CN109827596A - The zero bias estimation method of MEMS gyroscope under the conditions of a kind of descontinuous motion - Google Patents
The zero bias estimation method of MEMS gyroscope under the conditions of a kind of descontinuous motion Download PDFInfo
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Abstract
The present invention proposes a kind of zero bias estimation method of MEMS gyroscope under the conditions of descontinuous motion, can reduce the unstable bring measurement error of gyro zero bias in the measurements.Include: S1: establishing the zero bias estimation method of quiescent phase, realizes the zero bias estimation of quiescent phase；S2: the when m- thresholding method under the conditions of descontinuous motion is established, realizes the judgement and division of movement with stationary state；S3: establishing the zero bias estimation method under the conditions of descontinuous motion, is updated in zero bias estimation using the data that the data of each quiescent phase carry out zero bias, realizes and estimates lasting update to existing zero bias before using the zero bias estimation of this quiescent phase.
Description
Technical field
The present invention be directed to a kind of zero bias estimation methods of MEMS gyroscope measurement data, mainly in descontinuous motion condition
Under, using the zero bias estimation method at the inertia system measurement attitude of carrier angle based on MEMS gyroscope, belong to field of signal processing.
Background technique
Sensor of the gyroscope as a kind of common measurement carrier angular speed and angle, acts not only as indicator
Table, and can be used as a sensing element in automatic control system, it is obtained in the causes such as marine navigation, Aeronautics and Astronautics
It is widely applied.The signals such as accurate orientation, level, position, velocity and acceleration are provided, as needed so as to driver or use
Preset device come control the sail bodies such as aircraft, naval vessel or space shuttle by certain course line, rule fly, and in guided missile, defend
In the guidance of the sail bodies such as star vehicle or space exploration rocket, then the gesture stability of sail body is directly completed using these signals
And orbits controlling can reduce the fluid resistance in traveling process in in-orbit train, ocean-going ship traveling process, can make to install
Camera on aircraft or satellite is stable etc. with respect to ground.Meanwhile as fine measuring instrument, gyroscopic instrument can be ground
The accurate azimuth reference of the offers such as face facility, mining tunnel, subterranean railway, oil drilling and launching silo.It can be seen that
The application range of gyroscopic instrument is quite widely, to account for important ground in the national defense construction and the development of the national economy of modernization
Position.
However, being caused at this stage when measuring all due to the manufacture craft of gyro itself and the environmental disturbances of outside
There can be error.In general, the error of gyroscope is divided into ascertainment error and random error.Wherein ascertainment error can be with
Corresponding error model is obtained by certain calibration technique to carry out effective compensation, and gyroscope is exported in zero input condition
The equivalent input of mean value, i.e. zero bias belong to the scope of fixed error.
Traditional zero bias measurement method is exactly that the gyroscope under stationary state is equal in the data for comparing output in for a long time
Value is used as zero bias value.But if using the zero bias value measured in advance as in constant value drift substitution system come if compensating, it is right
In the system to work long hours, the system that especially operates intermittently for a long time can because the zero bias unstability of gyroscope influences and
So that the measurement error of system is gradually increased；For the not high MEMS gyro of precision, zero bias unstability bring
Error influences can be more prominent.Therefore, it is the precision for guaranteeing MEMS gyroscope measurement data, needs to keep away by certain method
Exempt from the error.
For this system operated intermittently, if it is possible to the zero bias of gyroscope are estimated when system does not work,
And be compensated by next course of work of system, the instable negative effect of gyroscope zero bias will be avoided, from
And reduce systematic measurement error, further increase the measuring precision.
Summary of the invention
The present invention proposes a kind of zero bias estimation method of MEMS gyroscope under the conditions of descontinuous motion, can reduce in the measurements
The unstable bring measurement error of gyro zero bias.
The invention is realized by the following technical scheme.
