CN107462261A - A kind of compensation method of gyroscope, device and gyroscope - Google Patents
A kind of compensation method of gyroscope, device and gyroscope Download PDFInfo
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- CN107462261A CN107462261A CN201710698085.9A CN201710698085A CN107462261A CN 107462261 A CN107462261 A CN 107462261A CN 201710698085 A CN201710698085 A CN 201710698085A CN 107462261 A CN107462261 A CN 107462261A
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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
Abstract
The invention discloses a kind of compensation method of gyroscope, device and gyroscope.This method includes：Obtain the zero bias value of gyroscope, and the theoretical com-pensation coefficient under rotating speed theoretical value；Obtain the penalty coefficient average rate of change；Using the penalty coefficient average rate of change, rotating speed theoretical value and theoretical com-pensation coefficient, current penalty coefficient corresponding with the current rotating speed output valve of gyroscope is calculated；According to zero bias value and current penalty coefficient, current rotating speed output valve is compensated.It can be seen that the technical program is the feature with the change of rotating speed according to compensating parameter, the current rotating speed output valve of gyroscope is compensated, realizes the accurate compensation to the current rotating speed output valve of gyroscope, improves the degree of accuracy of gyroscope.
Description
Technical field
The present invention relates to gyroscope technology field, the more particularly to a kind of compensation method of gyroscope, device and gyroscope.
Background technology
Inertial sensor generally comprises accelerometer and gyroscope, i.e. inertial sensor.Gyroscope is led as inertial navigation
The most frequently used inertia device in domain, using the angular speed for sensing carrier as output signal, during attitude algorithm, exported using gyroscope
Angle rate signal to rotation of the coordinate system element (Eulerian angles, quaternary number, direction cosine matrix) equation of differentiating, recycle integration to ask
Take posture.
But gyroscope would generally be influenceed by external environmental interference or itself error, the precision of output signal is low, needs
Output from Gyroscope is compensated, to obtain accurate output signal.It can be seen that carry out attitude algorithm using gyroscope
During, result of calculation it is whether accurate, be largely dependent on the compensation of gyroscope.Therefore, to the output signal of gyroscope
Accurately compensated, be also vital to improve the degree of accuracy of gyroscope.
The content of the invention
In view of the above problems, it is proposed that compensation method, device and the gyroscope of a kind of gyroscope of the invention, so as to top
Spiral shell instrument is accurately compensated, and improves the degree of accuracy of gyroscope.
According to an aspect of the invention, there is provided a kind of compensation method of gyroscope, methods described include：
Obtain the zero bias value of gyroscope, and the theoretical com-pensation coefficient under rotating speed theoretical value；
Obtain the penalty coefficient average rate of change；
Using the penalty coefficient average rate of change, the rotating speed theoretical value and the theoretical com-pensation coefficient, calculating and institute
State current penalty coefficient corresponding to the current rotating speed output valve of gyroscope；
According to the zero bias value and the current penalty coefficient, the current rotating speed output valve is compensated.
According to another aspect of the present invention, there is provided a kind of compensation device of gyroscope, described device include：
First acquisition unit, for obtaining the zero bias value of gyroscope, and the theoretical com-pensation coefficient under rotating speed theoretical value；
Second acquisition unit, for obtaining the penalty coefficient average rate of change；
Computing unit, for obtained using the second acquisition unit the penalty coefficient average rate of change, described first obtain
The rotating speed theoretical value and theoretical com-pensation coefficient that unit obtains are taken, calculates work as corresponding with the current rotating speed output valve of the gyroscope
Precompensation coefficient；
Calibration compensation unit, for according to the zero bias value and the current penalty coefficient, it is defeated to compensate the current rotating speed
Go out value.
According to a further aspect of the invention, there is provided a kind of compensation device of gyroscope, described device include memory
And processor, the memory storage has can be by the computer program of the computing device, and the computer program is by institute
Method as described before step can be realized when stating computing device.
According to a further aspect of the invention, there is provided a kind of gyroscope, the gyroscope include foregoing gyro
The compensation device of instrument.
In summary, the beneficial effect of technical scheme is：First, according to compensating parameter with the change of rotating speed
Feature, using the penalty coefficient average rate of change, rotating speed theoretical value and theoretical com-pensation coefficient, calculate defeated with the current rotating speed of gyroscope
Go out current penalty coefficient corresponding to value；Then, zero bias value and current penalty coefficient are reused, the current rotating speed for compensating gyroscope is defeated
Go out value, realize the accurate compensation to the current rotating speed output valve of gyroscope, improve the degree of accuracy of gyroscope.
