CN114440926A - Method and system for expanding detection range of gyroscope - Google Patents
Method and system for expanding detection range of gyroscope Download PDFInfo
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Abstract
The invention provides a method and a system for expanding detection range of a gyroscope, wherein the method comprises the following steps: calculating the angular acceleration of the carrier at the current moment according to the acceleration data of the carrier at the current moment, which is acquired by a plurality of acceleration sensors which are regularly arranged; based on a Kalman filtering algorithm, fusing the angular velocity of the carrier at the current moment acquired by a gyroscope and the calculated angular acceleration, calculating the fused real angular velocity information at the current moment, and estimating the angular velocity information of the carrier at the next moment; the plurality of acceleration sensors and the gyroscope are mounted on a circuit board, and the circuit board is mounted on the carrier. According to the invention, the accelerometer combination is installed according to a specific arrangement rule, the system simultaneously receives data of the accelerometer combination and data of angular velocity of the gyroscope, optimized angular velocity data can be obtained after data fusion, and the data can still accurately detect the value of the angular velocity after exceeding the range of the gyroscope in the system.
Description
Technical Field
The invention relates to the technical field of sensors, in particular to a method and a system for expanding the detection range of a gyroscope.
Background
A gyroscope is an angular rate sensor that has its specific sensing range, i.e., range. Generally, for different application scenarios, a gyroscope device with a corresponding range is selected for angular velocity detection. However, the corresponding device model has technical, cost and vendor constraints.
In the technical field of engineering, general engineers consider that a gyroscope with a corresponding range matched with an application scene is selected for detection, and the situation that the range is not exceeded in an application process is guaranteed. The related prior art for expanding the range of the gyroscope is less, and the main proposal proposed at present is to mutually supplement gyroscopes with different ranges, thereby improving the detection range of the low-range gyroscope, but the problem that the detection range has no gyroscope with corresponding range can not be solved.
Disclosure of Invention
The invention provides a method and a system for expanding the detection range of a gyroscope, aiming at the technical problems in the prior art.
According to a first aspect of the present invention, there is provided a gyroscope detection range extending method, including: calculating the angular acceleration of the carrier at the current moment according to the acceleration data of the carrier at the current moment, which is acquired by a plurality of acceleration sensors which are regularly arranged; based on a Kalman filtering algorithm, fusing the angular velocity of the carrier at the current moment acquired by a gyroscope and the calculated angular acceleration, calculating the fused real angular velocity information at the current moment, and estimating the angular velocity information of the carrier at the next moment;
the plurality of acceleration sensors and the gyroscope are mounted on a circuit board, and the circuit board is mounted on the carrier.
On the basis of the technical scheme, the invention can be improved as follows.
Optionally, the plurality of acceleration sensors are arranged according to the following rule: an in-plane coordinate system XOY of the circuit board is defined, and a plurality of acceleration sensors and a gyroscope are arranged in the in-plane coordinate system XOY, wherein a connecting line of the position of each acceleration sensor and the origin of the in-plane coordinate system is perpendicular to the direction of a detection axis of the acceleration sensor.
Optionally, the defining an in-plane planar coordinate system XOY of the circuit board, where a plurality of acceleration sensors and a gyroscope are arranged in the in-plane planar coordinate system XOY, includes: distributing A1 and A3 on X axis, the sensitive axes of A1 and A3 are parallel to Y axis, and the distances between A1 and A3 and the origin are respectively l1And l3Distributing A2 and A4 on Y axis, the sensitive axes of A2 and A4 are parallel to X axis, and the distances between A2 and A4 and the origin are l respectively2And l4Wherein, A1, A2, A3 and A4 are 4 acceleration sensors; the detection axis of the gyroscope G1 is perpendicular to the entire mounting plane.
Optionally, the calculating, according to the acceleration data of the device to be measured at the current moment acquired by the plurality of acceleration sensors regularly arranged, the angular acceleration corresponding to the current moment includes:
wherein α is angular acceleration, Ai(i ═ 1,2,3,4) is acceleration data of the output of the corresponding acceleration sensor, li(i ═ 1,2,3,4) is the distance at which it is specifically arranged.
