CN110617838A - Method for calibrating gyroscope and acceleration sensor on balance car - Google Patents
Method for calibrating gyroscope and acceleration sensor on balance car Download PDFInfo
- Publication number
- CN110617838A CN110617838A CN201911041510.2A CN201911041510A CN110617838A CN 110617838 A CN110617838 A CN 110617838A CN 201911041510 A CN201911041510 A CN 201911041510A CN 110617838 A CN110617838 A CN 110617838A
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- gyroscope
- acceleration sensor
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- test values
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- 230000001133 acceleration Effects 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000005259 measurement Methods 0.000 claims abstract description 28
- 230000007306 turnover Effects 0.000 claims abstract description 4
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000004164 analytical calibration Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
Abstract
The invention provides a method for calibrating a gyroscope and an acceleration sensor on a balance car, which comprises the following steps: obtaining three-axis measurement values of a three-axis gyroscope; obtaining a triaxial measurement value of a triaxial acceleration sensor; and calibrating the triaxial measurement value of the triaxial acceleration sensor based on the test values of the horizontal and turnover 180 measurement positions to obtain a calibrated triaxial measurement result. The method for calibrating the gyroscope and the acceleration sensor on the balance car, provided by the invention, has the advantages that the steps are simple, the deviation between the output value and the true value of the three-axis gyroscope can be compensated, and the accuracy of the measurement result of the three-axis gyroscope is improved.
Description
Technical Field
The invention belongs to the field of machine and instrument calibration, and particularly relates to a method for calibrating a gyroscope and an acceleration sensor on a balance car.
Background
A three-axis MEMS (Micro-Electro-Mechanical System) gyroscope is commonly used to measure angular rate information of an object in three directions to solve attitude information of the object based on the measured angular rate, and has been widely used in the field of balance cars and the like in recent years. The three-axis gyroscope has three axial directions (x-axis, y-axis, and z-axis) respectively mounted on three orthogonal surfaces to form a right-hand coordinate system. Due to the influence of the working principle and structure of the gyroscope, integrated manufacturing, installation and other factors, the three axial directions of the three-axis gyroscope cannot be orthogonal, so that certain measurement errors exist. The operation principle of the balance car is mainly based on a basic principle called Dynamic Stabilization (Dynamic Stabilization), a gyroscope and an acceleration sensor in the car body are used for detecting the change of the posture of the car body, and a servo control system is used for accurately driving a motor to perform corresponding adjustment so as to keep the balance of the system. Because the attitude measurement of systems such as a balance car and the like requires high accuracy, the method has great significance for error estimation and calibration of the gyroscope.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides a method for calibrating a gyroscope and an acceleration sensor on a balance car, which is simple and can compensate the deviation between the output value and the true value of a three-axis gyroscope and improve the accuracy of the measurement result of the three-axis gyroscope.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a method for calibrating a gyroscope and an acceleration sensor on a balance car comprises the following steps: obtaining three-axis measurement values of a three-axis gyroscope; obtaining a triaxial measurement value of a triaxial acceleration sensor; calibrating the triaxial measurement value of the triaxial acceleration sensor based on the test values of the horizontal and turnover 180 measurement positions to obtain a calibrated triaxial measurement result;
the method specifically comprises the following steps:
1) placing the main control equipment of the balance car into a clamp, supplying power, connecting a PC end of a computer through a serial port, communicating with the main control through AT instruction control, placing the clamp in a horizontal state, reading the three-axis test values of a gyroscope of the main control through the AT instruction by the PC, and recording the three-axis test values as AccX1, AccY1 and AccZ1, and recording the three-axis test values of an acceleration sensor as ix1, iy1 and iz 1;
2) turning the clamp for 180 degrees, reading the three-axis test values of the master control gyroscope again and recording the three-axis test values as AccX2, AccY2 and AccZ2, and recording the three-axis test values of the acceleration sensor as ix2, iy2 and iz 2;
3) judging whether the clamp is turned over correctly, if AccZ1<0 and AccZ2>0 indicate that the clamp is turned over correctly by an operator;
4) calculating calibration values, writing the calibration values into the master computing device, wherein the calibration values written into the acceleration sensor are ((AccX1+ AccX2)/2, (AccY1+ AccY2)/2, (AccZ1+ AccZ 2)/2); the calibration values of the written master gyroscope are ((ix1+ ix2)/2, (iy1+ iy2)/2, (iz1+ iz2)/2), respectively.
