Gyroscope calibration method, system and equipment and storage medium

Abstract

The invention relates to the technical field of instrument calibration, and discloses a gyroscope calibration method, system and device and a storage medium, a gyroscope is installed on a mechanical device, the method comprises the following steps: obtaining axial data of the gyroscope when the mechanical device is in a standing state, and calculating current noise of the gyroscope according to the axial data; judging whether the gyroscope meets a calibration condition or not according to the data quantity of the axial data and the current noise; and if the calibration condition is met, calculating a calibration value according to the axial data, and calibrating the gyroscope according to the calibration value when the mechanical equipment is in the next standing state. According to the calibration method, the time is short, calibration can be carried out at any time in the movement gap of the equipment, the work of the equipment is not affected, and the production cost and the time cost are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of instrument calibration, and in particular to a gyroscope calibration method, system, device and storage medium. Background Art

[0002] Gyroscopes are devices that use the moment of momentum of a high-speed rotating body to sense the angular velocity of a housing relative to an inertial space about one or two axes orthogonal to the axis of rotation. They are widely used in fields such as inertial navigation, drone control, and robotics. However, as the temperature rises, gyroscope readings experience cumulative errors, and these errors increase over time. Existing gyroscope calibration methods involve slowly raising the temperature of the device while it is stationary, plotting an offset curve between the temperature and the gyroscope reading, and then calibrating the gyroscope based on the offset curve. However, the offset curves of different devices are not exactly the same, and the parameters of each gyroscope are not exactly the same. Existing calibration methods consume a lot of time and production costs. Summary of the Invention

[0003] In order to solve the problem of high time cost and production cost of existing gyroscope calibration methods, the present invention provides a gyroscope calibration method, system, device and storage medium.

[0004] In a first aspect, the present invention provides a gyroscope calibration method, wherein the gyroscope is mounted on a mechanical device, the method comprising: acquiring axial data of the gyroscope when the mechanical device is in a stationary state, and calculating current noise of the gyroscope based on the axial data; Determining whether the gyroscope meets a calibration condition based on the data quantity of the axial data and the current noise; If the calibration condition is met, a calibration value is calculated based on the axial data, and the gyroscope is calibrated based on the calibration value when the mechanical device is in a next stationary state.

[0005] In an optional embodiment, the calculating the current noise of the gyroscope according to the axial data includes: Calculate the data difference between every two adjacent axial data in the axial data in chronological order to obtain a data difference sequence; Obtain an absolute value sequence corresponding to the data difference sequence, and determine the current noise according to the absolute value sequence.

[0006] In an optional implementation, calibrating the gyroscope includes: Using the current noise as a calibration value of the gyroscope, and calibrating the axial data according to the calibration value to obtain normal operating parameters of the gyroscope; The gyroscope is controlled to operate according to the normal operating parameters.

[0007] In an optional embodiment, the method further comprises: Determine whether the amount of data at the current moment is greater than the amount of data at the previous moment; If it is greater than the data amount at the previous moment, determining whether the noise at the current moment is greater than the noise at the previous moment; If it is greater than the noise at the previous moment, the amount of data at the current moment and the noise at the current moment are used as calibration parameters of the gyroscope.

[0008] In an optional embodiment, the method further comprises: If the amount of data at the current moment is less than the amount of data at the previous moment, Alternatively, if the noise at the current moment is less than or equal to the noise at the previous moment, the amount of data at the previous moment and the noise at the previous moment are used as calibration parameters of the gyroscope.

[0009] In an optional embodiment, the determining whether the gyroscope meets a calibration condition based on the amount of the axial data and the current noise includes: If the calibration parameters are the amount of data at the current moment and the noise at the current moment, determining whether the amount of data at the current moment is greater than a data amount threshold; If it is greater than the data quantity threshold, determining whether the noise at the current moment is greater than a preset noise threshold; If the noise level is greater than the preset noise threshold, it is determined that the gyroscope meets the calibration condition.

[0010] In an optional embodiment, the determining whether the gyroscope meets a calibration condition based on the amount of the axial data and the current noise includes: If the calibration parameters are the amount of data at the previous moment and the noise at the previous moment, determining whether the amount of data at the previous moment is greater than the data amount threshold; If it is greater than the data quantity threshold, determining whether the noise at the previous moment is greater than the preset noise threshold; If the noise level is greater than the preset noise threshold, it is determined that the gyroscope meets the calibration condition.

