An angular rate measurement method, system and application in low-cost gyroscope array

Abstract

The present invention discloses an angular rate measurement method, a system and an application in a low-cost gyro array, and relates to the field of angular rate measurement. The present invention first determines a standard error value measured by a gyro array in a current scene, and then compares the measurement result with the standard error value. When the standard error value is greater than or equal to the standard error value, the weight value of each gyro in the gyro array during synchronization of measurement data is updated, so that the measurement data of the gyro array meets the requirements; by constructing a final angular rate measurement difference mapping equation, a mapping model is provided for subsequent acquisition of the standard error value of the current measurement scene, and further a reference is provided for optimizing the weight of each gyroscope in the measurement gyro array; by optimizing the weight value of each gyroscope in a matrix of adjacent gyroscopes, the difference between the angular rate data measured and the actual data is minimized, so that other unknown angular rates in the current scene are measured more accurately.

Description

Technical Field

[0001] The present invention belongs to the field of angular velocity measurement, and in particular, relates to an angular velocity measurement method and system and application in a low-cost gyroscope array. Background Art

[0002] A Chinese patent with announcement number CN115950456B discloses an accelerometer calibration method based on gyroscope angular rate measurement. The method comprises installing a centrifuge with an accelerometer to be calibrated and a gyroscope assembly, starting the centrifuge for measurement, obtaining the centripetal acceleration of the accelerometer to be calibrated, and obtaining the output data of each gyroscope in the gyroscope assembly; calibrating the installation error angle of the gyroscope assembly, and then fitting the second-order nonlinear coefficient using the maximum likelihood estimation method.

[0003] A gyroscope array is a system composed of multiple gyroscopes. When using the gyroscope array for measurement, it is necessary to set the weight value of each gyroscope. If the weight value of each gyroscope is not set reasonably, it will directly affect the performance and measurement accuracy of the entire system, resulting in reduced measurement accuracy and system stability. If the weight of a gyroscope is set too high, the overall fault tolerance of the gyroscope array will be weakened. Summary of the invention

[0004] In view of the problems in the related art, the present invention proposes an angular rate measurement method and system and application in a low-cost gyroscope array to overcome the above technical problems existing in the existing related art.

[0005] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0006] The present invention provides an angular velocity measurement method, comprising the following steps:

[0007] S1. Using a measuring gyro array to measure corresponding angular velocity data multiple times in multiple test scenarios and calculate the average value to obtain an angular velocity measurement average data set;

[0008] S2. Calculate the absolute value of the difference between each angular velocity measurement average data in the angular velocity measurement average data set and the corresponding actual angular velocity data to obtain an angular velocity measurement difference data set; and construct a final angular velocity measurement difference mapping equation using the angular velocity measurement difference data set and the external influencing factor data of the measurement accuracy of the corresponding scene;

[0009] S3, setting each gyroscope adjacent to it in the measuring gyroscope array to obtain an adjacent gyroscope matrix; setting the actual angular velocity data of the current measurement scene according to the measurement accuracy external influencing factor type set and the adjacent gyroscope matrix, and collecting the measurement accuracy external influencing factor data in the corresponding scene and inputting it into the final angular velocity measurement difference mapping equation for mapping, to obtain the first current measurement difference data;

[0010] The angular velocity in the current measurement scene is measured using a measuring gyro array, and the current actual angular velocity data is subtracted and the absolute value is taken to obtain the current measurement difference data set;

[0011] S4, optimizing the weight value of each gyroscope in the adjacent gyroscope matrix in conjunction with the first current measurement difference data and the current measurement difference data set to obtain a final weight data matrix;

[0012] By measuring the corresponding angular rate data multiple times in multiple test scenarios and calculating the average value, the error and sporadicity of the measurement data are reduced, and data support is provided for the subsequent calculation of measurement difference data; by calculating the absolute value of the difference between each angular rate measurement average data in the angular rate measurement average data set and the corresponding actual angular rate data, a data basis is provided for the subsequent construction of the final angular rate measurement difference mapping equation for mapping the measurement difference and the measurement influencing factor data in the corresponding scenario; by constructing the final angular rate measurement difference mapping equation, a mapping model is provided for the subsequent acquisition of the standard error value of the current measurement scenario, thereby optimizing the weight of each gyroscope in the measurement gyro array. By setting each gyroscope adjacent to the gyroscope in the measuring gyroscope array, a mode of distributed synchronization of the measurement data of each gyroscope in the measuring gyroscope array is established; by setting the actual angular velocity data of the current measurement scene and collecting the data of external influencing factors of the measurement accuracy in the corresponding scene, a data basis is provided for the subsequent acquisition of the standard measurement difference data in the current scene, and a calculation standard is also provided for the subsequent acquisition of the measurement difference of the measuring gyroscope array; by optimizing the weight value of each gyroscope in the adjacent gyroscope matrix, the difference between the angular velocity data measured and the actual data is minimized, so that it is more accurate when measuring other unknown angular velocities in the current scene.

