CN104677355A - Multi-sensor fusion based virtual gyroscope and method - Google Patents
Multi-sensor fusion based virtual gyroscope and method Download PDFInfo
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- CN104677355A CN104677355A CN201510099336.2A CN201510099336A CN104677355A CN 104677355 A CN104677355 A CN 104677355A CN 201510099336 A CN201510099336 A CN 201510099336A CN 104677355 A CN104677355 A CN 104677355A
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Abstract
The invention discloses a multi-sensor fusion based virtual gyroscope and a method. The method comprises steps as follows: a first accelerometer is arranged, and detection directions of the first accelerometer are orthogonal in the same plane; a second accelerometer which is parallel to one detection direction but is not arranged in the same position as well as a third accelerometer which is parallel to the other detection direction but is not arranged in the same position is arranged in the plane, and acceleration combined sensors are formed; a gyroscope is arranged in any position of the plane, and the detection direction of the gyroscope is perpendicular to the plane; measured values of the acceleration combined sensors and the gyroscope are output. Data fusion is performed according to output of the accelerometer combination and the gyroscope, and optimized angular velocity value output is obtained; and the angular velocity measurement accuracy of the whole system can be greatly improved.
Description
Technical field
The present invention relates to sensor technical field, particularly relate to a kind of virtual gyro based on Multi-sensor Fusion and method.
Background technology
Along with instantly increasing to the demand of inertial sensor, require also more and more higher to the precision, power consumption etc. of gyroscope (angular-rate sensor).Although MEMS gyro instrument have cost low, be easy to the advantages such as digitizing, compared with accelerometer and other sensors, power consumption is obviously higher.Simultaneously, along with enriching of application, also more and more higher to the demand of high accuracy gyroscope.The accuracy requirement of MEMS gyro instrument instantly can not meet its demand gradually.
In order to make up MEMS gyro instrument deficiency in these areas, have some methods to be suggested, once someone proposed to utilize a kind of data fusion method of many gyros to realize utilizing low cost gyro to set up the scheme of high accuracy gyroscope.But its shortcoming is that the power consumption of many gyrosystems is too high.Also have scheme to propose, utilize accelerometer resolve set up gyro free inertia system, its shortcoming is that its acceleration is arranged and needed three-dimensional layout, and the position accuracy demand of not only arranging accelerometer is high, and the volume of whole system is large.
Summary of the invention
The technical problem to be solved in the present invention is the high power consumption for virtual gyroscope in prior art, and the defect that precision is inadequate, a kind of virtual gyroscope technology based on Multi-sensor Fusion is provided, data fusion is carried out by accelerometer combination and gyrostatic output, the output of magnitude of angular velocity after being optimized, significantly can promote the angular velocity measurement precision of whole system.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of method realizing virtual gyro based on Multi-sensor Fusion is provided, comprises the following steps:
Detection side is set to the first accelerometer orthogonal in same plane;
In this plane, arrange with one of them detection side to the second accelerometer that is parallel but not altogether position, and with another detection side to the 3rd accelerometer that is parallel but not position altogether, formation acceleration combination sensor;
Export acceleration combination sensor and gyrostatic measured value.
In method of the present invention, also comprise step:
According to the measured value exported, build state updating and time update equation, carry out Kalman filtering.
In method of the present invention, described first accelerometer is that common position, detection side are to twin-axis accelerometer orthogonal in same plane or two single-axis accelerometers.
In method of the present invention, two detection sides of the first accelerometer are to X-direction and the Y direction respectively along the coordinate system preset, the distance that second accelerometer is placed in apart from the first accelerometer in X-axis is the position of d1, direction is parallel with Y-axis, the distance that 3rd accelerometer is placed in apart from the first accelerometer in Y-axis is the position of d2, direction is parallel with X-axis, and gyrostatic detection side is to along Z-direction.
In method of the present invention, d1 is set and equals d2.
