CN114518109B - Zero offset compensation method of gyroscope - Google Patents
Zero offset compensation method of gyroscope Download PDFInfo
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- CN114518109B CN114518109B CN202210114960.5A CN202210114960A CN114518109B CN 114518109 B CN114518109 B CN 114518109B CN 202210114960 A CN202210114960 A CN 202210114960A CN 114518109 B CN114518109 B CN 114518109B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Abstract
The invention discloses a zero offset compensation method of a gyroscope, which comprises the following 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 calibration temperature compensation coefficient K_s and the temperature difference; compensating the existing zero offset by the zero offset compensation value, and offsetting the cleaning robot by the zero offset after compensation; 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 has the following main beneficial effects: and calculating a zero offset compensation value by setting a temperature compensation coefficient, adjusting the zero offset by the zero offset compensation value, and then adjusting and compensating the gyroscope on data by the zero offset compensation value adjusted in real time. The invention can reduce zero offset change of the gyroscope caused by temperature change, thereby avoiding angle drift and improving 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 for determining the precision of an inertial system, wherein a silicon micro-mechanical gyroscope which is rapidly developed in recent years is a micro-electromechanical system (MEMS) with great difficulty and is a product which is a combination of micro-mechanical processing of silicon and gyroscope theory.
The traditional compensation method adopts an analog mode to calibrate and compensate the output signal of the sensor, and has some disadvantages, such as the compensation element is also affected by temperature; the compensation accuracy is limited by the nonlinear error of the sensor; the realization of local temperature control usually needs to change the internal structure of a sensor, materials or add an additional temperature control system, and the realization is more complex, so that the accuracy of the environment where the compensation element is positioned is controlled to ensure that the zero offset for compensating the gyroscope cannot be implemented, and the problem of the accuracy reduction of zero offset compensation for the gyroscope under the condition of being influenced by temperature is caused.
Disclosure of Invention
The embodiment of the application aims to provide a zero offset compensation method of a gyroscope, which can overcome the influence of fluctuation of ambient temperature on a zero offset compensation value.
In order to solve the above technical problems, the embodiments of the present application provide a zero offset compensation method for a gyroscope, which adopts the following technical scheme:
a method of zero bias compensation for 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 calibration temperature compensation coefficient K_s and the temperature difference;
compensating the existing zero offset by the zero offset compensation value, and offsetting the cleaning robot by the zero offset after compensation;
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 calibration temperature compensation coefficient k_s is updated when the cleaning robot is stationary.
Further, the calibration temperature compensation coefficient k_s is updated when the temperature difference is greater than a second threshold.
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)，
wherein K_0 is a new temperature compensation coefficient, O_1K is zero offset calibrated by the gyroscope itself which is currently read from the memory, and T_1K is the temperature when O_1K is read; O_0K is 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 temperature when 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 the checking threshold value, and updating the calibration temperature compensation coefficient K_s when the new temperature compensation coefficient K_0 is smaller than or equal to the checking threshold value.
Further, the method for updating the temperature compensation coefficient comprises the following steps: when the calibration temperature compensation coefficient K_S is not zero, the new temperature compensation coefficient K_0 and the calibration temperature compensation coefficient K_S are subjected to first-order low-pass filtering, and the calibration compensation coefficient K_S is updated through the result.
Further, the existing zero offset is compensated by the zero offset compensation value, specifically, when the temperature difference is greater than the first threshold value and reaches the preset time, and the calibration temperature compensation coefficient k_s is not zero.
Further, the step of determining the zero offset compensation value according to the calibration temperature compensation coefficient k_s and the temperature difference is specifically based on the following formula:
O_V＝K_S*(T_1-T_0)，
wherein O_V is zero offset compensation value, K_S is calibration temperature compensation coefficient stored in the cleaning robot, T_1 is current temperature when calculating zero offset compensation value, and T_0 is standard temperature updated when determining zero offset O_1.
Further, the existing zero offset is compensated by the zero offset compensation value, specifically based on the following formula: o1 + = 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 difference in 200 consecutive periods is greater than the first threshold value.
In order to solve the above problems, the present application further provides a zero offset compensation device for a gyroscope.