Brief description of the drawings
Fig. 1 is a kind of schematic flow sheet of the compensation method for gyroscope that one embodiment of the invention provides；
The benefit corresponding with each preset rotation speed value that Fig. 2 (a) is a kind of sample gyroscope I that one embodiment of the invention provides
Repay coefficient results schematic diagram；
Fig. 2 (b) is a kind of the corresponding with each preset rotation speed value of sample gyroscope II that one embodiment of the invention provides
Penalty coefficient result schematic diagram；
Fig. 2 (c) is a kind of the corresponding with each preset rotation speed value of sample gyroscope III that one embodiment of the invention provides
Penalty coefficient result schematic diagram；
Fig. 3 is a kind of illustrative view of functional configuration of the compensation device for gyroscope that one embodiment of the invention provides；
Fig. 4 is a kind of illustrative view of functional configuration of the compensation device for gyroscope that another embodiment of the present invention provides；
Fig. 5 is a kind of illustrative view of functional configuration for gyroscope that one embodiment of the invention provides.
Embodiment
The error of gyroscope precision is usually from two aspects：Gyroscope itself error and external environmental interference.Gyroscope
Itself error mostlys come from structural issue caused by manufacture process, for example, sensitivity ratio system errors and zero
Point offset error.External environmental interference be mainly in external environment magnetic density it is uneven, the factor such as temperature difference angle trigger, lead to
Often result in chip sensitivity decline, the problems such as measured value is forbidden.But usual gyroscope has good error robustness, works as the external world
In the case that environment does not change or this structure of chip is constant, its property indices will not also change.Namely
Say, even if gyroscope has error, but under normal circumstances, the error amount of gyroscope can keep constant, therefore can be to the mistake
Difference compensates, to ensure the degree of accuracy of gyroscope.
In the prior art, fixed penalty coefficient is typically used, the rotating speed output valve of gyroscope is compensated, still
Do not consider under different rotating speeds, penalty coefficient is characteristics different, i.e., that compensating parameter changes with the change of rotating speed, compensation
The inaccuracy of coefficient can bring new error to gyroscope, and then influence the degree of accuracy of gyroscope.
The present invention the thinking that is related to be：Feature according to compensating parameter with the change of rotating speed, averagely become using penalty coefficient
Rate, rotating speed theoretical value and theoretical com-pensation coefficient, calculate current penalty coefficient corresponding with the current rotating speed output valve of gyroscope；
Then, zero bias value and current penalty coefficient are reused, the current rotating speed output valve of gyroscope is compensated, realizes to the current of gyroscope
The accurate compensation of rotating speed output valve, improve the degree of accuracy of gyroscope.To make the object, technical solutions and advantages of the present invention more clear
Chu, below in conjunction with accompanying drawing, embodiment of the present invention is described further in detail.
Fig. 1 is a kind of schematic flow sheet of the compensation method for gyroscope that one embodiment of the invention provides.Such as Fig. 1 institutes
Show, this method includes：
Step S110, obtain the zero bias value of gyroscope, and the theoretical com-pensation coefficient under rotating speed theoretical value.
Theoretical com-pensation coefficient under the zero bias value and rotating speed theoretical value of gyroscope in the present embodiment is set in advance in
In gyroscope.Here the theoretical com-pensation coefficient under rotating speed theoretical value, i.e., the reason under a certain rotating speed theoretical value set in advance
By penalty coefficient.For example, penalty coefficient 0.9 corresponding to 100 °/s.
Step S120, obtain the penalty coefficient average rate of change.
Step S130, using the penalty coefficient average rate of change, rotating speed theoretical value and theoretical com-pensation coefficient, calculating and gyroscope
Current rotating speed output valve corresponding to current penalty coefficient.
Because under different rotating speeds, penalty coefficient is different, i.e., compensating parameter has the spy changed with the change of rotating speed
Property.Just because of penalty coefficient has above-mentioned characteristic, then can obtain penalty coefficient year rotation speed change the average rate of change.Pass through
Current penalty coefficient corresponding to the current rotating speed output valve of the average rate of change computing gyroscope.Calculation formula can be：
Wherein,It is the compensating parameter average rate of change, K1It is theoretical com-pensation coefficient, K2It is current penalty coefficient, R1It is to turn
Fast theoretical value, R2It is current rotating speed output valve.
In the present embodiment,K1、R1、R2It is known, K is calculated according to above-mentioned formula can2。
Step S140, according to zero bias value and current penalty coefficient, compensate current rotating speed output valve.
When compensating current rotating speed output valve, the formula of foundation is：
ω=K ω0+offset
Wherein, ω be compensation after rotating speed output valve, ω0It is current rotating speed output valve, K is current penalty coefficient,
Offset is zero bias value.By the aufbauprinciple of statistical experiment and gyroscope, the offset under different rotating speeds is basically unchanged,
So offset can be used directly.
