Quartz Tuning Fork Gyro Temperature Adaptive Compensation Method and System

Abstract

The present invention provides a temperature self-adaptive compensation method and system for a quartz tuning fork gyroscope. The method includes: obtaining zero-position full-temperature test data and scale factor full-temperature test data; designing a zero-position self-adaptive temperature compensation model and a scale factor self-adaptive compensation model; obtaining a plurality of zero-position temperature compensation parameters by using an adaptive temperature segmentation method according to the zero-position temperature compensation model; obtaining a plurality of scale factor compensation parameters according to the scale factor self-adaptive compensation model; performing zero-position temperature compensation on the real-time gyroscope angular rate signal through a zero-position compensation algorithm according to the zero-position temperature compensation parameters, and then performing scale factor temperature compensation according to the scale factor compensation parameters and outputting. Compared with the prior art, the technical solution of the present invention can solve the technical problem of limited compensation accuracy existing in the temperature compensation of the quartz tuning fork gyroscope in the prior art.

Description

Technical Field

[0001] The present invention belongs to the technical field of temperature compensation for quartz tuning fork gyroscopes, and relates to a temperature self-adaptive compensation method and system for quartz tuning fork gyroscopes. Background Art

[0002] The errors caused by temperature during the operation of a gyroscope mainly include the zero-position error of the gyroscope caused by temperature and the scale factor error of the gyroscope caused by temperature. These two errors directly affect the performance of the gyroscope. Due to the different vibration modes of the driving mode and the detection mode of the tuning fork structure of the quartz gyroscope, the temperature coefficients of these two vibration frequencies are different, resulting in a great influence on the zero-position output of the gyroscope when the temperature changes. When the gyroscope is working, the temperature gradient inside and outside the gyroscope is also one of the sources of zero-position error, which greatly affects the zero-bias stability of the gyroscope.

[0003] However, for the same gyroscope, its sensitive structure, bonding method, packaging method, and circuit composition are in a definite state. Therefore, as long as the gyroscope works under the designed environmental conditions, its gyroscope output zero-position error is also determined, so that the zero-position error can be greatly reduced through a compensation method. Currently, using an analog circuit to achieve gyroscope temperature compensation, its biggest drawback is that the analog devices in the circuit are usually also affected by temperature, and due to the production standards of analog devices, the setting of compensation parameters is restricted, the compensation accuracy is limited, and for a complex compensation model, it is not easy to implement with an analog circuit.

[0004] Therefore, in general, under ideal conditions, temperature compensation is achieved through software using a digital measurement and control circuit. The gyroscope is placed in the full operating temperature range for working tests to obtain a set of zero-position change data over the full temperature range. By fitting the two variables of zero-position and temperature according to a polynomial, the compensation fitting parameters are obtained, and the fitting parameters are written into the FLASH of the digital measurement and control circuit. During the operation of the gyroscope, the actual output data of the gyroscope is subtracted from the compensation data through software for real-time compensation output. The drawback of this method is that if the zero-position vs. temperature change curve is too complex, then the order of the fitting polynomial will be very high, and even the curve is too complex to satisfy polynomial fitting. So, most often a piecewise fitting method is adopted to reduce the order of the polynomial. In this way, within a very small temperature interval, the curve will always satisfy polynomial fitting. However, there is still a defect. Most temperature segmentation methods are uniform segmentation, which cannot eliminate the zero-position error caused by the sudden jump of the zero-position due to temperature within the temperature range. And because the positions of the temperature sensors of most gyroscopes are different from the positions of the gyroscope chips, there is a compensation hysteresis in temperature compensation, and the zero-bias change curves during the heating process and the cooling process are different. The zero-position change of the gyroscope caused by temperature cannot be completely eliminated through ordinary polynomial compensation methods. The influence of the temperature change rate on the zero-position output is not considered in general methods, and the influence of temperature compensation hysteresis on the zero-position cannot be eliminated.

[0005] It can be seen that there is a problem of limited compensation accuracy in the zero - position compensation of the above - mentioned gyroscope. Moreover, the above - mentioned method only involves the zero - position compensation method of the gyroscope. In fact, during the operation of the gyroscope, the scale factor also changes with temperature. To further improve the performance of the gyroscope, it is necessary to consider the temperature compensation of the scale factor. Therefore, there is an urgent need to design a method for accurately compensating the angular rate output of the gyroscope for temperature. Summary of the Invention

[0006] The present invention aims to solve at least one of the technical problems existing in the prior art or related technologies.

