WO2021081781A1

WO2021081781A1 - Heating method for inertial sensor of unmanned robot

Info

Publication number: WO2021081781A1
Application number: PCT/CN2019/114135
Authority: WO
Inventors: 李佳乘; 高京哲; 朱誉品
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-10-29
Filing date: 2019-10-29
Publication date: 2021-05-06
Also published as: CN111656141A

Abstract

A heating method for an inertial sensor of an unmanned robot. The heating method for an inertial sensor of an unmanned robot comprises: controlling a heating device to heat an inertial sensor to a working temperature; obtaining sensing data output by the inertial sensor at the working temperature; obtaining a bias parameter of the inertial sensor at the working temperature from a local storage device of the unmanned robot; compensating for the sensing data according to the bias parameter to obtain compensated sensing data; and performing positioning operation on the unmanned robot on the basis of the compensated sensing data. The use of the method can effectively reduce calibration and production costs of inertial sensors.

Description

Inertial sensor heating method of unmanned robot

Technical field

This application relates to the field of electronic technology, and in particular to an inertial sensor heating method for an unmanned robot.

Background technique

Inertial sensors are a key component of the navigation system of unmanned control robots, and their performance has a relatively important impact on the accuracy of the navigation system. Unmanned control robots can include unmanned aerial vehicles, unmanned vehicles, and unmanned ships.

The measurement of inertial sensors has zero offset. In order to measure accurately, it is necessary to determine the zero offset parameters of the inertial sensor through calibration, and use the zero offset parameters to compensate the sensor data output by the inertial sensor. However, the current heating efficiency of the inertial sensor is not high, which causes the inertial sensor to reach the working temperature after a long time. In this way, in order to effectively achieve accurate positioning, the local storage device of the unmanned robot stores multiple zero-bias parameters at different temperatures, which means that when the factory produces inertial sensors, the inertial sensors need to be calibrated at multiple different temperatures. The zero offset parameters below lead to higher calibration and production costs of the inertial sensor.

Summary of the invention

The embodiment of the present invention provides an inertial sensor heating method of an unmanned robot, which can reduce the calibration and production costs of the inertial sensor.

In a first aspect, an embodiment of the present invention provides an inertial sensor heating method for an unmanned robot, wherein the unmanned robot includes an inertial sensor and a heating device for heating the inertial sensor, and the method includes: controlling the heating device Heat the inertial sensor to the working temperature; obtain the sensor data output by the inertial sensor at the working temperature; obtain the zero offset parameter of the inertial sensor at the working temperature from the local storage device of the unmanned robot, where the local storage device does not store The zero offset parameters of other temperatures except the working temperature; the sensor data is compensated according to the zero offset parameters to obtain the compensated sensor data; the unmanned robot is positioned according to the compensated sensor data.

In the second aspect, an embodiment of the present invention provides an unmanned robot, including:

Memory, processor, inertial sensor and heating device;

The memory stores program codes;

The processor calls the program code, and when the program code is executed, is used to perform the following operations:

Control the heating device to heat the inertial sensor to the working temperature; obtain the sensor data output by the inertial sensor at the working temperature; obtain the zero bias parameter of the inertial sensor at the working temperature from the local storage device of the unmanned robot, where the local storage device It does not store the zero offset parameters of other temperatures except the working temperature; compensate the sensor data according to the zero offset parameters to obtain the compensated sensor data; according to the compensated sensor data, control the unmanned The robot performs positioning operations.

In the third aspect, the present invention provides an unmanned control robot system, which is characterized in that it includes:

The unmanned robot as described in the second aspect;

The control terminal is used to respond to the user's control operation and control the drone control robot.

In the embodiment of the present invention, the inertial sensor is heated to the working temperature; the sensing data output by the inertial sensor at the working temperature is obtained; the zero offset parameter of the inertial sensor at the working temperature is obtained from the local storage device of the unmanned robot, Among them, the local storage device does not store the zero bias parameters of temperatures other than the operating temperature; the sensor data is compensated according to the zero bias parameters to obtain the compensated sensor data; according to the compensated sensor data, the The unmanned robot performs positioning operations. In addition, in the traditional method, when the unmanned robot performs positioning operation, the temperature of the inertial sensor is not heated to the working temperature. It is necessary to sense the output of the inertial sensor at different temperatures based on the zero offset parameters of the inertial sensor at multiple temperatures. Data is compensated. Based on this, it is necessary to pre-calibrate the zero-bias parameters of the inertial sensor at multiple temperatures. However, the embodiment of the present invention only needs to calibrate the zero-bias parameters of the inertial sensor at one working temperature, which can reduce the calibration and production of the inertial sensor. cost.