The present invention also provides a kind of virtual gyro based on Multi-sensor Fusion, comprises substrate, it is arranged acceleration combination sensor and gyroscope;
Acceleration combination sensor comprises: the first accelerometer, and its detection side is to orthogonal in same plane; Second accelerometer, in this plane, with a detection side of the first accelerometer to parallel but not position altogether; 3rd accelerometer, in this plane, with another detection side of the first accelerometer to parallel but not position altogether;
Described gyroscope, is arranged on this plane any position, its detection side to this plane orthogonal;
In virtual gyro of the present invention, this virtual gyro also comprises:
Computing unit, for calculating angular acceleration according to the measured value of acceleration combination sensor, and in conjunction with the output of gyro, builds state updating and time update equation, carries out Kalman filtering.
In virtual gyro of the present invention, described first accelerometer be common position, detection side to two single-axis accelerometers orthogonal in same plane, or twin-axis accelerometer.
In virtual gyro of the present invention, described second accelerometer and the 3rd accelerometer are single-axis accelerometer.
In virtual gyro of the present invention, two detection sides of the first accelerometer are to X-direction and the Y direction respectively along the coordinate system preset, the distance that second accelerometer is placed in apart from the first accelerometer in X-axis is the position of d1, direction is parallel with Y-axis, the distance that 3rd accelerometer is placed in apart from the first accelerometer in Y-axis is the position of d2, direction is parallel with X-axis, and gyrostatic detection side is to along Z-direction.
In virtual gyro of the present invention, the second accelerometer is placed in that X-axis is placed in the distance of distance the first accelerometer in Y-axis apart from distance and the 3rd accelerometer of the first accelerometer is equal.
The beneficial effect that the present invention produces is: the present invention by arranging a pair accelerometer position altogether in same plane, detection side is to orthogonal, the two couples of accelerometer detection sides are to parallel but not position altogether, and a gyroscope, and build state updating and time update equation according to output, carry out Kalman filtering, in conjunction with accelerometer and gyrostatic output characteristics, select the covariance matrix be applicable to, the angular velocity that can reach optimization exports, its precision can increase greatly, simultaneously because the power consumption of accelerometer is lower, only use a gyroscope again, obviously reduce compared to using multiple gyrostatic power consumption in prior art.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is that the embodiment of the present invention realizes the method flow diagram of virtual gyro based on Multi-sensor Fusion;
Fig. 2 is the virtual gyroscope structure schematic diagram of the embodiment of the present invention based on Multi-sensor Fusion.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
The present invention utilizes accelerometer to combine and gyroscope carries out data fusion, and the output of magnitude of angular velocity after being optimized, improves angular velocity measurement precision.
The virtual gyro based on Multi-sensor Fusion of the embodiment of the present invention, comprises substrate, and the acceleration combination sensor be arranged on substrate and gyroscope;
Acceleration combination sensor comprises: the first accelerometer, and its detection side is to orthogonal in same plane; Second accelerometer, in this plane, with a detection side of the first accelerometer to parallel but not position altogether; 3rd accelerometer, in this plane, with another detection side of the first accelerometer to parallel but not position altogether;
Described gyroscope, is arranged on this plane any position, its detection side to this plane orthogonal.
This virtual gyro also comprises computing unit, can be arranged on substrate, be connected respectively with acceleration combination sensor and gyroscope, angular acceleration is calculated for the measured value according to acceleration combination sensor, and in conjunction with the output of gyro, build state updating and time update equation, carry out Kalman filtering.
It is outside that this computing unit also can be located at virtual gyro, as the chip microcontroller by outside, or realized by host computer.
In one embodiment of the present of invention, described first accelerometer be common position, detection side to two single-axis accelerometers orthogonal in same plane, or twin-axis accelerometer; Described second accelerometer and the 3rd accelerometer are single-axis accelerometer.
