Gyroscope calibration and compensation method and device, virtual reality headset
A compensation method and gyroscope technology, applied in measurement devices, instruments, mechanical mode conversion, etc., can solve problems such as excessive compensation, deviation, large sensitivity, etc., and achieve the effect of accurate calibration and compensation
Active Publication Date: 2020-05-15
BEIJING PICO TECH
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Problems solved by technology
In the conversion process of converting the angular velocity value collected by the gyroscope into an angle value, calculus operation is required, and operation error will inevitably be brought about during the calculus operation
In addition, in related technologies, only a certain number of virtual reality helmets are selected as samples, and the difference between the arithmetic mean value of the rotation angle value calculated by the samples and the fixed angle value of the virtual reality helmet rotation is used to calibrate other virtual reality helmets When compensating, it may cause the gyroscope with a small sensitivity deviation of the gyroscope to overcompensate, which makes a larger sensitivity deviation
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[0044] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangements of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
[0045] The following description of at least one exemplary embodiment is merely illustrative in nature and in no way taken as limiting the invention, its application or uses.
[0046] Techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods and devices should be considered part of the description.
[0047] In all examples shown and discussed herein, any specific values should be construed as exemplary only, and not as limitations. Therefore, other instances of the exemplary embodiment may have dif...
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The invention discloses a calibration compensation method and device for a gyro and virtual reality helmet equipment. The gyro is mounted on implementing equipment which rotates at a constant speed of a fixed angular speed value omega around any coordinate axis in three-dimensional coordinate axis. The method comprises the following steps of: acquiring multiple angular speed values collected by the gyro and calculating the average value omegaave of the multiple angular speed values; calculating a calibration compensation cardinal number alpha: alpha=(omega-omegaave) / omega of the angular speeds collected by rotating the gyro round the coordinate axis based on the calculating formula; and compensating the actual angular speed value omega collected by rotating the gyro around the coordinate axis by employing the calibration compensation cardinal number alpha. With adoption of the calibration compensation method of the gyro, the angular speed value collected by the gyro can be directly calibrated, so that calibration compensation of the gyro can be fundamentally realized.
Description
technical field [0001] The present invention relates to the technical field of devices equipped with gyroscopes, and more specifically, to a gyroscope calibration and compensation method and device, and a virtual reality head-mounted device. Background technique [0002] The gyroscope is a device for detecting angular motion around one or two axes perpendicular to the rotation axis by using the momentum moment sensitive shell of the high-speed rotating body relative to the inertial space. Due to the physical characteristics of the gyroscope, it is widely used in many technical fields, such as flight equipment, navigation equipment, mobile phones, virtual reality equipment, etc. [0003] After a gyroscope is installed on the device, before the device leaves the factory, it is necessary to calibrate and compensate the sensitivity deviation of the gyroscope. In related technologies, taking a virtual reality helmet as an example, the calibration and compensation of the sensitiv...
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IPC IPC(8): G01C25/00G02B27/01G06F3/01G06F3/0346
CPCG01C25/005G02B27/017G06F3/012G06F3/0346G06F2203/012
Inventor 赵红廷张瑞生夏九
Owner BEIJING PICO TECH