Quartz tuning fork gyroscope scale compensation method, device, equipment, medium and product

Abstract

The invention relates to the technical field of precision compensation, and provides a quartz tuning fork gyroscope scale compensation method, device and equipment, a medium and a product, and the method comprises the following steps: through first mapping relation information between closed-loop driving voltage and temperature of a quartz tuning fork gyroscope and second mapping relation information between a scale factor and the temperature, calculating the scale factor of the quartz tuning fork gyroscope; third mapping relation information between the scale factor and the closed-loop driving voltage is obtained; acquiring a closed-loop driving voltage measurement value and an angular velocity measurement result when the quartz tuning fork gyroscope performs angular velocity measurement; determining a target scale factor corresponding to the closed-loop driving voltage measurement value based on the third mapping relation information; and compensating the angular velocity measurement result according to the target scale factor. According to the method for compensating the scale by replacing the temperature with the tuning fork driving voltage amplitude, the closed-loop driving voltage amplitude can reflect the actual temperature of the tuning fork more accurately, a fitting numerical value closer to a real scale factor is obtained, and the wide-temperature performance of the gyroscope is further ensured.

Description

Technical Field

[0001] The present invention relates to the field of precision compensation technology, and in particular to a quartz tuning fork gyroscope scale compensation method, device, equipment, medium and product. Background Art

[0002] The scale factor of the quartz tuning fork gyroscope is mainly determined by the quartz tuning fork. Specifically, the piezoelectric coefficient of the quartz tuning fork, the frequency difference between the quartz tuning fork drive resonant frequency and the detection resonant frequency, the Q value (quality factor) of the tuning fork, the vibration speed of the driving tuning fork, etc. will affect the scale factor. In addition to the vibration speed of the driving tuning fork (amplitude closed-loop control, constant vibration speed), the above-mentioned factors affecting the scale factor are all affected by temperature. In order to ensure the full-temperature performance of the gyroscope, the scale factor needs to be temperature compensated.

[0003] Usually, the sensors used by gyroscopes to collect temperature are all on the peripheral circuit. Although they are in the same structure, there is always a difference in temperature between the tuning fork and the peripheral circuit. The temperature measured by the sensor on the peripheral circuit cannot reflect the actual temperature of the tuning fork, so that the scale obtained by temperature fitting deviates from the actual value. Especially in an environment with rapid temperature changes, the scale obtained by fitting at a fixed temperature point will be significantly different from the actual scale. Using the fitting scale to calculate the angular velocity will cause the gyroscope output angular velocity to be too large or too small. Due to the difference between the calculated zero bias and the compensated zero bias, the zero bias will also drift.

[0004] If the temperature sensor is placed inside the tuning fork structure, the error between the measured temperature and the tuning fork temperature can be reduced to a certain extent. However, integrating the temperature sensor inside the tuning fork structure will inevitably affect the size of the tuning fork and increase the cost. On the other hand, if the temperature sensor is too close to the tuning fork, the electrical signal generated by the vibration of the tuning fork will affect the temperature sensor under the crosstalk of the static capacitance, introducing noise to the measured temperature, affecting the temperature output and compensation results. Summary of the invention

[0005] The present invention provides a quartz tuning fork gyroscope scale compensation method, device, equipment, medium and product, which can use the tuning fork drive voltage amplitude instead of the temperature sensor to perform scale compensation, thereby avoiding the error between the measured temperature of the temperature sensor and the real temperature of the quartz tuning fork to affect the angular velocity output of the quartz tuning fork gyroscope.

[0006] The present invention provides a quartz tuning fork gyroscope scale compensation method, comprising: obtaining first mapping relationship information between a closed-loop driving voltage and temperature of the quartz tuning fork gyroscope, and second mapping relationship information between a scale factor and temperature of the quartz tuning fork gyroscope; performing calibration according to the first mapping information and the second mapping information to obtain third mapping relationship information between the scale factor and the closed-loop driving voltage; obtaining a closed-loop driving voltage measurement value and an angular velocity measurement result when the quartz tuning fork gyroscope performs angular velocity measurement; determining a target scale factor corresponding to the closed-loop driving voltage measurement value based on the third mapping relationship information; and compensating the angular velocity measurement result according to the target scale factor.

[0007] According to a quartz tuning fork gyroscope scale compensation method provided by the present invention, the first mapping relationship information includes at least two first sub-mapping relationship information, and any first sub-mapping relationship information represents the corresponding relationship between a closed-loop drive voltage and a temperature; the second mapping relationship information includes at least two second sub-mapping relationship information, and any second sub-mapping relationship information represents the corresponding relationship between a scale factor and a temperature; the third mapping relationship information includes at least two first sub-mapping relationship information, and any first sub-mapping relationship information represents the corresponding relationship between a closed-loop drive voltage and a temperature.

