1258results about "Gyroscopes/turn-sensitive devices" patented technology

The present invention discloses a mold and method for thermoforming a micro-hemispherical resonator based on full mold constraint. The mold comprises a main body and a forming ball. The main body has a cavity recessed downward from its top surface, the cavity having a plurality of air holes communicating with the exterior of the main body, and the bottom of the cavity has positioning holes. The forming ball is placed in the cavity through the positioning holes. The shape parameters of the forming ball match the shape parameters of the inner cavity of the micro-hemispherical resonator. The method for thermoforming a micro-hemispherical resonator employs the above-mentioned mold to form the micro-hemispherical resonator. Compared with the prior art, the present invention utilizes a precisely machined forming ball to constrain the shape of the micro-hemispherical resonator during the forming process, thereby further improving the structural symmetry of the micro-hemispherical resonator and enabling control of the shape parameters of the micro-hemispherical resonator.

The invention discloses a hemispherical gyroscope phase-locking control optimization method and device, and the method comprises the steps: changing the vibration mode azimuth angles of a hemispherical resonator gyroscope, collecting the phase-locking frequency in real time for each vibration mode azimuth angle, and calculating the phase-locking optimization control force in real time according to the collection result, substituting the phase locking frequency and the phase locking optimization control force into an electrode driving excitation model to calculate a driving signal in real time and transmit the driving signal to a driving electrode, and after the phase locking frequency is stable, collecting a stable phase locking optimization control force corresponding to the vibration mode azimuth angle; according to all the vibration mode azimuth angles and the corresponding stable phase-locking optimization control force, constructing a relation model of the two, solving the relation model to obtain phase-locking optimization parameters, calculating the phase-locking optimization control force according to the phase-locking optimization parameters and the relation model, and substituting the phase-locking optimization control force into an electrode driving excitation model to calculate a driving signal. Therefore, the compensation for the driving signal when the hemispherical resonator gyroscope works normally is realized. According to the invention, the influence of the circumferential frequency difference on the output precision of the harmonic oscillator can be eliminated.

The invention relates to the technical field of hemispherical harmonic oscillator assembly, in particular to a welding method and device for an assembled hemispherical harmonic oscillator, and the device comprises a vibration welding platform and a clamping assembly located above the vibration welding platform; the vibration welding platform is used for bearing the sensitive base and providing a thermal field and a vibration field needed by welding, and the clamping assembly is used for clamping the center shaft and sending the center shaft into a center hole of the base. A heating unit and a composite vibration ultrasonic transducer are arranged in the platform, and the platform is configured to apply high-frequency vibration formed by superposition of vertical longitudinal waves and horizontal torsional waves to the base. The high-frequency vibration thixotropic effect is used for reducing the viscosity of the molten solder, the ultrasonic cavitation effect is used for forcibly discharging bubbles at the bottom of the blind hole, and the sound radiation pressure generated by the vibration standing wave field is used for driving the center shaft to achieve friction-free self-centering in the hole. According to the device, the problems of air bolt pseudo soldering and rigid assembly clamping stagnation in the traditional process are solved, and the assembly coaxiality and the connection strength of the harmonic oscillator are remarkably improved.

The invention relates to an automatic test method and system for the zero offset of a hemispherical resonator gyroscope. The automatic test system composed of a double-shaft servo turntable control module, a gyroscope control module and a PC (Personal Computer) upper computer is built; a servo turntable control instruction and a gyroscope control instruction are sent through a serial port according to a certain program through an automatic test logic built in a PC upper computer, a gyroscope vibration mode angle is controlled to be automatically switched from 0 degree to 360 degrees (the step length can be set), and turntable angle and gyroscope vibration mode angle data under each vibration mode angle are synchronously collected; and substituting the acquired data into the error model, completing zero offset error parameter identification by adopting a nonlinear least square method, generating an error compensation formula, and writing the error compensation formula into a gyroscope control unit in real time to realize compensation.