In one embodiment of the present of invention, as shown in Figure 1, twin-axis accelerometer 1 is arranged in a corner of substrate 4, and the direction of two axles is respectively along X-direction and the Y direction of the coordinate system preset.Single-axis accelerometer 2a be arranged in X-axis apart from twin-axis accelerometer 1 apart from the position for d1, direction is parallel with Y-axis.Single-axis accelerometer 2b be arranged in Y-axis apart from twin-axis accelerometer 1 apart from the position for d2, direction is parallel with X-axis.Gyroscope 3 is arranged in the optional position coplanar with each accelerometer, and its detection side is to being Z-direction.
In one embodiment of the present of invention, the second accelerometer can be set and be placed in that X-axis is placed in the distance of distance the first accelerometer in Y-axis apart from distance and the 3rd accelerometer of the first accelerometer is equal.
Under above-mentioned arrangement, suppose that twin-axis accelerometer 1 is respectively A1, A2 in the output of X-direction and Y direction, the output of single-axis accelerometer 2a is A3, and the output of single-axis accelerometer 2b is A4, is resolved obtain angular acceleration by following formula
:
Obtain
after, in conjunction with gyrostatic output
ω, build following equation, carry out Kalman filtering:
Wherein,
for
kthe magnitude of angular velocity in moment,
for
kthe angular acceleration values in moment,
for
kthe angular velocity measurement value in moment,
for
kthe angular acceleration measured value in moment, T is sampling interval duration,
q 1with
q 2be respectively the systematic error of magnitude of angular velocity and angular acceleration values,
r 1with
r 2be respectively the measuring error of magnitude of angular velocity and angular acceleration values.
In conjunction with accelerometer and gyrostatic output characteristics, select the covariance matrix be applicable to, the angular velocity that can reach optimization exports, and its precision can increase greatly.
In order to realize the virtual gyroscope of above-described embodiment, the embodiment of the present invention realizes the method for virtual gyro based on Multi-sensor Fusion, as shown in Figure 2, comprises the following steps:
S1, detection side is set to the first accelerometer orthogonal in same plane;
S2, in this plane, to arrange with one of them detection side to the second accelerometer that is parallel but not altogether position, and with another detection side to the 3rd accelerometer that is parallel but not position altogether, formation acceleration combination sensor;
S3, gyroscope is set in this plane any position, its detection side to this plane orthogonal;
S4, output acceleration combination sensor and gyrostatic measured value.
Method of the present invention, also comprises step: S5, according to the measured value exported, build state updating and time update equation, carry out Kalman filtering.
Described first accelerometer is that common position, detection side are to twin-axis accelerometer orthogonal in same plane or two single-axis accelerometers.
In the present invention, the quantity that accekeration exports 4 and above (the first accelerometer be designated as 2 accekerations export, second and the 3rd accelerometer be respectively designated as 1 accekeration and export), and being arranged in same plane of accelerometer, has made a pair accelerometer be total to position, detection side to orthogonal; There are two couples of accelerometer detection sides to parallel but not altogether position.
In one embodiment of the present of invention, two detection sides of the first accelerometer are to X-direction and the Y direction respectively along the coordinate system preset, the distance that second accelerometer is placed in apart from the first accelerometer in X-axis is the position of d1, direction is parallel with Y-axis, the distance that 3rd accelerometer is placed in apart from the first accelerometer in Y-axis is the position of d2, direction is parallel with X-axis, and gyrostatic detection side is to along Z-direction.D1 wherein can be set and equal d2.
To sum up, data fusion is carried out, the output of magnitude of angular velocity after being optimized by accelerometer combination and gyrostatic output.Significantly can promote the angular velocity measurement precision of whole system.
Claims (10)
1. realize a method for virtual gyro based on Multi-sensor Fusion, it is characterized in that, comprise the following steps:
Detection side is set to the first accelerometer orthogonal in same plane;
In this plane, arrange with one of them detection side to the second accelerometer that is parallel but not altogether position, and with another detection side to the 3rd accelerometer that is parallel but not position altogether, formation acceleration combination sensor;
In this plane any position, gyroscope is set, its detection side to this plane orthogonal;
Export acceleration combination sensor and gyrostatic measured value.