[0008] According to a quartz tuning fork gyroscope scale compensation method provided by the present invention, first mapping relationship information between the closed-loop drive voltage and temperature of the quartz tuning fork gyroscope is obtained, including: after realizing the driving closed loop of the quartz tuning fork gyroscope, the quartz tuning fork gyroscope is calibrated at a first temperature fixed point, and within the operating temperature range, multiple temperature points and corresponding closed-loop drive voltages are measured at intervals of a preset time length to obtain a first trend graph between the closed-loop drive voltage and the temperature to represent the first mapping relationship information.

[0009] According to a quartz tuning fork gyroscope scale compensation method provided by the present invention, second mapping relationship information between the scale factor of the quartz tuning fork gyroscope and temperature includes: after realizing the driving closed loop of the quartz tuning fork gyroscope, calibrating the quartz tuning fork gyroscope at a second temperature fixed point, measuring multiple temperature points and corresponding scales at preset time intervals within the operating temperature range, and obtaining a second trend graph between the scale factor and temperature to represent the second mapping relationship information.

[0010] According to a quartz tuning fork gyroscope scale compensation method provided by the present invention, calibration is performed according to first mapping information and second mapping information to obtain third mapping relationship information between the scale factor and the closed-loop drive voltage, including: obtaining a third trend graph between the scale factor and the closed-loop drive voltage according to the first mapping information and the second mapping information; performing second-order fitting on the third trend graph to obtain a second-order fitting polynomial to represent the third mapping relationship information; wherein the second-order fitting polynomial includes fitting coefficients, and the fitting coefficients are determined by a least squares method.

[0011] According to a quartz tuning fork gyroscope scale compensation method provided by the present invention, a driving closed-loop circuit for realizing the quartz tuning fork gyroscope includes a quartz tuning fork, a peripheral circuit and a driving circuit; the driving circuit includes a phase-locked loop, an automatic gain control module, a digitally controlled oscillator, a signal output end and a signal receiving end; the digitally controlled oscillator is respectively connected to the phase-locked loop, the automatic gain control module and the signal output end; the signal receiving end is respectively connected to the digitally controlled oscillator, the phase-locked loop and the automatic gain control module; the driving end of the quartz tuning fork is connected to the signal output end of the driving circuit through the peripheral circuit, and the signal end of the quartz tuning fork is connected to the signal receiving end of the driving circuit through the peripheral circuit; the driving circuit generates a driving voltage signal through the digitally controlled oscillator under the control of the automatic gain control module and the phase-locked loop, and applies it to the driving end of the quartz tuning fork, and under the action of the quartz inverse piezoelectric effect, drives the sinusoidal wave voltage to make the quartz tuning fork oscillate with equal amplitude at the resonant frequency point of the quartz tuning fork along the driving vibration mode direction.

[0012] The present invention also provides a quartz tuning fork gyroscope scale compensation device, comprising: an information acquisition module, used to obtain first mapping relationship information between the closed-loop driving voltage and temperature of the quartz tuning fork gyroscope, and second mapping relationship information between the scale factor and temperature of the quartz tuning fork gyroscope; a relationship calibration module, used to perform calibration according to the first mapping information and the second mapping information to obtain third mapping relationship information between the scale factor and the closed-loop driving voltage; a measurement result acquisition module, used to obtain the closed-loop driving voltage measurement value and the angular velocity measurement result when the quartz tuning fork gyroscope performs angular velocity measurement; a target scale factor module, used to determine the target scale factor corresponding to the closed-loop driving voltage measurement value based on the third mapping relationship information; and a scale compensation module, used to compensate the angular velocity measurement result according to the target scale factor.

[0013] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the scale compensation method for a quartz tuning fork gyroscope as described above is implemented.

[0014] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the scale compensation method of the quartz tuning fork gyroscope as described in any one of the above is implemented.

[0015] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the scale compensation method of the quartz tuning fork gyroscope as described above is implemented.

[0016] The present invention provides a quartz tuning fork gyroscope scale compensation method, device, equipment, medium and product. The quartz tuning fork gyroscope scale compensation method includes: obtaining third mapping relationship information between the scale factor and the closed-loop driving voltage through the first mapping relationship information between the closed-loop driving voltage and the temperature of the quartz tuning fork gyroscope and the second mapping relationship information between the scale factor and the temperature; obtaining the closed-loop driving voltage measurement value and the angular velocity measurement result when the quartz tuning fork gyroscope performs angular velocity measurement; determining the target scale factor corresponding to the closed-loop driving voltage measurement value based on the third mapping relationship information; and compensating the angular velocity measurement result according to the target scale factor. The present invention proposes a method for compensating the scale by using the tuning fork driving voltage amplitude instead of the temperature. Through the above method, the closed-loop driving voltage amplitude can more accurately reflect the actual temperature of the tuning fork, and obtain a fitting value closer to the real scale factor, thereby ensuring the wide temperature performance of the gyroscope. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 The figure is a flow chart of a quartz tuning fork gyroscope scale compensation method provided in an embodiment of the present invention.

[0019] Figure 2 The invention is a circuit diagram of a closed loop circuit of a quartz tuning fork gyroscope driving end provided in an embodiment of the invention.

