick according to the present invention.
Fig. 2 is a system diagram of the complementary filtering method according to the present invention.
FIG. 3 is a graph comparing angular-like acceleration in the angular and complementary filtering methods of the present invention calculated using acceleration sensor data.
Fig. 4 is a comparison graph of angles respectively calculated by the acceleration sensor and the conventional complementary filtering method and the improved complementary filtering method of the present invention.
Detailed Description
As shown in fig. 1, the gyro stabilizing device for the tactile stick comprises a microcontroller, and an attitude sensor and a motor which are connected with the microcontroller, wherein the attitude sensor comprises an acceleration sensor and a gyro sensor, the acceleration sensor and the gyro sensor are both three-axis sensors, the microcontroller is further connected with a distance measuring module and a wireless module for signal connection with a mobile terminal, the distance measuring module is connected with the motor, and the motor is a steering engine, a brushless motor, a servo steering engine or other motors. In order to eliminate the influence of coordinate conversion operation, the acceleration sensor and the gyro sensor are arranged in parallel, but can be randomly placed in the gyro stabilizing device.
The gyro stabilizer is a device having any posture in a two-dimensional space, and has a motion trend only in four directions, namely, up, down, left and right, and the direction motion trend can be captured. The gyro stabilizing device is connected to a blind stick for use and is controlled by the microcontroller, so that a relatively stable working environment is provided for the ranging module. The acceleration sensor and the gyro sensor are used for identifying the attitude of the tactile stick, and identification parameters are mainly angles and are realized by a complementary filtering method; the complementary filtering method can solve the angle of the blind stick in real time and drive the motor to rotate by utilizing the angle; the motor is connected with the ranging module, and the rotating angle of the motor is offset with the motion angle of the blind stick, so that more stable ranging is realized. The microcontroller can interact with the mobile terminal through the wireless module, and data obtained by ranging can be transmitted to the mobile terminal, so that the intelligent obstacle avoidance of the air obstacle is realized. The distance measurement module mainly realizes the distance measurement function and can also be a module for helping to realize intelligent obstacle avoidance.
The invention is very suitable for the posture recognition control of the gyro stabilizing device of the tactile stick. A gyro stabilizing device for a blind crutch is mainly embodied in a two-dimensional environment, namely, the gyro stabilizing device only has a movement trend in four directions, namely, the upper direction, the lower direction, the left direction and the right direction. The blind stick is connected with the arms of a person, irregular vibration is generated, and random noise is generated. Meanwhile, the gyro stabilizing device does not require high precision due to the characteristic that a person uses a cane, but shows very high response speed. Therefore, the complementary filtering method provided by the invention is suitable for the gyro stabilization device needing gesture recognition control.
The following is a description of the use of the gyrostabiliser device of the present invention, and the feasibility of its complementary filtering method and its effectiveness in practical testing procedures, by way of specific examples.
As shown in fig. 2, the complementary filtering method is described in steps:
the first step is as follows: the gyro sensor and the acceleration sensor are placed in the gyro stabilizing device in parallel, the acceleration sensor and the gyro sensor belong to three-axis sensors, so that each axis of the gyro sensor can point to the same direction as the axis of the acceleration sensor, and meanwhile, the sensors are connected with the data acquisition module, so that the gyro stabilizing device can freely rotate in a two-dimensional environment;
the second step is that: preprocessing data, including sensor data acquisition and raw data processing; setting the sampling rate (in this embodiment, the typical value is 125 Hz) and the digital low-pass filtering frequency (in this embodiment, the typical value is 5 Hz) of the gyro sensor and the acceleration sensor, and respectively acquiring the acceleration of two axes of the acceleration sensora x Anda y and angular acceleration of gyro sensorω i Data; using typical pitch and roll calculation formulas:θ=arcsin（a/g) The angle of the acceleration sensor corresponding to the corresponding shaft can be obtainedθ ix Andθ iy taking the angle of any axis, the meterIs composed ofθ i As shown in fig. 3;
the third step: angle value using iterative operationθ’ oSmoothing the current angle valueθ i The specific calculation process is as follows:
wherein,x 1for the purpose of smoothing the intermediate amount of the angle,x 2for the angular acceleration measure of this class,x ’ 2for the previous angular acceleration measure obtained by the solution of the iterative operation,θ’ ofor the resolved angle values of the iterative operation,K 1the weight value is a smooth weight value, the value range of the smooth weight value is 0-1, and the value is taken in the exampleK 1=0.005；ΔtFor the sampling interval, the value Δ in this examplet=0.008 s; as can be seen from fig. 3, compared with the original curve, the smoothed curve effectively filters out mechanical noise and jitter interference, and can accurately reflect the angle-like acceleration measurement variation trend of the acceleration sensor;
the fourth step: angular acceleration using gyroscopic sensorsω i Compensating the angle of the acceleration sensor, and estimating the angle, wherein the specific calculation process is as follows:
wherein,x 3is a cornerThe intermediate quantity of the degree is measured,K 2the compensation weight value is in the range of 0-1, in this exampleK 2=0.2，θ ’ i Calculating an angle obtained by iterative operation; deltatFor the sampling interval, the value Δ in this examplet=0.008s, and the current angle value is finally obtainedθ o The current calculation result is saved and used to improve the accuracy of the angle estimation in the following, and as can be seen from fig. 4, the smoothness of the angle is improved by the compensated curve compared with the original curve.