Optionally, based on the kalman filtering algorithm, fusing the angular velocity of the carrier at the current time acquired by the gyroscope and the calculated angular acceleration, calculating real angular velocity information fused at the current time, and estimating angular velocity information of the carrier at the next time, where the method includes: and performing Kalman filtering by taking the angular velocity of the carrier at the current moment acquired by the gyroscope and the calculated angular acceleration as measured values, and filtering to obtain angular velocity information fused with the carrier at the current moment and angular velocity information estimated at the next moment.
Optionally, the kalman filtering is performed by using the angular velocity of the carrier at the current time collected by the gyroscope and the calculated angular acceleration as the measured value, and the angular velocity information fused at the current time of the carrier and the angular velocity information at the next time are obtained after filtering, where the kalman filtering includes:
ωk＝ωk-1+T·αk-1+nω；
in the formula, ωkIs angular velocity data at time k, T is a sampling interval time, alphak-1Is the angular acceleration data at time (k-1), nωThe corresponding angular velocity noise value.
According to a second aspect of the present invention, there is provided a gyroscope detection range expanding system, comprising a gyroscope, a plurality of acceleration sensors and an MCU, wherein the plurality of acceleration sensors and the gyroscope are mounted on a circuit board, and the circuit board is mounted on a carrier; the acceleration sensors are used for acquiring acceleration data of the carrier at the current moment from different angles and transmitting the acceleration data to the MCU; the gyroscope is used for acquiring the angular speed of the carrier at the current moment and transmitting the angular speed to the MCU; the MCU is used for calculating the angular acceleration of the carrier at the current moment according to the acceleration data transmitted by the acceleration sensors; and fusing the angular velocity of the carrier at the current moment acquired by the gyroscope and the calculated angular acceleration based on a Kalman filtering algorithm, calculating the fused real angular velocity information at the current moment, and estimating the angular velocity information of the carrier at the next moment.
Optionally, the plurality of acceleration sensors are arranged according to the following rule: an in-plane coordinate system XOY of the circuit board is defined, and a plurality of acceleration sensors and a gyroscope are arranged in the in-plane coordinate system XOY, wherein a connecting line of the position of each acceleration sensor and the origin of the in-plane coordinate system is perpendicular to the direction of a detection axis of the acceleration sensor.
Optionally, the MCU is configured to fuse, based on a kalman filter algorithm, the angular velocity of the carrier at the current time acquired by the gyroscope and the calculated angular acceleration, calculate real angular velocity information fused at the current time, and estimate angular velocity information of the carrier at the next time, and includes: and performing Kalman filtering by taking the angular velocity of the carrier at the current moment acquired by the gyroscope and the calculated angular acceleration as measured values, and filtering to obtain angular velocity information fused with the carrier at the current moment and angular velocity information estimated at the next moment.
According to the method and the system for expanding the detection range of the gyroscope, the acceleration sensor combination is installed according to a specific arrangement rule, optimized angular velocity data can be obtained after data fusion according to the acceleration data of the accelerometer combination and the angular velocity data of the gyroscope, and the angular velocity value can still be accurately detected after the data exceeds the range of the gyroscope in the system.
Drawings
FIG. 1 is a flow chart of a method for expanding the detection range of a gyroscope according to the present invention;
FIG. 2 is a schematic view of a plurality of acceleration sensors arranged;
FIG. 3 is a schematic diagram of an arrangement of a gyroscope and a plurality of acceleration sensors;
FIG. 4 is a schematic view of a data processing flow;
fig. 5 is a schematic structural diagram of a gyroscope detection range expanding system provided by the invention.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Example one
A method for expanding the detection range of a gyroscope is disclosed, and referring to FIG. 1, the expanding method mainly comprises the following steps:
and S1, calculating the angular acceleration of the carrier at the current moment according to the acceleration data of the carrier at the current moment, which is acquired by a plurality of acceleration sensors which are regularly arranged.
As an embodiment, the plurality of acceleration sensors are arranged as follows: an in-plane coordinate system XOY of the circuit board is defined, and a plurality of acceleration sensors and a gyroscope are arranged in the in-plane coordinate system XOY, wherein a connecting line of the position of each acceleration sensor and the origin of the in-plane coordinate system is perpendicular to the direction of a detection axis of the acceleration sensor.
