Rotary table starting self-checking method and device based on gyroscope-coded disc complementary filtering

Abstract

The invention discloses a rotary table starting self-checking method and device based on gyroscope-coded disc complementary filtering, and belongs to the field of rotary table self-checking. The method comprises the following steps: for each preset point set at the angle of the turntable, executing the following steps: controlling a motor to drive the turntable to move to the current preset point according to a target movement direction; obtaining an azimuth angle estimation value of the turntable fed back by the gyroscope and an azimuth angle measurement value of the coded disc to the turntable; direction consistency verification is carried out on the azimuth angle estimated value of the gyroscope and the azimuth angle measured value of the coded disc and the target motion direction of the motor; and performing error verification on the azimuth angle estimated value of the gyroscope and the azimuth angle measured value of the coded disc to judge whether the turntable system under the current preset point is abnormal or not. The scheme does not depend on complementary verification of a single sensor, a gyroscope and a coded disc, the automation degree and reliability are high, and the problem that the system reliability is difficult to guarantee due to the fact that operation and maintenance are difficult under the condition of a large number of devices can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of turntable self-checking, and particularly to a turntable startup self-checking method and device based on gyroscope-encoder complementary filtering. Background Art

[0002] With the continuous development of the economic society, the volume of international trade transportation has been increasing day by day. To maintain the efficiency and safety of transportation, the supervision work of the customs department is essential. Currently, in actual supervision, the customs department mainly monitors, tracks, and obtains evidence of target objects through turntable devices installed at various key points. However, due to the large number of devices, the cost of manual operation, maintenance, and repair during the operation of the devices is huge, and it is difficult to solve equipment emergencies in a timely manner, thereby affecting the work efficiency of law enforcement departments. In addition, ships traditionally use a single encoder sensor for turntable attitude measurement and control. The encoder has a slow response speed, and in the case of strong winds and waves, a single encoder is difficult to quickly and accurately measure and control the turntable attitude.

[0003] Therefore, there is an urgent need to provide a turntable startup self-checking method based on gyroscope-encoder complementary filtering. Summary of the Invention

[0004] In order to solve the problem that it is difficult to ensure the reliability of the turntable system due to the difficulty of operation, maintenance, and repair under the condition of a large number of devices, an embodiment of the present invention provides a turntable startup self-checking method based on gyroscope-encoder complementary filtering.

[0005] On the one hand, a turntable startup self-checking method based on gyroscope-encoder complementary filtering is provided. The method includes: For each preset point set for the turntable angle, the following operations are performed: Controlling the motor to drive the turntable to move to the current preset point in the target movement direction; Obtaining the azimuth angle estimated value of the turntable feedback by the gyroscope and the azimuth angle measured value of the turntable by the encoder; Respectively verifying the direction consistency between the azimuth angle estimated value of the gyroscope and the azimuth angle measured value of the encoder with the target movement direction of the motor; Performing error verification on the azimuth angle estimated value of the gyroscope and the azimuth angle measured value of the encoder to determine whether the turntable system is abnormal under the current preset point.

[0006] On the other hand, a turntable startup self-checking device based on gyroscope-encoder complementary filtering according to the steps of any method embodiment of the specification is provided. The device includes: A preset unit, for each preset point set for the turntable angle, is configured to perform: controlling the motor to drive the turntable to move to the current preset point in the target movement direction; An acquisition unit, configured to acquire an azimuth angle estimation value of a turntable fed back by a gyroscope and an azimuth angle measurement value of the turntable by an encoder disk; A direction verification unit, configured to respectively verify the direction consistency between the azimuth angle estimation value of the gyroscope and the azimuth angle measurement value of the encoder disk and the target movement direction of the motor; An error verification unit, configured to verify the error between the azimuth angle estimation value of the gyroscope and the azimuth angle measurement value of the encoder disk, so as to determine whether the turntable system is abnormal under the current preset point.

