A method and device for calibrating zero bias of a gyroscope

Abstract

The application provides a zero offset calibration method and device of a gyroscope, comprising: in a static state, calculating a constant zero position in a current use environment in response to a zero offset calibration instruction; determining whether the zero offset compensation value needs to be updated according to the size relationship between the constant zero position in the current use environment and a zero offset index qualified determination threshold; if yes, updating the zero offset compensation value, and in a working state, calibrating an angular velocity measurement value based on the updated zero offset compensation value to obtain a first type of angular velocity output value. The application does not need to update the zero offset compensation value every time, and only updates the zero offset compensation value when it is determined that the constant zero position and the zero offset index qualified determination threshold satisfy a certain size relationship, thereby saving time cost and improving the working efficiency of the gyroscope. Further, the zero offset index qualified determination threshold can be flexibly set according to actual needs, so that the calibration process can be applied to a wider range of application scenarios.

Description

Technical Field

[0001] This invention relates to the field of gyroscope sensor technology, and in particular to a method and apparatus for zero-bias calibration of a gyroscope. Background Technology

[0002] Gyroscopes, as sensors used to measure angular velocity or angular displacement, have been widely used in the industrial field.

[0003] Bias is a crucial performance indicator for gyroscopes. Due to the inherent properties of the device, a gyroscope continues to output a signal even when stationary. When the angular velocity input is zero (i.e., in the aforementioned stationary state), the average value of the gyroscope's output signal is converted into an angular rate, which is then used as the bias. In reality, bias increases with storage time, potentially exceeding a acceptable threshold and degrading gyroscope performance. Therefore, calibrating the gyroscope's bias is essential for ensuring measurement accuracy.

[0004] The commonly used zero-bias correction method involves compensating for and eliminating the zero bias of the gyroscope every time it is powered on before measuring the angular rate. This method requires zero-bias calibration every time the gyroscope is used, which increases the gyroscope's operating delay and makes the gyroscope's measurement less sensitive. Summary of the Invention

[0005] This invention provides a zero-bias calibration method and apparatus for a gyroscope, which solves the problem of long delay time in each calibration process of the gyroscope in the prior art and improves the measurement sensitivity of the gyroscope.

[0006] This invention provides a zero-bias calibration method for a gyroscope, comprising:

[0007] In a static state, in response to a zero-bias calibration command, the constant zero position is calculated for the current operating environment;

[0008] Determine whether the zero-bias compensation value needs to be updated based on the relationship between the constant zero position and the zero-bias index qualification threshold under the current operating environment.

[0009] If so, update the zero bias compensation value, and in the working state, calibrate the angular velocity measurement value based on the updated zero bias compensation value to obtain the first type of angular velocity output value;

[0010] Output the first type of angular velocity output value.

[0011] According to the present invention, a method for zero-bias calibration of a gyroscope, wherein calculating the constant zero position under the current operating environment includes:

[0012] In the static state, multiple output sample values ​​are collected within a preset time period;

[0013] The average of the multiple output sample values ​​is calculated to obtain the constant zero value under the current usage environment.

[0014] According to the present invention, a zero-bias calibration method for a gyroscope is provided, the method further comprising:

[0015] If not, the angular velocity measurement value is calibrated based on the previously saved zero bias compensation value to obtain the second type of angular velocity output value, and then the second type of angular velocity output value is output.

[0016] According to the present invention, a zero-bias calibration method for a gyroscope, wherein the calibration of the angular velocity measurement value based on the updated zero-bias compensation value to obtain a first type of angular velocity output value includes:

[0017] The difference between the measured angular velocity value and the updated zero-bias compensation value is calculated to obtain the first type of angular velocity output value.

[0018] According to the zero-bias calibration method for a gyroscope provided by the present invention, the updating of the zero-bias compensation value includes:

[0019] Obtain the constant value zero in the current usage environment;

[0020] Based on the constant zero position in the current usage environment, the previously saved zero bias compensation value is updated to obtain the updated zero bias compensation value.