[0020] Figure 3 It is a schematic diagram of a first trend diagram between the ring driving voltage and temperature provided by an embodiment of the present invention.

[0021] Figure 4 4 is a schematic diagram of a second trend diagram between a scaling factor and temperature provided in an embodiment of the present invention.

[0022] Figure 5 4 is a schematic diagram of a third trend diagram between a scaling factor and a closed-loop driving voltage provided by an embodiment of the present invention.

[0023] Figure 6 It is a structural schematic diagram of a quartz tuning fork gyroscope scale compensation device provided in an embodiment of the present invention.

[0024] Figure 7 It is a schematic diagram of the physical structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limitations on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0027] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0028] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0029] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" 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 embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0030] The present invention provides a quartz tuning fork gyroscope scale compensation method, please refer to Figure 1 , Figure 1 The figure is a flow chart of a quartz tuning fork gyroscope scale compensation method provided in an embodiment of the present invention.

[0031] In this embodiment, the quartz tuning fork gyroscope scale compensation method may include steps S110 to S150, each of which is specifically as follows: S110: Acquire first mapping relationship information between a closed-loop driving voltage of the quartz tuning fork gyroscope and temperature, and second mapping relationship information between a scaling factor of the quartz tuning fork gyroscope and temperature.

[0032] S120: Calibrate according to the first mapping information and the second mapping information to obtain third mapping relationship information between the scaling factor and the closed-loop driving voltage.

[0033] S130: Obtaining a closed-loop driving voltage measurement value and an angular velocity measurement result when the quartz tuning fork gyroscope performs angular velocity measurement.

[0034] S140: Determine a target scaling factor corresponding to the closed-loop driving voltage measurement value based on the third mapping relationship information.

[0035] S150: Compensating the angular velocity measurement result according to the target scaling factor.

[0036] The quartz tuning fork gyroscope is an inertial measurement unit based on micromachining technology. It measures angular velocity through the piezoelectric effect, inverse piezoelectric effect and Coriolis force of quartz crystal.

[0037] Specifically, a quartz tuning fork gyroscope is a sensor that uses a tuning fork made of quartz crystal to vibrate at a constant frequency and amplitude through the piezoelectric effect under the action of an electrical signal. When it rotates, it is acted upon by an inertial force that prevents its rotation, thereby exciting vibrations perpendicular to the original vibration plane. The amplitude of this induced vibration is proportional to the angular velocity of rotation, and it generates an electrical signal through the piezoelectric effect of quartz, thereby sensing the angular velocity of rotation.

[0038] The quartz tuning fork gyroscope in this embodiment adopts a digital solution, which is mainly composed of a quartz tuning fork (i.e., a sensitive unit), a driving circuit, and a detection circuit. Furthermore, the quartz tuning fork gyroscope also includes an MCU (microcontroller) for signal processing. The quartz tuning fork can be divided into two parts: a driving end and a detection end. In this embodiment, the driving end of the quartz tuning fork is mainly described.

[0039] Since the driving end of the quartz tuning fork has a closed loop of amplitude and frequency, the driving end of the quartz tuning fork will oscillate with equal amplitude at its resonant frequency point, and its vibration speed is constant. The other determining factors of the quartz tuning fork gyroscope scale factor will be affected by temperature. Therefore, it can be said that the internal temperature of the quartz tuning fork directly affects the gyroscope scale factor.

[0040] In actual use of the quartz tuning fork gyroscope, there will be a certain difference between the actual temperature of the tuning fork and the temperature measured by the sensor, which may cause a large error in the angular velocity scale of the gyroscope using direct temperature compensation, thereby affecting the overall performance of the gyroscope.

[0041] Based on this, an embodiment of the present invention proposes a method for compensating the scale by using the tuning fork driving voltage amplitude instead of temperature. The closed-loop driving voltage amplitude can more accurately reflect the actual temperature of the tuning fork, and obtain a fitting value that is closer to the actual scale factor, thereby ensuring the wide temperature performance of the gyroscope.

[0042] The closed-loop drive voltage amplitude of the tuning fork drive end of the gyroscope can reflect the temperature change of the tuning fork in real time and give the state of the tuning fork more accurately, compared with the temperature obtained by the external temperature sensor. Using the closed-loop drive voltage amplitude to compensate the gyroscope scale has better real-time performance, reduces the scale error caused by the lag of the temperature sensor, and then reduces the angular velocity error during rapid temperature changes.

[0043] At the same time, if the angular velocity zero bias is also compensated using the closed-loop driving voltage amplitude, then the temperature sensor can be omitted in the gyroscope, saving device expenses.

[0044] See also Figure 2 , Figure 2 The invention is a circuit diagram of a closed loop circuit of a quartz tuning fork gyroscope driving end provided in an embodiment of the invention.

[0045] In this embodiment, the driving closed-loop circuit for implementing the quartz tuning fork gyroscope includes a quartz tuning fork 210, a peripheral circuit 220 and a driving circuit 230; the driving circuit 230 includes a phase-locked loop 231, an automatic gain control module 232, a digitally controlled oscillator 233, a signal output end and a signal receiving end.

