CN206479182U - A kind of three axle micro-mechanical gyroscopes and gyroscope detection device - Google Patents

Abstract

The utility model discloses a kind of three axles micro-mechanical gyroscope and gyroscope detection device.The three axle micro-mechanical gyroscopes that the utility model embodiment is provided include：Gyro chip component, gyro board component, control panel and housing, gyro chip component include X-axis, Y-axis and Z axis gyro chip, and gyro board component includes being provided with first processor on X-axis, Y-axis and Z axis gyro plate, control panel；X-axis, Y-axis and Z axis gyro plate are connected with control panel respectively；X-axis, Y-axis and Z axis gyro chip are installed on X-axis, Y-axis and Z axis gyro plate correspondingly；X-axis, Y-axis and Z axis gyro plate is are vertically arranged two-by-two, and X-axis and Y-axis gyro plate are vertically arranged with control panel respectively, and Z axis gyro plate be arranged in parallel with control panel；Gyro board component and control panel are arranged on enclosure interior.The utility model embodiment solves gyroscope of the prior art and is difficult on the basis of measurement accuracy requirement is ensured, while taking into account small volume and cost is low the problem of require.

Description

A kind of three axle micro-mechanical gyroscopes and gyroscope detection device

Technical field

The utility model is related to gyroscope technology field, and espespecially a kind of three axles micro-mechanical gyroscope and gyroscope detection is set It is standby.

Background technology

With the development of e measurement technology, the angular speed of terminal device motion can be by configuring existing in the terminal device Gyroscope measure.

The metering system of the angular speed of current terminal device, the measuring method of the high-precision inertia device mainly used, i.e., It is that, by configuring lasergyro in terminal device, the high accuracy inertial device such as restrained gyroscope carries out positioning measurement.It is above-mentioned The gyroscope of high-precision inertia device generally haves the shortcomings that for example volume is bigger than normal, can influence terminal device to be measured Portability, and the high expensive of the gyroscope of high-precision inertia device is unfavorable for realizing cost degradation requirement；In addition, Other volumes gyroscope less than normal, because measurement accuracy is generally relatively low, it is difficult to meet measurement demand.

In summary, gyroscope of the prior art is difficult on the basis of measurement accuracy requirement is ensured, while taking into account body Long-pending small and cost is low to be required, therefore, is unfavorable for producing and using on a large scale.

Utility model content

In order to solve the above-mentioned technical problem, the utility model provides a kind of three axles micro-mechanical gyroscope and gyroscope is detected Equipment, with solve gyroscope of the prior art be difficult to ensure measurement accuracy requirement on the basis of, while take into account small volume and Cost is low the problem of require.

The utility model provides a kind of three axles micro-mechanical gyroscope, including：Gyro chip component, gyro board component, control Plate and housing, the gyro chip component include X-axis gyro chip, Y-axis gyro chip and Z axis gyro chip, the gyro plate Component includes being provided with first processor on X-axis gyro plate, Y-axis gyro plate and Z axis gyro plate, the control panel；

Wherein, the X-axis gyro plate, the Y-axis gyro plate and the Z axis gyro plate are connected with the control panel respectively Connect；

The X-axis gyro chip is installed on the X-axis gyro plate, and the Y-axis gyro chip is installed on the Y-axis gyro On plate, the Z axis gyro chip is installed on the Z axis gyro plate；

The X-axis gyro plate, the Y-axis gyro plate and the Z axis gyro plate is are vertically arranged two-by-two, and the X-axis Gyro plate and the Y-axis gyro plate are vertically arranged with the control panel respectively, and the Z axis gyro plate is parallel with the control panel to be set Put；

The X-axis gyro plate, the Y-axis gyro plate, the Z axis gyro plate and the control panel are arranged on the housing It is internal.

Alternatively, in three axles micro-mechanical gyroscope as described above, the first processor installed on the control panel Electrically connected respectively with the X-axis gyro chip, the Y-axis gyro chip and the Z axis gyro chip；

Wherein, the X-axis gyro chip, the Y-axis gyro chip and the Z axis gyro chip are respectively used to described in measurement The data message of three axle micro-mechanical gyroscopes, and transmit the data message that this gyro chip is measured to the first processor；

The first processor, for receiving the X-axis gyro chip, the Y-axis gyro chip and the Z axis gyro core The data message that piece is transmitted to the first processor respectively, and according to compensating parameter, to being received from each gyro chip To data message compensate processing.

Alternatively, in three axles micro-mechanical gyroscope as described above, the X-axis gyro chip, the Y-axis gyro chip and The Z axis gyro chip is micromechanical gyro chip；Or/and,

The X-axis gyro chip, the Y-axis gyro chip and the Z axis gyro chip be model MGZ310HC or MGZ305HC chip.

Alternatively, in three axles micro-mechanical gyroscope as described above, the housing includes：Shell, bottom and electric connector；

Wherein, the X-axis gyro plate is installed on a side wall in the shell, and the Y-axis gyro plate is installed on described The side wall adjacent with the X-axis gyro plate in shell, the Z axis gyro plate is installed on the top in the shell, the control Plate is installed on the bottom in the shell；

The bottom is installed on the bottom of the shell, and each the gyro plate and the control panel are packaged in into the bottom In lid and the closing space of shell formation；

The electric connector be installed on the interface of the electric device installed on the spigot of the shell, the control panel with Corresponding interface electrical connection on the electric connector.

