CN113155114A - Temperature compensation method and device for gyro zero position of MEMS (micro-electromechanical systems) inertial measurement unit - Google Patents
Temperature compensation method and device for gyro zero position of MEMS (micro-electromechanical systems) inertial measurement unit Download PDFInfo
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Abstract
The invention provides a temperature compensation method and a temperature compensation device for a gyro zero position of an MEMS (micro-electromechanical system) inertial measurement unit, wherein the method comprises the following steps: constructing a gyro temperature model of the MEMS inertial measurement unit, wherein the gyro temperature model is used for representing a first corresponding relation between gyro zero offset and gyro temperature of the MEMS inertial measurement unit; determining model parameters of the gyro temperature model to obtain a target gyro temperature model; and carrying out temperature compensation on the gyro zero position of the MEMS inertial measurement unit according to the target gyro temperature model. The invention solves the technical problem that the temperature compensation error of the gyro zero position of the MEMS inertial measurement unit is large due to the fact that the influence of temperature field change on the gyro zero position output of the MEMS inertial measurement unit cannot be accurately reflected in the related technology.
Description
Technical Field
The invention relates to the field of micromechanical gyroscopes, in particular to a temperature compensation method and device for a gyroscope zero position of an MEMS (micro-electromechanical systems) inertial measurement unit.
Background
MEMS inertial instruments (including MEMS accelerometer and MEMS gyroscope) are MEMS devices manufactured based on 1C process and micro machining process, and are widely applied in various fields due to low cost, small volume and strong environment adaptability. However, the silicon material adopted by the MEMS inertial instrument structure is a heat-sensitive material, the temperature has a remarkable influence on the elastic modulus of the silicon material, the zero position error of the gyroscope is increased along with the change of the zero position resonance frequency of the gyroscope along with the temperature change, and the temperature error is a main error source of the zero position error of the MEMS gyroscope.
The existing zero compensation method for the MEMS gyroscope generally adopts a method of collecting zero output of the gyroscope at a plurality of constant temperature points, forming coefficients by adopting a polynomial fitting mode, programming the generated coefficients into an EEPROM, and then calling different coefficients according to different temperature points of an instrument environment for correction. Such methods suffer from the following disadvantages: 1) the zero-position temperature field change of the MEMS gyroscope is complex, the temperature gradient and the temperature point influence the zero-position output of the gyroscope, the influence of the temperature field change on the zero-position output of the gyroscope cannot be accurately reflected by adopting a single-temperature-point and fixed variable-temperature cyclic calibration mode, and the compensation coefficient is inaccurate; 2) the difference between the environmental characteristics of the temperature field of the gyroscope in the inertial measurement unit and the zero-position temperature field test result of the gyroscope in the constant temperature environment is larger, and the result of the zero-position temperature test of the gyroscope in the constant temperature environment is used for the temperature compensation effect of the zero position of the gyroscope in the inertial measurement unit, so that larger errors can be caused. Therefore, the existing zero compensation method for the MEMS gyroscope cannot accurately reflect the influence of temperature field change on the zero output of the gyroscope of the MEMS inertial measurement unit, so that the problem of large temperature compensation error of the zero position of the gyroscope of the MEMS inertial measurement unit is caused.
In view of the above technical problems in the related art, no effective solution has been proposed at present.
Disclosure of Invention
In view of the above problems, the present invention provides a method and an apparatus for compensating for a gyro zero position temperature of an MEMS inertial measurement unit, so as to at least solve the technical problem in the related art that the temperature compensation error of the gyro zero position of the MEMS inertial measurement unit is large due to the inability to accurately reflect the influence of temperature field changes on the gyro zero position output of the MEMS inertial measurement unit. The technical scheme is as follows:
in a first aspect, a method for compensating the temperature of a gyro zero position of a MEMS inertial measurement unit is provided, which includes: constructing a gyro temperature model of the MEMS inertial measurement unit, wherein the gyro temperature model is used for representing a first corresponding relation between gyro zero offset and gyro temperature of the MEMS inertial measurement unit; determining model parameters of the gyro temperature model to obtain a target gyro temperature model; and carrying out temperature compensation on the gyro zero position of the MEMS inertial measurement unit according to the target gyro temperature model.
In one possible implementation, the constructing a gyro temperature model of the MEMS inertial measurement unit includes: constructing a gyro temperature model according to initial gyro zero offset corresponding to the initial temperature of the gyro at the starting time of the MEMS inertial measurement unit, a first-order model of the gyro temperature relative to the initial temperature, a second-order model of the gyro temperature relative to the initial temperature and the temperature change rate of the gyro; wherein the gyro temperature model is:
wherein, Ω (T)k) Indicating gyro zero position at temperature TkZero offset, T, of the time-dependent gyroscopekAnd Tk-1Respectively representing the gyro temperatures at the kth sampling time and the kth-1 sampling time;
is an initial temperature T0Initial gyro zero bias, k, of time1A first order coefficient relating to the gyro temperature for the gyro zero bias; k is a radical of2A quadratic term coefficient of the gyro zero bias related to the gyro temperature; k is a radical ofdIs the coefficient of the gyro zero bias with respect to the temperature change rate of the gyro.
In another possible implementation manner, the determining the model parameters of the gyro temperature model to obtain a target gyro temperature model includes: acquiring a first real-time temperature value of the gyroscope and a first angular speed output by the gyroscope; substituting the first real-time temperature value and the first angular velocity into the gyro temperature model to calculate the gyro temperature model
K is1K to k2And k is saidd(ii) a Will be described in
K is1K to k2And k is saiddAnd substituting the gyroscope temperature model to obtain the target gyroscope temperature model.
