CN116481570B - Collaborative error correction method for multiple MEMS gyroscopes - Google Patents
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Abstract
The invention provides a collaborative error correction method for a multi-MEMS gyroscope. Comprises the following steps of: determining error correction initial parameters of each MEMS gyroscope; step S2: the multi-MEMS gyroscope performs system work and outputs angular velocities in three directions; step S3: and combining the error correction initial parameters and the three-direction angular speeds, and performing error correction on the multi-MEMS gyroscope by adopting online self-learning. Through the cooperation of a plurality of MEMS gyroscopes, the overall measurement accuracy can be improved.
Description
Technical Field
The invention relates to the field of MEMS gyroscopes, in particular to a collaborative error correction method for a multi-MEMS gyroscope.
Background
The MEMS gyroscope is a micromechanical gyroscope with low cost, small volume and good reliability, but due to the material characteristics, the data output is obviously affected by temperature and zero drift exists. In order to improve the measurement precision of the MEMS gyroscope, new structural design, zero drift calibration, temperature compensation, random noise filtering and other modes are generally adopted, and the methods effectively improve the precision of the MEMS gyroscope, but due to the characteristics of the gyroscope, the gyroscope with higher reliability and higher precision is still very difficult to obtain.
The invention uses the sensor group formed by multiple gyroscopes to correct the cooperative error, thereby improving the accuracy of the measurement result.
Disclosure of Invention
The invention relates to a collaborative error correction method for a multi-MEMS gyroscope, which mainly utilizes a sensor group formed by the multi-gyroscope to improve the accuracy of a measurement result.
Deployment of a gyroscope: in the same environment, the measured object is distributed at a plurality of positions, so that the temperature change is ensured to be smaller as much as possible. Calibration and temperature compensation of a single gyroscope: aiming at the multi-MEMS gyroscope, the calibration and the temperature compensation are carried out according to the prior method. multi-MEMS collaborative error correction: the reason that the MEMS gyroscope sensor has larger error is that zero offset can drift randomly, so that the current time calibrated value cannot cover the application scene of subsequent work, and therefore, the gyroscope needs to be calibrated regularly to ensure accuracy, and certain influence is caused to the application of the gyroscope. In addition, the influence of random noise is large, and the noise lacks regularity, so that the output results of a filtering algorithm and the like cannot completely compensate the error influence caused by the random noise, and therefore, the whole measurement accuracy can be improved through the cooperation of a plurality of MEMS gyroscopes.
The invention discloses a collaborative error correction method for a multi-MEMS gyroscope, which comprises the following steps:
step S1: determining error correction initial parameters of each MEMS gyroscope;
step S2: the multi-MEMS gyroscope performs system work and outputs angular velocities in three directions;
step S3: and combining the error correction initial parameters and the three-direction angular speeds, and performing error correction on the multi-MEMS gyroscope by adopting online self-learning.
Preferably, the step S1 specifically includes:
determining error correction initial parameters of each MEMS gyroscope in the multi-MEMS gyroscope, and setting n MEMS gyroscopes T 1 ,T 2 ,…,T n Forming a multi-gyroscope cooperative measurement system TS, wherein the zero offset calibration value of each gyroscope is
Wherein X, Y, Z is the three axes of the gyroscope,the calibration values of zero offset in the three axial directions of the ith MEMS gyroscope are respectively obtained;
the parameter set matrix of the random noise filter function is
Wherein n is the number of MEMS gyroscopes, m is the number of parameters of the random noise filtering function of the MEMS gyroscopes,f ij a j-th parameter representing the i-th MEMS gyroscope random noise filter function;
the temperature compensation function parameter matrix is
Wherein n is the number of MEMS gyroscopes, p is the number of parameters of the temperature compensation function of the MEMS gyroscopes, r ij A j-th parameter representing the i-th MEMS gyroscope temperature compensation function.