[0013] Preferably, the S1 comprises the following steps:

[0014] S11, setting the measurement gyro array and multiple angular rate measurement accuracy external influencing factor types, and obtaining a measurement accuracy external influencing factor type set , a i Indicates the setting i Types of external factors affecting angular rate measurement accuracy, Indicates the total number of external influencing factors of the set angular rate measurement accuracy;

[0015] Set multiple test scenes and the corresponding actual angular rate data to obtain the test scene set and the actual angular rate data set , Indicates the setting i The actual angular rate data under the test scene, Represents the total number of set test scenarios; then collects the measurement accuracy external influencing factor data in each test scenario in the test scenario set according to the measurement accuracy external influencing factor type set to obtain the measurement accuracy external influencing factor data matrix ;as follows,

[0016] ;

[0017] in, Indicates the first i The first of the test scenarios j Types of data on external factors affecting measurement accuracy;

[0018] S12, using the measuring gyro array to measure the corresponding angular velocity data multiple times in each test scene in the test scene set, to obtain an angular velocity measurement data matrix b 1; as follows,

[0019] ;

[0020] in, b 1ij Indicates that the measurement gyro array is the first i The first test scenario j The angular rate data measured, represents the total number of times the gyro array measures the angular rate in each test scenario in the test scenario set;

[0021] Calculate the average value of each row of data in the angular velocity measurement data matrix to obtain an angular velocity measurement average data set , b 2i Indicates that the measurement gyro array is the first i The average value of the angular rate data measured multiple times in a test scenario; the calculation formula is as follows:

[0022] ;

[0023] The types of external factors that affect measurement accuracy include temperature, vibration, magnetic field, air pressure, humidity, etc. By measuring the corresponding angular rate data multiple times in each test scenario, the measurement results are more accurate.

[0024] Preferably, S2 comprises the following steps:

[0025] S21, calculating the absolute value of the difference between each angular velocity measurement average data in the angular velocity measurement average data set and the corresponding actual angular velocity data in the actual angular velocity data set, to obtain an angular velocity measurement difference data set , b 3i represents the angular velocity measurement average data set i The absolute value of the difference between the average angular rate measurement data and the corresponding actual angular rate data in the actual angular rate data set; the calculation formula is as follows,

[0026] ;

[0027] S22, constructing a final angular rate measurement difference mapping equation using the angular rate measurement difference data set and the measurement accuracy external influencing factor data matrix;

[0028] By calculating the absolute value of the difference between each angular velocity measurement average data in the angular velocity measurement average data set and the corresponding actual angular velocity data in the actual angular velocity data set, an optimization direction is provided for the subsequent construction of the final angular velocity measurement difference mapping equation.

[0029] Preferably, the S22 comprises the following steps:

[0030] S221, constructing an initial angular rate measurement difference mapping equation; as follows,

[0031] ;

[0032] In the formula, is the dependent variable of the initial angular velocity measurement difference mapping equation, representing the angular velocity measurement difference data; is the first part of the initial angular rate measurement difference mapping equation i The dependent variable represents i Types of external factors affecting measurement accuracy, for The coefficient of the independent variable ; represents the bias of the initial angular rate measurement difference mapping equation;

[0033] S222, substituting each row of data in the measurement accuracy external influencing factor data matrix into the initial angular rate measurement difference mapping equation for mapping, to obtain a test difference mapping data set , c i It means that the first i Substituting the row data into the initial angular rate measurement difference mapping equation for mapping to obtain the test difference mapping data;

[0034] Calculate the Euclidean distance between the test difference mapping data set and the actual angular velocity data set to obtain the measured difference Euclidean distance data ; The calculation formula is as follows,

[0035] ;

[0036] S223, setting a difference Euclidean distance threshold; when the measured difference Euclidean distance data is less than the difference Euclidean distance threshold, there is no need to adjust the initial angular velocity measurement difference mapping equation, and the initial angular velocity measurement difference mapping equation is used as the final angular velocity measurement difference mapping equation; otherwise, the initial angular velocity measurement difference mapping equation is adjusted until the measured difference Euclidean distance data is less than the difference Euclidean distance threshold, and a final angular velocity measurement difference mapping equation is obtained;

[0037] Since the independent variable coefficients and bias of the initial angular velocity measurement difference mapping equation are randomly selected, the mapping data of the initial angular velocity measurement difference mapping equation is inaccurate; therefore, each row of data in the data matrix of external influencing factors of measurement accuracy is substituted into the initial angular velocity measurement difference mapping equation for mapping to verify its mapping accuracy. When the accuracy meets the requirements, there is no need to optimize the initial angular velocity measurement difference mapping equation, otherwise it needs to be optimized; by setting the difference Euclidean distance threshold, a quantitative judgment basis is provided for determining whether the difference between the mapping data of the initial angular velocity measurement difference mapping equation and the actual data meets the requirements.

[0038] Preferably, S3 comprises the following steps:

[0039] S31, setting each gyroscope constituting the measuring gyroscope array to obtain a measuring gyroscope set; and then setting the gyroscopes adjacent to each gyroscope in the measuring gyroscope array in the measuring gyroscope set to obtain an adjacent gyroscope matrix ;as follows,

[0040] ;

[0041] in, Indicates the measurement gyroscope set i The gyroscope measures the j An adjacent gyroscope, Indicates the measurement gyroscope seti A gyroscope is measuring the total number of gyroscopes adjacent to it in the gyroscope array. represents the total number of gyroscopes in the measuring gyroscope set;

[0042] S32, setting the actual angular rate data of the current measurement scene and collecting the measurement accuracy external influencing factor data of the corresponding scene according to the measurement accuracy external influencing factor type set, to obtain the current actual angular rate data and the current measurement accuracy external influencing factor data set; inputting the current measurement accuracy external influencing factor data set into the final angular rate measurement difference mapping equation for mapping, to obtain the first current measurement difference data;

[0043] The initial weight value of each gyroscope in the adjacent gyroscope matrix is ​​set, and at the same time, each gyroscope in the measurement gyroscope set is used to measure the angular rate in the current measurement scene to obtain an initial weight data matrix e And the current initial angular rate data matrix ; They are as follows,

[0044] ; ;

[0045] in, e ij , Indicates the measurement gyroscope set i The gyroscope measures the j The weight value of the adjacent gyroscope and the data obtained by measuring the angular rate in the current measurement scene;

[0046] S33, calculating the initial weighted measurement value of each gyroscope in the measurement gyroscope set according to the initial weight data matrix and the current initial angular rate data matrix, to obtain the current initial weighted measurement data set , Indicates the measurement gyroscope set i The initial weighted measurement of the gyroscope is calculated as follows:

[0047] ;

[0048] Subtract each weighted measurement data in the current initial weighted measurement data set from the current actual angular rate data and take an absolute value operation to obtain a current measurement difference data set; and use the minimum measurement difference data in the current measurement difference data set as the second current measurement difference data;

[0049] Each gyroscope transmits its own preliminary measurement result to the adjacent gyroscope, and then updates its own measurement result by weighted averaging the received measurement data, and repeats the above steps until the difference between the results of two adjacent measurements is less than a preset threshold. Among them, the selection of each weight when performing weighted calculation on the measurement results of adjacent gyroscopes is more important. In this scheme, each weight is initially set, and then each weight is optimized by the difference between the difference between the test result and the actual data and the standard deviation.