In another possible implementation manner, the output of the gyroscope is a sum of an actual angular velocity of the MEMS inertial measurement unit and a zero offset of the gyroscope, and the determining a model parameter of the gyroscope temperature model to obtain the target gyroscope temperature model includes: determining a starting time at which the output of the gyroscope is the sum of the actual angular velocity and the gyroscope zero offset; calculating the inclination angle variation of the MEMS inertial measurement unit according to the starting time and an accelerometer output value of the MEMS inertial measurement unit, wherein the accelerometer output value is a numerical value output by an accelerometer of the MEMS inertial measurement unit in the horizontal direction; constructing a second corresponding relation between the gyro temperature model and the inclination angle variation to obtain a reference gyro temperature model; and calculating model parameters of the gyro temperature model by substituting the second angular velocity output by the gyro and the second real-time temperature value of the gyro into the reference temperature model to obtain the target gyro temperature model.
In another possible implementation manner, calculating a tilt angle variation of the MEMS inertial measurement unit according to the start time and an accelerometer output value of the MEMS inertial measurement unit includes: acquiring an accelerometer output value f of the MEMS inertial measurement unit at the starting time mmWhere k is greater than m, and an accelerometer output value f at a sampling time kk(ii) a Calculating the inclination angle variation delta alpha of the MEMS inertia measurement unit from m time to k time through the following formulamk：
Wherein g is the acceleration of gravity.
In another possible implementation, the determining the output of the gyroscopeThe start time being the sum of the actual angular velocity and the gyro zero offset comprises: determining gyro temperature T at ith sampling momentiAnd gyro temperature T at the i +1 th sampling timei+1(ii) a Based on the TiAnd said Ti+1Calculating the temperature change rate of the gyroscope; comparing the rate of temperature change to a threshold; and if the temperature change rate is smaller than or equal to the threshold value, determining the (i + 1) th sampling time as the starting time.
In another possible implementation manner, the constructing a second corresponding relationship between the gyro temperature model and the inclination angle variation to obtain a reference gyro temperature model includes: calculating the actual angular velocity according to the gyro temperature model and the second angular velocity; carrying out integral operation on the actual angular velocity to obtain an integral model of the actual angular velocity; and establishing an equality relation between the inclination angle variation and the integral model of the actual angular velocity to obtain the reference gyro temperature model.
In a second aspect, a device for compensating the temperature of a gyro zero position of a MEMS inertial measurement unit is provided, which includes: the system comprises a construction module, a first module and a second module, wherein the construction module is used for constructing a gyro temperature model of the MEMS inertial measurement unit, and the gyro temperature model is used for representing a first corresponding relation between gyro zero offset and gyro temperature of the MEMS inertial measurement unit; the determining module is used for determining model parameters of the gyro temperature model to obtain a target gyro temperature model; and the compensation module is used for carrying out temperature compensation on the gyro zero position of the MEMS inertial measurement unit according to the target gyro temperature model.
In one possible implementation, the building module includes: the construction unit is used for constructing the gyro temperature model according to initial gyro zero offset, a first-order model of gyro temperature relative to the initial temperature, a second-order model of gyro temperature relative to the initial temperature and the temperature change rate of the gyro corresponding to the initial gyro temperature at the starting time of the MEMS inertial measurement unit; wherein the gyro temperature model is:
wherein, Ω (T)k) Indicating gyro zero position at temperature TkZero offset, T, of the time-dependent gyroscopekAnd Tk-1Respectively representing the gyro temperatures at the kth sampling time and the kth-1 sampling time;
is an initial temperature T0Initial gyro zero bias, k, of time1A first order coefficient relating to the gyro temperature for the gyro zero bias; k is a radical of2A quadratic term coefficient of the gyro zero bias related to the gyro temperature; k is a radical ofdIs the coefficient of the gyro zero bias with respect to the temperature change rate of the gyro.
In another possible implementation manner, an output of a gyro is zero offset of the gyro, and the determining module includes: the acquisition unit is used for acquiring a first real-time temperature value of the gyroscope and a first angular speed output by the gyroscope; a first calculating unit for substituting the first real-time temperature value and the first angular velocity into the gyro temperature model to calculate the first real-time temperature value and the first angular velocity
K is1K to k2And k is saidd(ii) a A first determination unit for determining the
K is1K to k2And k is saiddAnd substituting the gyroscope temperature model to obtain the target gyroscope temperature model.
In another possible implementation manner, the output of the gyroscope is the sum of the actual angular velocity of the MEMS inertial measurement unit and the zero offset of the gyroscope, and the determining module includes: a second determination unit configured to determine a start time at which an output of the gyro is a sum of the actual angular velocity and a zero offset of the gyro; the second calculation unit is used for calculating the inclination angle variation of the MEMS inertial measurement unit according to the starting time and an accelerometer output value of the MEMS inertial measurement unit, wherein the accelerometer output value is a numerical value output by an accelerometer of the MEMS inertial measurement unit in the horizontal direction; the construction unit is used for constructing a second corresponding relation between the gyro temperature model and the inclination angle variation to obtain a reference gyro temperature model; and the third determining unit is used for calculating model parameters of the gyro temperature model by substituting the second angular velocity output by the gyro and the second real-time temperature value of the gyro into the reference temperature model to obtain the target gyro temperature model.
In another possible implementation manner, the second computing unit includes: the first determining subunit is used for determining the starting time m of the slow change of the temperature of the gyroscope; the acquisition subunit is used for acquiring the accelerometer output value f of the MEMS inertial measurement unit at the starting time mmWhere k is greater than m, and an accelerometer output value f at a sampling time kk(ii) a A first calculating subunit, configured to calculate a tilt angle variation Δ α of the MEMS inertial measurement unit from time m to time k by the following formulamk：
Wherein g is the acceleration of gravity.