[0021] Save the updated zero-bias compensation value locally.

[0022] According to the present invention, a zero-bias calibration method for a gyroscope is provided, wherein the working state is either a stationary state or a moving state.

[0023] The present invention also provides a zero-bias calibration device for a gyroscope, comprising:

[0024] The constant zero-point calculation module is used to calculate the constant zero-point in the current operating environment in response to the zero-bias calibration command in a static state.

[0025] The calibration process judgment module is used to determine whether the zero bias compensation value needs to be updated based on the relationship between the constant zero point and the zero bias index qualification threshold under the current operating environment.

[0026] The zero-bias compensation value update module is used to update the zero-bias compensation value if the condition is met, and in the working state, it compensates the real-time angular velocity measurement value based on the updated zero-bias compensation value to obtain the first type of angular velocity output value.

[0027] An angular velocity output module is used to output the first type of angular velocity output value.

[0028] The present invention also provides a gyroscope sensor, including a gyroscope, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement a zero-bias calibration method for the gyroscope as described above.

[0029] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the zero-bias calibration method for a gyroscope as described above.

[0030] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the zero-bias calibration method for a gyroscope as described above.

[0031] The gyroscope zero-bias calibration method provided by this invention calculates the constant zero position under the current operating environment in response to a zero-bias calibration command in a static state. It then determines whether the zero-bias compensation value needs to be updated based on the relationship between the constant zero position and the zero-bias threshold. If so, the zero-bias compensation value is updated, and in the working state, the angular velocity measurement value is calibrated based on the updated zero-bias compensation value to obtain a first-type angular velocity output value. The first-type angular velocity output value is then output. This invention flexibly sets the zero-bias threshold according to actual needs. During each calibration, it determines the relationship between the constant zero position under the current operating environment and the aforementioned zero-bias threshold, thereby automatically updating or not updating the zero-bias compensation value to calibrate the angular velocity measurement value. This method does not require updating the zero-bias compensation value every time; it only updates it when the constant zero position under the current operating environment and the aforementioned zero-bias threshold satisfy a certain relationship. In other words, in most cases, updating the zero-bias compensation value is unnecessary, saving time and ensuring the accuracy of gyroscope measurements, thus improving the gyroscope's working efficiency. Furthermore, the threshold for determining the pass rate of the aforementioned zero bias index can be flexibly set according to actual needs, making the calibration process applicable to a wider range of application scenarios. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0033] Figure 1 This is one of the flowcharts illustrating the zero-bias calibration method for a gyroscope provided by the present invention;

[0034] Figure 2This is the second flowchart illustrating the zero-bias calibration method for a gyroscope provided by the present invention;

[0035] Figure 3 This is the third flowchart illustrating the zero-bias calibration method for a gyroscope provided by the present invention;

[0036] Figure 4 This is a schematic diagram of the zero-bias calibration device for the gyroscope provided by the present invention;

[0037] Figure 5 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0039] The following is combined with Figures 1-5 The specific implementation process of this invention is described.

[0040] In one embodiment, such as Figure 1 As shown, Figure 1 One of the flowcharts illustrating the zero-bias calibration method for a gyroscope is shown, including:

[0041] Step S101: In the static state, in response to the zero bias calibration command, calculate the constant zero position under the current operating environment;

[0042] In this context, "static state" refers to the static state of the gyroscope under the current operating environment. The constant bias is the result of averaging the zero-bias samples generated during the calibration process of the current measurement task (i.e., in the static state). Bias is one of the important indicators for evaluating gyroscope performance. Due to the inherent properties of the device, the gyroscope still outputs a signal in a static state. Therefore, when the actual angular velocity input is zero, i.e., in the aforementioned static state, the angular velocity output by the gyroscope is defined as the zero bias. In reality, the zero bias will randomly drift with increasing storage time; if it exceeds a acceptable threshold, it will lead to a deterioration in gyroscope performance.

