CN104121899B - Gyroscope shakes and Disturbance Detection circuit - Google Patents
Gyroscope shakes and Disturbance Detection circuit Download PDFInfo
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- CN104121899B CN104121899B CN201410171539.3A CN201410171539A CN104121899B CN 104121899 B CN104121899 B CN 104121899B CN 201410171539 A CN201410171539 A CN 201410171539A CN 104121899 B CN104121899 B CN 104121899B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/5776—Signal processing not specific to any of the devices covered by groups G01C19/5607 - G01C19/5719
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Abstract
The invention discloses a kind of vibrations of gyroscope and Disturbance Detection circuits.The present invention relates to integrated circuits, system, Apparatus and method for more particularly, to integrated gyroscope sensing circuit, the gyroscope sensing circuit have gyroscope, to detect vibrations or disturbance, and accurately distinguish sensing signal based on rotation with by shaking or disturbing caused noise.Gyroscope sensing circuit can be realized with difference or non-differential demodulation scheme, and include at least one demodulating unit and peak detector.The output from Gyroscope that at least one demodulating unit is provided with demodulation reference signal by gyroscope.In demodulated output from Gyroscope, vibration signal or gyroscope disturbing signal are substantially detached with to the interested gyroscope sensing signal that senses the speed of rotation.The modulated output from Gyroscope of peak detector samples determines whether signal is more than threshold level VTH, and output of vibration marks, and indicates corresponding definitive result.
Description
The cross reference of related application
The application requires to enjoy in the entitled " Gyroscope submitted on April 26th, 2013 according to 35U.S.C. § 119 (e)
The power of the provisional application of Shock and Disturbance Detection Circuit ", Serial No. No.61/816,419
Benefit, theme by reference to being incorporated herein on the whole.
Technical field
The present invention relates to integrated circuit, the vibrations (shock) or disturbance being subject to more particularly, to detection gyroscope
(disturbance), and distinguish sensing signal based on rotation and the system of noise caused by shaking or disturbing, device and
Method.
Background technology
Micro electromechanical structure (MEMS) is widely used as sensor to measure acceleration, rotation, pressure and many other physics
Parameter.MEMS device is formed on a silicon substrate usually using micromachining processes, uses several microns of characteristic size, it will
Mechanical Moving is converted to the horizontal electric signal that can indicate parameters of interest.Specifically, the gyroscope device based on MEMS has been
The speed of rotation through being developed and applied to monitoring device relative to specific axis, a large amount of consumer application and automobile application
It has been successfully employed this gyroscope device based on MEMS.For example, many automobiles are integrated with gyroscope device, it to be used for vehicle
Stability control, avoids collision and detection of tumbling navigation auxiliary, load balancing/Suspension control.
Traditional gyroscope device based on MEMS using vibrating machine element (detection mass block (proof mass)) come
Sense the speed of rotation.Figure 1A shows the mechanical organ 100 of arrangement in the rotated coordinate system.Drive mechanical organ 100 first
It vibrates on quadrature axis (x-axis), as coordinate system is rotated relative to the second quadrature axis (y-axis), is drawn due to Coriolis acceleration
The vibration along third quadrature axis (z-axis) is played.Corresponding inertia Coriolis force FCIt can be expressed as：
FC=-2 Ω mv (1)
Wherein, Ω is the speed of rotation, and m is the quality of mechanical organ 100, and v is the vibration velocity along the first quadrature axis.
Figure 1B shows exemplary vibrations gyroscope device 150, is detected in section by electrostatic drive and capacitance sensing
Ao Lili.Comb actuator 154 by being arranged in two opposite sides drives detection mass block 152 to be vibrated along x-axis.In substrate and inspection
Capacitor is formed between mass metering block 152.In response to the rotation relative to y-axis, mass block 152 is detected toward and away from setting top
The substrate of spiral shell instrument part 150 vibrates, and therefore, the clearance distance of capacitor changes, and causes to become with the relevant capacitance of Coriolis force
Change.Interface reading circuit is usually integrated with gyroscope device 150, this capacitance variations is converted to gyroscope sensing
Signal, it is related with the size of Coriolis force therefore related with the corresponding speed of rotation.
Although gyroscope sensing signal includes interested information related with the speed of rotation, equally by it is multiple vibrations and
Disturbing source causes noise, and noise can significantly damage the precision of rotary sensing.Especially in automotive vehicles applications, robustness is shaken
It is most important, and constitute key characteristic because must force to carry out stringent safety limitation, with ensure failure safe and
The system of robust.In this environment, it when the degree of vibrations or disturbance is more than the threshold value that corresponding rotary sensing system is allowed, needs
The appearance of vibrations or disturbance is marked, and uses it for instruction and outputs insecure and uncertain rate signal.Market
On many existing gyroscope devices use sensor or encapsulation solution improves the vibrations robustness of device itself.But
Their neither ones, which mark the appearance of vibrations or the disturbance relative to certain tolerance and alert host, takes suitable countermeasure.
Invention content
The present invention multiple embodiments be related to integrated circuit, more particularly, to integrated gyroscope sensing circuit system,
Apparatus and method for, the gyroscope sensing circuit has gyroscope, to detect the vibrations or disturbance that gyroscope device is subject to, and
Accurately distinguish gyroscope sensing signal based on rotation with by shaking or disturbing caused noise.Gyroscope sensing circuit is especially sharp
Symmetry with these signals relative to the characteristic frequency of gyroscope.
According to one embodiment of present invention, gyroscope sensing circuit is realized based on differential ference spiral scheme.Two demodulation
Unit is for demodulating output from Gyroscope comprising vibration signal and multiple gyroscope sensing signals.Relative to characteristic frequency
For demodulating, obtained demodulated gyroscope output difference is combined in subtracter symmetrical two reference signals, to divide
From relative to the asymmetric vibration signal of characteristic frequency.Peak detector further determines that whether the output of combination gyroscope is more than threshold
It is worth level, and generates vibrations label, alerts whether host vibrations extremely or disturbance situation occur.
According to another embodiment of the invention, it is based on non-differential demodulation scheme and realizes gyroscope sensing circuit.Gyroscope
Sensing circuit includes demodulating unit and peak detector.Coupling demodulating unit first is to receive output from Gyroscope comprising
At least one and gyroscope sensing signal of multiple gyroscope disturbing signals and vibration signal from gyroscope.It uses
Reference signal demodulates this output from Gyroscope, to keep the multiple gyroscope disturbing signal and vibration signal extremely
It is one of few, while inhibiting gyroscope sensing signal related with the interested speed of rotation.Peak detector is determined through solution
Whether the gyroscope output of tune is more than threshold level, and generates vibrations label, to alert host vibrations extremely or disturbance situation
Whether occur.
In certain feature and advantage of this general description present invention；But for reference to its attached drawing, specification and right
For those of ordinary skill in the art of claim, other feature, advantage and embodiment proposed in this paper will be apparent
's.It will be understood, therefore, that the scope of the present invention is not limited by specific embodiment disclosed in part is held within the present invention.
