CN104567933A - Method and equipment for inhibiting common-mode errors and coherent noises of three-axis inertial sensor - Google Patents
Method and equipment for inhibiting common-mode errors and coherent noises of three-axis inertial sensor Download PDFInfo
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- CN104567933A CN104567933A CN201510025349.5A CN201510025349A CN104567933A CN 104567933 A CN104567933 A CN 104567933A CN 201510025349 A CN201510025349 A CN 201510025349A CN 104567933 A CN104567933 A CN 104567933A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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Abstract
The invention relates to a method for inhibiting common-mode errors and coherent noises of a three-axis inertial sensor, and reading equipment for achieving the method for inhibiting the common-mode errors and the coherent noises of the three-axis inertial sensor. A differential thought is mainly used and two three-axis inertial sensors are located on at the same position; the directions of the three-axis inertial sensors are completely opposite; and when the sensors work, a collected measurement value is processed, so that the linear common-mode errors, the coherent noises, and drift errors of the sensors are eliminated. The method can be used for helping a developer improve the measurement precision in a process of using the sensors, and the sensors can be applied relatively well. The method has a relatively large development prospect in the fields of a four-axis air vehicle, sensor indoor positioning, an aerial mouse and the like which are relatively popular at present, and the fields in which the related sensors of an accelerometer and a gyroscope are utilized.
Description
Technical field
The present invention relates to sensor calibration field, more particularly, relate to a kind of suppression common-mode error of three axle inertial sensors and the method for coherent noise, and a kind of fetch equipment realizing the common-mode error of suppression three axle inertial sensor and the method for coherent noise.
Background technology
The modern city maked rapid progress, the requirement of people to science and technology is more and more higher, new technology replaces old, out of season technology originally already, under the promotion of new technology, the development of sensor is also advanced by leaps and bounds, and the use of moment sensor has covered the electronic product of 80%, large to automobile, little of mobile phone, the use of sensor is ubiquitous, particularly MEMS sensor.MEMS sensor is the new industry based on integrated circuit, utilize the feature that integrated circuit volume is little, integrated level is high, mechanical system is also integrated in chip, form micro mechanical system, it have volume little, lightweight, highly sensitive, be easy to batch production, cost is low, can measure the advantages such as various physical quantity, chemical quantity and biomass, has application widely.
At present, wearable device is the trend of modern science and technology, just because of the high speed development of sensor, wearable device is made to have had quantum jump in technical field, increasing manufacturer puts in this field, for example many well-known major companies: apple, Samsung, millet etc., they are all proposed oneself intelligent watch and Intelligent bracelet, enforcement can not only be carried out with mobile phone to communicate, can also the health factor such as heart rate, blood pressure, amount of exercise of Measurement accuracy wearer, even can also carry out outdoor, indoor location.But wearable device also exists many error problems, affect its precision, therefore, eliminate the most important thing that error is current research.
In order to improve the measuring accuracy of sensor, elimination common-mode error and coherent noise are the keys of problem, have the method many algorithms being eliminated error at present, but effect are all not too obvious.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, a kind of common-mode error of suppression three axle inertial sensor and the method for coherent noise of eliminating common-mode error from data source header are provided, and realize the fetch equipment of the common-mode error of suppression three axle inertial sensor and the method for coherent noise.
Technical scheme of the present invention is as follows:
A kind of suppression common-mode error of three axle inertial sensors and the method for coherent noise, two three axle inertial sensors are all oppositely stacked on same position up and down, gather the measured value of two three axle inertial sensors at synchronization respectively, then the measured value of two three axle inertial sensors is done poor, be averaging, the measured value after the common-mode error that is inhibited and coherent noise.
As preferably, with the center of stacking two three axle inertial sensors for initial point, set up XYZ coordinate system, two three axle inertial sensors are at the measured value of synchronization, be contrary sign at the measured value of X-axis, Y-axis, Z-direction, two three axle inertial sensors the measured value of the X-axis of synchronization, Y-axis, Z-direction carry out work poor, be averaging, the measured value after the common-mode error that is inhibited and coherent noise.
As preferably, measured value comprises actual value, error amount, coherent noise; By poor at the instantaneous measure of synchronization for two three axle inertial sensors, common-mode error offset, actual value doubles.
As preferably, under the prerequisite ignoring coherent noise, the actual value doubled is averaging, the actual value after the common-mode error that is eliminated.
