CN113155114B - Temperature compensation method and device for gyro zero position of MEMS inertial measurement unit - Google Patents
Temperature compensation method and device for gyro zero position of MEMS inertial measurement unit Download PDFInfo
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Abstract
The invention provides a temperature compensation method and a device for a gyro zero position of an MEMS 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 because the influence of the temperature field change on the gyro zero position output of the MEMS inertial measurement unit cannot be accurately reflected in the related art.
Description
Technical Field
The invention relates to the field of micro-mechanical gyroscopes, in particular to a temperature compensation method and device for a zero position of a gyroscope of an MEMS inertial measurement unit.
Background
The MEMS inertial instrument (including MEMS accelerometer and MEMS gyroscope) is a MEMS device manufactured based on 1C process and micromachining process, and has low cost, small volume and strong environment adaptability, and can be widely applied in various fields. However, the silicon material adopted by the MEMS inertial instrument structure is a thermosensitive material, the temperature has obvious influence on the elastic modulus of the silicon material, the zero position resonance frequency of the corresponding gyroscope changes along with the change of the temperature, the zero position error of the gyroscope also increases, and the temperature error is a main error source of the zero position error of the MEMS gyroscope.
The existing MEMS gyro zero compensation method generally adopts a method of collecting gyro zero output at a plurality of constant temperature points, forming coefficients by adopting a polynomial fitting mode, writing the generated coefficients into an EEPROM, and then calling different coefficients according to different temperature points of an instrument environment for correction. Such a method has the following disadvantages: 1) The MEMS gyro zero position temperature field change is complex, the temperature gradient and the temperature point have influence on gyro zero position output, the influence of the temperature field change on gyro zero position output 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 temperature field environmental characteristic of the gyroscope in the inertial measurement unit is greatly different from the zero temperature field test result which is only carried out on the gyroscope in the constant temperature environment, and the zero temperature test result which is only carried out on 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 a large error can be caused. Therefore, the existing MEMS gyroscope zero compensation method cannot accurately reflect the influence of temperature field change on the gyroscope zero output of the MEMS inertial measurement unit, and the problem of large temperature compensation error of the gyroscope zero of the MEMS inertial measurement unit is caused.
In view of the technical problems in the related art described above, 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 temperature compensation of a gyro zero position 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 fact that the influence of the change of a temperature field on the output of the gyro zero position of the MEMS inertial measurement unit cannot be accurately reflected. The technical scheme is as follows:
in a first aspect, a temperature compensation method for a gyro zero position of an MEMS inertial measurement unit is provided, including: 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 the gyro temperature model of the MEMS inertial measurement unit includes: according to the initial gyro zero bias and the initial gyro temperature corresponding to the initial gyro temperature at the starting moment of the MEMS inertial measurement unit A first-order model with the degree relative to the initial temperature, a second-order model with the gyro temperature relative to the initial temperature and the temperature change rate of the gyro are used for constructing the gyro temperature model; wherein, the top temperature model is:wherein Ω (T) k ) Indicating the zero position of the gyroscope at the temperature T k Zero bias, T of the gyro corresponding to time k And T k-1 The gyro temperatures at the kth and the kth-1 sampling moments are respectively represented; />At an initial temperature T 0 Initial gyro zero bias, k 1 A first term coefficient of zero offset of the gyroscope with respect to the temperature of the gyroscope; k (k) 2 The second term coefficient of the zero offset of the gyroscope about the temperature of the gyroscope; k (k) d Is the coefficient of zero bias of the gyroscope with respect to the temperature change rate of the gyroscope.
In another possible implementation manner, the output of the gyro is zero bias of the gyro, and the determining the model parameters of the gyro temperature model to obtain the target gyro temperature model includes: collecting a first real-time temperature value of the gyroscope and a first angular velocity 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 modelThe k is 1 Said k 2 Said k d The method comprises the steps of carrying out a first treatment on the surface of the Said->The k is 1 Said k 2 Said k d Substituting the target gyro temperature model into the gyro temperature model to obtain the target gyro 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 the zero bias of the gyroscope, and the determining the model parameter of the gyroscope temperature model, to obtain the target gyroscope temperature model includes: determining a start time at which an output of the gyroscope is a sum 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 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; substituting the second angular velocity output by the gyroscope and the second real-time temperature value of the gyroscope into the reference temperature model, and calculating model parameters of the gyroscope temperature model to obtain the target gyroscope temperature model.
In another possible implementation, calculating the tilt angle variation of the MEMS inertial measurement unit from the start time and the accelerometer output value of the MEMS inertial measurement unit includes: collecting an accelerometer output value f of the MEMS inertial measurement unit at the starting time m m Where k is greater than m, and the accelerometer output value f at sampling instant k k The method comprises the steps of carrying out a first treatment on the surface of the The inclination angle change delta alpha of the MEMS inertia measurement unit from m time to k time is calculated by the following formula mk ：Wherein g is gravitational acceleration.