[0007] On the other hand, a computer device is provided, where the computer device includes a memory and a processor. The memory is used to store a computer program, and the processor is used to execute the computer program stored on the memory to implement the steps of the above-mentioned method.

[0008] On the other hand, a computer-readable storage medium is provided, where a computer program is stored in the storage medium, and when the computer program is executed by a processor, the steps of the above-mentioned method are implemented.

[0009] On the other hand, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned method are implemented.

[0010] The technical solution provided by the present invention can at least bring the following beneficial effects: By combining two sensors, namely a gyroscope and an encoder disk, and comparing the consistency between the gyroscope and the encoder disk with the target movement direction of the motor respectively, as well as comparing the measurement results of the gyroscope and the encoder disk, it is automatically determined whether the control of the turntable system is abnormal, improving the reliability of the turntable system and avoiding sudden failures of the equipment to the greatest extent. This solution does not rely on a single sensor, and multiple sensors complement each other for verification, with high automation and reliability, and can solve the problem that it is difficult to ensure the reliability of the system due to difficulties in operation and maintenance under the condition of a large number of equipment. Description of the Drawings

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0012] Figure 1 is a flowchart of a turntable start-up self-checking method based on gyroscope-encoder disk complementary filtering provided by an embodiment of the present invention; Figure 2 is a structural diagram of a turntable start-up self-checking device based on gyroscope-encoder disk complementary filtering provided by an embodiment of the present invention; Figure 3 It is a hardware architecture diagram of a computer device provided by an embodiment of the present invention. Specific implementation manners

[0013] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0014] The following describes the specific implementation manners of the above concept.

[0015] Please refer to Figure 1 , a turntable startup self-check method based on gyroscope-encoder complementary filtering provided by an embodiment of the present invention, the method includes: Step 100: For each preset point set for the turntable angle, execute: control the motor to drive the turntable to move to the current preset point in the target movement direction; Step 102: Obtain the azimuth angle estimated value of the turntable fed back by the gyroscope and the azimuth angle measured value of the turntable by the encoder; Step 104: Respectively verify the direction consistency of the azimuth angle estimated value of the gyroscope and the azimuth angle measured value of the encoder with the target movement direction of the motor; Step 106: Perform error verification on the azimuth angle estimated value of the gyroscope and the azimuth angle measured value of the encoder to determine whether the turntable system is abnormal under the current preset point.

[0016] Considering that although the gyroscope has drift error, its response speed is fast, and complementary use with the encoder can greatly improve the system reliability. Therefore, this solution combines the advantages of the two sensors of the gyroscope and the encoder, making up for the defect of insufficient system reliability caused by only a single sensor encoder; and by fusing the measurement results of the gyroscope and the encoder through a complementary filtering algorithm, the accuracy, real-time performance and reliability of the turntable pitch angle measurement under wind and wave conditions can be improved.

[0017] Therefore, in the embodiments of the present invention, the two sensors of the gyroscope and the encoder are combined. By comparing the consistency of the gyroscope and the encoder with the target movement direction of the motor respectively, and comparing the measurement results of the gyroscope and the encoder, it is automatically determined whether the turntable system control is abnormal, improving the reliability of the turntable system and avoiding sudden failures of the equipment to the greatest extent. This solution does not rely on a single sensor, and multi-sensor complementary verification has high automation and reliability, and can solve the problem that it is difficult to ensure system reliability due to difficult operation and maintenance under the condition of a large number of equipment.

[0018] The following describes Figure 1 the execution manner of each of the steps shown.

[0019] For step 100: It can be understood that the turntable may malfunction in certain angular regions. If a single angular preset point is set, some angular regions cannot be detected. Therefore, several preset points can be set according to the actual situation. For example, a total of 6 preset points are set at 30 degrees, 60 degrees, 90 degrees, 120 degrees, 150 degrees, and 180 degrees.

[0020] After the system initialization is completed, control the motor to drive the turntable to move to the corresponding preset point in the target movement direction, and record the target movement direction of the motor for this time , assuming that the forward rotation D is 1 and the reverse rotation D is -1.