As an improvement, when the test values of the three axes are measured in the step 1) and the step 2), the X axis of the gyroscope is ensured to be vertically upward and still.
The invention has the beneficial effects that:
the method is simple, the three-axis measurement value of the three-axis acceleration sensor is calibrated, the obtained calibrated three-axis measurement result is accurate, the deviation between the output value and the true value of the three-axis gyroscope can be compensated, and the accuracy of the measurement result of the three-axis gyroscope is improved.
Detailed Description
The invention is illustrated below by means of specific examples, without being restricted thereto.
Examples
A gyroscope and acceleration sensor calibration method, comprising: obtaining three-axis measurement values of a three-axis gyroscope; obtaining a measured value of a triaxial gyroscope acceleration sensor; and calibrating the three-axis measurement values of the gyroscope and the acceleration sensor based on the measurement values of two positions of level and 180-degree turnover to obtain a calibrated three-axis measurement result. The fixture apparatus is an apparatus that integrates a level. The method for obtaining three-axis measurement values of the three-axis acceleration sensor comprises the following steps: obtaining values of X, y and z directions in a triaxial acceleration sensor at a horizontal position (ensuring that an X axis of a gyroscope is vertically downward and static); rotating the equipment by 180 degrees (ensuring that the X axis of the gyroscope is vertically upward and is static), and then obtaining values of three directions of X, y and z of the three-axis acceleration sensor; and calculating the average value according to the two measurement values to obtain the calibration value.
The specific implementation steps are as follows:
1) placing the main control equipment of the balance car into a clamp, supplying power, connecting a PC end of a computer through a serial port, communicating with the main control through AT instruction control, placing the clamp in a horizontal state, reading the three-axis test values of a gyroscope of the main control through the AT instruction by the PC, and recording the three-axis test values as AccX1, AccY1 and AccZ1, and recording the three-axis test values of an acceleration sensor as ix1, iy1 and iz 1;
2) turning the clamp for 180 degrees, reading the three-axis test values of the master control gyroscope again and recording the three-axis test values as AccX2, AccY2 and AccZ2, and recording the three-axis test values of the acceleration sensor as ix2, iy2 and iz 2;
3) judging whether the clamp is turned over correctly, if AccZ1<0 and AccZ2>0 indicate that the clamp is turned over correctly by an operator;
4) calculating calibration values, writing the calibration values into the master computing device, wherein the calibration values written into the acceleration sensor are ((AccX1+ AccX2)/2, (AccY1+ AccY2)/2, (AccZ1+ AccZ 2)/2); the calibration values of the written master gyroscope are ((ix1+ ix2)/2, (iy1+ iy2)/2, (iz1+ iz2)/2), respectively.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (2)
1. A method for calibrating a gyroscope and an acceleration sensor on a balance car is characterized by comprising the following steps: obtaining three-axis measurement values of a three-axis gyroscope; obtaining a triaxial measurement value of a triaxial acceleration sensor; calibrating the triaxial measurement value of the triaxial acceleration sensor based on the test values of the horizontal and turnover 180 measurement positions to obtain a calibrated triaxial measurement result;
the method specifically comprises the following steps:
1) placing the main control equipment of the balance car into a clamp, supplying power, connecting a PC end of a computer through a serial port, communicating with the main control through AT instruction control, placing the clamp in a horizontal state, reading the three-axis test values of a gyroscope of the main control through the AT instruction by the PC, and recording the three-axis test values as AccX1, AccY1 and AccZ1, and recording the three-axis test values of an acceleration sensor as ix1, iy1 and iz 1;
2) turning the clamp for 180 degrees, reading the three-axis test values of the master control gyroscope again and recording the three-axis test values as AccX2, AccY2 and AccZ2, and recording the three-axis test values of the acceleration sensor as ix2, iy2 and iz 2;
3) judging whether the clamp is turned over correctly, if AccZ1<0 and AccZ2>0 indicate that the clamp is turned over correctly by an operator;
4) calculating calibration values, writing the calibration values into the master computing device, wherein the calibration values written into the acceleration sensor are ((AccX1+ AccX2)/2, (AccY1+ AccY2)/2, (AccZ1+ AccZ 2)/2); the calibration values of the written master gyroscope are ((ix1+ ix2)/2, (iy1+ iy2)/2, (iz1+ iz2)/2), respectively.
