Gyroscope zero bias compensation method, device, equipment and storage device

Abstract

The present invention provides a gyroscope zero bias compensation method, device, equipment and storage device. By monitoring the working temperature value T, AGC data AGC_Original and original zero bias Gy_Orginal of the gyroscope during operation, the target zero bias fitting coefficient Para_Bias is used to determine the first zero bias error generated by the working temperature value T to the original zero bias by a formula; the AGC target fitting coefficient Para_AGC is used to determine the AGC error generated by the working temperature value to the AGC data AGC_Original by a formula; the AG error is used to determine the second zero bias error generated by the AGC error by a formula; the original zero bias is compensated by a formula to obtain a target zero bias, and then the target zero bias Gy_Final is output.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and in particular to a gyroscope zero bias compensation method, device, equipment and storage device. Background Art

[0002] A gyroscope is a device that detects angular motion around one or two axes orthogonal to the axis of rotation using a high-speed vibrating mass block and a Coriolis force sensitive carrier relative to inertial space. Angular motion detection devices made using other principles that have the same function are also called gyroscopes.

[0003] There are also some problems with the use of gyroscopes. For example, the zero-bias angular velocity of the gyroscope (zero-bias angular velocity: NRi, zero-bias or zero-position angular velocity refers to the output value of the gyroscope under zero input angular velocity, which can be expressed by converting the average output over a long period of time into the input angular velocity) will drift with changes in operating temperature and motion.

[0004] Therefore, the zero bias compensation of the gyroscope is one of the important means to improve the accuracy of the gyroscope. In the case that the structure and circuit of the gyroscope do not change, improving the accuracy of the gyroscope through compensation algorithm has always been one of the important goals of gyroscope research. Summary of the invention

[0005] The present invention provides a gyroscope zero bias compensation method, device, equipment and storage device, which are used to solve the defect of low gyroscope zero bias compensation accuracy in the prior art and realize a high-precision gyroscope zero bias compensation solution.

[0006] The present invention provides a gyroscope zero bias compensation method, comprising:

[0007] Acquire at least one set of temperature data, AGC data and zero bias data generated by the operation of the gyroscope;

[0008] Using the temperature data to perform data fitting on the zero bias data to obtain a target zero bias fitting coefficient, wherein the target zero bias fitting coefficient is used to determine a first zero bias error caused by an operating temperature value of the gyroscope when the gyroscope is working to an original zero bias;

[0009] The temperature data is used to perform data fitting on the AGC data to obtain an AGC target fitting coefficient, and the AGC target fitting coefficient is used to determine an AGC error caused by the operating temperature value of the gyroscope when it is working to the AGC signal, and a second zero bias error caused by the AGC error to the original zero bias, so as to use the first zero bias error and the second zero bias error to perform error compensation on the original zero bias.

[0010] According to a gyroscope bias compensation method provided by the present invention, the at least one set of temperature data, AGC data and bias data includes:

[0011] The first temperature data Gy_T_Up, the first AGC data AGC_Up and the first zero bias data Gy_Up in the heating stage, and the second temperature data Gy_T_Down, the second AGC data AGC_Down and the second zero bias data Gy_Down in the cooling stage; then

[0012] Using the temperature data to perform data fitting on the zero bias data to obtain a target zero bias fitting coefficient includes:

[0013] Using the first temperature data Gy_T_Up to perform data fitting on the first zero bias data Gy_Up to obtain a first zero bias fitting coefficient Para_Bias_Up;

[0014] Using the second temperature data Gy_T_Down, performing data fitting on the second zero bias data Gy_Down to obtain a second zero bias fitting coefficient Para_Bias_Down;

[0015] Calculate the average value of the first zero bias fitting coefficient Para_Bias_Up and the second zero bias fitting coefficient Para_Bias_Down to obtain the target zero bias fitting coefficient Para_Bias;

[0016] Using the temperature data to perform data fitting on the AGC data to obtain an AGC target fitting coefficient includes:

[0017] Using the first temperature data Gy_T_Up, performing data fitting on the first AGC data AGC_Up to obtain a first AGC fitting coefficient Para_AGC_Up;

[0018] Using the second temperature data Gy_T_Down, performing data fitting on the second AGC data AGC_Down to obtain a second AGC fitting coefficient Para_AGC_Down;

[0019] An average value of the first AGC fitting coefficient Para_AGC_Up and the second AGC fitting coefficient Para_AGC_Down is calculated to obtain the AGC target fitting coefficient Para_AGC.

[0020] A gyroscope zero bias compensation method provided by the present invention also includes:

[0021] Using the first temperature data Gy_T_Up to perform data fitting on the first zero bias data Gy_Up, and also obtaining first zero bias fitting data;

[0022] Subtracting the first zero bias fitting data from the first zero bias data Gy_Up to obtain a first zero bias residual Gy_Para_Up;

[0023] Using the second temperature data Gy_T_Down, performing data fitting on the second zero bias data Gy_Down, and obtaining second zero bias fitting data;

[0024] Subtracting the second zero bias fitting data from the second zero bias data Gy_Down to obtain a second zero bias residual Gy_Para_Down;

[0025] The temperature hysteresis of the zero bias data is calculated using the following formula:

[0026] Gy_Loop=Gy_Para_Up-Gy_Para_Down;

[0027] The temperature hysteresis of the AGC data is calculated using the following formula:

[0028] AGC_Loop=Para_AGC_Up-Para_AGC_Down;

[0029] The proportional relationship between the second zero bias error and the AGC error is calculated using the following formula as a compensation coefficient of the AGC error to the second zero bias error:

[0030] Para_Loop=Gy_Loop / AGC_Loop.

[0031] According to a gyroscope bias compensation method provided by the present invention, at least one set of temperature data, AGC data and bias data generated by the operation of the gyroscope is obtained, including:

[0032] Controlling the gyroscope to operate in the temperature box;

[0033] At least one set of temperature data, AGC data and zero bias data generated by the operation of the gyroscope is collected.