A zero offset compensation device 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 calibration 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 zero offset after compensation;
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 has the following main beneficial effects: and calculating a zero offset compensation value by setting a temperature compensation coefficient, adjusting the zero offset by the zero offset compensation value, and then adjusting and compensating the gyroscope on data by the zero offset compensation value adjusted in real time. The invention can reduce zero offset change of the gyroscope caused by temperature change, thereby avoiding angle drift and improving cleaning efficiency.
Drawings
For a clearer description of the solution in the present application, a brief description will be given below of the drawings that are needed in the description of the embodiments of the present application, it being obvious that the drawings in the following description are some embodiments of the present application, and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a flow chart of one embodiment of a method of zero offset compensation for a gyroscope according to the present application;
FIG. 2 is a schematic structural view of one embodiment of a zero offset compensation apparatus for a gyroscope according to the present application;
FIG. 3 is a schematic structural 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 applications herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having" and any variations thereof in the description and claims of the present application and in the description of the figures above are intended to cover non-exclusive inclusions. The terms first, second and the like in the description and in the claims or in the above-described figures, are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases 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. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
In order to better understand the technical solutions of the present application, the following description will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings.
Referring to FIG. 1, a flow chart of one embodiment of a method of zero offset compensation for a gyroscope according to the present application is shown.
A method of zero bias compensation for 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 calibration temperature compensation coefficient K_s and the temperature difference;
step S300: compensating the existing zero offset by the zero offset compensation value, and offsetting the cleaning robot by the zero offset after compensation;
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 has the following main beneficial effects: and calculating a zero offset compensation value by setting a temperature compensation coefficient, adjusting the zero offset by the zero offset compensation value, and then adjusting and compensating the gyroscope on data by the zero offset compensation value adjusted in real time. The invention can reduce zero offset change of the gyroscope caused by temperature change, thereby avoiding angle drift and improving cleaning efficiency.
Further, the calibration temperature compensation coefficient k_s is updated when the cleaning robot is stationary.
Specifically, the calibration temperature compensation coefficient k_s needs to be called at any time in the running process of the cleaning robot, and the temperature compensation coefficient is updated under the condition, so that the fluctuation is large and the updating is not suitable.
Further, the calibration temperature compensation coefficient k_s is updated when the temperature difference is greater than a second threshold.
Specifically, when the calibration temperature compensation coefficient K_s is larger than a preset value, updating is performed, the updating frequency is reduced, so that zero offset updating is smoother, and the output data of the gyroscope is more reference.
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)，
wherein K_0 is a new temperature compensation coefficient, O_1K is zero offset calibrated by the gyroscope itself which is currently read from the memory, and T_1K is the temperature when O_1K is read; O_0K is 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 temperature when 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 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 the checking threshold value, and updating the calibration temperature compensation coefficient K_s when the new temperature compensation coefficient K_0 is smaller than or equal to the checking threshold value.
Further, the method for updating the temperature compensation coefficient comprises the following steps: when the calibration temperature compensation coefficient K_S is not zero, the new temperature compensation coefficient K_0 and the calibration temperature compensation coefficient K_S are subjected to first-order low-pass filtering, and the calibration compensation coefficient K_S is updated through the result.
Specifically, the updating of the temperature compensation coefficient is performed under the condition that the machine is stationary, and when the difference value delta T2 between the starting temperature T_0 and the current temperature T_1 is larger than a preset value, the zero offset of the gyroscope self calibration read from the memory is performed currently according to O_1K; T_1K, reading the temperature of O_1K; o_0k, zero offset of the gyroscope self calibration read from the memory in last temperature compensation coefficient adjustment; t_0k is the temperature at the time of reading o_0k, and a new temperature compensation coefficient k_0 is calculated.
If the difference Δt2 between the starting temperature t_0 and the current temperature t_1 is smaller than or equal to a preset value, the first dynamic temperature compensation coefficient k_0 is not determined.
If the new temperature compensation coefficient K_0 is smaller than the third threshold value, the new temperature compensation coefficient K_0 is determined to be successfully calculated, and on the basis, if the new temperature compensation coefficient K_0 and the calibrated temperature compensation coefficient K_S read from FLASH are 0, the new temperature compensation coefficient K_0 is stored.