[0046] The signal output terminal outputs a driving voltage signal, and the signal receiving terminal receives a driving detection signal.

[0047] Furthermore, the closed-loop driving circuit for implementing the quartz tuning fork gyroscope may also include a microcontroller 234 .

[0048] The digital control oscillator 233 is respectively connected to the phase-locked loop 231 , the automatic gain control module 232 and the signal output end; the signal receiving end is respectively connected to the digital control oscillator 233 , the phase-locked loop 231 and the automatic gain control module 232 .

[0049] The driving end of the quartz tuning fork 210 is connected to the signal output end of the driving circuit 230 through the peripheral circuit 220 , and the signal end of the quartz tuning fork 210 is connected to the signal receiving end of the driving circuit 230 through the peripheral circuit 220 .

[0050] The driving circuit 230 generates a driving voltage signal through a digitally controlled oscillator 233 and applies it to the driving end of the quartz tuning fork 210 under the control of the automatic gain control module 232 and the phase-locked loop 231. Under the action of the quartz inverse piezoelectric effect, the driving sinusoidal wave voltage causes the quartz tuning fork 210 to oscillate with equal amplitude at the resonant frequency point of the quartz tuning fork 210 along the driving vibration mode direction.

[0051] Specifically, the driving voltage amplitude may be adjusted by the automatic gain control module 232 , and the driving voltage frequency may be adjusted by the phase-locked loop 231 .

[0052] In this embodiment, the digital solution of the quartz tuning fork gyroscope uses automatic gain control to implement the amplitude closed loop of the tuning fork driving end and output the closed-loop driving voltage amplitude; during the wide temperature calibration process of the gyroscope, the closed-loop driving voltage amplitude is used to fit the scale, and the real-time closed-loop driving voltage amplitude is used in the microcontroller 234 to compensate the scale.

[0053] Among them, the microcontroller unit (MCU) is used to control the quartz tuning fork gyroscope to perform specific tasks, such as data acquisition, processing and control. The numerically controlled oscillator (NCO) is used to generate precise frequency through digital signal processing technology. The phase-locked loop (PLL) is a feedback control function module used to synchronize the phase and frequency of two signals. Automatic gain control (AGC) is a function module that automatically adjusts the circuit gain to maintain a stable amplitude of the output signal.

[0054] In this embodiment, the driving circuit is connected to the driving end of the quartz tuning fork, and a digitally controlled oscillator (NCO) is used to apply force to the driving end of the quartz tuning fork, so that the tuning fork is forced to vibrate under the action of the inverse piezoelectric effect. At the same time, the driving tuning fork leads to another signal link to detect the vibration of the driving tuning fork.

[0055] The quartz tuning fork can be equivalent to an RLC parallel electrostatic capacitor C0. When the driving signal frequency is the same as the resonant frequency of RLC (which is also the resonant frequency of the tuning fork), the current signal output by the piezoelectric effect of the vibration of the tuning fork is in phase with the driving voltage signal. When it deviates from the resonant frequency point within a certain range, the phase of the output current signal and the driving voltage signal is monotonic with the driving signal frequency. Therefore, a sinusoidal signal stable at the resonant frequency of the quartz tuning fork can be output through a phase-locked loop (PLL) in conjunction with an NCO.

[0056] At the same time, the amplitude of the current signal output by the driving tuning fork reflects the size of the tuning fork vibration displacement (amplitude). Automatic gain control (AGC) is used to change the driving voltage amplitude to make the vibration amplitude of the driving end of the quartz tuning fork constant.

[0057] The output current signal is detected by the peripheral circuit to obtain a voltage signal that is in phase with the output signal and proportional to the amplitude. By collecting the voltage signal and using the drive signal for demodulation, the phase difference and amplitude ratio between the drive signal and the output signal can be obtained, and then closed-loop control can be performed.

[0058] That is, through the digitally controlled oscillator (NCO), under the control of the automatic gain control (AGC) and the phase-locked loop (PLL), a driving voltage signal is generated and applied to the driving end interdigital electrodes. Under the action of the quartz inverse piezoelectric effect, the driving sinusoidal wave voltage causes the driving end interdigital electrodes to oscillate with equal amplitude at their resonant frequency point along the driving vibration mode direction (the plane direction of the tuning fork).

[0059] Ideally, when there is no angular velocity input around the axis of the gyroscope, the fork fingers at the detection end are stationary. However, if the gyroscope rotates around its axis, the fork fingers at the driving end will vibrate in the detection vibration mode direction (normal to the tuning fork plane) under the action of the Coriolis force. Due to the torque balance, the vibration will be coupled to the detection end. Under the action of the piezoelectric effect, the detection circuit can obtain an electrical signal through the detection end electrode.