[0034] The present invention also provides a gyroscope zero bias compensation method, comprising:

[0035] Monitoring the operating temperature value T, AGC data AGC_Original and original zero bias Gy_Orginal of the gyroscope during operation;

[0036] The target bias fitting coefficient Para_Bias obtained by any of the above-mentioned gyroscope bias compensation methods is used to determine the first bias error generated by the operating temperature value T on the original bias Gy_Orginal using the following formula:

[0037] Gy_T_Error=Para_Bias*T;

[0038] Using any of the above-mentioned gyroscope zero bias compensation methods to obtain the AGC target fitting coefficient Para_AGC, the following formula is used to determine the AGC error caused by the operating temperature value T to the AGC data AGC_Original:

[0039] AGC_T_Error=AGC-Para_AGC*T;

[0040] The AGC error AGC_T_Error is used to determine the second zero bias error generated by the AGC error AGC_T_Error using the following formula:

[0041] Gy_AGC_Error=AGC_T_Error*Para_Loop, wherein Para_Loop is a compensation coefficient of the AGC error AGC_T_Error to the second zero bias error;

[0042] The original zero bias Gy_Orginal is compensated for zero bias to obtain the target zero bias using the following formula:

[0043] Gy_Final=Gy_Orginal-Gy_T_Error-Gy_AGC_Error;

[0044] Output the target zero bias Gy_Final.

[0045] The present invention also provides a gyroscope zero bias compensation device, comprising:

[0046] An acquisition module, for acquiring at least one set of temperature data, AGC data and zero bias data generated by the operation of the gyroscope;

[0047] A first data fitting module, performing data fitting on the zero bias data using the temperature data to obtain a target zero bias fitting coefficient, wherein the target zero bias fitting coefficient is used to determine a first zero bias error generated by an operating temperature value of the gyroscope when the gyroscope is working to an original zero bias;

[0048] A second data fitting module uses the temperature data to perform data fitting on the AGC data to obtain an AGC target fitting coefficient, wherein the AGC target fitting coefficient is used to determine an AGC error generated by the operating temperature value of the gyroscope when it is working on the AGC signal, and a second zero bias error generated by the AGC error on the original zero bias, so as to use the first zero bias error and the second zero bias error to perform error compensation on the original zero bias.

[0049] The present invention also provides a gyroscope zero bias compensation device, comprising:

[0050] A monitoring module, monitoring the operating temperature value T, AGC data AGC_Original and original zero bias Gy_Orginal of the gyroscope during operation;

[0051] The first determination module uses the target bias fitting coefficient Para_Bias obtained by any of the gyroscope bias compensation methods described above to determine the first bias error generated by the operating temperature value T to the original bias Gy_Orginal using the following formula:

[0052] Gy_T_Error=Para_Bias*T;

[0053] The second determination module uses the AGC target fitting coefficient Para_AGC obtained by any of the gyroscope zero bias compensation methods described above, and uses the following formula to determine the AGC error generated by the operating temperature value T on the AGC data AGC_Original:

[0054] AGC_T_Error=AGC-Para_AGC*T;

[0055] The third determination module uses the AGC error AGC_T_Error to determine the second zero bias error generated by the AGC error AGC_T_Error using the following formula:

[0056] Gy_AGC_Error=AGC_T_Error*Para_Loop, wherein Para_Loop is a compensation coefficient of the AGC error AGC_T_Error to the second zero bias error;

[0057] The compensation module uses the following formula to perform zero offset compensation on the original zero offset Gy_Orginal to obtain the target zero offset:

[0058] Gy_Final=Gy_Orginal-Gy_T_Error-Gy_AGC_Error

[0059] The output module outputs the target zero bias Gy_Final.

[0060] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of any of the above-mentioned gyroscope zero bias compensation methods are implemented.

[0061] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of any of the above-mentioned gyroscope zero bias compensation methods are implemented.

[0062] The gyroscope zero bias compensation method, device, equipment and storage device provided by the present invention monitor the working temperature value T, AGC data AGC_Original and original zero bias Gy_Orginal of the gyroscope during operation, use the target zero bias fitting coefficient Para_Bias, and use the following formula to determine the first zero bias error generated by the working temperature value T to the original zero bias Gy_Orginal: Gy_T_Error=Para_Bias*T; use the AGC target fitting coefficient Para_AGC, and use the following formula to determine the AGC error generated by the working temperature value T to the AGC data AGC_Original: AGC_T_Error=AGC_Origi nal–Para_AGC*T; utilizing the AGC error AGC_T_Error, the following formula is used to determine the second zero bias error generated by the AGC error AGC_T_Error: Gy_AGC_Error=AGC_T_Error*Para_Loop, wherein Para_Loop is the compensation coefficient of the AGC error AGC_T_Error to the second zero bias error; performing zero bias compensation on the original zero bias Gy_Orginal to obtain the target zero bias: Gy_Final=Gy_Orginal-Gy_T_Error-Gy_AGC_Error, and then outputting the target zero bias Gy_Final.