[0007] For this reason, the present invention provides a temperature self - adaptive compensation method and system for a quartz tuning - fork gyroscope.

[0008] The technical solution of the present invention is as follows:

[0009] According to one aspect, a temperature self - adaptive compensation method for a quartz tuning - fork gyroscope is provided. The compensation method includes:

[0010] S10. Obtain multiple groups of zero - position temperature compensation parameters, including:

[0011] S11. Obtain the gyro zero - position value and temperature data of a group of gyro full - temperature tests before compensation;

[0012] S12. Divide the full - temperature range into multiple temperature ranges by using an adaptive temperature segmentation method according to the zero - position value and temperature data, including:

[0013] 1) Obtain multiple temperature segmentation points, including:

[0014] Take the minimum value and maximum value of the temperature data as the two end - values of the multiple temperature segmentation points;

[0015] Obtain the intermediate temperature segmentation points according to the following principle:

[0016] If the adjacent zero - position values satisfy |ω[n + 1]-ω[n]|>Δω, where Δω is the set zero - position value threshold, then take the temperature data T[n] corresponding to the zero - position value ω[n] as the temperature segmentation point, and n is the time point of the test data;

[0017] 2) According to the multiple temperature segmentation points, divide the adjacent two temperature segmentation points into a temperature range in ascending order of the temperature segmentation points;

[0018] S13. Design a zero - position self - adaptive temperature compensation model, and obtain multiple groups of zero - position temperature compensation parameters based on the zero - position self - adaptive temperature compensation model and the multiple temperature ranges obtained in step S12. Among them, any of the temperature ranges corresponds to a group of zero - position temperature compensation parameters;

[0019] S20. Obtain multiple groups of scale factor compensation parameters;

[0020] S30. Perform real-time zero-bit temperature compensation based on the zero-bit temperature compensation parameters and the zero-bit temperature adaptive compensation algorithm;

[0021] S40. After performing real-time zero-bit temperature compensation in step S30, compensate the scale factor based on the scale factor compensation parameters and the scale factor temperature adaptive compensation algorithm, and obtain the compensated gyro angular rate signal based on the compensated scale factor and the gyro zero-bit compensation output after real-time zero-bit temperature compensation.

[0022] Further, design a zero-bit adaptive temperature compensation model through the following formula:

[0023]

[0024] where T is the temperature, k 0 , k 1 , k 2 , k 3 , k σ is a group of zero-bit temperature compensation parameters, t is the time, is the temperature change rate, and V is the original zero-bit value of the gyro.

[0025] Further, the obtaining of multiple groups of scale factor compensation parameters includes:

[0026] S21. Obtain a group of full-temperature test data of the scale factor and temperature data before compensation;

[0027] S22. Divide the full-temperature range into multiple temperature ranges according to the temperature data;

[0028] S23. Design a scale factor temperature compensation model, and obtain multiple groups of scale factor temperature compensation parameters based on the scale factor temperature compensation model and the multiple temperature ranges obtained in step S22, where any of the temperature ranges corresponds to a group of scale factor temperature compensation parameters.

[0029] Further, design a scale factor temperature compensation model through the following formula:

[0030]

[0031] where T is the temperature; A 0 , A 1 , A 2 , A 3 , A σ is a group of scale factor temperature compensation parameters, is the temperature change rate, and K is the scale factor.

[0032] Further, the real-time zero-bit temperature compensation based on the zero-bit temperature compensation parameter and the zero-bit temperature adaptive compensation algorithm includes:

[0033] Real-time collect the gyroscope temperature signal and the gyro real-time original output signal;

[0034] According to the result obtained in step S12, determine the temperature range where the temperature signal is located and the corresponding zero-bit temperature compensation parameter;

[0035] Based on the zero-bit temperature compensation parameter, the collected gyroscope temperature signal, and the gyro original output, perform real-time zero-bit temperature compensation through the zero-bit temperature adaptive compensation algorithm.