[0060] The amplitude of the driving end fork finger is constant, that is, the amplitude of the driving end fork finger vibration caused by rotation is only determined by the rotation angular velocity, and the coupling process from the driving end vibration to the detection end is also linear, so the amplitude of the voltage signal output by the detection end electrode is linearly related to the rotation angular velocity, and the scale factor of the angular velocity and the voltage signal is jointly determined by the detection circuit and the tuning fork, among which the tuning fork is the dominant factor affecting the gyroscope scale. After calibration, the scale factor is obtained, and the angular velocity zero bias value can be obtained by using the scale factor to compensate the original angular velocity in the MCU.

[0061] In a quartz tuning fork gyroscope, in order to obtain a stable angular velocity electrical signal output, it is necessary to ensure that the driving tuning fork oscillates with equal amplitude at its resonant frequency. In a digital quartz tuning fork gyroscope, an NCO is used in the MCU to generate a sinusoidal electrical signal with controllable frequency and amplitude, which is applied to the tuning fork driving electrode. Based on the frequency response characteristics of the quartz crystal RLC equivalent circuit, the electrical signal generated by the vibration of the driving tuning fork is collected, and the frequency closed loop is realized using the PLL principle. At the same time, the automatic gain control is used to change the driving voltage amplitude to realize the closed loop of the vibration amplitude of the driving tuning fork.

[0062] The closed-loop driving voltage amplitude is proportional to the equivalent resistance of the quartz tuning fork, and the equivalent resistance of the quartz tuning fork is mainly determined by its internal damping. The greater the damping, the smaller the Q value of the quartz tuning fork and the greater the equivalent resistance.

[0063] The damping of a quartz tuning fork during vibration includes gas damping, structural damping and material damping. Among them, gas damping plays a dominant role. The magnitude of gas damping is positively correlated with air pressure, while the gas density inside the core is constant and air pressure is proportional to temperature. That is, the magnitude of core damping changes with the temperature inside the tuning fork, which can reflect the actual working temperature of the tuning fork.

[0064] Therefore, in this embodiment, the closed-loop driving voltage amplitude can reflect the change in the damping of the quartz tuning fork, that is, it contains the working temperature information of the quartz tuning fork.

[0065] At the same time, as the temperature increases, the equivalent resistance of the quartz tuning fork increases monotonically, that is, the closed-loop driving voltage amplitude corresponds to the temperature one-to-one, and a closed-loop starting voltage value corresponds to only one scale, and the closed-loop driving voltage amplitude can be used to represent the scale.

[0066] Based on the above embodiment, the first mapping relationship information includes at least two first sub-mapping relationship information, and any first sub-mapping relationship information represents the correspondence between a closed-loop driving voltage and a temperature; the second mapping relationship information includes at least two second sub-mapping relationship information, and any second sub-mapping relationship information represents the correspondence between a scaling factor and a temperature; the third mapping relationship information includes at least two first sub-mapping relationship information, and any first sub-mapping relationship information represents the correspondence between a closed-loop driving voltage and a temperature.

[0067] In some embodiments, the step of obtaining first mapping relationship information between the closed-loop driving voltage and temperature of the quartz tuning fork gyroscope may specifically include: After realizing the driving closed loop of the quartz tuning fork gyroscope, the quartz tuning fork gyroscope is calibrated at the first temperature fixed point, and within the operating temperature range, multiple temperature points and corresponding closed-loop driving voltages are measured at preset time intervals to obtain a first trend graph between the closed-loop driving voltage and temperature to represent the first mapping relationship information.

[0068] See also Figure 3 , Figure 3 is a schematic diagram of a first trend diagram between the ring driving voltage and temperature provided by an embodiment of the present invention, wherein the horizontal axis is the temperature in degrees Celsius (°C), and the vertical axis is the closed-loop driving voltage in volts (V).

[0069] In some embodiments, the step of obtaining the second mapping relationship information between the scale factor of the quartz tuning fork gyroscope and the temperature may specifically include: After realizing the driving closed loop of the quartz tuning fork gyroscope, the quartz tuning fork gyroscope is calibrated at a second temperature fixed point. Within the operating temperature range, multiple temperature points and corresponding scales are measured at preset time intervals to obtain a second trend graph between the scale factor and temperature to represent the second mapping relationship information.

[0070] See also Figure 4 , Figure 4 is a schematic diagram of a second trend diagram between a scaling factor and temperature provided by an embodiment of the present invention, wherein the abscissa is temperature in degrees Celsius (°C), and the ordinate is the scaling factor.

[0071] In some embodiments, the step of performing calibration according to the first mapping information and the second mapping information to obtain third mapping relationship information between the scaling factor and the closed-loop driving voltage may specifically include: A third trend graph between the scaling factor and the closed-loop driving voltage is obtained according to the first mapping information and the second mapping information; a second-order fitting polynomial is obtained by performing a second-order fitting on the third trend graph to represent the third mapping relationship information; wherein the second-order fitting polynomial includes a fitting coefficient, and the fitting coefficient is determined by a least squares method.

