CN114518109A - Zero offset compensation method of gyroscope - Google Patents
Zero offset compensation method of gyroscope Download PDFInfo
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Abstract
The invention discloses a zero offset compensation method of a gyroscope, which comprises the steps of continuously detecting the current temperature of a cleaning robot; when the temperature difference between the current temperature and the standard temperature recorded by the cleaning robot is larger than a first threshold value, determining a zero offset compensation value according to a calibrated temperature compensation coefficient K _ s and the temperature difference; compensating the existing zero offset value through the zero offset compensation value, and offsetting the cleaning robot through the compensated zero offset value; and updating the standard temperature according to the value of the current temperature, so that the zero offset after compensation corresponds to the standard temperature. The embodiment of the application mainly has the following beneficial effects: and calculating a zero offset compensation value by setting a temperature compensation coefficient, adjusting zero offset by the zero offset compensation value, and then adjusting and compensating data of the gyroscope by the real-time adjusted zero offset compensation value. The invention can reduce the zero offset change of the gyroscope caused by temperature change, thereby avoiding angle drift and improving the cleaning efficiency.
Description
Technical Field
The invention belongs to the technical field of gyroscope control, and particularly relates to a zero offset compensation method of a gyroscope.
Background
The gyroscope is a core component determining the precision of an inertial system, wherein a silicon micro-mechanical gyroscope which is rapidly developed in recent years is a difficult micro-electro-mechanical system (MEMS) and belongs to a product of the combination of silicon micro-machining and gyroscope theory.
The traditional compensation method is to calibrate and compensate the output signal of the sensor in an analog mode, and has some defects, such as the compensation element is also influenced by temperature; the compensation accuracy is limited by the non-linear error of the sensor; the realization of local temperature control usually needs to change the internal structure of the sensor, the material or add extra temperature control system, and the realization is comparatively complicated, so the accuracy of the environment where the control compensation element is located guarantees that the zero offset for compensating the gyroscope can not be implemented, thus causing the problem of accuracy reduction of zero offset compensation of the gyroscope under the condition of being influenced by temperature.
Disclosure of Invention
The embodiment of the application aims to provide a zero offset compensation method of a gyroscope, which can overcome the fluctuation influence of environment temperature on a zero offset compensation value.
In order to solve the above technical problem, an embodiment of the present application provides a zero offset compensation method for a gyroscope, which adopts the following technical scheme:
a method of zero offset compensation of a gyroscope, the method comprising:
continuously detecting the current temperature of the cleaning robot;
when the temperature difference between the current temperature and the standard temperature recorded by the cleaning robot is larger than a first threshold value, determining a zero offset compensation value according to a calibrated temperature compensation coefficient K _ s and the temperature difference;
compensating the existing zero offset value through the zero offset compensation value, and offsetting the cleaning robot through the compensated zero offset value;
and updating the standard temperature according to the value of the current temperature, so that the zero offset after compensation corresponds to the standard temperature.
Further, the calibrated temperature compensation coefficient K _ s is updated when the cleaning robot is stationary.
Further, the calibrated temperature compensation coefficient K _ s is updated when the temperature difference is greater than a second threshold value.
Further, the calculation method for updating the calibration temperature compensation coefficient K _ s is specifically based on the following formula:
K_0＝(O_1K-O_0K)/(T_1K-T_0K)，
k _0 is a new temperature compensation coefficient, O _1K is a zero offset value calibrated by the gyroscope read from the memory at present, and T _1K is the temperature when O _1K is read; and O _0K is the zero offset of the self calibration of the gyroscope read from the memory when the temperature compensation coefficient is adjusted last time, T _0K is the temperature when the O _0K is read, and the calibration temperature compensation coefficient K _ s is updated according to the new temperature compensation coefficient K _ 0.
Further, the updating of the temperature compensation coefficient specifically includes: and judging whether the new temperature compensation coefficient K _0 is larger than a check threshold value or not, and updating the calibrated temperature compensation coefficient K _ s when the new temperature compensation coefficient K _0 is smaller than or equal to the check threshold value.
Further, the method for updating the temperature compensation coefficient includes: and when the calibration temperature compensation coefficient K _ S is not zero, performing first-order low-pass filtering on the new temperature compensation coefficient K _0 and the calibration temperature compensation coefficient K _ S, and updating the calibration compensation coefficient K _ S according to the result.