[0036] Further, the zero-bit temperature adaptive compensation algorithm is performed through the following formula:

[0037]

[0038] Among them, V 补偿 is the gyro zero-bit compensation output after the gyro original output is compensated for the zero-bit temperature; V 0 is the gyro original output; T is the temperature, k 0 , k 1 , k 2 , k 3 , k σ is a set of zero-bit temperature compensation parameters, t is the time, is the temperature change rate,

[0039] Further, the scale factor is compensated based on the scale factor compensation parameter and the scale factor temperature adaptive compensation algorithm, and the compensated gyro angular rate signal is obtained based on the compensated scale factor and the gyro zero-bit compensation output after real-time zero-bit temperature compensation, including:

[0040] Real-time collect the gyroscope temperature signal and the gyro real-time zero-bit compensation output signal after zero-bit compensation;

[0041] According to the result obtained in step S22, determine the temperature range where the temperature signal is located and the corresponding scale factor compensation parameter;

[0042] Based on the scale factor compensation parameter and the collected gyroscope temperature signal, compensate the scale factor through the scale factor temperature adaptive compensation algorithm;

[0043] Obtain the compensated gyro angular rate signal based on the compensated scale factor and the gyro real-time zero-bit compensation output signal.

[0044] Further, the scale factor temperature adaptive compensation algorithm is performed through the following formula:

[0045]

[0046] Among them, T is the temperature; A 0 , A 1 , A 2 , A 3 , A σ is a set of scale factor temperature compensation parameters, is the temperature change rate, K 补偿 is the compensated scale factor.

[0047] According to another aspect, there is provided a temperature adaptive compensation system for a quartz tuning fork gyroscope, and the compensation method is based on the compensation system. The system includes:

[0048] A quartz tuning fork gyroscope, the output signals of the quartz tuning fork gyroscope include a gyro angular rate voltage signal and a temperature voltage signal;

[0049] A first chip unit, which samples the angular rate voltage signal and the temperature voltage signal output by the quartz tuning fork gyroscope under the control of a second chip unit, and outputs the sampled data to the second chip unit;

[0050] A second chip unit, further including a FLASH storage unit and a data processing unit. The data processing unit has a parameter upload interface for uploading multiple sets of zero-bit temperature compensation parameters under multiple temperature ranges and multiple sets of scale factor compensation parameters under multiple temperature ranges to the storage unit. The storage unit is used to store multiple sets of zero-bit temperature compensation parameters under multiple temperature ranges and multiple sets of scale factor compensation parameters under multiple temperature ranges; the data processing unit is embedded with a zero-bit temperature adaptive compensation algorithm and a scale factor temperature adaptive compensation algorithm. Among them, first, the data processing unit performs real-time zero-bit temperature compensation based on the sampled data of the first chip unit, the zero-bit temperature adaptive compensation algorithm, and multiple sets of zero-bit temperature compensation parameters; then, the data processing unit performs real-time compensation on the scale factor based on the sampled data of the first chip unit, the scale factor temperature adaptive compensation algorithm, and multiple sets of scale factor compensation parameters, and obtains a compensated gyro angular rate signal based on the compensated scale factor and the gyro real-time zero-bit compensation output after zero-bit compensation.

[0051] Further, the first chip unit is an ADC chip, and the second chip unit is an ARM chip.

[0052] The above technical solution designs an adaptive temperature segmented compensation method (the adaptive temperature segmentation method obtains multiple zero-position temperature compensation parameters), effectively eliminating the zero-position mutation error at certain temperature points. After zero-position temperature compensation, by introducing the temperature compensation of the scale factor into the temperature compensation of the entire gyro signal, the accuracy of the gyro output angular rate signal is further effectively improved. This technical solution solves the technical problem of limited compensation accuracy in the temperature compensation of quartz tuning fork gyros in the prior art, greatly improving the gyro output accuracy. This technical solution can compensate the gyro output according to different temperatures, meeting the gyro stability and accuracy within a certain error range. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The accompanying drawings included herein are used to provide a further understanding of the embodiments of the present invention, form a part of the specification, illustrate the embodiments of the present invention, and together with the written description, explain the principles of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0054] Figure 1 is a schematic diagram of a temperature adaptive compensation digital circuit for a quartz tuning fork gyro provided by an embodiment of the present invention;

[0055] Figure 2 is a schematic diagram of a temperature adaptive compensation method for a quartz tuning fork gyro provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0056] It should be noted that, without conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all of them. The following description of at least one exemplary embodiment is actually only illustrative and in no way limits the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0057] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0058] Unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationships. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such technologies, methods, and devices should be regarded as part of the authorized specification. In all the examples shown and discussed here, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0059] As Figure 2 shown, in one embodiment of the present invention, a temperature adaptive compensation method for a quartz tuning fork gyroscope is provided, and the compensation method includes:

[0060] S10. Obtain multiple sets of zero - point temperature compensation parameters, including:

[0061] S11. Obtain the gyro zero - point value and temperature data of a set of gyro full - temperature tests before compensation;

[0062] S12. Divide the full - temperature range into multiple temperature ranges by using an adaptive temperature segmentation method according to the zero - point value and the temperature data, including:

[0063] 1) Obtain multiple temperature segmentation points, including:

[0064] Take the minimum value and the maximum value of the temperature data as the two end - values of the multiple temperature segmentation points;

[0065] Obtain the intermediate temperature segmentation points according to the following principle:

[0066] If the adjacent zero - point values satisfy |ω[n + 1]-ω[n]|>Δω, where Δω is the set zero - point value threshold, then take the temperature data T[n] corresponding to the zero - point value ω[n] as the temperature segmentation point, and n is the time point of the test data;

[0067] 2) According to the multiple temperature segmentation points, divide the adjacent two temperature segmentation points into a temperature range in ascending order of the temperature segmentation points;

[0068] S12. Design a zero - point adaptive temperature compensation model, and obtain multiple sets of zero - point temperature compensation parameters based on the zero - point adaptive temperature compensation model and the multiple temperature ranges obtained in step S12, where any of the temperature ranges corresponds to a set of zero - point temperature compensation parameters;

[0069] S20. Obtain multiple groups of scale factor compensation parameters;

[0070] S30. Perform real-time zero temperature compensation based on the zero temperature compensation parameters and the zero temperature adaptive compensation algorithm;

[0071] S40. After performing real-time zero temperature compensation in step S30, compensate the scale factor based on the scale factor compensation parameters and the scale factor temperature adaptive compensation algorithm, and obtain the compensated gyro angular rate signal based on the compensated scale factor and the gyro zero compensation output after real-time zero temperature compensation.

[0072] That is, as an important aspect of the present invention, multiple zero temperature compensation parameters are obtained using the adaptive temperature segmentation method according to the zero temperature adaptive compensation model. Specifically, first obtain multiple temperature segmentation points of the temperature data. Since a zero value corresponds to a temperature, multiple temperature segmentation points can be obtained according to the method in step 1), that is, if the adjacent zero values satisfy |ω[n + 1] - ω[n]| > Δω, then the temperature data T[n] corresponding to ω[n] is used as the temperature segmentation point, and multiple temperature segmentation points can be screened out in turn. Then, according to the method in step 2), arrange the multiple temperature segmentation points from small to large, and starting from the starting temperature segmentation point (the minimum value of the temperature data), divide the adjacent two temperature segmentation points into a temperature interval in turn, so as to divide the full temperature range into multiple small intervals. By using this method, the error caused by the zero jump at certain temperature points can be effectively eliminated.

[0073] In addition, in the embodiment of the present invention, the obtaining of multiple groups of scale factor compensation parameters may include:

[0074] S21. Obtain a group of scale factor full temperature test data before compensation and temperature data;

[0075] S22. Divide the full temperature range into multiple temperature intervals according to the temperature data;

[0076] S23. Design a scale factor temperature compensation model, and obtain multiple groups of scale factor temperature compensation parameters based on the scale factor temperature compensation model and the multiple temperature intervals obtained in step S22, where any of the temperature intervals corresponds to a group of scale factor temperature compensation parameters.

[0077] Among them, in step S22, the temperature interval division can be performed according to actual needs. For example, it can usually be divided into three temperature intervals.

[0078] In the embodiments of the present invention, the gyro system can be placed in a precise standard temperature chamber device to obtain the gyro zero-position data and temperature data of a group of gyro full-temperature tests before compensation. Then, the system is placed in a standard temperature chamber device with a turntable to obtain a group of scale factor full-temperature test data and temperature data before compensation.

[0079] In the embodiments of the present invention, the zero-position compensation parameters and scale factor compensation parameters are calculated offline in advance. That is, as Figure 2 shown, by using the zero-position full-temperature test data and scale factor full-temperature test data successively, a zero-position adaptive temperature compensation model and a scale factor adaptive compensation model are designed, and the zero-position compensation parameters and scale factor compensation parameters are calculated offline.

