CN201266087Y - Angular rate gyroscope - Google Patents
Angular rate gyroscope Download PDFInfo
- Publication number
- CN201266087Y CN201266087Y CNU2008201103363U CN200820110336U CN201266087Y CN 201266087 Y CN201266087 Y CN 201266087Y CN U2008201103363 U CNU2008201103363 U CN U2008201103363U CN 200820110336 U CN200820110336 U CN 200820110336U CN 201266087 Y CN201266087 Y CN 201266087Y
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- angular rate
- dsp processor
- output module
- change
- over circuit
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Abstract
The utility model discloses an angular rate gyroscope which comprises an angular rate sensor, a temperature sensor, a DSP processor and an output module, wherein the angular rate sensor is used for acquiring angular rate signals of a carrier, the angular rate signals are transmitted to the DSP processor by an A/D converting circuit, the temperature sensor is used for acquiring environment temperature signals of the carrier, the temperature signals are also transmitted to the DSP processor by the A/D converting circuit, the DSP processor performs the compensated operation to the acquired digital signals so as to obtain accurate angular rate data, the DSP processor is connected with the output module, and the angular rate data of the DSP processor is transmitted to a user computer by the output module. The utility model compensates system performances such as the system zero variation, the variation temperature sensitivity, and the like of the angular rate sensor, thereby improving the testing accuracy.
Description
Technical field
The utility model is the inertia measurement technology about departments such as Aeronautics and Astronautics, navigations, is specifically related to a kind of angular rate gyroscope.
Background technology
In industry fields such as Aeronautics and Astronautics, navigation, past is generally used mechanical angular rate gyroscope, as the floating angular rate gyroscope of liquid, the flexible angular rate gyroscope that rotation motor is arranged etc., these angular rate gyroscopes exist in actual applications volume big, cost an arm and a leg, flimsy shortcoming.At present, along with the progress of electronic technology, people have researched and developed the angular rate gyroscope of many micromechanics-electronic systems, as open loop angular rate gyroscope etc.But the output of this class angular rate gyroscope is subjected to technology and cost impact, the zero drift of the angular rate gyroscope that has is not through over-compensation, and output voltage is subjected to Temperature Influence very big, its output is the result have than mistake, if directly adopt the output data that changes angular rate gyroscope, the then motion of reaction carriers truly, thus can produce significant impact to the motion monitoring and the control of user's carrier.
The utility model content
The utility model overcomes the deficiencies in the prior art, provides a kind of measuring accuracy high angular rate gyroscope.
The technical solution of the utility model is:
A kind of angular rate gyroscope, it is characterized in that, comprise an angular rate sensor, one temperature sensor, one dsp processor and an output module, wherein, angular rate sensor is used to gather the angle rate signal of carrier, this angle rate signal is transported to dsp processor by the A/D change-over circuit, the simultaneous temperature sensor is used to gather the ambient temperature signal of carrier, this temperature signal also is transported to dsp processor by the A/D change-over circuit, dsp processor compensates computing to the above-mentioned digital signal that collects and obtains accurate angular rate data, dsp processor connects described output module, and the angular rate data of dsp processor is sent on the subscriber computer by above-mentioned output module.
Be provided with a D/A change-over circuit between described DSP digital processing unit and the output module, this D/A change-over circuit is used for digital signal is converted to simulating signal.
Between described DSP digital processing unit and output module a low-pass filter is set, this wave filter is used for the diagonal angle rate data information and carries out Filtering Processing.
Described DSP digital processing unit comprises a storer, and this storer is used to store the angular speed information and the temperature information of above-mentioned carrier.
One antialias wave filter is set between angular rate sensor and A/D change-over circuit, and the frequency bandwidth of this antialias wave filter is 1/4 of a sample frequency bandwidth.
Compared with prior art, the beneficial effects of the utility model are:
1, the utility model can compensate at system performances such as system's zero drift of angular rate sensor, deviation temperature control, scale factor, scale factor temperature controls, thereby improves measuring accuracy.