The invention provides a cattle behavior recognition method based on a three-axis attitude angle, and belongs to the technical field of intelligent animal husbandry management. According to the method, three-axis attitude angle signals such as the yaw angle (Yaw), the pitch angle (Pitch) and the roll angle (Roll) of the head of a cattle are collected in real time through a gyroscope sensor arranged in wearable equipment such as a cattle ear tag. The method does not depend on images, accelerometers, microphones or other modalities, only based on attitude angle signals, multiple algorithms such as a time sequence sliding window, frequency domain analysis, weighted scoring, sudden change detection and state transition modeling are utilized, and multiple typical behaviors such as ingestion, rumination, water drinking, bed lying, limping, licking, fright jumping and low activity are recognized. The method is suitable for multiple cattle breeds such as dairy cattle, beef cattle and buffalo, has the advantages of low power consumption, lightweight calculation, low deployment cost, accurate identification and the like, and is convenient for realizing behavior monitoring and health management of large-scale cattle individuals. The algorithm path can be flexibly selected, but a core input signal is only limited to attitude angle data, so that the technical boundary of the patent protection of the method is formed.

An inertial measurement device includes: an inertial sensor; a first signal processing circuit; a second signal processing circuit; a first communication unit and a second communication unit configured to communicate with an external device; and a mode selection unit configured to select a processing mode from a plurality of modes including a first processing mode and a second processing mode. The first processing mode is a mode in which the inertial measurement device is used alone and outputs a signal processed by the first signal processing circuit from the first communication unit, and the second processing mode is a mode in which the inertial measurement device is used in a state of being coupled to another inertial measurement device, a first signal processed by the first signal processing circuit and a second signal from another inertial measurement device received from the second communication unit are subjected to a calculation process by the second signal processing circuit, and a signal subjected to the calculation process is output from the first communication unit.

The invention relates to the technical field of angular velocity measurement, and discloses a drilling tool rotating body angular velocity measurement method, system and device and a storage medium, and the method comprises the steps: generating a compensation database of the incidence relation between temperature gradient data and angular velocity deviation data; an asymmetric elastic supporting structure is installed, and energy dissipation parameters are generated; establishing an association rule of the temperature gradient data and the energy dissipation parameters, and generating a dynamic compensation rule under the combined action of temperature and vibration; decomposing the angular velocity deviation data according to a dynamic compensation rule to generate a dynamic compensation amount, and adjusting weight distribution of temperature and vibration intensity in the dynamic compensation amount through an acquired accelerometer feedback signal; and continuously injecting the adjusted dynamic compensation amount into a drift correction loop to enable the corrected gyroscope output signal and the accelerometer feedback signal to form closed-loop control, and maintaining stable output of the angular velocity measurement value of the rotary body through autonomous iterative optimization of a dynamic compensation rule. According to the invention, the angular velocity measurement precision and stability can be improved.

The invention provides an MEMS gyroscope and electronic equipment. The MEMS gyroscope comprises a center anchor point, a driving unit, driving pieces and an electrode assembly, wherein the driving pieces are symmetrically arranged on the left side and the right side of the center anchor point relative to the center anchor point, and the electrode assembly provides driving force for a gyroscope structure; the mass block unit comprises first detection mass blocks, second detection mass blocks, third detection mass blocks and decoupling units, the first detection mass blocks are symmetrical about the center anchor point and arranged on the outer side of the driving part, the second detection mass blocks are arranged on the upper side and the lower side of the center anchor point respectively, and the third detection mass blocks are arranged on the inner side of the driving part respectively. Comprising a decoupling mass block arranged between the center anchor point and the third detection mass block, one side of the decoupling mass block is connected to the center anchor point through a first coupling beam, and the other side of the decoupling mass block is connected to a first anchor point of a base through a first guide beam. According to the invention, Z-axis driving and detection decoupling can be realized, the coupling error is reduced, and the gyroscope detection precision is improved.

The invention relates to an all-angle hemispherical gyroscope delay and damping asymmetric error joint compensation method, which belongs to the technical field of inertial navigation, and comprises the following steps: S1, obtaining a self-precession excitation signal and an angular velocity measurement value signal output by a gyroscope; s2, preliminarily estimating the time delay of the gyroscope by adopting a maximum likelihood weighted cross-correlation time delay estimation method; s3, estimating the damping asymmetry error of the gyroscope through a recursive least square method by utilizing the estimated time delay; s4, re-estimating the time delay of the gyroscope by using the estimated damping asymmetric error to obtain the updated estimated time delay; judging whether the updated estimated delay is converged or not; if not, returning to the step S3, and re-estimating the damping asymmetric error of the gyroscope through the recursive least square method by utilizing the updated estimated delay; if the time delay is converged, the finally estimated time delay is obtained; and S5, compensating the finally estimated delay and damping asymmetric error into a control system of the gyroscope. According to the invention, the measurement precision and long-term stability of the gyroscope are improved.