The zero bias estimation method of MEMS gyroscope under the conditions of a kind of descontinuous motion, comprising:
S1: establishing the zero bias estimation method of quiescent phase, realizes the zero bias estimation of quiescent phase；
S2: establishing the when m- thresholding method under the conditions of descontinuous motion, realizes the judgement of movement and stationary state and draws
Point；
S3: establishing the zero bias estimation method under the conditions of descontinuous motion, utilizes each quiescent phase in zero bias estimation
The data that data carry out zero bias update, and realize and estimate to continue to existing zero bias before using the zero bias estimation of this quiescent phase
Update.
Further, the step S1 specifically:
The data of acquisition gyroscope static a period of time are analyzed, and the pass between gyroscope zero bias and error angle is analyzed
System establishes corresponding Static output model, realizes zero estimation in stationary state.
Further, the gyroscope zero bias are chosen as state variable, error angle is established corresponding as observed quantity
State-space model after obtaining the state-space model, selectes relevant filtering parameter, then carries out Kalman filter, estimate
The zero bias value for counting gyroscope is compared it with traditional zero bias estimated result, it is ensured that filter result after obtaining zero bias value
Correctness.
Further, the step S2 is specifically included:
S21: by when m- threshold value discrimination method carry out carrier movement to judge the angular speed output data of gyroscope
The detection of state；
S22: determining only when λ continuous 10 times both greater than preset thresholds by experiment repeatedly, just determines that carrier starts to transport
It is dynamic, it is kept in motion, equally only when being less than preset threshold λ continuous 10 times, just determines that carrier remains static；It is described
Preset threshold is determined according to the gyroscope data-at-rest surveyed online.
Further, the step S3 is specifically included:
S31: the gyro data collected under the conditions of descontinuous motion, when will be static is believed in conjunction with corresponding platform stance
Breath is used as status information, is filtered；
S32: the zero bias estimation under interruption stationary state is added, using estimation acquired results as the lower motion stage of platform
Constant value drift offset carry out angular rate information compensation.
Compared with the prior art, the present invention has the following advantages:
(1) the pitch angle measurement result ratio under interruption stationary state after zero bias estimation is added to be added without this method and adopt merely
The error measured with the attitude algorithm method under the conditions of the interruption impact with attitude updating is smaller.
(2) diversity of error has been substantially achieved control, and degree of divergence has reduced much.This demonstrate that the interruption is quiet
The only validity of the zero bias estimation method under state avoids the instable adverse effect of gyroscope zero bias, further increases
The measurement accuracy of system.
(3) subsequent platform stance angle can be changed after the zero bias estimation method being added under interruption stationary state and is resolved
Precision is greatly improved.
Detailed description of the invention
Yaw angle control information schematic diagram when Fig. 1 is system quiescence；
Fig. 2 is zero bias estimated result figure.
Fig. 3 is the flow chart of zero bias estimation.
M- thresholding method flow chart when Fig. 4.
Fig. 5 threshold value determines method online.
The attitude measurement process after being interrupted static zero bias estimation threshold method is added in Fig. 6.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, the every other embodiment that can be promoted, shall fall within the protection scope of the present invention.
The principle of the present invention: the present invention is directed to the inertia system in intermittent duty, when not moved to system
MEMS gyroscope zero bias are estimated, and compensate in next motion process of system as fixed error, with
MEMS gyroscope measurement accuracy is improved, zero bias unstability is avoided to bring a negative impact.Then next quiescent phase again
It acquires gyro data and updates zero bias estimated result.It is missed to which the unstable bring measurement of gyro zero bias can be reduced in the measurements
Difference.
MEMS gyroscope employed in the present embodiment is STIM 210, and system measures the angle of carrier by the gyroscope
Situation of change is spent, stationary state is a kind of mode operated intermittently without measurement.Specific zero bias estimating step is as follows:
S11: the static modelling of gyroscope
The estimation of zero bias is carried out in the form of Kalman filter, that requires to establish by quantity of state of zero bias value
State equation, that is, need to carry out analysis modeling to the data under gyroscope stationary state, it is illustrated with Z axis data instance,
The yaw angle Error Graph as caused by itself drift is as shown in Fig. 1 when gyro is 10 minutes static after error compensation.