In another possible implementation manner, the second determining unit is configured to: determining gyro temperature T at ith sampling momentiAnd gyro temperature T at the i +1 th sampling timei+1(ii) a Based on the TiAnd said Ti+1Calculating the temperature change rate of the gyroscope; comparing the rate of temperature change to a threshold; and if the temperature change rate is smaller than or equal to the threshold value, determining the (i + 1) th sampling time as the starting time.
In another possible implementation manner, the building unit includes: a second calculation subunit, configured to calculate the actual angular velocity according to the gyro temperature model and the second angular velocity; the third calculation subunit is used for performing integral operation on the actual angular velocity to obtain an integral model of the actual angular velocity; and the second determining subunit is used for establishing an equation relation between the inclination angle variation and the integral model of the actual angular velocity to obtain the reference gyro temperature model.
In a third aspect, there is also provided an electronic device comprising a memory having a computer program stored therein and a processor configured to execute the computer program to perform the steps of any of the above method embodiments.
In a fourth aspect, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is arranged to perform the steps in any of the above apparatus embodiments when executed.
By means of the technical scheme, the temperature compensation method for the gyro zero position of the MEMS inertial measurement unit provided by the embodiment of the invention has the advantages that the influence of the temperature gradient and the temperature point on the gyro zero position can be considered by constructing the temperature model representing the corresponding relation between the gyro zero offset and the gyro temperature of the MEMS inertial measurement unit, and the influence of the temperature field change on the gyro zero position output is reduced; and then, model parameters of the gyro temperature model are identified, and the gyro zero position is subjected to temperature compensation, so that the technical problem of large temperature compensation error of the gyro zero position of the MEMS inertial measurement unit due to the fact that the influence of temperature field change on the gyro zero position output of the MEMS inertial measurement unit cannot be accurately reflected in the related technology is solved, and the compensation data precision of the gyro zero position of the MEMS inertial measurement unit is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below.
FIG. 1 is a block diagram of a hardware structure of a computer terminal to which a method for compensating for a gyro zero position temperature of an MEMS inertial measurement unit according to an embodiment of the present invention is applied;
FIG. 2 is a mechanical model of a vibratory gyroscope null provided in accordance with an embodiment of the invention;
FIG. 3 is a flow chart of a method for temperature compensation of a gyro zero position of a MEMS inertial measurement unit according to an embodiment of the present invention;
FIG. 4 is a diagram of the relationship between the zero position of the gyro of the pre-temperature compensation inertial measurement unit and the temperature on the xyz axis respectively, provided by the embodiment of the invention;
FIG. 5 is a graph illustrating the effect of compensating for the gyro zero position of the inertial measurement unit in the xyz axis, respectively, according to an embodiment of the present invention;
FIG. 6 is a block diagram of a temperature compensation device for a gyro zero position of a MEMS inertial measurement unit according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that such uses are interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the term "include" and its variants are to be read as open-ended terms meaning "including, but not limited to".
In order to solve the technical problems in the related art, the present embodiment provides a method for compensating for a gyro zero position of a MEMS inertial measurement unit. The following describes the technical solution of the present invention and how to solve the above technical problems with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.
The method provided by the embodiment of the invention can be executed in a mobile terminal, a server, a computer terminal or a similar operation device. Taking the operation on a computer terminal as an example, fig. 1 is a hardware structure block diagram of a method for compensating the temperature of the gyro zero position of the MEMS inertial measurement unit applied to the computer terminal according to the embodiment of the present invention. As shown in fig. 1, the computer terminal may include one or more (only one shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, and optionally, a transmission device 106 for communication functions and an input-output device 108. It will be understood by those skilled in the art that the structure shown in fig. 1 is only an illustration and is not intended to limit the structure of the computer terminal. For example, the computer terminal may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
The memory 104 can be used for storing computer programs, for example, software programs and modules of application software, such as a computer program corresponding to the method for compensating the temperature of the gyro zero position of the MEMS inertial measurement unit in the embodiment of the present invention, and the processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the method. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory, and may also include volatile memory. In some examples, the memory 104 may further include memory located remotely from the processor 102, which may be connected to a computer terminal over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the computer terminal. In one example, the transmission device 106 includes a Network adapter (NIC) that can be connected to other Network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used to communicate with the internet in a wireless manner.
First, a brief analysis introduction is made to a model of the zero position of the MEMS gyroscope. The silicon micromechanical gyroscope zero position instrument is a device for realizing angular velocity measurement by using Coriolis force, and in order to adapt to a silicon processing technology, a rotating structure is replaced by two vibrating beams to realize a driving mode and a detection mode. Taking a single-mass-block silicon micromechanical gyroscope null meter as an example, the working mode of the single-mass-silicon micromechanical gyroscope null meter can be equivalent to a second-order system of 'spring-mass-damping', and fig. 2 is a mechanical model of the zero position of the vibrating gyroscope provided by the embodiment of the invention. As shown in FIG. 2, x, y and z are three axial directions, k, orthogonal to each other in the rectangular spatial coordinate systemdAnd ksStiffness in the x and y directions, respectively, cdAnd csThe damping in the x direction and the y direction are respectively, and the z is a gyro zero angular velocity input shaft. If the gyro zero input axis z has angular velocity input, the vibrating mass block will vibrate on the y axis under the action of Coriolis force according to the operating principle of Coriolis force, and the vibrating displacement of the detecting mass block in the direction can obtain the input angular velocity.
