CN105675015A - MEMS gyroscope zero-offset automatic elimination method - Google Patents
MEMS gyroscope zero-offset automatic elimination method Download PDFInfo
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- CN105675015A CN105675015A CN201610011605.XA CN201610011605A CN105675015A CN 105675015 A CN105675015 A CN 105675015A CN 201610011605 A CN201610011605 A CN 201610011605A CN 105675015 A CN105675015 A CN 105675015A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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Abstract
The invention discloses an MEMS gyroscope zero-offset automatic elimination method, which comprises the steps of: 1) powering on the gyroscope, then judging whether the current state of the gyroscope is static or dynamic, if the gyroscope is in a static state, measuring the output of the gyroscope after power-on, thus obtaining a current zero-offset compensation coefficient D0; if the gyroscope is in a dynamic state, taking the zero-offset compensation coefficient stored last time as the current zero-offset compensation coefficient D0; 2) according to the current zero-offset compensation coefficient D0 determined by step 1), performing zero-offset compensation on the gyroscope automatically; and 3) taking the current zero-offset compensation coefficient D0 as the zero-offset compensation coefficient when the gyroscope is powered on next time and is in a dynamic state. The method provided by the invention can automatically eliminate the gyroscope zero-offset and automatically reset the zero-offset compensation coefficient, and when the gyroscope is powered on to use later, the reset compensation coefficient is employed to compensate zero-offset, thus reaching the purpose of improving the measurement precision of the gyroscope.
Description
Technical field
The present invention relates to micro-mechanical gyroscope zero partially to eliminate, zero inclined calibration after storing for a long time in particular for micro-mechanical gyroscope, for improving accuracy and the precision that gyroscope is measured, belong to inertia sensing technical field.
Background technology
MEMS (micromechanics) gyroscope is the sensor for measuring angular speed, and its volume is little, cost is low, reliability is high, is widely used in the various field needing inertia measurement. MEMS gyroscope output simplified model is:
Wherein:
-------gyro exports
D0-------gyro zero is inclined
D1-------gyro calibration factor
ωi-------sensitive axes angular speed
D2、D3----gyro cross-coupling coefficient
ωj、ωkTwo normal axis angular speeds of----be perpendicular to sensitive axes
In a model, D2、D3It is the impact that brings of alignment error, after installation is determined, carries out demarcation and can eliminate error; D0、D1It is the coefficient of gyro self, when dispatching from the factory, it is demarcated, thus obtaining measuring the accurate angular speed that carrier rotates. But, the zero of MEMS gyroscope is partially after dispatching from the factory, and along with the increase of storage time, zero deviation change is very big, has a strong impact on the certainty of measurement of MEMS gyroscope. Therefore, need to be biased row elimination to zero before the upper use that once powers on.
Existing zero inclined removing method is MEMS gyro to be stood, and energising measures it zero partially, by the mode rewriting software or communication interface sends, zero offset compensation coefficient being write MEMS gyro, thus eliminating zero offset error, improving gyroscope precision. Existing method has the disadvantage in that
1, external equipment is needed to be biased row test to the zero of gyroscope.
2, gyroscope zero is measured to the rear, it is necessary to gyroscope zero offset compensation coefficient is reset by instrumentation.
3, whole operating process is loaded down with trivial details, it is necessary to professional carries out.
Summary of the invention
For prior art above shortcomings, it is an object of the invention to provide a kind of micro-mechanical gyroscope zero removing method partially automatically. This method can automatically eliminate gyroscope zero and partially and zero offset compensation coefficient be reset automatically, during the energising of later gyroscope uses, adopts the penalty coefficient reset partially to compensate zero, reaches to improve the purpose of gyro to measure precision.
To achieve these goals, the technical solution used in the present invention is as follows:
A kind of micro-mechanical gyroscope zero removing method partially automatically, it is characterised in that: step is as follows,
1) gyroscope judges after powering on that gyroscope current state is static or motion, as gyroscope remains static, then measures the output after gyroscope powers on, and this output is current zero offset compensation coefficient D0;As gyroscope is kept in motion, then it is stored in zero offset compensation coefficient in the processor FLASH within gyroscope as current zero offset compensation coefficient D using the last time0;
2) according to step 1) the current zero offset compensation coefficient D that determines0, pass through formulaAutomatically gyroscope is carried out zero offset compensation;
3) by current zero offset compensation coefficient D0Write in the processor FLASH within gyroscope online, zero offset compensation coefficient when being energized as gyroscope next time and be kept in motion.