Description of the drawings

In order to explain the embodiments of the present application or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings that need to be used in the embodiments. Obviously, the drawings in the following description are only some of the present application. Embodiments, for those of ordinary skill in the art, without creative work, other drawings can be obtained based on these drawings.

Figure 1 is a graph of the heating rate of a current inertial sensor;

Figure 2 is a graph showing the zero offset change curve of the accelerometer of a current inertial sensor on the coordinate axis;

3 is a schematic diagram of the architecture of an unmanned control system provided by an embodiment of the present invention;

FIG. 4 is a diagram of an application scenario when a drone performs a task according to an embodiment of the present invention;

FIG. 5 is an inertial sensor heating method of an unmanned robot according to an embodiment of the present invention;

Figure 6 is the temperature rise curve of the inertial sensor when the operating temperature of the inertial sensor is 65 degrees;

Figure 7 is a graph showing the zero offset change curve of the accelerometer of the inertial sensor on the coordinate axis when the operating temperature of the inertial sensor is 65 degrees;

Fig. 8 is a schematic structural diagram of an unmanned robot provided by an embodiment of the present invention.

Detailed ways

The embodiments of the present invention will be described below in conjunction with the drawings in the embodiments of the present invention.

At present, before the temperature of the inertial sensor is stabilized, due to the slow heating speed of the inertial sensor, the temperature of the inertial sensor has not stabilized during the positioning operation of the inertial sensor, that is, the temperature of the inertial sensor is still rising slowly. For example, the heating speed curve of a current inertial sensor is shown in Fig. _{1, and the} corresponding temperature T _{working temperature} at t 1 is the working temperature of an unmanned robot. As can be seen from the figure, due to the slow heating speed of the _{inertial sensor, the temperature of the inertial sensor has not reached the working temperature at the time t 0 of the} unmanned robot during the positioning operation, that is, the temperature of the inertial sensor is still rising slowly, resulting in The zero offset of the temperature change affects the measurement accuracy of the inertial sensor. The zero bias is affected by temperature. During the temperature rise of the inertial sensor, the zero bias parameters will change with the temperature. Fig. 2 shows the bias change curves of the three coordinate axes (that is, the x-axis, the y-axis, and the z-axis) of the current inertial sensor (Inertial Measurement Unit, IMU) during the heating process. It can be seen that as the temperature increases, the zero offsets of the three coordinate axes are increasing, and the zero offset of the z-axis changes most obviously. Therefore, in order to eliminate the influence of the zero offset on the positioning operation, it is necessary to obtain the multiple zero offset parameters corresponding to the multiple different temperature points of the inertial sensor before reaching the working temperature, and the corresponding sensor data at the corresponding temperature points according to each zero offset parameter Make multiple compensations. In order to achieve the above solution, the unmanned robot needs to store multiple zero-bias parameters at different temperatures in the local storage device, which means that when the factory produces inertial sensors, it needs to measure and calibrate the inertial sensors at multiple different temperatures. The zero-bias parameters make the production of inertial sensors require a large investment in calibration and production costs.

The embodiment of the present invention proposes an inertial sensor heating method for an unmanned robot. In this method, when the unmanned control robot is turned on, the unmanned control robot responds to the power-on signal of the unmanned control robot to control the heating device to heat the inertial sensor to the working temperature within a preset time; and obtain the The sensing data output by the inertial sensor at the working temperature; from the local storage device of the unmanned robot, the zero bias parameter of the inertial sensor at the working temperature is obtained, and the local storage device does not store the temperature other than the working temperature. Zero-bias parameters; compensate the sensor data according to the zero-bias parameters to obtain the compensated sensor data; according to the compensated sensor data, perform positioning operations on the unmanned robot. The unmanned robot can control the heating device to heat the inertial sensor to the working temperature within a preset time, so that the unmanned robot only needs to compensate the sensor data output by the inertial sensor according to the zero offset parameter at a working temperature. The unmanned robot is positioned according to the compensated sensor data at the working temperature, so that the local storage device of the unmanned robot only stores the zero-bias parameters of the inertial sensor at the working temperature. Before the inertial sensor is heated to the working temperature, the zero offset parameter is not used to compensate the sensor data output by the inertial sensor. This method can improve the measurement accuracy of the inertial sensor and reduce the calibration and production cost of the inertial sensor.