In another possible implementation, the determining the start time at which the output of the gyro is the sum of the actual angular velocity and the gyro zero offset includes: determining gyro temperature T at the ith sampling instant i And gyro temperature T at the (i+1) -th sampling time i+1 The method comprises the steps of carrying out a first treatment on the surface of the Based on the T i And said T i+1 Calculating the temperature change rate of the gyroscope; comparing the temperature change rate 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 correspondence between the gyro temperature model and the inclination angle variation amount includes: calculating the actual angular velocity according to the gyro temperature model and the second angular velocity; performing integral operation on the actual angular velocity to obtain an integral model of the actual angular velocity; and 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 second aspect, a temperature compensation device for a gyro zero position of a MEMS inertial measurement unit is provided, including: the system comprises a construction module, a first control module and a second control 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 block includes: the construction unit is used for constructing the gyro temperature model according to the initial gyro zero bias corresponding to the initial gyro temperature at the starting moment 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 top temperature model is:wherein Ω (T) k ) Indicating the zero position of the gyroscope at the temperature T k Zero bias, T of the gyro corresponding to time k And T k-1 The gyro temperatures at the kth and the kth-1 sampling moments are respectively represented; / >At an initial temperature T 0 Initial gyro zero bias, k 1 A first term coefficient of zero offset of the gyroscope with respect to the temperature of the gyroscope; k (k) 2 The second term coefficient of the zero offset of the gyroscope about the temperature of the gyroscope; k (k) d For the temperature change rate of the top about zero biasIs a coefficient of (a).
In another possible implementation manner, the output of the gyro is zero bias 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 velocity output by the gyroscope; a first calculation unit for substituting the first real-time temperature value and the first angular velocity into the gyro temperature model to calculate the gyro temperature modelThe k is 1 Said k 2 Said k d The method comprises the steps of carrying out a first treatment on the surface of the A first determining unit for determining said ++>The k is 1 Said k 2 Said k d Substituting the target gyro temperature model into the gyro temperature model to obtain the target gyro temperature model.
In another possible implementation, the output of the gyroscope is the sum of the actual angular velocity of the MEMS inertial measurement unit and the gyroscope zero bias, and the determining module includes: a second determining unit configured to determine a start time at which an output of the gyro is a sum of the actual angular velocity and the gyro zero bias; the second calculating 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 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 speed 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: a first determination subunit for determining the start time of the slow change of the temperature of the gyroscopeEtching m; an acquisition subunit for acquiring the accelerometer output value f of the MEMS inertial measurement unit at the starting time m m Where k is greater than m, and the accelerometer output value f at sampling instant k k The method comprises the steps of carrying out a first treatment on the surface of the A first calculating subunit for calculating the inclination angle variation delta alpha of the MEMS inertial measurement unit from m time to k time by the following formula mk ：Wherein g is gravitational acceleration.
In another possible implementation manner, the second determining unit is configured to: determining gyro temperature T at the ith sampling instant i And gyro temperature T at the (i+1) -th sampling time i+1 The method comprises the steps of carrying out a first treatment on the surface of the Based on the T i And said T i+1 Calculating the temperature change rate of the gyroscope; comparing the temperature change rate 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, 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 carrying out integral operation on the actual angular velocity to obtain an integral model of the actual angular velocity; and the second determination subunit is used for 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 third aspect, there is also provided an electronic device comprising a memory having stored therein a computer program and a processor arranged to run the computer program to perform the steps of any of the method embodiments described above.
In a fourth aspect, there is also provided a computer readable storage medium having stored therein a computer program, wherein the computer program is arranged to perform the steps of any of the apparatus embodiments described above when run.
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 can be used for considering the influence of the temperature gradient and the temperature point on the gyro zero position by constructing the temperature model representing the corresponding relation between the gyro zero bias and the gyro temperature of the MEMS inertial measurement unit, so that the influence of the temperature field change on the gyro zero position output is reduced; and then, model parameters of a gyro temperature model are identified, and temperature compensation is performed on a gyro zero position, so that 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 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 solution of the embodiments of the present invention, the drawings that are required to be 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 configuration of a MEMS inertial measurement unit gyroscope zero position temperature compensation method applied to a computer terminal according to an embodiment of the present invention;
FIG. 2 is a mechanical model of the zero position of a vibratory gyroscope provided in accordance with an embodiment of the present invention;
FIG. 3 is a flow chart of a method of temperature compensation for a gyro null of a MEMS inertial measurement unit in accordance with an embodiment of the present invention;
FIG. 4 is a graph of the relationship between zero position of a gyro of an inertial measurement unit before temperature compensation and temperature on an xyz axis respectively, according to an embodiment of the present invention;
FIG. 5 is a graph of compensation effects on the xyz axis for providing inertial measurement unit gyro nulls, respectively, in accordance with an embodiment of the present invention;
FIG. 6 is a block diagram of a temperature compensation device for the zero position of a MEMS inertial measurement unit gyroscope 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 present invention are shown in the drawings, it should be understood that the present invention may 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 the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that such use is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "include" and variations thereof are to be interpreted as open-ended terms that mean "include, but are not limited to.