The invention discloses a simulation verification method for an ASIC (Application Specific Integrated Circuit) control loop of a metal micro-resonance hemisphere-like gyroscope. The method comprises the following steps: based on an input angular velocity and a control signal, generating a vibration signal of a harmonic oscillator by using a pre-constructed dynamics simulation model; modulating and demodulating the vibration signal through a signal modulation and demodulation module, extracting a low-frequency component and removing high-frequency noise to obtain a parameter representing a modal precession state; an antinode control signal and a wave node control signal are generated through a PID controller module based on the parameters representing the modal precession state; an antinode control signal and a wave node control signal are decomposed to an orthogonal direction through a coordinate transformation and combination module to generate a driving signal, and the driving signal is applied to a harmonic oscillator to form a closed-loop self-excitation driving control loop; and verifying the dynamic performance of the closed-loop self-excitation driving control loop in a simulation environment. The technical problems of high power consumption, complexity and development cost of simulation verification are solved.

The present invention discloses a method and system for online calibration of the control loop phase error of a hemispherical resonant gyroscope. The method comprises the following steps: constructing a drive modal transfer function for the hemispherical resonant gyroscope and plotting an amplitude-frequency characteristic curve and a phase-frequency characteristic curve based on the drive modal transfer function; performing frequency domain analysis on the drive modal transfer function of the hemispherical resonant gyroscope based on the amplitude-frequency characteristic curve and the phase-frequency characteristic curve to obtain analysis results; and online calibrating phase error parameters based on the analysis results to compensate for the control loop phase error. The method is simple to operate and requires no external instrumentation. The hemispherical resonant gyroscope only requires normal operation; the remaining calculations are performed by a program. Furthermore, the method is adaptable, as component inconsistencies do not affect the testing process. Therefore, the method is suitable for measuring the phase errors of drive and detection signals in closed-loop control gyroscopes.

A method for iteratively compensating for detection, drive, and phase errors in a dual-channel measurement and control system for a hemispherical resonant gyroscope belongs to the field of inertial technology. The present invention solves the problem that detection channel errors, drive channel errors, and signal phase delay errors can cause undesirable drift in the standing wave angular rate output by the gyroscope. The present invention effectively suppresses individual errors by performing iterative compensation through a compensation matrix, effectively reduces coupling interference between errors through the design of a compensation scheme, and ultimately achieves optimal compensation for the three errors. By iteratively compensating for detection, drive, and phase errors, the signal detection accuracy and excitation application accuracy of the rate-integrating hemispherical resonant gyroscope dual-channel measurement and control system are improved, effectively solving the problem of undesirable drift in the standing wave angular rate caused by gain, deflection error, and phase delay error generated in the detection channel and drive channel of the measurement and control system. The method of the present invention can be applied to error compensation in a dual-channel measurement and control system for a hemispherical resonant gyroscope.

The invention discloses a method for detecting the wind resistance of a rotor unmanned aerial vehicle, relates to the technical field of unmanned aerial vehicle detection, and mainly aims to provide a method capable of accurately positioning the position of the unmanned aerial vehicle and judging and detecting changes of a flight pitch angle, a rolling angle and a deflection angle of the unmanned aerial vehicle. According to the main technical scheme, the method for detecting the wind resistance of the unmanned rotorcraft comprises the steps that a reference point is fixed on the ground, and a space rectangular coordinate system is established; starting a laser tracking device to align the detected unmanned aerial vehicle, and dynamically collecting the three-dimensional coordinates of the detected unmanned aerial vehicle; the initial position and angle parameters of the detected unmanned aerial vehicle are collected and recorded in real time through the terminal; the wind field equipment is started, and the wind field equipment outputs different wind speeds and angle changes; the terminal collects and records angle change parameters of the gyroscope of the detected unmanned aerial vehicle in real time, and the terminal calculates target indexes and outputs detection data. The method is mainly used for detecting the wind resistance of the unmanned aerial vehicle.