Alternatively, in three axles micro-mechanical gyroscope as described above, power supply, the power supply are also equipped with the control panel It is connected respectively with each the gyro plate and the first processor；

The power supply, for being powered to each the gyro plate and the first processor.

Alternatively, in three axles micro-mechanical gyroscope as described above, data input chip is also equipped with the control panel With data pio chip；

Wherein, the data input chip, the compensating parameter for external equipment to be sent is transferred to first processing Device；

The data output chip, for the first processor to be compensated into the data information transfer obtained after processing To the external equipment.

Alternatively, in three axles micro-mechanical gyroscope as described above, the first processor is also connected with external equipment；

The first processor, is additionally operable to receive the order that the external equipment is sent, and carry out with the external equipment Communication.

Alternatively, in three axles micro-mechanical gyroscope as described above, memory is also equipped with the control panel, it is described to deposit Reservoir is connected with the first processor；

The memory, product data information and the first processor for storing the three axles micro-mechanical gyroscope The compensating parameter received from external equipment；

The first processor, is additionally operable to from the memory read the compensating parameter.

The utility model provides a kind of gyroscope detection device, including：Second processor, the second processor with it is above-mentioned The first processor in three axle micro-mechanical gyroscopes described in any one is connected；

Wherein, the second processor, is led to for the first processor with the three axles micro-mechanical gyroscope Letter, obtains the data message of each gyro chip transmission；

The second processor, is additionally operable to analyze acquired data message, generates to the three axles micromechanics Gyroscope carries out the compensating parameter of error compensation；

The second processor, is additionally operable to being transferred to the compensating parameter into described the of the three axles micro-mechanical gyroscope One processor.

Alternatively, in gyroscope detection device as described above, the mode of operation of the three axles micro-mechanical gyroscope includes Initialization pattern, normal mode of operation and service mode；

The second processor, is additionally operable to send to the first processor and orders, with to the three axles micromechanical gyro The mode of operation of instrument is configured so that the three axles micro-mechanical gyroscope performs corresponding behaviour under different mode of operations Make.

Three axle micro-mechanical gyroscopes and gyroscope detection device that the utility model is provided, by using three axis accelerometer chip The Sensitive Apparatus of three axle micro-mechanical gyroscopes is constituted, the three axis accelerometer chip is respectively arranged on corresponding three axis accelerometer plate, should Three axis accelerometer plate is connected with control panel respectively, and three gyro plates are to be vertically arranged two-by-two so that three axis accelerometer chip is same Sample is position relationship perpendicular to each other, and one of gyro chip is parallel with control panel；The utility model embodiment passes through above-mentioned The electric device composition and mounting structure of three axle micro-mechanical gyroscopes, can not only obtain high-precision angular velocity measurement data, And because the component of the three axles micro-mechanical gyroscope is relatively simple, mounting structure is compact and is easy to production, is conducive to To small size and three axle micro-mechanical gyroscopes of low cost, it is difficult to ensureing measurement so as to solve gyroscope of the prior art On the basis of required precision, while taking into account small volume and cost is low the problem of require.

Brief description of the drawings

Accompanying drawing is used for providing and further understanding technical solutions of the utility model, and constitutes a part for specification, It is used to explain the technical solution of the utility model together with embodiments herein, does not constitute to technical solutions of the utility model Limitation.

A kind of structural representation for three axles micro-mechanical gyroscope that Fig. 1 provides for the utility model embodiment；

A kind of electrical block diagram for three axles micro-mechanical gyroscope that Fig. 2 provides for the utility model embodiment；

The structural representation for another three axles micro-mechanical gyroscope that Fig. 3 provides for the utility model embodiment；

The electrical block diagram for another three axles micro-mechanical gyroscope that Fig. 4 provides for the utility model embodiment；

The electrical block diagram for another three axle micro-mechanical gyroscope that Fig. 5 provides for the utility model embodiment；

A kind of structural representation for gyroscope detection device that Fig. 6 provides for the utility model embodiment；

A kind of workflow schematic diagram for the three axle micro-mechanical gyroscopes that Fig. 7 provides for the utility model embodiment；

A kind of schematic flow sheet of the compensation deals for the three axle micro-mechanical gyroscopes that Fig. 8 the utility model embodiment is provided；

The schematic diagram of the mode of operation for the three axle micro-mechanical gyroscopes that Fig. 9 provides for utility model embodiment.

Embodiment

For the purpose of this utility model, technical scheme and advantage is more clearly understood, below in conjunction with accompanying drawing to this The embodiment of utility model is described in detail.It should be noted that in the case where not conflicting, embodiment in the application and Feature in embodiment can be mutually combined.

Can be in the computer system of such as one group computer executable instructions the step of the flow of accompanying drawing is illustrated Perform.And, although logical order is shown in flow charts, but in some cases, can be with suitable different from herein Sequence performs shown or described step.

The technical solution of the utility model is described in detail below by specific embodiment, below the utility model Three axle micro-mechanical gyroscopes in each embodiment are three axis angular rate gyroscopes, and the three axles micro-mechanical gyroscope can be realized high-precision Degree measurement, and meet the demand of small volume.The utility model provides following specific embodiment and can be combined with each other, It may be repeated no more for same or analogous concept or process in some embodiments.