[0080] In the embodiments of the present invention, an important point is also that the gyro angular rate signal is first subjected to zero-position temperature compensation through a zero-position compensation algorithm, and then scale factor temperature compensation is performed. Finally, the compensated angular rate signal is output. In this way, when performing scale factor compensation, the zero-position error caused by temperature has been effectively eliminated (that is, based on the temperature adaptive segmentation algorithm, the zero-position compensation algorithm takes into account the influence of the temperature change rate on the zero-position error and can effectively eliminate the zero-position temperature compensation hysteresis error caused by the different positions of the temperature sensors of most gyroscopes and the gyro chip). At this time, the error of the angular rate signal caused by temperature is only the error caused by the change of the scale factor with temperature. After the scale factor of the gyro is compensated in real time through the scale factor adaptive temperature compensation algorithm, the original output of the gyro after zero-position compensation is converted into a gyro angular rate signal through the scale factor, and the angular rate signal error caused by the change of the scale factor caused by temperature is eliminated.

[0081] Furthermore, the scale factor compensation algorithm takes into account the influence of the temperature change rate on the scale factor error based on the temperature adaptive segmentation algorithm, and can effectively eliminate the scale factor error caused by the temperature change rate. In addition, based on the zero-position temperature compensation, by considering the scale factor temperature compensation in the temperature compensation of the gyro output angular rate, the angular rate error caused by the change of the scale factor caused by temperature can be effectively eliminated, making the finally output angular rate of the gyroscope have a high accuracy.

[0082] In summary, in the embodiments of the present invention, by designing an adaptive temperature segmented compensation method (obtaining multiple zero-position temperature compensation parameters through the adaptive temperature segmentation method), the zero-position mutation error at certain temperature points is effectively eliminated. At the same time, after zero-position temperature compensation, by introducing the temperature compensation of the scale factor into the temperature compensation of the entire gyro signal, the accuracy of the gyro output angular rate signal is further effectively improved. This technical solution solves the technical problem of limited compensation accuracy in the temperature compensation of quartz tuning fork gyroscopes in the prior art, greatly improving the output accuracy of the gyro. This technical solution can compensate the gyro output according to different temperatures, so that the gyro stability and accuracy are satisfied within a certain error range.

[0083] In the above embodiment, in order to better ensure the compensation accuracy, a zero-position adaptive temperature compensation model is designed by the following formula:

[0084]

[0085] where T is the temperature, k 0 , k 1 , k 2 , k 3 , k σ is a set of zero-position temperature compensation parameters, t is the time, is the temperature change rate, and V is the original zero-position value of the gyro.

[0086] That is, according to the obtained temperature range and the corresponding zero-position value, a set of compensation parameters corresponding to the temperature range can be obtained by polynomial fitting using this compensation model.

[0087] In addition, in the embodiments of the present invention, by considering the temperature change rate in the temperature compensation model, the temperature compensation hysteresis in the heating process and the cooling process is effectively improved.

[0088] In the above embodiment, in order to better ensure the compensation accuracy, a scale factor temperature compensation model is designed by the following formula:

[0089]

[0090] where T is the temperature; A 0 , A 1 , A 2 , A 3 , A σ is a set of scale factor temperature compensation parameters, is the temperature change rate, and K is the scale factor.

[0091] Furthermore, the real-time zero-position temperature compensation based on the zero-position temperature compensation parameters and the zero-position temperature adaptive compensation algorithm includes:

[0092] That is, according to the obtained temperature range and the corresponding zero position value, a set of compensation parameters corresponding to the temperature range can be obtained by performing polynomial fitting using this compensation model.

[0093] In addition, in the embodiments of the present invention, by taking the temperature change rate into account in the temperature compensation model, the temperature compensation hysteresis in the heating process and the cooling process is effectively improved.

[0094] In the above embodiments, the real-time zero position temperature compensation based on the zero position temperature compensation parameter and the zero position temperature adaptive compensation algorithm includes:

[0095] Real-time collect the gyroscope temperature signal and the gyro original output signal;

[0096] According to the result obtained in step S12, determine the temperature range where the temperature signal is located and the corresponding zero position temperature compensation parameter;

[0097] Based on the zero position temperature compensation parameter and the collected gyro original angular rate signal, perform real-time zero position temperature compensation through the zero position temperature adaptive compensation algorithm.

[0098] In the embodiments of the present invention, the gyro original output signal is the gyro angular rate original output voltage signal.

