781results about "Gyroscopes/turn-sensitive devices" patented technology

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.

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 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.

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.

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.

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.

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.

According to an embodiment, a circuit is proposed for generating rate and quadrature demodulation signals, incorporating unidirectional hysteresis for negative edges. The circuit features a preliminary stage that amplifies the differential sinusoidal signal from gyroscopic proof mass oscillations; a gain stage for boosting this signal with adjustable hysteresis levels; an output stage delivering a full-swing square wave output; and a customizable offset component to deepen the drop in the non-inverting compared to the inverting signal for the third signal's falling edge.

The invention discloses a non-intrusive ground fault patrol method, device and system based on synthetic magnetic field break variable identification, and belongs to the technical field of power system automation. In order to solve the problems that traditional ground fault detection needs contact measurement, complex terrain adaptability is poor, and fault types cannot be quantitatively distinguished, an unmanned aerial vehicle carries a magnetic sensing module to collect line magnetic field data and attitude angles, and after hardware shielding + Kalman filtering noise reduction and attitude angle coordinate correction, the fault types are subjected to fault detection. A sliding window algorithm is adopted to identify a magnetic field break variable and position a fault point, a random forest model is combined to extract fault feature parameters to distinguish fault types, and finally a map label and a disposal report are generated and pushed to an operation and maintenance terminal. The method realizes non-intrusive patrol, is suitable for high-resistance and intermittent grounding faults in mountainous areas and the like, improves the positioning efficiency by 40%, and provides technical support for intelligent operation and maintenance of a distribution network.

In a microelectromechanical system (MEMS) sensor, movement of a component such as a proof mass due to a force of interest is sensed capacitively. A capacitance-to-voltage (C2V) converter receives a capacitance signal from the sensor and outputs a signal that includes an offset in addition to a signal of interest. The output signal is analyzed to identify the offset portion of the output signal and to modify values one or more variable capacitors coupled to the C2V input reduce the offset portion of the output signal.

The invention provides a shipborne two-axis stable turntable gyro drift compensation method, which comprises the following steps: calculating a rotation matrix from a frame coordinate system to a ship deck coordinate system, calculating a rotation matrix from the ship deck coordinate system to a navigation system, calculating a rotation matrix from the frame coordinate system to the navigation system, and obtaining the orientation and pitching pointing angle of a frame in the navigation system. A platform frame pointing direction and pitching inertia drift value is stabilized, drift estimation values are sent to the input end of a rotary table direction and pitching axis angular rate control loop, reverse motion of a direction and pitching axis motor is controlled, and gyroscopic drift is corrected; and returning to the starting step until the real-time compensation of the gyroscopic drift is completed. The method can be used for correcting the gyroscopic drift in real time, keeping the pointing inertia stability of the turntable frame, improving the gyroscopic drift compensation efficiency and reducing the manual dependence. The stability precision of the rotary table is improved, and the intelligence and the operation convenience of rotary table equipment are enhanced. And the working intensity of equipment operators is reduced.

A physical quantity detection circuit includes: a drive circuit configured to apply a drive signal, which includes a first frequency component and a second frequency component having a frequency different from a frequency of the first frequency component, to a drive electrode of a physical quantity detection element; a physical quantity detection signal output circuit configured to output a physical quantity detection signal, based on a first physical quantity component output from a first detection electrode of the physical quantity detection element and a second physical quantity component output from a second detection electrode of the physical quantity detection element; and a first failure diagnosis signal output circuit configured to output a first failure diagnosis signal generated based on a first electrostatic leakage component resulting from the second frequency component propagating to the first detection electrode and a second electrostatic leakage component resulting from the second frequency component propagating to the second detection electrode.

Provided are a disease-condition assessment device for assessing a disease condition of a subject, a disease-condition assessment method, a program for disease-condition assessment device, and a disease-condition assessment system. The operation-quantity data that the subject operates the vehicle is acquired, the operation-related data in the components of a predetermined frequency range is calculated from the operation-quantity data, the operation value that quantifies the operation-related data is calculated from the operation-related data, and the disease condition of the subject is assessed depending on the operation value.