[0050] Preferably, S4 comprises the following steps:

[0051] S41, when the second current measurement difference data is greater than or equal to the first current measurement difference data, adjusting the initial weight data matrix until the second current measurement difference data is less than the first current measurement difference data, to obtain a final weight data matrix; otherwise, there is no need to adjust the initial weight data matrix, and the initial weight data matrix is ​​used as the final weight data matrix;

[0052] Preferably, adjusting the initial weight data matrix in S41 comprises the following steps:

[0053] S411. Construct weight data to adjust pigeon population , Indicates that the weight data adjusts the first i A pigeon, Indicates that the weight data adjusts the size of the pigeon population; Sets the maximum number of iterations of the weight data to adjust the pigeon population d 3 and the current number of iterations is d 4, respectively recorded as the maximum number of iterations adjusted by the weight data and the current number of iterations adjusted by the weight data; the search space dimension of the pigeon population adjusted by the weight data is ;

[0054] S412: Set the weight value interval corresponding to each adjacent gyroscope in the adjacent gyroscope matrix to obtain a weight value interval matrix. ;as follows,

[0055] ;

[0056] in, , Respectively represent the first i The gyroscope measures the j The lower limit and upper limit of the weight value of the adjacent gyroscope;

[0057] The weight data is set according to the weight value interval matrix to adjust the initial position matrix of each pigeon in the pigeon population to obtain a second initial position matrix set , Indicates that the weight data adjusts the pigeon population k The initial position matrix of the pigeon is as follows:

[0058] ;

[0059] in, Indicates that the weight data adjusts the pigeon population k The initial position matrix of the pigeon is measured in the gyroscope set i The gyroscope measures the j The position component in the dimension of the weight value of the adjacent gyroscope;

[0060] S413: construct weight data according to the second current measurement difference data to adjust the fitness function of the pigeon population ;as follows,

[0061] ;

[0062] In the formula, f Represents the second current measurement difference data;

[0063] S414, start iteration, before iteration, set the current iteration number of the weight data adjustment to 1; in the first round of iteration, use the weight data to adjust the fitness function of the pigeon population to calculate the fitness value of the initial position matrix of each pigeon in the second initial position matrix set, and obtain a third fitness value set; use the maximum fitness value in the third fitness value set and the initial position of the corresponding pigeon as the third global optimal fitness and the third global optimal position respectively; update the initial position matrix of each pigeon in the second initial position matrix set according to the third global optimal fitness and the third global optimal position; after the update is completed, add 1 to the current iteration number of the weight data adjustment and enter the next round of iteration;

[0064] In each other round of iteration, the fitness function of the weight data-adjusted pigeon population is used to calculate the fitness value of the position matrix of each pigeon in the weight data-adjusted pigeon population updated in the previous round of iteration, and a fourth fitness value set is obtained; the maximum fitness value in the fourth fitness value set and the position of the corresponding pigeon are respectively used as the fourth global optimal fitness and the fourth global optimal position; the position matrix of each pigeon in the weight data-adjusted pigeon population updated in the previous round of iteration is updated according to the fourth global optimal fitness and the fourth global optimal position; after the update is completed, the current iteration number of the weight data adjustment is increased by 1 and the next iteration is entered;

[0065] S415, when When , stop the iteration and get the second final global optimal position; otherwise, continue to iterate until until the second final global optimal position is used as the optimized weight data matrix; the measurement gyro array is set using the optimized weight data matrix to obtain the optimized measurement gyro array;

[0066] S416, using the optimized measurement gyro array to measure the angular velocity in the current measurement scenario to obtain the current optimized angular velocity data matrix; calculating the optimized weighted measurement value of each gyroscope in the measurement gyro set according to the current optimized angular velocity data matrix and the optimized weight data matrix to obtain the current optimized weighted measurement data set; subtracting each weighted measurement data in the current optimized weighted measurement data set from the current actual angular velocity data and taking the absolute value operation; repeating the above steps until the difference between the results obtained from two adjacent measurements is less than a preset threshold value, to obtain the current optimized measurement difference data set; taking the smallest measurement difference data in the current optimized measurement difference data set as the third current measurement difference data;

[0067] When the third current measurement difference data is less than the first current measurement difference data, the optimized weight data matrix is ​​used as the final weight data matrix; otherwise, return to S414 and continue to iterate until the third current measurement difference data is less than the first current measurement difference data;

[0068] The pigeon flock optimization algorithm is used to iterate the weight value of each gyroscope in the adjacent gyroscope matrix for multiple times at the same time, and the weight value of each gyroscope in the adjacent gyroscope matrix obtained after each round of iterative update is used to set the measuring gyroscope array. After the setting is completed, the angular velocity in the current scene is measured by the set measuring gyroscope array, and the difference between the actual value is used as the fitness function; therefore, as the iteration proceeds, the test accuracy of the measuring gyroscope array becomes higher and higher, and finally meets the test requirements.

