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Calibration method for gyro and acceleration sensor on balance bike

An acceleration sensor and calibration method technology, which is applied in the testing/calibration of velocity/acceleration/shock measurement equipment, velocity/acceleration/shock measurement, instruments, etc., and can solve the problems of triaxial gyroscopes not being orthogonal, measurement errors, etc., Achieve accurate three-axis measurement results, improve accuracy, and simple methods

Pending Publication Date: 2019-12-27
西安兆格电子信息技术有限公司
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AI Technical Summary

Problems solved by technology

Due to the influence of the gyroscope's own working principle, structure, integrated manufacturing, installation and other factors, the three axes of the three-axis gyroscope cannot be orthogonal, resulting in a certain measurement error

Method used

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Embodiment

[0016] A method for calibrating a gyroscope and an acceleration sensor, comprising: obtaining a three-axis measurement value of a three-axis gyroscope; obtaining a measurement value of an acceleration sensor of a three-axis gyroscope; Calibrate the three-axis measurement values ​​of the gyroscope and the acceleration sensor described above, and obtain the calibrated three-axis measurement results. Fixture rigs are rigs with integrated spirit levels. Above-mentioned method, described obtaining the three-axis measurement value of three-axis acceleration sensor comprises: obtain the value of x, y, z three directions in the three-axis acceleration sensor of horizontal position (guarantee gyroscope X axis is vertically downward and static); Rotate the device 180 degrees (to ensure that the X-axis of the gyroscope is vertically upward and stationary), and then obtain the values ​​in the three directions of x, y, and z of the three-axis acceleration sensor; calculate the average valu...

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Abstract

The invention provides a calibration method for a gyro and an acceleration sensor on a balance bike. The calibration method comprises the steps of acquiring a three-axis measurement value of a three-axis gyro; acquiring a three-axis measurement value of a three-axis acceleration sensor; and calibrating the three-axis measurement value of the three-axis acceleration sensor according to test numerical values of a horizontal position and a position where the three-axis acceleration sensor is turned over by 180 degrees. With the calibration method for the gyro and the acceleration sensor on the balance bike, provided by the invention, the step is simple, deviation between an output value and a true value of the three-axis gyro can be compensated, and the accuracy of a measurement result of thethree-axis gyro is improved.

Description

technical field [0001] The invention relates to the field of machine and instrument calibration, in particular to a calibration method for a gyroscope and an acceleration sensor on a balance vehicle. Background technique [0002] Three-axis MEMS (Micro-Electro-Mechanical System, Micro-Electro-Mechanical System) gyroscopes are often used to measure angular rate information in three directions of an object, so as to realize the calculation of the attitude information of the object based on the measured angular rate. In recent years, in the balance car and other fields have been widely used. The three axes (x-axis, y-axis, z-axis) of the three-axis gyroscope are respectively mounted on three orthogonal planes to form a right-handed coordinate system. Due to the influence of the gyroscope's own working principle, structure, integrated manufacturing, installation and other factors, the three axes of the three-axis gyroscope cannot be orthogonal, resulting in certain measurement ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00G01P21/00
CPCG01C25/005G01P21/00
Inventor 张成赞
Owner 西安兆格电子信息技术有限公司