The equation of motion for the gyro null can be expressed as:
wherein m is the mass of the detection mass block;
cdand csDamping coefficients of a driving mode and a detection mode respectively;
kd、ksrespectively a drive mode and a detection modeThe spring rate of (a);
cds、kdsdamping coupling coefficients and coupling stiffness of a driving mode and a detection mode respectively;
α is the coupling coefficient of the driving force to the detection mode;
Here, ignoring the damping and stiffness coupling in equations (1), (2) and the force coupling of the driving force to the detection mode, the above equations (1) and (2) are simplified as:
further neglecting the coriolis force term in equation (3), then there are:
considering the MEMS gyroscope, the driving signal is generally selected to be a sinusoidal signal, and the driving force F is setd＝F0sin(ωdrt) wherein F0Is the drive amplitude.
The second order differential equation, which is a standard equation, obtained by fitting equations (4) and (5) into equations:
wherein the content of the first and second substances,
where, to express the equation in a more general form, ζdAnd ζsRepresents a pair cdAnd csPerforming equivalent transformation; in formulae (6) and (7), ω isd、ωsThe resonance frequencies of the drive mode and the detection mode, respectively.
Wherein the steady state solutions of equations (6) and (7) are:
wherein the content of the first and second substances,
wherein the content of the first and second substances,
in summary, the resonance frequency is an important parameter in the gyroscope driving and detecting motion formula, the resonance frequency changes, and the gyroscope driving and detecting motion equation damping coefficient and the stable solution change.
Resonant frequency omegad(T) is approximately linear with temperature T. Wherein ω isd0、ωS0Is T0Driving and detecting resonant frequency at a temperature point, wherein K is the elastic modulus of the silicon material:
the resonance frequency is an important parameter in the output formula of the gyroscope, and the influence of the change of the resonance frequency with the temperature on the zero thermal noise of the gyroscope is complex and nonlinear, as shown in formula (18), the formula is an equivalent angular rate noise expression of the noise, wherein k isBIs Boltzmann constant, T is absolute temperature, Δ f is bandwidth, m is mass of mass, kfFor the bandwidth coefficient, 0.54 can be taken; a. thedIs the drive amplitude. If the compensation of the zero position is separated from the used temperature field, a single gyroscope or a prior temperature model under the given temperature field condition is used, and the actual use effect of the temperature compensation cannot meet the requirement.
Δf(T)＝kf(ωs(T)-ωd(T))
QS＝1/2ξS
Wherein Q isSThe reciprocal of the damping coefficient represents the quality factor in the detection mode; the temperature-dependent term in equation (18) is a non-linear function of T-T0. For nonlinear functions, fitting with a temperature polynomial over a large range is difficult to achieve ideal results. Therefore, the method is carried out in advanceThe compensation effect of the gyro zero error temperature model obtained by the chamber is not ideal.
In addition, the silicon material adopted by the zero position of the MEMS gyroscope is a heat-sensitive material, the temperature has obvious influence on the elastic modulus of the silicon material, the zero position error of the gyroscope can be increased along with the change of the corresponding gyroscope zero position resonance frequency along with the temperature change, and the temperature error is a main error source of the zero position error of the MEMS gyroscope. For a typical application scenario of a MEMS inertial measurement unit, the error contribution due to the scale factor is much smaller than the zero error. The zero output of the MEMS gyroscope has a complex trend along with the temperature change, and the variation difference of the zero output of the gyroscope is large under different environment temperature change curves at the same initial temperature; under the same temperature field condition, the zero output repeatability difference of the gyroscope is larger, so that the zero error compensation of the gyroscope is carried out by adopting the prior temperature, and larger compensation errors exist.
The method is based on the actual application temperature range, the temperature characteristic modeling of the zero position error of the gyroscope is carried out under the actual temperature scene, the angular velocity output by the gyroscope and the acceleration output by the accelerometer during the static or micro amplitude angular vibration state before the MEMS inertial measurement unit is used each time are utilized, and the temperature data are utilized to identify the parameters of the zero position error temperature model of the gyroscope, and the model is immediately applied to the next working process, so that the angular velocity measurement precision of the gyroscope in the MEMS inertial measurement unit is improved.
Fig. 3 is a flowchart of a method for compensating the temperature of the gyro zero position of the MEMS inertial measurement unit according to an embodiment of the present invention, and as shown in fig. 3, the flowchart includes the following steps:
step S302, a gyro temperature model of the MEMS inertial measurement unit is constructed, wherein the gyro temperature model is used for representing a first corresponding relation between gyro zero offset and gyro temperature of the MEMS inertial measurement unit;
step S304, determining model parameters of a gyro temperature model to obtain a target gyro temperature model;
preferably, constructing the gyro temperature model of the MEMS inertial measurement unit comprises: constructing a gyro temperature model according to an initial gyro zero offset corresponding to the initial gyro temperature at the starting time of the MEMS inertia measurement unit, a first-order model of the gyro temperature relative to the initial temperature, a second-order model of the gyro temperature relative to the initial temperature and the temperature change rate of the gyro, wherein the gyro temperature model is as follows:
wherein, Ω (T)k) Indicating gyro zero position at temperature TkZero offset, T, of the time-dependent gyroscopekAnd Tk-1Respectively representing the gyro temperatures at the kth sampling time and the kth-1 sampling time;
is an initial temperature T0Initial gyro zero bias, k, of time1A first order coefficient relating to the gyro temperature for the gyro zero bias; k is a radical of2A quadratic term coefficient of the gyro zero deviation related to the gyro temperature; k is a radical ofdIs the coefficient of the gyro zero bias with respect to the temperature change rate of the gyro.