[0099] In the embodiments of the present invention, the zero position temperature adaptive compensation algorithm is carried out by the following formula:

[0100]

[0101] where, V 补偿 is the gyro zero position compensation output after the gyro original output is compensated for zero position temperature; V 0 is the gyro original output; T is the temperature, k 0 , k 1 , k 2 , k 3 , k σ is a set of zero position temperature compensation parameters, t is the time, is the temperature change rate,

[0102] Based on the above embodiments, the scale factor is compensated based on the scale factor compensation parameter and the scale factor temperature adaptive compensation algorithm, and the compensated gyro angular rate signal is obtained based on the scale factor and the gyro real-time original output, including:

[0103] Real-time collect the gyroscope temperature signal and the gyro real-time zero position compensation output signal after zero position compensation;

[0104] According to the result obtained in step S22, determine the temperature range where the temperature signal is located and the corresponding scale factor compensation parameter;

[0105] Based on the scale factor compensation parameter, compensate the scale factor through a scale factor temperature adaptive compensation algorithm;

[0106] Obtain the compensated gyro angular rate signal based on the compensated scale factor and the gyro real-time zero position compensation output signal.

[0107] In the embodiment of the present invention, the scale factor temperature adaptive compensation algorithm is carried out by the following formula:

[0108]

[0109] where T is the temperature; A 0 , A 1 , A 2 , A 3 , A σ is a set of scale factor temperature compensation parameters, is the temperature change rate, K 补偿 is the compensated scale factor.

[0110] According to another embodiment, as Figure 1 shown, provide a temperature adaptive compensation system for a quartz tuning fork gyroscope, and the compensation method is carried out based on the compensation system,

[0111] A quartz tuning fork gyroscope, the output signal of the quartz tuning fork gyroscope includes a gyro angular rate voltage signal and a temperature voltage signal; a first chip unit, which samples the angular rate voltage signal and the temperature voltage signal output by the quartz tuning fork gyroscope under the control of a second chip unit, and outputs the sampled data to the second chip unit; the second chip unit further includes a FLASH storage unit and a data processing unit, the data processing unit has a parameter upload interface for uploading multiple sets of zero position temperature compensation parameters in multiple temperature ranges and multiple sets of scale factor compensation parameters in multiple temperature ranges obtained to the storage unit, and the storage unit is used to store multiple sets of zero position temperature compensation parameters in multiple temperature ranges and multiple sets of scale factor compensation parameters in multiple temperature ranges; the data processing unit is embedded with a zero position temperature adaptive compensation algorithm and a scale factor temperature adaptive compensation algorithm, wherein, first, the data processing unit performs real-time zero position temperature compensation based on the sampling data of the first chip unit, the zero position temperature adaptive compensation algorithm and multiple sets of zero position temperature compensation parameters; then, the data processing unit performs real-time compensation on the scale factor based on the sampling data of the first chip unit, the scale factor temperature adaptive compensation algorithm and multiple sets of scale factor compensation parameters, and obtains the compensated gyro angular rate signal based on the compensated scale factor and the gyro real-time zero position compensation output after zero position compensation.

[0112] In the embodiments of the present invention, for the specific compensation process and principle, refer to the above compensation method, and details are not elaborated herein.

[0113] In the embodiments of the present invention, the first chip unit may be an ADC chip, and the second chip unit may be an ARM chip.

[0114] As a specific embodiment of the present invention, a quartz tuning fork gyro temperature compensation circuit is designed by using a quartz tuning fork gyro, an ARM chip, an ADC chip, and a 422 chip in terms of hardware in the embodiments of the present invention; the output signals of the quartz tuning fork gyro include a gyro signal and a temperature signal, both of which are analog signals; the ARM chip controls the ADC chip to collect the gyro signal and the temperature signal through the on-chip SPI, and the gyro signal is subjected to zero-temperature compensation and scale factor compensation through the software embedded in the ARM chip (i.e., the data processing unit), and the gyro data is blindly sent out through the 422 chip; among them, the software embedded in the ARM chip has a parameter uploading function to upload the gyro zero-temperature compensation parameters and the scale factor temperature compensation parameters to the ARM chip FLASH. After the compensation parameters are in the ARM chip FLASH, the software embedded in the ARM chip will use the zero-temperature compensation algorithm and the scale factor compensation algorithm to compensate and output the gyro data.

[0115] In summary, in the embodiments of the present invention, by designing an adaptive temperature segmented compensation method, the zero-position mutation error at certain temperature points is effectively eliminated; by considering the temperature change rate in the temperature compensation model, the temperature compensation hysteresis in the heating process and the cooling process is effectively improved; by considering the temperature compensation of the scale factor in the temperature compensation of the entire gyro signal, the accuracy of the gyro output angular rate signal is effectively improved.