In order to solve the technical problems in the related art, a temperature compensation method for the zero position of a gyro of an MEMS inertial measurement unit is provided in this embodiment. The following describes the technical scheme of the present invention and how the technical scheme of the present invention solves the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.
The method according to the first embodiment of the present invention may be implemented in a mobile terminal, a server, a computer terminal, or a similar computing device. Taking a computer terminal as an example, fig. 1 is a block diagram of a hardware structure of a MEMS inertial measurement unit according to an embodiment of the present invention, where the method is applied to the temperature compensation of a gyro zero position of the computer terminal. As shown in fig. 1, the computer terminal may include one or more (only one is shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a microprocessor MCU or a processing device such as 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 appreciated by those skilled in the art that the configuration shown in fig. 1 is merely illustrative and is not intended to limit the configuration of the computer terminal described above. 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 may be used to store a computer program, for example, a software program of application software and a module, such as a computer program corresponding to a temperature compensation method of a gyro zero position of the MEMS inertial measurement unit in an embodiment of the present invention, and the processor 102 executes the computer program stored in the memory 104, thereby performing various functional applications and data processing, that is, implementing the method described above. 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, as well as volatile memory. In some examples, the memory 104 may further include memory remotely located relative to the processor 102, which may be connected to the computer terminal via 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 a computer terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, simply referred to as NIC) that can connect 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 configured to communicate with the internet wirelessly.
First, a brief analysis description is made of a model of the MEMS gyroscope null. The zero position instrument of the silicon micromechanical gyroscope is a device for realizing angular velocity measurement by utilizing the Coriolis force, and in order to adapt to the silicon processing technology, a driving mode and a detection mode are realized by using two vibrating beams to replace a rotating structure. Taking a single mass block silicon micromechanical gyroscope zero position instrument as an example, the working mode of the gyroscope zero position instrument is thatThe system can be equivalently a second-order system of 'spring-mass-damping', and fig. 2 is a mechanical model of a zero position of the vibratory gyroscope provided by the embodiment of the invention. As shown in FIG. 2, x, y and z are three mutually orthogonal axes, k, of a space rectangular coordinate system d And k s Stiffness in x and y directions, c d And c s Damping in x and y directions respectively, and z is the zero angular velocity input axis of the gyroscope. And the mass block of the silicon micromechanical gyroscope zero position instrument vibrates in a sine way along the direction of the driving shaft at a fixed frequency, if the gyroscope zero position input shaft z has angular velocity input at the moment, the vibrating mass block vibrates in the y axis under the action of coriolis force according to the working principle of coriolis force, and the input angular velocity can be obtained by detecting the vibration displacement of the mass block in the direction.
The motion equation for the gyro zero position can be expressed as:
Wherein m is the mass of the detection mass block;
c d and c s Damping coefficients of a driving mode and a detection mode respectively;
k d 、k s spring rates for the drive mode and the sense mode, respectively;
c ds 、k ds damping coupling coefficients and coupling rigidities of a driving mode and a detecting mode respectively;
alpha is the coupling coefficient of the driving force to the detection mode;
is the inertial force caused by the coriolis acceleration.
Here, neglecting the damping and stiffness coupling and the force coupling of the driving force to the detection mode in equations (1), (2), the above equations (1) and (2) are simplified as:
if the coriolis force term in equation (3) is further ignored, then there are:
considering MEMS gyroscopes, the driving signal is typically selected to be sinusoidal, with driving force F d ＝F 0 sin(ω dr t), wherein F 0 Is the drive amplitude.
The second differential equations that condition equations (4) and (5) to be standard are:
wherein,
wherein ζ is in order to represent the equation into a more common form d And zeta s Representation pair c d And c s Performing equivalent transformation; in the formulae (6) and (7), ω d 、ω s Respectively, driving mouldState and detection mode resonance frequency.
Wherein the steady state solution of formulas (6) and (7) is:
wherein,
wherein,
in summary, the resonant frequency is an important parameter in the gyroscope driving and detecting motion formulas, the resonant frequency changes, the damping coefficient of the gyroscope driving and detecting motion formulas changes, and the stable solution changes.
