CN109186635A - The zero point correction method and system of three-axis gyroscope - Google Patents
The zero point correction method and system of three-axis gyroscope Download PDFInfo
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- CN109186635A CN109186635A CN201811006870.4A CN201811006870A CN109186635A CN 109186635 A CN109186635 A CN 109186635A CN 201811006870 A CN201811006870 A CN 201811006870A CN 109186635 A CN109186635 A CN 109186635A
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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 present invention relates to Movement Navigation Technology fields.One embodiment of the invention proposes a kind of zero point correction method and system of three-axis gyroscope, wherein the zero point correction method of the three-axis gyroscope includes: the rotation control amount obtained in predetermined amount of time about three-axis gyroscope；Determine in the predetermined amount of time about the three-axis gyroscope parallel gravity direction Z axis rate of change of angular；Based on the Z axis rate of change of angular and the rotation control amount, the zero offset in parallel gravity direction is compensated.As a result, application rotation control amount andZAxis angular rate change rate compensates the zero offset of parallel gravity direction, can be realized the geomagnetic sensor in substitution traditional technology, realizes the accurate compensation of the zero deviation of parallel gravity direction, and also reduce the cost of manufacture of inertial navigation equipment.
Description
Technical field
The present invention relates to Movement Navigation Technology fields, a kind of zero point correction method more particularly to three-axis gyroscope and are
System.
Background technique
Important component of the three-axis gyroscope as inertial sensor, the angular speed of three axis for measuring system, to obtain
The posture for the system of obtaining.Since the zero deviation of three-axis gyroscope will affect the angular velocity measurement value of three-axis gyroscope.At the same time,
With the accumulation of time, the posture that the measurement little deviation of angular speed will be such that integral obtains has very big error.Cause
This, three-axis gyroscope needs constantly carry out zero point and make up the difference.
Currently, the zero point of three-axis gyroscope be usually use three axis geomagnetic sensors, the data of three axis accelerometer come into
What row was made up the difference and was corrected.Specifically, geomagnetic sensor is used to make up the zero deviation of the parallel gravity direction of rotary shaft, accelerometer
For making up the zero point error in rotary shaft vertical gravity direction.But in traditional method, geomagnetic sensor is easy by outer
The interference in boundary magnetic field, and can not correctly compensate the zero deviation of parallel gravity direction；Also, accelerometer can not also make up rotation
The zero deviation of the parallel gravity direction of axis.It can not be there are external magnetic field interference in this way, having led to conventional method
It works normally.
Summary of the invention
The purpose of the embodiment of the present invention is that a kind of zero point correction method and system of three-axis gyroscope are provided, at least solving
Certainly lead to parallel gravity direction because the geomagnetic sensor in inertial navigation equipment is easy the interference by external magnetic field in the prior art
Zero deviation the technical issues of being unable to get compensation.
To achieve the goals above, on the one hand the embodiment of the present invention provides the zero point correction side of a kind of three-axis gyroscope
Method, comprising: obtain the rotation control amount in predetermined amount of time about three-axis gyroscope；It determines in the predetermined amount of time about institute
Three-axis gyroscope is stated in the Z axis rate of change of angular of parallel gravity direction；Based on the Z axis rate of change of angular and the rotation
Control amount compensates the zero offset in parallel gravity direction.
On the other hand the embodiment of the present invention provides a kind of zero point correction system of three-axis gyroscope, comprising: rotation control amount
Acquiring unit, for obtaining the rotation control amount in predetermined amount of time about three-axis gyroscope；Z axis rate of change of angular determines single
Member, for determine in the predetermined amount of time about the three-axis gyroscope parallel gravity direction Z axis rate of change of angular；
Zero offset compensating unit is compensated for being based on the Z axis rate of change of angular and the rotation control amount in parallel gravity side
To zero offset.
Parallel gravity is compensated with Z axis rate of change of angular using rotation control amount through the above technical solutions, proposing
The zero offset in direction, can be realized the geomagnetic sensor in substitution traditional technology, and the zero point for realizing parallel gravity direction is inclined
The accurate compensation of difference, and also reduce the cost of manufacture of inertial navigation equipment.
The other feature and advantage of the embodiment of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is to further understand for providing to the embodiment of the present invention, and constitute part of specification, under
The specific embodiment in face is used to explain the present invention embodiment together, but does not constitute the limitation to the embodiment of the present invention.Attached
In figure:
Fig. 1 is the flow chart of the zero point correction method of the three-axis gyroscope of one embodiment of the invention；
Fig. 2 is the configuration diagram of the system including gyroscope and accelerometer applied by the embodiment of the present invention；
Fig. 3 is the flow chart of the triggering judgment step in the zero point correction method of the three-axis gyroscope of the embodiment of the present invention；
Fig. 4 is the principle flow chart that rotation control- action compensation three-axis gyroscope zero deviation is combined in the embodiment of the present invention；
Fig. 5 is the structural block diagram of the zero point correction system of the three-axis gyroscope of one embodiment of the invention.