The penalty coefficient average rate of change in step S120 shown in Fig. 1 is the correspondence exported by multiple sample gyroscopes
The rotating speed output valve of multiple preset rotation speed values carries out calculating acquisition.Specifically, in one embodiment of the invention, step
The acquisition penalty coefficient average rate of change in S120 includes：
Step S121, for each sample gyroscope, obtain the zero bias value of each sample gyroscope.
In the present embodiment, the zero bias value of acquisition is the default zero bias value in each sample gyroscope, or obtains each sample
The rotating speed output valve corresponding with default null value respectively of gyroscope output, calculate the zero bias value of each sample gyroscope output.
Step S122, obtain rotating speed corresponding with the multiple preset rotation speed values respectively output of each sample gyroscope output
Value.
Multiple preset rotation speed values in the present embodiment are set according to demand, are not specifically limited herein.It is for example, more
Individual preset rotation speed value is 60 °/s, 180 °/s, 300 °/s, 540 °/s.
Step S123, rotating speed corresponding with multiple preset rotation speed values is defeated according to the zero bias value of each sample gyroscope and respectively
Go out value, calculate the penalty coefficient corresponding with each preset rotation speed value of each sample gyroscope.
In the present embodiment, the penalty coefficient corresponding with each preset rotation speed value for calculating each sample gyroscope is under
State formula calculating：
ωi=Kiωi'+offseti
Wherein, ωiIt is the preset rotation speed of sample gyroscope, ωi' it is penalty coefficient corresponding with preset rotation speed value,
offsetiIt is the zero bias value of sample gyroscope, KiIt is the penalty coefficient corresponding with preset rotation speed value of each sample gyroscope.This
In, ωi、ωi'、offsetiIt is known, can so calculates Ki。
Step S124, according to each sample gyroscope penalty coefficient corresponding with each preset rotation speed value, it is determined that compensation system
Relation between number and preset rotation speed value.
In the present embodiment, the penalty coefficient of each sample gyroscope is one-to-one with each preset rotation speed value, relatively
For each sample gyroscope, the rule that penalty coefficient changes with the change of preset rotation speed value can determine that, that is, determine to mend
Repay the relation between coefficient and preset rotation speed value.
Step S125, according to relation, calculate the penalty coefficient average rate of change.
Here the relation between penalty coefficient and preset rotation speed value can be first power functional relation, i.e. linear relationship,
It can be quadratic power functional relation.
In one embodiment of the invention, the relation between penalty coefficient and rotating speed theoretical value is linear relationship.
Then above-mentioned according to relation, calculating the penalty coefficient average rate of change includes：Calculated and compensated according to Linearity Formula
The coefficient average rate of change.Specifically formula is：
Wherein, m is the number of sample gyroscope, and n is the number of preset rotation speed value,For the penalty coefficient average rate of change,
ωiFor i-th of preset rotation speed value, KiFor penalty coefficient, ω corresponding to i-th of preset rotation speed valuei+1For (i+1) individual preset rotation speed
Value, Ki+1For penalty coefficient corresponding to (i+1) individual preset rotation speed value.
The angular velocity signal of gyroscope output in practical application is typically the angular velocity signal of X-axis, Y-axis and Z axis.Institute
With, in one embodiment of the invention,
The penalty coefficient corresponding with each preset rotation speed value of each sample gyroscope of calculating in above-mentioned steps S123 includes：
Calculate corresponding with each preset rotation speed value X-axis penalty coefficient, Y-axis penalty coefficient and the Z axis penalty coefficient of each sample gyroscope.
Specifically, the fundamental formular of foundation is：ω2=ωX 2+ωY 2+ωZ 2, and ωX=KXωX'+X_offset、ωY=
KYωY'+Y_offset、ωz=KZωZ'+Z_offset。
Wherein, ω is preset rotation speed value；ωX、ωY、ωZIt is X-axis, Y-axis, the preset rotation speed value of Z axis；ωX'、ωY'、ωZ'
It is X-axis, Y-axis, the rotating speed output valve corresponding with preset rotation speed value of Z axis output；KX、KY、KZIt is X-axis, Y-axis, the compensation system of Z axis
Number, X_offset, Y_offset, Z_offset are X-axis, Y-axis, the zero bias value of Z axis.Zero bias value is preset rotation speed when being zero, top
The rotating speed output valve of spiral shell instrument, the X-axis of gyroscope, Y-axis, the zero bias value of Z axis are known here.