The gyro temperature model is based on the gyro temperature (namely the initial temperature) at the starting time of the MEMS inertial measurement unit, and expresses a complex nonlinear relation between a zero error (namely the gyro zero offset) and the gyro temperature by a simple second-order model of the real-time temperature of the gyro relative to the initial temperature variation; aiming at the hysteresis characteristic of temperature measurement, a temperature change rate is adopted to predict a temperature change curve, a first-order model is adopted to predict the influence of temperature information hysteresis on compensation precision, and k in the formula (19)d(Tk-Tk-1)。
And S306, performing temperature compensation on the gyro zero position of the MEMS inertial measurement unit according to the target gyro temperature model.
According to the temperature compensation method for the gyroscope zero position of the MEMS inertial measurement unit, which is provided by the embodiment of the invention, the temperature model representing the corresponding relation between the gyroscope zero offset and the gyroscope temperature of the MEMS inertial measurement unit is constructed, so that the influence of the temperature gradient and the temperature point on the gyroscope zero position can be considered, and the influence of the temperature field change on the gyroscope zero position output is reduced; and then, model parameters of the gyro temperature model are identified, and the gyro zero position is subjected to temperature compensation, so that the technical problem of large temperature compensation error of the gyro zero position of the MEMS inertial measurement unit due to the fact that the influence of temperature field change on the gyro zero position output of the MEMS inertial measurement unit cannot be accurately reflected in the related technology is solved, and the compensation data precision of the gyro zero position of the MEMS inertial measurement unit is improved.
In an optional embodiment of the present disclosure, the output of the gyroscope is a gyroscope zero offset, and the determining a model parameter of the gyroscope temperature model to obtain the target gyroscope temperature model includes: collecting a first real-time temperature value of the gyroscope and a first angular speed output by the gyroscope; substituting the first real-time temperature value and the first angular velocity into the gyro temperature model to calculate
k1、k2And kd(ii) a Will be provided with
k1、k2And kdAnd substituting the target gyroscope temperature model into the gyroscope temperature model to obtain the target gyroscope temperature model.
Based on the gyro temperature model constructed above, in the stage of rapid temperature change at the initial starting stage, the gyro output is greatly influenced by the temperature, and at the moment, the output of the gyro is output
(i.e. the first angular velocity) is used as a measurement value of a zero error of the gyroscope (i.e. the zero offset of the gyroscope), and the MEMS inertial measurement unit also gives a temperature measurement value of the gyroscope in real time (i.e. the first real-time temperature value), which is obtained according to the formula (19):
in order to calibrate the model parameters of the temperature model of the gyro zero error (namely, the gyro temperature model), immediately after the MEMS inertial measurement unit is started, the model parameters in the formula (20) are calibrated according to the output of the gyro during the starting process, and the calibration is used for temperature compensation in the subsequent normal use process of the MEMS inertial measurement unit during the starting process.
Preferably, it is known
And T on the right0…Tk(i.e. the first real-time temperature value) by using recursive least square method, the parameters in the gyro zero error temperature model can be estimated in real time
k1、k2And kd. In the process, the gyro output is regarded as a gyro zero error (namely, the gyro zero offset) to carry out model parameter calibration, and a calibration result is influenced by angular vibration in the environment to a certain extent; in addition, a least square method is adopted to calculate the compensation coefficient (namely the model parameter) of the zero position output of the MEMS gyroscope along with the temperature in real time, the gyroscope zero position field compensation of temperature change and change rate estimation is realized, temperature data does not need to be stored after the least square method is carried out, the memory occupation amount is reduced, the storage space is saved, the full-temperature measurement precision is improved, and the environmental interference is reduced.
In an optional embodiment of the present disclosure, the determining the model parameter of the gyro temperature model by using the sum of the actual angular velocity of the MEMS inertial measurement unit and the gyro zero offset as the output of the gyro to obtain the target gyro temperature model includes: determining the starting time of the gyroscope with the output of the actual angular velocity and the zero offset of the gyroscope; calculating the inclination angle variation of the MEMS inertial measurement unit according to the starting time and the accelerometer output value of the MEMS inertial measurement unit, wherein the accelerometer output value is a numerical value output by the accelerometer of the MEMS inertial measurement unit in the horizontal direction; constructing a second corresponding relation between the gyro temperature model and the inclination angle variation to obtain a reference gyro temperature model; and substituting a second angular velocity output by the gyroscope and a second real-time temperature value of the gyroscope into the reference temperature model, and calculating model parameters of the gyroscope temperature model to obtain a target gyroscope temperature model.
And when the gyro temperature is converted into a slow change stage from a quick change stage at the beginning, in order to calibrate the model parameters of the temperature model of the gyro zero error (namely the gyro temperature model), the MEMS inertial measurement unit calibrates the model parameters according to the output of the gyro and the output of the accelerometer during the calibration, and is used for performing temperature compensation in the subsequent normal use process of the MEMS inertial measurement unit during the starting.
Wherein, calculate MEMS inertia measuring unit's inclination variation according to the accelerometer output value of initial time and MEMS inertia measuring unit, include: acquiring an accelerometer output value f of the MEMS inertial measurement unit at a starting time mmAnd accelerometer output value f at sampling time kkWherein k is greater than m; calculating the inclination angle variation delta alpha of the MEMS inertia measurement unit from m time to k time by the following formulamk：
Wherein g is the acceleration of gravity.
Preferably, determining the starting time at which the output of the gyro is the sum of the actual angular velocity and the gyro zero offset comprises: determining gyro temperature T at ith sampling momentiAnd gyro temperature T at the i +1 th sampling timei+1(ii) a Based on TiAnd Ti+1Calculating the temperature change rate of the gyroscope; comparing the rate of temperature change to a threshold; and if the temperature change rate is less than or equal to the threshold value, determining the (i + 1) th sampling time as the starting time. In this embodiment, by collecting real-time temperature values at various times, it is determined whether the gyro temperature has a fast change phase or a slow change phase according to the temperature change rate.