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the embodiment of the present invention.It should be understood that this
Locate described specific embodiment and be merely to illustrate and explain the present invention embodiment, is not intended to restrict the invention embodiment.
As shown in Figure 1, the zero point correction method of the three-axis gyroscope of one embodiment of the invention, comprising:
S11, the interior rotation control amount about three-axis gyroscope of predetermined amount of time is obtained.
It is understood that the rotation control amount can be the rotation control amount of platform locating for three-axis gyroscope；As showing
Example, when three-axis gyroscope is set in inertial navigation equipment, rotation control amount can be inertial navigation equipment to system (such as inertial navigation system
System) the rotation control amount that is applied, such as incude for posture.Such as Fig. 2, show that setting is being in the embodiment of the present invention
Gyroscope and accelerometer in system, and corresponding rotation control amount and gravity relative direction etc..
S12, determine in predetermined amount of time about three-axis gyroscope parallel gravity direction Z axis rate of change of angular.
Specifically, can be the angle on Z axis of the different cycles by acquisition three-axis gyroscope in predetermined amount of time
Speed, and compare the variable quantity of the Z axis angular speed in the different cycles, and corresponding Z axis rate of change of angular is determined with this.
S13, it is based on Z axis rate of change of angular and rotation control amount, compensates the zero offset in parallel gravity direction.
Specifically, the zero offset that can be in parallel gravity direction compensates in the following manner:
Gz0'=Gz0+(∑Gz/N-∑Uz/N)
Wherein, Gz0' indicate the zero offset of compensated parallel gravity direction Z axis, Gz0Indicate the Z axis under original state
Zero offset, ∑ Gz/ N indicates the Z axis period mean angular velocity change rate and ∑ U about N number of time cyclez/ N indicates to close
Control amount is averagely rotated in the period of N number of time cycle；Changed as a result, by the angular speed on Z axis in N number of time cycle
The average value of rate and rotation control amount, to determine the offset relative to the zero offset to parallel gravity direction, to complete
Compensation and calibration to the zero offset of Z axis.
In embodiments of the present invention, replace three axis geomagnetic sensors using Z axis rate of change of angular and rotation control amount
The compensation to the zero offset of parallel gravity direction is completed in detection.
In some embodiments, the triggering judgment step for S13 can be set between S12 and S13, specifically,
It can be and judge whether the current state of three-axis gyroscope meets for triggering the compensation calibration condition for being directed to zero offset, wherein
Compensation calibration condition instruction three-axis gyroscope is in static or uniform motion state.Thus, it is ensured that being in three-axis gyroscope
Implement zero point correction operation in the case where static or uniform motion.
As an example, as shown in figure 3, triggering judgment step can be the following steps are included:
S31, it determines in predetermined amount of time about rate of change of angular of the three-axis gyroscope in three axis directions and adds respectively
Percentage speed variation.
About the determination step of rate of acceleration change, it can be acquisition accelerometer associated with three-axis gyroscope and surveyed
The acceleration in three axis directions of amount, and rate of acceleration change is determined according to the acquired acceleration in three axis directions.
Value corresponding to S32, any one in three axis directions of detection rate of change of angular and rate of acceleration change is
Whether no be more than the noise threshold pre-seted.
If S33, being less than the noise threshold, it is determined that currently meet compensation calibration condition.
Wherein, if being more than the noise threshold, it can be said that the bright three-axis gyroscope is in nonstatic or non-uniform movement shape
State, at this time then can be it is not recommended that implement compensation calibration operation.
In some embodiments, it can also be for X horizontal axis and the progress of the zero offset of Y plotted, such as can be with
It is to be become according to the angular speed in predetermined amount of time about three-axis gyroscope on the X horizontal axis and Y plotted in vertical gravity direction
Rate compensates the zero offset on X horizontal axis and Y plotted.
Zero deviation compensation method proposed by the present invention, can not be by the interference of external magnetic field, using the rotation in system
Control amount and accelerometer make up the zero deviation of three-axis gyroscope.
As shown in figure 4, combining the principle stream of rotation control- action compensation three-axis gyroscope zero deviation in the embodiment of the present invention
Journey, comprising:
The first step acquires the initial data (gxi_org, gyi_org, gzi_org) of three-axis gyroscope, obtains current time
Angular speed.Carry out following operation (assuming that gravity on z-axis) of the algorithm in the i-th period.
Gxi=gxi_org-Gx0
Gyi=gyi_org-Gy0
Gzi=gzi_org-Gz0
Wherein, Gx0, Gy0, Gz0For the zero offset of three-axis gyroscope.