By ωX、ωY、ωZFormula bring ω into2=ωX 2+ωY 2+ωZ 2, obtain：
ω2=(KXωX'+X_offset)2+(KYωY'+Y_offset)2+(KZωZ'+Z_offset)2
Make D2=X_offset2+Y_offset2+Z_offset2-ω2,
Then obtain：
KX 2ωX′2+2KXωX′·X_offset+X_offset2+KY 2ωY′2+2KYωY′·Y_offset+
Y_offset2+KZ 2ωZ′2+2KZωZ′·Z_offset+Z_offset2+D2=0
There can be the output valve of three groups of gyroscopes for each preset rotation speed value, i.e. X-axis, Y-axis, Z axis is respectively default
Rotating speed output valve during tachometer value.For example, when preset rotation speed is 60 °/s, there are three groups of rotating speed output valves, be respectively：X-axis output
Rotating speed output valve corresponding with 60 °/s；The rotating speed output valve corresponding with 60 °/s of Y-axis；The rotating speed corresponding with 60 °/s of Z axis is defeated
Go out value.
By the rotating speed output valve of each group of gyroscope, above-mentioned formula is brought into, you can three independent equations are obtained, can be with
Ask for KX、KY、KZ, i.e., to should preset rotation speed value X-axis penalty coefficient, Y-axis penalty coefficient and Z axis penalty coefficient.
So, X-axis penalty coefficient, Y-axis penalty coefficient and Z axis under each preset rotation speed value obtained according to calculating compensate
Coefficient, it may be determined that relation, Y-axis penalty coefficient between the X-axis penalty coefficient and preset rotation speed value of each sample gyroscope and
The relation between relation and Z axis penalty coefficient and preset rotation speed value between preset rotation speed value.
Specifically, it is determined that the relation between the penalty coefficient and preset rotation speed value that go out includes：
Determine that X-axis penalty coefficient increases with the increase of preset rotation speed value；Y-axis penalty coefficient with preset rotation speed value increase
And reduce；Z axis penalty coefficient reduces with the increase of preset rotation speed value；X-axis penalty coefficient<Y-axis penalty coefficient<Z axis compensation system
Number.
And determine that the relation between X-axis penalty coefficient, Y-axis penalty coefficient, Z axis penalty coefficient and preset rotation speed value is
Linear relationship.
Included in step S125 according to relation, the calculating penalty coefficient average rate of change：Distinguished according to Linearity Formula
Calculate the X-axis penalty coefficient average rate of change, the Y-axis penalty coefficient average rate of change, the Z axis penalty coefficient average rate of change；Wherein, line
Property calculation formula is：
Wherein, m is the number of sample gyroscope, and n is the number of preset rotation speed value.
For the X-axis penalty coefficient average rate of change, ωX(i)For i-th of preset rotation speed value, KX(i)For i-th of preset rotation speed
X-axis penalty coefficient corresponding to value, ωX(i+1)For (i+1) individual preset rotation speed value, KX(i+1)For (i+1) individual preset rotation speed value pair
The X-axis penalty coefficient answered；
For the Y-axis penalty coefficient average rate of change, ωY(i)For i-th of preset rotation speed value, KY(i)For i-th of preset rotation speed
Y-axis penalty coefficient corresponding to value, ωY(i+1)For (i+1) individual preset rotation speed value, KY(i+1)For (i+1) individual preset rotation speed value pair
The Y-axis penalty coefficient answered；
For the Z axis penalty coefficient average rate of change, ωZ(i)For i-th of preset rotation speed value, KZ(i)For i-th of preset rotation speed
Z axis penalty coefficient corresponding to value, ωZ(i+1)For (i+1) individual preset rotation speed value, KZ(i+1)For (i+1) individual preset rotation speed value pair
The Z axis penalty coefficient answered.
It should be noted that when compensating the calculating of the coefficient average rate of change, the sample gyroscope of acquisition with it is pre-
If corresponding to tachometer value during rotating speed output valve, it is divided into and rotates forward data and reverse rotation data.With just in following examples
It is specifically described exemplified by spin data, reverse rotation data are identical with the calculation for rotating forward data, again just not
Repeating.
In a specific example, the number of sample gyroscope is 3, is sample gyroscope I, sample gyroscope respectively
II, sample gyroscope III.During the rotating speed output valve corresponding with preset rotation speed value of the sample gyroscope of acquisition, with reference to table 1
In data form.Preset rotation speed value is：60°/s、180°/s、300°/s、540°/s.