In this embodiment, after the temperature change becomes slow, the accelerometer sensitive gravity output result is influenced by the temperature to enter a negligible state. At this time, reference information for calibrating parameters of a gyro zero-position error model (namely, the reference gyro temperature model) is constructed by using accelerometer data so as to reduce the influence of environmental angular vibration on calibration precision and improve the calibration precision of the gyro zero-position error model parameters of a sensitive shaft in a horizontal plane (the process has no effect on the gyro zero-position error model of the sensitive shaft in a vertical direction in the MEMS inertial measurement unit), and the method comprises the following contents:
the output of the horizontal accelerometer in the MEMS inertial measurement unit is:
f＝gsinα+▽ (21)
wherein: f is the horizontal accelerometer output; g is the acceleration of gravity (a known geophysical parameter); alpha is the inclination angle of the accelerometer and is an unknown quantity; and v is the zero error of the accelerometer and is an unknown quantity.
Considering the characteristic that the MEMS inertial measurement unit is placed close to horizontal (i.e. the tilt angle α is small), sin α ≈ α substitutes it into formula (21):
f＝gα+▽ (22)
thus, the following steps are obtained:
the presence of environmental disturbances causes the horizontal accelerometer output f and the tilt angle α to vary over time, denoted as f, respectivelykAnd alphakThen, then
When the initial time point at which the temperature change becomes gentle is m (i.e., the above-mentioned start time), the angle change Δ α from the time point m to the time point k is calculatedmk(i.e., the above-mentioned inclination angle change amount) is:
therefore, the angle change is irrelevant to the zero position error of the accelerometer, and the output value f of the accelerometer at the m moment and the k moment is only usedkAnd fmAnd (6) determining.
Further, constructing a second corresponding relationship between the gyro temperature model and the inclination angle variation to obtain a reference gyro temperature model includes: calculating an actual angular velocity according to the gyro temperature model and the second angular velocity; carrying out integral operation on the actual angular velocity to obtain an integral model of the actual angular velocity; and establishing an equality relation between the inclination angle variation and an integral model of the actual angular velocity to obtain a reference gyro temperature model.
According to the embodiment, the gyro zero error (namely the gyro zero offset) is calibrated for the reference information, and the gyro zero error and the delta alpha are constructedmkThe relationship between them. At this time, the gyro is not output any more from the more accurate requirement
(i.e., the second angular velocity) is all considered as a zero error, but rather as the true angular velocity of the MEMS inertial measurement unit
(i.e., the actual angular velocity) and the gyro null error, so
Integrating the temperature variation of the gyroscope from the m moment and the k moment, and constructing a corresponding relation (namely the second corresponding relation) between the temperature model of the gyroscope and the variation of the inclination angle to obtain:
wherein: t issIs the data sampling period.
The reference gyro temperature model obtained by arrangement is as follows:
the left side of equation (29) is calculated from the output of the gyro and the output of the accelerometer, and the right side k, m, T0、Tm…Tk(i.e., the second real-time temperature value) is a known quantity. According to the known quantity, on the basis of the calibration result of the temperature rapid change stage, the recursive least square algorithm is continuously usedFurther improve
k1、k2And kdThe accuracy of the estimation of.
According to the embodiment of the invention, based on the temperature prediction model (namely the gyro temperature model) and the real-time identification and compensation method for the zero-position temperature coefficient of the MEMS gyro of the inertial measurement unit under the condition of acceleration space static judgment at stable temperature, the problem that a common user cannot acquire information such as resonant frequency, current angular velocity and the like of the image drive closed-loop control system only by acquiring a gyro research and development party is solved, and modeling can be performed according to the output of the gyro in a use field to realize temperature compensation of the gyro zero-position error.
The embodiment of the invention realizes real-time temperature compensation of the zero error of the gyroscope in a segmented manner based on the temperature prediction model (namely the gyroscope temperature model) of the MEMS inertial measurement unit and the output of the accelerometer; the temperature field is divided into two stages of rapid change and approximate stabilization, the temperature change is subjected to linearization processing in a short time in the rapid change stage, and a temperature compensation coefficient is recurred by adopting a least square method.
Because the nonlinear function is fit by a temperature polynomial in a large range, an ideal effect is difficult to achieve, and the effect of compensating by a gyro zero error temperature model obtained in a laboratory in advance is not ideal. Therefore, according to the main process steps of the gyro zero-position output temperature compensation of the MEMS inertial measurement unit, the temperature at the starting time is used as the starting point, a linear model is adopted for modeling in a small range, model parameters of a gyro temperature model are identified in the actual use site and are immediately applied to the temperature compensation method corresponding to the next use scene, and the angular velocity measurement precision of the gyro in the MEMS inertial measurement unit is improved. FIG. 4 is a graph of the relationship between the gyro zero position of the pre-temperature compensation inertial measurement unit and the temperature on the xyz axis, respectively, as shown in FIG. 4a, FIG. 4b and FIG. 4 c; FIG. 5 is a graph showing the effect of compensating for the gyro zero position of the inertial measurement unit in the xyz axis according to the embodiment of the present invention, as shown in FIG. 5a, FIG. 5b and FIG. 5 c.