The technology relates to measurement systems and methods for measure kinematic data of an athlete during athletic activities. In an example, the system includes a housing that includes an accelerometer and a gyroscope; at least one processor; and at least one memory. The system performs operations including generating kinematic data for the athlete during the athletic activity; detecting an occurrence of a feedback trigger condition; surfacing a feedback request for a natural language response from the athlete during the athletic activity; receiving a natural language response from the athlete during the athletic activity; generating an athlete-response prompt for a generative artificial intelligence (AI) model; providing the athlete-response prompt as input to the generative AI model; receiving, from the generative AI model in response to the athlete-response prompt, a standardized tag for the defined categories; and tagging the kinematic data with the standardized tag.

The invention discloses a detection device and a detection system for harmonic oscillator capacitors of a hemispherical resonator gyroscope, and relates to the technical field of capacitor detection, the detection device comprises a signal detection circuit, a modulation compensation circuit, a differential amplification circuit and a control circuit, the signal detection circuit is connected with the output ends of the two harmonic oscillator capacitors; the modulation compensation circuit is correspondingly connected with two input ends of the signal detection circuit; the differential amplification circuit is correspondingly connected with two output ends of the signal detection circuit; the control circuit is configured to output modulation voltage to the two input ends of the modulation compensation circuit according to a voltage signal of the output end of the differential amplification circuit, and zero setting is carried out on voltage at the connecting positions of the two output ends of the modulation compensation circuit and the two input ends of the signal detection circuit. According to the invention, the modulation compensation circuit is adopted to enable the output ends of the two harmonic oscillator capacitors to work near zero voltage, the circuit has the characteristics of ultrahigh linearity, extremely low temperature drift, rapidness and stability, errors caused by power supply drift can be eliminated, and the detection precision is improved.

The invention discloses a laser ablation and parameter optimization system and method for a hemispherical harmonic oscillator. The system comprises a laser, a control system, a frequency difference test module, a vacuum cavity, and an electric rotating base, a working platform, a vibration test clamp, an electric control excitation hammer and a vibration stopping damper which are arranged in the vacuum cavity, the working platform is mounted on the electric rotating base; the vibration stopping damper, the vibration testing clamp and the electrically-controlled excitation hammer are all installed on the working platform. By means of the parameter optimization method of the ablation system, the fitting matching degree is judged according to experimental samples added in real time, and the fitting function is dynamically updated. Laser trimming parameters are determined according to the fitting function, the accuracy of the ablation amount is guaranteed, and the trimming efficiency and convergence are improved. The method is widely suitable for the size of the harmonic oscillator, and provides technical support for engineering development of the high-precision hemispherical harmonic oscillator.

Embodiments of the present application provide a method and apparatus for calculating battery internal consistency, a method and apparatus for calculating a battery evaluation value, and an electronic device. The method for calculating battery internal consistency comprises: on the basis of a data set of a battery, calculating Cronbach's alpha related to the battery internal consistency to obtain the battery internal consistency, wherein the battery internal consistency is used for representing the capability of keeping the temperature difference variation and / or the voltage difference variation in the battery in a preset interval. In the present application, the battery internal consistency is obtained by calculating Cronbach's alpha, so that the performance of the battery can be comprehensively evaluated; in addition, the battery internal consistency can be accurately calculated by using a small amount of data, improving the calculation efficiency.

A circuit for a MEMS gyroscope having at least one mass excitable to an oscillatory motion. The circuit includes: a signal generator circuit for generating a periodic test signal, the test signal being applicable to a first MEMS-side signal input of a driver circuit and / or to a second MEMS-side signal input of a readout circuit and causing a response measurement signal, so that the phase offset between a demodulation signal and the response measurement signal can be determined on the basis of the response measurement signal. A corresponding method for operating a MEMS gyroscope is also described.