Description of the drawings
The embodiment of the present invention will be referred to, the example is shown in the accompanying drawings.These attached drawings are intended to be illustrative rather than limit
Property processed.Although generally illustrating the present invention under the context of these embodiments, it should be understood that its be not intended to will be of the invention
Range be confined to these specific embodiments.
Figure 1A shows the mechanical organ of arrangement in the rotated coordinate system.
Figure 1B shows illustrative vibratory gyroscope device, and Ke Liao is detected by electrostatic drive and capacitance sensing
Sharp power.
Fig. 2 shows the illustrative rotary sensing systems according to multiple embodiments in the present invention.
Fig. 3 is shown according to the gyroscope sensing circuit based on non-differential demodulation scheme of multiple embodiments in the present invention
Example block diagram.
Fig. 4 A are shown to be shown according to first of the input of multiple embodiments being coupled in rotary sensing system in the present invention
Example property spectrogram.
Fig. 4 B are shown to be believed according to being exported for the gyroscope in gyroscope sensing circuit for multiple embodiments in the present invention
Number and reference signal in signal component the first exemplary frequency spectrum figure.
Fig. 4 C are shown according to the exemplary frequency spectrum figure of multiple embodiments in the present invention, are shown to export gyroscope
The mechanism that vibration signal in signal is detached with two gyroscope sensing signals.
Fig. 5 A are shown to be shown according to second of the input of multiple embodiments being coupled in rotary sensing system in the present invention
Example property spectrogram.
Fig. 5 B are shown to be believed according to being exported for the gyroscope in gyroscope sensing circuit for multiple embodiments in the present invention
Number and reference signal in signal component the second exemplary frequency spectrum figure.
Fig. 5 C are shown according to the exemplary frequency spectrum figure of multiple embodiments in the present invention, are shown to export gyroscope
The mechanism that one of two gyroscope disturbing signals in signal are detached with two gyroscope sensing signals.
Fig. 6 is shown to be shown according to the gyroscope sensing circuit based on differential ference spiral scheme of multiple embodiments in the present invention
Example property block diagram.
Fig. 7 A show that the third according to the input of multiple embodiments being coupled in rotary sensing system in the present invention is shown
Example property spectrogram.
Fig. 7 B are shown to be believed according to being exported for the gyroscope in gyroscope sensing circuit for multiple embodiments in the present invention
Number and signal component in two reference signals exemplary frequency spectrum figure.
Fig. 7 C are shown according to the exemplary frequency spectrum figure of multiple embodiments in the present invention, are shown to export gyroscope
The differential ference spiral mechanism that vibration signal in signal is sensed with gyroscope and disturbing signal detaches.
Fig. 8 show according in the present invention gyroscope sensing circuit based on differential ference spiral scheme of multiple embodiments it is another
One example block diagram.
Fig. 9 A show the disturbance or shake for marking rotary sensing system to be subject to according to multiple embodiments in the present invention
The exemplary process diagram of dynamic method.
Fig. 9 B show the side according to the vibrations for marking rotary sensing system to be subject to of multiple embodiments in the present invention
Another exemplary process diagram of method.
Specific implementation mode
In the following description, it is in the purpose explained, elaborates specific detail to provide the understanding of the present invention.But for
For those skilled in the art, it is clear that may not need these details to put into practice the present invention.It will be appreciated by those skilled in the art that
Following embodiment of the present invention can be executed in various ways and using various means.Those skilled in the art will also be appreciated that
Arrive, modification, application and embodiment in addition also within its scope, as present invention could apply to other fields one therein
Sample.Therefore, following embodiments are for illustrating the particular embodiment of the present invention, and are avoided intentionally so that indigestion of the present invention.
The specific spy for indicating to illustrate in conjunction with the embodiment is referred to " one embodiment " or " embodiment " in specification
Sign, structure, characteristic or function include at least one embodiment of the present invention.The phrase " in one embodiment " " is being implemented
In example " etc. the appearance of multiple positions in the description be not necessarily all referring to identical embodiment.
In addition, the connection in attached drawing between component or between method and step is not limited to the connection being directly realized by.As for
Generation, the connection between component or method and step shown in figure can be changed by increasing intermediate member or method and step for it
Or change, without departing from the teachings of the present invention.
The present invention multiple embodiments be related to integrated circuit, more particularly, to integrated gyroscope sensing circuit system,
Apparatus and method for, the gyroscope sensing circuit has gyroscope, to detect the vibrations or disturbance that gyroscope device is subject to, and
Accurately distinguish gyroscope sensing signal based on rotation with by shaking or disturbing caused noise.In addition to the gyroscope based on rotation
Other than sensing signal, gyroscope disturbing signal or vibration signal can also be included in and be supplied to gyroscope to sense by gyroscope device
In the output from Gyroscope of circuit, but these signals have different frequency magnitude and characteristic.When vibration signal is more than threshold value
When level, output from Gyroscope is destroyed, and the speed of rotation obtained from output from Gyroscope is no longer reliable.Sometimes, when one
When a gyroscope disturbing signal is more than threshold level, it is also considered as output from Gyroscope and is destroyed.
According to the present invention, gyroscope sensing circuit is configured according to difference or non-differential demodulation scheme, and gyroscope senses
Circuit applies at least one reference signal to demodulate output from Gyroscope.According to vibration signal or the frequency of gyroscope disturbing signal
Rate selects the reference frequency of at least one reference signal, so as to will shake or disturbing signal with based on the gyroscope of rotation
Sensing signal detaches.Monitor full time vibrations or disturbing signal are marked to the host for carrying out rotary sensing by gyroscope
Any abnormal case.Based on the detection of this situation, host can take suitable countermeasure, such as ignore impaired gyroscope output
Signal, to ensure the accuracy of rotary sensing.
Fig. 2 shows the exemplary rotary sensing systems 200 according to multiple embodiments in the present invention.Rotary sensing system
200 include gyroscope device 202 and gyroscope interface circuit 204, further comprises drive circuit 206 and gyroscope sensing
Circuit 208.Multiple embodiments according to the present invention, gyroscope device 202 are the MEMS device manufactured by microfabrication techniques.It drives
Dynamic device circuit 206 provides drive signal, is included in the detection mass block in gyroscope device 202 with electrostatic drive, to drive
Detect first orthogonal direction oscillation of the mass block in rotating coordinate system.Drive signal preferably has and gyroscope device 202
Characteristic frequency f0Consistent driving frequency.In response to the rotation relative to the second orthogonal direction, detection mass block checks edge
The physical displacement of third orthogonal direction and corresponding capacitance variations.Coupling gyroscope sensing circuit 208 is changed with sense capacitance,
It is associated to the corresponding Coriolis force along third orthogonal direction.
Gyroscope 202 provides output from Gyroscope to gyroscope sensing circuit 204, this output from Gyroscope includes
The gyroscope sensing signal obtained from the speed of rotation of interested gyroscope 202.In a preferred embodiment, gyroscope output letter
It is number only associated with the capacitance variations caused by Coriolis force, only include gyroscope sensing signal.But in many cases,
It can include vibrations or disturbance, and inevitably influence output from Gyroscope.Therefore, output from Gyroscope is wrapped often
Include vibration signal or gyroscope disturbing signal caused by shaking or disturbing respectively.