Further, the zero offset compensation value is used for compensating the existing zero offset, specifically, when the temperature difference is greater than the first threshold for a preset time and the calibrated temperature compensation coefficient K _ S is not zero.
Further, the step determines a zero offset compensation value according to the calibrated temperature compensation coefficient K _ s and the temperature difference, specifically based on the following formula:
O_V＝K_S*(T_1-T_0)，
wherein O _ V is a zero offset compensation value, K _ S is a calibration temperature compensation coefficient stored by the cleaning robot, T _1 is the current temperature when the zero offset compensation value is calculated, and T _0 is the updated standard temperature when the zero offset O _1 is determined.
Further, the zero offset compensation value is used for compensating the existing zero offset, and is specifically based on the following formula: o _1+ -, O _ V,
o _1 is zero offset, and O _ V is zero offset compensation value.
Further, the update frequency of the current temperature is 100Hz, and the judgment that the temperature difference between the current temperature and the standard temperature is greater than the first threshold value is made when the temperature differences in 200 consecutive periods are greater than the first threshold value.
In order to solve the problem, the application also provides a zero offset compensation device of the gyroscope.
A zero offset compensation apparatus for a gyroscope, comprising:
the temperature acquisition module is used for continuously detecting the current temperature of the cleaning robot;
the zero offset compensation calculation module is used for determining a zero offset compensation value according to a calibrated temperature compensation coefficient K _ s and the temperature difference when the temperature difference between the current temperature and the standard temperature recorded by the cleaning robot is larger than a preset value;
the offset module is used for compensating the existing zero offset value through the zero offset compensation value and offsetting the cleaning robot through the compensated zero offset value;
and the standard temperature updating module is used for updating the standard temperature according to the value of the current temperature so that the zero offset after compensation corresponds to the standard temperature.
Compared with the prior art, the embodiment of the application mainly has the following beneficial effects: and calculating a zero offset compensation value by setting a temperature compensation coefficient, adjusting zero offset by the zero offset compensation value, and then adjusting and compensating data of the gyroscope by the real-time adjusted zero offset compensation value. The invention can reduce the zero offset change of the gyroscope caused by temperature change, thereby avoiding angle drift and improving the cleaning efficiency.
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In order to more clearly illustrate the solution of the present application, the drawings needed for describing the embodiments of the present application will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and that other drawings can be obtained by those skilled in the art without inventive effort.
FIG. 1 is a flow chart diagram of one embodiment of a method for zero offset compensation of a gyroscope according to the present application;
FIG. 2 is a schematic diagram of an embodiment of a zero offset compensation arrangement for a gyroscope according to the present application;
FIG. 3 is a schematic block diagram of one embodiment of a computer device according to the present application.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "including" and "having," and any variations thereof, in the description and claims of this application and the description of the above figures are intended to cover non-exclusive inclusions. The terms "first," "second," and the like in the description and claims of this application or in the above-described drawings are used for distinguishing between different objects and not for describing a particular order.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein may be combined with other embodiments.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.
Referring to FIG. 1, a flow diagram of one embodiment of a method for zero offset compensation of a gyroscope according to the present application is shown.
A method of zero offset compensation of a gyroscope, the method comprising:
step S100: continuously detecting the current temperature of the cleaning robot;
step S200: when the temperature difference between the current temperature and the standard temperature recorded by the cleaning robot is larger than a first threshold value, determining a zero offset compensation value according to a calibrated temperature compensation coefficient K _ s and the temperature difference;
step S300: compensating the existing zero offset value through the zero offset compensation value, and offsetting the cleaning robot through the compensated zero offset value;
step S400: and updating the standard temperature according to the value of the current temperature, so that the zero offset after compensation corresponds to the standard temperature.
The embodiment of the application mainly has the following beneficial effects: and calculating a zero offset compensation value by setting a temperature compensation coefficient, adjusting zero offset by the zero offset compensation value, and then adjusting and compensating data of the gyroscope by the real-time adjusted zero offset compensation value. The invention can reduce the zero offset change of the gyroscope caused by temperature change, thereby avoiding angle drift and improving the cleaning efficiency.