Preferably, the step S2 specifically includes:
the multi-MEMS gyroscope system works in a specified range, the working temperature does not exceed the allowable value, and the 3-axis MEMS gyroscope output is the angular velocity omega in the X, Y, Z axis directions X ,ω Y ,ω Z After the system works, the angular velocity parameters in three directions are output
Preferably, the step S3 specifically includes:
for the ith MEMS gyroscope, its output is represented as
In the method, in the process of the invention,zero bias for the ith MEMS gyroscope in 3 axes, Θ (f i1 ,f i2 ,…,f im )、Ω(r i1 ,r i2 ,…,r ip ) A temperature compensation function and a noise filtering function of the ith MEMS gyroscope,and->Temperature and noise for the ith MEMS gyroscope.
Preferably, the step S3 further includes step S3.1 of fitting output values, specifically as follows:
taking the X axis as an example, the angular velocity of the output of the gyroscope group composed of n gyroscopes in the X axis direction isIntroducing time t, the angular velocity output at time t is recorded as +.>
Judging whether the output value is abnormal or not, namely, correcting parameters;
calculating the standard deviation of the angular velocity of the outputStd () is a standard deviation calculation function;
if the standard deviation of the angular velocity is smaller than the threshold value mu X The consistency is considered to be good, adjustment is not needed, otherwise, correction is needed for the calibration value of zero offset of part of gyroscopes.
Preferably, the step S3.1 further includes the steps of:
finding gyroscopes with the greatest deviation from average, i.e. so thatTaking the maximum value to obtain i, and outputting the output value +.>Adjust to->
Will beReplaced by->The combined new output vector recalculates the standard deviation if the value is less than the threshold mu X If not, continuing to adjust according to the previous step until the requirement is met;
taking X-axis direction as an example, the integrated output value ωt of the multi-MEMS gyroscope system X The calculation is as follows;
in the method, in the process of the invention,to adjust the output value of each MEMS gyroscope;
output value for adjustment completionThe average value is calculated as the output value.
Preferably, step S3.1 is followed by a step S3.2 error correction process, specifically including:
any X-axis output is provided that the current gyroscope needing to be adjusted and output has G numbers of i, j, …, G and the like, and the original output isThe output after adjustment is +.>The adjustment amount is
In the formula, taking the ith MEMS gyroscope as an example,
then it isThe adjustment is carried out as follows; in view of the time-factor,
wherein d ()/dt is differential arithmetic symbol, a, b, c are three parameters, and the solution is carried out according to the following formula
Simultaneously (1), 2 and 3) to form a 3-element primary equation set, and solving the equation set to obtain values of a, b and c;
the new correction parameters of the ith MEMS gyroscope are:
in the formula, the superscript' indicates the updated parameter.
By the method, the following effects can be achieved:
1. on the premise of not changing the structure of the existing MEMS gyroscopes, the cooperative error correction of a plurality of MEMS gyroscopes is utilized, so that the overall measurement accuracy of the system can be remarkably improved;
2. the method of on-line self-adaptive adjustment is adopted, so that a self-adaptive parameter adjustment scheme in the running state of the system can be provided based on the existing zero offset calibration method, noise filtering and other methods, and the actual application is facilitated;
3. the system has high reliability, and because the integral collaborative error correction is adopted, when partial MEMS gyroscopes are damaged and have no output or abnormal output, the parameter adjustment can be automatically carried out, and the integral use is not influenced.
Drawings
Fig. 1 is a schematic diagram of a collaborative error correction method for a multi-MEMS gyroscope according to an embodiment of the present invention.
Detailed Description
The collaborative error correction method of the multi-MEMS gyroscope mainly comprises the following steps:
step S1: and determining error correction initial parameters of each MEMS gyroscope. Let n MEMS gyroscopes T 1 ,T 2 ,…,T n Forming a multi-gyroscope cooperative measurement system TS, wherein the zero offset calibration value of each gyroscope is
Where X, Y, Z is the three axes of the gyroscope.Respectively the ithCalibration values of zero offset in three axial directions of the MEMS gyroscopes.
