CN112378418A - Gyro signal high-order low-pass filtering and hysteresis compensation method - Google Patents

Gyro signal high-order low-pass filtering and hysteresis compensation method Download PDF

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CN112378418A
CN112378418A CN202011186241.1A CN202011186241A CN112378418A CN 112378418 A CN112378418 A CN 112378418A CN 202011186241 A CN202011186241 A CN 202011186241A CN 112378418 A CN112378418 A CN 112378418A
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gyro
gyroscope
shaft
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lpf
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王磊
潘星宇
肖磊
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Harbin University of Science and Technology
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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
    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03H—IMPEDANCE NETWORKS, e.g. RESONANT CIRCUITS; RESONATORS
    • H03H1/00—Constructional details of impedance networks whose electrical mode of operation is not specified or applicable to more than one type of network
    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03H—IMPEDANCE NETWORKS, e.g. RESONANT CIRCUITS; RESONATORS
    • H03H7/00—Multiple-port networks comprising only passive electrical elements as network components
    • H03H7/01—Frequency selective two-port networks

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  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Gyroscopes (AREA)

Abstract

A gyro signal high-order low-pass filtering and lag compensation method is applied to a double-shaft gyroscope and relates to the technical field of gyroscope manufacture. According to the invention, high-order low-pass filtering calculation is carried out on the gyroscope angle signal, noise is eliminated, the influence of environmental disturbance on the gyroscope output precision is reduced, and then signal lag caused by high-order low-pass filtering is compensated, so that the gyroscope output angle precision is further improved.

