CN117346819A - High-precision two-axis separation type gyroscope calibration encoder system - Google Patents
High-precision two-axis separation type gyroscope calibration encoder system Download PDFInfo
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- CN117346819A CN117346819A CN202311300308.3A CN202311300308A CN117346819A CN 117346819 A CN117346819 A CN 117346819A CN 202311300308 A CN202311300308 A CN 202311300308A CN 117346819 A CN117346819 A CN 117346819A
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
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Abstract
The application relates to the technical field of gyroscope measurement and discloses a high-precision two-axis separation type gyroscope calibration encoder system, which comprises: a gyroscope module for measuring an angular velocity of the object; an encoder module for measuring the physical position of the gyroscope and providing position information; the control system module is used for processing the data of the gyroscope and the encoder; the algorithm module is used for processing and calibrating data processing of the gyroscope and the encoder; the user interface module is used for helping a user to control the system operation, view data and set calibration parameters; the data storage module is used for storing calibration data and other related information; and the communication module is used for transmitting the calibration result to other equipment or systems. Through setting up gyroscope module, communication module and algorithm module's use of mutually supporting, can be used to measure rotation and the slope of cloud platform, through improving measurement accuracy, can detect and correct gesture change more accurately to improve the stability of cloud platform.
Description
Technical Field
The invention relates to the technical field of gyroscope measurement, in particular to a high-precision two-axis separation type gyroscope calibration encoder system.
Background
In many scientific and engineering applications, precise measurement and control of angle, direction and position is required to ensure performance and stability of the system. In order to meet the requirements, magnetic encoders and encoder systems have become important tools and are widely applied to the fields of aviation, aerospace, navigation, automation control, industrial manufacturing and the like, wherein the magnetic encoders are easily influenced by surrounding magnetic fields (motors and the like) in devices such as cloud platforms and the like due to the characteristics of physical structures, and the angular linearity is poor, so that the measurement accuracy is low, and therefore, a plurality of problems exist in the application of the cloud platforms.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a high-precision two-axis separation type gyroscope calibration encoder system, which solves the problems that a magnetic encoder in the prior art is easily influenced by surrounding magnetic fields (motors and the like) when being applied to equipment such as a cloud platform and the like due to the characteristics of physical structures of the magnetic encoder, and the measurement precision is lower because of poor angular linearity.
In order to achieve the above purpose, the invention is realized by the following technical scheme: a high precision two-axis split gyroscope calibration encoder system, comprising:
a gyroscope module for measuring an angular velocity of the object;
an encoder module for measuring the physical position of the gyroscope and providing position information;
the control system module is used for processing the data of the gyroscope and the encoder;
the algorithm module is used for processing and calibrating data processing of the gyroscope and the encoder;
the user interface module is used for helping a user to control the system operation, view data and set calibration parameters;
the data storage module is used for storing calibration data and other related information;
the communication module is used for transmitting the calibration result to other equipment or systems;
and the output module is used for transmitting the measurement data to the display equipment.
Preferably, the gyroscope module includes:
a gyroscope A for detecting the gravitational acceleration and the rolling angle velocity of the vertical axis,
and the gyroscope B is used for detecting the gravity acceleration and the rolling angle speed of the fixed bottom plate.
Preferably, the communication module includes:
a data receiving unit for transmitting the measurement data from the system to the external device, and receiving the data from the external device and transmitting it to the system;
a communication protocol converter unit for ensuring correct transmission and interpretation of data;
the error detection and correction unit is used for detecting and correcting errors possibly occurring in the data transmission process and ensuring the integrity and accuracy of the data;
and the encryption unit is used for protecting the security of the data.