[0069] An angular rate measurement system comprises an external influencing factor setting module, a historical angular rate data acquisition module, a historical angular rate mean value calculation module, a historical difference calculation module, an angular rate measurement difference mapping equation construction module, an adjacent gyroscope setting module, a current scene data acquisition mapping module, a current measurement difference data calculation module and a gyroscope weight optimization module.

[0070] The present invention has the following beneficial effects:

[0071] 1. In the present invention, the standard error value of the gyro array measured in the current scene is first determined, and then the measurement result is compared with the standard error value. When it is greater than or equal to the standard error value, the weight value of each gyroscope in the gyro array during the synchronization of the measurement data is updated, so that the measurement data of the gyro array meets the requirements; by constructing the final angular velocity measurement difference mapping equation, a mapping model is provided for the subsequent acquisition of the standard error value of the current measurement scene, and then a reference is provided for optimizing the weight of each gyroscope in the measurement gyro array; by optimizing the weight value of each gyroscope in the adjacent gyroscope matrix, the difference between the angular velocity data measured and the actual data is minimized, so that other unknown angular velocities in the current scene are measured more accurately.

[0072] 2. In the present invention, by calculating the absolute value of the difference between each angular velocity measurement average data and the corresponding actual angular velocity data in the actual angular velocity data set, an optimization direction is provided for the subsequent construction of the final angular velocity measurement difference mapping equation.

[0073] 3. In the present invention, the weight value of each gyroscope in the adjacent gyroscope matrix is ​​iterated multiple times simultaneously by using the pigeon flock optimization algorithm, and the weight value of each gyroscope in the adjacent gyroscope matrix obtained after each round of iterative update is used to set the measuring gyroscope array. After the setting is completed, the angular velocity in the current scene is measured by the set measuring gyroscope array, and the difference between the actual value is used as the fitness function; therefore, as the iteration proceeds, the test accuracy of the measuring gyroscope array becomes higher and higher, and finally meets the test requirements.

[0074] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] In order to more clearly illustrate the technical solutions of the embodiments of the invention, the drawings required for describing the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For ordinary technicians in this field, they can also obtain drawings based on these drawings without paying creative work.

[0076] Figure 1 The figure is a flow chart of an angular velocity measurement method of the present invention. DETAILED DESCRIPTION

[0077] The following will be combined with the drawings in the embodiments of the invention to clearly and completely describe the technical solutions in the embodiments of the invention. Obviously, the described embodiments are only part of the embodiments of the invention, not all of the embodiments. Based on the embodiments in the invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the invention.

[0078] Embodiment 1

[0079] See also Figure 1 , this embodiment is an angular velocity measurement method, comprising the following steps:

[0080] S1. Using a measuring gyro array to measure corresponding angular velocity data multiple times in multiple test scenarios and calculate the average value to obtain an angular velocity measurement average data set;

[0081] The S1 comprises the following steps:

[0082] S11, setting the measurement gyro array and multiple angular rate measurement accuracy external influencing factor types, and obtaining a measurement accuracy external influencing factor type set , a i Indicates the setting i Types of external factors affecting angular rate measurement accuracy, Indicates the total number of external influencing factors of the set angular rate measurement accuracy;

[0083] Set multiple test scenes and the corresponding actual angular rate data to obtain the test scene set and the actual angular rate data set , Indicates the setting i The actual angular rate data under the test scene, Represents the total number of set test scenarios; then collects the measurement accuracy external influencing factor data in each test scenario in the test scenario set according to the measurement accuracy external influencing factor type set to obtain the measurement accuracy external influencing factor data matrix ;as follows,

[0084] ;

[0085] in, Indicates the first i The first of the test scenarios j Types of data on external factors affecting measurement accuracy;

[0086] S12, using the measuring gyro array to measure the corresponding angular velocity data multiple times in each test scene in the test scene set, to obtain an angular velocity measurement data matrix b 1; as follows,

[0087] ;

[0088] in, b 1ij Indicates that the measurement gyro array is the first i The first test scenarioj The angular rate data measured, represents the total number of times the gyro array measures the angular rate in each test scenario in the test scenario set;

[0089] Calculate the average value of each row of data in the angular velocity measurement data matrix to obtain an angular velocity measurement average data set , b 2i Indicates that the measurement gyro array is the first i The average value of the angular rate data measured multiple times in a test scenario; the calculation formula is as follows:

[0090] ;

[0091] S2. Calculate the absolute value of the difference between each angular velocity measurement average data in the angular velocity measurement average data set and the corresponding actual angular velocity data to obtain an angular velocity measurement difference data set; and construct a final angular velocity measurement difference mapping equation using the angular velocity measurement difference data set and the external influencing factor data of the measurement accuracy of the corresponding scene;

[0092] The S2 comprises the following steps:

[0093] S21, calculating the absolute value of the difference between each angular velocity measurement average data in the angular velocity measurement average data set and the corresponding actual angular velocity data in the actual angular velocity data set, to obtain an angular velocity measurement difference data set , b 3i represents the angular velocity measurement average data set i The absolute value of the difference between the average angular rate measurement data and the corresponding actual angular rate data in the actual angular rate data set; the calculation formula is as follows,

[0094] ;

[0095] S22, constructing a final angular rate measurement difference mapping equation using the angular rate measurement difference data set and the measurement accuracy external influencing factor data matrix;

[0096] The S22 comprises the following steps:

[0097] S221, constructing an initial angular rate measurement difference mapping equation; as follows,

[0098] ;

[0099] In the formula, is the dependent variable of the initial angular velocity measurement difference mapping equation, representing the angular velocity measurement difference data; is the first part of the initial angular rate measurement difference mapping equation i The dependent variable represents i Types of external factors affecting measurement accuracy, for The coefficient of the independent variable ; represents the bias of the initial angular rate measurement difference mapping equation;