2. method according to claim 1, is characterized in that, also comprises step:
According to the measured value exported, build state updating and time update equation, carry out Kalman filtering.
3. method according to claim 1, is characterized in that, described first accelerometer is that common position, detection side are to twin-axis accelerometer orthogonal in same plane or two single-axis accelerometers.
4. method according to claim 1, it is characterized in that, two detection sides of the first accelerometer are to X-direction and the Y direction respectively along the coordinate system preset, the distance that second accelerometer is placed in apart from the first accelerometer in X-axis is the position of d1, direction is parallel with Y-axis, it is the position of d2 that 3rd accelerometer to be placed in Y-axis apart from the distance of the first accelerometer, and direction is parallel with X-axis, and gyrostatic detection side is to along Z-direction.
5. method according to claim 3, is characterized in that, arranges d1 and equals d2.
6. based on a virtual gyro for Multi-sensor Fusion, it is characterized in that, comprise substrate, it is arranged acceleration combination sensor and gyroscope;
Acceleration combination sensor comprises: the first accelerometer, and its detection side is to orthogonal in same plane; Second accelerometer, in this plane, with a detection side of the first accelerometer to parallel but not position altogether; 3rd accelerometer, in this plane, with another detection side of the first accelerometer to parallel but not position altogether;
Described gyroscope, is arranged on this plane any position, its detection side to this plane orthogonal.
7. virtual gyro according to claim 6, is characterized in that, this virtual gyro also comprises:
Computing unit, for calculating angular acceleration according to the measured value of acceleration combination sensor, and in conjunction with the output of gyro, builds state updating and time update equation, carries out Kalman filtering.
8. virtual gyro according to claim 5, is characterized in that, described first accelerometer be common position, detection side to two single-axis accelerometers orthogonal in same plane, or twin-axis accelerometer; Described second accelerometer and the 3rd accelerometer are single-axis accelerometer.
9. virtual gyro according to claim 5, it is characterized in that, two detection sides of the first accelerometer are to X-direction and the Y direction respectively along the coordinate system preset, the distance that second accelerometer is placed in apart from the first accelerometer in X-axis is the position of d1, direction is parallel with Y-axis, it is the position of d2 that 3rd accelerometer to be placed in Y-axis apart from the distance of the first accelerometer, and direction is parallel with X-axis, and gyrostatic detection side is to along Z-direction.
10. virtual gyro according to claim 8, is characterized in that, the second accelerometer is placed in that X-axis is placed in the distance of distance the first accelerometer in Y-axis apart from distance and the 3rd accelerometer of the first accelerometer is equal.
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| CN110286736A (en) * | 2019-06-28 | 2019-09-27 | Oppo广东移动通信有限公司 | Gyroscope treating method and apparatus, electronic equipment, computer readable storage medium |
| CN112204405A (en) * | 2020-01-17 | 2021-01-08 | 深圳市大疆创新科技有限公司 | Angular velocity measuring mechanism, method, device, movable platform and storage medium |
| CN113267183A (en) * | 2021-03-25 | 2021-08-17 | 浙江大学 | Combined navigation method of multi-accelerometer inertial navigation system |
| CN114440926A (en) * | 2022-01-18 | 2022-05-06 | 武汉元生创新科技有限公司 | Method and system for expanding detection range of gyroscope |
| CN115060259A (en) * | 2022-08-19 | 2022-09-16 | 江苏德一佳安防科技有限公司 | Multi-IMU fusion positioning system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113267183A (en) * | 2021-03-25 | 2021-08-17 | 浙江大学 | Combined navigation method of multi-accelerometer inertial navigation system |
| CN113267183B (en) * | 2021-03-25 | 2023-01-06 | 浙江大学 | Combined navigation method of multi-accelerometer inertial navigation system |
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| CN115060259A (en) * | 2022-08-19 | 2022-09-16 | 江苏德一佳安防科技有限公司 | Multi-IMU fusion positioning system and method |
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