A kind of structural representation for three axles micro-mechanical gyroscope that Fig. 1 provides for the utility model embodiment.Such as Fig. 1 institutes Show, the three axle micro-mechanical gyroscopes 10 that the utility model embodiment is provided include：Gyro chip component 130, gyro board component 110 With control panel 120 and housing 140 (housing 140 not shown in Fig. 1).

In the utility model embodiment, the gyro chip component 130 includes X-axis gyro chip 131, Y-axis gyro chip 132 and Z axis gyro chip 133, the gyro board component 130 includes X-axis gyro plate 111, Y-axis gyro plate 112 and Z axis gyro plate 113, first processor 121 is installed (because the first processor 121 in Fig. 1 is located at control panel 120 on the control panel 120 Lower section, therefore, in Fig. 1 does not show that the first processor 121, and the installation site of first processor 121 may be referred to figure 3 below Shown structure), and X-axis gyro plate 111, Y-axis gyro plate 112 and Z axis gyro plate 113 be connected with control panel 120 respectively. It should be noted that Fig. 1 structure does not show that to show the position relationship and mounting structure of each component of the inside of gyro 10 The annexation of X-axis gyro plate 111, Y-axis gyro plate 112 and Z axis gyro plate 113 and the control panel 120, the annexation can be with Circuit structure with reference to described in figure 2 below.

In actual applications, the mounting structure of three axle micro-mechanical gyroscopes 10 can be the utility model embodiment：X-axis top Spiral shell chip 131 is installed on X-axis gyro plate 111, and Y-axis gyro chip 132 is installed on Y-axis gyro plate 112, Z axis gyro chip 133 are installed on 113 on Z axis gyro plate；In addition, X-axis gyro plate 111, Y-axis gyro plate 112 and Z axis gyro plate 113 is two-by-two Be vertically arranged, and X-axis gyro plate 111 and Y-axis gyro plate 112 are vertically arranged with control panel 120 respectively, Z axis gyro plate 113 with Control panel 120 be arranged in parallel；Also, X-axis gyro plate 111, Y-axis gyro plate 112, Z axis gyro plate 113 and control panel 120 are pacified Gyro chip component 130, gyro board component 110 and control panel 120 can be encapsulated mounted in the inside of housing 140, i.e. housing 140 With the inside cavity of the housing 140 (architectural feature is referred to Fig. 3).

The three axle micro-mechanical gyroscopes 10 that the utility model embodiment is provided can be seen that by stereochemical structure shown in Fig. 2 Structure be conducive to reduce gyroscope volume.It is above-mentioned to have been described above each gyro plate and be connected respectively with control panel 120, due to Each gyro plate and control panel 120 are pcb board, and wire is provided with the pcb board, can by configuring the wire on pcb board, So that each gyro chip is connected with the first processor 121 on control panel 120 respectively.In actual applications, due to X-axis top Spiral shell plate 111 and Y-axis gyro plate 112 are bordered by with control panel 120, therefore, and X-axis gyro plate 111 and Y-axis gyro plate 112 can pass through Wire is connected with control panel 120；Further, since Z axis gyro plate 113 be arranged in parallel with control panel 120, and without straight Contact, therefore, Z axis gyro plate 113 can be connected by flexible cable (i.e. flexible circuit conductor) with control panel 120, so both be protected The stability of circuit has been demonstrate,proved, the exploitativeness of assembling process is in turn ensure that.

In actual applications, X-axis gyro chip 131, Y-axis gyro chip 132 and Z axis gyro chip 133 can be micro- electricity (Micro Electro Mechanical Systems are referred to as sub- mechanical system：MEMS) gyro chip, also known as：Microcomputer Tool gyro chip, for example, can use the micromechanical gyro chip of Xin Donglian sections, and the micromechanical gyro chip is commonly used to height In the measurement of the angular speed of precision, the first processor of above-mentioned three pieces of micromechanical gyro chips respectively with being configured on control panel 120 121 are connected, and the control panel 120 can for example use advanced reduced instruction set machine (Advanced RISC Machine, letter Referred to as：ARM) control panel 120.

In the utility model embodiment, because the Sensitive Apparatus of three axle micro-mechanical gyroscopes 10 is three shaft mechanical gyro cores Piece, the error for three axle micro-mechanical gyroscopes 10 being made up of three axle micromechanical gyro chips mainly includes：Zero is inclined, constant multiplier is missed Difference, nonlinearity erron and alignment error etc..It should be noted that due to inertia device dimensional structure, material modulus of elasticity with And the performance of electronic device can all change with the change of temperature in detection circuit, the zero-bit output of three axle micro-mechanical gyroscopes 10 It can change with scale factor with environment temperature so that the precision reduction of three axle micro-mechanical gyroscopes 10, work preheating time increases It is long, accordingly, it would be desirable to the zero of three axle micro-mechanical gyroscopes 10 partially, constant multiplier compensate, it is hereby achieved that high-precision Three axle micro-mechanical gyroscopes 10.Further, since the component for the three axle micro-mechanical gyroscopes 10 that the utility model embodiment is provided It is relatively simple, it is easy to generation, three axis accelerometer version and the combination of control panel 120 can reduce by three axle micro-mechanical gyroscopes as far as possible 10 spatial volume, therefore, it can obtain three axle micro-mechanical gyroscopes 10 of small size and low cost.