Preferably, the user interface module includes:
a graphic user interface unit for displaying system status, data chart, calibration result, etc.;
the data display unit is used for displaying gyroscope data, encoder data and the like acquired in real time;
the parameter configuration unit is used for configuring the sampling rate, the sensitivity, the filter setting and the like of the gyroscope by a user;
the method can help a user to process the data of the gyroscope and the encoder, the gyroscope is easy to be influenced by noise and drift, the encoder provides absolute position information and can be used for correcting the drift of the gyroscope, and drift errors in attitude estimation can be reduced by fusing the data of the gyroscope and the encoder, so that the long-term stability of the system is improved.
The calibration unit is used for providing a calibration function of the gyroscope and ensuring the accuracy and stability of the output data;
the alarm and notification unit is used for displaying system state, abnormality or alarm information so that a user can take measures in time;
for configuring and managing the unit for helping the user to log in the system through authentication to obtain a specific right.
Preferably, the data storage module includes:
the database unit is used for storing large-scale data and supporting efficient data query, insertion, update and deletion operations;
the real-time data storage unit is used for storing gyroscope data, encoder data and the like acquired in real time into a database;
a history data storage unit for storing history data;
a calibration data storage unit for storing calibration data of the gyroscope and the encoder;
the data compression and optimization unit is used for compressing and optimizing the stored data;
and the backup and recovery unit is used for providing data backup and recovery functions and ensuring the safety and reliability of the data.
Preferably, the control system module includes:
a sensor interface unit for connecting and receiving data of the gyroscope and the encoder;
the data processing unit is used for receiving the sensor data, executing a calibration algorithm and generating corrected posture information;
the power management unit is used for managing the power supply of the system and comprises the functions of voltage stabilization, overload protection and the like;
and the microcontroller unit is used for controlling and coordinating the whole system.
Preferably, the output module includes a uart unit, an SPI unit, and an IIC unit, for exchanging data with other devices or systems.
Preferably, electronic hardware modules are also included for supporting sensor operation and data processing, such as amplifiers, filters, analog-to-digital converters, and the like.
Preferably, the algorithm module includes a Kalman filtering algorithm and a smoothing filtering algorithm.
A method of operating a high precision two-axis split gyroscope calibration encoder system, comprising the steps of:
firstly, placing a gyroscope A on a vertical shaft to be detected, wherein the gyroscope A can detect the gravity acceleration and the rolling angle speed of the vertical shaft at the same time, transmitting data to an algorithm unit through a serial port, calculating a stable vertical shaft horizontal angle by the algorithm unit through a Kalman filtering and smoothing filtering algorithm, placing a gyroscope B on a fixed bottom plate, and transmitting data to the algorithm unit through the serial port, wherein the algorithm unit calculates a stable fixed bottom plate horizontal angle by the Kalman filtering and smoothing filtering algorithm;
calculating the angle of the vertical axis relative to the fixed bottom plate by the algorithm unit through calculating the difference value of the two angles, and outputting the angle in a serial communication mode such as uart or SPI, IIC and the like;
and thirdly, transmitting the calibration result to other equipment or systems by the communication module, and helping a user to control the system operation, check data and set calibration parameters through the user interface module, wherein the calibration unit can provide the calibration function of the gyroscope, ensure the accuracy and stability of the output data, and simultaneously set the alarm and notification unit to display the system state, abnormality or alarm information so that the user can take measures in time.
The invention provides a high-precision two-axis separation type gyroscope calibration encoder system. The beneficial effects are as follows:
1. the gyroscope module, the communication module and the algorithm module are matched for use, so that the rotation and inclination of the cradle head can be measured, the posture change can be detected and corrected more accurately by improving the measurement precision, the stability of the cradle head is improved, the measuring cradle head can be suitable for wider application scenes, including scientific research experiments requiring highly accurate control, industrial detection and other fields requiring high-precision positioning and stability, and the cradle head is convenient for people to use.