[0063] The technical solution of the present invention adopts different compensation signals to respectively perform the first zero bias error compensation based on temperature data and the second zero bias compensation caused by the influence of temperature on the AGC signal according to different error sources, thereby eliminating the temperature hysteresis error that cannot be solved by the first zero bias error compensation. The zero bias value output after compensation is close to the horizontal line, thereby improving the accuracy of the zero bias compensation and the precision of the gyroscope. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the prior art description are briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0065] Figure 1 It is a temperature-zero bias compensation curve in the prior art;

[0066] Figure 2 This is one of the flow charts of the gyroscope zero bias compensation method provided by the present invention;

[0067] Figure 3This is the second flow chart of the gyroscope zero bias compensation method provided by the present invention;

[0068] Figure 4 is a temperature-AGC compensation curve provided by an embodiment of the present invention;

[0069] Figure 5 is a temperature-bias compensation curve provided by an embodiment of the present invention;

[0070] Figure 6 This is the third flow chart of the gyroscope zero bias compensation method provided by the present invention;

[0071] Figure 7 This is the fourth flow chart of the gyroscope zero bias compensation method provided by the present invention;

[0072] Figure 8 This is the fifth flow chart of the gyroscope zero bias compensation method provided by the present invention;

[0073] Fig. 9 This is one of the structural schematic diagrams of the gyroscope zero bias compensation device provided by the present invention;

[0074] Fig.10 This is the second flow chart of the gyroscope zero bias compensation method provided by the present invention;

[0075] Fig.11 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0076] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0077] Research on the existing technology found that gyroscope zero bias compensation generally uses a digital or analog compensation circuit. After the temperature is used to fit the gyroscope zero bias data, the difference between the two is calculated to obtain the compensated zero bias angular velocity.

[0078] There are three commonly used zero-bias compensation methods: (1) temperature rise compensation; (2) temperature cycle compensation; (3) fixed-point temperature compensation; and (4) automatic gain control (AGC) signal compensation.

[0079] First, (1) the temperature rise compensation uses the temperature data and zero bias data of the temperature rise section, divides them into sections according to time, takes the temperature of the section point as the boundary point, and fits the temperature data and zero bias data of different temperature rise sections to obtain the fitting parameters of different temperature rise sections. The temperature data is then fitted inside the gyroscope according to the same algorithm and fitting parameters, and the compensated gyro zero bias is obtained by subtracting the fitting data from the zero bias data. The advantages of this method are simplicity and strong operability, but it is only applicable to occasions where the application environment is temperature rise.

[0080] To this end, (2) temperature cycle compensation is proposed. The temperature data is used as the dividing point to segment the temperature data and zero bias data. Each segmented data contains temperature data and zero bias data for multiple heating and cooling sections. In each temperature section, the heating and cooling data are comprehensively fitted to obtain fitting parameters. The temperature data is then fitted inside the gyroscope according to the same algorithm and fitting parameters, and the compensated gyro zero bias is obtained by subtracting the fitting data from the zero bias data.

[0081] This method overcomes some of the shortcomings of temperature compensation (1) and can be applied to occasions with complex temperature environments. However, for general gyroscopes, the temperature sensor and the angular velocity sensitive structure are at a certain distance in space, and the temperature sensor cannot truly reflect the temperature information of the sensitive structure, so there is a certain hysteresis error in temperature compensation. Especially in the process of heating and cooling, due to the existence of the temperature change rate, the curve of the compensated gyro zero bias to temperature is not a horizontal line, but presents an 'O' shape, that is, there is temperature hysteresis, which affects the compensation accuracy.

[0082] Fixed-point temperature compensation (3) tests the temperature data and bias data of a series of fixed temperature points after insulation, and uses the bias data and temperature data of every two adjacent temperature points to fit the fitting parameters. The same parameters and algorithms are used inside the gyroscope to calculate and obtain the compensated gyro bias. This method uses the data after insulation, which is equivalent to averaging the heating and cooling data of the fixed temperature points. In actual use, it has the same temperature hysteresis problem as temperature cycle compensation (2).

[0083] Furthermore, AGC signal compensation (4) replaces the temperature signal with the AGC signal. Specifically, a compensation algorithm almost the same as that of temperature rise compensation (1), temperature cycle compensation (2) or fixed-point temperature compensation (3) can be used, which can also achieve good compensation effects. However, since the gyroscope is generally divided into a drive circuit and a detection circuit, and the AGC can only reflect the information of the drive circuit, and there is a problem of gyroscope processing consistency, different products will present different thermodynamic characteristics, and it is also more likely to have temperature hysteresis problems, affecting the compensation accuracy.

[0084] The present invention has found through research that the sources of gyroscope bias error are divided into two parts, wherein the first bias error directly related to the temperature trend is called the temperature trend error, and the second bias error related to the temperature change rate is called the temperature hysteresis error.

[0085] Among them, the temperature trend error only includes the error related to temperature. After zero bias compensation through temperature data, this part of the error can be eliminated. Figure 1 As shown, the compensated gyroscope zero bias is not a horizontal line for the upper curve 1A in the heating stage and the lower curve 1B in the cooling stage, but presents an 'O' shape, that is, the temperature hysteresis error still exists.

[0086] The temperature hysteresis error is mainly determined by the temperature field characteristics of the gyroscope's sensitive structure. Due to the different temperature-stress field distribution inside the gyroscope's sensitive structure, the gyroscope still has hysteresis error after temperature compensation. However, it is noted that the gyroscope's AGC signal can well reflect the characteristics of the gyroscope's sensitive structure in a temperature-stress environment. Therefore, if the compensation method is reasonable, the use of the AGC signal can completely eliminate the temperature hysteresis error.

[0087] After discovering the cause of the problem, the present invention proposes a gyroscope bias compensation method, the basic principle of which is: according to different error sources, different compensation signals are used to respectively perform temperature trend error compensation and temperature hysteresis error compensation.

[0088] refer to Figure 2 As shown, the embodiment of the present invention proposes a gyroscope bias compensation method, specifically a preparation stage of corresponding parameters for bias compensation, and the specific steps are described as follows:

[0089] Step 210: Acquire at least one set of temperature data, automatic gain control data, and zero bias data generated by the operation of the gyroscope;

[0090] Step 220: performing data fitting on the bias data using the temperature data to obtain a target bias fitting coefficient, wherein the target bias fitting coefficient is used to determine a first bias error generated by the operating temperature value of the gyroscope when the gyroscope is operating to the original bias;

[0091] Step 230: Use the temperature data to perform data fitting on the AGC data to obtain an AGC target fitting coefficient, wherein the AGC target fitting coefficient is used to determine an AGC error caused by the operating temperature value of the gyroscope when it is working on the AGC signal, and a second zero bias error caused by the AGC error on the original zero bias, so as to use the first zero bias error and the second zero bias error to perform error compensation on the original zero bias.

