Gyro stabilizer for tactile sticks and complementary filtering method thereof

Abstract

Disclosed are a gyro stabilizer for tactile sticks and a complementary filtering method thereof. The gyro stabilizer comprises a microcontroller unit, a posture sensor and a motor and carries a ranging module which is connected with a mobile terminal through a wireless module. The complementary filtering method includes: 1, preprocessing data of the sensors; 2, estimating an iterative process based on the angle of an acceleration sensor; 3, compensating measuring results of the acceleration sensor through angular acceleration of a gyro sensor. The gyro stabilizer and the complementary filtering method thereof have the advantages that shaking caused by movement of a blind person is avoided, a preset direction can be effectively locked for ranging, the danger detecting range of a tactile stick is widened, obstacles in air can be accurately recognized, practicality of the tactile stick is effectively improved, great convenience is brought to the blind person, stability is good, response speed is high, an algorithm is simple, noise and drift are significantly suppressed, data are smoother, and high response and high accuracy are ensured in case of great angular change.

Description

technical field [0001] The invention relates to the technical field of gyro stabilization devices and multi-sensor fusion, in particular to a gyro stabilization device for blind sticks and a complementary filtering method thereof. Background technique [0002] The visually impaired is a group that has received widespread attention from society. The traditional blind cane has obvious disadvantages such as limited sensing distance and inability to easily detect obstacles on the upper body. The new cane adds range-finding capabilities to detect obstacles and hazards in the air. However, the movement of the visually impaired person holding the blind cane leads to unstable ranging, which will greatly limit the function of the blind cane, and no effective solution has been found in the previous literature and patents. [0003] Gyro stabilization devices are widely used in military, navigation, detection and other fields. Through some high-precision sensors and some data fusion ...

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Problems solved by technology

The patent with the publication number CN103913171A "Measurement Method for Carrier Speed ​​and Rotation Angle Compensation Based on Accelerometer and Gyroscope" provides a general method for angle measurement, but it can only measure the rotation angle of one degree of freedom, and the response speed still cannot meet the requirements

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