According to the present invention, when included in output from Gyroscope specific vibrations or disturbing signal be more than threshold level
When, gyroscope sensing circuit 208 also detects other than rotary sensing and marks undesirable vibrations or disturbance.This
Under environment, damaged by excessive shock or disturbing signal with the relevant useful information for being related to the speed of rotation of output from Gyroscope
Evil, and cause its inaccuracy.Therefore, it can be relied on by gyroscope sensing circuit using the applied host machine of rotary sensing system 200
208 vibrations generated mark to determine whether output from Gyroscope needs to be ignored and detach with the interested speed of rotation.
The mechanical structure of gyroscope device 202 theoretically can abstractively be expressed as frequency mixer 202A and low-pass filter
The combination of 202B.Drive signal is mixed by frequency mixer 202A with the speed of rotation, and generates intermediate output from Gyroscope, with phase
The Coriolis force answered is associated.Further intermediate output from Gyroscope is filtered to generate output from Gyroscope.
Low-pass filter 202B and transfer function Hp(s) it is associated, in crest frequency f1With resonance peak.Low-pass filter 202B
Cutoff frequency and crest frequency f1It is substantially consistent.The characteristic frequency f of gyroscope device 2020Less than crest frequency f1, to
Output from Gyroscope can accurately retain information of interest related with the speed of rotation.In a particular embodiment, special
Levy frequency f0With crest frequency f1Respectively 20kHz and 21kHz.
Analog filter 210 can be further arranged in the input end of gyroscope sensing circuit 208.Analog filter
210 be low-pass filter, for being filtered, scaling or putting to output from Gyroscope before any further processing
Greatly.Analog filter 210 play the role of it is anti-aliased, do not influence output from Gyroscope with rotate related spectral content.Cause
This, the cutoff frequency of analog filter 210 is selected as more than characteristic frequency f0With crest frequency f1.For example, working as gyroscope 202
Characteristic frequency f0With crest frequency f1When respectively 20kHz and 21kHz, the cutoff frequency of analog filter 210 can be set
For 100kHz.
In some embodiments, the output from Gyroscope provided by gyroscope 202 is analog signal.In analog filter
After filtering and scaling/amplification in 210, output from Gyroscope is converted to digital signal, can further locate in the digital domain
The digital signal is managed to obtain the speed of rotation and generate label output.
In certain embodiments, gyroscope device 202 and gyroscope interface circuit 204 are fabricated in the substrate of two separation
Go up and be assembled to form the rotary sensing system 200 of mixed form.In some other embodiments, using including multilayer material
Microfabrication techniques gyroscope device 202 and gyroscope interface circuit 204 are manufactured on single substrate.Even if they can be accounted for
With the different chip areas of physical separation on substrate, gyroscope device 202 can also be integrated in gyroscope interface circuit 204
Above to save chip area.For this Vertical collection, it is necessary to be suitably set gyroscope device 202 and interface circuit 204
Manufacturing process, material layer and structure.
Fig. 3 is shown according to the gyroscope sensing circuit based on non-differential demodulation scheme of multiple embodiments in the present invention
Example block diagram 300.Gyroscope sensing circuit 300 generates vibrations label, and whether instruction vibrations or disturbing signal are more than threshold
It is worth level VTH, and therefore, applied host machine can rely on vibrations label to determine whether output from Gyroscope is undermined needs
It is ignored.
Gyroscope sensing circuit 300 includes demodulating unit 302 and peak detector 304.Demodulating unit 302 is used with reference to letter
Number output from Gyroscope is demodulated, to keep vibrations or disturbing signal in the demodulated output from Gyroscope, simultaneously
Inhibit gyroscope sensing signal.By this method, effectively vibrations or disturbing signal are isolated from gyroscope sensing signal.Peak
Whether the magnitude that value detector 304 further detects demodulated output from Gyroscope is more than threshold level VTH, and generate phase
The vibrations label answered, to alert whether host vibrations extremely or disturbance situation occur.
Demodulating unit 302 further comprises electronics frequency mixer 306 and low-pass filter 308.Electronics frequency mixer 306 will refer to
Signal is combined with output from Gyroscope, and relative to the reference frequency f of reference signalRChange the frequency spectrum of output from Gyroscope
Content.Low-pass filter 308 uses gain GLPWith cutoff frequency fLP, they are designed as discriminatively to handle gyroscope output
Vibrations or disturbing signal in signal and gyroscope sensing signal, specifically, to keep or amplify vibrations or disturbing signal
Level, while inhibiting the level of gyroscope sensing signal.Selective method for application is to determine reference frequency fR, cutoff frequency fLPAnd increasing
Beneficial GLP, the corresponding basic principle of this selection method is detailed in Fig. 4 A-4C and Fig. 5 A-5C below.
Peak detector 304 includes sample circuit 310 and comparator 312.Sample circuit 310 is sampled from demodulating unit 302
The demodulated output from Gyroscope received.Comparator 312 is by sampled signal and threshold level VTHIt compares, and according to comparing
As a result vibrations label is generated.
Fig. 4 A are shown to be shown according to first of the input of multiple embodiments being coupled in rotary sensing system in the present invention
Example property spectrogram 420.The rotation of gyroscope device 202 is incorporated with by capacitance variations associated with Coriolis force,
Usually there is relatively low speed Ω.When host is vehicle, this rotation is directly associated with vehicle movement, and table
Show supplier or the interested useful signal of host subscriber.The speed of rotation is usually located at the lower end of frequency spectrum.In some embodiments
In, speed Ω can be limited to 300Hz or less.
The acceleration excitation or general vibration that mechanical shock is usually subject to by host are introduced into rotary sensing system 200.
Vibrations are directly contained in without the machinery modulation of gyroscope device 202 in output from Gyroscope.Therefore, associated with vibrations
Vibration frequency fSKIt is not limited by low-pass filter 202B, in some embodiments it is possible to higher than the feature frequency of gyroscope 202
Rate f0Or crest frequency f1.In one embodiment, as the characteristic frequency f of gyroscope 2020With crest frequency f1Respectively 20kHz
When with 21kHz, vibration frequency fSKIt extends generally and reaches 30kHz.
Fig. 4 B are shown to be believed according to being exported for the gyroscope in gyroscope sensing circuit for multiple embodiments in the present invention
Number and reference signal in signal component first exemplary frequency spectrum Figure 44 0.Based on equation (1), by the rotation tune of gyroscope 202
Two gyroscope sensing signals are made as, they surround characteristic frequency f0Symmetrically.Two sensings of the two gyroscope sensing signals
Frequency is respectively f0- Ω and f0+ Ω, in certain embodiments, the range of sensing frequency can be from DC to 15kHz.On the other hand,
Vibration signal is not modulated by gyroscope 202, is directly contained in output from Gyroscope.First gyroscope sensing signal, second
Gyroscope sensing signal and vibration signal constitute the signal component of the output from Gyroscope received from gyroscope 202.