[0092] based on Figure 2 The method shown in the embodiment of the present invention proposes Figure 2 The gyroscope bias compensation method shown in the figure is Figure 3 The method shown is a specific working process of a gyroscope, and includes the following steps:

[0093] Step 310: monitoring the operating temperature value T, AGC data AGC_Original and original zero bias Gy_Orginal of the gyroscope during operation;

[0094] Step 320: Use Figure 2 The target bias fitting coefficient Para_Bias obtained by the gyroscope bias compensation method is determined by the following formula to determine the first bias error caused by the operating temperature value T to the original bias Gy_Orginal:

[0095] Gy_T_Error=Para_Bias*T;

[0096] Step 330: Use Figure 2 The AGC target fitting coefficient Para_AGC obtained by the gyroscope zero bias compensation method is determined by the following formula to determine the AGC error generated by the operating temperature value T on the AGC data AGC_Original:

[0097] AGC_T_Error=AGC_Original–Para_AGC*T;

[0098] Step 340: Using the AGC error AGC_T_Error, determine the second zero bias error generated by the AGC error AGC_T_Error using the following formula:

[0099] Gy_AGC_Error=AGC_T_Error*Para_Loop, wherein Para_Loop is a compensation coefficient of the AGC error AGC_T_Error to the second zero bias error;

[0100] Step 350: Use the following formula to perform zero offset compensation on the original zero offset Gy_Orginal to obtain the target zero offset:

[0101] Gy_Final=Gy_Orginal-Gy_T_Error-Gy_AGC_Error;

[0102] Step 360: Output the target zero bias Gy_Final.

[0103] The beneficial effects brought about by the technical solution of the embodiment of the present invention are described below in conjunction with experimental curves.

[0104] Reference Figure 4 , Figure 4The AGC error-temperature curve shows an 'O' shape for the upper heating stage curve 4A and the lower cooling stage curve 4B, which is consistent with Figure 1 The zero bias compensation curves shown are similar.

[0105] Reference Figure 5 , while using Figure 3 In the method shown, after compensation using the first zero bias error generated based on the operating temperature value and the second zero bias error generated based on the AGC signal, the temperature rise stage curve and the temperature drop stage curve are close to overlap, please refer to the gray area.

[0106] Since the temperature rise stage curve and the temperature drop stage curve are close to overlapping, they cannot be clearly distinguished, which is explained here.

[0107] Therefore, by comparison, it can be seen that the technical solution of the embodiment of the present invention can significantly eliminate the temperature hysteresis error, and the zero bias value output after compensation is close to the horizontal line, thereby improving the accuracy of zero bias compensation, with small error and high precision.

[0108] Among them, the temperature hysteresis compensation based on AGC and the zero bias temperature trend compensation are independent of each other. In actual use, the zero bias and temperature hysteresis compensation can be performed independently, and after the compensation is completed, the two compensation amounts can be adjusted separately without affecting each other.

[0109] In addition, the compensation coefficient Para_Loop of the AGC error AGC_T_Error for the second zero bias error is a compensation variable for temperature hysteresis, which is taken from the internal signal of the gyroscope and will not change due to the change of the external working temperature change rate. Using independent reference variables AGC_Orginal and compensation coefficient Para_Loop to compensate for temperature hysteresis can completely eliminate temperature hysteresis, unlike using temperature change rate compensation, which can only partially eliminate temperature hysteresis.

[0110] In addition, the compensation algorithm has good adaptability. The three parameters of Para_Bias, Para_AGC, and Para_Loop all use the temperature signal as a single reference, which ensures the consistency of the compensation parameter calculation. The compensation is flexible and can use first-order, second-order, third-order, and even fifth-order compensation, while using overall compensation or segmented compensation. The compensation algorithm is simple and easy, without complex high-order compensation, and the calculation amount is small. The algorithm has good compatibility and can be compatible with existing compensation algorithms. You only need to set Para_Loop to 0 to achieve the same compensation effect as temperature compensation alone.

[0111] Therefore, the embodiment of the present invention adopts a suitable compensation algorithm to solve the technical problem of zero bias compensation accuracy, thereby making the zero bias output more accurate.

[0112] In an embodiment of the present invention, when executing step 210, the gyroscope can be placed in a temperature box and subjected to a temperature cycle, thereby obtaining first temperature data Gy_T_Up, first AGC data AGC_Up and first zero bias data Gy_Up in the heating stage, and second temperature data Gy_T_Down, second AGC data AGC_Down and second zero bias data Gy_Down in the cooling stage.

[0113] refer to Figure 6 As shown, using the temperature data to perform data fitting on the zero bias data to obtain a target zero bias fitting coefficient specifically includes the following steps:

[0114] Step 610: performing data fitting on the first bias data Gy_Up using the first temperature data Gy_T_Up to obtain a first bias fitting coefficient Para_Bias_Up;

[0115] Step 620: performing data fitting on the second bias data Gy_Down using the second temperature data Gy_T_Down to obtain a second bias fitting coefficient Para_Bias_Down;

[0116] Step 630: Calculate the average of the first zero bias fitting coefficient Para_Bias_Up and the second zero bias fitting coefficient Para_Bias_Down to obtain the target zero bias fitting coefficient Para_Bias.

[0117] At this time, refer to Figure 7 , using the temperature data to perform data fitting on the AGC data to obtain an AGC target fitting coefficient, specifically comprising the following steps:

[0118] Step 710: performing data fitting on the first AGC data AGC_Up using the first temperature data Gy_T_Up to obtain a first AGC fitting coefficient Para_AGC_Up;

[0119] Step 720: performing data fitting on the second AGC data AGC_Down using the second temperature data Gy_T_Down to obtain a second AGC fitting coefficient Para_AGC_Down;

[0120] Step 730: Calculate the average of the first AGC fitting coefficient Para_AGC_Up and the second AGC fitting coefficient Para_AGC_Down to obtain the AGC target fitting coefficient Para_AGC.