Based on the temperature compensation method for the gyro zero position of the MEMS inertial measurement unit provided in the foregoing embodiments, based on the same inventive concept, the present embodiment further provides a temperature compensation device for the gyro zero position of the MEMS inertial measurement unit, where the device is used to implement the foregoing embodiments and preferred embodiments, and the description of the device is omitted. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 6 is a block diagram of a structure of a device for compensating the temperature of the gyro zero position of the MEMS inertial measurement unit according to an embodiment of the present invention, as shown in fig. 6, the device includes: the building module 60 is configured to build a gyro temperature model of the MEMS inertial measurement unit, where the gyro temperature model is used to represent a first corresponding relationship between a gyro zero offset and a gyro temperature of the MEMS inertial measurement unit; a determining module 62, connected to the constructing module 60, for determining model parameters of the gyro temperature model to obtain a target gyro temperature model; and the compensation module 64 is connected to the determination module 62 and is used for performing temperature compensation on the gyro zero position of the MEMS inertial measurement unit according to the target gyro temperature model.
Optionally, the building block 60 includes: the construction unit is used for constructing a gyro temperature model according to initial gyro zero offset, a first-order model of gyro temperature relative to initial temperature, a second-order model of gyro temperature relative to initial temperature and the temperature change rate of the gyro corresponding to the initial gyro temperature at the starting time of the MEMS inertial measurement unit; wherein, the gyro temperature model is as follows:
wherein, Ω (T)k) Indicating gyro zero position at temperature TkZero offset, T, of the time-dependent gyroscopekAnd Tk-1Respectively representing the gyro temperatures at the kth sampling time and the kth-1 sampling time;
is an initial temperature T0Initial gyro zero bias, k, of time1A first order coefficient relating to the gyro temperature for the gyro zero bias; k is a radical of2A quadratic term coefficient of the gyro zero bias related to the gyro temperature; k is a radical ofdIs the coefficient of the gyro zero bias with respect to the temperature change rate of the gyro.
Optionally, the output of the gyro is gyro zero offset, and the determining module 62 includes: the acquisition unit is used for acquiring a first real-time temperature value of the gyroscope and a first angular speed output by the gyroscope; a first calculating unit for substituting the first real-time temperature value and the first angular velocity into the gyro temperature model to calculate
k1、k2And kd(ii) a A first determination unit for determining
k1、k2And kdAnd substituting the target gyroscope temperature model into the gyroscope temperature model to obtain the target gyroscope temperature model.
Optionally, the output of the gyro is the sum of the actual angular velocity of the MEMS inertial measurement unit and the gyro zero offset, and the determining module 62 includes: the second determining unit is used for determining the starting time of the sum of the actual angular velocity and the zero offset of the gyroscope as the output of the gyroscope; the second calculation unit is used for calculating the inclination angle variation of the MEMS inertial measurement unit according to the starting time and the accelerometer output value of the MEMS inertial measurement unit, wherein the accelerometer output value is a numerical value output by the MEMS inertial measurement unit in the horizontal direction; the construction unit is used for constructing a second corresponding relation between the gyro temperature model and the inclination angle variation to obtain a reference gyro temperature model; and the third determining unit is used for calculating model parameters of the gyro temperature model by substituting the second angular velocity output by the gyro and the second real-time temperature value of the gyro into the reference temperature model to obtain the target gyro temperature model.
Optionally, the second calculating unit includes: the first determining subunit is used for determining the starting time m of the slow change of the temperature of the gyroscope; a collecting subunit for collecting MEMS inertiaAccelerometer output value f of sexual measurement unit at starting time mmWhere k is greater than m, and an accelerometer output value f at a sampling time kk(ii) a A first calculating subunit, for calculating the inclination angle variation Δ α of the MEMS inertial measurement unit from time m to time k by the following formulamk：
Wherein g is the acceleration of gravity.
Optionally, the second determining unit is configured to: determining gyro temperature T at ith sampling momentiAnd gyro temperature T at the i +1 th sampling timei+1(ii) a Based on TiAnd Ti+1Calculating the temperature change rate of the gyroscope; comparing the rate of temperature change to a threshold; and if the temperature change rate is less than or equal to the threshold value, determining the (i + 1) th sampling time as the starting time.
Optionally, the building unit includes: the second calculating subunit is used for calculating the actual angular velocity according to the gyro temperature model and the second angular velocity; the third calculation subunit is used for performing integral operation on the actual angular velocity to obtain an integral model of the actual angular velocity; and the second determining subunit is used for establishing an equality relation between the inclination angle variation and the integral model of the actual angular velocity to obtain a reference gyro temperature model.
It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.
Embodiments of the present invention also provide a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.
Alternatively, in the present embodiment, the storage medium may be configured to store a computer program for executing the steps of:
s1, constructing a gyro temperature model of the MEMS inertial measurement unit, wherein the gyro temperature model is used for representing a first corresponding relation between gyro zero offset and gyro temperature of the MEMS inertial measurement unit;
s2, determining model parameters of the gyro temperature model to obtain a target gyro temperature model;
and S3, performing temperature compensation on the gyro zero position of the MEMS inertial measurement unit according to the target gyro temperature model.
Optionally, in this embodiment, the storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Based on the above-mentioned embodiments of the method shown in fig. 3 and the apparatus shown in fig. 6, in order to achieve the above-mentioned object, an electronic device is further provided in an embodiment of the present invention, as shown in fig. 7, which includes a memory 72 and a processor 71, where the memory 72 and the processor 71 are both disposed on a bus 73, the memory 72 stores a computer program, and the processor 71, when executing the computer program, implements the method for compensating the temperature of the gyro zero position of the MEMS inertial measurement unit shown in fig. 3.
Based on such understanding, the technical solution of the present invention can be embodied in the form of a software product, which can be stored in a memory (which can be a CD-ROM, a usb disk, a removable hard disk, etc.), and includes several instructions for enabling an electronic device (which can be a personal computer, a server, or a network device, etc.) to execute the method according to the implementation scenarios of the present invention.