As preferably, individually measured value reading is carried out to two three axle inertial sensors, and be kept in different register, ensure the synchronism gathering measured value.
A kind of fetch equipment realizing the common-mode error of suppression three axle inertial sensor and the method for coherent noise, two three axle inertial sensors connect a reader and register respectively, then measured value is sent to host computer carry out work poor, be averaging, the measured value after the common-mode error that is inhibited and coherent noise.
Beneficial effect of the present invention is as follows:
The invention provides a kind of three axle inertial sensors that suppress and (comprise three axis accelerometer, three-axis gyroscope) common-mode error and the method for coherent noise, described method mainly utilizes the thought of difference, two three axle inertial sensors are allowed to be in same position, but direction is completely contrary, when working sensor, the measured value collected is processed, thus eliminate the drift error of linear common-mode error, coherent noise and sensor.Described method is simple and clear, can help developer in the process using sensor, improve its measuring accuracy, facilitate sensor better to apply.Such as now popular four-axle aircraft, transducer room inner position, air mouse etc., there is larger development prospect in the field of every use accelerometer, gyroscope related sensor.
The present invention provides a kind of fetch equipment realizing the common-mode error of suppression three axle inertial sensor and the method for coherent noise simultaneously, two readers (as single-chip microcomputer) are adopted to read measured value, and measured value is put in different register, data processing is carried out again with corresponding algorithm, finally obtain reliable sensor parameters, can realize like clockwork optimize after market demand in different field.
Accompanying drawing explanation
Fig. 1 is the stacking schematic diagram of two three axle inertial sensors;
Fig. 2 is the theory diagram of fetch equipment of the present invention.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.
In reality is implemented, due to the difference of production firm, the difference of processing technology, more or less has the fixed error of self with money sensor, and for finished product, if carry out mechanically calibrated to each sensor, such workload is huge, unrealistic.But for the sensor of same batch, fixed error is more or less the same, can think approximate identical, based on this starting point, the present invention adopts the method for difference to go to eliminate fixed error to the impact of system, thus improves the measuring accuracy of sensor.
The invention provides a kind of suppression common-mode error of three axle inertial sensors and the method for coherent noise, as shown in Figure 1, two three axle inertial sensors are all oppositely stacked on same position up and down, gather the measured value of two three axle inertial sensors at synchronization respectively, then the measured value of two three axle inertial sensors is done poor, be averaging, the measured value after the common-mode error that is inhibited and coherent noise.
The measured value direction of two three axle inertial sensors is contrary, and measured value comprises actual value, error amount, coherent noise; By poor at the instantaneous measure of synchronization for two three axle inertial sensors, common-mode error offset, actual value doubles.Under the prerequisite ignoring coherent noise, the actual value doubled is averaging, the actual value after the common-mode error that is eliminated.Eliminate common-mode error from data source header like this, effectively can avoid the amplification of subsequent algorithm medial error, improve the measuring accuracy of sensor.
Particularly, with the center of stacking two three axle inertial sensors for initial point, set up XYZ coordinate system, two three axle inertial sensors are at the measured value of synchronization, be contrary sign at the measured value of X-axis, Y-axis, Z-direction, two three axle inertial sensors the measured value of the X-axis of synchronization, Y-axis, Z-direction carry out work poor, be averaging, the measured value after the common-mode error that is inhibited and coherent noise.
Method of the present invention, need the synchronism controlling to gather measured value, due to setting when sensor dispatches from the factory, the address of reading data is determined, and for reader, same single-chip microcomputer, the address of reading data can only have one, so the present invention individually carries out measured value reading to two three axle inertial sensors, and be kept in different register, ensure the synchronism gathering measured value.Again data processing is carried out to measured value, finally obtains reliable sensor parameters, really inerrably optimize after market demand in different field.
The present invention also provides a kind of fetch equipment realizing the common-mode error of suppression three axle inertial sensor and the method for coherent noise, two three axle inertial sensors connect a reader and register respectively, then measured value is sent to host computer carry out work poor, be averaging, the measured value after the common-mode error that is inhibited and coherent noise.