The invention provides a pressure plate sensor device and a calibration system thereof, and relates to the technical field of pressure plate sensor application, and the calibration system comprises a trend drift fitting module for quantitatively separating trend drift and random drift, a random drift evaluation module, and a trend drift removal module for removing the trend drift. According to the invention, the working time length, the temperature and the humidity are firstly combined and analyzed to quantify trend drift, then the trend drift is removed from an angular velocity measurement value to obtain an angular velocity calibration initial value, and then the angular velocity calibration initial value is processed based on a window averaging method. The angular velocity calibration final value of the smooth random drift is obtained, so that the random error in the angular velocity measurement value is comprehensively removed, the purpose of accurately calibrating the output value of the pressure plate sensor is achieved, and the smooth window with the minimum length is used during the smooth random drift. And the pressing plate sensor can accurately and efficiently identify the opening and closing states of the pressing plate on the power grid.

A MEMS gyroscope for sensing rotational motion about an in-plane extending axis includes a body, a primary in-plane oscillator, a secondary in-plane oscillator and an out-of-plane oscillator. The primary in-plane oscillator includes an actuator element and is suspended from a primary anchor region on the body by a first spring system. The secondary in-plane oscillator is connected to the primary in-plane oscillator by a drive coupling spring system and is suspended from one or more secondary anchor points on the substrate by a second spring system. The out-of-plane oscillator is connected to the secondary in-plane oscillator by a third spring system. The drive coupling spring has higher rigidity in the first in-plane direction than in the out-of-plane direction, and the first spring system has higher rigidity in the first in-plane direction than the second spring system.

The invention relates to a resonant optical gyroscope signal detection method based on an optical switch. The resonant optical gyroscope signal detection method comprises the following steps: step 1, adopting a narrow linewidth laser as a light source; 2, the split light field enters a lithium niobate phase modulator A and a phase modulator B to be modulated by a triangular wave voltage signal, the light field subjected to phase modulation is coupled in opposite directions to enter a waveguide resonant cavity, and a photoelectric detector A and a photoelectric detector B are used at the output end of the resonant cavity to obtain a voltage signal; and voltage signals obtained by the photoelectric detector A and the photoelectric detector B are accessed to a lock-in amplifier. 3, arranging an optical switch A between the waveguide resonant cavity and the photoelectric detector A; and an optical switch b is arranged between the waveguide resonant cavity and the photoelectric detector B, so that the detection of a gyro signal is completed. The interference of polarization noise can be reduced, and the resonant frequency locking precision and the angular velocity detection sensitivity of the gyroscope are improved.

A method for detecting interference between a transducer of acoustic signals and a sensor having a mechanical resonance frequency with a frequency band that includes transmitting an acoustic signal within a known range of frequencies, in a sequence during a predetermined time window, monitoring the output signal from the sensor within said time window, comparing the transmitted signal with the sensor output signal and detecting deviations in the sensor output signal corresponding to frequencies in the acoustic signal, and determining the acoustic frequencies interfering with the sensor signal. A system for detecting interference including a transducer, configured to emit a sequence of acoustic signals, and a sensor configured to produce an output signal, an analysis unit adapted to monitor said output signal with the acoustic signal.

A method for damping drivetrain vibrations of a wind turbine. The drivetrain has, at least, a rotor and a generator. The method includes receiving a first rotational speed signal at a first location along the drivetrain, the first rotational speed signal being a proxy for rotor speed of the rotor. The method also includes receiving a second rotational speed signal at a second location along the drivetrain, the second location being downwind from the first location, the second rotational speed signal being a proxy for generator speed of the generator. Further, the method includes determining a speed error based on a comparison of the first and second rotational speed signals. Moreover, the method includes determining a torque deviation signal for the wind turbine configured to dampen the drivetrain vibrations when the speed error exceeds a first speed threshold. In addition, the method includes applying the torque deviation signal to the generator to dampen the drivetrain vibrations.

The invention discloses a method and equipment for controlling the virtual precession rotating speed of a micro-hemisphere gyroscope in a full-angle mode and a medium. The method comprises the following steps: enabling the micro-hemisphere gyroscope to be in the full-angle mode through three loops of amplitude, orthogonality and frequency tracking; applying a control force in the angle control equation to force the standing wave to self-rotate at a corresponding virtual angular velocity; in a standing wave precession state, identifying a total loop gain parameter in real time by using an adaptive identification technology; and the excitation voltage is multiplied by an external given excitation voltage to obtain a compensated excitation voltage, so that on-line compensation of the standing wave virtual procession is realized, and the accuracy and stability of the rotating speed of the virtual procession are improved.