The provided is a design method for all-fused-silica capacitive planarized micro electro-mechanical systems (MEMS) gyroscope, including: determining a configuration of the MEMS gyroscope, including a substrate and a structural layer, the structural layer being a planar structure; forming a recess at one side of the substrate, and providing a boss in a center of the recess; on the structural layer, integrally forming a central anchor point, a support beam, a resonant ring, fixed electrodes, and a peripheral anchor point region in sequence from the center outward; forming a capacitive gap having a high-steepness structural sidewall and a high-aspect ratio between the resonant ring and each of the fixed electrodes; when the substrate and the structural layer are assembled, fixing the boss to the central anchor point, fixing a recess periphery to the peripheral anchor point region, and suspending the support beam and the resonant ring on the recess.

The invention relates to a metal resonator gyroscope temperature drift online compensation system and method based on parameter real-time identification. The system comprises a metal resonator gyroscope, a field programmable gate array (FPGA), a temperature sensor, an analog-to-digital converter (ADC), a digital-to-analog converter (DAC), a microcontroller ARM and a memory. The metal resonant gyroscope is used for sensing the external angular velocity; the field programmable gate array FPGA is used for generating an excitation signal and detecting a vibration signal; the temperature sensor is used for detecting the working temperature of the gyroscope in real time; the ADC is used for synchronously converting the collected gyroscope vibration signal, temperature signal and excitation signal; the digital-to-analog converter DAC is used for converting an excitation signal generated by the field programmable gate array FPGA and outputting the excitation signal to the metal resonant gyroscope; the microcontroller ARM is responsible for operating a parameter identification algorithm and compensation calculation; the memory is used for storing initial model parameters, algorithm programs and real-time data. According to the invention, high-precision compensation in a full-temperature zone can be realized, and the zero-bias stability, the scale factor linearity and the environmental adaptability of the gyroscope can be obviously improved.

The invention discloses a motion signal processing method and device of a metal resonator gyroscope. The method comprises the following steps: acquiring a capacitance change signal caused by vibration of a metal harmonic oscillator of the metal resonant gyroscope as a detection signal; the detection signal is demodulated through reference signals, a first component and a second component are obtained, and the reference signals are sine and cosine signals generated through the direct digital synthesis technology; performing low-pass filtering on the first component and the second component respectively, extracting a direct current component to obtain a first filtering signal, and performing dynamic suppression on a frequency component of a corresponding resonance interference frequency band in the first filtering signal by using an adaptive notch filter to obtain a second filtering signal; calculating the amplitude information of the detection signal based on the second filtering signal, and taking the amplitude information as the amplitude of the motion signal of the metal resonator gyroscope. According to the invention, the technical problem that the motion signal extraction precision of the metal resonator gyroscope is low is solved.

The invention relates to a rate gyroscope temperature modeling test device and a test method, and relates to the technical field of rate gyroscope test.The device comprises a high-low temperature test box, a rotary table module and a measurement and control module, the high-low temperature test box provides a-50 DEG C to 200 DEG C wide temperature environment, the rotary table module exerts an accurate rotating speed, and the measurement and control module is connected with the high-low temperature test box; the measurement and control module realizes automatic temperature control, rotating speed control and multi-parameter synchronous acquisition. A hollow rotating shaft and a titanium alloy heat insulation coupling are adopted to isolate heat conduction, and a 24-bit AD acquisition card is combined to obtain an output signal of the gyroscope. The method comprises the steps of multi-temperature-point heat preservation, positive and negative rotating speed testing and data acquisition, construction of a temperature-angular speed-output three-dimensional model, and fitting of a nonlinear compensation formula through a least square method. According to the invention, automatic high-precision testing in a wide temperature range is realized, the scale factor precision and the zero-bias stability of the gyroscope in a high-temperature environment are remarkably improved, and the method is suitable for high-temperature application scenes such as geological exploration and petroleum drilling.

The invention relates to a microelectromechanical component (1) having a substrate (2) with a substrate surface (2a), a mass (3) which can be moved relative to the substrate surface (2a), and a stop spring (4) which is arranged between the substrate (2) and the movable mass (3), the stop spring (4) extending from a mechanical anchor (5) in a self-supporting manner parallel to the substrate surface (2a), and wherein the stop spring (4) has a decreasing width (B) along its length extension (L) from the mechanical anchor (5) to a free end (6) of the stop spring (4). The invention also relates to a microelectromechanical inertial sensor (20) having such a microelectromechanical component (1).

