Two-dimensional/three-dimensional angular speed detecting device and method and attitude sensing equipment

Abstract

The invention discloses a two-dimensional / three-dimensional angular speed detecting device and method and attitude sensing device. The two-dimensional angular speed detecting device comprises two gyroscopes, wherein each of the two gyroscopes comprises a detecting arm, a first driving arm and a second drying arm which are positioned on both sides of the detecting arm, a connecting part for connecting the centers of the detecting arm, the first driving arm and the second driving arm, a driving circuit which is used for driving the first driving arm and the second driving arm to vibrate, and a detecting circuit which is used for detecting the output voltage of the detecting arm; the output voltage of the detecting arm is relevant to the angular speed of a plane on which the gyroscopes are positioned; the detecting arms of the two gyroscopes are vertical to each other; when each gyroscope is static, the first driving arm vibrates relative to the second driving arm, and the detecting arm is static; and when each gyroscope moves, the first driving arm, the second driving arm and the detecting arm vibrate along the same direction. The two-dimensional / three-dimensional angular speed detecting device has high impact resistance and high vibratility, and an angular speed can be obtained easily.

Description

technical field [0001] The present invention relates to the technical field of angular velocity detection, in particular to a two-dimensional / three-dimensional angular velocity detection device, method, and attitude sensing equipment. Background technique [0002] At present, the positioning of the computer mouse pointer is mostly realized by optical sensors or laser sensors. These sensors are all based on the principle of physical optics, so that the sensors need to be realized by platforms such as desktops. However, as people's requirements for office environment and operation convenience are increasing day by day, users hope that the mouse can break away from the dependence on the desktop and upgrade to a space mouse, which can realize three-dimensional operation in the air. Just flick the wrist, and the pointer can move freely. Control computers and other equipment. Therefore, the space mouse based on the gyroscope arises at the historic moment. [0003] Gyroscope tech...

AI Technical Summary

Problems solved by technology

[0015] 1) The gyroscope in the angular velocity detection device and the attitude perception device uses the Coriolis force on the vibrating object to measure the angular velocity. Therefore, it will be affected by external shocks and vibrations, which will become noise in the angular velocity measurement, and finally affect the measurement. The accuracy of the angular velocity

[0016] 2) Parameters such as output shaft resonant frequency and mechanical quality factor in existing gyroscopes vary greatly under different conditions (such as temperature, etc.), so there is a complex nonlinearity between the output voltage and angular velocity of the output shaft of the gyroscope relationship, which leads to the calculation of angular velocity is more complicated and takes a long time

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