Further, the calibrated temperature compensation coefficient K _ s is updated when the cleaning robot is stationary.
Specifically, the calibrated temperature compensation coefficient K _ s needs to be called at any time in the operation process of the cleaning robot, and the temperature compensation coefficient is updated under the condition that the fluctuation is large and is not suitable for updating.
Further, the calibrated temperature compensation coefficient K _ s is updated when the temperature difference is greater than a second threshold value.
Specifically, when the calibrated temperature compensation coefficient K _ s is greater than the preset value, the updating frequency is reduced to make the updating of the zero offset smoother, and the output data of the gyroscope is more referential.
Further, the calculation method for updating the calibration temperature compensation coefficient K _ s is specifically based on the following formula:
K_0＝(O_1K-O_0K)/(T_1K-T_0K)，
k _0 is a new temperature compensation coefficient, O _1K is a zero offset value calibrated by the gyroscope read from the memory at present, and T _1K is the temperature when O _1K is read; and O _0K is the zero offset of the self calibration of the gyroscope read from the memory when the temperature compensation coefficient is adjusted last time, T _0K is the temperature when the O _0K is read, and the calibration temperature compensation coefficient K _ s is updated according to the new temperature compensation coefficient K _ 0. And updating the calibration temperature compensation coefficient K _ s according to the states of the gyroscope at different temperatures, and adjusting the zero offset by using the updated calibration temperature compensation coefficient K _ s so as to ensure the precision of the calibration temperature compensation coefficient K _ s.
Further, the updating of the temperature compensation coefficient specifically includes: and judging whether the new temperature compensation coefficient K _0 is larger than a check threshold value or not, and updating the calibrated temperature compensation coefficient K _ s when the new temperature compensation coefficient K _0 is smaller than or equal to the check threshold value.
Further, the method for updating the temperature compensation coefficient includes: and when the calibration temperature compensation coefficient K _ S is not zero, performing first-order low-pass filtering on the new temperature compensation coefficient K _0 and the calibration temperature compensation coefficient K _ S, and updating the calibration compensation coefficient K _ S according to the result.
Specifically, the updating of the temperature compensation coefficient is performed when the machine is stationary, and when the difference value Δ T2 between the startup temperature T _0 and the current temperature T _1 is greater than a preset value, the zero offset calibrated by the gyroscope itself is read from the memory at present according to O _ 1K; t _1K, the temperature at which O _1K is read; o _0K, the zero offset calibrated by the gyroscope itself read from the memory when the temperature compensation coefficient is adjusted last time; t _0K is a new temperature compensation coefficient K _0 calculated for the temperature at which O _0K is read.
And if the difference value delta T2 between the starting temperature T _0 and the current temperature T _1 is less than or equal to the preset value, the first dynamic temperature compensation coefficient K _0 is not determined.
And if the new temperature compensation coefficient K _0 is smaller than the third threshold value, determining that the calculation of the new temperature compensation coefficient K _0 is successful, and on the basis, storing the new temperature compensation coefficient K _0 if the new temperature compensation coefficient K _0 and the calibrated temperature compensation coefficient K _ S read from the FLASH are 0.
And if the new temperature compensation coefficient K _0 is less than or equal to the third threshold value, determining that the new temperature compensation coefficient K _0 fails to be calculated.
The compensation coefficient is updated, but the stability of the temperature compensation coefficient is ensured, and the temperature compensation coefficient is prevented from being more fluctuant. Under the condition that the calibrated temperature compensation coefficient K _ S is not 0, the updating process is that a new temperature compensation coefficient K _0 is firstly calculated and defined as an intermediate variable, first-order low-pass filtering is carried out by using the new temperature compensation coefficient K _0 and the calibrated temperature compensation coefficient K _ S, the obtained value is processed to be a third temperature compensation coefficient K _ F, then the new temperature compensation coefficient K _0 is discarded, the calibrated temperature compensation coefficient K _ S is updated by the value of the third temperature compensation coefficient K _ F, then the third temperature compensation coefficient K _ F is discarded to finish the updating process, when the zero offset compensation value needs to be calculated, the temperature compensation coefficient is taken, if the temperature compensation coefficient is not in progress, the calibrated temperature compensation coefficient K _ S is extracted and updated, if the temperature compensation coefficient is in progress, the temperature compensation coefficient is waited to be updated, and then extracting a temperature compensation coefficient K _ S.