In view of the signal component, especially by the reference frequency f of reference signalRBe selected as compared to two gyroscope senses
Measured frequency f0- Ω and f0For the degree of closeness of any one in+Ω, closer to vibration frequency fSK.On the other hand, it refers to
Frequency fRIt is also required to be sufficiently apart from the crest frequency f of gyroscope 2021.This is particularly due to following fact：Crest frequency f1With top
The intrinsic vibration pattern of spiral shell instrument 202 is associated and in this crest frequency f1Surrounding will produce undesirable spuious amplification and ring
It answers.On the other hand, reference frequency fRIt will not be as far as so that the response from vibration signal also can be impacted apart from vibration frequency.
In certain embodiments, vibration signal is not limited to single-frequency, vibration frequency fSKWith bandwidth BWSKIt is associated.Still such as
On be similarly determined reference frequency fR, but be specifically chosen as close to vibration frequency fSKOr in vibration frequency fSKFrequency bandwidth
It is interior.
Fig. 4 C show exemplary frequency spectrum Figure 46 0 according to multiple embodiments in the present invention, show will shake letter
Number mechanism detached with two gyroscope sensing signals.Vibration signal and two gyroscope sensing signals are by relative to reference signal
It is converted, and changes into the frequency different from its original frequency in electronics frequency mixer 306.By characteristic frequency f0It is converted to
Demodulated characteristic frequency | fR-f0|.Similarly, the modulated frequency of vibration signal and two gyroscope sensing signals difference
For | fR-fSK|、|fR-(f0- Ω) | and | fR-(f0+Ω)|.Using absolute value, because in some embodiments, reference frequency fRIt is small
In vibration frequency fSKOr gyroscope sensing frequency f0–Ω。
In this embodiment, reference frequency fRMore than vibration frequency fSKAnd gyroscope sensing frequency f0- Ω and f0+Ω。
The modulated frequency of vibration signal and two gyroscope sensing signals can be expressed simply as f respectivelyR-fSK、fR-(f0–
Ω) and fR-(f0+Ω)。
By the cutoff frequency f of low-pass filter 308LPControl is in modulated vibration frequency | fR-fSK| with modulated top
Spiral shell instrument sensing frequency is | fR-(f0- Ω) | and | fR-(f0+ Ω) | between.It keeps or with gain GLPAmplify the level of vibration signal.
On the contrary, inhibiting the first and second gyroscope sensing signals.After this modulation based on mixing and low-pass filtering, gyro has been detached
Vibration signal in instrument output signal, peak detector 304 may further determine that whether vibration signal is more than threshold level VTH。
One skilled in the art will appreciate that it is not by the modulation of gyroscope device 202 and relatively remote on frequency spectrum to work as vibration signal
When from gyroscope sensing signal, gyroscope sensing circuit 300 is preferably applied.In vibration frequency fSKWith sensing frequency f0± Ω it
Between difference need it is sufficiently large, so as to by cutoff frequency fLPThe magnitude of control between them.
In figure 4 c, as vibration frequency fSKIt is substantially close to sensing frequency f0- Ω and f0When any one in+Ω,
Modulator approach based on a modulation unit 302 is not applicable.Based on whether the cutoff frequency of low-pass filter 308 can be designed
Rate fLPTo distinguish corresponding modulated frequency, to determine the close enough of vibration frequency and another frequency.Specifically, with
In the relevant one embodiment of Fig. 4 C, as modulated vibration frequency fR-fSKWith modulated gyroscope sensing frequency fR-f0-Ω
Closely, so that being not easy to design low-pass filter 308 come when distinguishing them, for based on single modulation unit 302
It just will appear problem for gyroscope sensing circuit 300.
However, in some embodiments, other than the rotation of interested host, gyroscope 202 can also further coupling
Close rotation disturbance.When host is vehicle, this rotation disturbance can be vibrated by interior vehicle or the parasitism of gyroscope encapsulation shakes
It is dynamic to cause.Specifically, rotation disturbance is modulated by gyroscope 202, to generate gyroscope disturbing signal, is had relative to feature frequency
Rate f0Symmetric Disturbance frequency.
Fig. 5 A are shown to be shown according to second of the input of multiple embodiments being coupled in rotary sensing system in the present invention
Example property spectrogram 520.Other than interested rotation, also it is incorporated with pair via capacitance variations associated with Coriolis force
In the rotation disturbance of gyroscope device 202.This rotation disturbance has forcing frequency fRD, it is usually located at mid frequency range
In (such as 1-5kHz).In many examples, forcing frequency fRDLess than the characteristic frequency f of gyroscope 2020。
Fig. 5 B are shown to be believed according to being exported for the gyroscope in gyroscope sensing circuit for multiple embodiments in the present invention
Number and reference signal in signal component second exemplary frequency spectrum Figure 54 0.Similarly, by the rotation disturbance tune of gyroscope 202
Two gyroscope disturbing signals are made as, they are relative to characteristic frequency f0Symmetrically.Two tops of the two gyroscope disturbing signals
Spiral shell instrument forcing frequency is respectively f0-fDRAnd f0+fDR.The two gyroscope disturbing signals and two gyroscope sensing signals constitute
Signal component from the output from Gyroscope that gyroscope 202 receives.Gyroscope disturbing signal is sensed compared to gyroscope to be believed
Number distance feature frequency f0It is farther, because rotation disturbance usually has frequency more higher than the frequency of interested rotation itself.
In view of these signal components, especially by the reference frequency f of reference signalRBe selected as compared to two gyroscope senses
Measured frequency f0- Ω and f0For the degree of closeness of+Ω, closer to two gyroscope forcing frequency f0-fDRAnd f0+fDRIn appoint
Meaning one.It specifically, can be by reference frequency fRIt is chosen less than characteristic frequency f0, therefore compared to gyroscope sensing frequency
f0For the degree of closeness of-Ω, closer to gyroscope forcing frequency f0-fDR.Otherwise reference frequency fRIt can be selected as big
In characteristic frequency f0, therefore compared to gyroscope sensing frequency f0For the degree of closeness of+Ω, disturbed closer to gyroscope
Frequency f0+fDR。
However, reference frequency fRNeed the crest frequency f for being sufficiently apart from gyroscope 2021, to avoid in this crest frequency
The undesirable amplification associated with the intrinsic vibration pattern of gyroscope at place.On the other hand, this reference frequency fRDistance
One of gyroscope forcing frequency will not be as far as so that the response from disturbing signal can be impacted.
Fig. 5 C show exemplary frequency spectrum Figure 56 0 according to multiple embodiments in the present invention, show to by two tops
The mechanism that one of spiral shell instrument disturbing signal is detached with two gyroscope sensing signals.Two gyroscope disturbing signals and two gyroscopes
Sensing signal is by relative to reference signal fRConversion, and changed into their original frequency not in electronics frequency mixer 306
Same frequency.As a result, the modulated frequency of two gyroscope disturbing signals is respectively | fR-(f0-fRD) | and | fR-(f0+fRD)
|, and the modulated frequency of two gyroscope sensing signals is respectively | fR-(f0- Ω) | and | fR-(f0+Ω)|.Using absolute
Value, because in some embodiments, reference frequency fRLess than gyroscope forcing frequency f0±fRDAny one of or gyroscope sense
Measured frequency f0Any one of ± Ω.