[0121] In addition, refer to Figure 8, the compensation coefficient Para_Loop of the AGC error AGC_T_Error to the second zero bias error can be obtained by the following steps:

[0122] Step 810: performing data fitting on the first zero bias data Gy_Up using the first temperature data Gy_T_Up, and obtaining first zero bias fitting data;

[0123] Step 820: subtract the first zero bias fitting data from the first zero bias data Gy_Up to obtain a first zero bias residual Gy_Para_Up, where the first zero bias residual Gy_Para_Up represents the zero bias after temperature fitting in the heating stage;

[0124] Step 830: performing data fitting on the second zero bias data Gy_Down using the second temperature data Gy_T_Down, and obtaining second zero bias fitting data;

[0125] Step 840: subtract the second zero bias fitting data from the second zero bias data Gy_Down to obtain a second zero bias residual Gy_Para_Down, where the second zero bias residual Gy_Para_Down represents the zero bias after temperature fitting in the cooling stage;

[0126] Step 850: Calculate the temperature hysteresis of the zero bias data using the following formula:

[0127] Gy_Loop=Gy_Para_Up-Gy_Para_Down;

[0128] Step 860: Calculate the temperature hysteresis of the AGC data using the following formula:

[0129] AGC_Loop=Para_AGC_Up-Para_AGC_Down;

[0130] Step 870: Calculate the proportional relationship between the second zero bias error and the AGC error using the following formula as a compensation coefficient of the AGC error to the second zero bias error:

[0131] Para_Loop=Gy_Loop / AGC_Loop.

[0132] In the embodiment of the present invention, the type of the gyroscope is not limited, and may be a micro-electromechanical system (MEMS) gyroscope or other gyroscopes.

[0133] The data fitting described in the above embodiments of the present invention may adopt algorithms such as polynomial data fitting, least squares data fitting, and piecewise fitting, which are not specifically limited here.

[0134] The gyroscope zero bias compensation device provided by the present invention is described below. The gyroscope zero bias compensation device described below and the gyroscope zero bias compensation method described above can be referred to each other.

[0135] Reference Fig. 9 As shown, the gyroscope zero bias compensation device provided by the embodiment of the present invention includes:

[0136] An acquisition module 910 is configured to acquire at least one set of temperature data, AGC data, and zero bias data generated by the operation of the gyroscope;

[0137] A first data fitting module 920 performs data fitting on the bias data using the temperature data to obtain a target bias fitting coefficient, wherein the target bias fitting coefficient is used to determine a first bias error caused by an operating temperature value of the gyroscope when the gyroscope is operating to an original bias;

[0138] The second data fitting module 930 uses the temperature data to perform data fitting on the AGC data to obtain an AGC target fitting coefficient, and the AGC target fitting coefficient is used to determine the AGC error generated by the operating temperature value of the gyroscope when it is working on the AGC signal, and the second zero bias error generated by the AGC error on the original zero bias, so as to use the first zero bias error and the second zero bias error to perform error compensation on the original zero bias.

[0139] Optionally, when at least one set of temperature data, AGC data and zero bias data includes:

[0140] When the first temperature data Gy_T_Up, the first AGC data AGC_Up and the first zero bias data Gy_Up in the heating stage, and the second temperature data Gy_T_Down, the second AGC data AGC_Down and the second zero bias data Gy_Down in the cooling stage, the first data fitting module 920 is specifically used for:

[0141] Using the first temperature data Gy_T_Up to perform data fitting on the first zero bias data Gy_Up to obtain a first zero bias fitting coefficient Para_Bias_Up;

[0142] Using the second temperature data Gy_T_Down, performing data fitting on the second zero bias data Gy_Down to obtain a second zero bias fitting coefficient Para_Bias_Down;

[0143] Calculate the average value of the first zero bias fitting coefficient Para_Bias_Up and the second zero bias fitting coefficient Para_Bias_Down to obtain the target zero bias fitting coefficient Para_Bias;

[0144] The second data fitting module 930 is specifically used for:

[0145] Using the first temperature data Gy_T_Up, performing data fitting on the first AGC data AGC_Up to obtain a first AGC fitting coefficient Para_AGC_Up;

[0146] Using the second temperature data Gy_T_Down, performing data fitting on the second AGC data AGC_Down to obtain a second AGC fitting coefficient Para_AGC_Down;

[0147] The first AGC fitting coefficient Para_AGC_Up and the second AGC fitting coefficient Para_AGC_Down are averaged to obtain the AGC target fitting coefficient Para_AGC.

[0148] Optionally, the first data fitting module 920 is further configured to:

[0149] Using the first temperature data Gy_T_Up to perform data fitting on the first zero bias data Gy_Up, and also obtaining first zero bias fitting data;

[0150] Subtracting the first zero bias fitting data from the first zero bias data Gy_Up to obtain a first zero bias residual Gy_Para_Up;

[0151] Using the second temperature data Gy_T_Down, performing data fitting on the second zero bias data Gy_Down, and obtaining second zero bias fitting data;

[0152] Subtracting the second zero bias fitting data from the second zero bias data Gy_Down to obtain a second zero bias residual Gy_Para_Down;

[0153] The temperature hysteresis of the zero bias data is calculated using the following formula:

[0154] Gy_Loop=Gy_Para_Up-Gy_Para_Down;

[0155] The second data fitting module 930 is further specifically used for:

[0156] The temperature hysteresis of the AGC data is calculated using the following formula:

[0157] AGC_Loop=Para_AGC_Up-Para_AGC_Down;

[0158] The proportional relationship between the second zero bias error and the AGC error is calculated using the following formula as a compensation coefficient of the AGC error to the second zero bias error:

[0159] Para_Loop=Gy_Loop / AGC_Loop.