Further, the zero offset compensation value is used for compensating the existing zero offset, specifically, when the temperature difference is greater than the first threshold for a preset time and the calibrated temperature compensation coefficient K _ S is not zero.
Further, the step determines a zero offset compensation value according to the calibrated temperature compensation coefficient K _ s and the temperature difference, specifically based on the following formula:
O_V＝K_S*(T_1-T_0)，
wherein O _ V is a zero offset compensation value, K _ S is a calibration temperature compensation coefficient stored by the cleaning robot, T _1 is the current temperature when the zero offset compensation value is calculated, and T _0 is a standard temperature.
Further, the zero offset compensation value is used for compensating the existing zero offset, and is specifically based on the following formula: o _1+ -, O _ V,
o _1 is zero offset, and O _ V is zero offset compensation value.
Further, the update frequency of the current temperature is 100Hz, and the judgment that the temperature difference between the current temperature and the standard temperature is greater than the first threshold value is made when the temperature differences in 200 consecutive periods are greater than the first threshold value.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the computer program is executed. The storage medium may be a non-volatile storage medium such as a magnetic disk, an optical disk, a Read-Only Memory (ROM), or a Random Access Memory (RAM).
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
In one embodiment, the cleaning robot enters a walking state, at the moment, the standard temperature recorded in the memory of the cleaning robot is 26 ℃, the cleaning robot acquires the current temperature at the frequency of 100HZ, and judges whether the temperature difference between the current temperature and the standard temperature exceeds a first threshold value of 0.3 ℃, when the current temperature is detected to be 26.3 ℃, the cleaning robot determines that the temperature difference is greater than the first threshold value of 0.3 ℃, the timing is started, and in a time period of 200 cycles, if the temperature difference is detected to be less than the first threshold value of 0.3 ℃, the timing is cleared;
when the timing duration reaches 200 cycles and the temperature difference exceeds the first threshold value of 0.3 ℃, the temperature difference between the standard temperature of 26 ℃ and the current temperature recorded when the zero offset is revised last time is determined to be large, and the zero offset needs to be corrected.
At this time, the zero offset compensation value K _ S is read from the memory to be 0.01, and the zero offset compensation value O _ V _ S (T _1-T _0), that is, O _ V _ 0.01 (26.5-26) is calculated according to the current temperature of 26.5 degrees celsius and the standard temperature of 26 degrees celsius.
The offset O _1 is then compensated by the offset compensation value O _ V, i.e., O _1 is 0.11+0.005 is 0.115. And the gyroscope is compensated by the zero offset O _1 being 0.115. Zero offset before update is then stored by O _0
When the cleaning robot is static, according to the condition that the current temperature is 27.5 ℃, and the temperature between the current temperature and the standard temperature is 26.5 ℃ and is greater than a second preset value of 0.5 ℃, determining that the calibrated temperature compensation coefficient K _ S needs to be adjusted.
At this time, the new temperature compensation coefficient K _0 is (O _1K-O _0K)/(T _1K-T _0K) is (0.115-0.11)/(27.5-26.5) is 0.005. K _0 is a new temperature compensation coefficient, O _1K is a zero offset value calibrated by the gyroscope read from the memory at present, O _1K is updated in real time, and T _1K is the temperature when O _1K is read; and O _0K is the zero offset of the gyroscope self calibration read from the memory when the temperature compensation coefficient is adjusted last time, and T _0K is the temperature when O _0K is read. And then, according to the fact that the calibrated temperature compensation coefficient K _ S is not zero, filtering is performed on K _0 and K _ S to obtain a third temperature compensation coefficient K _ F which is 0.0075, and the calibrated temperature compensation coefficient K _ S is updated through the third temperature compensation coefficient K _ F which is 0.0075.
With further reference to fig. 2, as an implementation of the method shown in fig. 1, the present application provides an embodiment of a zero offset compensation apparatus for a gyroscope, where the embodiment of the apparatus corresponds to the embodiment of the method shown in fig. 1, and the apparatus may be applied to various electronic devices.