[0116] The features described and / or illustrated for one embodiment above can be used in the same or similar manner in one or more other embodiments, and / or combined with the features in other embodiments or replace the features in other embodiments.

[0117] It should be emphasized that the term "including / comprising" when used herein refers to the presence of features, whole things, steps or components, but does not exclude the presence or addition of one or more other features, whole things, steps, components or combinations thereof.

[0118] The above method of the present invention can be implemented by hardware or by a combination of hardware and software. The present invention relates to such a computer-readable program that when executed by a logic component, can enable the logic component to implement the device or component described above, or enable the logic component to implement the various methods or steps described above. The present invention also relates to a storage medium for storing the above program, such as a hard disk, a magnetic disk, an optical disk, a DVD, a flash memory, etc.

[0119] Many features and advantages of these embodiments will be apparent from this detailed description, and thus the appended claims are intended to cover all such features and advantages of these embodiments that fall within their true spirit and scope. Further, since many modifications and changes will readily occur to those skilled in the art, it is not intended to limit the embodiments of this invention to the exact construction and operation shown and described, but rather all suitable modifications and equivalents that fall within its scope may be covered.

[0120] The parts of the present invention not described in detail are well-known techniques to those skilled in the art.

Claims

1. A temperature self - adaptive compensation method for a quartz tuning fork gyroscope, characterized in that, the compensation method includes: S10. Obtain multiple groups of zero - position temperature compensation parameters, including: S11. Obtain the gyroscope zero - position value and temperature data of a group of gyroscope full - temperature tests before compensation; S12. Divide the full - temperature range into multiple temperature ranges by using an adaptive temperature segmentation method according to the zero - position value and temperature data, including: 1) Obtain multiple temperature segmentation points, including: Take the minimum value and the maximum value of the temperature data as the two end values of the multiple temperature segmentation points; Obtain the intermediate temperature segmentation points according to the following principle: If the adjacent zero - position values satisfy |ω[n + 1]-ω[n]|>Δω, where Δω is the set zero - position value threshold, then take the temperature data T[n] corresponding to the zero - position value ω[n] as the temperature segmentation point, and n is the time point of the test data; 2) According to the multiple temperature segmentation points, divide the adjacent two temperature segmentation points into a temperature range in ascending order of the temperature segmentation points; S13. Design a zero - position self - adaptive temperature compensation model, and obtain multiple groups of zero - position temperature compensation parameters based on the zero - position self - adaptive temperature compensation model and the multiple temperature ranges obtained in step S12, where any of the temperature ranges corresponds to a group of zero - position temperature compensation parameters; S20. Obtain multiple groups of scale - factor compensation parameters; S30. Perform real - time zero - position temperature compensation based on the zero - position temperature compensation parameters and the zero - position temperature self - adaptive compensation algorithm; S40. After performing real - time zero - position temperature compensation in step S30, compensate the scale - factor based on the scale - factor compensation parameters and the scale - factor temperature self - adaptive compensation algorithm, and obtain the compensated gyroscope angular rate signal based on the compensated scale - factor and the gyroscope zero - position compensation output after real - time zero - position temperature compensation.

2. The temperature self - adaptive compensation method for a quartz tuning fork gyroscope according to claim 1, characterized in that, design the zero - position self - adaptive temperature compensation model by the following formula: where T is the temperature, k 0 , k 1 , k 2 , k 3 , k σ is a set of zero - position temperature compensation parameters, t is the time, is the temperature change rate, and V is the original zero - position value of the gyroscope.

3. The temperature self - adaptive compensation method for a quartz tuning fork gyroscope according to claim 1, characterized in that, the obtaining of multiple groups of scale - factor compensation parameters includes: S21. Obtain a group of scale - factor full - temperature test data and temperature data before compensation; S22. Divide the full - temperature range into multiple temperature ranges according to the temperature data; S23. Design a scale - factor temperature compensation model, and obtain multiple groups of scale - factor temperature compensation parameters based on the scale - factor temperature compensation model and the multiple temperature ranges obtained in step S22, where any of the temperature ranges corresponds to a group of scale - factor temperature compensation parameters.

