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Gyroscope drift calibration method, drift calibration device, storage medium, electronic equipment and unmanned aerial vehicle

A technology of gyroscope and drift correction, applied in the field of unmanned aerial vehicles, can solve the problems of manual confirmation, gyroscope shaking, low degree of automation, etc., and achieve the effect of avoiding noise peaks and improving accuracy

Active Publication Date: 2021-12-24
PRODRONE TECH (SHENZHEN) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, there will inevitably be some noise spikes when the gyroscope is working. In addition, the gyroscope is susceptible to shaking due to external environmental factors during the calibration process. The error is introduced, resulting in inaccurate calibration of the gyroscope's zero position. At the same time, this method is an open-loop operation. After calibration, whether the gyroscope's zero drift can meet the requirements needs manual confirmation, and the degree of automation is not high.

Method used

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  • Gyroscope drift calibration method, drift calibration device, storage medium, electronic equipment and unmanned aerial vehicle
  • Gyroscope drift calibration method, drift calibration device, storage medium, electronic equipment and unmanned aerial vehicle
  • Gyroscope drift calibration method, drift calibration device, storage medium, electronic equipment and unmanned aerial vehicle

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Embodiment 1

[0042] like Figure 1-2 As shown, the gyroscope school drifting method based on closed-loop feedback in the present invention includes the following steps:

[0043] S1, the gyroscope angular rate data is acquired by data exchange under static conditions;

[0044] The gyroscope angular rate is performed in accordance with the following formula (1) to obtain a gyroscope angular rate integral of int_ts × INT_CNT, and the gyroscope angular rate integral can be used as a gyroscope drift within the time period;

[0045] GYRO_SUM = (Gyro_SPD + OUT 初 ) × INT_TS × INT_CNT (1);

[0046] Where gyro_spd is the gyroscope angular rate, OUT 初 For the initial school filling compensation value, int_ts is the gyroscope angular rate integration cycle (eg, the integration cycle can be 1 ms), int_cnt is the number of points of the integration cycle (once in the integration period, the unit is 'times'), gyro_sum is the gyro Rate of angle;

[0047]And compare the accumulation of the integration cycle wit...

Embodiment 2

[0061] This embodiment provides a gyroscope school drifting device for implementing a granular drifting method of the present embodiment, such as image 3 As shown, it includes:

[0062] The gyro sensor 1 is used to acquire the gyroscope angular rate data by data exchange under static conditions; preferably, the Gyro Sensor 1 includes one of the inertial angular rate measuring sensors such as MEMS gyro, optical fiber gyro, flexible gyro. Several;

[0063] Peripheral interface 2, electrically connected to the Gyro sensor 1;

[0064] The censoon controller 3 is electrically connected to the Gyro sensor 1 by the outer interface 2, for integrating the gyroscope angular rate in accordance with the formula (1) to acquire a gyroscope for int_ts × INT_CNT. Angular rate integral; and when int_cnt ≥int_time, according to the formula (2) - (6), the sequential cycle is performed, to draw a number of closed-loop school drifting fed back ERR and a school drifting corresponding to each closed rin...

Embodiment 3

[0069] This embodiment provides a readable storage medium that stores a computer program that implements the above-described closed-loop feedback, which is performed when the computer program is executed.

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Abstract

The invention discloses a gyroscope drift calibration method, a drift calibration device, a storage medium, electronic equipment and an unmanned aerial vehicle. Rate integration; S2. According to the formula, several closed-loop drift correction error feedback Err and the correction drift compensation value Out corresponding to each closed-loop drift correction error feedback Err are obtained 校 ; S3, comparing the closed-loop drift correction error feedback Err with the preset drift correction threshold; and S4, according to the stored drift correction compensation value Out 校 Correct the amount of gyroscope drift. The present invention performs zero-position calibration on the gyroscope based on closed-loop feedback, thereby avoiding the influence of noise spikes during the gyro calibration process and improving the accuracy of the gyroscope calibration. At the same time, the closed-loop correction process will automatically detect in real time whether the calibration results meet the threshold index , without manual confirmation.

Description

Technical field [0001] The present invention relates to the field of drone technology, in particular a gyroscope school drifting method based on closed loop feedback, a school router, a storage medium, an electronic device, and a drone. Background technique [0002] The gyroscope is a perceptual device for drone flight posture. It is prone to zero drift during operation, so the gyroscope needs to be drifted before use to ensure the accuracy of the data read by the subsequent drone flight control system. Make drones to run smoothly during flight. [0003] Commonly used gyroscope zero school drifting is to take the mean as a gyroscope zero drift amount for a period of data acquisition in the gyroscope. However, there are some noise spikes when the gyroscope is working. In addition, the gyroscope is susceptible to the external environmental factors, and if the vapor gyro data spike beat is larger, the mean will be obtained by the above method Introduce the error, resulting in the gy...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 黄立李攀薛源顾兴刘华斌王效杰
Owner PRODRONE TECH (SHENZHEN) CO LTD