[0160] Optionally, the acquisition module 910 is specifically used for:

[0161] Controlling the gyroscope to operate in the temperature box;

[0162] At least one set of temperature data, AGC data and zero bias data generated by the operation of the gyroscope is collected.

[0163] Reference Fig.10 The gyroscope zero bias compensation device provided by the embodiment of the present invention comprises:

[0164] A monitoring module 1010 monitors the operating temperature value T, AGC data AGC_Original and original zero bias Gy_Orginal of the gyroscope during operation;

[0165] The first determination module 1020 uses Figure 1-Figure 8 The target bias fitting coefficient Para_Bias obtained by the gyroscope bias compensation method described in any embodiment is determined by the following formula to determine the first bias error caused by the operating temperature value T to the original bias Gy_Orginal:

[0166] Gy_T_Error=Para_Bias*T;

[0167] The second determination module 1030 uses Figure 1-Figure 8 The AGC target fitting coefficient Para_AGC obtained by the gyroscope bias compensation method described in any embodiment is determined by the following formula to determine the AGC error caused by the operating temperature value T to the AGC data AGC_Original:

[0168] AGC_T_Error=AGC-Para_AGC*T;

[0169] The third determination module 1040 uses the AGC error AGC_T_Error to determine a second zero bias error generated by the AGC error AGC_T_Error using the following formula:

[0170] Gy_AGC_Error=AGC_T_Error*Para_Loop, wherein Para_Loop is a compensation coefficient of the AGC error AGC_T_Error to the second zero bias error;

[0171] The compensation module 1050 uses the following formula to perform zero offset compensation on the original zero offset Gy_Orginal to obtain a target zero offset:

[0172] Gy_Final=Gy_Orginal-Gy_T_Error-Gy_AGC_Error.

[0173] The output module 1060 outputs the target zero bias Gy_Final.

[0174] Fig.11 The following is a schematic diagram of the physical structure of an electronic device. Fig.11 As shown, the electronic device may include: a processor 1110, a communication interface 1120, a memory 1130 and a communication bus 1140. The processor 1110, the communication interface 1120 and the memory 1130 communicate with each other through the communication bus 1140. The processor 1110 may call the logic instructions in the memory 1130 to execute the gyroscope zero bias compensation method, which includes:

[0175] Acquire at least one set of temperature data, AGC data and zero bias data generated by the operation of the gyroscope;

[0176] Using the temperature data to perform data fitting on the zero bias data to obtain a target zero bias fitting coefficient, wherein the target zero bias fitting coefficient is used to determine a first zero bias error caused by an operating temperature value of the gyroscope when the gyroscope is working to an original zero bias;

[0177] Performing data fitting on the AGC data using the temperature data to obtain an AGC target fitting coefficient, wherein the AGC target fitting coefficient is used to determine an AGC error generated by an operating temperature value of the gyroscope when the gyroscope is working on an AGC signal, and a second zero bias error generated by the AGC error on the original zero bias, so as to perform error compensation on the original zero bias using the first zero bias error and the second zero bias error;

[0178] Alternatively, the method comprises:

[0179] Monitoring the operating temperature value T, AGC data AGC_Original and original zero bias Gy_Orginal of the gyroscope during operation;

[0180] The target bias fitting coefficient Para_Bias obtained by the above gyroscope bias compensation method is used to determine the first bias error caused by the operating temperature value T to the original bias Gy_Orginal using the following formula:

[0181] Gy_T_Error=Para_Bias*T;

[0182] Using the AGC target fitting coefficient Para_AGC obtained by the above gyroscope zero bias compensation method, the following formula is used to determine the AGC error caused by the operating temperature value T to the AGC data AGC_Original:

[0183] AGC_T_Error=AGC-Para_AGC*T;

[0184] The AGC error AGC_T_Error is used to determine the second zero bias error generated by the AGC error AGC_T_Error using the following formula:

[0185] Gy_AGC_Error=AGC_T_Error*Para_Loop, wherein Para_Loop is a compensation coefficient of the AGC error AGC_T_Error to the second zero bias error;

[0186] The original zero bias Gy_Orginal is compensated for zero bias to obtain the target zero bias using the following formula:

[0187] Gy_Final=Gy_Orginal-Gy_T_Error-Gy_AGC_Error;

[0188] Output the target zero bias Gy_Final.

[0189] In addition, the logic instructions in the above-mentioned memory 1130 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0190] On the other hand, the present invention further provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium. The computer program comprises program instructions, and when the program instructions are executed by a computer, the computer can execute the gyroscope zero bias compensation method provided by the above methods, the method comprising:

[0191] Acquire at least one set of temperature data, AGC data and zero bias data generated by the operation of the gyroscope;

[0192] Using the temperature data to perform data fitting on the zero bias data to obtain a target zero bias fitting coefficient, wherein the target zero bias fitting coefficient is used to determine a first zero bias error caused by an operating temperature value of the gyroscope when the gyroscope is working to an original zero bias;

[0193] Performing data fitting on the AGC data using the temperature data to obtain an AGC target fitting coefficient, wherein the AGC target fitting coefficient is used to determine an AGC error generated by an operating temperature value of the gyroscope when the gyroscope is working on an AGC signal, and a second zero bias error generated by the AGC error on the original zero bias, so as to perform error compensation on the original zero bias using the first zero bias error and the second zero bias error;

[0194] Alternatively, the method comprises:

[0195] Monitoring the operating temperature value T, AGC data AGC_Original and original zero bias Gy_Orginal of the gyroscope during operation;

[0196] The target bias fitting coefficient Para_Bias obtained by the above gyroscope bias compensation method is used to determine the first bias error caused by the operating temperature value T to the original bias Gy_Orginal using the following formula:

[0197] Gy_T_Error=Para_Bias*T;

[0198] Using the AGC target fitting coefficient Para_AGC obtained by the above gyroscope zero bias compensation method, the following formula is used to determine the AGC error caused by the operating temperature value T to the AGC data AGC_Original:

[0199] AGC_T_Error=AGC-Para_AGC*T;

[0200] The AGC error AGC_T_Error is used to determine the second zero bias error generated by the AGC error AGC_T_Error using the following formula:

[0201] Gy_AGC_Error=AGC_T_Error*Para_Loop, wherein Para_Loop is a compensation coefficient of the AGC error AGC_T_Error to the second zero bias error;

[0202] The original zero bias Gy_Orginal is compensated for zero bias to obtain the target zero bias using the following formula:

[0203] Gy_Final=Gy_Orginal-Gy_T_Error-Gy_AGC_Error;

[0204] Output the target zero bias Gy_Final.