[0021] For step 102: In this embodiment, an MEMS gyroscope is selected to directly obtain the angular velocity generated by the turntable , and the angular velocity at this time may be due to the combined external forces of wind and waves, motors, etc.

[0022] The estimated azimuth angle of the turntable fed back by the gyroscope in step 102 can be determined by the following formula: where is the estimated azimuth angle value at the previous moment, is the sampling time, is the angular velocity fed back by the gyroscope.

[0023] In some embodiments, after obtaining the estimated azimuth angle value of the turntable fed back by the gyroscope and the measured azimuth angle value of the turntable by the code disk, it further includes: Calculating the phase difference based on the sampled values of the two orthogonal signals fed back by the code disk to determine the signal integrity status value; Determining the signal amplitude status value based on the average amplitude of the two orthogonal signals fed back by the code disk; Judging the code disk status based on the signal integrity status value and the signal amplitude status value.

[0024] In some embodiments, the signal integrity status value is determined by the following method: where is the signal integrity status value, is the phase difference, , are the two orthogonal signals fed back by the code disk , The sampled values of is the allowable error range value of the phase difference, and N is the number of sampling points of each orthogonal signal.

[0025] In this embodiment, by calculating the phase difference between two orthogonal signals fed back by the code disk, the integrity status value of the code disk signal is judged to realize the quantization of the signal integrity status.

[0026] Due to the phase difference error The resulting angular error Can be approximated as: Therefore, in some embodiments, the allowable error range value of the phase difference Is determined by the following method: Where Is the maximum angular error of the system turntable and can be measured according to the actual situation of the turntable.

[0027] In some embodiments, the signal amplitude status value is determined by the following method: Where Is the signal amplitude status value, , Are respectively the average amplitudes of the two orthogonal signals fed back by the code disk , And , Are respectively the allowable error range values of the average amplitudes of the two orthogonal signals output by the code disk , , and N is the number of sampling points of each orthogonal signal.

[0028] In this embodiment, by calculating the average amplitudes of the two orthogonal signals fed back by the code disk, the signal amplitude status value of the code disk is judged to realize the quantization of the signal amplitude status.

[0029] Due to the signal amplitude error The resulting angular error Can be approximated as: Therefore, in some embodiments, the allowable error range value of the signal average amplitude can be expressed as: Where Is the maximum angular error of the system turntable and can be measured according to the actual situation of the turntable.

[0030] In some embodiments, the encoder disk status is determined as follows: wherein, is the encoder disk status, represents AND, represents OR.

[0031] In this embodiment, the signal integrity and signal amplitude are evaluated based on two orthogonal signals fed back by the encoder disk to automatically determine whether the encoder disk is in a normal state. Only when both the signal integrity and signal amplitude are normal is the encoder disk status normal; otherwise, it is abnormal.

[0032] Regarding step 104: In some embodiments, the direction consistency verification is performed as follows: wherein, is the azimuth angle estimated value fed back by the gyroscope, D is the mapping value of the target movement direction, and the value range is , is the azimuth angle measured value of the encoder disk for the turntable, represents AND judgment, represents OR judgment.

[0033] In this embodiment, the consistency between the gyroscope and the encoder disk with the motor rotation direction is verified respectively. If the two direction verifications of the gyroscope and the encoder disk are not both consistent, it is determined that the system is abnormal; if the directions are both consistent, the next verification is performed.

[0034] Regarding step 106: In some embodiments, error verification is performed on the azimuth angle estimated value of the gyroscope and the azimuth angle measured value of the encoder disk, including steps S1 - S3: Step S1, determine whether the difference between the azimuth angle estimated value fed back by the gyroscope and the azimuth angle measured value measured by the encoder disk is within a preset first error tolerance value for the first error verification.

[0035] Specifically: wherein, is the absolute value of the difference between the azimuth angle estimated value fed back by the gyroscope and the azimuth angle measured value measured by the encoder disk, is the azimuth angle estimated value, is the azimuth angle measured value.