In this embodiment, reference frequency fRMore than gyroscope forcing frequency f0±fRDWith gyroscope sensing frequency f0±
Ω.The modulated frequency of gyroscope disturbing signal and two gyroscope sensing signals can be expressed simply as f respectivelyR-
(f0-fRD) and fR-(f0+fRD)、fR-(f0- Ω) and fR-(f0+Ω)。
By the cutoff frequency f of low-pass filter 308LPControl modulated gyroscope forcing frequency (i.e. | fR-(f0-fRD)
| and | fR-(f0+fRD) |) in relatively small frequency and modulated gyroscope sensing frequency (i.e. | fR-(f0- Ω) | and | fR-(f0+
Ω) |) in relatively small frequency between.It keeps or with gain GLPAmplify the level of a gyroscope disturbing signal, on the contrary, inhibiting another
One gyroscope disturbing signal and two gyroscope sensing signals.After this modulation based on mixing and low-pass filtering, isolate
A gyroscope disturbing signal in output from Gyroscope, peak detector 304 may further determine that this was isolated
Whether gyroscope disturbing signal is more than threshold level VTH。
One skilled in the art will appreciate that when gyroscope disturbing signal is relatively distant from gyroscope sensing signal on frequency spectrum,
Preferably apply gyroscope sensing circuit 300.In forcing frequency fRDDifference needs between speed Ω are sufficiently large, in order to
With by cutoff frequency fLPControl into the magnitude between them.Therefore, in figure 5 c, as forcing frequency fRDIt is substantially close to feel
When measured frequency Ω, the modulator approach based on a modulation unit 302 is not applicable.Based on whether low-pass filter can be designed
308 cutoff frequency fLPTo distinguish corresponding modulated frequency, to determine that vibration frequency and the essence of another frequency are close
Degree.Specifically, in the relevant one embodiment of Fig. 5 C, as modulated gyroscope forcing frequency fR-f0-fRDWith through adjust
The gyroscope sensing frequency f of systemR-f0- Ω is very close, so that it is not easily possible to design low-pass filter 308 to distinguish them
When, it just will appear problem for the gyroscope sensing circuit 300 based on single modulation unit 302.
In certain embodiments, vibration signal can also coexist with gyroscope disturbing signal, can apply similar modulation
Method is to be separated only by out vibration signal or isolate vibration signal and a gyroscope disturbing signal.
But in figure 5 c as vibration frequency fSKIt is substantially close to a gyroscope forcing frequency f0±fRDWhen, and working as must
When must distinguish vibration signal with gyroscope disturbing signal, the modulator approach based on a modulation unit 302 is just not suitable for.Herein
In the case of, the gyroscope sensing circuit 300 based on a modulation unit 302 can cannot export correctly vibrations label.Although top
Spiral shell instrument disturbing signal is that rotary sensing system 200 and host are acceptable, but gyroscope forcing frequency f0+fRDIt can very close shake
Dynamic frequency fSK, so that gyroscope disturbing signal is considered vibration signal by gyroscope sensing circuit 300, the shake concurrently to make mistake
Dynamic label.
With in the relevant multiple embodiments of Fig. 4 A-4C and Fig. 5 A-5C, can be in single reference frequency fRPlace's selection reference
Signal, but can be with phase with each relevant other signal of gyroscope sensing signal, gyroscope disturbing signal and vibration signal
The frequency bandwidth answered is associated.Regardless of their bandwidth, gyroscope sensing signal and vibration signal can simple earth's surfaces
It is shown as near their corresponding centre frequencies.In the drawings, not with by proportional to the actual amplitudes of these signals
Mode the height of corresponding arrow line is presented.
Fig. 6 is shown to be shown according to the gyroscope sensing circuit based on differential ference spiral scheme of multiple embodiments in the present invention
Example property block diagram 600.Gyroscope sensing circuit 600 includes two demodulating units 602A and 602B, respectively with two with reference to letter
Number fR1And fR2Output from Gyroscope is demodulated, compensates the magnitude of output from Gyroscope on demand and to output from Gyroscope
Carry out frequency band limitation.Specifically, two reference signals are relative to characteristic frequency f0Symmetrically, so as to being expressed as f0-ΔfR
And f0+ΔfR.Demodulated output from Gyroscope is combined by 604 further difference of subtracter.Peak detector 606 is further
Whether the magnitude of detection combination output signal is more than threshold level VTH, and corresponding vibrations label is generated, to alert host exception
Whether vibrations or disturbance situation occur.
As the vibration frequency f of vibration signalSKClose to gyroscope sensing signal or any frequency of gyroscope disturbing signal
When, this differential ference spiral method is suitable for solving the problems, such as above-mentioned non-differential demodulation scheme.This method utilizes gyroscope
The symmetry characteristic of sensing signal and gyroscope disturbing signal.These symmetric signals are once by symmetrical demodulation reference signal, so that it may
It is substantially cancelled each other out with being combined by the difference in subtracter 604.As a result, can be with to being coupled to output from Gyroscope
In vibration-sensing or the immunity to interference of disturbing signal enhancing detect vibration signal.
Fig. 7 A show that the third according to the input of multiple embodiments being coupled in rotary sensing system in the present invention is shown
Example property spectrogram 720.Other than the rotation of interested gyroscope 202, rotation disturbance and vibrations can be included in gyro
In instrument output signal.In various embodiments, the forcing frequency f of rotation disturbanceRDIt can be located in mid frequency range, such as 1-
5kHz, and the vibration frequency f shakenSKThere can be higher frequency.The characteristic frequency f of gyroscope 2020Disturbance frequency can be located at
Rate fRDWith vibration frequency fSKBetween.
Fig. 7 B show two reference signals being used in gyroscope sensing circuit according to multiple embodiments in the present invention
With exemplary frequency spectrum Figure 74 0 of the signal component in output from Gyroscope.The rotation of interested gyroscope 202 is by based on section
Li Aolili and couple, and be modulated to two gyroscope sensing signals, they are relative to characteristic frequency f0Symmetrically.Similarly,
Two gyroscope disturbing signals will be also modulated to the rotation disturbance of gyroscope 202, they are relative to characteristic frequency f0Symmetrically.This
Two gyroscope disturbing signals and two gyroscope sensing signals, which are constituted, is supplied to the gyroscope of rotary sensing system 200 to export letter
Signal component in number.In some embodiments, compared to gyroscope sensing signal, gyroscope disturbing signal can be further from spy
Levy frequency f0。
Other than gyroscope sensing and disturbing signal, output from Gyroscope further comprises vibration signal, has
Vibration frequency fSK.This vibration signal is not modulated by gyroscope 202, and is directly contained in output from Gyroscope.Therefore,
Vibration signal is relative to characteristic frequency f0It is asymmetric.
In view of these signal components, it is defeated to demodulate the gyroscope in gyroscope sensing circuit 600 to apply two reference signals
Go out signal.There is the first reference frequency f by the first reference signal that the first demodulating unit 602A is usedR1, than characteristic frequency f0
Big Δ fR, there is the second reference frequency f by the second reference signal that the second demodulating unit 602B is usedR2, than characteristic frequency f0
Small Δ fR.As a result, other than vibration signal, reference signal, gyroscope sensing signal and gyroscope disturbing signal are relative to spy
Levy frequency f0Symmetrically.