It can be seen from the figure that bring attitude error changes linearly substantially when gyroscope is static, it is believed that be by
The error caused by its constant value drift is fixed zero bias value.If zero bias are indicated with ξ, attitude angle caused by k moment zero bias is missed
Difference ψkIt indicates, then can establish following relationship:
ψk+1=ψk+ξ
S12:Kalman filtering estimation zero bias
Selection state variable is Xk=[ψkξk]T, attitude error is as observed quantity Yk, then system quiescence process can be retouched
It states as follows:
Xk=AXk-1+B·Wk-1
Yk=CXk+Vk
Wherein, XkFor state variable, A is state-transition matrix, and B is system noise matrix, Wk-1For system noise, YkTo see
Variable is surveyed, C is observing matrix, VkFor observation noise.The variance matrix of system noise and observation noise is denoted as QkAnd Rk, observation makes an uproar
Sound and system noise are white noise and satisfaction
P (W)~N (0, Q)
P (V)~N (0, R)
And
cov[Wk,Vk]=0
I.e. system noise and observation noise are the incoherent white noise for meeting normal distribution, meet Kalman filtering and want
It asks, therefore the estimation of zero bias can be carried out by Kalman filtering, the general process of Kalman filtering is as follows:
In formula,For the further estimation of filter status,For the state of k moment filter, KkIt is filtered for the k moment
Its gain matrix of wave, R are system measurements noise error, and Q is systematic procedure noise variance, Pk,kFor filtering error covariance matrix,For the output of k moment filter.
Q=0.01, R=0.005 are set, the attitude error at k moment is chosen as observed quantity, then has
B=[1 0]T
C=[1 0]
Estimate XkAfter zero bias can be estimated by following formula:
ξk=HXk
Wherein [0 1] H=
Zero bias estimated result is as shown in Fig. 2, and as can be seen from the figure filter is convergent, finally can effectively estimate
Count out the zero bias value of gyroscope Still time.
S2: the when m- threshold decision and zero bias estimation under the conditions of descontinuous motion
It, can be in system quiescence to gyroscope after the model and Kalman filter relevant parameter that determine zero bias estimation
Zero bias are estimated, the zero bias value of gyroscope combines corresponding posture information as status information when also i.e. will be static, then with
Attitude error information is the zero bias value that observation carries out that Kalman filter estimates gyroscope, using estimated result as next movement rank
The fixed error of section compensates, and further increases the precision of systematic survey, specific flow chart is as shown in Fig. 3.
The state of platform is simply divided into static and two kinds of movement, what movement herein referred to is exactly that platform is shaken by impact
The dynamic rotation for starting to impact to terminate this period, it is static, refer to that platform is not remained static by foreign impacts.Move shape
The beginning and end that the judgement of state needs measuring system that can accurately detect that platform moves.In the present embodiment, by MEMS
Gyroscope is fixed on turntable, is then controlled turntable and is carried out 5 oscillating motions by phased manner, the amplitude of 5 oscillating motions with
Frequency is followed successively by 1 ° of 3Hz, 0.8 ° of 3Hz, 0.6 ° of 3Hz, 0.4 ° of 3Hz and 0.2 ° of 3Hz.Movement 1 minute every time is spaced 10 minutes, adopts
The output data for collecting MEMS gyroscope, has carried out the acquisition of 10 groups of data in total.
S21: in a rotation process, the variation and rate variation of posture are almost synchronous, once that is, gyroscope is quick
Information can determine whether platform setting in motion when the angular rate information felt is greater than static.By when m- threshold value discrimination method come
The angular speed output data of gyroscope is judged to carry out the detection of carrier movement state, is arrived in the present embodiment in order to sensitivity
Pair of the quadratic sum evolution of the angular speed for three axis that moving handle gyroscope sensitivity in three axis directions arrives as threshold decision
As that is,
If threshold value is λthresholdAs long as λ > λthresholdThen think that movement starts, platform is kept in motion, otherwise λ≤
λthreshold, then platform remains static.