If the new temperature compensation coefficient K_0 is less than or equal to the third threshold value, it is determined that calculating the new temperature compensation coefficient K_0 fails.
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 fluctuating. Under the condition that the calibration temperature compensation coefficient K_S is not 0, the updating process is that a new temperature compensation coefficient K_0 is calculated firstly, an intermediate variable is defined, the new temperature compensation coefficient K_0 and the calibration temperature compensation coefficient K_S are used for performing first-order low-pass filtering, the value obtained through processing is recorded as a third temperature compensation coefficient K_F, then the new temperature compensation coefficient K_0 is discarded, the calibration temperature compensation coefficient K_S is updated through the value of the third temperature compensation coefficient K_F, then the third temperature compensation coefficient K_F is discarded, so that the updating process is completed, when the zero offset compensation value needs to be calculated, the temperature compensation coefficient is acquired, when the temperature compensation coefficient is not in progress, the calibration temperature compensation coefficient K_S is extracted, and when the temperature compensation coefficient is in progress, the temperature compensation coefficient is waited for updating, and then the temperature compensation coefficient K_S is extracted.
Further, the existing zero offset is compensated by the zero offset compensation value, specifically, when the temperature difference is greater than the first threshold value and reaches the preset time, and the calibration temperature compensation coefficient k_s is not zero.
Further, the step of determining the zero offset compensation value according to the calibration temperature compensation coefficient k_s and the temperature difference is specifically based on the following formula:
O_V＝K_S*(T_1-T_0)，
wherein O_V is zero offset compensation value, K_S is calibration temperature compensation coefficient stored in the cleaning robot, T_1 is current temperature when calculating zero offset compensation value, and T_0 is standard temperature.
Further, the existing zero offset is compensated by the zero offset compensation value, specifically based on the following formula: o1 + = 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 difference in 200 consecutive periods is greater than the first threshold value.
Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored in a computer-readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. The storage medium may be a nonvolatile storage medium such as a magnetic disk, an optical disk, a Read-Only Memory (ROM), or a random access Memory (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, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least some of the steps in the flowcharts of the figures may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily being sequential, but may be performed in turn or alternately with other steps or at least a portion of the other steps or stages.
In one embodiment, the cleaning robot enters a walking state, at this time, the standard temperature recorded in the memory of the cleaning robot is 26 ℃, the cleaning robot acquires the current temperature at a frequency of 100HZ, 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 ℃, starts timing, and clears the timing if the temperature difference is detected to be less than the first threshold value of 0.3 ℃ in a period of 200 periods;
when the time is up to 200 cycles and the temperature difference exceeds the first threshold value of 0.3 ℃ during the time, 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 is required to be corrected.
At this time, the zero offset compensation value kjs=0.01 is read in the memory, and the zero offset compensation value o_v=kjs (t_1-t_0), that is, o_v=0.01 (26.5-26) =0.05 is calculated according to the current temperature of 26.5 degrees celsius and the standard temperature of 26 degrees celsius.
The zero offset o_1 is then compensated by the zero offset compensation value o_v by o_1+=o_v, i.e. o_1=0.11+0.005=0.115. And compensates the gyroscope by zero offset o_1 = 0.115. Zero offset before update by O_0 storage thereafter
When the cleaning robot is stationary, according to the current temperature of 27.5 ℃ and the standard temperature of 26.5 ℃ which are higher than the second preset value of 0.5 ℃, the calibration temperature compensation coefficient K_S is determined to be adjusted.
At this time, the new temperature compensation coefficient k_0= (o_1k—o_0k)/(t_1k—t_0k) = (0.115-0.11)/(27.5-26.5) =0.005. Wherein K_0 is a new temperature compensation coefficient, O_1K is zero offset calibrated by the gyroscope itself which is currently read from the memory, O_1K is updated in real time, and T_1K is the temperature when O_1K is read; O_0K is zero offset of the self calibration of the gyroscope read from the memory at the last time of temperature compensation coefficient adjustment, and T_0K is the temperature at the time of reading O_0K. And then, according to the fact that the calibration temperature compensation coefficient K_S is not zero, filtering is performed on the K_0 and the K_S to obtain a third temperature compensation coefficient K_F=0.0075, and the calibration temperature compensation coefficient K_S is updated through the third temperature compensation coefficient K_F=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 device of a gyroscope, where the embodiment of the device corresponds to the embodiment of the method shown in fig. 1, and the device may be specifically applied to various electronic devices.