Resonant frequency omega d (T) is approximately linear with temperature T. Wherein omega d0 、ω S0 Is T 0 Driving and detecting resonance frequency at a temperature point, wherein K is the elastic modulus of the silicon material:
the resonant frequency is an important parameter in the gyroscope output formula, the influence of the change of the resonant frequency along with the temperature on the zero thermal noise of the gyroscope is complex nonlinear, and is an equivalent angular rate noise expression of the noise as shown in a formula (18), wherein k is B Is Boltzmann constant, T is absolute temperature, Δf is bandwidth, m is mass of the mass, k f For bandwidth factor, 0.54 is desirable; a is that d To drive the amplitude. If the zero compensation is separated from the used temperature field, the single gyroscope or the 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)＝k f (ω s (T)-ω d (T))
Q S ＝1/2ξ S
Wherein Q is S The inverse of the damping coefficient represents the figure of merit in the detection mode; the temperature-dependent term in equation (18) is a nonlinear function of T-T0. For nonlinear functions, fitting using temperature polynomials over a wide range is difficult to achieve. Therefore, the compensation effect is not ideal by adopting a gyro zero error temperature model obtained in a laboratory in advance.
In addition, the silicon material adopted in the zero position of the MEMS gyroscope is a thermosensitive 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 zero position resonant frequency of the gyroscope along with the change of the temperature, 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 impact caused by the scale factor is much smaller than the zero error. The zero output of the MEMS gyroscope is complex along with the trend of temperature change, and the zero output variation difference of gyroscopes with different environmental temperature change curves is larger at the same initial temperature; under the condition of the same temperature field, the repeatability difference of the zero output 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 error exists.
According to the invention, based on an actual application temperature range, temperature characteristic modeling of the gyro zero error is performed in an actual temperature scene, angular velocity output by the gyro and acceleration output by the accelerometer during a static or micro-amplitude angular vibration state before each use of the MEMS inertial measurement unit are utilized, temperature data are used for identifying the gyro zero error temperature model parameters, and the model is immediately applied to a next working process, so that the angular velocity measurement precision of the gyro in the MEMS inertial measurement unit is improved.
FIG. 3 is a flow chart of a method for temperature compensation of a gyro null of a MEMS inertial measurement unit according to an embodiment of the present invention, as shown in FIG. 3, the flow includes the steps of:
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 includes: constructing a gyro temperature model according to an initial gyro zero bias corresponding to the initial gyro temperature at the starting moment 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 as follows:
Wherein Ω (T) k ) Indicating the zero position of the gyroscope at the temperature T k Zero bias, T of the gyro corresponding to time k And T k-1 The gyro temperatures at the kth and the kth-1 sampling moments are respectively represented;at an initial temperature T 0 Initial gyro zero bias, k 1 A first term coefficient of zero offset of the gyroscope with respect to the temperature of the gyroscope; k (k) 2 The quadratic term coefficient of the zero deviation of the gyroscope about the temperature of the gyroscope; k (k) d Is the coefficient of zero bias of the gyroscope with respect to the temperature change rate of the gyroscope.
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 a complex nonlinear relation between zero error (namely zero offset of the gyro) and the gyro temperature is represented by a simple second-order model of real-time temperature of the gyro relative to the initial temperature variation; predicting the temperature change curve by using the temperature change rate and predicting the influence of temperature information hysteresis on compensation accuracy by using a first-order model aiming at the hysteresis characteristic of temperature measurement, and k in the formula (19) d (T k -T k-1 )。
And step 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 gyro zero position of the MEMS inertial measurement unit, provided by the embodiment of the invention, 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 position and the gyro temperature of the MEMS inertial measurement unit, so that the influence of the temperature field change on the gyro zero position output is reduced; and then, model parameters of a gyro temperature model are identified, and temperature compensation is performed on a gyro zero position, so that 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 is solved, and the compensation data precision of the gyro zero position of the MEMS inertial measurement unit is improved.
In an alternative embodiment of the present disclosure, the outputting of the gyro is zero bias of the gyro, and determining model parameters of the gyro temperature model to obtain the target gyro temperature model includes: collecting a first real-time temperature value of a gyroscope and a first angular velocity of gyroscope outputThe method comprises the steps of carrying out a first treatment on the surface of the Substituting the first real-time temperature value and the first angular velocity into a gyro temperature model to calculatek 1 、k 2 K d The method comprises the steps of carrying out a first treatment on the surface of the Will->k 1 、k 2 K d Substituting the target gyroscope temperature model into the gyroscope temperature model to obtain the target gyroscope temperature model.