Table 1
| ωx | ωy | ωz | ω′x | ω′y | ω′z |
| 0°/s | 0°/s | 0°/s | |||
| 60°/s | 0°/s | 0°/s | |||
| 0°/s | 60°/s | 0°/s | |||
| 0°/s | 0°/s | 60°/s | |||
| 180°/s | 0°/s | 0°/s | |||
| 0°/s | 180°/s | 0°/s | |||
| 0°/s | 0°/s | 180°/s | |||
| 300°/s | 0°/s | 0°/s | |||
| 0°/s | 300°/s | 0°/s | |||
| 0°/s | 0°/s | 300°/s | |||
| 540°/s | 0°/s | 0°/s | |||
| 0°/s | 540°/s | 0°/s | |||
| 0°/s | 0°/s | 540°/s |
By the rotating speed output valve of each group of gyroscope of corresponding each preset rotation speed value, formula is brought into：
Three independent equations of corresponding each preset rotation speed value can be obtained, corresponding each preset rotation speed value can be asked for
KX、KY、KZ, i.e., X-axis penalty coefficient, Y-axis penalty coefficient and the Z axis compensation of each preset rotation speed value of correspondence of each gyroscope
Coefficient.
The benefit corresponding with each preset rotation speed value that Fig. 2 (a) is a kind of sample gyroscope I that one embodiment of the invention provides
Repay coefficient results schematic diagram；Fig. 2 (b) is a kind of sample gyroscope II of one embodiment of the invention offer and each preset rotation speed
Penalty coefficient result schematic diagram corresponding to value；Fig. 2 (c) is a kind of sample gyroscope III's that one embodiment of the invention provides
Penalty coefficient result schematic diagram corresponding with each preset rotation speed value.
It can be obtained from Fig. 2 (a), Fig. 2 (b), Fig. 2 (c), determine X-axis penalty coefficient A (KX) with the increase of preset rotation speed value
And increase；Y-axis penalty coefficient B (KY) reduce with the increase of preset rotation speed value；Z axis penalty coefficient C (KZ) with preset rotation speed value
Increase and reduce；X-axis penalty coefficient A<Y-axis penalty coefficient B<Z axis penalty coefficient C.
To the K under different preset rotation speed valuesX、KY、KZMathematical method fitting is carried out, for example, linear function, quadratic function, really
The error of fixed every kind of fitting result, find the minimum fit approach of error of fitting.Then finally determine that linear function is linear function
Error of fitting is minimum, determines that the relation between X-axis penalty coefficient, Y-axis penalty coefficient, Z axis penalty coefficient and preset rotation speed value is equal
It is linear relationship.
According to Linearity Formula,
Calculate the X-axis penalty coefficient average rate of change, the Y-axis penalty coefficient average rate of change, Z axis penalty coefficient mean change
Rate.It the results are shown in Table 2.
Table 2
So when carrying out the compensation of gyroscope, then the data in table 2 can be directly used.
If for example, compensating parameter K of the known gyroscope in the case where rotating speed is 100 °/sX0It is worth for 0.9, then gyroscope during application
Rotating speed output valve be under 500 °/s, it is necessary to calculate the penalty coefficient K under 500 °/sX1, in table 2Be worth for 1.7491453 ×
10-5, calculated according to equation below：
Try to achieve x=0.907.That is during 500 °/s, penalty coefficient KX1For 0.907.
And if directly use 0.9 error that can be made for：
7.8% error is very big for gyroscope, it is seen then that using the compensation method of the gyroscope of the present invention
The degree of accuracy of gyroscope can be improved.
Fig. 3 is a kind of illustrative view of functional configuration of the compensation device for gyroscope that one embodiment of the invention provides.Such as Fig. 3
Shown, the compensation device 300 of the gyroscope includes：
First acquisition unit 310, for obtaining the zero bias value of gyroscope, and the theoretical com-pensation system under rotating speed theoretical value
Number.
Second acquisition unit 320, for obtaining the penalty coefficient average rate of change.
Computing unit 330, for obtained using second acquisition unit 320 the penalty coefficient average rate of change, first obtain
The rotating speed theoretical value and theoretical com-pensation coefficient that unit 310 obtains, calculate corresponding with the current rotating speed output valve of gyroscope current
Penalty coefficient.
Calibration compensation unit 340, for according to zero bias value and current penalty coefficient, compensating current rotating speed output valve.
In one embodiment of the invention, second acquisition unit 320 is specifically used for,
For each sample gyroscope, the zero bias value of each sample gyroscope is obtained；
Obtain the rotating speed output valve corresponding with multiple preset rotation speed values respectively of each sample gyroscope output；
According to the zero bias value of each sample gyroscope and respectively rotating speed output valve corresponding with multiple preset rotation speed values, calculate
The penalty coefficient corresponding with each preset rotation speed value of each sample gyroscope；
According to each sample gyroscope penalty coefficient corresponding with each preset rotation speed value, penalty coefficient and default turn are determined
Relation between speed value；
According to relation, the penalty coefficient average rate of change is calculated.