The parameter set matrix of the random noise filter function is
Wherein n is the number of MEMS gyroscopes, m is the number of parameters of random noise filtering function of the MEMS gyroscopes, f ij The j-th parameter representing the i-th gyro random noise filter function.
The temperature compensation function parameter matrix is
Wherein n is the number of MEMS gyroscopes, p is the number of parameters of the temperature compensation function of the MEMS gyroscopes, r ij The j-th parameter representing the i-th gyroscope temperature compensation function.
Step S2: system operation
The multi-MEMS gyroscope system works in a specified range, and the working temperature does not exceed the allowable value. Taking a 3-axis MEMS gyroscope as an example, the output is the angular velocity omega in X, Y, Z axes X ,ω Y ,ω Z After the system works, the angular velocity parameters in three directions are output
Step S3: online self-learning error correction method
For the ith MEMS gyroscope, its output can be expressed as
In the method, in the process of the invention,zero bias of the ith gyroscope in 3 axes, Θ (f i1 ,f i2 ,…,f im )、Ω(r i1 ,r i2 ,…,r ip ) Temperature compensation function and noise filtering function of the ith gyroscope, respectively,/th gyroscope>And->Is the ith gyroscope temperature and noise.
Step 3.1 output value fitting
Taking the X axis as an example, the angular velocity of the output of the gyroscope group composed of n gyroscopes in the X axis direction isIntroducing time t, the angular velocity output at time t is recorded as +.>
And the first step is to judge whether the output value is abnormal or not, namely, the parameters need to be corrected. Calculating the standard deviation of the output angular velocityWhere std () is a standard deviation calculation function. If the value is less than the threshold mu X The consistency is considered to be good, adjustment is not needed, otherwise, correction is needed for the calibration value of zero offset of part of gyroscopes.
The adjustment is performed as follows:
first, the gyroscope with the largest deviation from the mean value is found, i.e.Taking the maximum value to obtain i, and outputting the output valueAdjust to->
Then, willReplaced by->The combined new output vector recalculates the standard deviation if the value is less than the threshold mu X If not, continuing to adjust according to the previous step until the requirement is met;
taking X-axis direction as an example, the comprehensive output value of the multi-MEMS gyroscope systemThe average value of the output values of all gyroscopes is used as the comprehensive output value, and the method can be calculated as follows.
In the method, in the process of the invention,to adjust the output values of the respective MEMS gyroscopes completed.
Step 3.2 error correction procedure
Further, in order to realize the adjustment of the output, correction parameters need to be corrected, any X-axis output is taken as an example, and the current gyroscopes needing to be adjusted and output can be provided with G th, j, …, G and the like, and the original output is thatThe output after adjustment is +.>The adjustment amount is
In the formula, taking the ith gyroscope as an example,
then it isThe adjustment is performed as follows. The above is written as taking into account time factors
Wherein d ()/dt is differential arithmetic symbol, and a, b and c are three parameters, which can be solved according to the following formula
And (3) forming a 3-element once equation set by combining equations (1), (2) and (3), and solving the equation set to obtain values of a, b and c.
The new correction parameters for the ith gyroscope are:
in the formula, the superscript' indicates the updated parameter.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "connected," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present invention, unless otherwise indicated, the terms "upper," "lower," "left," "right," "inner," "outer," and the like are used for convenience in describing the present invention and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not denote or imply that the devices or elements in question must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Finally, it should be noted that the above-mentioned technical solution is only one embodiment of the present invention, and various modifications and variations can be easily made by those skilled in the art based on the application methods and principles disclosed in the present invention, and are not limited to the methods described in the above-mentioned specific embodiments of the present invention, therefore, the foregoing description is only preferred, and not meant to be limiting.