The traditional complementary filtering method directly endows the data of the acceleration sensor and the gyro sensor with certain weights respectively, so that the dynamic error of the acceleration sensor and the time integral accumulated error of the gyro sensor cannot be effectively avoided, the accurate angle information cannot be obtained generally, and the angle measurement error is compensated by combining Kalman filtering. The improved complementary filtering method provided by the invention utilizes the angular accuracy of the acceleration sensor in static measurement and the angular acceleration accuracy of the gyro sensor in instantaneous measurement to avoid the problems. The instantaneous angle value of the acceleration sensor and the integral angle value of the gyro sensor are not directly fused, but information fusion is realized by a method combining smoothing and compensation, and the dynamic error of the acceleration sensor and the time integral accumulated error of the gyro sensor are effectively reduced.
The practical application shows that the algorithm provided by the invention has better stability and response speed when being applied to the cane top stabilizing device, has low algorithm complexity and obviously inhibits noise and drift. As can be seen from fig. 4, compared with the angle values measured by the conventional complementary filtering method, the complementary filtering method provided by the present invention has smoothness on data, and has fast response speed and accuracy under the condition of large angle variation.
While the present invention has been described by way of examples, and not by way of limitation, other variations of the disclosed embodiments, as would be readily apparent to one of skill in the art, are intended to be within the scope of the present invention, as defined by the claims.
Claims (5)
1. The utility model provides a top stabilising arrangement for tactile stick, its characterized in that includes microcontroller and the attitude sensor and the motor of being connected with microcontroller, wherein attitude sensor includes acceleration sensor and gyrosensor, microcontroller still is connected with ranging module and is used for the wireless module with mobile terminal signal connection, just ranging module is connected with the motor, the motor can be steering wheel or brushless motor or servo steering wheel.
2. A complementary filtering method of a gyrostabilizer applied to the gyrostabilizer for a blind crutch according to claim 1, comprising the steps of:
the first step is as follows: placing an acceleration sensor and a gyro sensor, constructing a gyro stabilizing device, and respectively acquiring the angles of the acceleration sensor after pretreatmentθ i And angular acceleration of gyro sensorω i Data; wherein the angleθ i Angular acceleration obtained from a three-dimensional spatial geometryω i Acquired and processed by a sensor;
the second step is that: smoothing the angle of the acceleration sensor firstθ i To obtain the intermediate quantity of the smooth anglex 1The calculation formula is as follows:
in the formula, the first step is that,θ i is the current angle value;θ’ ois the angle output value after the previous correction,K 1taking a certain proportion of smooth weight value;
x 1after calculation, the acceleration is converted into angle-like acceleration quantity capable of representing rapid changex 2The calculation formula is as follows:
in the formula,. DELTA.tIs the sampling interval;x ’ 2the previous angular acceleration measurement;
the third step: first using angular acceleration of gyro sensorω i The angle of the acceleration sensor is compensated, and the calculation formula is as follows:
in the formula, the first step is that,x 3calculating the angle intermediate quantity of the acceleration sensor;x 2is the angular acceleration of the class;ω i is the angular acceleration of the gyro sensor;x 1is the intermediate quantity of the smooth angle;K 2a certain proportion of compensation weight value is taken;
then, angle estimation is carried out to finally obtain the attitude angle of the timeθ o The calculation formula is as follows:
in the formula,. DELTA.tIs the sampling interval;θ’ ian angle is calculated for the iteration.
3. The method of claim 2, wherein in the first step, the acceleration sensor and the gyro sensor are required to be disposed in parallel so as to eliminate the influence of the coordinate transformation operation, and the acceleration sensor and the gyro sensor can be disposed at random inside the gyro stabilizer.
4. The method of claim 2, wherein in the second step, the smooth weight valuesK 1The value range of (1) is 0-1.
5. The method of claim 2, wherein in the third step, the compensation weight value is calculatedK 2The value range of (1) is 0-1.
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| CN107485540A (en) * | 2017-07-18 | 2017-12-19 | 浙江大学城市学院 | A kind of intelligence that is used for assists the energy injection system for walking walking stick |
| CN109583511A (en) * | 2018-12-14 | 2019-04-05 | 北京百度网讯科技有限公司 | Speed fusion method and device |
| CN110974641A (en) * | 2019-12-24 | 2020-04-10 | 中南民族大学 | Intelligent walking stick system integrating machine learning and Internet of things technology for blind people |
| CN112473097A (en) * | 2019-09-11 | 2021-03-12 | Tcl集团股份有限公司 | Mountain climbing assisting method, server, system and storage medium |
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