[0036] Judge the absolute value of the difference Whether it is within the first error tolerance range; if it is within the first error tolerance range, proceed to the next step S2; if it is not within the first error tolerance range, determine that the turntable system is abnormal.

[0037] Step S2, determine whether the difference between the fused angle value obtained by fusing the gyroscope azimuth angle estimate and the encoder azimuth angle measurement value using the complementary filtering algorithm and the azimuth angle measurement value measured by the encoder is within a preset second error tolerance, and perform a second error verification; wherein, the second error tolerance is less than the first error tolerance.

[0038] In this embodiment, considering that although the gyroscope has a drift error, its response speed is fast, and although the encoder can provide relatively accurate measurement results, due to its slow response speed, it cannot reflect the rapid change of the azimuth angle in time under large wind and waves. Therefore, using the gyroscope and the encoder complementarily can greatly improve the system reliability. Therefore, it is necessary to automatically verify whether the fused angle value of the gyroscope and the encoder meets the requirements to ensure the measurement effectiveness of the turntable system.

[0039] In some embodiments, the fused angle value is obtained in the following manner: Design a high-pass filter and a low-pass filter required for fusion; Input the azimuth angle estimate determined by the gyroscope into the high-pass filter to obtain the filtered azimuth angle estimate; Input the azimuth angle measurement value fed back by the encoder into the low-pass filter to obtain the filtered azimuth angle measurement value; Sum the filtered azimuth angle estimate and the filtered azimuth angle measurement value to obtain the fused angle value.

[0040] In this embodiment, the fusion expression of the fused angle value is: Wherein, is the fused angle value, is the weight coefficient, is the azimuth angle estimate determined by the gyroscope, is the azimuth angle measurement value fed back by the encoder.

[0041] In this embodiment, the design of the weight coefficient is: in the system can be understood as a high-pass filter, which is used to extract the change information of the gyroscope azimuth angle estimate and reduce the drift error; can be understood as a low-pass filter, which is used to smooth the encoder azimuth angle measurement value and reduce the dynamic error.

[0042] Since the feedback signal of the gyroscope is a high-frequency signal, a high-pass filter is selected to filter the azimuth angle estimated value fed back by the gyroscope, so that the gyroscope can play a major positioning role when the wind and waves are large. The code disk signal is a low-frequency signal, and a low-pass filter is selected to filter the azimuth angle measurement value fed back by the code disk, so that the code disk can play a major positioning role when the wind and waves are small. By designing the high-pass filter and the low-pass filter, fusion angle values with different output emphases can be obtained under different wind and wave intensities, enabling the fusion positioning of the turntable azimuth angle to adapt to different wind and wave environments, with emphasis on accuracy when the waves are small and on speed and reliability when the waves are large.

[0043] In some embodiments, the high-pass filter filters the azimuth angle estimated value in the following manner: Substituting gives: In the formula, is the azimuth angle estimated value after filtering, is the transfer function of the high-pass filter, is the azimuth angle estimated value, is the time constant, is the azimuth angle estimated value at the previous moment, is the angular velocity fed back by the gyroscope, is the sampling time, is the angular frequency.

[0044] In this embodiment, using a high-pass filter to filter the azimuth angle estimated value determined by the gyroscope can enable the gyroscope to play a major positioning role when the wind and waves are large, ensuring the positioning speed and reliability when the waves are large.

[0045] In some embodiments, the low-pass filter filters the azimuth angle measurement value in the following manner: Substituting gives: In the formula, is the azimuth angle measurement value after filtering, is the transfer function of the low-pass filter, is the azimuth angle measurement value fed back by the code disk, is the time constant, is the angular frequency.

[0046] In this embodiment, a low-pass filter is selected to filter the azimuth measurement value fed back by the code disk, so that the code disk plays a major positioning role when the wind and waves are small.