[0072] See also Figure 5 , Figure 5 is a schematic diagram of a third trend diagram between the scaling factor and the closed-loop driving voltage provided by an embodiment of the present invention, wherein the horizontal axis is the closed-loop driving voltage, in volts (V), and the vertical axis is the scaling factor.

[0073] Exemplarily, after the closed loop of the quartz tuning fork gyroscope is realized, the gyroscope is calibrated at a wide temperature point. Within the operating temperature range, at each temperature point of 5°C, keep warm for more than 30 minutes, collect the original angular velocity values ​​of the gyroscope at full-scale forward and full-scale reverse, subtract the reverse value from the forward value, and then divide it by 2 times the speed to get the scale of the temperature point. The same temperature point can be tested more than 3 times, and the scale is averaged to reduce the test error. After completing the collection of all temperature points, observe the trend of the scale changing with the closed-loop drive voltage amplitude, select the appropriate order to use the closed-loop drive voltage amplitude to perform polynomial fitting on the scale, and obtain the fitting polynomial coefficients.

[0074] The order should be the lowest one that can describe the trend of the curve. In the MCU, the closed-loop drive voltage amplitude is substituted into the polynomial, the fitting scale is calculated, and then the scale is used to compensate the angular velocity to obtain the angular velocity zero bias.

[0075] It should be noted that the polynomial fitting order should be able to describe the trend of the curve change. In order to reduce the amount of calculation, the order should be as low as possible.

[0076] like Figure 5 The variation trend of the scale factor and the driving voltage is shown, and a second-order fit can be used.

[0077] Specifically, the second-order fitting polynomial is: .

[0078] in, a, b, c They are the fitting coefficients of the constant term, the first-order term, and the second-order term, which are calculated by the driving voltage amplitude and scale at different temperatures measured in the calibration. Y is the fitting scale, and X is the real-time driving voltage amplitude.

[0079] The fitting coefficients are determined by the least squares method. It is assumed that 21 sets of driving voltage amplitudes and scales are collected during the calibration process from -30℃ to 70℃. and express, i= 1, 2...21. The loss function S of the fitting coefficient can be obtained as follows: .

[0080] For second-order fitting, the loss function is a three-variable quadratic function, and it must have a minimum value. After obtaining the stationary point through partial derivatives, the minimum value point of the loss function is found as the polynomial fitting coefficient.

[0081] The fitting coefficient is written into the MCU program, the closed-loop drive voltage amplitude obtained by real-time measurement is substituted into the polynomial, the fitting scale is calculated, and then the scale is used to compensate the original angular velocity to obtain the angular velocity zero bias.

[0082] Through the above-mentioned method, the embodiment of the present invention can reflect the temperature change of the tuning fork in real time through the closed-loop driving voltage amplitude of the tuning fork driving end of the gyroscope, and give the state of the tuning fork more accurately; in addition, the closed-loop driving voltage amplitude is used to compensate the gyroscope scale, which has better real-time performance, reduces the scale error caused by the lag of the temperature sensor, and then reduces the angular velocity error during the rapid temperature change process; and, if the angular velocity zero bias is also compensated using the closed-loop driving voltage amplitude, then the temperature sensor can be omitted in the gyroscope, saving device expenses.

[0083] The present invention also provides a quartz tuning fork gyroscope scale compensation device. The quartz tuning fork gyroscope scale compensation device provided by the present invention is described below. The quartz tuning fork gyroscope scale compensation device described below and the quartz tuning fork gyroscope scale compensation method described above can be referred to each other.

[0084] See also Figure 6 , Figure 6 6 is a schematic diagram of the structure of the quartz tuning fork gyroscope scale compensation device provided by an embodiment of the present invention. In this embodiment, the quartz tuning fork gyroscope scale compensation device may include an information acquisition module 610, a relationship calibration module 620, a measurement result acquisition module 630, a target scale factor module 640 and a scale compensation module 650.

[0085] The information acquisition module 610 is used to acquire first mapping relationship information between the closed-loop driving voltage of the quartz tuning fork gyroscope and the temperature, and second mapping relationship information between the scale factor of the quartz tuning fork gyroscope and the temperature.

[0086] The relationship calibration module 620 is used to perform calibration according to the first mapping information and the second mapping information to obtain third mapping relationship information between the scaling factor and the closed-loop driving voltage.

[0087] The measurement result acquisition module 630 is used to obtain the closed-loop driving voltage measurement value and the angular velocity measurement result when the quartz tuning fork gyroscope performs angular velocity measurement.

[0088] The target scaling factor module 640 is configured to determine a target scaling factor corresponding to the closed-loop driving voltage measurement value based on the third mapping relationship information.

[0089] The scale compensation module 650 is used to compensate the angular velocity measurement result according to the target scale factor.

[0090] In some embodiments, the first mapping relationship information includes at least two first sub-mapping relationship information, any one of which represents the correspondence between a closed-loop driving voltage and a temperature; the second mapping relationship information includes at least two second sub-mapping relationship information, any one of which represents the correspondence between a scaling factor and a temperature; the third mapping relationship information includes at least two first sub-mapping relationship information, any one of which represents the correspondence between a closed-loop driving voltage and a temperature.