Based on the gyroscope temperature model, in the stage of rapid temperature change in the initial stage of starting, the gyroscope output is greatly influenced by temperature, and at the moment, the gyroscope output is carried out(i.e., the first angular velocity) is used as a measurement value of a zero error of the gyro (i.e., the zero bias of the gyro), and the MEMS inertial measurement unit also gives a temperature measurement value of the gyro (i.e., the first real-time temperature value) in real time, which is obtained according to the formula (19):
in order to achieve calibration of model parameters of a temperature model of the gyro zero error (namely the gyro temperature model), the MEMS inertial measurement unit is calibrated according to the output of the gyro during the period immediately after being started, and the temperature compensation is performed in the normal use process of the MEMS inertial measurement unit after being started.
Preferably, it is known thatAnd T on the right side 0 …T k (i.e. the first real-time temperature value), and the parameter in the temperature model of the gyro zero error can be estimated in real time by adopting a recursive least square method>k 1 、k 2 And k d . In the process, the gyro output is regarded as a gyro zero error (namely the gyro zero offset) to calibrate model parameters, and the calibration result is influenced by angular vibration in the environment to a certain extent; in addition, a compensation coefficient of the MEMS gyroscope zero position output along with temperature (namely the model parameter) is calculated in real time by adopting a least square method, so that the gyroscope zero position field compensation of temperature change and change rate estimation is realized, temperature data are not required 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 alternative embodiment of the present disclosure, the output of the gyroscope is a sum of an actual angular velocity of the MEMS inertial measurement unit and zero bias of the gyroscope, determining model parameters of the gyroscope temperature model, and obtaining the target gyroscope temperature model includes: determining the initial time when the output of the gyroscope is the sum 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; substituting the second angular velocity output by the gyroscope and the 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.
In order to realize the calibration of 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 period, and is used for temperature compensation in the normal use process of the starting-up of the MEMS inertial measurement unit.
Wherein, calculate the inclination angle variable quantity of MEMS inertial measurement unit according to the initial time and accelerometer output value of MEMS inertial measurement unit, include: collecting accelerometer output value f of MEMS inertial measurement unit at starting time m m A kind of electronic deviceAccelerometer output value f at sampling instant k k Wherein k is greater than m; the inclination angle change delta alpha of the MEMS inertia measurement unit from m time to k time is calculated by the following formula mk ：Wherein g is gravitational acceleration.
Preferably, determining the start time at which the output of the gyro is the sum of the actual angular velocity and the zero bias of the gyro comprises: determining gyro temperature T at the ith sampling instant i And gyro temperature T at the (i+1) -th sampling time i+1 The method comprises the steps of carrying out a first treatment on the surface of the Based on T i And T i+1 Calculating the temperature change rate of the gyroscope; comparing the temperature change rate with a threshold; if the temperature change rate is less than or equal to the threshold, the i+1st sampling time is determined as the start time. In this embodiment, by collecting real-time temperature values at each time, it is determined whether the gyro temperature has a rapid change phase to a slow change phase according to the temperature change rate.
In this embodiment, after the temperature change is slowed, the accelerometer sensitive gravity output is affected by temperature to a negligible state. At this time, the reference information for calibrating the parameters of the gyro zero error model (i.e. the reference gyro temperature model) is constructed by using the accelerometer data, so as to reduce the influence of the vibration of the environmental angle on the calibration precision, and improve the calibration precision of the gyro zero error model parameters of the sensitive axis in the horizontal plane (the process has no effect on the gyro zero error model in which the sensitive axis is vertically placed in the MEMS inertial measurement unit), and the method comprises the following steps:
the horizontal accelerometer output in the MEMS inertial measurement unit is:
f＝gsinα+▽ (21)
wherein: f is the horizontal accelerometer output; g is gravitational acceleration (which is a known geophysical parameter); alpha is the inclination angle of the accelerometer and is an unknown quantity; and is the accelerometer zero error and is the unknown.
Considering the characteristic that the MEMS inertial measurement unit is arranged near the horizontal (namely, the inclination angle alpha is a small angle), sin alpha is obtained, and is substituted into formula (21) to obtain:
f＝gα+▽ (22)
the method comprises the following steps of:
the presence of environmental disturbances causes the horizontal accelerometer output f and the tilt angle α to change over time, which are respectively noted as f k And alpha k Then
When the initial time at which the temperature change becomes gentle is m (i.e., the start time), the angle change Δα from m to k is changed mk The inclination angle change amount is:
it can be seen that the angular variation is independent of the accelerometer null error v, and is only determined by the accelerometer output values f at m and k times k And f m And (5) determining.