[0047] Finally, the fused angle value is obtained by summation. : In the formula, is the time constant, is the angular frequency, is the azimuth estimated value determined by the gyroscope, is the azimuth estimated value at the previous moment, is the angular velocity fed back by the gyroscope, is the sampling time, is the azimuth measurement value fed back by the code disk.

[0048] In the embodiment of the present invention, the advantages of the two types of sensors are combined through a complementary filtering algorithm, avoiding the problem of low system reliability caused by a single code disk sensor. Specifically, the output signal of the gyroscope is input into a high-pass filter, and the output signal of the code disk is input into a low-pass filter and then summed, so that the system can achieve the effect that when a high-frequency signal is input, the output of the gyroscope plays a leading role in the system output, and when a low-frequency signal is input, the output of the code disk plays a leading role in the system output. Moreover, when the code disk fails, the output of the gyroscope plays a leading role in the system output, and a turntable positioning technology with high measurement result accuracy, fast response speed, and high reliability can be obtained.

[0049] After obtaining the fused angle value , calculate whether the absolute value of the difference between the fused angle value and the azimuth measurement value measured by the code disk is less than the second error tolerance.

[0050] It should be noted that the accuracy of the code disk is high and the accuracy of the gyroscope is low. Although the fusion weights of the two are different in the complementary filtering algorithm, that is, one is a high-pass filter and the other is a low-pass filter, the accuracy of the obtained fused angle value is higher than that of the azimuth estimated value measured by the gyroscope. Therefore, the difference between the fused angle value and the azimuth measurement value measured by the code disk will be smaller. Therefore, the second error tolerance needs to be less than the first error tolerance.

[0051] Step S3, based on the first error verification result and the second error verification result, determine the final error verification result.

[0052] In this step, only when both the first error verification result and the second error verification result indicate that the system is normal, is the final error verification result determined to be normal. This is because the absolute value of the difference between the fused angle value and the azimuth measurement value measured by the code disk being less than the second error tolerance does not necessarily mean that the difference between the azimuth estimation value of the gyroscope and the azimuth measurement value of the code disk in step S1 is within the preset first error tolerance. This is because when the wind and waves are small, the code disk plays a major positioning role. During self-check, when the wind and waves are small, the obtained fused angle value is more dominated by the measurement value of the code disk. Therefore, the absolute value of the difference between the fused angle value and the azimuth measurement value measured by the code disk being less than the second error tolerance does not mean that the azimuth estimation value of the gyroscope meets the accuracy requirements. Therefore, only when both the first error verification result and the second error verification result indicate that the system is normal, is the final error verification result determined to be normal.

[0053] Thus, the direction consistency verification and error verification for the current preset point are completed.

[0054] After completing the self-check judgment for the previous preset point, enter the self-check judgment process for the next preset point. The system is determined to be abnormal until the motor rotation direction feedback by a certain preset point is not consistent with the directions of the gyroscope and the code disk, or the error verification of the gyroscope and the code disk does not meet the requirements. The start-up self-check is determined to be completed until the direction consistency verification and error verification for all preset points are normal.

[0055] Please refer to Figure 2 , an embodiment of the present invention provides a turntable start-up self-check device based on gyroscope-code disk complementary filtering. The device includes: A preset unit 201, for each preset point set for the turntable angle, is used to execute: controlling the motor to drive the turntable to move to the current preset point in the target movement direction; An acquisition unit 202, for acquiring the azimuth estimation value of the turntable feedback by the gyroscope and the azimuth measurement value of the turntable by the code disk; A direction verification unit 203, for performing direction consistency verification on the azimuth estimation value of the gyroscope and the azimuth measurement value of the code disk respectively with the target movement direction of the motor; An error verification unit 204, for performing error verification on the azimuth estimation value of the gyroscope and the azimuth measurement value of the code disk to determine whether the turntable system is abnormal under the current preset point.

[0056] In an embodiment of the present invention, the direction verification unit 203 performs direction consistency verification in the following manner: In the formula, is the azimuth estimation value feedback by the gyroscope, D is the mapping value of the target movement direction, and the value is , is the measured azimuth angle value of the turntable by the code disk, representation and judgment, representation or judgment.