[0100] S222, substituting each row of data in the measurement accuracy external influencing factor data matrix into the initial angular rate measurement difference mapping equation for mapping, to obtain a test difference mapping data set , c i It means that the first i Substituting the row data into the initial angular rate measurement difference mapping equation for mapping to obtain the test difference mapping data;

[0101] Calculate the Euclidean distance between the test difference mapping data set and the actual angular velocity data set to obtain the measured difference Euclidean distance data ; The calculation formula is as follows,

[0102] ;

[0103] S223, setting a difference Euclidean distance threshold; when the measured difference Euclidean distance data is less than the difference Euclidean distance threshold, there is no need to adjust the initial angular velocity measurement difference mapping equation, and the initial angular velocity measurement difference mapping equation is used as the final angular velocity measurement difference mapping equation; otherwise, the initial angular velocity measurement difference mapping equation is adjusted until the measured difference Euclidean distance data is less than the difference Euclidean distance threshold, and a final angular velocity measurement difference mapping equation is obtained;

[0104] The step of adjusting the initial angular rate measurement difference mapping equation in S223 includes the following steps:

[0105] S2231, constructing the angular velocity difference mapping equation for the pigeon population , The angular velocity difference mapping equation represents the first i A pigeon, represents the size of the pigeon population of the angular velocity difference mapping equation; sets the maximum number of iterations of the pigeon population of the angular velocity difference mapping equation to d 1 and the current number of iterations is d 2, respectively, are recorded as the maximum number of iterations of the difference mapping equation and the current number of iterations of the difference mapping equation; the search space dimension of the angular velocity difference mapping equation pigeon population is ;

[0106] S2232, setting the value interval of each independent variable coefficient and the bias in the initial angular rate measurement difference mapping equation to obtain an independent variable value interval set And the bias value range ; , They represent the first i The lower and upper limits of the coefficients of the independent variables. , respectively represent the lower limit and the upper limit of the bias value in the initial angular rate measurement difference mapping equation;

[0107] According to the independent variable value interval set and the bias value interval, the initial position of each pigeon in the pigeon population is set to obtain the first initial position matrix ;as follows,

[0108] ;

[0109] in, The angular velocity difference mapping equation represents the first i The position component of the initial position of the pigeon in the jth search space dimension; , The calculation formulas are as follows:

[0110] ; ;

[0111] In the formula, rand 1i1 , For , Generate a random number between 0 and 1;

[0112] S2233, according to the measured difference Euclidean distance data Constructing the fitness function of the pigeon population by mapping the angular velocity difference equation ;as follows,

[0113] ;

[0114] S2234, start iteration, and set the current iteration number of the difference mapping equation to 1 before iteration; in the first round of iteration, use the fitness function of the pigeon population of the angular velocity difference mapping equation to calculate the fitness value of the initial position of each pigeon in the first initial position matrix to obtain a first fitness value set; use the maximum fitness value in the first fitness value set and the initial position of the corresponding pigeon as the first global optimal fitness and the first global optimal position respectively; update the initial position of each pigeon in the first initial position matrix according to the first global optimal fitness and the first global optimal position; after the update is completed, add 1 to the current iteration number of the difference mapping equation and enter the next round of iteration;

[0115] In each other round of iteration, the fitness function of the angular velocity difference mapping equation pigeon population is used to calculate the fitness value of the position of each pigeon in the angular velocity difference mapping equation pigeon population updated in the previous round of iteration, and a second fitness value set is obtained; the maximum fitness value in the second fitness value set and the corresponding pigeon position are respectively used as the second global optimal fitness and the second global optimal position; the position of each pigeon in the angular velocity difference mapping equation pigeon population updated in the previous round of iteration is updated according to the second global optimal fitness and the second global optimal position; after the update is completed, the current iteration number of the difference mapping equation is increased by 1 and the next iteration is entered;

[0116] S2235, when When , stop the iteration and get the first final global optimal position; otherwise, continue to iterate until : until the time; each position component of the first final global optimal position is substituted into the initial angular velocity measurement difference mapping equation to obtain the optimized angular velocity measurement difference mapping equation; each row of data in the measurement accuracy external influencing factor data matrix is ​​substituted into the optimized angular velocity measurement difference mapping equation for mapping to obtain the optimized test difference mapping data set; the Euclidean distance between the optimized test difference mapping data set and the actual angular velocity data set is calculated to obtain the optimized measurement difference Euclidean distance data;

[0117] When the optimized measured difference Euclidean distance data is less than the difference Euclidean distance threshold, the optimized angular velocity measurement difference mapping equation is used as the final angular velocity measurement difference mapping equation; otherwise, return to S2234 and continue to iterate until the optimized measured difference Euclidean distance data is less than the difference Euclidean distance threshold;

[0118] The pigeon swarm optimization algorithm has a fast convergence speed and can find a better solution in a shorter time; it has a strong global search capability and can effectively avoid falling into a local optimal solution; it has relatively strong robustness and has good adaptability to different types of optimization problems; based on the above advantages, the pigeon swarm optimization algorithm is used in this scheme to perform multiple iterations on the coefficients of each independent variable and the bias of the initial angular velocity measurement difference mapping equation, and the Euclidean distance between the mapping data of the initial angular velocity measurement difference mapping equation and the actual data is used as the fitness function. Therefore, as the iteration proceeds, the mapping accuracy of the initial angular velocity measurement difference mapping equation becomes higher and higher, and finally meets the mapping requirements;

[0119] S3, setting each gyroscope adjacent to it in the measuring gyroscope array to obtain an adjacent gyroscope matrix; setting the actual angular velocity data of the current measurement scene according to the measurement accuracy external influencing factor type set and the adjacent gyroscope matrix, and collecting the measurement accuracy external influencing factor data in the corresponding scene and inputting it into the final angular velocity measurement difference mapping equation for mapping, to obtain the first current measurement difference data;