By the first reference frequency f of the first reference signalR1Be selected as compared to gyroscope sensing frequency f0+ Ω's is close
For degree, closer to vibration signal and gyroscope forcing frequency f0+fDR, therefore compared to gyroscope sensing frequency f0-Ω
Degree of closeness for, the second reference frequency fR2Closer to gyroscope forcing frequency f0-fDR.Due to the peak value in gyroscope 202
Frequency f1The undesirable intrinsic vibration pattern at place, reference frequency fR1And fR2Need the peak value frequency for being sufficiently apart from gyroscope 202
Rate f1, while again will not be as far as so that having an impact to the response of the gyroscope disturbing signal from vibration signal.
Fig. 7 C show exemplary frequency spectrum Figure 76 0 according to multiple embodiments in the present invention, show will shake letter
Number with gyroscope sensing and the differential ference spiral mechanism that detaches of disturbing signal.Since they are relative to characteristic frequency f0Symmetrically, by
One and second both demodulating unit 602A and 602B two gyroscope sensing signals are demodulated into identical frequency Δ fRAt ± Ω
Two sensing signals, in addition to the position of the two demodulated sensing signals is opposite in two frequency spectrums accordingly demodulated 760.
Similarly, two gyroscope disturbing signals are demodulated into identical frequency Δ fR±|fRD-f0| two disturbing signals at place, two
The position of demodulated gyroscope disturbing signal is also opposite in two frequency spectrums accordingly demodulated 760.It senses and disturbs with gyroscope
Signal is moved on the contrary, vibration signal is relative to characteristic frequency f0Asymmetry demodulates relevant frequency spectrum 760, warp corresponding to two
The vibration signal of demodulation is respectively with two different frequencies | f0+ΔfR-fSK| and | f0+ΔfR-fSK| centered on.
Although corresponding two frequencies of demodulated sensing or disturbing signal match, amplitude is not necessary, because
With characteristic frequency f0With crest frequency f1Gyroscope 202 to relative to characteristic frequency f0Symmetrical signal can have difference
Filter effect.According to some embodiments, demodulated gyroscope is compensated in the first and second demodulating unit 602A and 602B
Output signal, to neutralize the filter effect of gyroscope 202.In one embodiment, this compensation, which is mainly adjusted by, is used for
The gain G filtered in the first and second demodulating unit 602A and 602BLP1And GLP2To obtain.In another embodiment, also
Adjust the phase of the first and second reference signalsWithTo compensate the filter effect of gyroscope 202.Based on this compensation,
The amplitude of demodulated disturbing signal matches each other and can be offset by subtraction, in some embodiments, demodulated sense
The amplitude for surveying signal is also such case.
Cutoff frequency f for the filtering in the first and second demodulating unit 602A and 602BLP1And fLP2It is equal.Due to subtracting
Difference combination in musical instruments used in a Buddhist or Taoist mass 604, is relatively easily control cutoff frequency fLP1And fLP2.In certain embodiments, demodulated to disturb
Dynamic signal and demodulated sensing signal are all matched, so only needing cutoff frequency fLP1And fLP2Control is modulated at two
The different frequency of vibration signal
|f0+ΔfR-fSK| and | f0+ΔfR-fSK| between.Is being subtracted from the first demodulated output from Gyroscope
When two demodulated output from Gyroscope, modulated gyroscope disturbing signal and modulated gyroscope sensing signal are each other
Automotive resistance.
In one embodiment, the amplitude of demodulated disturbing signal is matched, and the amplitude of demodulated sensing signal
It is not matched.It needs cutoff frequency fLP1And fLP2Preferably control the frequency in demodulated sensing signal hereinafter, in order to
To inhibit uncompensated sensing signal by filtering.But with by cutoff frequency fLP1And fLP2Control vibration signal with it is demodulated
Disturbing signal between compare, be more easily controlled cutoff frequency f in this wayLP1And fLP2。
Based on two differential ference spirals, a vibration signal in output from Gyroscope is detached, peak detector 304 can
To further determine that whether the vibration signal that this is isolated is more than threshold level VTH.One skilled in the art will appreciate that gyroscope
Sensing circuit 600 efficiently solves the frequency when vibration signal close to the frequency and/or one of a gyroscope disturbing signal
The problem of when frequency of a gyroscope sensing signal.
With in the relevant multiple embodiments of Fig. 7 A-7C, can be in two particular reference frequency fR1And fR2Place's selection reference
Signal, but can be with corresponding frequency bandwidth correlation with each relevant other signal of gyroscope sensing signal and vibration signal
Connection.Regardless of their bandwidth, gyroscope sensing signal and vibration signal can be expressed simply as corresponding at them
Near centre frequency.Similar to Fig. 4 A-4C and Fig. 5 A-5C, not by by a manner of proportional to the actual amplitudes of these signals
The height of the corresponding arrow line in Fig. 7 A-7C is presented.
Fig. 8 show according in the present invention gyroscope sensing circuit based on differential ference spiral scheme of multiple embodiments it is another
One example block diagram 800.As the embodiment of gyroscope sensing circuit 600, demodulating unit 602A or 602B include that
The electronics frequency mixer and low-pass filter of this coupling.Electronics frequency mixer 802A and 802B in demodulating unit 602A or 602B is by top
Spiral shell instrument output signal is mixed with two reference signals, and two different reference frequency (f are respectively adopted in two reference signals0+ΔfR
And f0-ΔfR) phase different with two (With).Corresponding low-pass filter 804A and 804B is different based on two
Gain GLP1And GLP2But two consistent cutoff frequency fLP1And fLP2Further carried out to being mixed output from Gyroscope accordingly
Filtering.Two consistent cutoff frequency fLP1And fLP2Equal to one single-frequency fLP.In embodiments of the invention, it adjusts
The phase of reference signalWithAnd/or the gain G of filterLP1And GLP2Frequency is higher than or low with compensating gyroscope 202
In characteristic frequency f0Gyroscope sensing signal and disturbing signal possessed by potential different filter effects.
Difference combines two demodulated output from Gyroscope in subtracter 604, so as to from the first demodulated top
The second demodulated output from Gyroscope is subtracted in spiral shell instrument output signal, to generate the output from Gyroscope of combination.Due to
Compensation, two demodulated gyroscope disturbing signals cancel each other out in two demodulated output from Gyroscope, at some
In embodiment, two demodulated gyroscope sensing signals are also such case.Demodulated vibration signal is included in combination top
In spiral shell instrument output signal, and effectively detached with gyroscope sensing or disturbing signal.
Subsequent peak detector 606 includes sample circuit 806 and comparator 808.Sample circuit 806 is to from subtracter
The 604 combination output from Gyroscope received are sampled.Comparator 808 is by the signal sampled and threshold level VTHIt compares
Compared with, and vibrations label is generated according to comparison result.