In order to better understand the inertial sensor heating method of the unmanned robot disclosed in the embodiment of the present invention, the following first describes the architecture of the unmanned aerial vehicle control robot applicable to the embodiment of the present invention.

Please refer to FIG. 3, which is a schematic structural diagram of an unmanned control system according to an embodiment of the present invention. As shown in FIG. 3, the unmanned control system 30 is composed of an unmanned control robot 301 and a control terminal 302. Among them, the unmanned robot 301 includes an inertial sensor 3011 and a heating device 3012. The control terminal 302 is used to control the unmanned robot to move. The inertial sensor 3011 is a sensor that measures acceleration, tilt, impact, vibration, rotation, and multi-degree-of-freedom motion, and is used to output sensor data. The heating device 3012 is used to heat the inertial sensor 3011, and the heating device 3012 can be a heating resistor, a ceramic heating sheet, or an electric heating paint. If the heating device 3012 is a heating resistor, the heating resistors are arranged adjacent to the inertial sensor, and their number is the preset number threshold to ensure that when the heating resistor heats the inertial sensor with the maximum power, the heating rate of the inertial sensor is greater than the preset heating rate . In some embodiments, the inertial measurement unit 3011 may include an accelerometer and a gyroscope.

Taking the unmanned robot as an example of a drone, Figure 4 is an application scenario diagram when the drone is performing a task. Point A is the position of the drone when it is started, and point B is the task that the drone needs to perform. At the task location point at the time, the drone needs to perform preset tasks at the task location B, such as taking photos and photography of the characters in the picture. When the drone is activated at point A, the drone responds to the power-on signal and controls the heating device to heat the inertial sensor to the working temperature. The drone heats the inertial sensor to the working temperature within the preset time, so the drone obtains the sensing data of the inertial sensor and the zero offset parameter at the working temperature at point A, and transmits it according to the zero offset parameter at the working temperature. Sensing data is compensated, and the compensated sensing data is obtained. Finally, the UAV is positioned according to the compensated sensor data. If at point A, the inertial sensor is heated to the working temperature, it will move to point B in response to the motion control instruction of the control terminal of the drone. In this method, the temperature of the inertial sensor reaches the working temperature, and it only needs to compensate the sensor data output by the inertial sensor according to the zero offset parameter corresponding to the working temperature at the working temperature. In the subsequent movement and task execution process, There is no need to compensate the sensor data output by the inertial sensor according to the zero offset parameters corresponding to other temperatures of the inertial sensor, which can reduce the calibration and production costs of the inertial sensor.

Based on the foregoing description, an embodiment of the present invention proposes an inertial sensor heating method for an unmanned robot as shown in FIG. 5, and the inertial sensor heating method for an unmanned robot may include S501-S506:

S501: The unmanned robot controls the heating device to heat the inertial sensor to a reference temperature lower than the operating temperature according to the maximum heating power of the heating device.

Specifically, when the unmanned robot is turned on, the unmanned robot responds to the power-on signal of the unmanned robot and controls the heating device to heat the inertial sensor to a reference value lower than the operating temperature according to the maximum heating power of the heating device. temperature.

Among them, the heating device can be a heating resistor, a ceramic heating sheet, or an electric heating paint. If the heating device is a heating resistor, the heating resistor is pre-arranged in the adjacent position of the inertial sensor, and its number is greater than the preset number threshold to ensure that the heating resistance is When the inertial sensor is heated with the maximum power, the heating rate of the inertial sensor is not lower than the preset heating rate. For example, the preset heating rate may be greater than or equal to 5 degrees per second. The working temperature of the inertial sensor is higher than the ambient temperature where the unmanned robot is located, and the working temperature can be between 60-90 degrees. In one implementation, the working temperature is set by the user according to the highest ambient temperature at which the unmanned robot can work normally. For example, the maximum ambient temperature at which the unmanned robot can work normally is 60 degrees, and the user sets the operating temperature of the unmanned robot to 75 degrees according to this temperature.