[0057] In an embodiment of the present invention, after the acquisition unit 202 executes the acquisition of the estimated azimuth angle value of the turntable fed back by the gyroscope and the measured azimuth angle value of the turntable by the code disk, it is further used for: Based on the sampled values of the two orthogonal signals fed back by the code disk, calculate the phase difference to determine the signal integrity status value; Based on the average amplitude of the two orthogonal signals fed back by the code disk, determine the signal amplitude status value; Based on the signal integrity status value and the signal amplitude status value, judge the code disk status.

[0058] In an embodiment of the present invention, the error verification unit 204 is used to execute: Judge whether the difference between the estimated azimuth angle value fed back by the gyroscope and the measured azimuth angle value measured by the code disk is within a preset first error tolerance value for the first error verification; Judge whether the difference between the fused angle value obtained by fusing the gyroscope azimuth angle estimated value and the code disk azimuth angle measured value using the complementary filtering algorithm and the code disk measured azimuth angle value is within a preset second error tolerance value for the second error verification; wherein, the second error tolerance value is less than the first error tolerance value; Based on the first error verification result and the second error verification result, determine the final error verification result.

[0059] In an embodiment of the present invention, the fused angle value in the error verification unit 204 is obtained by the following method: Design a high-pass filter and a low-pass filter required for fusion; Input the estimated azimuth angle value determined by the gyroscope into the high-pass filter to obtain the filtered estimated azimuth angle value; Input the measured azimuth angle value fed back by the code disk into the low-pass filter to obtain the filtered measured azimuth angle value; Sum the filtered estimated azimuth angle value and the filtered measured azimuth angle value to obtain the fused angle value.

[0060] In an embodiment of the present invention, the high-pass filter in the error verification unit 204 filters the azimuth angle estimated value in the following manner: Substituting gives: In the formula, is the estimated azimuth value after filtering, is the transfer function of the high-pass filter, is the estimated azimuth value, is the time constant, is the estimated azimuth value at the previous moment, is the angular velocity feedback by the gyroscope, is the sampling time, is the angular frequency.

[0061] It should be noted that the above device embodiments and method embodiments belong to the same concept. For the specific implementation process, please refer to the method embodiments, which will not be elaborated here.

[0062] The embodiments of the present application also provide a computer device, which includes a processor and a memory. At least one instruction, at least one program, a code set or an instruction set is stored in the memory. The at least one instruction, at least one program, the code set or the instruction set is loaded and executed by the processor to implement the turntable startup self-check method based on gyroscope-encoder complementary filtering provided by the above method embodiments.

[0063] The embodiments of the present application also provide a computer-readable storage medium, on which at least one instruction, at least one program, a code set or an instruction set is stored. The at least one instruction, at least one program, the code set or the instruction set is loaded and executed by the processor to implement the turntable startup self-check method based on gyroscope-encoder complementary filtering provided by the above method embodiments.

[0064] The embodiments of the present application also provide a computer program product, which includes a computer program. The processor of the computer device reads the computer program from the computer-readable storage medium, and the processor executes the computer program, so that the computer device executes the turntable startup self-check method based on gyroscope-encoder complementary filtering in any one of the above embodiments.

[0065] For the convenience of description, when describing the above device or devices, they are described by function as various modules or units respectively. Of course, when implementing the present application, the functions of each unit can be realized in one or more software and / or hardware.

[0066] As can be seen from the description of the above embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of this application, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of various embodiments or some parts of the embodiments of this application.

[0067] Finally, it should also be noted that in this text, relational terms such as first, second, third, and fourth are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

[0068] The above are only the preferred embodiments of this application. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of this application, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of this application.