It can be understood that, aiming at the defects in the background art, the invention provides a scheme for expanding the range of the gyroscope in a mode of combining the acceleration sensors, which can ensure that the gyroscope can still accurately detect the angular velocity data of the over-range under the condition of a lower range, and has a more flexible device model selection scheme in practical application.
Specifically, fig. 2 and 3 are schematic diagrams of an arrangement of a gyroscope and a plurality of acceleration sensors, wherein a circuit board is mounted on a carrier, and a plurality of acceleration sensors and a gyroscope are mounted on the circuit board.
Wherein, the characteristics of acceleration sensor combination are: taking a target detection axis as an example, as shown in fig. 2, 4 acceleration sensors are selected and respectively designated by a1, a2, A3 and a4 to define an in-plane coordinate system XOY of the circuit board, wherein a1 and A3 are distributed on an X axis, a sensitive axis is parallel to a Y axis, and distances between the a1 and A3 from an origin are respectively l1And l3(ii) a A2 and A4 are distributed on Y axis, the sensitive axis is parallel to X axis, A2 and A4 are respectively at a distance of l from origin2And l4. The present embodiment is only taken as an example of a single detection axis, when a biaxial or triaxial angular velocity is to be detected, the acceleration sensor according to the present embodiment may be arranged axially, and when a multi-axis acceleration sensor is selected, multiple axes in the scheme may be reused, and a description thereof will not be repeated.
In which a plurality of acceleration sensors and a gyroscope are integrally arranged as shown in fig. 3, and a detection axis of the gyroscope G1 is perpendicular to the entire mounting plane.
According to a plurality of acceleration data of the carrier collected by a plurality of acceleration sensors, the angular acceleration of the carrier is obtained by calculation, and the specific calculation formula is as follows:
in which α is the calculated angular acceleration, Ai(i is 1,2,3,4) is the output of the corresponding acceleration sensor, li(i ═ 1,2,3,4) are the distances at which they are arranged, and may take a negative number as opposed to the examples, as the direction is actually defined.
And S2, fusing the angular velocity of the carrier at the current moment acquired by the gyroscope and the calculated angular acceleration based on a Kalman filtering algorithm, calculating the real angular velocity information fused at the current moment, and estimating the angular velocity information of the carrier at the next moment.
As an embodiment, the fusing the angular velocity of the carrier at the current moment, which is acquired by the gyroscope, and the calculated angular acceleration based on the kalman filter algorithm, calculating the real angular velocity information fused at the current moment, and estimating the angular velocity information of the carrier at the next moment includes: and performing Kalman filtering by taking the angular velocity of the carrier at the current moment acquired by the gyroscope and the calculated angular acceleration as measured values, and filtering to obtain angular velocity information fused with the carrier at the current moment and angular velocity information estimated at the next moment.
It can be understood that, based on the angular velocity of the carrier at the current moment acquired by the gyroscope and the angular acceleration calculated according to the acceleration data of the multiple acceleration sensors, the real angular velocity information fused at the current moment is calculated based on the kalman filter algorithm, and the angular velocity information of the carrier at the next moment is estimated.
Specifically, after the angular acceleration at the current time is calculated, kalman filtering is performed by using the angular velocity at the current time as a measurement value, the filtered data is the optimized angular velocity information, and the angular velocity can still be accurately detected when the detected angular velocity exceeds the range of the gyroscope in the system, as shown in fig. 4.
In kalman filtering, the characteristic is that the time update equation is:
ωk＝ωk-1+T·αk-1+nω；
in the formula, ωkAngular velocity value at time k, T being the sampling interval time, alphakAngular acceleration value at time k, nωThe corresponding angular velocity noise value.
The measurement equation is:
in the formula of alphakIs angular acceleration, ωkFor estimated true angular velocity, ΩkIs the output of the gyroscope, R is the range of the gyroscope, bkFor estimated gyroscope zero bias, naAnd nbRespectively the measurement noise.