The three axle micro-mechanical gyroscopes that the utility model embodiment is provided, constitute three axles micro- by using three axis accelerometer chip The Sensitive Apparatus of mechanical gyroscope, the three axis accelerometer chip is respectively arranged on corresponding three axis accelerometer plate, the three axis accelerometer plate It is connected respectively with control panel, and three gyro plates are to be vertically arranged two-by-two so that and three axis accelerometer chip is similarly vertical two-by-two Straight position relationship, one of gyro chip is parallel with control panel；The utility model embodiment passes through above-mentioned three axles micromechanics The electric device composition and mounting structure of gyroscope, can not only obtain high-precision angular velocity measurement data, and due to this The component of three axle micro-mechanical gyroscopes is relatively simple, and mounting structure is compact and is easy to production, be conducive to obtaining small size and Three axle micro-mechanical gyroscopes of low cost, are difficult to ensureing measurement accuracy requirement so as to solve gyroscope of the prior art On the basis of, while taking into account small volume and cost is low the problem of require.

Alternatively, the circuit structure signal for a kind of three axles micro-mechanical gyroscope that Fig. 2 provides for the utility model embodiment Figure.As shown in Fig. 2 it is above-mentioned have been described above X-axis gyro plate 111, Y-axis gyro plate 112 and Z axis gyro plate 113 respectively with control panel 120 are connected, and can be obtained in the utility model embodiment between each chip by the wire and flexible circuit conductor on each pcb board Annexation is：X-axis gyro chip 131, Y-axis gyro chip 132 and Z axis gyro chip 133, respectively with first processor 121 Electrical connection, you can to transmit data to first processor 121.The reality that schematic diagram shown in Fig. 2 passes through three axle micro-mechanical gyroscopes 10 Border circuit composition illustrates the operation principle of the three axles micro-mechanical gyroscope 10.

X-axis gyro chip 131, Y-axis gyro chip 132 and Z axis gyro chip 133 in the utility model embodiment, point The data message of three axle micro-mechanical gyroscopes 10 Yong Yu not be measured, and the measurement of this gyro chip is transmitted to first processor 121 Data message；Wherein, the data message includes following one or more：Magnitude of angular velocity and temperature data information.In practical application In, the three axis accelerometer chip that three axle micro-mechanical gyroscopes 10 of the utility model embodiment include, i.e., above-mentioned X-axis gyro chip 131st, Y-axis gyro chip 132 and Z axis gyro chip 133, the three axis accelerometer chip are respectively used to measure three axle micro-mechanical gyroscopes 10 motion state on axially different, can also measure the temperature data information of this gyro chip, and the data measured Information is sent to first processor 121, and above-mentioned three axis accelerometer chip can be exported with certain frequency according to the demand of user and met The three-dimensional angular velocity value of precision index requirement.

First processor 121, for receiving 133 points of X-axis gyro chip 131, Y-axis gyro chip 132 and Z axis gyro chip The data message not transmitted to the first processor 121, and according to compensating parameter, to the data received from each gyro chip Information compensates processing；Wherein, above-mentioned compensating parameter includes following one or more：Zero inclined temperature compensation parameter, scale Temperature compensation parameter, nonlinear compensation parameter and alignment error compensating parameter.

The utility model embodiment in actual applications, X-axis gyro chip 131, Y-axis gyro chip 132 and Z axis gyro core Piece 133 can select model MGZ310HC or MGZ305HC micromechanical gyro chip；First processor 121 can select type Number be STM32F405 processor chips.

Alternatively, the structural representation for another three axles micro-mechanical gyroscope that Fig. 3 provides for the utility model embodiment. As shown in figure 3, shown in Fig. 1 on the architecture basics of three axle micro-mechanical gyroscopes 10, the three axle micromechanics tops that the present embodiment is provided The housing 140 of spiral shell instrument 10 can include：Shell 141, bottom 142 and electric connector 143.

Wherein, X-axis gyro plate 111 is installed on a side wall in shell 141, and Y-axis gyro plate 112 is installed on shell 141 The interior side wall adjacent with X-axis gyro plate 111, Z axis gyro plate 113 is installed on the top in shell 141, and control panel 120 is installed on Bottom in shell 141；In addition, bottom 142 is installed on the bottom of shell 141, the bottom 142 is located at the lower section of control panel 120. Gyro board component 110 and control panel 120 can be packaged in the closing sky that bottom 142 and shell 141 are formed by above-mentioned mounting structure In, each gyro plate and control panel 120 it will be packaged in the closing space of bottom 142 and the formation of shell 141；Electric connector 143 be installed on the electric device installed on the spigot of shell 141, control panel 120 interface it is corresponding with electric connector 143 Interface is electrically connected, that is to say, that each interface interface electrical connection corresponding with electric connector 143 of first processor 121.