Wherein, step 1) in, gyroscope judges after powering on that current state is static or motion as follows:
If the inclined threshold value of gyroscope real-time zero is ω0, the inclined threshold value of gyroscope average zero isAs long as there being the output of a moment gyroscope in gyroscope powers on preset time periodAbsolute value be more than or equal to ω0, then it is assumed that gyroscope is kept in motion;
Otherwise judge as follows again, if the meansigma methods of gyroscope output in this time periodAbsolute value be more than or equal toThen think that gyroscope is kept in motionOtherwise it is assumed that gyroscope remains static,
Compared to existing technology, the invention have the advantages that
1, external equipment is not needed, after MEMS gyroscope stores time length, it is only necessary to once stand energising and just can eliminate gyroscope zero partially, easy and simple to handle, can carry out at any time;
2, zero inclined demarcation automatically carries out with calculating, and does not need personnel to intervene;
3, zero offset compensation coefficient resets and automatically carries out, it is not necessary to instrumentation;
4, gyroscope state is carried out algorithm reckoning, it is prevented that maloperation.
Detailed description of the invention
Below with reference to detailed description of the invention, the present invention is described in detail.
Micro-mechanical gyroscope zero of the present invention is removing method partially automatically, and step is as follows,
1) gyroscope judges after powering on that gyroscope current state is static or motion, as gyroscope remains static, then measures the output after gyroscope powers on, and this output is current zero offset compensation coefficient D0; As gyroscope is kept in motion, then it is stored in zero offset compensation coefficient in processor FLASH as current zero offset compensation coefficient D using the last time0;
2) according to step 1) the current zero offset compensation coefficient D that determines0, pass through formulaAutomatically gyroscope is carried out zero offset compensation;
3) by current zero offset compensation coefficient D0Write in the processor FLASH within gyroscope online, zero offset compensation coefficient when being energized as gyroscope next time and be kept in motion.
Wherein step 1) in, gyroscope judges after powering on that current state is static or motion as follows:
If the inclined threshold value of gyroscope real-time zero is ω0, the inclined threshold value of gyroscope average zero is(this time period length is preset, the actual 1min of being set to) is powered in preset time period according to gyroscope precision as long as there being the output of a moment gyroscope at gyroscopeAbsolute value be more than or equal to ω0, then it is assumed that gyroscope is kept in motion;
Otherwise judge as follows again, if the meansigma methods of gyroscope output in this time periodAbsolute value be more than or equal toThen think that gyroscope is kept in motionOtherwise it is assumed that gyroscope remains static,
The above embodiment of the present invention is only for example of the present invention is described, and is not the restriction to embodiments of the present invention. For those of ordinary skill in the field, other multi-form change and variations can also be made on the basis of the above description. Here cannot all of embodiment be given exhaustive.Every belong to apparent change that technical scheme amplified out or the variation row still in protection scope of the present invention.
Claims (2)
1. micro-mechanical gyroscope zero removing method partially automatically, it is characterised in that: step is as follows,
1) gyroscope judges after powering on that gyroscope current state is static or motion, as gyroscope remains static, then measures the output after gyroscope powers on, and this output is current zero offset compensation coefficient D0; As gyroscope is kept in motion, then it is stored in zero offset compensation coefficient in the processor FLASH within gyroscope as current zero offset compensation coefficient D using the last time0;
2) according to step 1) the current zero offset compensation coefficient D that determines0, pass through formulaAutomatically gyroscope is carried out zero offset compensation;
3) by current zero offset compensation coefficient D0Write in the processor FLASH within gyroscope online, zero offset compensation coefficient when being energized as gyroscope next time and be kept in motion.