The reference temperature may be set according to the working temperature, and the reference temperature is close to and lower than the working temperature. For example, the ratio between the reference temperature and the working temperature is x, n<x<1, for example, n can be 0.8, 0.9, or 0.95, etc., x can make the reference temperature as close to the working temperature as possible. For another example, the difference between the operating temperature and the reference temperature is less than a preset threshold, the preset threshold may be 10 degrees or 5 degrees, etc. The preset threshold can make the reference temperature as close to the operating temperature as possible.

In one implementation, when the unmanned robot is turned on by the user, the unmanned robot responds to the power-on signal of the unmanned robot and inputs a pulse modulation voltage with a full duty cycle, so that the unmanned robot will follow The maximum heating power of the heating device controls the heating device to heat the inertial sensor to the reference temperature.

In one implementation mode, when the unmanned robot controls the inertial sensor to heat according to the maximum power of the heating device, the inertial sensor increases the temperature at least at a preset heating rate, and the preset heating rate is greater than or equal to 5 degrees/ Seconds, the preset heating rate is much higher than the current heating rate of inertial sensors. This preset heating rate can ensure that the temperature of the inertial sensor is quickly heated to the working temperature.

In one implementation, the unmanned robot controls the heating device to heat the inertial sensor to the working temperature within a preset time according to the maximum heating power of the heating device, and the preset time is not more than 30 seconds, so that the inertial sensor After the operating temperature is reached quickly, there is no need to compensate the sensor data output by the inertial sensor according to the zero offset parameters corresponding to other temperatures of the inertial sensor, which can reduce the calibration cost of the inertial sensor.

S502: When it is determined that the inertial sensor is heated to the reference temperature, the unmanned robot adopts a closed-loop heating control strategy to control the heating device to heat the inertial sensor to the working temperature.

In order to prevent the temperature of the inertial sensor from exceeding the operating temperature of the inertial sensor when it rises according to the S501 method, when the unmanned robot determines that the inertial sensor is heated to the reference temperature, the closed-loop heating control strategy is adopted to control the heating device to heat the inertial sensor to the operating temperature.

Specifically, the closed-loop heating control strategy includes a PI control strategy. The PI control strategy includes linear control parameters and integral control parameters. The linear control parameters are used to adjust the stability of the control system, and the integral control parameters are used to adjust the indifference of the control system. When it is determined that the inertial sensor is heated to the reference temperature, the unmanned control robot adjusts the linear control parameters and integral control parameters of the PI control strategy, so that the inertial sensor rises between the reference temperature and the operating temperature without exceeding the operating temperature. Until the operating temperature is reached.

In one implementation, when the unmanned robot determines that the temperature of the inertial sensor reaches the working temperature, it adjusts the integral control parameters of the PI control strategy to stabilize the temperature of the inertial sensor at the working temperature, ensuring that the inertial sensor is in the subsequent working process. Its temperature remains unchanged at the working temperature.

Taking the working temperature of the inertial sensor as an example of 65 degrees, the heating curve of the inertial sensor under this method and the heating curve of the inertial sensor under the traditional method are shown in Fig. 6. This method is an improved method relative to the traditional method, that is, this application The technical solutions disclosed in the embodiments. It can be seen that, compared with the traditional method, under the improved heating method, the temperature of the inertial sensor rises to the working temperature about 20 seconds after power-on and keeps the working temperature stable, while the temperature of the inertial sensor under the traditional method is on the power-up. The working temperature has not been reached after 20 seconds. The heating rate of the inertial sensor under this method is obviously greater than that under the traditional method, so that the temperature of the inertial sensor can quickly rise to the reference temperature, and under the closed-loop control strategy, it rises to the working temperature, and after reaching the working temperature, it is constant at Operating temperature.

S503: The unmanned robot obtains the sensing data output by the inertial sensor at the working temperature.