[0120] The angular velocity in the current measurement scene is measured using a measuring gyro array, and the current actual angular velocity data is subtracted and the absolute value is taken to obtain the current measurement difference data set;

[0121] The S3 comprises the following steps:

[0122] S31, setting each gyroscope constituting the measuring gyroscope array to obtain a measuring gyroscope set; and then setting the gyroscopes adjacent to each gyroscope in the measuring gyroscope array in the measuring gyroscope set to obtain an adjacent gyroscope matrix ;as follows,

[0123] ;

[0124] in, Indicates the measurement gyroscope set i The gyroscope measures the j An adjacent gyroscope, Indicates the measurement gyroscope set i A gyroscope is measuring the total number of gyroscopes adjacent to it in the gyroscope array. represents the total number of gyroscopes in the measuring gyroscope set;

[0125] S32, setting the actual angular rate data of the current measurement scene and collecting the measurement accuracy external influencing factor data of the corresponding scene according to the measurement accuracy external influencing factor type set, to obtain the current actual angular rate data and the current measurement accuracy external influencing factor data set; inputting the current measurement accuracy external influencing factor data set into the final angular rate measurement difference mapping equation for mapping, to obtain the first current measurement difference data;

[0126] The initial weight value of each gyroscope in the adjacent gyroscope matrix is ​​set, and at the same time, each gyroscope in the measurement gyroscope set is used to measure the angular rate in the current measurement scene to obtain an initial weight data matrix e And the current initial angular rate data matrix ; They are as follows,

[0127] ; ;

[0128] in, e ij , Indicates the measurement gyroscope set i The gyroscope measures the j The weight value of the adjacent gyroscope and the data obtained by measuring the angular rate in the current measurement scene;

[0129] S33, calculating the initial weighted measurement value of each gyroscope in the measurement gyroscope set according to the initial weight data matrix and the current initial angular rate data matrix, to obtain the current initial weighted measurement data set , Indicates the measurement gyroscope set i The initial weighted measurement of the gyroscope is calculated as follows:

[0130] ;

[0131] Subtract each weighted measurement data in the current initial weighted measurement data set from the current actual angular rate data and take an absolute value operation to obtain a current measurement difference data set; and use the minimum measurement difference data in the current measurement difference data set as the second current measurement difference data;

[0132] S4, optimizing the weight value of each gyroscope in the adjacent gyroscope matrix in conjunction with the first current measurement difference data and the current measurement difference data set to obtain a final weight data matrix;

[0133] The S4 comprises the following steps:

[0134] S41, when the second current measurement difference data is greater than or equal to the first current measurement difference data, adjusting the initial weight data matrix until the second current measurement difference data is less than the first current measurement difference data, to obtain a final weight data matrix; otherwise, there is no need to adjust the initial weight data matrix, and the initial weight data matrix is ​​used as the final weight data matrix;

[0135] The adjustment of the initial weight data matrix in S41 comprises the following steps:

[0136] S411. Construct weight data to adjust pigeon population , Indicates that the weight data adjusts the first i A pigeon, Indicates that the weight data adjusts the size of the pigeon population; Sets the maximum number of iterations of the weight data to adjust the pigeon population d 3 and the current number of iterations is d 4, respectively recorded as the maximum number of iterations adjusted by the weight data and the current number of iterations adjusted by the weight data; the search space dimension of the pigeon population adjusted by the weight data is ;

[0137] S412: Set the weight value interval corresponding to each adjacent gyroscope in the adjacent gyroscope matrix to obtain a weight value interval matrix. ;as follows,

[0138] ;

[0139] in, , Respectively represent the first i The gyroscope measures the j The lower limit and upper limit of the weight value of the adjacent gyroscope;

[0140] The weight data is set according to the weight value interval matrix to adjust the initial position matrix of each pigeon in the pigeon population to obtain a second initial position matrix set , Indicates that the weight data adjusts the pigeon population k The initial position matrix of the pigeon is as follows:

[0141] ;

[0142] in, Indicates that the weight data adjusts the pigeon population k The initial position matrix of the pigeon is measured in the gyroscope set iThe gyroscope measures the j The position component in the dimension of the weight value of the adjacent gyroscope;

[0143] S413: construct weight data according to the second current measurement difference data to adjust the fitness function of the pigeon population ;as follows,

[0144] ;

[0145] In the formula, f Represents the second current measurement difference data;

[0146] S414, start iteration, before iteration, set the current iteration number of the weight data adjustment to 1; in the first round of iteration, use the weight data to adjust the fitness function of the pigeon population to calculate the fitness value of the initial position matrix of each pigeon in the second initial position matrix set, and obtain a third fitness value set; use the maximum fitness value in the third fitness value set and the initial position of the corresponding pigeon as the third global optimal fitness and the third global optimal position respectively; update the initial position matrix of each pigeon in the second initial position matrix set according to the third global optimal fitness and the third global optimal position; after the update is completed, add 1 to the current iteration number of the weight data adjustment and enter the next round of iteration;

[0147] In each other round of iteration, the fitness function of the weight data-adjusted pigeon population is used to calculate the fitness value of the position matrix of each pigeon in the weight data-adjusted pigeon population updated in the previous round of iteration, and a fourth fitness value set is obtained; the maximum fitness value in the fourth fitness value set and the position of the corresponding pigeon are respectively used as the fourth global optimal fitness and the fourth global optimal position; the position matrix of each pigeon in the weight data-adjusted pigeon population updated in the previous round of iteration is updated according to the fourth global optimal fitness and the fourth global optimal position; after the update is completed, the current iteration number of the weight data adjustment is increased by 1 and the next iteration is entered;

[0148] S415, when When , stop the iteration and get the second final global optimal position; otherwise, continue to iterate until until the second final global optimal position is used as the optimized weight data matrix; the measurement gyro array is set using the optimized weight data matrix to obtain the optimized measurement gyro array;