[0043] Specifically, a static test is conducted on the gyroscope under the current operating environment. First, the processor receives a zero-bias calibration command and enters a pre-calibration state: In the static state, multiple angular velocity values ​​(i.e., multiple output sample values) are collected within a preset time period. The average of these output sample values ​​yields the constant zero bit under the current usage environment. for:

[0044] ;

[0045] Where n is the number of sampling points, This is the j-th output sample value.

[0046] Step S102: Determine whether the zero-bias compensation value needs to be updated based on the relationship between the constant zero position and the zero-bias index qualification threshold under the current operating environment.

[0047] The zero-bias indicator pass / fail threshold can be flexibly set according to the needs of the actual scenario. The gyroscope's memory also stores the zero-bias indicator pass / fail threshold under the current operating environment. , If the absolute value of the constant zero bit in the current usage environment Then there is no need to update the zero-bias compensation value stored in memory; if the absolute value of the constant zero bit (zero bias) is... Then, the zero-bias compensation value stored in the memory needs to be updated in order to calibrate the angular velocity measurement value.

[0048] Step S103: If yes, update the zero bias compensation value, and in the working state, calibrate the angular velocity measurement value based on the updated zero bias compensation value to obtain the calibrated angular velocity.

[0049] Since the zero bias is affected by time and temperature, a zero bias compensation value is needed to compensate for the gyroscope's zero bias error, thereby correcting the error and making the actual output angular velocity value closer to the true angular velocity. It's worth noting that due to the inherent properties of the gyroscope, such as its susceptibility to temperature and time, its zero bias drifts randomly. This will cause the error between the measured angular velocity and the true angular velocity to increase with each measurement task. Therefore, the zero bias compensation value also changes dynamically. The above operating states refer to either a stationary or moving state. The measured angular velocity value refers to the angular velocity value measured by the gyroscope in each measurement task. There may be a certain error between the measured angular velocity value and the true angular velocity value. If the error is large, the aforementioned zero bias compensation value is needed for correction. When the gyroscope is in working condition, that is, when the formal measurement task begins (at this time, the gyroscope can be in a stationary or moving state), after the processor acquires the angular velocity measurement value each time, it can use the above-mentioned zero bias compensation value to compensate the angular velocity measurement value to obtain the calibrated angular velocity value; for example, if the zero bias compensation value determined by the gyroscope is 0.025° / s, then during the operation of the gyroscope, the processor will subtract 0.025° / s from the real-time acquired angular velocity measurement value to obtain the calibrated angular velocity value.

[0050] Specifically, before leaving the factory, the manufacturer calibrates the initial zero-bias value of each gyroscope to meet factory requirements. However, as storage time increases, the zero-bias may exceed the zero-bias qualification threshold, leading to deterioration in gyroscope performance. To improve gyroscope performance, it is necessary to determine whether the zero-bias compensation value needs to be updated under the current conditions before the start of the formal measurement task. From the time the gyroscope leaves the factory, each measurement task includes a constant zero-point calculation stage and a formal measurement stage. The constant zero-point calculation stage refers to the processor starting to calculate the constant zero-point under the current operating environment after receiving the zero-bias calibration command. Assuming that each measurement task after the gyroscope leaves the factory is sequentially referred to as the first measurement task, the second measurement task, and so on, and the current measurement task is the i-th measurement task, then the constant zero-point output before the start of the formal measurement of the first measurement task is... The constant zero value generated in the second measurement task is ...The constant zero value generated in the i-th measurement task is... After the processor calculates the constant zero bit each time, it determines whether the previously saved zero-bias compensation value needs to be adjusted according to preset rules. Perform an update; if an update is required, it will be based on the constant zero value in the current usage environment. The previously saved zero bias compensation value The updated zero-bias compensation value is calculated. The angular velocity measurement is calibrated based on the updated zero-bias compensation value to obtain the calibrated angular velocity. To distinguish it from other cases described below, the calibrated angular velocity output here can be referred to as the first type of angular velocity output value. For example, if the angular velocity measurement value is... The above-mentioned updated zero bias compensation value The calculated calibrated angular velocity (first-order angular velocity output value) is: .