Further, constructing a second correspondence between the gyro temperature model and the inclination angle variation, the obtaining a reference gyro temperature model includes: calculating the actual angular velocity according to the gyroscope temperature model and the second angular velocity; performing integral operation on the actual angular velocity to obtain an integral model of the actual angular velocity; and establishing an equation 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 above embodiment, the gyro zero error (i.e. the gyro zero offset) is calibrated for the reference information, and the gyro zero error and Δα are constructed mk Relationship between them. In this case, from the demand of more accuracy, the gyro is not outputted any more(i.e. the second angular velocity) are all considered zero errors, whileIs regarded as true angular velocity +.>(i.e. the sum of the actual angular velocity and the gyro zero error), so
Integrating the two times from m time and k time, and constructing a corresponding relation (namely the second corresponding relation) between a gyro temperature model and the inclination angle variation to obtain:
Wherein: t (T) s Is the data sampling period.
The reference gyro temperature model is obtained by arrangement:
the left side of the formula (29) is calculated according to the output of the gyroscope and the output of the accelerometer, and the k, m and T of the right side are calculated 0 、T m …T k (i.e., the second real-time temperature value described above) is a known quantity. Based on the known quantity and the calibration result of the temperature rapid change stage, the recursive least square algorithm is continuously used to further improvek 1 、k 2 And k d Is used for the estimation accuracy of (a).
According to the embodiment of the invention, based on the temperature prediction model (namely the gyroscope temperature model) and the acceleration space static judgment condition under the stable temperature, the real-time identification and compensation method for the zero temperature coefficient of the MEMS gyroscope of the inertial measurement unit is used for solving the problem that a common user cannot acquire information such as the resonant frequency, the current angular velocity and the like of a driving closed-loop control system before a gyroscope research and development party can acquire, and modeling can be performed according to the output of the gyroscope in a use field so as to realize the temperature compensation of the zero error of the gyroscope.
The embodiment of the invention realizes real-time temperature compensation of gyro zero error in a segmented way based on the temperature prediction model of the MEMS inertial measurement unit (namely the gyro temperature model) and the output of the accelerometer; the temperature field is divided into two stages of rapid change and approximate stabilization, the temperature change is linearized in a short time in the rapid change stage, and a least square method is adopted to recursively calculate a temperature compensation coefficient.
Because the nonlinear function is fitted in a large range by adopting a temperature polynomial, the ideal effect is hardly achieved, and the compensation effect is not ideal by adopting a gyro zero error temperature model obtained in a laboratory in advance. Therefore, according to the main flow steps of the zero output temperature compensation of the gyroscope of the MEMS inertial measurement unit, the temperature at the starting time is taken as a starting point, the modeling is performed in a small range by adopting a linear model, and the angular velocity measurement precision of the gyroscope in the MEMS inertial measurement unit is improved by identifying the model parameters of the gyroscope temperature model in an actual use site and immediately applying the model parameters to a next temperature compensation method corresponding to the use scene. FIG. 4 is a graph showing the relationship between zero position of the inertial measurement unit gyroscope and temperature on xyz axis before temperature compensation according to the embodiment of the invention, as shown in FIG. 4a, FIG. 4b and FIG. 4 c; fig. 5 is a diagram showing compensation effects of zero positions of gyroscopes of the inertial measurement unit on xyz axes according to an embodiment of the present invention, as shown in fig. 5a, 5b and 5 c.
Based on the temperature compensation method of the gyro zero position of the MEMS inertial measurement unit provided in the foregoing embodiments, based on the same inventive concept, a temperature compensation device of the gyro zero position of the MEMS inertial measurement unit is further provided in this embodiment, and the device is used to implement the foregoing embodiments and preferred embodiments, which are not described herein. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.
FIG. 6 is a block diagram of a temperature compensation device for the zero position of a gyroscope of a MEMS inertial measurement unit according to an embodiment of the invention, as shown in FIG. 6, the device comprising: a construction module 60, configured to construct a gyro temperature model of the MEMS inertial measurement unit, where the gyro temperature model is configured to characterize a first correspondence between a gyro zero bias and a gyro temperature of the MEMS inertial measurement unit; the determining module 62 is connected to the constructing module 60, and is configured to determine model parameters of the gyro temperature model, so as to obtain a target gyro temperature model; the compensation module 64 is connected to the determination module 62, and is configured to perform temperature compensation on the gyro zero position of the MEMS inertial measurement unit according to the target gyro temperature model.
Optionally, the building module 60 includes: the construction unit is used for constructing a gyro temperature model according to the initial gyro zero bias corresponding to the initial gyro temperature at the starting moment 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 top temperature model is:wherein Ω (T) k ) Indicating the zero position of the gyroscope at the temperature T k Zero bias, T of the gyro corresponding to time k And T k-1 The gyro temperatures at the kth and the kth-1 sampling moments are respectively represented; />At an initial temperature T 0 Initial gyro zero bias, k 1 A first term coefficient of zero offset of the gyroscope with respect to the temperature of the gyroscope; k (k) 2 The second term coefficient of the zero offset of the gyroscope about the temperature of the gyroscope; k (k) d Is the coefficient of zero bias of the gyroscope with respect to the temperature change rate of the gyroscope.