Description

Gyro signal high-order low-pass filtering and hysteresis compensation method
Technical Field
The invention relates to a gyro signal high-order low-pass filtering and lag compensation method, and belongs to the technical field of gyroscope manufacturing.
Background
In recent years, micro-electromechanical gyros (MEMS) are used in high frequency fields such as automobiles, aerospace and military fields due to their advantages of small size and light weight, so the gyros need to operate in a use environment of repetitive impact vibration, and it is inevitable that deviations and noise widely exist in gyro signals to cause drift of output signals, so that correcting the deviations and suppressing the noise are key to improving the precision and performance of the gyros of the micro-electromechanical systems, wherein one important reason for causing the noise is the introduction of high-frequency vibration disturbance signals. It is very important to reduce the influence of environmental disturbance on the output precision of the gyroscope. In order to improve the gyro precision, an effective error compensation method is required to be adopted, so that the gyro can provide high-precision information, and the influence of a low-order low-pass filtering method on signal amplitude fluctuation is great, so that three-order low-pass filtering is adopted, only a hysteresis effect is generated on a gyro signal, and then a gyro signal hysteresis compensation method is introduced, so that the error generated by noise elimination is reduced to the minimum, and the gyro output signal precision is greatly improved.
SUMMARY OF THE PATENT FOR INVENTION
Aiming at the problems, the invention provides a gyro signal high-order low-pass filtering and lag compensation method, and the technical problem solving scheme of the invention is as follows:
a gyro signal high-order low-pass filtering and lag compensation method is applied to a double-shaft gyroscope;
a gyro signal high-order low-pass filtering and lag compensation method is concretely implemented by the following steps:
step one, gyro signal high-order low-pass filtering:
the signal amplitude attenuation degree caused by the low-order filtering process can be reduced by adopting the third-order filtering, and the filtering coefficient K of the third-order low-pass filtering module is calculated as shown in the formula (1):
Figure BDA0002751511100000021
according to the calculated filter coefficient K and the gyro signal V before filteringfCan further obtain a gyro signal V after low-pass filteringlpfAs shown in formula (2):
Vlpf＝KVf (2)
low-pass filtered gyro signal V using bilinear inverse transformlpfDiscretization, let in
Figure BDA0002751511100000022
The formula (3) can be obtained according to the formula (1) and the formula (2):
Figure BDA0002751511100000023
in which T is the filter time constant, TsThe period is calculated for the system.
Discretizing the formula (3) can obtain a formula (4):
Figure BDA0002751511100000024
according to the formula (4), the filtered gyro feedback signal can be obtained through calculation, only signal lag influence is generated in the three-order low-pass filtering process, the attenuation influence on the signal amplitude is small, and the gyro feedback signal processing method is more suitable for processing the gyro signal.
Step two, gyro signal lag compensation:
specifically, there is a delay in the process of acquiring gyro signals to finally calculate speed values, and the gyro samples and calculates delay time tcdThe value being the calculated period delay time tcalCurrent hardware RC filter delay tRCGyro high-order low-pass filtering delay time tfilAnd (3) the sum is represented by formula (5):
tcd＝tRC+tcal+tfil (5)
the hysteresis of the gyro output signal can be compensated using the principle of equation (5), and the compensation result shown in equation (6) can be obtained.
Vlpf_out(k)＝Vlpf(k)+tcd(Vlpf(k)-Vlpf(k-1)) (6)
In the formula: vlpf_out(k)The compensated angular velocity output value of the gyroscope is obtained; vlpf(k)Outputting the angular velocity for the current period through the low-pass filtering gyroscope; vlpf(k-1)The angular velocity is output through the low pass filtered gyro for the last calculation cycle.
The invention has the beneficial effects that:
1. high-frequency noise mixed in the gyro angular velocity signal can be effectively eliminated.
2. The three-order low-pass filtering process only generates signal lag influence, has smaller attenuation influence on the signal amplitude, and is more suitable for processing gyro signals than low-order low-pass filtering.
3. The signal lag influence generated in the process of three-order low-pass filtering is solved, and the accuracy is further improved.
4. The algorithm can realize discretization programming, is easy to apply to chips such as a single chip microcomputer and the like, is simple, has short calculation period, and reduces signal time lag caused by the calculation period.
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For ease of illustration, the invention is described in detail by the following detailed description and the accompanying drawings.
FIG. 1 is a schematic diagram of a gyroscope overall composition;
FIG. 2 is a graph of the comparison function of the original signal, the first order filtered signal, and the third order filtered signal;