Claims (4)
1. The collaborative error correction method for the multi-MEMS gyroscope is characterized by comprising the following steps of:
step S1: determining error correction initial parameters of each MEMS gyroscope; determining the multiple MEMSError correction initial parameters of each MEMS gyroscope in gyroscopes are provided with n MEMS gyroscopes T 1 ,T 2 ,…,T n Forming a multi-gyroscope cooperative measurement system TS, wherein the zero offset calibration value of each gyroscope is
Wherein X, Y, Z is the three axes of the gyroscope,the calibration values of zero offset in the three axial directions of the ith MEMS gyroscope are respectively obtained;
the parameter set matrix of the random noise filter function is
Wherein n is the number of MEMS gyroscopes, m is the number of parameters of random noise filtering function of the MEMS gyroscopes, f ij A j-th parameter representing the i-th MEMS gyroscope random noise filter function;
the temperature compensation function parameter matrix is
Wherein n is the number of MEMS gyroscopes, p is the number of parameters of the temperature compensation function of the MEMS gyroscopes, r ij A j-th parameter representing the i-th MEMS gyroscope temperature compensation function;
step S2: the multi-MEMS gyroscope performs system work and outputs angular velocities in three directions;
step S3: combining the error correction initial parameters and the three-direction angular speeds, and performing error correction on the multi-MEMS gyroscope by adopting online self-learning; the step S3 further comprises a step S3.1 of fitting the output values,
taking the X axis as an example, the angular velocity of the output of the gyroscope group composed of n gyroscopes in the X axis direction isIntroducing time t, the angular velocity output at time t is recorded as +.>
Judging whether the output value is abnormal or not, namely, correcting parameters;
calculating the standard deviation of the angular velocity of the outputStd () is a standard deviation calculation function;
if the standard deviation of the angular velocity is smaller than the threshold value mu X The consistency is considered to be better, adjustment is not needed, otherwise, correction is needed to be carried out on the calibration value of zero offset of part of gyroscopes;
the step S3.1 is followed by a step S3.2 error correction procedure,
any X-axis output is provided that the current gyroscope needing to be adjusted and output has G numbers of i, j, …, G and the like, and the original output isThe output after adjustment is +.>The adjustment amount is
In the formula, taking the ith MEMS gyroscope as an example,
then it isThe adjustment is carried out as follows; in view of the time-factor,
wherein d ()/dt is differential arithmetic symbol, a, b, c are three parameters, and the solution is carried out according to the following formula
Simultaneously (1), 2 and 3) to form a 3-element primary equation set, and solving the equation set to obtain values of a, b and c;
the new correction parameters of the ith MEMS gyroscope are:
in the formula, the superscript' indicates the updated parameter.
2. The correction method according to claim 1, wherein the step S2 specifically includes:
the multi-MEMS gyroscope system works in a specified range, the working temperature does not exceed the allowable value, and the 3-axis MEMS gyroscope output is the angular velocity omega in the X, Y, Z axis directions X ,ω Y ,ω Z After the system works, the angular velocity parameters in three directions are output
3. The correction method according to claim 2, wherein the step S3 specifically includes:
for the ith MEMS gyroscope, its output is represented as
In the method, in the process of the invention,zero bias for the ith MEMS gyroscope in 3 axes, Θ (f i1 ,f i2 ,…,f im )、Ω(r i1 ,r i2 ,…,r ip ) A temperature compensation function and a noise filtering function of the ith MEMS gyroscope, respectively,>andtemperature and noise for the ith MEMS gyroscope.
4. A correction method according to claim 3, characterized in that said step S3.1 further comprises the steps of:
finding gyroscopes with the greatest deviation from average, i.e. so thatTaking the maximum value to obtain i, and outputting the output value +.>Adjust to->
Will beReplaced by->The combined new output vector recalculates the standard deviation if the value is less than the threshold mu X If not, continuing to adjust according to the previous step until the requirement is met;
taking X-axis direction as an example, the comprehensive output value of the multi-MEMS gyroscope systemThe calculation is as follows;
in the method, in the process of the invention,to adjust each of the completionMEMS gyroscope output value;
output value for adjustment completionThe average value is calculated as the output value.
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