Optionally, the output of the gyro is gyro zero bias, 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 velocity output by the gyroscope; a first calculation unit for substituting the first real-time temperature value and the first angular velocity into the gyro temperatureDegree model, calculatek 1 、k 2 K d The method comprises the steps of carrying out a first treatment on the surface of the A first determination unit for determining->k 1 、k 2 K d Substituting the target gyroscope temperature model into the gyroscope temperature model to obtain the target gyroscope temperature model.
Optionally, the output of the gyroscope is the sum of the actual angular velocity of the MEMS inertial measurement unit and the zero bias of the gyroscope, and the determining module 62 includes: a second determining unit for determining a start time at which an output of the gyro is a sum of an actual angular velocity and a zero bias 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 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; 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 substituting the second angular velocity output by the gyroscope and the second real-time temperature value of the gyroscope into the reference temperature model, calculating model parameters of the gyroscope temperature model and obtaining the target gyroscope temperature model.
Optionally, the second computing unit includes: a first determining subunit, configured to determine a start time m of a slow change in a gyro temperature; an acquisition subunit for acquiring the accelerometer output value f of the MEMS inertial measurement unit at the starting time m m Where k is greater than m, and the accelerometer output value f at sampling instant k k The method comprises the steps of carrying out a first treatment on the surface of the A first calculation subunit for calculating the inclination angle variation delta alpha of the MEMS inertial measurement unit from m time to k time by the following formula mk ：Wherein g is gravitational acceleration.
Optionally, the second determining unit is configured to: determining the ith sampleTime gyro temperature T i And gyro temperature T at the (i+1) -th sampling time i+1 The method comprises the steps of carrying out a first treatment on the surface of the Based on T i And T i+1 Calculating the temperature change rate of the gyroscope; comparing the temperature change rate with a threshold; if the temperature change rate is less than or equal to the threshold, the i+1st sampling time is determined as the start time.
Optionally, the building unit includes: the second calculating subunit is used for calculating the actual angular velocity according to the gyroscope temperature model and the second angular velocity; the third calculation subunit is used for carrying out integral operation on the actual angular velocity to obtain an integral model of the actual angular velocity; and the second determination subunit is used for 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.
It should be noted that each of the above modules may be implemented by software or hardware, and for the latter, it may be implemented by, but not limited to: the modules are all located in the same processor; alternatively, the above modules may be located in different processors in any combination.
An embodiment of the invention also provides a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the method embodiments described above when run.
Alternatively, in the present embodiment, the above-described storage medium may be configured to store a computer program for performing the steps of:
s1, constructing a gyro temperature model of an 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.
Alternatively, in the present embodiment, the storage medium may include, but is not limited to: a usb disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing a computer program.
Based on the above-mentioned method shown in fig. 3 and the embodiment of the apparatus shown in fig. 6, in order to achieve the above-mentioned object, an embodiment of the present invention further provides an electronic device, as shown in fig. 7, including a memory 72 and a processor 71, where the memory 72 and the processor 71 are both disposed on a bus 73, and the memory 72 stores a computer program, and the processor 71 implements the temperature compensation method for the gyro zero position of the MEMS inertial measurement unit shown in fig. 3 when executing the computer program.
Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which may be stored in a memory (may be a CD-ROM, a usb disk, a mobile hard disk, etc.), and includes several instructions for causing an electronic device (may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective implementation scenario 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, WI-FI modules, etc. The user interface may include a Display screen (Display), an input unit such as a Keyboard (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., bluetooth interface, WI-FI interface), etc.
It will be appreciated by those skilled in the art that the structure of an electronic device provided in this embodiment is not limited to the physical device, and may include more or fewer components, or may combine certain components, or may be arranged in different components.
Alternatively, specific examples in this embodiment may refer to examples described in the foregoing embodiments and optional implementations, and this embodiment is not described herein.