Fig. 9 A show according in the present invention multiple embodiments for mark disturbance suffered by rotary sensing system or
The exemplary process diagram 900 of the method for vibrations.Fig. 9 B show according in the present invention multiple embodiments for marking sense of rotation
Another exemplary process diagram 950 of the method for vibrations suffered by examining system.Method 900 and 950 is based respectively on non-differential solution
Tune scheme and differential ference spiral scheme.
The method 900 of label vibrations or disturbance is in step 902 with since gyroscope receives output from Gyroscope.In addition to
Other than gyroscope sensing signal related with the interested speed of rotation, output from Gyroscope further includes vibration signal or gyro
Instrument disturbing signal.
In order to detach vibration signal or gyroscope disturbing signal, using with reference frequency f at step 904RReference
Signal demodulates this output from Gyroscope.In demodulating process, output from Gyroscope is mixed with reference signal, and by basis
Cutoff frequency fLPFurther limit frequency band.Therefore vibration signal or gyroscope the disturbance letter being included in output from Gyroscope
It number is demodulated together with interested gyroscope sensing signal.In one embodiment, there are vibration signals, but do not include gyroscope
Disturbing signal, so by cutoff frequency fLPIt is set in the frequency of demodulated vibration signal and demodulated gyroscope sensing signal
Between.In another embodiment, gyroscope disturbing signal is included in output from Gyroscope, and does not include vibration signal,
So by cutoff frequency fLPIt is set between demodulated gyroscope sensing signal and the corresponding lower frequency of disturbing signal.
In some embodiments, other than gyroscope sensing signal, it is defeated that gyroscope disturbing signal and vibration signal are included in gyroscope
Go out in signal, by cutoff frequency fLPBe set in the frequency of demodulated vibration signal and demodulated gyroscope disturbing signal compared with
Between low frequency, or between corresponding lower frequency of the demodulated gyroscope sensing signal with disturbing signal.As a result, protecting
Demodulated vibration signal or a demodulated gyroscope disturbing signal have been held, while demodulated gyroscope being inhibited to export
Other signal components in signal.
At step 906, determine whether demodulated output from Gyroscope is more than threshold value VTH.Vibrations label is sent to
The host of rotary sensing circuit is sensed with confirming in the presence of vibrations or disturbance and gyroscope related with interested rotation information
Signal is impaired.
The method 950 of label vibrations or disturbance is also with since gyroscope receives output from Gyroscope at step 952.
Other than gyroscope sensing signal related with the interested speed of rotation, output from Gyroscope further includes vibration signal,
And can also include further gyroscope disturbing signal.Gyroscope senses and characteristic frequency f of the disturbing signal relative to gyroscope0
Symmetrically, and vibration signal is not such.
At step 954, using with the first reference frequency fR1The first reference signal come demodulate this gyroscope output
Signal.At step 956, also using with the second reference frequency fR2Second reference signal demodulate output from Gyroscope.
In any one demodulating process, output from Gyroscope is mixed with first or second reference signal, and by according to cutoff frequency
Rate fLP1Or fLP2Further limit frequency band.It is relative to characteristic frequency f by the first and second reference signal selections0Symmetrically.Adjustment
The gain of phase and/or the frequency band limitation of first and second reference signals, to compensate that gyroscope has to different gyroscope senses
Surveying the different filtering of signal or different gyroscope disturbing signals influences.After this compensation, demodulated gyroscope sensing signal
With consistent magnitude, if initially containing demodulated gyroscope disturbing signal, they the case where be also such.
At step 958, by first from the step 954 demodulated output from Gyroscope with from step 956
Second demodulated output from Gyroscope difference combination.In some embodiments, it substantially counteracts relative to characteristic frequency
f0Symmetrical gyroscope sensing signal, if containing gyroscope disturbing signal in output from Gyroscope, they the case where
It is also such.As a result, the output from Gyroscope of combination includes demodulated vibration signal, thus with gyroscope sensing signal
And/or disturbing signal separation.
At step 960, determine whether the output from Gyroscope of combination is more than threshold value VTH.Vibrations label is sent to rotation
Turn the host of sensing circuit to confirm in the presence of vibrations or disturbance and gyroscope related with interested rotation information sensing letter
It is number impaired.
Method 900 based on non-differential demodulation includes single demodulation step, but is sensed close to gyroscope in vibration signal
It is difficult to apply when signal or gyroscope disturbing signal.On the contrary, method 950 includes two complementary demodulation steps, and can answer
For in the reluctant above difficult case of method 900.
The present invention allows a variety of modifications and interchangeable form, shows in the accompanying drawings and its spy is described in detail herein
Determine example.It should be understood that the present invention is not limited to particular forms disclosed, on the contrary, the present invention is directed to cover to belong to appended right
All modifications, equivalent within the scope of claim and replaceable form.
Claims (20)
1. a kind of gyroscope sensing circuit based on differential ference spiral scheme, including：
First demodulating unit is coupled to receive output from Gyroscope from gyroscope, and first demodulating unit uses the
The output from Gyroscope is demodulated into the first demodulated gyroscope and exported by one reference signal, the output from Gyroscope
Including vibration signal and multiple gyroscope sensing signals related with the speed of rotation；
Second demodulating unit, is coupled to receive the output from Gyroscope, and second demodulating unit uses the second ginseng
It examines signal the output from Gyroscope is demodulated into the second demodulated gyroscope and export, first reference signal and described
Second reference signal is symmetrical relative to the characteristic frequency of gyroscope；
Subtracter is coupled to first demodulating unit and second demodulating unit, and the subtracter is to described first
Demodulated gyroscope output and the described second demodulated gyroscope output carry out difference combination, are believed with detaching the vibrations
Number, wherein the vibration signal is relative to characteristic frequency asymmetry；And
Peak detector, is coupled to the subtracter, and the peak detector determines whether the gyroscope output of combination surpasses
Threshold level is crossed, and generates vibrations label, to alert whether host vibrations extremely or disturbance situation occur.
2. gyroscope sensing circuit according to claim 1, wherein the multiple gyroscope sensing signal is relative to described
Characteristic frequency is symmetrical, and is inhibited by the difference combined treatment in the subtracter.
3. gyroscope sensing circuit according to claim 2, wherein the output from Gyroscope further comprises multiple
Gyroscope disturbing signal, the multiple gyroscope disturbing signal is related with the disturbance of the mechanical performance to the gyroscope, and
Thus symmetrical relative to the characteristic frequency, the multiple gyroscope disturbing signal is by the differential set in the subtracter
Close the inhibition of processing.
4. gyroscope sensing circuit according to claim 3, wherein the vibration signal is in frequency spectrum close to described more
At least one of a gyroscope disturbing signal and the multiple gyroscope sensing signal signal.
5. gyroscope sensing circuit according to claim 3, wherein the vibration signal, the multiple gyroscope sensing
At least one of signal and the multiple gyroscope disturbing signal are associated with frequency bandwidth.
6. gyroscope sensing circuit according to claim 1, wherein first reference signal and described second is with reference to letter
It is number associated with first phase and second phase respectively, and configure the first phase and the second phase to neutralize institute
It states possessed by gyroscope to the filter effect relative to the symmetrical signal of the characteristic frequency.