In the utility model embodiment, X-axis gyro plate 111, Y-axis gyro plate 112 and Z axis gyro plate 113 and shell 141 Mounting means can be：Four corners of each gyro plate using screw be arranged on shell 141 on, control panel 120 with The mounting means of bottom 142 equally can be：It is arranged in four corners of control panel 120 using screw on bottom 142, it is above-mentioned X-axis gyro plate 111, Y-axis gyro plate 112 and Z axis gyro plate 113 and control panel 120 can be printed circuit board (Printed Circuit Board, referred to as：PCB), the mounting means between pcb board and shell 141, and pcb board and bottom 142, all It can be fixed by screw.Above-mentioned mounting means, after shell 141 and bottom 142 are installed, each gyro plate and control panel 120 are all closed in the confined space of shell 141 and the formation of bottom 142, in addition, a socket is additionally provided with shell 141, should Spigot is used to install electric connector 143, electric connector 143 can be installed on into shell 141 by the socket screws of customization Spigot, reaches while electric connector 143 is fixed on the side plate of shell 141, also leaves fixed reinforcing to electric connector 143 Screwed hole, have multiple interfaces on the electric connector 143, can be connect as the input and output of the electric device on control panel 120 Mouth, ground wire etc..In actual applications, the installation of shell 141 and bottom 142, can use conductive rubber strip to play shield gasket Effect, the mounting means of shell 141 can be three-point fix, and three mounting holes have high-precision mounting surface, and are being electrically connected Connecing the lower section of device 143 has the reference plane of high-precision vertical plane, is conducive to improving the installation accuracy of three axle micro-mechanical gyroscopes 10.

During actual installation, each gyro chip and the mounting means of corresponding gyro plate, Ke Yiwei：By each top Spiral shell chip is welded on correspondingly gyro plate, then, three gyro plates is carried out into orthogonal installation, and need guarantee to be equipped with top Three gyro plate degree of being mutually perpendicular to of spiral shell chip are not more than 0.01 millimeter (mm), and three gyro plates are arranged in into shell respectively The left walls of 141 inner chambers, rear wall and top (position is only schematically illustrated, as long as meet the other positions of installation requirements Can implement), control panel 120 is installed on the bottom in shell 141, is particularly located at the top of bottom 142, in shell 141 A side plate on the interface and the electric connector 143 of each electric device on electric connector 143, control panel 120 are installed Upper corresponding interface electrical connection, i.e. each electric device on control panel 120 can by with connecing that the electric connector 143 is connected Mouth carries out data interaction with external equipment, and the electric connector 143 can for example use model J30J-15ZK electric connector 143。

Alternatively, the circuit structure for another three axles micro-mechanical gyroscope that Fig. 4 provides for the utility model embodiment shows It is intended to.On the basis of circuit structure shown in above-mentioned Fig. 2, the three axle micro-mechanical gyroscopes 10 that the utility model embodiment is provided In, power supply 122 is also equipped with control panel 120, the power supply 122 is connected with each gyro plate and first processor 121 respectively, The power supply 122 can be seen that by above-mentioned connected mode, for being powered to each gyro plate and first processor 121, by power supply 122 and each gyro plate connected mode understand, power supply 122 is electrically connected with the gyro chip on each gyro plate, and to While each gyro plate is powered, powered to each gyro chip.In actual applications, power supply 122 can for example use direct current (Low Dropout Regulator are referred to as power supply-dc source (DC-DC) converter and low pressure difference linear voltage regulator： LDO circuit design), each gyro chip is powered for example with+5 volts (V) power supply, and first processor 121 is for example with+3.3V Power supply is powered.The type for the power supply 122 that the utility model embodiment is used, can be effectively ensured to first processor 121 and every The power supply of individual gyro chip.

Alternatively, in the utility model embodiment, the He of data input chip 123 is also equipped with control panel 120 Data output chip 124；Wherein, the data input chip 123, the compensating parameter for external equipment to be sent is transferred to first Processor 121；The data output chip 124, is passed for first processor 121 to be compensated to the data message obtained after processing It is defeated by external equipment.In actual applications, data input chip 123 and data pio chip 124, which can be used, has balance electricity The chip of the electrical characteristic of digital interface circuit is pressed, such as above-mentioned data input chip 123 and data pio chip 124 can be adopted With model RS422 chip, the RS422 chip definitions characteristic of interface circuit can support the two-way of point-to-multipoint Letter, first processor 121 can carry out data exchange by RS422 chips and external equipment.

The operation principle of three axle micro-mechanical gyroscopes 10 that the utility model embodiment is provided is：Three axle micro-mechanical gyroscopes On 10 after electricity, carry out after fault detect and initialization pattern, each proper device operation of detecting system, each top of real-time reception The original pulse data of spiral shell chip, include the angular speed and temperature value of each gyro chip measurement, then the data measured are entered Row, which computes and compensates for handling, obtains the sensitive angular speed of carrier, and external equipment is sent to finally by RS422 chips.

Alternatively, in the utility model embodiment, slave computer module can be provided with first processor 121, and The first processor 121 is also connected with external equipment, the slave computer module of the first processor 121, is set for receiving outside The order that preparation is sent, and data acquisition, data processing are carried out when three axle micro-mechanical gyroscopes 10 are moved, can also be with outside Equipment is communicated.The slave computer module is is configured inside first processor 121, for performing data acquisition and processing (DAP) function Module, the slave computer module can also with external equipment carry out data interaction.