[0205] On the other hand, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to perform the above-mentioned gyroscope zero bias compensation method, the method comprising:

[0206] Acquire at least one set of temperature data, AGC data and zero bias data generated by the operation of the gyroscope;

[0207] Using the temperature data to perform data fitting on the zero bias data to obtain a target zero bias fitting coefficient, wherein the target zero bias fitting coefficient is used to determine a first zero bias error caused by an operating temperature value of the gyroscope when the gyroscope is working to an original zero bias;

[0208] Performing data fitting on the AGC data using the temperature data to obtain an AGC target fitting coefficient, wherein the AGC target fitting coefficient is used to determine an AGC error generated by an operating temperature value of the gyroscope when the gyroscope is working on an AGC signal, and a second zero bias error generated by the AGC error on the original zero bias, so as to perform error compensation on the original zero bias using the first zero bias error and the second zero bias error;

[0209] Alternatively, the method comprises:

[0210] Monitoring the operating temperature value T, AGC data AGC_Original and original zero bias Gy_Orginal generated by the gyroscope during operation;

[0211] The target bias fitting coefficient Para_Bias obtained by the above gyroscope bias compensation method is used to determine the first bias error caused by the operating temperature value T to the original bias Gy_Orginal using the following formula:

[0212] Gy_T_Error=Para_Bias*T;

[0213] Using the AGC target fitting coefficient Para_AGC obtained by the above gyroscope zero bias compensation method, the following formula is used to determine the AGC error caused by the operating temperature value T to the AGC data AGC_Original:

[0214] AGC_T_Error=AGC-Para_AGC*T;

[0215] The AGC error AGC_T_Error is used to determine the second zero bias error generated by the AGC error AGC_T_Error using the following formula:

[0216] Gy_AGC_Error=AGC_T_Error*Para_Loop, wherein Para_Loop is a compensation coefficient of the AGC error AGC_T_Error to the second zero bias error;

[0217] The original zero bias Gy_Orginal is compensated for zero bias to obtain the target zero bias using the following formula:

[0218] Gy_Final=Gy_Orginal-Gy_T_Error-Gy_AGC_Error;

[0219] Output the target zero bias Gy_Final.

[0220] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the technical solution of this embodiment. Ordinary technicians in this field can understand and implement it without creative work.

[0221] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0222] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A gyroscope bias compensation method, characterized in that: include: Acquire at least one set of temperature data, AGC data and zero bias data generated by the operation of the gyroscope; Using the temperature data to perform data fitting on the zero bias data to obtain a target zero bias fitting coefficient, wherein the target zero bias fitting coefficient is used to determine a first zero bias error caused by an operating temperature value of the gyroscope when the gyroscope is working to an original zero bias; Performing data fitting on the AGC data using the temperature data to obtain an AGC target fitting coefficient, wherein the AGC target fitting coefficient is used to determine an AGC error generated by an operating temperature value of the gyroscope when the gyroscope is working on an AGC signal, and a second zero bias error generated by the AGC error on the original zero bias, so as to perform error compensation on the original zero bias using the first zero bias error and the second zero bias error; The at least one set of temperature data, AGC data and zero bias data includes: The first temperature data Gy_T_Up, the first AGC data AGC_Up and the first zero bias data Gy_Up in the heating stage, and the second temperature data Gy_T_Down, the second AGC data AGC_Down and the second zero bias data Gy_Down in the cooling stage; then Using the temperature data to perform data fitting on the zero bias data to obtain a target zero bias fitting coefficient includes: Using the first temperature data Gy_T_Up to perform data fitting on the first zero bias data Gy_Up to obtain a first zero bias fitting coefficient Para_Bias_Up; Using the second temperature data Gy_T_Down to perform data fitting on the second zero bias data Gy_Down to obtain a second zero bias fitting coefficient Para_Bias_Down; Calculate the average value of the first zero bias fitting coefficient Para_Bias_Up and the second zero bias fitting coefficient Para_Bias_Down to obtain the target zero bias fitting coefficient Para_Bias; Using the temperature data to perform data fitting on the AGC data to obtain an AGC target fitting coefficient includes: Using the first temperature data Gy_T_Up, performing data fitting on the first AGC data AGC_Up to obtain a first AGC fitting coefficient Para_AGC_Up; Using the second temperature data Gy_T_Down, performing data fitting on the second AGC data AGC_Down to obtain a second AGC fitting coefficient Para_AGC_Down; An average value of the first AGC fitting coefficient Para_AGC_Up and the second AGC fitting coefficient Para_AGC_Down is calculated to obtain the AGC target fitting coefficient Para_AGC.