A zero offset compensation apparatus for a gyroscope, comprising:
a temperature acquisition module 100 for continuously detecting a current temperature of the cleaning robot;
a zero offset compensation calculation module 200, configured to determine a zero offset compensation value according to a calibrated temperature compensation coefficient K _ s and a temperature difference between the current temperature and a standard temperature recorded by the cleaning robot when the temperature difference is greater than a preset value;
the offset module 300 is configured to compensate an existing zero offset value by the zero offset compensation value, and offset the cleaning robot by the compensated zero offset value;
and a standard temperature updating module 400, configured to update the standard temperature according to the value of the current temperature, so that the zero offset after compensation corresponds to the standard temperature.
The embodiment of the application mainly has the following beneficial effects: and calculating a zero offset compensation value by setting a temperature compensation coefficient, adjusting zero offset by the zero offset compensation value, and then adjusting and compensating data of the gyroscope by the real-time adjusted zero offset compensation value. The invention can reduce the zero offset change of the gyroscope caused by temperature change, thereby avoiding angle drift and improving the cleaning efficiency.
In order to solve the technical problem, an embodiment of the present application further provides a computer device. Referring to fig. 3, fig. 3 is a block diagram of a basic structure of a computer device according to the present embodiment.
The computer device 6 comprises a memory 61, a processor 62, a network interface 63 communicatively connected to each other via a system bus. It is noted that only a computer device 6 having components 61-63 is shown, but it is understood that not all of the shown components are required to be implemented, and that more or fewer components may be implemented instead. As will be understood by those skilled in the art, the computer device is a device capable of automatically performing numerical calculation and/or information processing according to a preset or stored instruction, and the hardware includes, but is not limited to, a microprocessor, an Application Specific Integrated Circuit (ASIC), a Programmable Gate Array (FPGA), a Digital Signal Processor (DSP), an embedded device, and the like.
The computer device can be a desktop computer, a notebook, a palm computer, a cloud server and other computing devices. The computer equipment can carry out man-machine interaction with a user through a keyboard, a mouse, a remote controller, a touch panel or voice control equipment and the like.
The memory 61 includes at least one type of readable storage medium including a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, an optical disk, etc. In some embodiments, the memory 61 may be an internal storage unit of the computer device 6, such as a hard disk or a memory of the computer device 6. In other embodiments, the memory 61 may also be an external storage device of the computer device 6, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the computer device 6. Of course, the memory 61 may also comprise both an internal storage unit of the computer device 6 and an external storage device thereof. In this embodiment, the memory 61 is generally used for storing an operating system installed in the computer device 6 and various application software, such as a program code of a zero offset compensation method of a gyroscope. Further, the memory 61 may also be used to temporarily store various types of data that have been output or are to be output.
The processor 62 may be a Central Processing Unit (CPU), controller, microcontroller, microprocessor, or other data Processing chip in some embodiments. The processor 62 is typically used to control the overall operation of the computer device 6. In this embodiment, the processor 62 is configured to execute the program code stored in the memory 61 or process data, for example, execute the program code of the zero offset compensation method of the gyroscope.
The network interface 63 may comprise a wireless network interface or a wired network interface, and the network interface 63 is typically used for establishing a communication connection between the computer device 6 and other electronic devices.
The present application provides another embodiment, which is to provide a computer-readable storage medium storing a program for compensating zero offset of a gyroscope, where the program is executable by at least one processor to cause the at least one processor to perform the steps of the method for compensating zero offset of a gyroscope.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (such as a ROM/RAM, a magnetic disk, and an optical disk), and includes several instructions for enabling a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present application.
It is to be understood that the above-described embodiments are merely illustrative of some, but not restrictive, of the broad invention, and that the appended drawings illustrate preferred embodiments of the invention and do not limit the scope of the invention. This application is capable of embodiments in many different forms and is provided for the purpose of enabling a thorough understanding of the disclosure of the application. Although the present application has been described in detail with reference to the foregoing embodiments, it will be apparent to one skilled in the art that the present application may be practiced without modification or with equivalents of some of the features described in the foregoing embodiments. All equivalent structures made by using the contents of the specification and the drawings of the present application are directly or indirectly applied to other related technical fields and are within the protection scope of the present application.