Further,
Second acquisition unit 320, it is additionally operable to calculate X-axis corresponding with each preset rotation speed value compensation of each sample gyroscope
Coefficient, Y-axis penalty coefficient and Z axis penalty coefficient；
Determine that X-axis penalty coefficient increases with the increase of rotating speed theoretical value；Y-axis penalty coefficient with rotating speed theoretical value increase
And reduce；Z axis penalty coefficient reduces with the increase of rotating speed theoretical value；X-axis penalty coefficient<Y-axis penalty coefficient<Z axis compensation system
Number；It is linear relationship to determine the relation between X-axis penalty coefficient, Y-axis penalty coefficient, Z axis penalty coefficient and rotating speed theoretical value.
Specifically,
Second acquisition unit 320, it is additionally operable to calculate the X-axis penalty coefficient average rate of change, Y respectively according to Linearity Formula
The axle penalty coefficient average rate of change, the Z axis penalty coefficient average rate of change；Wherein, Linearity Formula is：
Wherein, m is the number of sample gyroscope, and n is the number of preset rotation speed value；
For the X-axis penalty coefficient average rate of change, ωX(i)For i-th of preset rotation speed value, KX(i)For i-th of preset rotation speed
X-axis penalty coefficient corresponding to value, ωX(i+1)For (i+1) individual preset rotation speed value, KX(i+1)For (i+1) individual preset rotation speed value pair
The X-axis penalty coefficient answered；
For the Y-axis penalty coefficient average rate of change, ωY(i)For i-th of preset rotation speed value, KY(i)For i-th of preset rotation speed
Y-axis penalty coefficient corresponding to value, ωY(i+1)For (i+1) individual preset rotation speed value, KY(i+1)For (i+1) individual preset rotation speed value pair
The Y-axis penalty coefficient answered；
For the Z axis penalty coefficient average rate of change, ωZ(i)For i-th of preset rotation speed value, KZ(i)For i-th of preset rotation speed
Z axis penalty coefficient corresponding to value, ωZ(i+1)For (i+1) individual preset rotation speed value, KZ(i+1)For (i+1) individual preset rotation speed value pair
The Z axis penalty coefficient answered.
Fig. 4 is a kind of structural representation of the compensation device for gyroscope that another embodiment of the invention provides.Such as Fig. 4 institutes
Show, the compensation device 400 of gyroscope includes memory 410 and processor 420, by interior between memory 410 and processor 420
The communication connection of portion's bus 430, memory 410 are stored with the computer journey of the compensation for the gyroscope that can be performed by processor 420
Sequence 411, the method step shown in Fig. 1 can be realized when the computer program 411 of the compensation of the gyroscope is performed by processor 420
Suddenly.
In various embodiments, memory 410 can be internal memory or nonvolatile memory.It is wherein non-volatile to deposit
Reservoir can be：Memory driver (such as hard disk drive), solid state hard disc, any kind of storage dish (such as CD, DVD),
Either similar storage medium or combinations thereof.Internal memory can be：RAM (Radom Access Memory, arbitrary access
Memory), volatile memory, nonvolatile memory, flash memory.Further, nonvolatile memory and internal memory can as machine
Storage medium is read, the computer program 411 of the compensation of the gyroscope performed by processor 420 can be stored thereon.
Fig. 5 is a kind of illustrative view of functional configuration for gyroscope that one embodiment of the invention provides.As shown in figure 5, the top
Spiral shell instrument 500 includes the compensation device 510 of gyroscope as shown in Figure 3 or Figure 4.
In actual applications, the compensating parameter average rate of change can be stored directly in gyroscope after calculating, the benefit of gyroscope
When repaying device 510 and compensating again, the corresponding compensating parameter average rate of change of storage is directly searched.
It should be noted that side shown in each embodiment and Fig. 1 of gyroscope shown in device, Fig. 5 shown in Fig. 3 and Fig. 4
Each embodiment of method corresponds to identical, has been described in detail, will not be repeated here above.
In summary, the beneficial effect of technical scheme is：First, according to compensating parameter with the change of rotating speed
Feature, using the penalty coefficient average rate of change, rotating speed theoretical value and theoretical com-pensation coefficient, calculate defeated with the current rotating speed of gyroscope
Go out current penalty coefficient corresponding to value；Then, zero bias value and current penalty coefficient are reused, the current rotating speed for compensating gyroscope is defeated
Go out value, realize the accurate compensation to the current rotating speed output valve of gyroscope, improve the degree of accuracy of gyroscope.
The foregoing is only a specific embodiment of the invention, under the above-mentioned teaching of the present invention, those skilled in the art
Other improvement or deformation can be carried out on the basis of above-described embodiment.It will be understood by those skilled in the art that above-mentioned tool
The purpose of the present invention is simply preferably explained in body description, and protection scope of the present invention should be defined by scope of the claims.