The utility model relates to the technical field of gyroscopes, in particular to an inertial positioning gyroscope which comprises a structural frame, an upper turntable contact and an auxiliary energy supply type positioning assembly, the auxiliary energy supply type positioning assembly comprises a rotating column, a lower turntable, a through column and a transmission rod, the upper turntable is fixedly connected with the structural frame, the contact is fixedly connected with the structural frame, and the lower turntable is fixedly connected with the transmission rod. The rotating column is rotationally connected with the upper rotating disc, the upper side of the lower rotating disc is rotationally connected with the rotating column, one end of the through column penetrates through the structural frame to be detachably connected with the lower rotating disc, and the other end of the through column is arranged below the structural frame; an original structure is modified and replaced with the auxiliary energy supply type positioning assembly, so that the problems that in the prior art, no effective self-starting device exists, a center gyroscope needs to be rotated by manpower, initial starting force is obtained, inconvenience is brought, and the practicability is greatly reduced are effectively solved.

Embodiments of the present disclosure provide a fully decoupled three-axis MEMS gyroscope and an electronic product. The gyroscope comprises: a substrate, and an X / Y proof mass, Z proof masses, driving structures and Z decoupling masses that are fixed on the substrate; the X / Y proof mass is arranged around outer sides of the Z proof masses, the driving structures and the Z decoupling masses; the Z proof masses are oppositely arranged in an x-axis direction; the driving structures are oppositely arranged at outer sides of the Z proof masses in the x-axis direction; and the Z decoupling masses are oppositely arranged at inner sides of the Z proof masses in the x-axis direction. The X / Y proof mass is elastically connected to the driving structures adjacent thereto, the Z proof masses are elastically connected to the driving structures adjacent thereto, and the Z decoupling masses are elastically connected to the Z proof masses adjacent thereto. The gyroscope improves the Coriolis conversion rate of the X / Y proof mass, maximizes the utilization of the chip area, reduces chip size and cost, and reduces coupling errors and quadrature errors, thereby improving sensing accuracy.

The invention discloses an ultrafast laser modification tuning method and device for a quartz gyroscope, and solves the defects of the existing tuning technology in the aspects of efficiency, precision and damage. According to the method, a laser Doppler vibration measurement system is used for accurately completing the frequency test of a harmonic oscillator, then an ultrafast laser processing system is used for carrying out ablation removal or modification treatment on a local area of a gyroscope, finally, the area is subjected to local chemical corrosion through a micromanipulation system, and operation is repeated according to a test result until the target precision is reached. The high efficiency of ultrafast laser ablation and the low damage characteristic of chemical corrosion are combined, the tuning efficiency and quality are remarkably improved, and meanwhile the tuning precision is effectively guaranteed through the vibration measuring system, the machining system and the micromanipulation system. The method and the device have the outstanding characteristics of high removal efficiency, low material damage, high tuning precision and wide applicable objects, and a better scheme is provided for precise tuning of the quartz gyroscope.

A circuit breaker monitoring system includes a vibration sensor, a processing unit, and an output unit. The vibration sensor is mounted to a circuit breaker and acquires temporal vibration data over at least a portion of a closing operation of the circuit breaker, which portion includes movement of a moveable contact towards a fixed contact. The vibration sensor provides the temporal vibration data to the processing unit, which converts the temporal vibration data into frequency vibration data and determines a vibration signal and a plurality of spectral indicators or a plurality of spectral points based on the vibration signal. The processing unit determines an indication of operational functionality of the circuit breaker the output unit outputs information relating to the indication of operational functionality of the circuit breaker.

A gyro sensor circuit includes a gyro sensor generating a radio frequency (RF) sensing signal according to an angular movement of the gyro sensor, and an RF sensing path comprising a first chopper comprising a chopping switch, and configured to chop a tone signal at a chopping frequency to generate a chopped tone signal, an adder configured to insert the chopped tone signal to the RF sensing signal to produce a combined RF sensing and tone signal, and a first demodulator configured to mix the combined RF sensing and tone signal with a local oscillator (LO) signal to output a demodulated signal. The tone signal may be the LO signal. The gyro sensor circuit further comprises a sense base band path comprising a first analog-to-digital converter configured to sample the demodulated signal to output a digitized signal, and a first digital signal processor to extract various signals to be analyzed.