A zero offset compensation device for a gyroscope, comprising:
a temperature acquisition module 100 for continuously detecting a current temperature of the cleaning robot;
the zero offset compensation calculation module 200 is configured to determine a zero offset compensation value according to a calibration 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 greater than a preset value;
the offset module 300 is configured to compensate an existing zero offset by using the zero offset compensation value, and offset the cleaning robot by using the zero offset after compensation;
the standard temperature updating module 400 is 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 has the following main beneficial effects: and calculating a zero offset compensation value by setting a temperature compensation coefficient, adjusting the zero offset by the zero offset compensation value, and then adjusting and compensating the gyroscope on data by the zero offset compensation value adjusted in real time. The invention can reduce zero offset change of the gyroscope caused by temperature change, thereby avoiding angle drift and improving cleaning efficiency.
In order to solve the technical problems, the embodiment of the application also provides computer equipment. Referring specifically to fig. 3, fig. 3 is a basic structural block diagram 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 computer device 6 having components 61-63 is shown in the figures, but it should be understood that not all of the illustrated components are required to be implemented and that more or fewer components may be implemented instead. It will be appreciated by those skilled in the art that the computer device herein is a device capable of automatically performing numerical calculations and/or information processing in accordance with predetermined or stored instructions, the hardware of which includes, but is not limited to, microprocessors, application specific integrated circuits (Application Specific Integrated Circuit, ASICs), programmable gate arrays (fields-Programmable Gate Array, FPGAs), digital processors (Digital Signal Processor, DSPs), embedded devices, etc.
The computer equipment can be a desktop computer, a notebook computer, a palm computer, a cloud server and other computing equipment. The computer equipment can perform man-machine interaction with a user through a keyboard, a mouse, a remote controller, a touch pad or voice control equipment and the like.
The memory 61 includes at least one type of readable storage media including flash memory, hard disk, multimedia card, card memory (e.g., SD or DX memory, etc.), random Access Memory (RAM), static Random Access Memory (SRAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), programmable Read Only Memory (PROM), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the storage 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 Card (Flash Card) or the like, which are provided on the computer device 6. Of course, the memory 61 may also comprise both an internal memory unit of the computer device 6 and an external memory device. In this embodiment, the memory 61 is generally used to store an operating system and various application software installed on the computer device 6, such as a program code of a zero offset compensation method of a gyroscope. Further, the memory 61 may 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 (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, such as the program code for executing the zero offset compensation method of a gyroscope.
The network interface 63 may comprise a wireless network interface or a wired network interface, which network interface 63 is typically used for establishing a communication connection between the computer device 6 and other electronic devices.
The present application also provides another embodiment, namely, a computer readable storage medium, where a zero offset compensation program of a gyroscope is stored, where the zero offset compensation program of the gyroscope is executable by at least one processor, so that the at least one processor performs the steps of a zero offset compensation method of a gyroscope as described above.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk), comprising several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method described in the embodiments of the present application.
It is apparent that the embodiments described above are only some embodiments of the present application, but not all embodiments, the preferred embodiments of the present application are given in the drawings, but not limiting the patent scope of the present application. This application may be embodied in many different forms, but rather, embodiments are provided in order to provide a more thorough understanding of the present disclosure. Although the present application has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing, or equivalents may be substituted for elements thereof. All equivalent structures made by the specification and the drawings of the application are directly or indirectly applied to other related technical fields, and are also within the protection scope of the application.