2. The method for calibrating the gyroscope and the acceleration sensor on the balance car according to claim 1, characterized in that, when measuring the three-axis test values in the steps 1) and 2), the X-axis of the gyroscope is ensured to be vertically upward and still.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911041510.2A CN110617838A (en) | 2019-10-30 | 2019-10-30 | Method for calibrating gyroscope and acceleration sensor on balance car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911041510.2A CN110617838A (en) | 2019-10-30 | 2019-10-30 | Method for calibrating gyroscope and acceleration sensor on balance car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110617838A true CN110617838A (en) | 2019-12-27 |
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| CN201911041510.2A Pending CN110617838A (en) | 2019-10-30 | 2019-10-30 | Method for calibrating gyroscope and acceleration sensor on balance car |
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|---|---|---|---|---|
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| KR20120098321A (en) * | 2011-02-28 | 2012-09-05 | 국방과학연구소 | Apparatus for correction of imu and method thereof |
| CN103399175A (en) * | 2013-07-11 | 2013-11-20 | 广东欧珀移动通信有限公司 | Acceleration sensor calibrating method and mobile terminal |
| CN106052719A (en) * | 2016-08-01 | 2016-10-26 | 中科创达软件股份有限公司 | Method and device for calibrating gyroscope |
| CN106403945A (en) * | 2016-10-20 | 2017-02-15 | 北京航空航天大学 | Low-cost object attitude monitoring system and method |
| CN208043087U (en) * | 2018-04-13 | 2018-11-02 | 深圳市固胜智能科技有限公司 | IMU calibrating installations based on holder |
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| CN109084806A (en) * | 2018-09-21 | 2018-12-25 | 苏州大学 | Scalar domain MEMS inertia system scaling method |
| CN109813336A (en) * | 2017-11-22 | 2019-05-28 | 广东虚拟现实科技有限公司 | Inertial Measurement Unit scaling method |
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2019
- 2019-10-30 CN CN201911041510.2A patent/CN110617838A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101029902A (en) * | 2007-03-26 | 2007-09-05 | 北京航空航天大学 | Non-oriented multi-position and high-precision calibrating method for inertial measuring unit |
| KR20120098321A (en) * | 2011-02-28 | 2012-09-05 | 국방과학연구소 | Apparatus for correction of imu and method thereof |
| CN103399175A (en) * | 2013-07-11 | 2013-11-20 | 广东欧珀移动通信有限公司 | Acceleration sensor calibrating method and mobile terminal |
| CN106052719A (en) * | 2016-08-01 | 2016-10-26 | 中科创达软件股份有限公司 | Method and device for calibrating gyroscope |
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| CN109813336A (en) * | 2017-11-22 | 2019-05-28 | 广东虚拟现实科技有限公司 | Inertial Measurement Unit scaling method |
| CN208043087U (en) * | 2018-04-13 | 2018-11-02 | 深圳市固胜智能科技有限公司 | IMU calibrating installations based on holder |
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| CN109084806A (en) * | 2018-09-21 | 2018-12-25 | 苏州大学 | Scalar domain MEMS inertia system scaling method |
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