An inertial sensor and a method therefor. The inertial sensor includes: a first substrate; a medium layer stacked on the first substrate; a first electric-conductive layer stacked on the medium layer, first openings being formed in the first electric-conductive layer and spaced from one another; second electric-conductive layers being bonded to the first electric-conductive layer through bonding structures, a gap being formed between adjacent second electric-conductive layers, which are connected to each other by a connection part, and second openings being formed in each of the second electric-conductive layers and spaced from one another; and a second substrate covering the first substrate, a closed space being formed between the second substrate and the first substrate. Compared with a traditional single-layer structure, the die size is reduced, the manufacturing cost is reduced, and the integration of device into portable consumer applications is improved, and XY axis sensitivity is improved.

The invention belongs to the technical field of reusable carriers, and relates to a sensor arrangement optimization method for a rigid-elastic coupling reusable carrier. The invention aims to provide a sensor arrangement optimization method for accurately estimating the elastic state of a reusable vehicle. The method comprises the following steps: constructing an elastic state estimation model of the reusable vehicle; establishing a measurement model of the three gyroscopes and the FADS; optimizing the position layout of the sensor based on a genetic algorithm (GA) and traversal optimization; and fusing the obtained sensor data by using square root volume Kalman filtering. The method shows higher accuracy and environmental adaptability when processing the RLV elastic state estimation problem, and particularly provides a more efficient and practical solution for ensuring stable flight and reuse of the RLV when facing core technical difficulties such as complex load coupling and rigid-elastic coupling interference in the RLV reentry process. And the method has a wide application prospect.

A physical quantity detection circuit includes: a physical quantity detection signal output circuit that includes an amplifier circuit that amplifies a signal output from a physical quantity detection element, and outputs a physical quantity detection signal corresponding to a physical quantity; a failure diagnosis signal output circuit that outputs a failure diagnosis signal based on a signal output from at least one of a plurality of amplifiers included in the amplifier circuit; a failure diagnosis circuit that performs failure diagnosis based on the failure diagnosis signal and outputs a failure flag indicating a result of the failure diagnosis; a mask signal output circuit that compares a level of a signal output from each of the plurality of amplifiers with each of a plurality of set detection levels and outputs a mask signal based on a result of the comparison; and a disabling determination circuit that disables the failure flag based on the mask signal.

Disclosed herein is an attack detection device for detecting an attack targeting a gyroscope. The attack detection device includes: a data collection unit configured to receive measurement values from an accelerometer and the gyroscope; and an attack detection unit configured to estimate an angular velocity using the measurement value from the accelerometer, and to detect an attack by comparing the estimated angular velocity to an angular velocity measured by the gyroscope.

A physical quantity sensor includes a substrate that has a first fixed electrode and a movable body that has a first mass portion facing the first fixed electrode. The first mass portion includes a first region, and a second region farther from the rotation axis than the first region, a first through-hole group is provided in the first region, and a second through-hole group is provided in the second region, and the movable body has a first surface on a substrate side, and a second surface. The first surface of the first mass portion is provided with a step or a slope such that a first gap distance of a first gap between the first mass portion and the first fixed electrode in the first region is smaller than a second gap distance of a second gap between the first mass portion and the first fixed electrode in the second region. A depth of through-holes of the first through-hole group and the second through-hole group is smaller than a maximum thickness of the movable body.

To improve maneuvering easiness when executing a maneuver involving backward movement of a maneuvering object body.SOLUTION: A gyro unit to be mounted on a maneuvering object body maneuvered based on a maneuvering signal received from the outside, the gyro unit includes: a gyro sensor; a calculation part for executing calculation for attitude control of the maneuvering object body based on a maneuvering signal and a detection signal of the gyro sensor, and a control part for executing control such that a control direction of the attitude control is switched between when the maneuvering object body moves forward and backward.SELECTED DRAWING: Figure 3