[0149] S416, using the optimized measurement gyro array to measure the angular velocity in the current measurement scenario to obtain the current optimized angular velocity data matrix; calculating the optimized weighted measurement value of each gyroscope in the measurement gyro set according to the current optimized angular velocity data matrix and the optimized weight data matrix to obtain the current optimized weighted measurement data set; subtracting each weighted measurement data in the current optimized weighted measurement data set from the current actual angular velocity data and taking the absolute value operation; repeating the above steps until the difference between the results obtained from two adjacent measurements is less than a preset threshold value, to obtain the current optimized measurement difference data set; taking the smallest measurement difference data in the current optimized measurement difference data set as the third current measurement difference data;

[0150] When the third current measurement difference data is smaller than the first current measurement difference data, the optimized weight data matrix is ​​used as the final weight data matrix; otherwise, return to S414 to continue iterating until the third current measurement difference data is smaller than the first current measurement difference data.

[0151] Embodiment 2

[0152] This embodiment discloses an angular rate measurement system, which can implement the method of the above embodiment, including an external influencing factor setting module, a historical angular rate data acquisition module, a historical angular rate mean value calculation module, a historical difference calculation module, an angular rate measurement difference mapping equation construction module, an adjacent gyroscope setting module, a current scene data acquisition mapping module, a current measurement difference data calculation module and a gyroscope weight optimization module;

[0153] The external influencing factor setting module is used to set multiple types of external influencing factors of angular rate measurement accuracy to obtain a set of external influencing factors of measurement accuracy;

[0154] The historical angular rate data acquisition module is used to use the measuring gyro array to measure the corresponding angular rate data multiple times in multiple test scenarios to obtain an angular rate measurement data matrix;

[0155] The historical angular rate average calculation module is used to calculate the average value of each row of data in the angular rate measurement data matrix to obtain an angular rate measurement average data set;

[0156] The historical difference calculation module is used to calculate the absolute value of the difference between each angular velocity measurement average data in the angular velocity measurement average data set and the corresponding actual angular velocity data, so as to obtain the angular velocity measurement difference data set;

[0157] The angular rate measurement difference mapping equation construction module is used to construct a final angular rate measurement difference mapping equation using an angular rate measurement difference data set and a measurement accuracy external influencing factor data matrix;

[0158] The adjacent gyroscope setting module is used to set each gyroscope to its adjacent gyroscopes in the measuring gyroscope array to obtain an adjacent gyroscope matrix;

[0159] The current scene data acquisition and mapping module is used to set the actual angular velocity data of the current measurement scene according to the measurement accuracy external influencing factor type set and the adjacent gyroscope matrix, and to collect the measurement accuracy external influencing factor data under the corresponding scene and input it into the final angular velocity measurement difference mapping equation for mapping, so as to obtain the first current measurement difference data;

[0160] The current measurement difference data calculation module is used to use each gyroscope in the measurement gyroscope set to measure the angular velocity in the current measurement scene and perform a difference operation with the current actual angular velocity data to obtain the current measurement difference data set;

[0161] The gyroscope weight optimization module is used to optimize the weight value of each gyroscope in the adjacent gyroscope matrix in cooperation with the first current measurement difference data and the current measurement difference data set to obtain a final weight data matrix.

[0162] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0163] The preferred embodiments of the invention disclosed above are only used to help explain the invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the invention, so that those skilled in the art can understand and use the invention well.

Claims

1. A method for measuring angular velocity, characterized in that: The following steps are involved: S1. Using a measuring gyro array to measure corresponding angular velocity data multiple times in multiple test scenarios and calculate the average value to obtain an angular velocity measurement average data set; S2. Calculate the absolute value of the difference between each angular velocity measurement average data in the angular velocity measurement average data set and the corresponding actual angular velocity data to obtain an angular velocity measurement difference data set; The final angular rate measurement difference mapping equation is constructed using the angular rate measurement difference data set and the external influencing factor data of the measurement accuracy of the corresponding scene; S3, setting each gyroscope adjacent to it in the measuring gyroscope array to obtain an adjacent gyroscope matrix; setting the actual angular velocity data of the current measurement scene according to the measurement accuracy external influencing factor type set and the adjacent gyroscope matrix, and collecting the measurement accuracy external influencing factor data in the corresponding scene and inputting it into the final angular velocity measurement difference mapping equation for mapping, to obtain the first current measurement difference data; The angular velocity in the current measurement scene is measured using a measuring gyro array, and the current actual angular velocity data is subtracted and the absolute value is taken to obtain the current measurement difference data set; S4, optimizing the weight value of each gyroscope in the adjacent gyroscope matrix in conjunction with the first current measurement difference data and the current measurement difference data set to obtain a final weight data matrix; The S4 comprises the following steps: S41, when the second current measurement difference data is greater than or equal to the first current measurement difference data, adjusting the initial weight data matrix until the second current measurement difference data is less than the first current measurement difference data, to obtain a final weight data matrix; otherwise, there is no need to adjust the initial weight data matrix, and the initial weight data matrix is ​​used as the final weight data matrix; The adjustment of the initial weight data matrix in S41 comprises the following steps: S411, construct weight data to adjust the pigeon population; set the maximum number of iterations of the weight data to adjust the pigeon population to d 3 and the current number of iterations is d 4, respectively recorded as the maximum number of iterations for weight data adjustment and the current number of iterations for weight data adjustment; S412, setting a value interval of a weight value corresponding to each adjacent gyroscope in the adjacent gyroscope matrix to obtain a weight value interval matrix; adjusting an initial position matrix of each pigeon in the pigeon population by setting weight data according to the weight value interval matrix to obtain a second initial position matrix set; S413, constructing weight data to adjust the fitness function of the pigeon population according to the second current measurement difference data; S414, start iteration, before iteration, set the current iteration number of the weight data adjustment to 1; in each round of iteration, use the weight data to adjust the fitness function of the pigeon population to calculate the fitness value of the position matrix of each pigeon in the pigeon population adjusted by the weight data updated in the previous round of iteration, and obtain a fourth fitness value set; use the maximum fitness value in the fourth fitness value set and the position of the corresponding pigeon as the fourth global optimal fitness and the fourth global optimal position respectively; update the position matrix of each pigeon in the pigeon population adjusted by the weight data updated in the previous round of iteration according to the fourth global optimal fitness and the fourth global optimal position; after the update is completed, add 1 to the current iteration number of the weight data adjustment and enter the next round of iteration; S415, when When , stop the iteration and get the second final global optimal position; otherwise, continue to iterate until until the second final global optimal position is used as the optimized weight data matrix; the measurement gyro array is set using the optimized weight data matrix to obtain the optimized measurement gyro array; S416, using the optimized measurement gyro array to measure the angular velocity in the current measurement scenario to obtain the current optimized angular velocity data matrix; calculating the optimized weighted measurement value of each gyroscope in the measurement gyro set according to the current optimized angular velocity data matrix and the optimized weight data matrix to obtain the current optimized weighted measurement data set; subtracting each weighted measurement data in the current optimized weighted measurement data set from the current actual angular velocity data and taking the absolute value operation; repeating the above steps until the difference between the results obtained from two adjacent measurements is less than a preset threshold value, to obtain the current optimized measurement difference data set; taking the smallest measurement difference data in the current optimized measurement difference data set as the third current measurement difference data; When the third current measurement difference data is smaller than the first current measurement difference data, the optimized weight data matrix is ​​used as the final weight data matrix; otherwise, return to S414 to continue iterating until the third current measurement difference data is smaller than the first current measurement difference data.