Alternatively, in the utility model embodiment, memory 125 is also configured with control panel 120, the memory 125 It is connected with first processor 121；The memory 125, for store three axle micro-mechanical gyroscopes 10 product data information and The compensating parameter that first processor 121 is received from external equipment, the product data information is for example including three axle micro-mechanical gyroscopes Product batches No. 10, numbering of software and hardware etc.；Correspondingly, the first processor 121, is additionally operable to from memory 125 The electric erazable programmable that the memory 125 in the compensating parameter, the present embodiment is, for example, model AT24C128 is read read-only to deposit Reservoir (Electrically Erasable Programmable Read-Only, referred to as：EEPROM).As Fig. 4 can be seen Go out, data interaction can be carried out between first processor 121 and memory 125.

It should be noted that in actual applications, power supply 122, data input chip 123 on control panel 120, data are defeated Going out chip 124, first processor 121 is connected respectively with memory 125, and connected mode can be to pass through leading on control panel 120 Line is connected；Power supply 122 and the connected mode of each gyro chip, for example, can be to be connected by wire or flexible cable.

The electric connector 143 that connector 143 can be model J30J-15ZK is had been described above in above-described embodiment, should J30J-15ZK electric connectors 143 have 15 interface pins, and its interface pin is described as follows shown in table 1：

The interface pin explanation of the J30J-15ZK connectors 143 of table 1

As shown in figure 5, the circuit structure of another the three axle micro-mechanical gyroscope provided for the utility model embodiment shows It is intended to.Each pin of the J30J-15ZK electric connectors 143 is shown on the basis of circuit structure shown in above-mentioned Fig. 4, in Fig. 5 With the connected mode of each electric device in control panel 120, wherein, two of " Tx+ " and " Tx- " and data output chip 124 Output port is connected, and " Rx+ " and " Rx- " is connected with two input ports of data input chip 123, " ExtTrig " and " NRST " is connected with the port of first processor 121, and "+5V " and " GND " is connected with the port of power supply 122.In addition, each Gyro chip can be by Serial Peripheral Interface (SPI) (Serial Peripheral Interface, letter with first processor 121 Referred to as：SPI) connect, i.e., each gyro chip sends data message by SPI interface to first processor 121.

The three axle micro-mechanical gyroscopes 10 that the utility model above-described embodiment is provided, due to the sensitivity for measuring angular speed Element can use micromechanical gyro chip, and the angular speed of carrier is measured by micromechanical gyro chip, and micro- using high accuracy Mechanical gyro chip combination Error Compensation Technology, reaches the three axle micro-mechanical gyroscopes 10 that the utility model embodiment is provided To the measurement request of high-precision angular speed.In addition, optimizing structure by rational Machine Design, make the utility model embodiment There is provided three axle micro-mechanical gyroscopes 10 volume relative to three axle micro-mechanical gyroscopes of equal accuracy level volume significantly Reduce, be conducive to improving the market competitiveness.

A kind of structural representation for gyroscope detection device that Fig. 6 provides for the utility model embodiment.The utility model The gyroscope detection device 20 that embodiment is provided is used for three axle micromechanics tops shown in any embodiment in above-mentioned Fig. 1 to Fig. 5 Spiral shell instrument 10 carries out error compensation, and the gyroscope detection device 20 that the utility model embodiment is provided can include：Second processor 210, at first in three axle micro-mechanical gyroscopes 10 shown in the second processor 210 and above-mentioned Fig. 1 to Fig. 5 any embodiments Reason device 121 is connected, that is to say, that the second processor 210 of gyroscope detection device 20 can be with three axle micro-mechanical gyroscopes 10 first processor 121 carries out data interaction by transmission link；And it can be provided with error in the second processor 210 Compensating module 211 and upper computer module 212.

Wherein, the second processor 210, is communicated for the first processor 121 with three axle micro-mechanical gyroscopes 10, Obtain the data message of each gyro chip transmission；The operation can be that the upper computer module 212 in second processor 210 is performed 's.

The second processor 210, is additionally operable to analyze acquired data message, generates compensating parameter, the compensation Parameter includes following one or more：Zero inclined temperature compensation parameter, the temperature compensation parameter of scale, nonlinear compensation parameter and Alignment error compensating parameter；The operation can be in second processor 210 error compensation module 211 perform.

The second processor 210, is additionally operable to compensating parameter being transferred to the first processor of three axle micro-mechanical gyroscopes 10 121；The operation can be in second processor 210 upper computer module 212 perform.

The gyroscope detection device 20 that the utility model embodiment is provided, wherein second processor 210 and above-described embodiment In three axle micro-mechanical gyroscopes 10 in first processor 121 connection, can be by three axle microcomputers in actual applications The data input chip 123 and data pio chip 124 of tool gyroscope 10 are attached, to carry out data interaction.

Three axle micro-mechanical gyroscopes 10 are during manufacturing, because various factors can cause depositing for each product In certain error, for three axle micro-mechanical gyroscopes 10, the output of zero offset error and scale factor error to sensor The influence brought is maximum, due to manufacture craft, and the three axis accelerometer chip in three axle micro-mechanical gyroscopes 10 may And it is non-security orthogonal and between centers non-orthogonal errors can be produced, while three axis accelerometer chip also brings along installation during installation Angle error, above-mentioned between centers non-orthogonal errors are similar with the effect of error of fixed angles, may be collectively referred to as complete error.Therefore, three , it is necessary to which the data message of each axle micro-mechanical gyroscope 10 of product three is measured and divided after the production of axle micro-mechanical gyroscope 10 Analysis, to carry out error compensation to each three axles micro-mechanical gyroscope 10, so that each three axles micro-mechanical gyroscope 10 is being answered When using in terminal device, there can be higher measurement accuracy.

