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Angle measurement method and device based on dual-rate integrating gyroscopes working alternately and complementary

An angle measurement device and angle measurement technology, which is applied in the direction of measurement devices, angle measurement, surveying and navigation, etc., can solve the problems of unguaranteed measurement accuracy, and achieve the effect of avoiding short working time, high output accuracy, and high measurement accuracy

Active Publication Date: 2021-01-29
湖南天羿领航科技有限公司
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Problems solved by technology

However, in the prior art single gyro drive / detection time-sharing working mode, when a single gyro is in the excitation (drive) state, due to the limitation of the rate integration method, if the angular rate changes greatly at this time (such as the base angular momentarily jitter), its measurement accuracy cannot be guaranteed

Method used

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  • Angle measurement method and device based on dual-rate integrating gyroscopes working alternately and complementary
  • Angle measurement method and device based on dual-rate integrating gyroscopes working alternately and complementary
  • Angle measurement method and device based on dual-rate integrating gyroscopes working alternately and complementary

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Embodiment Construction

[0019] see figure 2 , this embodiment is based on the angle measurement method of dual-rate integrating gyroscopes working alternately and complementaryly, including driving and controlling a pair of rate-integrating gyroscopes A ( figure 2 denoted as A gyro), rate-integrating gyro B ( figure 2 (referred to as B gyro) work alternately and complementary, so that the rate-integrating gyro A is alternately in the excited vibration state and the free vibration state, and when the rate-integrating gyro A is in the excited vibration state, the rate-integrating gyro B is in the free-vibration state, and the rate-integrating gyro A is in the In the free vibration state, the rate-integrating gyro B is in the excitation vibration state, and the signal of the rate-integrating gyro A or rate-integrating gyro B in the current free vibration state is selected as the detection signal. The rate-integrating gyroscope is a gyroscope designed, processed, and manufactured using MEMS technolog...

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Abstract

The invention discloses an angle measurement method and device based on alternate complementary work of a double-rate integrating gyroscope.The method comprises the steps that: a pair of rate integrating gyroscopes A and rate integrating gyroscopes B are driven and controlled to perform alternate complementary work, and the rate integrating gyroscopes A is made to be in an excitation vibration state and a free vibration state alternately; and when the states of the rate integrating gyroscope A and the rate integrating gyroscope B are complementary, a signal of the rate integrating gyroscope Aor the rate integrating gyroscope B in the current free vibration state is selected as a detection signal. According to the method and device of the invention, a working mode that excitation vibrationand free vibration of the two rate integral gyroscopes are alternately complemented is adopted; by utilizing the advantage of high output precision of the rate integrating gyroscopes in a free vibration state, the defect of short working time is avoided, the requirement on the quality factor of the gyroscopes is lowered, and a full-time measurement method with high precision and large dynamic range can be provided for angle measurement.

Description

technical field [0001] The invention relates to an angle measurement technology of a miniature gyroscope, in particular to an angle measurement method and device based on a dual-rate integral gyroscope working alternately and complementaryly. Background technique [0002] Micro gyroscopes are micro gyroscopes designed, processed, and manufactured using MEMS technology or other micro-nano technologies. This type of gyroscope is a degenerate mode (degenerate mode) Gothic vibrating gyroscope. This degenerate mode utilizes two symmetrical structures to detect the angle of gyration and typically operates in either force-balance (velocity) or velocity-integration (full-angle) modes. In full-angle (rate-integration) mode, the gyro vibrator resonates under the action of the excitation force, and the external force is used to eliminate the influence of defects such as damping or asymmetry. In this mode of operation, the mechanical element acts as a "mechanical integrator" of the angu...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C19/56G01C1/00
CPCG01C1/00G01C19/56
Inventor 李长虹杨红斌朱新建金胜德毛善国王北镇
Owner 湖南天羿领航科技有限公司
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