[0091] In some embodiments, the information acquisition module 610 may be specifically used to: After realizing the driving closed loop of the quartz tuning fork gyroscope, the quartz tuning fork gyroscope is calibrated at the first temperature fixed point, and within the operating temperature range, multiple temperature points and corresponding closed-loop driving voltages are measured at preset time intervals to obtain a first trend graph between the closed-loop driving voltage and temperature to represent the first mapping relationship information.

[0092] In some embodiments, the information acquisition module 610 may be specifically used to: After realizing the driving closed loop of the quartz tuning fork gyroscope, the quartz tuning fork gyroscope is calibrated at a second temperature fixed point. Within the operating temperature range, multiple temperature points and corresponding scales are measured at preset time intervals to obtain a second trend graph between the scale factor and temperature to represent the second mapping relationship information.

[0093] In some embodiments, the relationship calibration module 620 may be specifically used to: A third trend graph between the scaling factor and the closed-loop driving voltage is obtained according to the first mapping information and the second mapping information; a second-order fitting polynomial is obtained by performing a second-order fitting on the third trend graph to represent the third mapping relationship information; wherein the second-order fitting polynomial includes a fitting coefficient, and the fitting coefficient is determined by a least squares method.

[0094] In some embodiments, a driving closed-loop circuit for implementing a quartz tuning fork gyroscope includes a quartz tuning fork, a peripheral circuit, and a driving circuit.

[0095] The driving circuit includes a phase-locked loop, an automatic gain control module, a digital control oscillator, a signal output end and a signal receiving end; the digital control oscillator is respectively connected to the phase-locked loop, the automatic gain control module and the signal output end; the signal receiving end is respectively connected to the digital control oscillator, the phase-locked loop and the automatic gain control module.

[0096] The driving end of the quartz tuning fork is connected to the signal output end of the driving circuit through a peripheral circuit, and the signal end of the quartz tuning fork is connected to the signal receiving end of the driving circuit through a peripheral circuit; the driving circuit generates a driving voltage signal through a digitally controlled oscillator and applies it to the driving end of the quartz tuning fork under the control of an automatic gain control module and a phase-locked loop. Under the action of the quartz inverse piezoelectric effect, the driving sinusoidal wave voltage causes the quartz tuning fork to oscillate with equal amplitude at the resonant frequency point of the quartz tuning fork along the driving vibration mode direction.

[0097] On the other hand, an embodiment of the present invention further provides an electronic device, see Figure 7 , Figure 7 is a schematic diagram of the physical structure of an electronic device provided by an embodiment of the present invention, such as Figure 7 As shown, the electronic device may include: the electronic device may include a memory 720, a processor 710, and a computer program stored in the memory 720 and executable on the processor 710. When the processor 710 executes the program, the quartz tuning fork gyroscope scale compensation method provided by the above methods is implemented.

[0098] Optionally, the electronic device may further include a communication bus 730 and a communication interface (CommunicationsInterface) 740, wherein the processor 710, the communication interface 740, and the memory 720 communicate with each other through the communication bus 730. The processor 710 may call a computer program in the memory 720 to execute a quartz tuning fork gyroscope scale compensation method, which may include: Acquire first mapping relationship information between the closed-loop drive voltage and temperature of the quartz tuning fork gyroscope, and second mapping relationship information between the scale factor and temperature of the quartz tuning fork gyroscope; perform calibration according to the first mapping information and the second mapping information to obtain third mapping relationship information between the scale factor and the closed-loop drive voltage; acquire the closed-loop drive voltage measurement value and the angular velocity measurement result when the quartz tuning fork gyroscope performs angular velocity measurement; determine a target scale factor corresponding to the closed-loop drive voltage measurement value based on the third mapping relationship information; and compensate the angular velocity measurement result according to the target scale factor.

[0099] In addition, the logic instructions in the above-mentioned memory 720 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0100] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program 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 quartz tuning fork gyroscope scale compensation method provided by the above methods. Its steps and principles have been introduced in detail in the above methods and will not be repeated here.

[0101] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the quartz tuning fork gyroscope scale compensation method provided by the above methods is implemented. The steps and principles thereof have been introduced in detail in the above methods and will not be repeated here.

[0102] Non-transitory computer-readable storage media can be any available media or data storage devices that can be accessed by the processor, including but not limited to magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO)), optical storage (such as CDs, DVDs, BDs, HVDs, etc.), and semiconductor storage (such as ROM, EPROM, EEPROM, non-volatile memory (NANDFLASH), solid-state drives (SSDs)), etc.