Claims (11)
1. A method for zero offset compensation of a gyroscope, the method comprising:
continuously detecting the current temperature of the cleaning robot;
when the temperature difference between the current temperature and the standard temperature recorded by the cleaning robot is larger than a first threshold value, determining a zero offset compensation value according to a calibrated temperature compensation coefficient K _ s and the temperature difference;
compensating the existing zero offset value through the zero offset compensation value, and offsetting the cleaning robot through the compensated zero offset value;
and updating the standard temperature according to the value of the current temperature, so that the zero offset after compensation corresponds to the standard temperature.
2. The method of claim 1, wherein the calibrated temperature compensation coefficient K _ s is updated when the cleaning robot is stationary.
3. The method of claim 2, wherein the calibrated temperature compensation coefficient K _ s is updated when the temperature difference is greater than a second threshold.
4. The method of claim 3, wherein the zero offset compensation of the gyroscope is performed by the following steps,
the calculation method for updating the calibration temperature compensation coefficient K _ s is specifically based on the following formula:
K_0＝(O_1K-O_0K)/(T_1K-T_0K)，
wherein: k _0 is a new temperature compensation coefficient, O _1K is a zero offset value calibrated by the gyroscope read from the memory at present, and T _1K is the temperature when O _1K is read; and O _0K is the zero offset of the self calibration of the gyroscope read from the memory when the temperature compensation coefficient is adjusted last time, T _0K is the temperature when the O _0K is read, and the calibration temperature compensation coefficient K _ s is updated according to the new temperature compensation coefficient K _ 0.
5. The method of claim 4, wherein the updating of the temperature compensation coefficient specifically comprises: and judging whether the new temperature compensation coefficient K _0 is larger than a check threshold value or not, and updating the calibrated temperature compensation coefficient K _ s when the new temperature compensation coefficient K _0 is smaller than or equal to the check threshold value.
6. The method of claim 5, wherein the method comprises: the method for updating the temperature compensation coefficient comprises the following steps: and when the calibration temperature compensation coefficient K _ S is not zero, performing first-order low-pass filtering on the new temperature compensation coefficient K _0 and the calibration temperature compensation coefficient K _ S, and updating the calibration compensation coefficient K _ S according to the result.
7. The method of zero offset compensation of a gyroscope according to any of claims 1 to 6, characterized by: the compensation is performed on the existing zero offset value through the zero offset compensation value, specifically, when the state that the temperature difference is greater than the first threshold value reaches a preset time and the calibrated temperature compensation coefficient K _ S is not zero.
8. The method of claim 7, wherein the method comprises: determining a zero offset compensation value according to the calibrated temperature compensation coefficient K _ s and the temperature difference, wherein the zero offset compensation value is specifically based on the following formula:
O_V＝K_S*(T_1-T_0)，
wherein O _ V is a zero offset compensation value, K _ S is a calibration temperature compensation coefficient stored by the cleaning robot, T _1 is the current temperature when the zero offset compensation value is calculated, and T _0 is the updated standard temperature when the zero offset O _1 is determined.
9. The method of claim 8, wherein the method comprises: compensating the existing zero offset value through the zero offset compensation value, wherein the compensation value is specifically based on the following formula: o _1+ -, O _ V,
o _1 is zero offset, and O _ V is zero offset compensation value.
10. The method of claim 9, wherein the method comprises: the updating frequency of the current temperature is 100Hz, and the judgment that the temperature difference between the current temperature and the standard temperature is greater than the first threshold value is made when the temperature differences in 200 continuous periods are greater than the first threshold value.
11. A zero offset compensation apparatus for a gyroscope, comprising:
the temperature acquisition module is used for continuously detecting the current temperature of the cleaning robot;
the zero offset compensation calculation module is used for determining a zero offset compensation value according to a calibrated temperature compensation coefficient K _ s and the temperature difference when the temperature difference between the current temperature and the standard temperature recorded by the cleaning robot is larger than a preset value;
the offset module is used for compensating the existing zero offset through the zero offset compensation value and offsetting the cleaning robot through the compensated zero offset;
and the standard temperature updating module is used for updating the standard temperature according to the value of the current temperature so that the zero offset after compensation corresponds to the standard temperature.
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