The initial data of three axis accelerometer is (Axi, AX, Azi)
Second step, magnitude of angular velocity (the ∑ G for three axis of gyroscope that add upx, ∑ Gy, ∑ Gz), the acceleration of three axis of accelerometer
Angle value (∑ Ax, ∑ Ay, ∑ Az), the rotation control amount ∑ U of systemzWith counter C.Simultaneously, to the change rate of gyroscope value
(∑ΔGx, ∑ Δ Gy, ∑ Δ Gz), change rate (the ∑ Δ A of accelerometerx, ∑ Δ Ay, ∑ Δ Az) add up.
∑Gx=∑ Gx+Gxi
∑Gy=∑ Gy+Gyi
∑Gz=∑ Gz+Gzi
∑Ax=∑ Ax+Axi
∑Ay=∑ Ay+Ayi
∑Az=∑ Az+Ayi
∑Uz=∑ Uz+Uzi
∑ΔGx'=∑ Δ Gx+Gxi-Gxi-1
∑ΔGy'=∑ Δ Gy+Gyi-Gyi-1
∑ΔGz'=∑ Δ Gz+Gzi-Gzi-1
∑ΔAx'=∑ Δ Ax+Axi-Axi-1
∑ΔAy'=∑ Δ Ay+Ayi-Ayi-1
∑ΔAz'=∑ Δ Az+Azi-Azi-1
C '=C+1
Third step, judges whether counter C is equal to N and N and can be the number executed within the period of time T second, therefore N
It can be period corresponding to instruction multiple time cycles, such as predetermined amount of time as described above.Also, the time cycle
T value, specific value can be through experiment acquisition in 0.1s~2s.Specific experiment method, can be and pass through
Different T to be chosen, and is measured under different T respectively, the posture of system is calculated in gyroscope, and when choosing measurement accuracy highest
Value is used as T.
In some embodiments, it can be the quantity for counting the time cycle experienced based on counter, and work as and passed through
When the quantity for the time cycle gone through reaches amount threshold (such as n times), triggering is operated for the zero point correction of three-axis gyroscope.Tool
Body implementation process, which can be, includes:
If counter C is less than N, the 4th step is jumped to.If being equal to C, counter is reset, and proceed as follows: sentenced
Whether the average rate of change of three axis of the average rate of change and accelerometer of three axis of disconnected gyroscope is both less than noise threshold.
Noise threshold is system under static or uniform motion, three of the average rate of change of three axis of gyroscope and accelerometer
The average rate of change of axis.
If there is the average rate of change of an axis is greater than noise threshold, then show system not static and at the uniform velocity under state,
Timer is reset, the 4th step is jumped to.Otherwise, to the zero offset (G of three axis of gyroscopex0, Gy0, Gz0) modify, compensation zero
Point deviation.
Preferably, apply formula can be with respectively in above-mentioned three axis compensation process are as follows:
Gx0'=Gx0+∑Gx/N
Gy0'=Gy0+∑Gy/N
Gz0'=Gz0+(∑Gz/N-∑Uz/N)
G at this timex0’、Gy0' and Gz0' variation can correct next period (Gxi, Gyi, Gzi)。
4th step constantly corrects G using complementary filter or Kalman filtering is utilizedxi, GyiNumerical value.
5th step can be and utilize Gx, Gy, Gz, the posture of integrating meter calculation system.
By above five steps, the zero deviation of three-axis gyroscope can constantly be compensated.
As shown in figure 5, the zero point correction system 50 of the three-axis gyroscope of one embodiment of the embodiment of the present invention, comprising: rotation
Control amount acquiring unit 501, for obtaining the rotation control amount in predetermined amount of time about three-axis gyroscope；Z axis angular speed becomes
Rate determination unit 502, for determine in the predetermined amount of time about the three-axis gyroscope parallel gravity direction Z axis
Rate of change of angular；Zero offset compensating unit 503, for being based on the Z axis rate of change of angular and the rotation control amount,
Compensate the zero offset in parallel gravity direction.
In some embodiments, the system 50 further include: calibration condition judging unit (not shown), for being based on institute
Z axis rate of change of angular is stated with the rotation control- action compensation before the zero offset of parallel gravity direction, judges three axis tops
Whether the current state of spiral shell instrument meets for triggering the compensation calibration condition for being directed to zero offset, wherein the compensation calibration condition
Indicate that the three-axis gyroscope is in static or uniform motion state.
More specific details about system embodiment of the invention is referred to the zero point above for three-axis gyroscope
The description of calibration method, and can be realized effect same as mentioned above, therefore just repeat no more herein.