2, the utility model angular rate gyroscope inside is provided with a temperature sensor, is used for according to precise dose compensation tabulation to revise to external world measurement.Can detect in-40 ℃ to+85 ℃ scopes and realize that physical construction that drift and temperature to zero point and scale factor cause changes not lining up of causing and compensates.
3, the angular rate data precision that records of the utility model can be compared with silicon micro-angular gyro product, and price is more much lower than silicon micro-angular gyro.
Description of drawings
Fig. 1 is the utility model structural representation.
Embodiment
Below in conjunction with the drawings and specific embodiments the utility model is described in further detail:
The utility model comprises: angular rate sensor chip, temperature sensor chip, A/D change-over circuit, dsp processor chip and D/A change-over circuit and output interface.
Angular rate sensor is gathered the angular rate data of carrier, and is transferred to the A/D change-over circuit;
Because the sampled data stream of A/D change-over circuit output angle rate sensor.For the another name that will avoid exporting, use 1/4 the analog filter of a frequency as the sample frequency bandwidth.After antialias filtering, carry out the A/D conversion at once, because this just can reduce the noise of system and increase stability.Sample frequency is approximately 1000Hz, is 4 times of angular rate sensor bandwidth.The A/D change-over circuit is sent into dsp processor after the sampled data stream of angular rate sensor is converted to digital signal.
Simultaneously, temperature sensor is used to gather the ambient temperature signal of carrier, and this temperature signal also is transported to dsp processor by the A/D change-over circuit.
Dsp processor imports test parameters and empirical curve and compensates calculating according to system performances such as system's zero drift, deviation temperature control, scale factor, scale factor temperature controls, obtains accurate angular rate data.
In order to prevent self-vibration, the high frequency noise that exciting and other reasons produce by inertia device.Dsp processor connects a low-pass filter, and the bandwidth of this wave filter is 100Hz, can satisfy most of inertia and use.
The utility model can be connected to subscriber equipmenies such as computing machine, industrial computer by output module, export navigator fix information and temporal information in real time.But corresponding structure is PCI or other forms of interface also.
Implementation process of the present utility model is as follows:
1. angular rate sensor chip acquisition angle speed data and be transferred to the A/D change-over circuit at first.
2.A/D circuit is sent into dsp processor after being converted into digital signal, processor carries out system balance according to test parameters of storing among the EEPROM and temperature information according to the empirical curve and the backoff algorithm software that import again, obtains high-precision angular rate data.
The sail angle rate data information through the D/A change-over circuit be converted to+/-output of the aanalogvoltage of 5V, provide the client to use.
More than by specific embodiment angular rate gyroscope provided by the utility model has been described, it will be understood by those of skill in the art that in the scope that does not break away from the invention essence, can make certain deformation or modification to the utility model.
Claims (6)
1, a kind of angular rate gyroscope, it is characterized in that, comprise an angular rate sensor, one temperature sensor, one dsp processor and an output module, wherein, angular rate sensor is used to gather the angle rate signal of carrier, this angle rate signal is transported to dsp processor by the A/D change-over circuit, simultaneously, temperature sensor is gathered the ambient temperature signal of carrier, this temperature signal also is transported to dsp processor by the A/D change-over circuit, dsp processor compensates computing to the above-mentioned digital signal that collects and obtains accurate angular rate data, dsp processor connects described output module, and the angular rate data of dsp processor is sent on the subscriber computer by above-mentioned output module.
2, angular rate gyroscope as claimed in claim 1 is characterized in that, is provided with a D/A change-over circuit between described DSP digital processing unit and the output module, and this D/A change-over circuit is used for digital signal is converted to simulating signal.
3, angular rate gyroscope as claimed in claim 1 or 2 is characterized in that, between described DSP digital processing unit and output module a low-pass filter is set, and this wave filter is used for the diagonal angle rate data information and carries out Filtering Processing.
4, angular rate gyroscope as claimed in claim 1 is characterized in that, described DSP digital processing unit comprises a storer, and this storer is used to store the angular speed information and the temperature information of above-mentioned carrier.