When it is determined that the temperature of the inertial sensor rises to the working temperature, the unmanned control robot obtains the sensing data output by the inertial sensor at the working temperature. The sensing data can include the attitude of the unmanned control robot, which includes angular velocity and acceleration. The sensing data output by the inertial sensor at the working temperature has zero bias, which cannot be directly used as the sensing data measured by the inertial sensor. The sensing data needs to be compensated according to the zero bias parameters at the working temperature.

S504: The unmanned robot obtains the zero offset parameter of the inertial sensor at the working temperature in the local storage device.

The measurement of inertial sensors will have a zero offset, and the zero offset is related to temperature. Therefore, it is necessary to compensate the sensor data according to the zero offset parameters at the operating temperature of the inertial sensor. Therefore, it is necessary to obtain the zero offset parameters of the inertial sensor at the working temperature in the local storage device of the unmanned robot in advance. Wherein, the local storage device does not store the zero offset parameters of other temperatures other than the operating temperature, that is, the unmanned robot does not need to store the zero offset parameters corresponding to other temperature points in advance, which can reduce the calibration cost of the inertial sensor .

In an implementation manner, the zero offset parameter of the inertial sensor at the working temperature is obtained by measuring the inertial sensor when the factory produces the inertial sensor. The working temperature is sent to the factory after the user sets the inertial sensor.

In one implementation, the zero-bias parameter of the inertial sensor is obtained by the unmanned robot according to the preset compensation parameter acquisition algorithm and operating temperature, and the inertial sensor is measured. The preset compensation parameter algorithm includes wavelet transform and least square method. , Gray forecasting method, etc., there are no restrictions here.

S505: The unmanned robot compensates the sensor data according to the zero offset parameter to obtain the compensated sensor data.

The inertial sensor obtained by the unmanned robot has zero bias in the sensing data at the working temperature. The sensor data is compensated according to the zero bias parameters at the working temperature, and the compensated sensing data can be obtained. The compensated sensing data The data is more accurate sensor data.

S506: The unmanned robot performs positioning operations on the unmanned robot according to the compensated sensor data.

After the unmanned control robot obtains the compensated sensor data, it performs positioning operations on the unmanned control robot according to the compensated sensor data.

Taking the operating temperature of the inertial sensor as an example of 65 degrees, the zero-bias change curve of the inertial sensor under this method and the traditional method is shown in Figure 7. This method is an improved method under the traditional method. It can be seen from the figure that, 20 seconds after power-on, the accelerometer zero bias under the improved method has been basically stable, while the zero bias under the traditional method is still changing.

In some embodiments, when the inertial sensor is not heated to the operating temperature, it refuses to respond to the motion control instruction sent by the control terminal. Specifically, when the inertial sensor is not heated to the operating temperature, since the local storage device does not store the zero offset parameters of other temperatures except the operating temperature, that is, the local storage device only stores the zero offset parameters at all temperatures. For the zero offset parameters of the working temperature, the sensing data output by the inertial sensor has not been compensated, resulting in inaccurate positioning of the unmanned control robot. Therefore, it refuses to respond to the motion control instructions sent by the control terminal to ensure safe operation.

Using this embodiment, the unmanned control robot can control the heating device to heat the inertial sensor to the working temperature within a preset time, so that the unmanned control robot only needs to compensate for the sensing data output by one working temperature of the inertial sensor. Improve the measurement accuracy of inertial sensors. At the same time, the local storage of the unmanned control robot only stores the zero offset parameters of the inertial sensor at the working temperature, which can reduce the calibration and production costs of the inertial sensor.

An embodiment of the present invention provides an unmanned control robot, and FIG. 8 is a schematic structural diagram of an unmanned control robot provided in an embodiment of the present invention. As shown in FIG. 8, the unmanned robot 80 includes a memory 801, a processor 802, an inertial sensor 803, and a heating device 804. The memory 801 includes a local storage device, and the local storage device is used to store the inertial sensor 803 at a working temperature. For zero offset parameters, the memory 801 stores program codes, and the processor 802 calls the program codes in the memory 801. When the program codes are executed, the processor 802 performs the following operations:

Control the heating device 804 to heat the inertial sensor 803 to the working temperature; obtain the sensor data output by the inertial sensor 803 at the working temperature; obtain the zero value of the inertial sensor 803 at the working temperature from the local storage device included in the memory 801 of the unmanned robot Bias parameters, where the local storage device does not store the zero bias parameters of other temperatures except the operating temperature; the sensor data is compensated according to the zero bias parameters to obtain the compensated sensor data; according to the compensated sensor Data, positioning operation of the unmanned robot.