The optional embodiment of the embodiment of the present invention is described in detail in conjunction with attached drawing above, still, the embodiment of the present invention is simultaneously
The detail being not limited in above embodiment can be to of the invention real in the range of the technology design of the embodiment of the present invention
The technical solution for applying example carries out a variety of simple variants, these simple variants belong to the protection scope of the embodiment of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, the embodiment of the present invention pair
No further explanation will be given for various combinations of possible ways.
It will be appreciated by those skilled in the art that implementing the method for the above embodiments is that can pass through
Program is completed to instruct relevant hardware, which is stored in a storage medium, including some instructions are used so that single
Piece machine, chip or processor (processor) execute all or part of the steps of each embodiment the method for the application.And it is preceding
The storage medium stated includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory
The various media that can store program code such as (RAM, Random Access Memory), magnetic or disk.
In addition, any combination can also be carried out between a variety of different embodiments of the embodiment of the present invention, as long as it is not
The thought of the embodiment of the present invention is violated, equally should be considered as disclosure of that of the embodiment of the present invention.
Claims (10)
1. a kind of zero point correction method of three-axis gyroscope, comprising:
Obtain the rotation control amount in predetermined amount of time about three-axis gyroscope；
It determines in the predetermined amount of time about the three-axis gyroscope in parallel gravity directionZAxis angular rate change rate；
Based on describedZAxis angular rate change rate and the rotation control amount compensate the zero offset in parallel gravity direction.
2. according to the method described in claim 1, wherein, based on describedZAxis angular rate change rate and the rotation control amount
Compensation is before the zero offset of parallel gravity direction, this method further include:
Judge whether the current state of three-axis gyroscope meets for triggering the compensation calibration condition for being directed to zero offset, wherein institute
It states compensation calibration condition and indicates that the three-axis gyroscope is in static or uniform motion state.
3. according to the method described in claim 2, wherein, judging whether the current state of three-axis gyroscope meets for triggering needle
Compensation calibration condition to zero offset includes:
The rate of change of angular in the predetermined amount of time about the three-axis gyroscope in three axis directions is determined respectively and is added
Percentage speed variation；
Judge value corresponding to any one of the rate of change of angular and rate of acceleration change in three axis directions whether be
No has been more than the noise threshold pre-seted, and
If being less than the noise threshold, it is determined that currently meet the compensation calibration condition.
4. according to the method described in claim 3, wherein, this method further include:
According in the predetermined amount of time about the three-axis gyroscope in vertical gravity directionXHorizontal axis andYIn plotted
Rate of change of angular, compensate describedXHorizontal axis andYZero offset in plotted.
5. according to the method described in claim 4, wherein, the time cycle of the predetermined amount of time and the amount threshold pre-seted
Corresponding and this method further include:
Based on counter, the quantity of time cycle experienced is counted；And
When the quantity of the time cycle experienced reaches the amount threshold, triggering is directed to the zero of the three-axis gyroscope
Point calibration operation.
6. according to the method described in claim 3, wherein, this method further includes determining step about the rate of acceleration change
Suddenly, it specifically includes:
Obtain the acceleration measured by accelerometer associated with the three-axis gyroscope in three axis directions；And
Acceleration according to acquired in three axis directions determines the rate of acceleration change.
7. according to the method described in claim 1, wherein, the three-axis gyroscope is set in inertial navigation equipment and acquired
It is described about three-axis gyroscope rotation control amount include rotation control amount that the inertial navigation equipment applies system.
8. according to the method described in claim 1, wherein, being mended in the following manner in the zero offset of parallel gravity direction
It repays:
Gz0’= Gz0 + (∑Gz/N-∑Uz/N)
Wherein, the Gz0' indicate compensated parallel gravity directionZThe zero offset of axis, Gz0It indicates under original stateZAxis
Zero offset, ∑ Gz/ N was indicated about N number of time cycleZAxial period mean angular velocity change rate and ∑ Uz/ N indicate about
The period of N number of time cycle averagely rotates control amount.
9. a kind of zero point correction system of three-axis gyroscope, comprising:
Control amount acquiring unit is rotated, for obtaining the rotation control amount in predetermined amount of time about three-axis gyroscope；
ZAxis angular rate change rate determination unit, for determining in the predetermined amount of time about the three-axis gyroscope parallel
Gravity directionZAxis angular rate change rate；
Zero offset compensating unit, for based on describedZAxis angular rate change rate and the rotation control amount, compensation are weighing in parallel
The zero offset in power direction.
10. system according to claim 9, wherein the system further include:
Calibration condition judging unit, for based on describedZAxis angular rate change rate is with the rotation control- action compensation parallel
Before the zero offset of gravity direction, judges whether the current state of three-axis gyroscope meets and be directed to zero offset for triggering
Compensation calibration condition, wherein the compensation calibration condition indicates that the three-axis gyroscope is in static or uniform motion state.
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