Claims (10)
1. a kind of compensation method of gyroscope, it is characterised in that methods described includes：
Obtain the zero bias value of gyroscope, and the theoretical com-pensation coefficient under rotating speed theoretical value；
Obtain the penalty coefficient average rate of change；
Using the penalty coefficient average rate of change, the rotating speed theoretical value and the theoretical com-pensation coefficient, calculate and the top
Current penalty coefficient corresponding to the current rotating speed output valve of spiral shell instrument；
According to the zero bias value and the current penalty coefficient, the current rotating speed output valve is compensated.
2. the method as described in claim 1, it is characterised in that the acquisition penalty coefficient average rate of change includes：
For each sample gyroscope, the zero bias value of each sample gyroscope is obtained；
Obtain the rotating speed output valve corresponding with multiple preset rotation speed values respectively of each sample gyroscope output；
According to the zero bias value of each sample gyroscope and the rotating speed output valve corresponding with multiple preset rotation speed values respectively,
Calculate the penalty coefficient corresponding with each preset rotation speed value of each sample gyroscope；
According to each sample gyroscope penalty coefficient corresponding with each preset rotation speed value, the penalty coefficient and described pre- is determined
If the relation between tachometer value；
According to the relation, the penalty coefficient average rate of change is calculated.
3. method as claimed in claim 2, it is characterised in that
The penalty coefficient corresponding with each preset rotation speed value for calculating each sample gyroscope includes：Calculate each sample gyro
Corresponding with each preset rotation speed value X-axis penalty coefficient, Y-axis penalty coefficient and the Z axis penalty coefficient of instrument；
Relation between the penalty coefficient determined and the preset rotation speed value includes：
Determine that the X-axis penalty coefficient increases with the increase of the preset rotation speed value；The Y-axis penalty coefficient is with described default
The increase of tachometer value and reduce；The Z axis penalty coefficient reduces with the increase of the preset rotation speed value；The X-axis compensation system
Number<The Y-axis penalty coefficient<The Z axis penalty coefficient；And determine the X-axis penalty coefficient, the Y-axis penalty coefficient, institute
It is linear relationship to state the relation between Z axis penalty coefficient and the preset rotation speed value.
4. method as claimed in claim 3, it is characterised in that
It is described according to the relation, calculating the penalty coefficient average rate of change includes：X is calculated according to Linearity Formula respectively
The axle penalty coefficient average rate of change, the Y-axis penalty coefficient average rate of change, the Z axis penalty coefficient average rate of change；Wherein, the line
Property calculation formula is：
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Wherein, m is the number of sample gyroscope, and n is the number of preset rotation speed value；
For the X-axis penalty coefficient average rate of change, ωX(i)For i-th of preset rotation speed value, KX(i)For i-th of preset rotation speed value pair
The X-axis penalty coefficient answered, ωX(i+1)For (i+1) individual preset rotation speed value, KX(i+1)For X corresponding to (i+1) individual preset rotation speed value
Axle penalty coefficient；
For the Y-axis penalty coefficient average rate of change, ωY(i)For i-th of preset rotation speed value, KY(i)For i-th of preset rotation speed value pair
The Y-axis penalty coefficient answered, ωY(i+1)For (i+1) individual preset rotation speed value, KY(i+1)For Y corresponding to (i+1) individual preset rotation speed value
Axle penalty coefficient；
For the Z axis penalty coefficient average rate of change, ωZ(i)For i-th of preset rotation speed value, KZ(i)For i-th of preset rotation speed value pair
The Z axis penalty coefficient answered, ωZ(i+1)For (i+1) individual preset rotation speed value, KZ(i+1)For Z corresponding to (i+1) individual preset rotation speed value
Axle penalty coefficient.
5. a kind of compensation device of gyroscope, it is characterised in that described device includes：
First acquisition unit, for obtaining the zero bias value of gyroscope, and the theoretical com-pensation coefficient under rotating speed theoretical value；
Second acquisition unit, for obtaining the penalty coefficient average rate of change；
Computing unit, for obtained using the second acquisition unit the penalty coefficient average rate of change, described first obtain it is single
The rotating speed theoretical value and theoretical com-pensation coefficient that member obtains, calculating is corresponding with the current rotating speed output valve of the gyroscope currently to mend
Repay coefficient；
Calibration compensation unit, for according to the zero bias value and the current penalty coefficient, compensating the current rotating speed output valve.
6. device as claimed in claim 5, it is characterised in that second acquisition unit is specifically used for,
For each sample gyroscope, the zero bias value of each sample gyroscope is obtained；
Obtain the rotating speed output valve corresponding with multiple preset rotation speed values respectively of each sample gyroscope output；
According to the zero bias value of each sample gyroscope and the rotating speed output valve corresponding with multiple preset rotation speed values respectively,
Calculate the penalty coefficient corresponding with each preset rotation speed value of each sample gyroscope；
According to each sample gyroscope penalty coefficient corresponding with each preset rotation speed value, the penalty coefficient and described pre- is determined
If the relation between tachometer value；
According to the relation, the penalty coefficient average rate of change is calculated.