S22: threshold value is determined according to the gyroscope data-at-rest surveyed online, and method is as shown in figure 5, choose static
Maximum value is used as threshold value in one minute data, is in embodiment 600 times.
S23: determining only when λ continuous 10 times both greater than threshold values by experiment repeatedly, just determine carrier setting in motion,
It is kept in motion, equally only when being less than threshold value λ continuous 10 times, just determines that carrier remains static.Because handling top
The presumable impulsive noise of spiral shell instrument data cannot start only according to whether a data are more than or less than threshold value as movement
With the foundation of end, continuous judgment threshold mode is taken when carrier movement state judges.
S3: the zero bias estimation under the conditions of descontinuous motion
S31: the gyro data collected under the conditions of descontinuous motion, when will be static is believed in conjunction with corresponding platform stance
Breath is used as status information.Process after the zero bias estimation method under interruption stationary state is added is as shown in Figure 3.I.e. by S13 step
InValue, carry out with it is static before when obtained state be overlapped.
S32: the zero bias estimation under interruption stationary state is added, using estimation acquired results as the lower motion stage of platform
Constant value drift offset carry out angular rate information compensation, avoid the instable influence of gyroscope zero bias, further increase
The measuring precision.
S33: meanwhile, after when addition m- threshold value zero bias estimation method, can make the process of gyroscope attitude algorithm into
Row optimization, the measurement accuracy of platform stance under the conditions of descontinuous motion can be improved using the technology, under the conditions of Fig. 6 descontinuous motion
Shown in the measurement process of platform stance.
Claims (5)
1. the zero bias estimation method of MEMS gyroscope under the conditions of a kind of descontinuous motion characterized by comprising
The zero bias estimation method for establishing quiescent phase realizes the zero bias estimation of quiescent phase；
The when m- thresholding method under the conditions of descontinuous motion is established, realizes the judgement and division of movement with stationary state；
The zero bias estimation method under the conditions of descontinuous motion is established, carries out zero bias using the data of quiescent phase in zero bias estimation
Data update, and realize and estimate lasting update to existing zero bias before using the zero bias estimation of this quiescent phase.
2. the method as described in claim 1, which is characterized in that the step S1 specifically:
The data of acquisition gyroscope static a period of time are analyzed, and the relationship between gyroscope zero bias and error angle is analyzed,
Corresponding Static output model is established, realizes and estimates in the zero bias of quiescent phase.
3. method according to claim 2, which is characterized in that choose the gyroscope zero bias as state variable, error angle
Degree establishes corresponding state-space model as observed quantity, after obtaining the state-space model, selectes relevant filtering parameter,
Then using output error angle under Kalman filter method foundation gyroscope quiescent conditions to its state variable i.e. zero bias
Estimated, obtain the zero bias value of gyroscope, it is compared with the zero bias estimated result after obtaining zero bias value, confirms phase
Close parameter selection it is reasonable with it is correct, it can be ensured that pass through filtering method estimation zero bias result correctness.
4. the method as claimed in claim 1 or 2 or 3, which is characterized in that the step S2 is specifically included:
S21: by when m- threshold value discrimination method carry out carrier movement state to judge the angular speed output data of gyroscope
Detection；
S22: when λ continuous 10 times both greater than preset thresholds, just determine carrier setting in motion, be kept in motion, as λ continuous 10
It is secondary be less than preset threshold when, just judgement carrier remain static；The preset threshold is static according to the gyroscope surveyed online
Data are determined, and wherein λ is the evolution of the angular speed quadratic sum for three axis of orientations that gyroscope sensitivity arrives.
5. the method as claimed in claim 1 or 2 or 3, which is characterized in that the step S3 is specifically included:
S31: the gyro data collected under the conditions of descontinuous motion, when will be static combines corresponding gyroscope to install carrier
Platform stance information is filtered as status information；
S32: the zero bias estimation under interruption stationary state, the carrier platform that will estimate that acquired results are installed as gyroscope are added
The constant value drift offset of next motion stage carries out the compensation of angular rate information.
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Application publication date: 20190531 |