Claims

1. A self-check method for turntable startup based on gyroscope-encoder complementary filtering, characterized in that including: For each preset point set for the turntable angle, the following operations are performed: Controlling the motor to drive the turntable to move to the current preset point in the target movement direction; Obtaining the azimuth angle estimated value of the turntable feedback by the gyroscope and the azimuth angle measured value of the turntable by the code disk; Respectively verifying the direction consistency between the azimuth angle estimated value of the gyroscope and the azimuth angle measured value of the code disk with the target movement direction of the motor; Performing error verification on the azimuth angle estimated value of the gyroscope and the azimuth angle measured value of the code disk to determine whether the turntable system is abnormal under the current preset point.

2. The method according to claim 1, wherein The direction consistency verification is performed in the following manner: In the formula, is the estimated azimuth value feedback by the gyroscope, D is the mapping value of the target movement direction, and the value range is , is the azimuth measurement value of the code disk for the turntable, represents AND judgment, represents OR judgment.

3. The method according to claim 1, characterized in that, After obtaining the azimuth angle estimated value of the turntable feedback by the gyroscope and the azimuth angle measured value of the turntable by the code disk, the following operations are further included: Based on the sampled values of the two orthogonal signals fed back by the code disk, calculating the phase difference to determine the signal integrity status value; Based on the average amplitude of the two orthogonal signals fed back by the code disk, determining the signal amplitude status value; Based on the signal integrity status value and the signal amplitude status value, judging the status of the code disk.

4. The method according to claim 1, characterized in that The error verification on the azimuth angle estimated value of the gyroscope and the azimuth angle measured value of the code disk includes: Judging whether the difference between the azimuth angle estimated value fed back by the gyroscope and the azimuth angle measured value measured by the code disk is within the preset first error tolerance value to perform the first error verification; Judging whether the difference between the fusion angle value obtained by fusing the azimuth angle estimated value of the gyroscope and the azimuth angle measured value of the code disk using the complementary filtering algorithm and the azimuth angle measured value measured by the code disk is within the preset second error tolerance value to perform the second error verification; wherein, the second error tolerance value is smaller than the first error tolerance value; Based on the first error verification result and the second error verification result, determining the final error verification result.

5. The method according to claim 4, characterized in that, The fusion angle value is obtained in the following manner: Designing a high-pass filter and a low-pass filter required for fusion; Inputting the azimuth angle estimated value determined by the gyroscope into the high-pass filter to obtain the filtered azimuth angle estimated value; Inputting the azimuth angle measured value fed back by the code disk into the low-pass filter to obtain the filtered azimuth angle measured value; Summing the filtered azimuth angle estimated value and the filtered azimuth angle measured value to obtain the fusion angle value.

6. The method according to claim 5, characterized in that The high-pass filter filters the azimuth angle estimated value in the following manner: Substituting gives: Wherein, is the estimated azimuth value after filtering, is the transfer function of the high-pass filter, is the estimated azimuth value, is the time constant, is the estimated azimuth value at the previous moment, is the angular velocity feedback by the gyroscope, is the sampling time, is the angular frequency.

7. A turntable startup self-check device based on gyroscope-encoder complementary filtering, which is used to implement the steps of the method according to any one of claims 1-6 above, and is characterized in that, including: A preset unit, for each preset point set for the turntable angle, is used to perform: controlling the motor to drive the turntable to move to the current preset point in the target movement direction; An acquisition unit, used to acquire the azimuth angle estimated value of the turntable feedback by the gyroscope and the azimuth angle measured value of the turntable by the code disk; A direction verification unit, used to respectively verify the direction consistency between the azimuth angle estimated value of the gyroscope and the azimuth angle measured value of the code disk with the target movement direction of the motor; An error verification unit, used to perform error verification on the azimuth angle estimated value of the gyroscope and the azimuth angle measured value of the code disk to determine whether the turntable system is abnormal under the current preset point.

8. A computer device, characterized in that, The computer device includes a memory and a processor. The memory is used to store a computer program, and the processor is used to execute the computer program stored on the memory to implement the steps of the method according to any one of claims 1-6 above.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1-6 are implemented.

10. A computer program product, characterized in that, It includes a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1-6 are implemented.

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