It will be appreciated by those skilled in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, they may alternatively be implemented in program code executable by computing devices, so that they may be stored in a memory device for execution by computing devices, and in some cases, the steps shown or described may be performed in a different order than that shown or described, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps within them may be fabricated into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The temperature compensation method for the gyro zero position of the MEMS inertial measurement unit is characterized by comprising the following steps of:
constructing a gyro temperature model according to an initial gyro zero bias corresponding to the initial gyro temperature at the starting moment 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 a temperature change rate of the gyro, wherein the gyro temperature model is used for representing a first corresponding relation between the gyro zero bias of the MEMS inertial measurement unit and the gyro temperature, and the gyro temperature model is as follows:
Ω(T k ) Indicating the zero position of the gyroscope at the temperature T k Zero bias, T of the gyro corresponding to time k And T k-1 The gyro temperatures at the kth and the kth-1 sampling moments are respectively represented;at an initial temperature T 0 Initial gyro zero bias, k 1 A first term coefficient of zero offset of the gyroscope with respect to the temperature of the gyroscope; k (k) 2 The second term coefficient of the zero offset of the gyroscope about the temperature of the gyroscope; k (k) d The coefficient of the zero offset of the gyroscope about the temperature change rate of the gyroscope;
determining model parameters of the gyro temperature model to obtain a target gyro temperature model, wherein when the output of the gyro is gyro zero offset, determining the model parameters of the gyro temperature model to obtain the target gyro temperature model comprises the following steps:
collecting a first real-time temperature value of the gyroscope and a first angular velocity output by the gyroscope, and taking the first angular velocity as an output value of the gyroscope temperature model;
substituting the first real-time temperature value and the first angular velocity into the gyro temperature model, and calculating the gyro temperature model by adopting a recursive least square methodThe k is 1 Said k 2 Said k d ；
The saidThe k is 1 Said k 2 Said k d Substituting the target gyro temperature model into 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 when the output of the gyroscope is the sum of the actual angular velocity of the MEMS inertial measurement unit and the zero bias of the gyroscope, the determining model parameters of the gyroscope temperature model, to obtain a target gyroscope temperature model, comprises:
Determining a start time at which an output of the gyroscope is a sum 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 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;
substituting the second angular velocity output by the gyroscope and the second real-time temperature value of the gyroscope into the reference gyroscope temperature model, and calculating model parameters of the reference gyroscope temperature model to obtain the target gyroscope temperature model.
3. The method of claim 2, wherein calculating the tilt angle variation of the MEMS inertial measurement unit from the start time and the accelerometer output value of the MEMS inertial measurement unit comprises:
collecting an accelerometer output value f of the MEMS inertial measurement unit at the starting time m m And an accelerometer output value f at sampling instant k k Wherein k is greater than m;
the inclination angle change delta alpha of the MEMS inertia measurement unit from m time to k time is calculated by the following formula mk ：
Wherein g is gravitational acceleration.
4. The method of claim 2, wherein the determining a start time at which the output of the gyro is a sum of the actual angular velocity and the gyro zero bias comprises:
determining gyro temperature T at the ith sampling instant i And gyro temperature T at the (i+1) -th sampling time i+1 ；
Based on the T i And said T i+1 Calculating the temperature change rate of the gyroscope;
comparing the temperature change rate 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.
5. The method of claim 2, wherein constructing a second correspondence between the gyro temperature model and the tilt angle variation comprises:
calculating the actual angular velocity according to the gyro temperature model and the second angular velocity;
performing integral operation on the actual angular velocity to obtain an integral model of the actual angular velocity;
and 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.
6. A temperature compensation device for a zero position of a gyroscope of a MEMS inertial measurement unit, comprising:
the construction module is used for constructing a gyro temperature model according to an initial gyro zero bias corresponding to the initial temperature of the MEMS inertial measurement unit at the starting moment, 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 used for representing a first corresponding relation between the gyro zero bias of the MEMS inertial measurement unit and the gyro temperature, and the gyro temperature model is as follows:
Ω(T k ) Indicating the zero position of the gyroscope at the temperature T k Zero bias, T of the gyro corresponding to time k And T k-1 Respectively represent the kth and the kth-1 th acquisitionsThe gyro temperature at the moment of the sample;at an initial temperature T 0 Initial gyro zero bias, k 1 A first term coefficient of zero offset of the gyroscope with respect to the temperature of the gyroscope; k (k) 2 The second term coefficient of the zero offset of the gyroscope about the temperature of the gyroscope; k (k) d The coefficient of the zero offset of the gyroscope about the temperature change rate of the gyroscope;
the determining module is configured to determine model parameters of the gyro temperature model to obtain a target gyro temperature model, where determining the model parameters of the gyro temperature model to obtain the target gyro temperature model when the output of the gyro is gyro zero bias includes:
Collecting a first real-time temperature value of the gyroscope and a first angular velocity output by the gyroscope, and taking the first angular velocity as an output value of the gyroscope temperature model;
substituting the first real-time temperature value and the first angular velocity into the gyro temperature model, and calculating the gyro temperature model by adopting a recursive least square methodThe k is 1 Said k 2 Said k d ；
The saidThe k is 1 Said k 2 Said k d Substituting the target gyro temperature model into 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.
7. An electronic device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any one of claims 1 to 5 when the computer program is executed.
8. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 5.
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| CN116124180B (en) * | 2023-04-04 | 2023-06-16 | 中国船舶集团有限公司第七〇七研究所 | Gyro inertial navigation self-adaptive alignment method based on multistage temperature prediction |
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