[0051] Step S104: Output the calibrated angular velocity. .

[0052] Specifically, the calibrated angular velocity mentioned above The output is sent to a display device or other storage device, thus obtaining the first type of angular velocity output value. .

[0053] The above embodiments, by flexibly setting the zero-bias index qualification threshold according to actual needs, determine the relationship between the constant zero position in the current operating environment and the aforementioned zero-bias index qualification threshold before starting a formal measurement task in each operating environment. This automatically determines the zero-bias compensation value, thereby compensating for the real-time angular velocity measurement value and obtaining the calibrated angular velocity. This method does not require recalculating the zero-bias compensation value each time. The zero-bias compensation value is only updated when the constant zero position in the current operating environment and the aforementioned zero-bias index qualification threshold meet a certain relationship, thus calibrating the real-time angular velocity measurement value. In other words, in most cases, the zero-bias compensation value does not need to be updated, saving time costs while ensuring the accuracy of angular velocity measurement and improving the working efficiency of the gyroscope. Furthermore, this invention eliminates the need for manual periodic checking and adjustment of the zero-bias compensation value, improving the maintenance efficiency of the gyroscope. Moreover, the aforementioned zero-bias index qualification threshold can be flexibly set according to actual needs, making the calibration process applicable to a wider range of application scenarios.

[0054] In one embodiment, such as Figure 2 As shown, the calculation of the constant zero bit in the current usage environment in step S101 above includes:

[0055] Step S201: In a static state, collect multiple output sample values ​​within a preset time period;

[0056] Specifically, in a static state, multiple angular velocity sample values ​​(i.e., multiple output sample values) are collected within a preset time period: .

[0057] Step S202: Calculate the average of multiple output sample values ​​to obtain the constant zero value under the current usage environment.

[0058] The average of these output sample values ​​yields the constant zero value under the current operating environment. for:

[0059] ;

[0060] in, The constant zero value is used in the current operating environment, where i represents the i-th measurement task; n is the number of sampling points. This is the j-th output sample value.

[0061] The above embodiments calculate the constant zero value under the current operating environment through static experiments, laying the data foundation for subsequent determination of whether to enter the calibration process.

[0062] In one embodiment, the method further includes: if not, calibrating the angular velocity measurement value based on the previously saved zero bias compensation value to obtain a second type of angular velocity output value, and calculating and outputting the second type of angular velocity output value.

[0063] Specifically, such as Figure 3 As shown, if the absolute value of the constant zero bit in the current usage environment is... Therefore, it is not necessary to update the zero-bias compensation value under the current operating environment, that is, it is not necessary to update the zero-bias compensation value saved in the previous measurement task. The angular velocity output value in this measurement task can be calculated and output based on the previous zero-bias compensation value. That is, the angular velocity output value in this measurement task (i.e., the second type of angular velocity output value) is: .in The angular velocity measurement value is collected by the gyroscope. This is the zero bias compensation value saved from the previous measurement task.

[0064] In the above embodiments, when the absolute value of the constant zero position in the current operating environment is less than the zero bias index qualification threshold, there is no need to update the zero bias compensation value, which saves time costs and improves the working efficiency and maintenance efficiency of the gyroscope.

[0065] In one embodiment, the step S103 above, which compensates the angular velocity measurement value based on the updated zero-bias compensation value to obtain a first type of angular velocity output value, includes: calculating the difference between the angular velocity measurement value and the updated zero-bias compensation value to obtain the first type of angular velocity output value.

[0066] Specifically, if calibration is determined to be necessary, the real-time measured angular velocity value is calibrated based on the updated zero-bias compensation value to obtain the calibrated angular velocity output value, which is also known as the first type of angular velocity output value. For example, if the angular velocity measurement currently acquired by the gyroscope is ω, the aforementioned updated zero-bias compensation value is... Then, the calibrated angular velocity output value (i.e., the first type of angular velocity output value) is calculated. for .