[0103] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0104] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0105] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A quartz tuning fork gyroscope scale compensation method, characterized in that: include: Acquire first mapping relationship information between a closed-loop driving voltage of a quartz tuning fork gyroscope and temperature, and second mapping relationship information between a scaling factor of the quartz tuning fork gyroscope and temperature; Calibrate according to the first mapping information and the second mapping information to obtain third mapping relationship information between the scaling factor and the closed-loop driving voltage; Obtaining the closed-loop driving voltage measurement value and angular velocity measurement result of the quartz tuning fork gyroscope when performing angular velocity measurement; Determining a target scaling factor corresponding to the closed-loop drive voltage measurement value based on the third mapping relationship information; The angular velocity measurements are compensated according to the target scaling factor.

2. The quartz tuning fork gyroscope scale compensation method according to claim 1, characterized in that: The first mapping relationship information includes at least two first sub-mapping relationship information, and any one of the first sub-mapping relationship information represents a corresponding relationship between a closed-loop driving voltage and a temperature; The second mapping relationship information includes at least two second sub-mapping relationship information, and any of the second sub-mapping relationship information represents a corresponding relationship between a scaling factor and a temperature; The third mapping relationship information includes at least two first sub-mapping relationship information, and any one of the first sub-mapping relationship information represents a corresponding relationship between a closed-loop driving voltage and a temperature.

3. The quartz tuning fork gyroscope scale compensation method according to claim 1 or 2, characterized in that: The obtaining of first mapping relationship information between the closed-loop driving voltage and the temperature of the quartz tuning fork gyroscope includes: After realizing the driving closed loop of the quartz tuning fork gyroscope, the quartz tuning fork gyroscope is calibrated at a first temperature fixed point, and within the operating temperature range, multiple temperature points and corresponding closed-loop driving voltages are measured at preset time intervals to obtain a first trend graph between the closed-loop driving voltage and the temperature to represent the first mapping relationship information.

4. The quartz tuning fork gyroscope scale compensation method according to claim 3, characterized in that: The second mapping relationship information between the scale factor and temperature of the quartz tuning fork gyroscope includes: After realizing the driving closed loop of the quartz tuning fork gyroscope, the quartz tuning fork gyroscope is calibrated at a second temperature fixed point. Within the operating temperature range, multiple temperature points and corresponding scales are measured at preset time intervals to obtain a second trend graph between the scale factor and the temperature to represent the second mapping relationship information.

5. The quartz tuning fork gyroscope scale compensation method according to claim 4, characterized in that: The calibrating according to the first mapping information and the second mapping information to obtain third mapping relationship information between the scaling factor and the closed-loop driving voltage includes: Obtaining a third trend graph between the scaling factor and the closed-loop driving voltage according to the first mapping information and the second mapping information; Performing a second-order fitting on the third trend graph to obtain a second-order fitting polynomial to represent the third mapping relationship information; The second-order fitting polynomial includes fitting coefficients, and the fitting coefficients are determined by a least squares method.

6. The quartz tuning fork gyroscope scale compensation method according to claim 1 or 2, characterized in that: A driving closed-loop circuit for realizing a quartz tuning fork gyroscope includes a quartz tuning fork, a peripheral circuit and a driving circuit; The driving circuit comprises a phase-locked loop, an automatic gain control module, a digitally controlled oscillator, a signal output terminal and a signal receiving terminal; the digitally controlled oscillator is respectively connected to the phase-locked loop, the automatic gain control module and the signal output terminal; the signal receiving terminal is respectively connected to the digitally controlled oscillator, the phase-locked loop and the automatic gain control module; The driving end of the quartz tuning fork is connected to the signal output end of the driving circuit through the peripheral circuit, and the signal end of the quartz tuning fork is connected to the signal receiving end of the driving circuit through the peripheral circuit; The driving circuit generates a driving voltage signal through the digitally controlled oscillator and applies it to the driving end of the quartz tuning fork under the control of the automatic gain control module and the phase-locked loop. Under the action of the quartz inverse piezoelectric effect, the driving circuit drives the sinusoidal wave voltage to make the quartz tuning fork oscillate with equal amplitude at the resonant frequency point of the quartz tuning fork along the driving vibration mode direction.

7. A quartz tuning fork gyroscope scale compensation device, characterized in that: include: An information acquisition module, used to acquire first mapping relationship information between a closed-loop driving voltage of a quartz tuning fork gyroscope and temperature, and second mapping relationship information between a scaling factor of the quartz tuning fork gyroscope and temperature; a relationship calibration module, configured to perform calibration according to the first mapping information and the second mapping information to obtain third mapping relationship information between the scaling factor and the closed-loop driving voltage; The measurement result acquisition module is used to obtain the closed-loop driving voltage measurement value and the angular velocity measurement result when the quartz tuning fork gyroscope performs angular velocity measurement; a target scaling factor module, configured to determine a target scaling factor corresponding to the closed-loop driving voltage measurement value based on the third mapping relationship information; A scale compensation module is used to compensate the angular velocity measurement result according to the target scale factor.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the quartz tuning fork gyroscope scale compensation method according to any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the scale compensation method of the quartz tuning fork gyroscope according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the scale compensation method of the quartz tuning fork gyroscope according to any one of claims 1 to 6 is implemented.

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