2. The invention can help a user to control the system operation, check data and set calibration parameters by setting the user interface module and the control system module, and simultaneously help the user to process the data of the gyroscope and the encoder.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a schematic view of the working state of the present invention;
FIG. 3 is a block diagram of a control system module according to the present invention;
FIG. 4 is a diagram of a gyroscope module frame in accordance with the present invention;
FIG. 5 is a frame diagram of an output module of the present invention;
FIG. 6 is a diagram of a communication module frame according to the present invention;
FIG. 7 is a user interface module frame diagram of the present invention;
FIG. 8 is a block diagram of a data storage module according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Examples:
referring to fig. 1-8, an embodiment of the present invention provides a high-precision two-axis separation type gyro calibration encoder system, including:
a gyroscope module for measuring the angular velocity of an object, comprising two independent gyroscopes for measuring the rotation rate about two mutually perpendicular axes.
The gyroscope module includes:
a gyroscope A for detecting the gravitational acceleration and the rolling angle speed of the vertical axis;
and the gyroscope B is used for detecting the gravity acceleration and the rolling angle speed of the fixed bottom plate.
An encoder module for measuring the physical position of the gyroscope, providing positional information, the encoder module being operable to determine the initial position of the gyroscope and provide a reference during calibration.
The control system module is used for processing the data of the gyroscope and the encoder;
the control system module includes:
a sensor interface unit for connecting and receiving data of the gyroscope and the encoder;
the data processing unit is used for receiving the sensor data, executing a calibration algorithm and generating corrected posture information;
the power management unit is used for managing the power supply of the system and comprises the functions of voltage stabilization, overload protection and the like;
and the microcontroller unit is used for controlling and coordinating the whole system.
The algorithm module is used for processing and calibrating data processing of the gyroscope and the encoder;
the algorithm module comprises a Kalman filtering algorithm and a smoothing filtering algorithm.
The user interface module is used for helping a user to control the system operation, view data and set calibration parameters; a user-friendly interface is provided to enable an operator to configure, monitor and control the system.
The user interface module includes:
a graphic user interface unit for displaying system status, data chart, calibration result, etc.;
wherein the graphical user interface unit comprises a graphical display window: display system status, data charts, calibration results, etc.
Buttons and menus: for triggering a specific function, configuration parameter or selection operation.
Text box and label: for displaying textual information, parameters or prompts
The data display unit is used for displaying gyroscope data, encoder data and the like acquired in real time;
wherein the data display unit includes real-time data display: and displaying gyroscope data, encoder data and the like acquired in real time.
Historical data chart: displaying a chart of historical data, facilitating user analysis and evaluation of a system performance parameter configuration unit, wherein the system performance parameter configuration unit is used for configuring sampling rate, sensitivity, filter setting and the like of a gyroscope by a user;
wherein the parameter configuration unit includes a gyroscope parameter configuration: allowing the user to configure the sampling rate, sensitivity, filter settings, etc. of the gyroscope.
Encoder parameter configuration: allowing a user to configure the resolution of the encoder, the supply voltage, etc.
System calibration parameter configuration: allowing the user to configure parameters in the calibration process, such as calibration method, calibration duration, etc.
The calibration unit is used for providing a calibration function of the gyroscope and ensuring the accuracy and stability of the output data;
the alarm and notification unit is used for displaying system state, abnormality or alarm information so that a user can take measures in time;
for configuration and management units for assisting a user in logging into the system by authentication to obtain specific rights
The data storage module is used for storing calibration data and other related information;
the data storage module includes:
the database unit is used for storing large-scale data and supporting efficient data query, insertion, update and deletion operations;
and the real-time data storage unit is used for storing the gyroscope data, the encoder data and the like acquired in real time into a database so as to facilitate subsequent analysis and monitoring.
And the historical data storage unit is used for storing historical data so that a user can inquire data in a specific time period.
And the calibration data storage unit is used for storing calibration data of the gyroscope and the encoder, and comprises calibration parameters, calibration time, calibration results and the like.
And the data compression and optimization unit is used for compressing and optimizing the stored data so as to reduce the occupation of the storage space and improve the efficiency of data reading and writing.