[0067] In the above embodiments, when the constant zero position in the current operating environment and the above-mentioned zero bias index qualification threshold are determined to meet a certain size relationship, compensation calibration can be automatically achieved to improve the measurement accuracy of the gyroscope.

[0068] In one embodiment, updating the zero bias compensation value in step S103 above includes: obtaining the constant zero position in the current usage environment; updating the previously saved zero bias compensation value based on the constant zero position in the current usage environment to obtain the updated zero bias compensation value; and saving the updated zero bias compensation value locally.

[0069] Specifically, obtain the constant zero value in the current usage environment. Retrieve the previously saved zero-bias compensation value from memory. After determining that the zero bias compensation value needs to be updated, the updated zero bias compensation value is calculated. for Similarly, each update adds a constant zero value for the current operating environment to the previously saved zero-bias compensation value. The initial value of the zero-bias compensation value is set to 0 before leaving the factory. The latest zero-bias compensation value is saved to local memory, meaning that all historical zero-bias compensation values ​​are overwritten.

[0070] The above embodiments provide a data basis for the next angular velocity calibration by updating the zero bias compensation value.

[0071] The gyroscope zero-bias calibration device 400 provided by the present invention will be described below. The gyroscope zero-bias calibration device described below can be referred to in correspondence with the gyroscope zero-bias calibration method described above.

[0072] In one embodiment, such as Figure 4 As shown, the zero-bias calibration device 400 for the gyroscope includes a constant zero-point calculation module 401, a calibration process judgment module 402, a zero-bias compensation value update module 403, and an angular velocity output module 404.

[0073] The constant zero-position calculation module 401 is used to calculate the constant zero-position in the current operating environment in response to the zero-bias calibration command in a static state.

[0074] The calibration process judgment module 402 is used to determine whether the zero bias compensation value needs to be updated based on the relationship between the constant zero position and the zero bias index qualification judgment threshold under the current usage environment.

[0075] The zero bias compensation value update module 403 is used to update the zero bias compensation value if the condition is met, and in the working state, to compensate the angular velocity measurement value based on the updated zero bias compensation value to obtain the first type of angular velocity output value.

[0076] Angular velocity output module 404 is used to output the first type of angular velocity output value.

[0077] In one embodiment, the aforementioned constant zero-position calculation module 401 is further configured to:

[0078] In the static state, multiple output sample values ​​are collected within a preset time period; the average of the multiple output sample values ​​is calculated to obtain the constant zero value under the current usage environment.

[0079] In one embodiment, the angular velocity output module 404 is further configured to: if not, calibrate the angular velocity measurement value based on the previously saved zero bias compensation value to obtain a second type of angular velocity output value, and output the second type of angular velocity output value.

[0080] In one embodiment, the aforementioned zero-bias compensation value update module 403 is further configured to:

[0081] The difference between the measured angular velocity value and the updated zero-bias compensation value is calculated to obtain the first type of angular velocity output value.

[0082] In one embodiment, the aforementioned zero-bias compensation value update module 403 is further configured to:

[0083] Obtain the constant zero position under the current usage environment; based on the constant zero position under the current usage environment, update the previously saved zero offset compensation value to obtain the updated zero offset compensation value; save the updated zero offset compensation value to the local machine.

[0084] In one embodiment, the working state is either a stationary state or a moving state.

[0085] Figure 5 An example is a schematic diagram of the physical structure of a gyroscope sensor, such as... Figure 5 As shown, the gyroscope sensor may include: a gyroscope 500, a processor 510, a communication interface 520, a memory 530, and a communication bus 540. The processor 510, communication interface 520, and memory 530 communicate with each other via the communication bus 540. The processor 510 can call logic instructions in the memory 530 to execute a zero-bias calibration method for the gyroscope. This method includes: in a static state, responding to a zero-bias calibration instruction, calculating a constant zero position under the current operating environment; determining whether the zero-bias compensation value needs to be updated based on the relationship between the constant zero position under the current operating environment and the zero-bias index qualification threshold; if so, updating the zero-bias compensation value; and in the operating state, calibrating the angular velocity measurement value based on the updated zero-bias compensation value to obtain a first type of angular velocity output value; and outputting the first type of angular velocity output value.

