CN105675015A - MEMS gyroscope zero-offset automatic elimination method - Google Patents

Abstract

The invention discloses an MEMS gyroscope zero-offset automatic elimination method, which comprises the steps of: 1) powering on the gyroscope, then judging whether the current state of the gyroscope is static or dynamic, if the gyroscope is in a static state, measuring the output of the gyroscope after power-on, thus obtaining a current zero-offset compensation coefficient D0; if the gyroscope is in a dynamic state, taking the zero-offset compensation coefficient stored last time as the current zero-offset compensation coefficient D0; 2) according to the current zero-offset compensation coefficient D0 determined by step 1), performing zero-offset compensation on the gyroscope automatically; and 3) taking the current zero-offset compensation coefficient D0 as the zero-offset compensation coefficient when the gyroscope is powered on next time and is in a dynamic state. The method provided by the invention can automatically eliminate the gyroscope zero-offset and automatically reset the zero-offset compensation coefficient, and when the gyroscope is powered on to use later, the reset compensation coefficient is employed to compensate zero-offset, thus reaching the purpose of improving the measurement precision of the gyroscope.

Description

A kind of micro-mechanical gyroscope zero removing method partially automatically

Technical field

The present invention relates to micro-mechanical gyroscope zero partially to eliminate, zero inclined calibration after storing for a long time in particular for micro-mechanical gyroscope, for improving accuracy and the precision that gyroscope is measured, belong to inertia sensing technical field.

Background technology

MEMS (micromechanics) gyroscope is the sensor for measuring angular speed, and its volume is little, cost is low, reliability is high, is widely used in the various field needing inertia measurement. MEMS gyroscope output simplified model is:

$Y_{\mathrm{\ω}}^i=D_0+D_1{\mathrm{\ω}}_i+D_2{\mathrm{\ω}}_j+D_3{\mathrm{\ω}}_k$

Wherein:

-------gyro exports

D₀-------gyro zero is inclined

D₁-------gyro calibration factor

ω_i-------sensitive axes angular speed

D₂、D₃----gyro cross-coupling coefficient

ω_j、ω_kTwo normal axis angular speeds of----be perpendicular to sensitive axes

In a model, D₂、D₃It is the impact that brings of alignment error, after installation is determined, carries out demarcation and can eliminate error; D₀、D₁It is the coefficient of gyro self, when dispatching from the factory, it is demarcated, thus obtaining measuring the accurate angular speed that carrier rotates. But, the zero of MEMS gyroscope is partially after dispatching from the factory, and along with the increase of storage time, zero deviation change is very big, has a strong impact on the certainty of measurement of MEMS gyroscope. Therefore, need to be biased row elimination to zero before the upper use that once powers on.

Existing zero inclined removing method is MEMS gyro to be stood, and energising measures it zero partially, by the mode rewriting software or communication interface sends, zero offset compensation coefficient being write MEMS gyro, thus eliminating zero offset error, improving gyroscope precision. Existing method has the disadvantage in that

1, external equipment is needed to be biased row test to the zero of gyroscope.

2, gyroscope zero is measured to the rear, it is necessary to gyroscope zero offset compensation coefficient is reset by instrumentation.

3, whole operating process is loaded down with trivial details, it is necessary to professional carries out.

Summary of the invention

For prior art above shortcomings, it is an object of the invention to provide a kind of micro-mechanical gyroscope zero removing method partially automatically. This method can automatically eliminate gyroscope zero and partially and zero offset compensation coefficient be reset automatically, during the energising of later gyroscope uses, adopts the penalty coefficient reset partially to compensate zero, reaches to improve the purpose of gyro to measure precision.

To achieve these goals, the technical solution used in the present invention is as follows:

A kind of micro-mechanical gyroscope zero removing method partially automatically, it is characterised in that: step is as follows,

1) gyroscope judges after powering on that gyroscope current state is static or motion, as gyroscope remains static, then measures the output after gyroscope powers on, and this output is current zero offset compensation coefficient D₀;As gyroscope is kept in motion, then it is stored in zero offset compensation coefficient in the processor FLASH within gyroscope as current zero offset compensation coefficient D using the last time₀;

2) according to step 1) the current zero offset compensation coefficient D that determines₀, pass through formulaAutomatically gyroscope is carried out zero offset compensation;

3) by current zero offset compensation coefficient D₀Write in the processor FLASH within gyroscope online, zero offset compensation coefficient when being energized as gyroscope next time and be kept in motion.