Based on the time updating equation and the measurement equation, a Kalman filter can be constructed, so that the real angular velocity omega can be output in real timek。
According to the measurement equation, when the angular velocity of the carrier at the current moment does not exceed the range of the gyroscope, the angular velocity of the carrier can be directly measured through the gyroscope; if the angular velocity of the carrier at the next moment exceeds the measurement equation of the gyroscope, the real angular velocity of the carrier can be obtained through a Kalman filtering algorithm by combining the data of a plurality of acceleration sensors and the gyroscope, which is equivalent to the expansion of the measurement range of the original gyroscope.
Example two
A gyroscope detection range expanding system is shown in figure 5 and comprises a gyroscope, a plurality of acceleration sensors and an MCU, wherein the acceleration sensors and the gyroscope are mounted on a circuit board, and the acceleration sensors are mounted on a carrier.
The acceleration sensors are used for acquiring acceleration data of the carrier at the current moment from different angles and transmitting the acceleration data to the MCU; the gyroscope is used for acquiring the angular speed of the carrier at the current moment and transmitting the angular speed to the MCU; the MCU is used for calculating the angular acceleration of the carrier at the current moment according to the acceleration data transmitted by the acceleration sensors; and fusing the angular velocity of the carrier at the current moment acquired by the gyroscope and the calculated angular acceleration based on a Kalman filtering algorithm, calculating the fused real angular velocity information at the current moment, and estimating the angular velocity information of the carrier at the next moment.
Wherein, a plurality of acceleration sensor arrange according to following law: an in-plane coordinate system XOY of the circuit board is defined, and a plurality of acceleration sensors and a gyroscope are arranged in the in-plane coordinate system XOY, wherein a connecting line of the position of each acceleration sensor and the origin of the in-plane coordinate system is perpendicular to the direction of a detection axis of the acceleration sensor.
The MCU is used for fusing the angular velocity of the carrier at the current moment acquired by the gyroscope and the calculated angular acceleration based on a Kalman filtering algorithm, calculating the real angular velocity information fused at the current moment, and estimating the angular velocity information of the carrier at the next moment, and comprises the following steps: and performing Kalman filtering by taking the angular velocity of the carrier at the current moment acquired by the gyroscope and the calculated angular acceleration as measured values, and filtering to obtain angular velocity information fused with the carrier at the current moment and angular velocity information estimated at the next moment.
It can be understood that the gyro detection range expansion system provided in the embodiments of the present invention corresponds to the gyro detection range expansion method provided in the foregoing embodiments, and the relevant technical features of the gyro detection range expansion system may refer to the relevant technical features of the gyro detection range expansion method, and are not described herein again.
According to the method and the system for expanding the detection range of the gyroscope, provided by the embodiment of the invention, a plurality of acceleration sensor combinations are installed according to a specific arrangement rule, optimized angular velocity data can be obtained after data fusion according to acceleration data and gyroscope angular velocity data of the acceleration sensor combinations, and the optimized angular velocity data can still accurately detect the value of the angular velocity after exceeding the range of the gyroscope in the system, so that the measurement range of the gyroscope is expanded.
It should be noted that, in the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to relevant descriptions of other embodiments for parts that are not described in detail in a certain embodiment.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (9)
1. A method for expanding the detection range of a gyroscope is characterized by comprising the following steps:
calculating the angular acceleration of the carrier at the current moment according to the acceleration data of the carrier at the current moment, which is acquired by a plurality of acceleration sensors which are regularly arranged;
based on a Kalman filtering algorithm, fusing the angular velocity of the carrier at the current moment acquired by a gyroscope and the calculated angular acceleration, calculating the fused real angular velocity information at the current moment, and estimating the angular velocity information of the carrier at the next moment;
the plurality of acceleration sensors and the gyroscope are mounted on a circuit board, and the circuit board is mounted on the carrier.
2. The method of claim 1, wherein the plurality of acceleration sensors are arranged as follows:
an in-plane coordinate system XOY of the circuit board is defined, and a plurality of acceleration sensors and a gyroscope are arranged in the in-plane coordinate system XOY, wherein a connecting line of the position of each acceleration sensor and the origin of the in-plane coordinate system is perpendicular to the direction of a detection axis of the acceleration sensor.