Claims (8)
1. A method for zero bias 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 calibration temperature compensation coefficient K_s and the temperature difference;
specifically, 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 standard temperature updated when the zero offset O_1 is determined;
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 zero offset calibrated by the gyroscope itself which is currently read from the memory, and T_1K is the temperature when O_1K is read; O_0K is 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 temperature when O_0K is read, and the calibration temperature compensation coefficient K_s is updated according to the new temperature compensation coefficient K_0;
when the new temperature compensation coefficient K_0 is smaller than or equal to the checking threshold value, updating the calibration temperature compensation coefficient K_s according to the new temperature compensation coefficient K_0;
compensating the existing zero offset by the zero offset compensation value, and offsetting the cleaning robot by the zero offset after compensation;
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 calibration temperature compensation coefficient k_s is updated when the cleaning robot is stationary.
3. The method of claim 2, wherein the calibration temperature compensation coefficient k_s is updated when the temperature difference is greater than a second threshold.
4. A method of zero bias compensation for gyroscopes according to claim 3, in which: the updating method of the temperature compensation coefficient comprises the following steps: when the calibration temperature compensation coefficient K_S is not zero, the new temperature compensation coefficient K_0 and the calibration temperature compensation coefficient K_S are subjected to first-order low-pass filtering, and the calibration compensation coefficient K_S is updated through the result.
5. A method of zero bias compensation for gyroscopes according to any one of claims 1 to 4, in which: the existing zero offset is compensated by the zero offset compensation value, specifically, when the state that the temperature difference is greater than the first threshold reaches the preset time and the calibration temperature compensation coefficient K_S is not zero.
6. The method for zero offset compensation of a gyroscope of claim 5, wherein: and compensating the existing zero offset by the zero offset compensation value, and specifically based on the following formula: o1 + = O V,
o_1 is zero offset, and O_V is zero offset compensation value.
7. The method for zero offset compensation of a gyroscope of claim 6, wherein: 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 larger than a first threshold value is made when the temperature difference in 200 continuous periods is larger than the first threshold value.
8. A zero offset compensation device 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 calibration 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 method for determining the zero offset compensation value by the zero offset compensation calculation module specifically comprises the following steps:
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 standard temperature updated when the zero offset O_1 is determined;
the method for updating the temperature compensation coefficient K_s by the zero offset compensation calculation module specifically comprises the following steps:
K_0=(O_1K- O_0K)/(T_1K-T_0K)
wherein: k_0 is a new temperature compensation coefficient, O_1K is zero offset calibrated by the gyroscope itself which is currently read from the memory, and T_1K is the temperature when O_1K is read; O_0K is 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 temperature when O_0K is read, and the calibration temperature compensation coefficient K_s is updated according to the new temperature compensation coefficient K_0;
when the new temperature compensation coefficient K_0 is smaller than or equal to the checking threshold value, updating the calibration temperature compensation coefficient K_s according to the new temperature compensation coefficient K_0;
the offset module is used for compensating the existing zero offset through the zero offset compensation value and offsetting the cleaning robot through the zero offset after compensation;
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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| CN106370173A (en) * | 2016-08-17 | 2017-02-01 | 中国船舶重工集团公司第七0七研究所 | Modeling and verifying method of laser gyroscope temperature compensation model |
| CN109238310A (en) * | 2018-11-05 | 2019-01-18 | 珠海全志科技股份有限公司 | A kind of pair of MEMS sensor carries out the method and device of temperature-compensating |
| CN113642249A (en) * | 2021-08-30 | 2021-11-12 | 北京信息科技大学 | Gyroscope zero-bias error compensation method |
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| CN102997933B (en) * | 2011-09-14 | 2016-06-22 | 意法半导体(中国)投资有限公司 | A kind of system determined the method for gyroscope zero offset error, device and include this device |
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| CN106370173A (en) * | 2016-08-17 | 2017-02-01 | 中国船舶重工集团公司第七0七研究所 | Modeling and verifying method of laser gyroscope temperature compensation model |
| CN109238310A (en) * | 2018-11-05 | 2019-01-18 | 珠海全志科技股份有限公司 | A kind of pair of MEMS sensor carries out the method and device of temperature-compensating |
| CN113642249A (en) * | 2021-08-30 | 2021-11-12 | 北京信息科技大学 | Gyroscope zero-bias error compensation method |
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