Optionally, when the processor 802 controls the heating device 804 to heat the inertial sensor 803 to a working temperature, the working temperature is higher than the ambient temperature of the unmanned robot.

Optionally, when the processor 802 controls the heating device 804 to heat the inertial sensor 803 to a working temperature, the working temperature is between 60-90 degrees.

Optionally, the processor 802 controls the heating device 804 to heat the inertial sensor 803 to the working temperature of the working temperature, specifically for:

In response to the power-on signal of the unmanned robot, the processor 802 controls the heating device 804 to heat the inertial sensor 803 to the working temperature.

Optionally, when the processor 802 controls the heating device 804 to heat the inertial sensor 803 to the working temperature of the working temperature, the heating device 804 is a heating resistor.

The processor 802 controls the heating device 804 to heat the inertial sensor 803 to the working temperature within a preset time.

Optionally, when the processor 802 controls the heating device 804 to heat the inertial sensor 803 to the working temperature within a preset time, the preset time is not more than 30 seconds.

The processor 802 controls the heating device 804 to heat the inertial sensor 803 to a reference temperature lower than the operating temperature according to the maximum heating power of the heating device 804;

When the processor 802 determines that the inertial sensor 803 is heated to the reference temperature, a closed-loop heating control strategy is adopted to control the heating device 804 to heat the inertial sensor 803 to the working temperature.

Optionally, when the processor 802 determines that the inertial sensor 803 is heated to the reference temperature, and adopts a closed-loop heating control strategy to control the heating device 804 to heat the inertial sensor 803 to the working temperature, the closed-loop heating control strategy includes a PI control strategy.

Optionally, when the processor 802 controls the heating device 804 to heat the inertial sensor 803 with the maximum power, the inertial sensor 803 at least increases the temperature at a heating rate not lower than a preset heating rate.

Optionally, when the processor 802 controls the heating device 804 to heat the inertial sensor 803 with the maximum power, the preset heating rate is greater than or equal to 5 degrees when the inertial sensor 804 increases the temperature at least at a preset heating rate. /second.

Optionally, when the inertial sensor is not heated to the operating temperature, the processor 802 refuses to respond to the motion control instruction sent by the control terminal.

In the embodiment of the present invention, the processor 802 can control the heating device 804 to heat the inertial sensor 803 to the operating temperature within a preset time, so that the processor 802 only needs to perform sensing data output from one operating temperature of the inertial sensor 803. Compensation can improve the measurement accuracy of the inertial sensor 803. At the same time, the memory 801 only stores the zero offset parameters corresponding to the inertial sensor 803 at the working temperature, which can reduce the production cost of the inertial sensor 803.

The embodiment of the present invention also provides an unmanned control robot system, the unmanned control robot system includes:

The unmanned control robot provided in the foregoing embodiment;

And the control terminal is used to respond to the user's control operation and control the drone control robot.

Optionally, the unmanned control robot includes at least one of the following: unmanned aerial vehicles, unmanned vehicles, and unmanned ships.

The above are only specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention. It should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

An inertial sensor heating method of an unmanned robot, wherein the unmanned robot includes the inertial sensor and a heating device for heating the inertial sensor, characterized in that it comprises:

Controlling the heating device to heat the inertial sensor to a working temperature;

Acquiring sensor data output by the inertial sensor at the operating temperature;

Obtain the zero-bias parameters of the inertial sensor at the working temperature from the local storage device of the unmanned robot, wherein the local storage device does not store zero values of other temperatures except the working temperature. Partial parameter

Compensate the sensor data according to the zero-bias parameter to obtain compensated sensor data;

Perform a positioning operation on the unmanned robot according to the compensated sensor data.
The method according to claim 1, wherein the working temperature is higher than the temperature of the environment where the unmanned robot is located.
The method according to claim 2, wherein the operating temperature is between 60-90 degrees.
The method according to any one of claims 1 to 3, wherein the controlling the heating device to heat the inertial sensor to a working temperature comprises:

In response to the power-on signal of the unmanned robot, the heating device is controlled to heat the inertial sensor to the working temperature.
The method according to any one of claims 1 to 4, wherein the heating device is a heating resistor.
The method according to any one of claims 1 to 5, wherein the controlling the heating device to heat the inertial sensor to a working temperature comprises:

The heating device is controlled to heat the inertial sensor to the operating temperature within a preset time.
The method according to claim 6, wherein the preset time is not more than 30 seconds.
The method according to any one of claims 1-7, wherein the controlling the heating device to heat the inertial sensor to a working temperature comprises:

According to the maximum heating power of the heating device, controlling the heating device to heat the inertial sensor to a reference temperature lower than the operating temperature;

When it is determined that the inertial sensor is heated to the reference temperature, a closed-loop heating control strategy is adopted to control the heating device to heat the inertial sensor to the operating temperature.
The method according to claim 8, wherein the closed-loop heating control strategy comprises a PI control strategy.
The method according to claim 8 or 9, wherein when the heating device heats the inertial sensor with the maximum power, the inertial sensor at least raises the temperature at a heating rate not lower than a preset heating rate.
The method according to claim 10, wherein the preset heating rate is greater than or equal to 5 degrees per second.
The method according to any one of claims 1-11, wherein the method further comprises: when the inertial sensor is not heated to the operating temperature, refusing to respond to the motion control instruction sent by the control terminal.
An unmanned robot, which is characterized by comprising a memory, a processor, an inertial sensor and a heating device;

The memory stores program codes;

The processor calls the program code, and when the program code is executed, is used to perform the following operations:

Controlling the heating device to heat the inertial sensor to a working temperature;

Acquiring sensor data output by the inertial sensor at the operating temperature;

Obtain the zero-bias parameters of the inertial sensor at the operating temperature from the local storage device of the unmanned robot, wherein the local storage device included in the memory does not store anything other than the operating temperature Bias parameter of temperature;

Compensate the sensor data according to the zero-bias parameter to obtain compensated sensor data;

According to the compensated sensor data, a positioning operation is performed on the unmanned robot.
The unmanned robot according to claim 13, wherein the working temperature is higher than the temperature of the environment where the unmanned robot is located.
The unmanned robot according to claim 14, wherein the working temperature is between 60-90 degrees.
The unmanned robot according to any one of claims 13-15, wherein when the heating device is controlled to heat the inertial sensor to a working temperature, the following operations are performed:

In response to the power-on signal of the unmanned robot, the heating device is controlled to heat the inertial sensor to the working temperature.
The unmanned robot according to any one of claims 13-16, wherein the heating device is a heating resistor.
The unmanned robot according to any one of claims 13-17, wherein when the heating device is controlled to heat the inertial sensor to a working temperature, the following operations are performed:

The heating device is controlled to heat the inertial sensor to the operating temperature within a preset time.
The unmanned robot according to claim 18, wherein the preset time is not more than 30 seconds.
The unmanned robot according to any one of claims 13-19, wherein when the heating device is controlled to heat the inertial sensor to a working temperature, the following operations are performed:

Controlling the heating device to heat the inertial sensor to a reference temperature lower than the operating temperature according to the maximum heating power of the heating device;

When it is determined that the inertial sensor is heated to the reference temperature, a closed-loop heating control strategy is adopted to control the heating device to heat the inertial sensor to the operating temperature.
The unmanned robot according to claim 20, wherein the closed-loop heating control strategy comprises a PI control strategy.
The unmanned robot according to claim 19 or 20, wherein when the heating device heats the inertial sensor with maximum power, the inertial sensor at least raises the temperature at a heating rate not lower than a preset heating rate. .
The unmanned robot of claim 22, wherein the preset heating rate is greater than or equal to 5 degrees per second.
The unmanned robot according to any one of claims 13-23, wherein when the processor calls the program code, it also performs the following operations:

When the inertial sensor is not heated to the operating temperature, it refuses to respond to the motion control instruction sent by the control terminal.
An unmanned control robot system is characterized in that it comprises:

The unmanned robot according to any one of claims 13-24;

The control terminal is used to respond to the user's control operation and control the drone control robot.
The unmanned control robot system according to claim 25, wherein the unmanned control robot includes at least one of the following: unmanned aerial vehicles, unmanned vehicles, and unmanned ships.