7. gyroscope sensing circuit according to claim 1, wherein by first reference signal and second reference
At least one of frequency of signal is selected as：Compared to each gyroscope in the multiple gyroscope sensing signal
For the degree of closeness of the corresponding frequencies of sensing signal, closer to the frequency of the vibration signal.
8. gyroscope sensing circuit according to claim 1, wherein first demodulating unit further comprises：
First electronics frequency mixer, the first reference signal described in a combination thereof and the output from Gyroscope, and relative to the ginseng
The first reference frequency for examining signal changes the spectral content of the output from Gyroscope；And
First low-pass filter is coupled to the first electronics frequency mixer, and first low-pass filter is using the first filtering
Device gain and the first cutoff frequency, the first filter gain and first cutoff frequency are configured as allowing described first
Low-pass filter handles the multiple gyroscope sensing signal and the vibration signal in different ways.
9. gyroscope sensing circuit according to claim 8, wherein second demodulating unit further comprises：
Second electronics frequency mixer, the second reference signal described in a combination thereof and the output from Gyroscope, and relative to the ginseng
The second reference frequency for examining signal changes the spectral content of the output from Gyroscope；And
Second low-pass filter is coupled to the second electronics frequency mixer, and second low-pass filter is using the second filtering
Device gain and the second cutoff frequency, the second filter gain and second cutoff frequency are configured as allowing described second
Low-pass filter handles the multiple gyroscope sensing signal and the vibration signal in different ways.
10. gyroscope sensing circuit according to claim 9, wherein the first filter gain and second filter
Wave device gain is configured as neutralizing possessed by gyroscope to the filter effect relative to the symmetrical signal of the characteristic frequency.
11. a kind of method of the vibrations in output of label gyroscope, includes the following steps：
Output from Gyroscope is received from the gyroscope, the output from Gyroscope includes vibration signal and and the speed of rotation
Related multiple gyroscope sensing signals；
The output from Gyroscope the first demodulated gyroscope is demodulated into using the first reference signal to export；
The output from Gyroscope is demodulated into the second demodulated gyroscope using the second reference signal to export, described first
Reference signal and second reference signal are symmetrical relative to the characteristic frequency of gyroscope；
Difference combines the described first demodulated gyroscope output and the described second demodulated gyroscope output, described in separation
Vibration signal, wherein the vibration signal is relative to characteristic frequency asymmetry；And
Determine whether the gyroscope output of combination is more than threshold level.
12. according to the method for claim 11, wherein the output from Gyroscope further comprises that multiple gyroscopes are disturbed
Dynamic signal, the multiple gyroscope disturbing signal is related with the disturbance of the mechanical performance to the gyroscope, and thus relatively
Symmetrical in the characteristic frequency, the multiple gyroscope disturbing signal is also inhibited by the difference combined treatment in subtracter.
13. according to the method for claim 12, wherein the vibration signal is in frequency spectrum close to the multiple gyroscope
At least one of disturbing signal and the multiple gyroscope sensing signal signal.
14. according to the method for claim 11, wherein first reference signal and second reference signal respectively with
First phase and second phase are associated, and are configured to the first phase and the second phase to neutralize the gyroscope
The possessed filter effect to relative to the symmetrical signal of the characteristic frequency.
15. according to the method for claim 11, wherein extremely by first reference signal and second reference signal
Few frequency of one of them is selected as：Compared to each gyroscope sensing signal in the multiple gyroscope sensing signal
For the degree of closeness of possessed corresponding frequencies, closer to the frequency of the vibration signal.
16. according to the method for claim 11, wherein any one of two demodulation steps all include：By the top
The first sub-step that spiral shell instrument output signal is mixed with corresponding reference signal；And with corresponding filter gain to through mixing
Output from Gyroscope is weighted the second sub-step of filtering.
17. a kind of gyroscope sensing circuit, including：
Demodulating unit is coupled to receive output from Gyroscope from gyroscope, and the output from Gyroscope includes gyro
At least one of instrument sensing signal and vibration signal and multiple gyroscope disturbing signals, the demodulating unit use reference
The output from Gyroscope is demodulated into demodulated gyroscope and exported by signal, to keep the vibration signal and described more
At least one of a gyroscope disturbing signal, while inhibiting the gyroscope sensing signal related with the speed of rotation；With
And
Peak detector, is coupled to the demodulating unit, and the peak detector determines the demodulated gyroscope output
Whether it is more than threshold level, and generates vibrations label, alerts host vibrations or disturbance event extremely.
18. gyroscope sensing circuit according to claim 17, wherein the demodulating unit further comprises：
Electronics frequency mixer, reference signal described in a combination thereof and the output from Gyroscope, and relative to the reference signal
Reference frequency changes the spectral content of the output from Gyroscope；And
Low-pass filter is coupled to the electronics frequency mixer, and the low-pass filter uses filter gain and cutoff frequency,
The filter gain and the cutoff frequency are configured as that the low-pass filter is allowed to handle the top in different ways
At least one of spiral shell instrument sensing signal and the vibration signal and the multiple gyroscope disturbing signal.
19. gyroscope sensing circuit according to claim 17, wherein the frequency of the gyroscope sensing signal with it is described
The frequency dependence of the characteristic frequency of gyroscope and the speed of rotation detected using gyroscope is joined.
20. gyroscope sensing circuit according to claim 17, wherein the frequency of the reference signal to be selected as：Phase
Than in the second frequency of the gyroscope sensing signal, closer to the vibration signal and the multiple gyroscope disturbing signal
At least one of first frequency, and in addition, the frequency of the reference signal needs to be sufficiently apart from the gyroscope
Crest frequency.
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| US13/925,741 | 2013-06-24 | ||
| US13/925,741 US9109894B2 (en) | 2013-04-26 | 2013-06-24 | Gyroscope shock and disturbance detection circuit |
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| CN109960479B (en) * | 2017-12-22 | 2022-05-17 | 中科创达软件股份有限公司 | Anti-dizziness method and device for display equipment |
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| CN101688884A (en) * | 2007-06-01 | 2010-03-31 | Vti技术有限公司 | A method for measuring angular velocity and a vibrating micromechanical sensor of angular velocity |
| CN102089620A (en) * | 2008-07-12 | 2011-06-08 | 大西洋惯性***有限公司 | Improvements in or relating to vibrating structure gyroscopes |
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| EP1788351B1 (en) * | 2004-09-09 | 2017-05-03 | Murata Manufacturing Co., Ltd. | Oscillation type inertial force sensor |
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| CN101263364A (en) * | 2005-09-12 | 2008-09-10 | 威迪欧汽车电子股份公司 | Method for operating a vibrating gyroscope and sensor system |
| CN101688884A (en) * | 2007-06-01 | 2010-03-31 | Vti技术有限公司 | A method for measuring angular velocity and a vibrating micromechanical sensor of angular velocity |
| CN102089620A (en) * | 2008-07-12 | 2011-06-08 | 大西洋惯性***有限公司 | Improvements in or relating to vibrating structure gyroscopes |
| CN102812328A (en) * | 2010-03-23 | 2012-12-05 | 萨甘安全防护公司 | Method and device for angular measurement with compensation of non-linearities |
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