And the backup and recovery unit is used for providing data backup and recovery functions, ensuring the safety and reliability of the data, preventing the data from being lost and ensuring the safety and reliability of the data.
The communication module is used for transmitting the calibration result to other equipment or systems;
the communication module includes:
a data receiving unit for transmitting the measurement data from the system to the external device, and receiving the data from the external device and transmitting it to the system;
a communication protocol converter unit for ensuring correct transmission and interpretation of data;
the error detection and correction unit is used for detecting and correcting errors possibly occurring in the data transmission process and ensuring the integrity and accuracy of the data;
and the encryption unit is used for protecting the security of the data.
And the output module is used for transmitting the measurement data to the display equipment.
The output module comprises a uart unit, an SPI unit and an IIC unit and is used for exchanging data with other devices or systems.
Electronic hardware modules are also included for supporting sensor operation and data processing, such as amplifiers, filters, analog-to-digital converters, and the like.
A method of operating a high precision two-axis split gyroscope calibration encoder system, comprising the steps of:
firstly, placing a gyroscope A on a vertical shaft to be detected, wherein the gyroscope A can detect the gravity acceleration and the rolling angle speed of the vertical shaft at the same time, transmitting data to an algorithm unit through a serial port, calculating a stable vertical shaft horizontal angle by the algorithm unit through a Kalman filtering and smoothing filtering algorithm, placing a gyroscope B on a fixed bottom plate, and transmitting data to the algorithm unit through the serial port, wherein the algorithm unit calculates a stable fixed bottom plate horizontal angle by the Kalman filtering and smoothing filtering algorithm;
calculating the angle of the vertical axis relative to the fixed bottom plate by the algorithm unit through calculating the difference value of the two angles, and outputting the angle in a serial communication mode such as uart or SPI, IIC and the like;
and thirdly, transmitting the calibration result to other equipment or systems by the communication module, and helping a user to control the system operation, check data and set calibration parameters through the user interface module, wherein the calibration unit can provide the calibration function of the gyroscope, ensure the accuracy and stability of the output data, and simultaneously set the alarm and notification unit to display the system state, abnormality or alarm information so that the user can take measures in time.
In summary, through setting up the mutually supporting use of gyroscope module, communication module and algorithm module, can be used to measure the rotation and the slope of cloud platform, through improving measurement accuracy, can detect more accurately and correct the gesture change, thereby improve the stability of cloud platform, make the measurement cloud platform can be applicable to more extensive application scenario, including the scientific research experiment that needs highly accurate control, industry detects and other fields that need high accuracy location and stability, be convenient for people to use, through setting up the mutually supporting use of user interface module and control system module, thereby can help the user to control the system operation, look over data and carry out the setting of demarcation parameter, help the user to handle the data of gyroscope and encoder simultaneously, because the gyroscope is easily influenced by noise and drift, and the encoder provides absolute position information, can be used for correcting the drift of gyroscope, through fusing the data of both, drift error in the gesture estimation can be reduced, improve the long-term stability of system.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A high precision two-axis split gyroscope calibration encoder system, comprising:
a gyroscope module for measuring an angular velocity of the object;
an encoder module for measuring the physical position of the gyroscope and providing position information;
the control system module is used for processing the data of the gyroscope and the encoder;
the algorithm module is used for processing and calibrating data processing of the gyroscope and the encoder;
the user interface module is used for helping a user to control the system operation, view data and set calibration parameters;
the data storage module is used for storing calibration data and other related information;
the communication module is used for transmitting the calibration result to other equipment or systems;
and the output module is used for transmitting the measurement data to the display equipment.
2. The high precision two-axis split gyroscope calibration encoder system of claim 1, wherein the gyroscope module comprises:
a gyroscope A for detecting the gravitational acceleration and the rolling angle speed of the vertical axis;
and the gyroscope B is used for detecting the gravity acceleration and the rolling angle speed of the fixed bottom plate.