, can be by first in the axle micro-mechanical gyroscope 10 of upper computer module 212 and three in the utility model implementation Processor 121 carries out data interaction, specifically data interaction can be carried out with the slave computer module in first processor 121, to obtain The data message for taking three axis accelerometer chip to measure；Then, analyzed, generated by 211 pairs of data messages of error compensation module Compensating parameter, the compensating parameter is used to compensate the data message (i.e. initial data) that three axis accelerometer chip is measured, so that Obtain more accurate data message (data message after compensating).In actual applications, gyroscope detection device 20 can lead to Cross upper computer module 212 to be written to compensating parameter in the memory 125 of three axle micro-mechanical gyroscopes 10, first processor 121 When receiving the initial data of three axis accelerometer chip transmission, the compensating parameter is read from memory 125, and according to the compensation Parameter compensates processing to the initial data that it is received, with the offset data information generated after being compensated, the offset data Information can be stored in the register of first processor 121.

A kind of workflow schematic diagram for the three axle micro-mechanical gyroscopes that Fig. 7 provides for the utility model embodiment.Pass through Gyroscope detection device shown in Fig. 6 20 is transmitted after compensating parameter into three axle micro-mechanical gyroscopes 10, three axle micro-mechanical gyroscopes 10 data messages that can be measured in the course of the work by the error parameter itself are compensated, and flow as shown in Figure 7 can To comprise the following steps：

S101, three axle micro-mechanical gyroscope system initializations；

Whether S102, three axle micro-mechanical gyroscopes detection start is normal；If it is not, then performing S103, then, continue executing with S101；If so, then performing S104；

S103, output error message；

S104, three axle micro-mechanical gyroscopes carry out data acquisition, obtain initial data；

S105, three axle micro-mechanical gyroscopes compensate processing to initial data according to configured compensating parameter, obtain Offset data；

Offset data is sent to external equipment by S106, three axle micro-mechanical gyroscopes；Then, S104 is continued executing with.

Alternatively, three axle micro-mechanical gyroscopes compensate the method for processing to initial data as shown in figure 8, being this practicality A kind of schematic flow sheet of the compensation deals for the three axle micro-mechanical gyroscopes that new embodiment is provided, compensation deals can be included such as Lower step：

On S201, three axle micro-mechanical gyroscopes after electricity, by the measurement of three axis accelerometer chip, initial data is obtained；

S202, reads the parameter of memory storage, and calculates the compensating parameter of the three axles micro-mechanical gyroscope；

S203, zero inclined temperature-compensating is carried out to initial data；

S204, temperature-compensating and the nonlinear compensation of scale are carried out to initial data；

S205, the result to above-mentioned compensation carries out installation error compensation.

It should be noted that the initial data that the measurement of three axis accelerometer chip is obtained in the S201 of the utility model embodiment can So that including multiple, the compensating parameter calculated in S202 can be the compensating parameter for each initial data, S203~ When compensating processing in S205, need also exist for compensating processing to each initial data respectively.

Alternatively, in the utility model embodiment, the mode of operation of the three axles micro-mechanical gyroscope 10 can include：Just Beginning pattern, normal mode of operation and service mode；Second processor 210, is additionally operable to send to first processor 121 and orders, Configured with the mode of operation to three axle micro-mechanical gyroscopes 10, the operation can be the host computer in second processor 210 What module 212 was performed, so that the three axles micro-mechanical gyroscope 10 performs corresponding operation under different mode of operations.With The operations that lower brief description different working modes are performed：

Initialization pattern：On three axle micro-mechanical gyroscopes after electricity, Initialize installation is carried out first, then to the three axles microcomputer Tool gyro carries out feature self-inspection；

Normal mode of operation：Three axle micro-mechanical gyroscopes carry out data acquisition, data processing；

Service mode：Three axle micro-mechanical gyroscopes enter after service mode, can carry out the configuration of parameter, such as sample rate, Bandwidth etc..

In the utility model embodiment, the first processor in the axle micro-mechanical gyroscope 10 of second processor 210 and three 121 connection, can also be and be attached by the pin " ExtTrig " of connector 133, i.e., second processor 210 can be straight Connect to send to first processor 121 and order, configured with above-mentioned several mode of operations to three axle micro-mechanical gyroscopes 10, i.e., Several mode of operations of three axle micro-mechanical gyroscopes 10 can phase co-conversion, as shown in figure 9, being provided for utility model embodiment The schematic diagram of the mode of operation of three axle micro-mechanical gyroscopes, the three axle micro-mechanical gyroscopes 10 that the utility model embodiment is provided The transition process of mode of operation is referred to shown in Fig. 9, for example, being initialization pattern after upper electricity, can be changed after initializing successfully For normal mode of operation, normal mode of operation can be converted to initialization pattern by resetting, the normal mode of operation and service Can mutually it be changed between pattern, service mode can be converted to initialization pattern by resetting or exiting service mode.So as to Realize and corresponding operation is performed under different working modes, to meet the demand of three axle micro-mechanical gyroscopes 10 operation.