[0086] Furthermore, the logical instructions in the aforementioned memory 530 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0087] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the zero-bias calibration method for the gyroscope provided by the above methods. The method includes: in a static state, in response to a zero-bias calibration command, calculating a constant zero position under the current operating environment; determining whether the zero-bias compensation value needs to be updated based on the relationship between the constant zero position under the current operating environment and the zero-bias index qualification threshold; if so, updating the zero-bias compensation value, and in the working state, calibrating the angular velocity measurement value based on the updated zero-bias compensation value to obtain a first type of angular velocity output value; and outputting the first type of angular velocity output value.

[0088] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements a zero-bias calibration method for a gyroscope provided by the methods described above. This method includes: in a static state, in response to a zero-bias calibration command, calculating a constant zero position under the current operating environment; determining whether a zero-bias compensation value needs to be updated based on the relationship between the constant zero position under the current operating environment and a zero-bias index qualification threshold; if so, updating the zero-bias compensation value, and in the operating state, compensating for angular velocity measurements based on the updated zero-bias compensation value to obtain a first type of angular velocity output value; and outputting the first type of angular velocity output value.

[0089] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0090] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for zero-bias calibration of a gyroscope, characterized in that, include: In a static state, in response to a zero-bias calibration command, the constant zero position is calculated for the current operating environment; Determine whether the zero-bias compensation value needs to be updated based on the relationship between the constant zero position and the zero-bias index qualification threshold under the current operating environment. If so, update the zero bias compensation value, and in the working state, calibrate the angular velocity measurement value based on the updated zero bias compensation value to obtain the first type of angular velocity output value; Output the first type of angular velocity output value; If not, the angular velocity measurement value is calibrated based on the previously saved zero bias compensation value to obtain the second type of angular velocity output value, and the second type of angular velocity output value is output. The updated zero-bias compensation value includes: Obtain the constant value zero in the current usage environment; Calculate the sum of the constant zero value in the current usage environment and the previously saved zero bias compensation value, and determine the sum as the updated zero bias compensation value; Save the updated zero-bias compensation value locally.

2. The zero-bias calibration method for a gyroscope according to claim 1, characterized in that, The calculation of the constant zero bit in the current usage environment includes: In the static state, multiple output sample values ​​are collected within a preset time period; The average of the multiple output sample values ​​is calculated to obtain the constant zero value under the current usage environment.

3. The zero-bias calibration method for a gyroscope according to claim 1, characterized in that, The calibration of the angular velocity measurement based on the updated zero-bias compensation value yields the first type of angular velocity output value, including: The difference between the measured angular velocity value and the updated zero-bias compensation value is calculated to obtain the first type of angular velocity output value.

4. The method according to any one of claims 1 to 3, characterized in that, The working state can be either a static state or a dynamic state.

5. A zero-bias calibration device for a gyroscope, characterized in that, The method for performing the zero-bias calibration of the gyroscope according to claim 1 includes: The constant zero-point calculation module is used to calculate the constant zero-point in the current operating environment in response to the zero-bias calibration command in a static state. The calibration process judgment module is used to determine whether the zero bias compensation value needs to be updated based on the relationship between the constant zero point and the zero bias index qualification threshold under the current operating environment. The zero-bias compensation value update module is used to update the zero-bias compensation value if the condition is met, and in the working state, to compensate the angular velocity measurement value based on the updated zero-bias compensation value to obtain the first type of angular velocity output value. An angular velocity output module is used to output the first type of angular velocity output value.

6. A gyroscope sensor, comprising a gyroscope, a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the zero-bias calibration method for the gyroscope as described in any one of claims 1 to 4.

7. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the zero-bias calibration method for the gyroscope as described in any one of claims 1 to 4.

8. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the zero-bias calibration method for the gyroscope as described in any one of claims 1 to 4.

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