5, angular rate gyroscope as claimed in claim 1 is characterized in that, an antialias wave filter is set between angular rate sensor and A/D change-over circuit.
6, angular rate gyroscope as claimed in claim 5 is characterized in that, the frequency bandwidth of described antialias wave filter is 1/4 of a sample frequency bandwidth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201103363U CN201266087Y (en) | 2008-09-05 | 2008-09-05 | Angular rate gyroscope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201103363U CN201266087Y (en) | 2008-09-05 | 2008-09-05 | Angular rate gyroscope |
Publications (1)
| Publication Number | Publication Date |
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| CN201266087Y true CN201266087Y (en) | 2009-07-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008201103363U Expired - Fee Related CN201266087Y (en) | 2008-09-05 | 2008-09-05 | Angular rate gyroscope |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102135428B (en) * | 2010-01-25 | 2012-06-27 | 北京三驰科技发展有限公司 | Method for temperature compensation of fiber optic gyroscope |
| CN103699157A (en) * | 2013-12-20 | 2014-04-02 | 河北汉光重工有限责任公司 | High-precision control device of temperature control box |
| CN104634991A (en) * | 2013-11-12 | 2015-05-20 | 精工爱普生株式会社 | IC for sensor, sensor device, electronic apparatus and moving body |
| CN106643684A (en) * | 2016-10-19 | 2017-05-10 | 北京七维航测科技股份有限公司 | Double-axis digital gyroscope and gyroscope multi-level error compensation method |
| CN113639705A (en) * | 2021-08-03 | 2021-11-12 | 北京航宇测通电子科技有限公司 | Method, system and device for measuring angular displacement |
-
2008
- 2008-09-05 CN CNU2008201103363U patent/CN201266087Y/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102135428B (en) * | 2010-01-25 | 2012-06-27 | 北京三驰科技发展有限公司 | Method for temperature compensation of fiber optic gyroscope |
| CN104634991A (en) * | 2013-11-12 | 2015-05-20 | 精工爱普生株式会社 | IC for sensor, sensor device, electronic apparatus and moving body |
| CN103699157A (en) * | 2013-12-20 | 2014-04-02 | 河北汉光重工有限责任公司 | High-precision control device of temperature control box |
| CN106643684A (en) * | 2016-10-19 | 2017-05-10 | 北京七维航测科技股份有限公司 | Double-axis digital gyroscope and gyroscope multi-level error compensation method |
| CN113639705A (en) * | 2021-08-03 | 2021-11-12 | 北京航宇测通电子科技有限公司 | Method, system and device for measuring angular displacement |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee |
Owner name: BEIJING SDI SCIENCE + TECHNOLOGY CO., LTD. Free format text: FORMER NAME: BEIJING SDI TECH. DEVELOPMENT CO., LTD. |
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| CP01 | Change in the name or title of a patent holder |
Address after: 100080 Beijing City, Haidian District Zhongguancun street, No. 19 gate building block B room 910 Patentee after: Beijing SDi Science & Technology Co., Ltd. Address before: 100080 Beijing City, Haidian District Zhongguancun street, No. 19 gate building block B room 910 Patentee before: Beijing SDi Tech. Development Co., Ltd. |
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| C56 | Change in the name or address of the patentee | ||
| CP02 | Change in the address of a patent holder |
Address after: 100094, No. 11 East Feng Chi Road, northwest town, Beijing, Haidian District Patentee after: Beijing SDi Science & Technology Co., Ltd. Address before: 100080 Beijing City, Haidian District Zhongguancun street, No. 19 gate building block B room 910 Patentee before: Beijing SDi Science & Technology Co., Ltd. |
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| DD01 | Delivery of document by public notice | ||
| DD01 | Delivery of document by public notice |
Addressee: Beijing SDi Science & Technology Co., Ltd. Document name: Notification of Termination of Patent Right |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090701 Termination date: 20170905 |