3. The high precision two-axis split gyroscope calibration encoder system of claim 1, wherein the communication module comprises:
a data receiving unit for transmitting the measurement data from the system to the external device, and receiving the data from the external device and transmitting it to the system;
a communication protocol converter unit for ensuring correct transmission and interpretation of data;
the error detection and correction unit is used for detecting and correcting errors possibly occurring in the data transmission process and ensuring the integrity and accuracy of the data;
and the encryption unit is used for protecting the security of the data.
4. The high precision two-axis split gyroscope calibration encoder system of claim 1, wherein the user interface module comprises:
a graphic user interface unit for displaying system status, data chart, calibration result, etc.;
the data display unit is used for displaying gyroscope data, encoder data and the like acquired in real time;
the parameter configuration unit is used for configuring the sampling rate, the sensitivity, the filter setting and the like of the gyroscope by a user;
the calibration unit is used for providing a calibration function of the gyroscope and ensuring the accuracy and stability of the output data;
the alarm and notification unit is used for displaying system state, abnormality or alarm information so that a user can take measures in time;
for configuring and managing the unit for helping the user to log in the system through authentication to obtain a specific right.
5. The high precision two-axis split gyroscope calibration encoder system of claim 1, wherein the data storage module comprises:
the database unit is used for storing large-scale data and supporting efficient data query, insertion, update and deletion operations;
the real-time data storage unit is used for storing gyroscope data, encoder data and the like acquired in real time into a database;
a history data storage unit for storing history data;
a calibration data storage unit for storing calibration data of the gyroscope and the encoder;
the data compression and optimization unit is used for compressing and optimizing the stored data;
and the backup and recovery unit is used for providing data backup and recovery functions and ensuring the safety and reliability of the data.
6. The high precision two-axis split gyroscope calibration encoder system of claim 1, wherein the control system module comprises:
a sensor interface unit for connecting and receiving data of the gyroscope and the encoder;
the data processing unit is used for receiving the sensor data, executing a calibration algorithm and generating corrected posture information;
the power management unit is used for managing the power supply of the system and comprises the functions of voltage stabilization, overload protection and the like;
and the microcontroller unit is used for controlling and coordinating the whole system.
7. The high precision two-axis split gyroscope calibration encoder system of claim 1, wherein the output module comprises uart unit, SPI unit and IIC unit for data exchange with other devices or systems.
8. The high precision two-axis split gyroscope calibration encoder system of claim 1, further comprising electronic hardware modules, such as amplifiers, filters, analog-to-digital converters, etc., for supporting sensor operation and data processing.
9. The high precision two-axis split gyroscope calibration encoder system of claim 1, wherein the algorithm module comprises a kalman filter algorithm and a smoothing filter algorithm.
10. A method of operating a high precision two-axis split gyroscope calibration encoder system according to any of claims 1 to 9, comprising the steps of:
firstly, placing a gyroscope A on a vertical shaft to be detected, wherein the gyroscope A can detect the gravity acceleration and the rolling angle speed of the vertical shaft at the same time, transmitting data to an algorithm unit through a serial port, calculating a stable vertical shaft horizontal angle by the algorithm unit through a Kalman filtering and smoothing filtering algorithm, placing a gyroscope B on a fixed bottom plate, and transmitting data to the algorithm unit through the serial port, wherein the algorithm unit calculates a stable fixed bottom plate horizontal angle by the Kalman filtering and smoothing filtering algorithm;
calculating the angle of the vertical axis relative to the fixed bottom plate by the algorithm unit through calculating the difference value of the two angles, and outputting the angle in a serial communication mode such as uart or SPI, IIC and the like;
and thirdly, transmitting the calibration result to other equipment or systems by the communication module, and helping a user to control the system operation, check data and set calibration parameters through the user interface module, wherein the calibration unit can provide the calibration function of the gyroscope, ensure the accuracy and stability of the output data, and simultaneously set the alarm and notification unit to display the system state, abnormality or alarm information so that the user can take measures in time.
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