FIG. 3 is a gyroscope feedback calculation workflow diagram;
FIG. 4 is a diagram showing the constitution of an experimental apparatus;
FIG. 5 is a graph of output signal versus function before and after gyro filtering.
In the figure: 1. a gyroscope chip; 2. a gyroscope inner frame; 3. a gyroscope outer frame; 4. gyroscope housing, 5, axis a; 6. a shaft b; 7. an axis c; 8. and an axis d.
Detailed Description
In order that the objects, aspects and advantages of the invention will become more apparent, the invention will be described by way of example only, and in connection with the accompanying drawings. It is to be understood that such description is merely illustrative and not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
The following further describes specific structures and embodiments of the present invention with reference to the drawings.
As shown in fig. 1, 2 and 3, the following technical solutions are adopted in the present embodiment:
the dual-axis gyroscope comprises: 1. a gyroscope chip; 2. a gyroscope inner frame; 3. a gyroscope outer frame; 4. gyroscope housing, 5, axis a; 6. a shaft b; 7. an axis c; 8. shaft d eight part; the method is characterized in that: the gyroscope chip 1 is connected with the gyroscope inner frame 2 in an adhesive mode, the gyroscope inner frame is in clearance fit with the shaft a 5 and the shaft b 6, the gyroscope outer frame is in clearance fit with the shaft a 5 and the shaft b 6, in clearance fit with the shaft c 7 and the shaft d 8, and the gyroscope outer shell is in clearance fit with the shaft c 7 and the shaft d 8.
A gyro signal high-order low-pass filtering and lag compensation method is applied to a double-shaft gyroscope;
a gyro signal high-order low-pass filtering and lag compensation method is concretely implemented by the following steps:
step one, gyro signal high-order low-pass filtering:
the specific position adopts third-order filtering to reduce the signal amplitude attenuation degree caused by the low-order filtering process, and the filtering coefficient K of the third-order low-pass filtering module is calculated as shown in formula (1):
Figure BDA0002751511100000041
according to the calculated filter coefficient K and the gyro signal V before filteringfCan further obtain a gyro signal V after low-pass filteringlpfAs shown in formula (2):
Vlpf＝KVf (2)
low-pass filtered gyro signal V using bilinear inverse transformlpfDiscretization, let in
Figure BDA0002751511100000051
From equation (1) and equation (2), equation (3) can be reached, where τ is the filtering time constant and T is the system calculation period, and τ is 0.0005 in this example; t ═ 0.00005 s. :
Figure BDA0002751511100000052
discretizing the formula (3) can obtain a formula (4):
Figure BDA0002751511100000053
according to the formula (4), the filtered gyro feedback signal can be obtained through calculation, only signal hysteresis influence is generated in the third-order low-pass filtering process, the attenuation influence on the signal amplitude is small, the gyro feedback signal is more suitable for processing gyro signals than the first-order low-pass filtering, and a comparison function graph of the three signals is shown in fig. 2.
Step two, gyro signal lag compensation:
specifically, there is a delay in the process of acquiring the gyro signal to finally calculate the speed value, and the delay distribution in the work flow is shown in fig. 3; gyro sampling calculation delay time tcdThe value being the calculated period delay time tcalCurrent hardware RC filter delay tRCGyro high-order low-pass filtering delay time tfilAnd (3) the sum is represented by formula (5):
tcd＝tRC+tcal+tfil (5)
the lag of the gyro output signal can be compensated using the principle of equation (5), and the compensation result shown by equation (6), t in this example, can be obtainedcd＝0.0005s。
Figure BDA0002751511100000054
In the formula: vlpf_out(k)The compensated angular velocity output value of the gyroscope is obtained; vlpf(k)Outputting the angular velocity for the current period through the low-pass filtering gyroscope; vlpf(k-1)The angular velocity is output through the low pass filtered gyro for the last calculation cycle.
In the embodiment, the experimental device is used for comparing and verifying gyro signals before and after filtering, the experimental device is as shown in fig. 4, the experimental device comprises a double-shaft gyroscope 9, a communication processing board 10 and a servo main control board 11, the double-shaft gyroscope 9 is connected with the communication processing board 10, and the communication processing board is connected with the servo main control board 11.
In the experiment, the filter time constant tau is 0.00008; system calculating period delay tcdThe comparison function graph of the output signals before and after the gyro filtering can be obtained through experimental verification, as shown in fig. 5, it can be seen that the noise can be effectively eliminated through the third-order low-pass filtering, and the accuracy of the output signals is improved.
While there has been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be understood by those skilled in the art that the invention is not limited by the embodiments described above, which are given by way of illustration of the principles of the invention and which are within the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (1)