2. micro-mechanical gyroscope zero according to claim 1 removing method partially automatically, it is characterised in that: step 1) in, gyroscope judges after powering on that current state is static or motion as follows:
If the inclined threshold value of gyroscope real-time zero is ω0, the inclined threshold value of gyroscope average zero isAs long as there being the output of a moment gyroscope in gyroscope powers on preset time periodAbsolute value be more than or equal to ω0, then it is assumed that gyroscope is kept in motion;
Otherwise judge as follows again, if the meansigma methods of gyroscope output in this time periodAbsolute value be more than or equal toThen think that gyroscope is kept in motionOtherwise it is assumed that gyroscope remains static,
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Cited By (12)
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CN106092140A (en) * | 2016-06-24 | 2016-11-09 | 成都希德电子信息技术有限公司 | A kind of gyroscope zero bias estimation |
CN106482750A (en) * | 2016-12-08 | 2017-03-08 | 南京方未智能科技有限公司 | MEMS gyroscope zero value automatic calibrating method |
CN106643797A (en) * | 2016-12-19 | 2017-05-10 | 中北大学 | Post-bombardment gyro bias correction method |
CN107462261A (en) * | 2017-08-15 | 2017-12-12 | 歌尔科技有限公司 | A kind of compensation method of gyroscope, device and gyroscope |
CN108021242A (en) * | 2017-12-06 | 2018-05-11 | 广东欧珀移动通信有限公司 | Gyro data processing method, mobile terminal and computer-readable recording medium |
CN108469270A (en) * | 2018-03-20 | 2018-08-31 | 西安电子科技大学 | Mobile phone gyroscope zero bias dynamic compensation method based on time series analysis |
CN109596143A (en) * | 2018-11-07 | 2019-04-09 | 深圳市欧盛自动化有限公司 | Test method, system, equipment and the computer readable storage medium of gyroscope |
CN109813338A (en) * | 2019-01-25 | 2019-05-28 | 沈阳无距科技有限公司 | Fly calibration method, device, electronic equipment and the storage medium of control gyroscope |
CN109827596A (en) * | 2019-04-02 | 2019-05-31 | 北京理工大学 | The zero bias estimation method of MEMS gyroscope under the conditions of a kind of descontinuous motion |
CN111595309A (en) * | 2020-04-24 | 2020-08-28 | 中电投电力工程有限公司 | System and method for improving verticality measurement precision by using multiple micro-mechanical gyroscopes |
CN111928844A (en) * | 2020-06-11 | 2020-11-13 | 嘉兴市纳杰微电子技术有限公司 | Model system of general MEMS gyroscope applied to AGV |
EP3857167A4 (en) * | 2018-09-25 | 2022-08-10 | Ceva Technologies, Inc. | Methods and apparatus for calibrating the zero rate output of a sensor |
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Cited By (18)
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CN106092140B (en) * | 2016-06-24 | 2019-03-12 | 成都希德电子信息技术有限公司 | A kind of gyroscope zero bias estimation method |
CN106092140A (en) * | 2016-06-24 | 2016-11-09 | 成都希德电子信息技术有限公司 | A kind of gyroscope zero bias estimation |
CN106482750A (en) * | 2016-12-08 | 2017-03-08 | 南京方未智能科技有限公司 | MEMS gyroscope zero value automatic calibrating method |
CN106643797A (en) * | 2016-12-19 | 2017-05-10 | 中北大学 | Post-bombardment gyro bias correction method |
CN106643797B (en) * | 2016-12-19 | 2019-01-04 | 中北大学 | One kind bombarding rear gyro zero bias modification method |
CN107462261B (en) * | 2017-08-15 | 2020-11-17 | 歌尔光学科技有限公司 | Compensation method and device of gyroscope and gyroscope |
CN107462261A (en) * | 2017-08-15 | 2017-12-12 | 歌尔科技有限公司 | A kind of compensation method of gyroscope, device and gyroscope |
CN108021242A (en) * | 2017-12-06 | 2018-05-11 | 广东欧珀移动通信有限公司 | Gyro data processing method, mobile terminal and computer-readable recording medium |
CN108021242B (en) * | 2017-12-06 | 2020-12-25 | Oppo广东移动通信有限公司 | Gyroscope data processing method, mobile terminal and computer readable storage medium |
CN108469270A (en) * | 2018-03-20 | 2018-08-31 | 西安电子科技大学 | Mobile phone gyroscope zero bias dynamic compensation method based on time series analysis |
US12072190B2 (en) | 2018-09-25 | 2024-08-27 | Ceva Technologies, Inc. | Methods and apparatus for calibrating the zero rate output of a sensor |
EP3857167A4 (en) * | 2018-09-25 | 2022-08-10 | Ceva Technologies, Inc. | Methods and apparatus for calibrating the zero rate output of a sensor |
CN109596143A (en) * | 2018-11-07 | 2019-04-09 | 深圳市欧盛自动化有限公司 | Test method, system, equipment and the computer readable storage medium of gyroscope |
CN109813338A (en) * | 2019-01-25 | 2019-05-28 | 沈阳无距科技有限公司 | Fly calibration method, device, electronic equipment and the storage medium of control gyroscope |
CN109827596A (en) * | 2019-04-02 | 2019-05-31 | 北京理工大学 | The zero bias estimation method of MEMS gyroscope under the conditions of a kind of descontinuous motion |
CN111595309A (en) * | 2020-04-24 | 2020-08-28 | 中电投电力工程有限公司 | System and method for improving verticality measurement precision by using multiple micro-mechanical gyroscopes |
CN111928844A (en) * | 2020-06-11 | 2020-11-13 | 嘉兴市纳杰微电子技术有限公司 | Model system of general MEMS gyroscope applied to AGV |
CN111928844B (en) * | 2020-06-11 | 2023-11-03 | 嘉兴市纳杰微电子技术有限公司 | Model system of MEMS gyroscope on AGV application |
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