7. device as claimed in claim 6, it is characterised in that
The second acquisition unit, it is additionally operable to calculate X-axis corresponding with each preset rotation speed value compensation system of each sample gyroscope
Number, Y-axis penalty coefficient and Z axis penalty coefficient；
Determine that the X-axis penalty coefficient increases with the increase of the preset rotation speed value；The Y-axis penalty coefficient is with described default
The increase of tachometer value and reduce；The Z axis penalty coefficient reduces with the increase of the preset rotation speed value；The X-axis compensation system
Number<The Y-axis penalty coefficient<The Z axis penalty coefficient；Determine the X-axis penalty coefficient, the Y-axis penalty coefficient, the Z
Relation between axle penalty coefficient and the preset rotation speed value is linear relationship.
8. device as claimed in claim 7, it is characterised in that
The second acquisition unit, it is additionally operable to calculate the X-axis penalty coefficient average rate of change, Y-axis respectively according to Linearity Formula
The penalty coefficient average rate of change, the Z axis penalty coefficient average rate of change；Wherein, the Linearity Formula is：
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Axle penalty coefficient；
For the Y-axis penalty coefficient average rate of change, ωY(i)For i-th of preset rotation speed value, KY(i)For i-th of preset rotation speed value pair
The Y-axis penalty coefficient answered, ωY(i+1)For (i+1) individual preset rotation speed value, KY(i+1)For Y corresponding to (i+1) individual preset rotation speed value
Axle penalty coefficient；
For the Z axis penalty coefficient average rate of change, ωZ(i)For i-th of preset rotation speed value, KZ(i)For i-th of preset rotation speed value pair
The Z axis penalty coefficient answered, ωZ(i+1)For (i+1) individual preset rotation speed value, KZ(i+1)For Z corresponding to (i+1) individual preset rotation speed value
Axle penalty coefficient.
9. a kind of compensation device of gyroscope, it is characterised in that described device includes memory and processor, and the memory is deposited
Containing be able to can be realized by the computer program of the computing device, the computer program during computing device
Method and step described in claim any one of 1-4.
10. a kind of gyroscope, it is characterised in that the gyroscope includes the gyroscope as described in claim any one of 5-9
Compensation device.
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| RU2783728C1 (en) * | 2022-04-18 | 2022-11-16 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Казанский национальный исследовательский технический университет им. А.Н. Туполева - КАИ" | Method for increasing the stability of the gyrostabilizer |
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| CN105333888A (en) * | 2015-11-26 | 2016-02-17 | 湖北三江航天红峰控制有限公司 | Method for simultaneously compensating scale factor and zero offset of optical fiber gyroscope by one-time temperature experiment |
| CN105675015A (en) * | 2016-01-08 | 2016-06-15 | 中国电子科技集团公司第二十六研究所 | MEMS gyroscope zero-offset automatic elimination method |
| US20160238395A1 (en) * | 2013-10-24 | 2016-08-18 | Commissariat A L'energie Atomique Et Aux Energies Alternatives | Method for indoor and outdoor positioning and portable device implementing such a method |
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| CN103256941A (en) * | 2013-04-19 | 2013-08-21 | 中国兵器工业集团第二一四研究所苏州研发中心 | Practical method of high order temperature compensation for MEMS (Micro Electro Mechanical Systems) gyroscope |
| US20160238395A1 (en) * | 2013-10-24 | 2016-08-18 | Commissariat A L'energie Atomique Et Aux Energies Alternatives | Method for indoor and outdoor positioning and portable device implementing such a method |
| CN105333888A (en) * | 2015-11-26 | 2016-02-17 | 湖北三江航天红峰控制有限公司 | Method for simultaneously compensating scale factor and zero offset of optical fiber gyroscope by one-time temperature experiment |
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| RU2783728C1 (en) * | 2022-04-18 | 2022-11-16 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Казанский национальный исследовательский технический университет им. А.Н. Туполева - КАИ" | Method for increasing the stability of the gyrostabilizer |
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Effective date of registration: 20221125 Address after: 266104 No. 500, Songling Road, Laoshan District, Qingdao, Shandong Patentee after: GOERTEK TECHNOLOGY Co.,Ltd. Address before: 261031 east of Dongming Road, north of Yuqing East Street, Weifang High tech Zone, Weifang City, Shandong Province (Room 502, Geer electronics office building) Patentee before: GoerTek Optical Technology Co.,Ltd. |
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