1. A gyro signal high-order low-pass filtering and lag compensation method is applied to a dual-axis gyroscope. The double-shaft gyroscope consists of eight parts, namely a gyroscope chip (1), a gyroscope inner frame (2), a gyroscope outer frame (3), a gyroscope outer shell (4), a shaft a (5), a shaft b (6), a shaft c (7) and a shaft d (8), wherein the gyroscope chip (1) is connected with the gyroscope inner frame (2) in a gluing mode, the gyroscope inner frame is in clearance fit with the shaft a (5) and the shaft b (6), the gyroscope outer frame is in clearance fit with the shaft a (5) and the shaft b (6), the shaft c (7) and the shaft d (8), and the gyroscope outer shell is in clearance fit with the shaft c (7) and the shaft d (8);
the method is characterized in that: the method comprises the following concrete implementation processes:
step one, gyro signal high-order low-pass filtering:
the specific position adopts third-order filtering to reduce the signal amplitude attenuation degree caused by the low-order filtering process, and the filtering coefficient K of the third-order low-pass filtering module is calculated as shown in formula (1):
Figure FDA0002751511090000011
according to the calculated filter coefficient K and the gyro signal V before filteringfCan further obtain a gyro signal V after low-pass filteringlpfAs shown in formula (2):
Vlpf＝KVf (2)
using bilinear inverse transformationLow-pass filtered gyro signal VlpfDiscretization, let in
Figure FDA0002751511090000012
The formula (3) can be obtained according to the formula (1) and the formula (2):
Figure FDA0002751511090000013
in which T is the filter time constant, TsCalculating a period for the system;
discretizing the formula (3) can obtain a formula (4):
Figure FDA0002751511090000014
according to the formula (4), the filtered gyro feedback signal can be obtained through calculation, only signal lag influence is generated in the three-order low-pass filtering process, the attenuation influence on the signal amplitude is small, and the gyro feedback signal is more suitable for processing the gyro signal;
step two, gyro signal lag compensation:
specifically, there is a delay in the process of acquiring gyro signals to finally calculate speed values, and the gyro samples and calculates delay time tcdThe value being the calculated period delay time tcalCurrent hardware RC filter delay tRCGyro high-order low-pass filtering delay time tfilAnd (3) the sum is represented by formula (5):
tcd＝tRC+tcal+tfil (5)
the lag of the gyro output signal can be compensated using the principle of equation (5), so that the compensation result shown by equation (6) can be obtained:
Vlpf_out(k)＝Vlpf(k)+tcd(Vlpf(k)-Vlpf(k-1)) (6)
in the formula: vlpf_out(k)Representing the compensated angular speed output value of the gyro; vlpf(k)Indicating that the current period has passed too lowFiltering the gyro output angular velocity; vlpf(k-1)Representing the angular velocity output from the low pass filtered gyro during the last calculation cycle.
CN202011186241.1A 2020-10-30 2020-10-30 Gyro signal high-order low-pass filtering and hysteresis compensation method Pending CN112378418A (en)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09297028A (en) * 1996-04-30 1997-11-18 Nikon Corp Output process circuit for gyro sensor and still camera using the same
CN102424117A (en) * 2011-11-06 2012-04-25 北京航空航天大学 Method for compensating phase lag of magnetic bearing of magnetic suspension control moment gyro
CN102620729A (en) * 2012-04-19 2012-08-01 北京航空航天大学 Design method for digital filter of inertial measurement unit (IMU) of mechanically-dithered laser gyroscope
CN103901459A (en) * 2014-03-08 2014-07-02 哈尔滨工程大学 Filtering method for measurement hysteresis in MEMS/GPS integrated navigation system
US20150185051A1 (en) * 2013-12-30 2015-07-02 Lite-On It Corporation Angle detection circuit of electrostatic mems scanning mirror
CN111189447A (en) * 2018-11-15 2020-05-22 北京自动化控制设备研究所 Low-pass filtering method of position measurement inertial navigation system

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09297028A (en) * 1996-04-30 1997-11-18 Nikon Corp Output process circuit for gyro sensor and still camera using the same
CN102424117A (en) * 2011-11-06 2012-04-25 北京航空航天大学 Method for compensating phase lag of magnetic bearing of magnetic suspension control moment gyro
CN102620729A (en) * 2012-04-19 2012-08-01 北京航空航天大学 Design method for digital filter of inertial measurement unit (IMU) of mechanically-dithered laser gyroscope
US20150185051A1 (en) * 2013-12-30 2015-07-02 Lite-On It Corporation Angle detection circuit of electrostatic mems scanning mirror
CN103901459A (en) * 2014-03-08 2014-07-02 哈尔滨工程大学 Filtering method for measurement hysteresis in MEMS/GPS integrated navigation system
CN111189447A (en) * 2018-11-15 2020-05-22 北京自动化控制设备研究所 Low-pass filtering method of position measurement inertial navigation system

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
王磊等: "基于磁电编码器MEMS陀螺标定及高阶滤波的动态滞后补偿方法研究", 《仪器仪表学报》 *

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Application publication date: 20210219