2. The angular velocity measurement method according to claim 1, characterized in that: The S1 comprises the following steps: S11, setting the measurement gyro array and multiple types of external influencing factors of angular rate measurement accuracy to obtain a set of external influencing factors of measurement accuracy; Setting a plurality of test scenarios and corresponding actual angular velocity data to obtain a test scenario set and an actual angular velocity data set; then collecting the measurement accuracy external influencing factor data in each test scenario in the test scenario set according to the measurement accuracy external influencing factor type set to obtain a measurement accuracy external influencing factor data matrix; S12, using the measurement gyro array to measure the corresponding angular velocity data multiple times in each test scenario in the test scenario set to obtain an angular velocity measurement data matrix; calculating the average value of each row of data in the angular velocity measurement data matrix to obtain an angular velocity measurement average data set.

3. The angular velocity measurement method according to claim 2, characterized in that: The S2 comprises the following steps: S21, calculating the absolute value of the difference between each angular velocity measurement average data in the angular velocity measurement average data set and the corresponding actual angular velocity data in the actual angular velocity data set, to obtain an angular velocity measurement difference data set; S22, constructing a final angular rate measurement difference mapping equation using the angular rate measurement difference data set and the measurement accuracy external influencing factor data matrix.

4. The angular velocity measurement method according to claim 3, characterized in that: The S22 comprises the following steps: S221, constructing an initial angular rate measurement difference mapping equation; S222, substituting each row of data in the measurement accuracy external influencing factor data matrix into the initial angular velocity measurement difference mapping equation for mapping, to obtain a test difference mapping data set; calculating the Euclidean distance between the test difference mapping data set and the actual angular velocity data set, to obtain measurement difference Euclidean distance data; S223. Set a difference Euclidean distance threshold; when the measured difference Euclidean distance data is less than the difference Euclidean distance threshold, there is no need to adjust the initial angular velocity measurement difference mapping equation, and the initial angular velocity measurement difference mapping equation is used as the final angular velocity measurement difference mapping equation; otherwise, adjust the initial angular velocity measurement difference mapping equation until the measured difference Euclidean distance data is less than the difference Euclidean distance threshold, and obtain the final angular velocity measurement difference mapping equation.

5. The angular velocity measurement method according to claim 4, characterized in that: In S223, the initial angular rate measurement difference mapping equation is adjusted using a pigeon flock optimization algorithm.

6. The angular velocity measurement method according to claim 5, characterized in that: The S3 comprises the following steps: S31, setting each gyroscope constituting the measuring gyroscope array to obtain a measuring gyroscope set; and then setting the gyroscopes adjacent to each gyroscope in the measuring gyroscope array in the measuring gyroscope set to obtain an adjacent gyroscope matrix; S32, setting the actual angular rate data of the current measurement scene and collecting the measurement accuracy external influencing factor data of the corresponding scene according to the measurement accuracy external influencing factor type set, to obtain the current actual angular rate data and the current measurement accuracy external influencing factor data set; inputting the current measurement accuracy external influencing factor data set into the final angular rate measurement difference mapping equation for mapping, to obtain the first current measurement difference data; Setting an initial weight value of each gyroscope in the adjacent gyroscope matrix, and using each gyroscope in the measurement gyroscope set to measure the angular velocity in the current measurement scene, to obtain an initial weight data matrix and a current initial angular velocity data matrix; S33, calculating the initial weighted measurement value of each gyroscope in the measurement gyroscope set according to the initial weight data matrix and the current initial angular rate data matrix to obtain a current initial weighted measurement data set; Each weighted measurement data in the current initial weighted measurement data set is subtracted from the current actual angular velocity data and the absolute value is taken to obtain a current measurement difference data set; the minimum measurement difference data in the current measurement difference data set is used as the second current measurement difference data.

7. A system for implementing an angular velocity measurement method as described in any one of claims 1-6.

8. Application of an angular rate measurement method as claimed in any one of claims 1 to 6 in a low-cost gyroscope array.

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