In the present embodiment, as shown in Figure 2, reader is based on STM32 single-chip microcomputer, two STM32 single-chip microcomputers control two three axle inertial sensors respectively, when single-chip microcomputer works on power, the measured value that two three axle inertial sensor synchronizations collect just is stored in the ROM of single-chip microcomputer, and send to host computer by wireless transport module, after host computer receives the data of two single-chip microcomputers transmissions, carry out the process of respective algorithms, just can be converted into the numerical value being easy to calculate, understand, finally export as a result.
Above-described embodiment is only used to the present invention is described, and is not used as limitation of the invention.As long as according to technical spirit of the present invention, change above-described embodiment, modification etc. all will be dropped in the scope of claim of the present invention.
Claims (6)
1. one kind is suppressed the common-mode error of three axle inertial sensors and the method for coherent noise, it is characterized in that, two three axle inertial sensors are all oppositely stacked on same position up and down, gather the measured value of two three axle inertial sensors at synchronization respectively, then the measured value of two three axle inertial sensors is done poor, be averaging, the measured value after the common-mode error that is inhibited and coherent noise.
2. the common-mode error of suppression three axle inertial sensor according to claim 1 and the method for coherent noise, it is characterized in that, with the center of stacking two three axle inertial sensors for initial point, set up XYZ coordinate system, two three axle inertial sensors are at the measured value of synchronization, be contrary sign at the measured value of X-axis, Y-axis, Z-direction, two three axle inertial sensors the measured value of the X-axis of synchronization, Y-axis, Z-direction carry out work poor, be averaging, the measured value after the common-mode error that is inhibited and coherent noise.
3. the common-mode error of suppression three axle inertial sensor according to claim 1 and the method for coherent noise, it is characterized in that, measured value comprises actual value, error amount, coherent noise; By poor at the instantaneous measure of synchronization for two three axle inertial sensors, common-mode error offset, actual value doubles.
4. the common-mode error of suppression three axle inertial sensor according to claim 3 and the method for coherent noise, is characterized in that, under the prerequisite ignoring coherent noise, the actual value doubled be averaging, the actual value after the common-mode error that is eliminated.
5. the common-mode error of suppression three axle inertial sensor according to claim 1 and the method for coherent noise, it is characterized in that, individually measured value reading is carried out to two three axle inertial sensors, and be kept in different register, ensure the synchronism gathering measured value.
6. one kind realizes the fetch equipment of the common-mode error of suppression three axle inertial sensor and the method for coherent noise, it is characterized in that, two three axle inertial sensors connect a reader and register respectively, then measured value is sent to host computer carry out work poor, be averaging, the measured value after the common-mode error that is inhibited and coherent noise.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510025349.5A CN104567933B (en) | 2015-01-19 | 2015-01-19 | Suppress the common-mode error of three axle inertial sensors and the method and apparatus of coherent noise |
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| CN201510025349.5A CN104567933B (en) | 2015-01-19 | 2015-01-19 | Suppress the common-mode error of three axle inertial sensors and the method and apparatus of coherent noise |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106289207A (en) * | 2015-06-26 | 2017-01-04 | 中国航天科工集团第四研究院指挥自动化技术研发与应用中心 | A kind of high-precision measuring method based on difference MEMS gyroscope |
| CN106821391A (en) * | 2017-03-23 | 2017-06-13 | 北京精密机电控制设备研究所 | Body gait acquisition analysis system and method based on inertial sensor information fusion |
| CN108836348A (en) * | 2018-06-01 | 2018-11-20 | 陕西乾乐科贸有限公司 | A method of it is ruminated using acceleration transducer detection mammal |
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| CN102564451A (en) * | 2011-12-09 | 2012-07-11 | 北京理工大学 | System level compensating method of platform type inertial navigation system |
| CN103970296A (en) * | 2014-05-20 | 2014-08-06 | 华侨大学 | Air mouse low in power consumption |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106289207A (en) * | 2015-06-26 | 2017-01-04 | 中国航天科工集团第四研究院指挥自动化技术研发与应用中心 | A kind of high-precision measuring method based on difference MEMS gyroscope |
| CN106821391A (en) * | 2017-03-23 | 2017-06-13 | 北京精密机电控制设备研究所 | Body gait acquisition analysis system and method based on inertial sensor information fusion |
| CN108836348A (en) * | 2018-06-01 | 2018-11-20 | 陕西乾乐科贸有限公司 | A method of it is ruminated using acceleration transducer detection mammal |
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| CN104567933B (en) | 2017-07-21 |
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