Low accuracy piezoelectric gyroscope zero-bias real-time estimation compensation process
A technology of gyro zero offset and real-time compensation, which is applied in the direction of gyro effect for speed measurement, gyroscope/steering sensing device, speed/acceleration/shock measurement, etc. and other problems to achieve the effect of improving operating speed, improving reliability and reducing costs
Inactive Publication Date: 2008-02-06
BEIHANG UNIV
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[0004] In order to solve the problem that the existing low-precision piezoelectric gyroscope has a large error in the attitude system caused by large zero-bias and noise, the present invention proposes a real-time estimation and compensation method for the zero-bias of the low-precision piezoelectric gyroscope, which utilizes The average value of the output angular velocity of the gyro during the linear motion of the carrier is close to 0° / s, and the zero bias of the gyro is carried out based on the principle that the gyro output angular velocity is stable within 10s, and the output angular velocity information is combined with the motion state of the carrier and the gyro running state. Real-time estimation and compensation, so as to improve the accuracy of the output angular velocity information of the low-precision piezoelectric gyroscope
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[0032] Please refer to Figure 3. When the carrier is flying at an altitude of 1000m and a speed of 300km / h, the angular velocity before compensation (or original angular velocity) output by the low-precision piezoelectric gyro is curve I. It can be seen from the figure that the zero bias of the gyro is 1.0~ 1.5° / s. Using the compensation method of the present invention, the compensated angular velocity output by the gyro is curve II, and it can be seen from the figure that the zero bias of the gyro is basically 0° / s. The invention can improve the accuracy of the angular velocity information output by the low-precision piezoelectric gyroscope by an order of magnitude through the gyroscope zero-bias compensation method combined with the carrier motion state.
[0033] The present invention proposes a method for real-time estimation and compensation of zero bias suitable for low-precision piezoelectric gyroscopes, which utilizes that the average value of the output angular velocity ...
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The present invention discloses a zero-bias real-time compensation method for a low precision piezoelectric gyro. An information acquisition unit (2) acquires angular velocity information Omega 0 outputted by the low precision piezoelectric gyro and digital angular velocity information Omega 1 outputted after being processed through AD conversion; an angular velocity noise cancellation processing unit (3) removes the received digital angular velocity information Omega 1 in the wild point way through adopting a Toms singular value removal method to obtain non-wild point angular velocity information, and then a 5.1 time smoothing method is adopted to reduce noise and smooth for non-wild point angular velocity information, to obtain noise reduction angular velocity information Omega 2; an angular velocity compensation unit (4) operates the zero-bias real-time estimation and compensation for the received noise reduction angular velocity information Omega 2 through a method of combining with the carrier straight line motion state, to obtain compensated angular velocity information Omega 3.
Description
technical field [0001] The invention relates to a method for estimating and compensating the zero bias of a piezoelectric gyroscope in real time with low precision (meaning that the angular velocity zero bias drift is 0.1-2.0° / s). Background technique [0002] Heading attitude information is an important navigation parameter in the process of carrier movement. The spatial position of the carrier can be determined by various means such as geomagnetic matching, satellite navigation, and radio navigation. However, among all current navigation methods, only inertial navigation has strong autonomy. performance, all-weather and anti-interference ability, so inertial navigation is the mainstream of navigation technology development. In inertial navigation, the measurement accuracy of gyroscope is the key factor affecting the accuracy of inertial navigation system. The lower precision gyroscope will not guarantee the navigation of inertial navigation system. Therefore, it is imperat...
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Login to View More IPC IPC(8): G01C19/56G01C19/00G01C21/18G01P9/04G01C19/5776
Inventor 富立王玲玲陶韬
Owner BEIHANG UNIV