A kind of angle measurement system and method for mems gyroscope

Abstract

The invention discloses an angle measurement system used for a MEMS gyroscope and a method thereof, which relates to the technical field of gyroscope angle measurement. The system comprises a power power-supply module, a reference voltage module, a MEMS gyroscope chip, a high-precision AD transition module, and a single-chip microcomputer module, wherein the power power-supply module provides power supply to chips in circuit; a reference power supply module provides high-precision reference voltage to the MEMS gyroscope chip and the AD transition module, the MEMS gyroscope chip realizes the angular velocity measurement and outputs a simulation signal; the high-precision AD transition module is responsible for transition of the original simulation signal of the gyroscope chip to digital quantity, and the digital quantity is transmitted to the single-chip microcomputer module. According to the method, zero drift under static state condition can be inhibited through Kalman filtering, while dynamic rotation, a second order low-pass filter is used for reducing noise, dynamic performance of the angle tracking can be guaranteed, advantages of two filters are organically combined, and the high-precision stable angle measurement can be finally realized.

Description

technical field [0001] The invention relates to the technical field of gyroscope angle measurement, in particular to an angle measurement system and method for MEMS gyroscopes. Background technique [0002] MEMS gyroscope is a miniaturized, low-cost angular velocity sensor, which is widely used in various occasions, such as heading detection of sweeping robots, attitude calculation of aircraft, etc. Usually people obtain the angular velocity output by the gyroscope in real time through AD sampling and then integrate it to obtain real-time angle data. Therefore, in order to ensure the accuracy of the angle, it is first necessary to ensure that the angular velocity data is accurate and reliable. However, a large amount of noise components are coupled in the original angular velocity output of the MEMS gyroscope, which causes a large error in the angular velocity output. Due to the MEMS gyroscope's own drift and noise problems, it is easy to make the angle data obtained based...

AI Technical Summary

Problems solved by technology

However, this type of technology has certain defects, such as errors in model parameters and noise statistical characteristics that will affect the filtering effect

In the case of dynamic rotation, the use of Kalman filtering and other means will cause a large lag in the angular velocity tracking of the gyroscope, which will cause the angular velocity data used for integration to always lag behind the real angular velocity, resulting in the final angular lag. and inaccurate

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