Wherein, step 1) in, gyroscope judges after powering on that current state is static or motion as follows:

If the inclined threshold value of gyroscope real-time zero is ω₀, the inclined threshold value of gyroscope average zero isAs long as there being the output of a moment gyroscope in gyroscope powers on preset time periodAbsolute value be more than or equal to ω₀, then it is assumed that gyroscope is kept in motion;

Otherwise judge as follows again, if the meansigma methods of gyroscope output in this time periodAbsolute value be more than or equal toThen think that gyroscope is kept in motionOtherwise it is assumed that gyroscope remains static,

Compared to existing technology, the invention have the advantages that

1, external equipment is not needed, after MEMS gyroscope stores time length, it is only necessary to once stand energising and just can eliminate gyroscope zero partially, easy and simple to handle, can carry out at any time;

2, zero inclined demarcation automatically carries out with calculating, and does not need personnel to intervene;

3, zero offset compensation coefficient resets and automatically carries out, it is not necessary to instrumentation;

4, gyroscope state is carried out algorithm reckoning, it is prevented that maloperation.

Detailed description of the invention

Below with reference to detailed description of the invention, the present invention is described in detail.

Micro-mechanical gyroscope zero of the present invention is removing method partially automatically, and step is as follows,

1) gyroscope judges after powering on that gyroscope current state is static or motion, as gyroscope remains static, then measures the output after gyroscope powers on, and this output is current zero offset compensation coefficient D₀; As gyroscope is kept in motion, then it is stored in zero offset compensation coefficient in processor FLASH as current zero offset compensation coefficient D using the last time₀;

2) according to step 1) the current zero offset compensation coefficient D that determines₀, pass through formulaAutomatically gyroscope is carried out zero offset compensation;

3) by current zero offset compensation coefficient D₀Write in the processor FLASH within gyroscope online, zero offset compensation coefficient when being energized as gyroscope next time and be kept in motion.

Wherein step 1) in, gyroscope judges after powering on that current state is static or motion as follows:

If the inclined threshold value of gyroscope real-time zero is ω₀, the inclined threshold value of gyroscope average zero is(this time period length is preset, the actual 1min of being set to) is powered in preset time period according to gyroscope precision as long as there being the output of a moment gyroscope at gyroscopeAbsolute value be more than or equal to ω₀, then it is assumed that gyroscope is kept in motion;

Otherwise judge as follows again, if the meansigma methods of gyroscope output in this time periodAbsolute value be more than or equal toThen think that gyroscope is kept in motionOtherwise it is assumed that gyroscope remains static,

The above embodiment of the present invention is only for example of the present invention is described, and is not the restriction to embodiments of the present invention. For those of ordinary skill in the field, other multi-form change and variations can also be made on the basis of the above description. Here cannot all of embodiment be given exhaustive.Every belong to apparent change that technical scheme amplified out or the variation row still in protection scope of the present invention.

Claims (2)

1. micro-mechanical gyroscope zero removing method partially automatically, it is characterised in that: step is as follows,

1) gyroscope judges after powering on that gyroscope current state is static or motion, as gyroscope remains static, then measures the output after gyroscope powers on, and this output is current zero offset compensation coefficient D₀; As gyroscope is kept in motion, then it is stored in zero offset compensation coefficient in the processor FLASH within gyroscope as current zero offset compensation coefficient D using the last time₀;

2) according to step 1) the current zero offset compensation coefficient D that determines₀, pass through formulaAutomatically gyroscope is carried out zero offset compensation;

3) by current zero offset compensation coefficient D₀Write in the processor FLASH within gyroscope online, zero offset compensation coefficient when being energized as gyroscope next time and be kept in motion.

2. micro-mechanical gyroscope zero according to claim 1 removing method partially automatically, it is characterised in that: step 1) in, gyroscope judges after powering on that current state is static or motion as follows:

If the inclined threshold value of gyroscope real-time zero is ω₀, the inclined threshold value of gyroscope average zero isAs long as there being the output of a moment gyroscope in gyroscope powers on preset time periodAbsolute value be more than or equal to ω₀, then it is assumed that gyroscope is kept in motion;

Otherwise judge as follows again, if the meansigma methods of gyroscope output in this time periodAbsolute value be more than or equal toThen think that gyroscope is kept in motionOtherwise it is assumed that gyroscope remains static,