3. The gyro detection range expanding method according to claim 2, wherein the defining of an in-plane planar coordinate system XOY of the circuit board in which a plurality of acceleration sensors and a gyro are arranged includes:
distributing A1 and A3 on X axis, the sensitive axes of A1 and A3 are parallel to Y axis, and the distances between A1 and A3 and the origin are respectively l1And l3Distributing A2 and A4 on Y axis, the sensitive axes of A2 and A4 are parallel to X axis, and the distances between A2 and A4 and the origin are l respectively2And l4Wherein, A1, A2, A3 and A4 are 4 acceleration sensors;
the detection axis of the gyroscope G1 is perpendicular to the entire mounting plane.
4. The method for expanding the detection range of the gyroscope according to claim 3, wherein the step of calculating the angular acceleration corresponding to the current moment according to the acceleration data of the device to be detected at the current moment, which is acquired by the regularly arranged acceleration sensors, comprises:
wherein α is angular acceleration, Ai(i ═ 1,2,3,4) is acceleration data of the output of the corresponding acceleration sensor, li(i ═ 1,2,3,4) is the distance at which it is specifically arranged.
5. The method for expanding the detection range of the gyroscope according to claim 1, wherein the fusing the angular velocity of the carrier at the current moment acquired by the gyroscope and the calculated angular acceleration based on the kalman filtering algorithm, calculating the fused true angular velocity information at the current moment, and estimating the angular velocity information of the carrier at the next moment, comprises:
and performing Kalman filtering by taking the angular velocity of the carrier at the current moment acquired by the gyroscope and the calculated angular acceleration as measured values, and filtering to obtain angular velocity information fused with the carrier at the current moment and angular velocity information estimated at the next moment.
6. The method for expanding the detection range of the gyroscope according to claim 5, wherein the step of performing Kalman filtering by using the angular velocity of the carrier at the current moment acquired by the gyroscope and the calculated angular acceleration as measurement values, and obtaining the angular velocity information fused with the carrier at the current moment and estimating the angular velocity information at the next moment after filtering comprises the steps of:
ωk＝ωk-1+T·αk-1+nω；
in the formula, ωkIs angular velocity data at time k, T is a sampling interval time, alphak-1Is the angular acceleration data of (k-1) time, nωThe corresponding angular velocity noise value.
7. A gyroscope detection range expanding system is characterized by comprising a gyroscope, a plurality of acceleration sensors and an MCU (microprogrammed control unit), wherein the acceleration sensors and the gyroscope are installed on a circuit board;
the acceleration sensors are used for acquiring acceleration data of the carrier at the current moment from different angles and transmitting the acceleration data to the MCU;
the gyroscope is used for acquiring the angular speed of the carrier at the current moment and transmitting the angular speed to the MCU;
the MCU is used for calculating the angular acceleration of the carrier at the current moment according to the acceleration data transmitted by the acceleration sensors; and fusing the angular velocity of the carrier at the current moment acquired by the gyroscope and the calculated angular acceleration based on a Kalman filtering algorithm, calculating the fused real angular velocity information at the current moment, and estimating the angular velocity information of the carrier at the next moment.
8. The method of claim 7, wherein the plurality of acceleration sensors are arranged as follows:
an in-plane coordinate system XOY of the circuit board is defined, and a plurality of acceleration sensors and a gyroscope are arranged in the in-plane coordinate system XOY, wherein a connecting line of the position of each acceleration sensor and the origin of the in-plane coordinate system is perpendicular to the direction of a detection axis of the acceleration sensor.
9. The system of claim 7, wherein the MCU is configured to fuse the angular velocity of the carrier at the current moment collected by the gyroscope and the calculated angular acceleration based on the kalman filter algorithm, calculate the real angular velocity information fused at the current moment, and estimate the angular velocity information at the next moment of the carrier, and the system includes:
and performing Kalman filtering by taking the angular velocity of the carrier at the current moment acquired by the gyroscope and the calculated angular acceleration as measured values, and filtering to obtain angular velocity information fused with the carrier at the current moment and angular velocity information estimated at the next moment.
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