Although the embodiment disclosed by the utility model is as above, described content is only to readily appreciate the utility model And the embodiment used, it is not limited to the utility model.Technical staff in any the utility model art, On the premise of not departing from the spirit and scope disclosed by the utility model, it can be carried out in the form and details of implementation any Modification and change, but scope of patent protection of the present utility model, still should be subject to the scope of the claims as defined in the appended claims.

Claims (10)

1. a kind of three axles micro-mechanical gyroscope, it is characterised in that including：Gyro chip component, gyro board component, control panel and shell Body, the gyro chip component includes X-axis gyro chip, Y-axis gyro chip and Z axis gyro chip, the gyro board component bag Include and first processor is installed on X-axis gyro plate, Y-axis gyro plate and Z axis gyro plate, the control panel；

Wherein, the X-axis gyro plate, the Y-axis gyro plate and the Z axis gyro plate are connected with the control panel respectively；

The X-axis gyro chip is installed on the X-axis gyro plate, and the Y-axis gyro chip is installed on the Y-axis gyro plate On, the Z axis gyro chip is installed on the Z axis gyro plate；

The X-axis gyro plate, the Y-axis gyro plate and the Z axis gyro plate is are vertically arranged two-by-two, and the X-axis gyro Plate and the Y-axis gyro plate are vertically arranged with the control panel respectively, and the Z axis gyro plate be arranged in parallel with the control panel；

The X-axis gyro plate, the Y-axis gyro plate, the Z axis gyro plate and the control panel are arranged on the interior of the housing Portion.

2. three axles micro-mechanical gyroscope according to claim 1, it is characterised in that described installed on the control panel One processor is electrically connected with the X-axis gyro chip, the Y-axis gyro chip and the Z axis gyro chip respectively；

Wherein, the X-axis gyro chip, the Y-axis gyro chip and the Z axis gyro chip are respectively used to measurement three axle The data message of micro-mechanical gyroscope, and transmit the data message that this gyro chip is measured to the first processor；

The first processor, for receiving the X-axis gyro chip, the Y-axis gyro chip and the Z axis gyro chip point The data message not transmitted to the first processor, and according to compensating parameter, to what is received from each gyro chip Data message compensates processing.

3. three axles micro-mechanical gyroscope according to claim 1, it is characterised in that the X-axis gyro chip, the Y-axis Gyro chip and the Z axis gyro chip are micromechanical gyro chip；Or/and,

The X-axis gyro chip, the Y-axis gyro chip and the Z axis gyro chip be model MGZ310HC or MGZ305HC chip.

4. three axles micro-mechanical gyroscope according to claim 1, it is characterised in that the housing includes：Shell, bottom and Electric connector；

Wherein, the X-axis gyro plate is installed on a side wall in the shell, and the Y-axis gyro plate is installed on the shell The interior side wall adjacent with the X-axis gyro plate, the Z axis gyro plate is installed on the top in the shell, the control panel peace Loaded on the bottom in the shell；

The bottom is installed on the bottom of the shell, by each the gyro plate and the control panel be packaged in the bottom and In the closing space of the shell formation；

The electric connector be installed on the interface of the electric device installed on the spigot of the shell, the control panel with it is described Corresponding interface electrical connection on electric connector.

5. according to three axles micro-mechanical gyroscope according to any one of claims 1 to 4, it is characterised in that on the control panel Power supply is also equipped with, the power supply is connected with each the gyro plate and the first processor respectively；

The power supply, for being powered to each the gyro plate and the first processor.

6. according to three axles micro-mechanical gyroscope according to any one of claims 1 to 4, it is characterised in that on the control panel It is also equipped with data input chip and data pio chip；

Wherein, the data input chip, the compensating parameter for external equipment to be sent is transferred to the first processor；

The data output chip, for the first processor to be compensated into the data information transfer obtained after processing to institute State external equipment.

7. according to three axles micro-mechanical gyroscope according to any one of claims 1 to 4, it is characterised in that first processing Device is also connected with external equipment；

The first processor, is additionally operable to receive the order that the external equipment is sent, and communicated with the external equipment.

8. according to three axles micro-mechanical gyroscope according to any one of claims 1 to 4, it is characterised in that on the control panel Memory is also equipped with, the memory is connected with the first processor；

The memory, product data information and the first processor for storing the three axles micro-mechanical gyroscope are received The compensating parameter received from external equipment；

The first processor, is additionally operable to from the memory read the compensating parameter.

9. a kind of gyroscope detection device, it is characterised in that including：Second processor, the second processor will with such as right The first processor in three axle micro-mechanical gyroscopes any one of 1~8 is asked to be connected；

Wherein, the second processor, is communicated for the first processor with the three axles micro-mechanical gyroscope, is obtained Take the data message of each gyro chip transmission；

The second processor, is additionally operable to analyze acquired data message, generates to the three axles micromechanical gyro Instrument carries out the compensating parameter of error compensation；

The second processor, is additionally operable to the compensating parameter being transferred at described the first of the three axles micro-mechanical gyroscope Manage device.

10. gyroscope detection device according to claim 9, it is characterised in that the work of the three axles micro-mechanical gyroscope Operation mode includes initialization pattern, normal mode of operation and service mode；

The second processor, is additionally operable to send to the first processor and orders, with to the three axles micro-mechanical gyroscope Mode of operation is configured so that the three axles micro-mechanical gyroscope performs corresponding operation under different mode of operations.