4. The temperature self - adaptive compensation method for a quartz tuning fork gyroscope according to claim 3, characterized in that, design the scale - factor temperature compensation model by the following formula: where, T is the temperature; A 0 , A 1 , A 2 , A 3 , A σ is a set of scale factor temperature compensation parameters, is the temperature change rate, and K is the scale factor.

5. The temperature self - adaptive compensation method for a quartz tuning fork gyroscope according to any one of claims 1 - 4, characterized in that, the performing of real - time zero - position temperature compensation based on the zero - position temperature compensation parameters and the zero - position temperature self - adaptive compensation algorithm includes: Real - time collect the gyroscope temperature signal and the gyroscope real - time raw output signal; According to the result obtained in step S12, determine the temperature range where the temperature signal is located and the corresponding zero-position temperature compensation parameter; Based on the zero-position temperature compensation parameter, the collected gyroscope temperature signal, and the original gyro output, perform real-time zero-position temperature compensation through the zero-position temperature adaptive compensation algorithm.

6. A temperature adaptive compensation method for a quartz tuning fork gyroscope according to claim 5, characterized in that, the zero-position temperature adaptive compensation algorithm is carried out by the following formula: Among them, V 补偿 is the zero-position compensation output of the gyroscope after zero-position temperature compensation for the original output of the gyroscope; V 0 is the original output of the gyroscope; T is the temperature, k 0 , k 1 , k 2 , k 3 , k σ is a set of zero-position temperature compensation parameters, t is the time, is the temperature change rate, 7. A temperature adaptive compensation method for a quartz tuning fork gyroscope according to any one of claims 1-4, characterized in that, compensating the scale factor based on the scale factor compensation parameter and the scale factor temperature adaptive compensation algorithm, and obtaining the compensated gyro angular rate signal based on the compensated scale factor and the gyro zero-position compensated output after real-time zero-position temperature compensation, including: Real-time collect the gyroscope temperature signal and the gyro real-time zero-position compensated output signal after zero-position compensation; According to the result obtained in step S22, determine the temperature range where the temperature signal is located and the corresponding scale factor compensation parameter; Based on the scale factor compensation parameter and the collected gyroscope temperature signal, compensate the scale factor through the scale factor temperature adaptive compensation algorithm; Obtain the compensated gyro angular rate signal based on the compensated scale factor and the gyro real-time zero-position compensated output signal.

8. A temperature adaptive compensation method for a quartz tuning fork gyroscope according to claim 7, characterized in that, the scale factor temperature adaptive compensation algorithm is carried out by the following formula: where T is the temperature; A 0 , A 1 , A 2 , A 3 , A σ are a set of scale factor temperature compensation parameters, is the temperature change rate, K 补偿 is the compensated scale factor.

9. A temperature adaptive compensation system for a quartz tuning fork gyroscope, characterized in that, the compensation method according to any one of claims 1-8 is based on the compensation system, and the compensation system includes: A quartz tuning fork gyroscope, the output signals of the quartz tuning fork gyroscope include a gyro angular rate voltage signal and a temperature voltage signal; A first chip unit, which samples the angular rate voltage signal and the temperature voltage signal output by the quartz tuning fork gyroscope under the control of the second chip unit, and outputs the sampled data to the second chip unit; The second chip unit further includes a FLASH storage unit and a data processing unit. The data processing unit has a parameter upload interface for uploading multiple sets of zero-bit temperature compensation parameters at multiple temperature intervals and multiple sets of scale factor compensation parameters at multiple temperature intervals obtained to the storage unit, and the storage unit is used to store multiple sets of zero-bit temperature compensation parameters at multiple temperature intervals and multiple sets of scale factor compensation parameters at multiple temperature intervals. The data processing unit is embedded with a zero-bit temperature adaptive compensation algorithm and a scale factor temperature adaptive compensation algorithm. First, the data processing unit performs real-time zero-bit temperature compensation based on the sampling data of the first chip unit, the zero-bit temperature adaptive compensation algorithm, and multiple sets of zero-bit temperature compensation parameters. Then, the data processing unit performs real-time compensation on the scale factor based on the sampling data of the first chip unit, the scale factor temperature adaptive compensation algorithm, and multiple sets of scale factor compensation parameters, and obtains a compensated gyro angular rate signal based on the compensated scale factor and the real-time zero-bit compensation output of the gyro after zero-bit compensation.

10. A temperature adaptive compensation system for a quartz tuning fork gyro according to claim 9, wherein, the first chip unit is an ADC chip, and the second chip unit is an ARM chip.

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