2. The gyroscope bias compensation method according to claim 1, characterized in that: Also includes: Using the first temperature data Gy_T_Up to perform data fitting on the first zero bias data Gy_Up, and also obtain first zero bias fitting data; Subtracting the first zero bias fitting data from the first zero bias data Gy_Up to obtain a first zero bias residual Gy_Para_Up; Using the second temperature data Gy_T_Down, performing data fitting on the second zero bias data Gy_Down, and obtaining second zero bias fitting data; Subtracting the second zero bias fitting data from the second zero bias data Gy_Down to obtain a second zero bias residual Gy_Para_Down; The temperature hysteresis of the zero bias data is calculated using the following formula: Gy_Loop = Gy_Para_Up-Gy_Para_Down; The temperature hysteresis of the AGC data is calculated using the following formula: AGC_Loop = Para_AGC_Up - Para_AGC_Down; The proportional relationship between the second zero bias error and the AGC error is calculated using the following formula as a compensation coefficient of the AGC error to the second zero bias error: Para_Loop=Gy_Loop / AGC_Loop.

3. The gyroscope bias compensation method according to claim 1, characterized in that: Acquiring at least one set of temperature data, AGC data, and zero bias data generated by the operation of the gyroscope, including: Controlling the gyroscope to operate in the temperature box; At least one set of temperature data, AGC data and zero bias data generated by the operation of the gyroscope is collected.

4. A gyroscope bias compensation method, characterized in that: include: Monitoring the operating temperature value T, AGC data AGC_Original and original zero bias Gy_Orginal of the gyroscope during operation; The target bias fitting coefficient Para_Bias is obtained by using the gyroscope bias compensation method according to any one of claims 1 to 3, and the first bias error generated by the operating temperature value T on the original bias Gy_Orginal is determined by the following formula: Gy_T_Error= Para_Bias T; The AGC target fitting coefficient Para_AGC obtained by the gyroscope zero bias compensation method according to any one of claims 1 to 3 is used to determine the AGC error caused by the operating temperature value T to the AGC data AGC_Original using the following formula: AGC_T_Error=AGC- Para_AGC T; The AGC error AGC_T_Error is used to determine the second zero bias error generated by the AGC error AGC_T_Error using the following formula: Gy_AGC_Error = AGC_T_Error Para_Loop, wherein the Para_Loop is a compensation coefficient of the AGC error AGC_T_Error to the second zero bias error; The original zero bias Gy_Orginal is compensated for zero bias to obtain the target zero bias using the following formula: Gy_Final = Gy_Orginal-Gy_T_Error-Gy_AGC_Error; Output the target zero bias Gy_Final.

5. A gyroscope zero bias compensation device, characterized in that: include: An acquisition module, for acquiring at least one set of temperature data, AGC data and zero bias data generated by the operation of the gyroscope; A first data fitting module, performing data fitting on the zero bias data using the temperature data to obtain a target zero bias fitting coefficient, wherein the target zero bias fitting coefficient is used to determine a first zero bias error generated by an operating temperature value of the gyroscope when the gyroscope is working to an original zero bias; A second data fitting module is configured to perform data fitting on the AGC data using the temperature data to obtain an AGC target fitting coefficient, wherein the AGC target fitting coefficient is used to determine an AGC error generated by the operating temperature value of the gyroscope when the gyroscope is working on the AGC signal, and a second zero bias error generated by the AGC error on the original zero bias, so as to perform error compensation on the original zero bias using the first zero bias error and the second zero bias error; The at least one set of temperature data, AGC data and zero bias data includes: The first temperature data Gy_T_Up, the first AGC data AGC_Up and the first zero bias data Gy_Up in the heating stage, and the second temperature data Gy_T_Down, the second AGC data AGC_Down and the second zero bias data Gy_Down in the cooling stage; the first data fitting module is specifically used for: Using the first temperature data Gy_T_Up to perform data fitting on the first zero bias data Gy_Up to obtain a first zero bias fitting coefficient Para_Bias_Up; Using the second temperature data Gy_T_Down, performing data fitting on the second zero bias data Gy_Down to obtain a second zero bias fitting coefficient Para_Bias_Down; Calculate the average value of the first zero bias fitting coefficient Para_Bias_Up and the second zero bias fitting coefficient Para_Bias_Down to obtain the target zero bias fitting coefficient Para_Bias; then the second data fitting module is specifically used for: Using the first temperature data Gy_T_Up, performing data fitting on the first AGC data AGC_Up to obtain a first AGC fitting coefficient Para_AGC_Up; Using the second temperature data Gy_T_Down, performing data fitting on the second AGC data AGC_Down to obtain a second AGC fitting coefficient Para_AGC_Down; An average value of the first AGC fitting coefficient Para_AGC_Up and the second AGC fitting coefficient Para_AGC_Down is calculated to obtain the AGC target fitting coefficient Para_AGC.

6. A gyroscope zero bias compensation device, characterized in that: include: A monitoring module, monitoring the operating temperature value T, AGC data AGC_Original and original zero bias Gy_Orginal of the gyroscope during operation; The first determination module uses the target bias fitting coefficient Para_Bias obtained by the gyroscope bias compensation method according to any one of claims 1 to 3, and uses the following formula to determine the first bias error generated by the operating temperature value T to the original bias Gy_Orginal: Gy_T_Error= Para_Bias T; The second determination module uses the AGC target fitting coefficient Para_AGC obtained by the gyroscope zero bias compensation method according to any one of claims 1 to 3, and uses the following formula to determine the AGC error generated by the operating temperature value T on the AGC data AGC_Original: AGC_T_Error=AGC- Para_AGC T; The third determination module uses the AGC error AGC_T_Error to determine the second zero bias error generated by the AGC error AGC_T_Error using the following formula: Gy_AGC_Error = AGC_T_Error Para_Loop, wherein the Para_Loop is a compensation coefficient of the AGC error AGC_T_Error to the second zero bias error; The compensation module uses the following formula to perform zero offset compensation on the original zero offset Gy_Orginal to obtain the target zero offset: Gy_Final = Gy_Orginal-Gy_T_Error-Gy_AGC_Error The output module outputs the target zero bias Gy_Final.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the gyroscope bias compensation method according to any one of claims 1 to 4 are implemented.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the gyroscope bias compensation method according to any one of claims 1 to 4 are implemented.

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