Optionally, the device may also be connected to a user interface, a network interface, a camera, Radio Frequency (RF) circuitry, sensors, audio circuitry, a WI-FI module, and so forth. The user interface may include a Display screen (Display), an input unit such as a keypad (Keyboard), etc., and the optional user interface may also include a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface, a wireless interface (e.g., a bluetooth interface, WI-FI interface), etc.
It will be understood by those skilled in the art that the structure of an electronic device provided in the present embodiment does not constitute a limitation of the physical device, and may include more or less components, or some components in combination, or a different arrangement of components.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A temperature compensation method for a gyro zero position of an MEMS inertial measurement unit is characterized by comprising the following steps:
constructing a gyro temperature model of the MEMS inertial measurement unit, wherein the gyro temperature model is used for representing a first corresponding relation between gyro zero offset and gyro temperature of the MEMS inertial measurement unit;
determining model parameters of the gyro temperature model to obtain a target gyro temperature model;
and carrying out temperature compensation on the gyro zero position of the MEMS inertial measurement unit according to the target gyro temperature model.
2. The method of claim 1, wherein constructing the gyro temperature model of the MEMS inertial measurement unit comprises:
constructing a gyro temperature model according to initial gyro zero offset corresponding to the initial temperature of the gyro at the starting time of the MEMS inertial measurement unit, a first-order model of the gyro temperature relative to the initial temperature, a second-order model of the gyro temperature relative to the initial temperature and the temperature change rate of the gyro;
wherein the gyro temperature model is:
wherein, Ω (T)k) Indicating gyro zero position at temperature TkZero offset, T, of the time-dependent gyroscopekAnd Tk-1Respectively representing the gyro temperatures at the kth sampling time and the kth-1 sampling time;
is an initial temperature T0Initial gyro zero bias, k, of time1A first order coefficient relating to the gyro temperature for the gyro zero bias; k is a radical of2A quadratic term coefficient of the gyro zero bias related to the gyro temperature; k is a radical ofdIs the coefficient of the gyro zero bias with respect to the temperature change rate of the gyro.
3. The method of claim 2, wherein the output of a gyroscope is the gyroscope zero bias, and wherein determining the model parameters of the gyroscope temperature model to obtain a target gyroscope temperature model comprises:
acquiring a first real-time temperature value of the gyroscope and a first angular speed output by the gyroscope;
substituting the first real-time temperature value and the first angular velocity into the gyro temperature model to calculate the gyro temperature model
K is1K to k2And k is saidd；
Will be described in
K is1K to k2And k is saiddAnd substituting the gyroscope temperature model to obtain the target gyroscope temperature model.
4. The method of claim 1, wherein a gyro output is a sum of an actual angular velocity of the MEMS inertial measurement unit and the gyro zero offset, and wherein determining model parameters of the gyro temperature model resulting in a target gyro temperature model comprises:
determining a starting time at which the output of the gyroscope is the sum of the actual angular velocity and the gyroscope zero offset;
calculating the inclination angle variation of the MEMS inertial measurement unit according to the starting time and an accelerometer output value of the MEMS inertial measurement unit, wherein the accelerometer output value is a numerical value output by an accelerometer of the MEMS inertial measurement unit in the horizontal direction;
constructing a second corresponding relation between the gyro temperature model and the inclination angle variation to obtain a reference gyro temperature model;
and calculating model parameters of the gyro temperature model by substituting the second angular velocity output by the gyro and the second real-time temperature value of the gyro into the reference temperature model to obtain the target gyro temperature model.
5. The method of claim 4, wherein calculating the tilt change amount of the MEMS inertial measurement unit from the start time and an accelerometer output value of the MEMS inertial measurement unit comprises:
acquiring an accelerometer output value f of the MEMS inertial measurement unit at the starting time mmAnd accelerometer output value f at sampling time kkWherein k is greater than m;
calculating the inclination angle variation delta alpha of the MEMS inertia measurement unit from m time to k time through the following formulamk：
Wherein g is the acceleration of gravity.
6. The method of claim 4, wherein determining a starting time at which the output of the gyroscope is a sum of the actual angular velocity and the gyroscope zero offset comprises:
determining gyro temperature T at ith sampling momentiAnd gyro temperature T at the i +1 th sampling timei+1；
Based on the TiAnd said Ti+1Calculating the temperature change rate of the gyroscope;
comparing the rate of temperature change to a threshold;
and if the temperature change rate is smaller than or equal to the threshold value, determining the (i + 1) th sampling time as the starting time.
7. The method of claim 4, wherein the constructing the second corresponding relationship between the gyro temperature model and the inclination angle variation to obtain a reference gyro temperature model comprises:
calculating the actual angular velocity according to the gyro temperature model and the second angular velocity;
carrying out integral operation on the actual angular velocity to obtain an integral model of the actual angular velocity;
and establishing an equality relation between the inclination angle variation and the integral model of the actual angular velocity to obtain the reference gyro temperature model.
8. A temperature compensation device for a gyro zero position of a MEMS inertial measurement unit is characterized by comprising:
the system comprises a construction module, a first module and a second module, wherein the construction module is used for constructing a gyro temperature model of the MEMS inertial measurement unit, and the gyro temperature model is used for representing a first corresponding relation between gyro zero offset and gyro temperature of the MEMS inertial measurement unit;
the determining module is used for determining model parameters of the gyro temperature model to obtain a target gyro temperature model;
and the compensation module is used for carrying out temperature compensation on the gyro zero position of the MEMS inertial measurement unit according to the target gyro temperature model.
9. An electronic device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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