[0011] In a second aspect, the present invention provides a gyroscope calibration system, comprising: a gyroscope, a mechanical device, and a signal processing device, wherein the gyroscope is disposed on the mechanical device, the signal processing device is communicatively connected to the gyroscope, and the signal processing device comprises: a calculation module, configured to obtain axial data of the gyroscope when the mechanical device is in a stationary state, and calculate current noise of the gyroscope based on the axial data; a judgment module, configured to judge whether the gyroscope meets a calibration condition based on the amount of the axial data and the current noise; A calibration module is configured to calculate a calibration value based on the axial data if the calibration condition is met, and calibrate the gyroscope based on the calibration value when the mechanical device is in a next stationary state.

[0012] In a third aspect, the present invention provides a computer device, comprising a processor and a memory, wherein the memory stores a computer program, and the processor is configured to execute the computer program to implement the gyroscope calibration method described in the first aspect.

[0013] In a fourth aspect, the present invention provides a computer storage medium storing a computer program. When the computer program is executed on a processor, the computer program implements the gyroscope calibration method according to the first aspect.

[0014] The embodiments of the present invention have the following beneficial effects: The gyroscope calibration method provided by the present invention obtains axial data of the gyroscope during the static state interval of the mechanical equipment during operation, calculates the noise of the gyroscope based on the axial data, and determines whether the gyroscope needs to be calibrated based on the noise. If calibration is required, the calibration value is calculated based on the axial data, and then the gyroscope is calibrated during the next static state interval of the mechanical equipment. The calibration method of the present invention is short in time and can be calibrated at any time during the movement of the equipment without affecting the operation of the equipment, thereby reducing production costs and time costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] To more clearly illustrate the technical solutions of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be construed as limiting the scope of protection of the present invention. It is possible for a person skilled in the art to derive other relevant drawings based on these drawings without inventive effort.

[0016] Figure 1 A schematic diagram of a flow chart of a gyroscope calibration method provided in an embodiment of the present application is shown; Figure 2 A schematic diagram of a flow chart of a current noise acquisition method provided in an embodiment of the present application is shown; Figure 3 A schematic diagram of the framework structure of a gyroscope calibration system provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0018] The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the figures is not intended to limit the scope of the claimed invention, but rather merely represents selected embodiments of the present invention. All other embodiments derived by those skilled in the art based on the embodiments of the present invention without inventive effort are intended to be within the scope of protection of the present invention.

[0019] Hereinafter, the terms "including", "having" and their cognates, which may be used in various embodiments of the present invention, are intended only to indicate specific features, numbers, steps, operations, elements, components or combinations of the foregoing items, and should not be understood as first excluding the existence of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing items or the possibility of adding one or more features, numbers, steps, operations, elements, components or combinations of the foregoing items.

[0020] Furthermore, the terms “first,” “second,” “third,” etc., are merely used for distinguishing descriptions and are not to be understood as indicating or implying relative importance.

[0021] Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by those skilled in the art to which the various embodiments of the present invention pertain. The terms (such as those defined in generally used dictionaries) will be interpreted as having the same meaning as in the context of the relevant technical field and will not be interpreted as having an idealized meaning or an overly formal meaning unless clearly defined in the various embodiments of the present invention.

[0022] The following describes some embodiments of the present invention in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments may be combined with each other.

[0023] Reference Figure 1 , Figure 1 This is a flow chart of a gyroscope calibration method provided in this embodiment. The gyroscope is installed on a mechanical device. The method includes: S101 : Acquire axial data of the gyroscope when the mechanical device is in a stationary state, and calculate current noise of the gyroscope based on the axial data.

[0024] A gyroscope is an angular velocity sensor primarily used to measure the angular velocity of various mechanical devices, such as drones and robots, and to assess their operating status based on the angular velocity. Gyroscopes are sensitive to temperature. Temperature rises caused by mechanical equipment operation or ambient temperature can lead to errors in gyroscope readings, and these errors can increase over time. This is a common phenomenon in gyroscopes, known as temperature drift.

[0025] To address the temperature drift issue of gyroscopes, existing technology involves first installing the gyroscope in a mechanical device and then allowing the device to sit still while slowly raising its temperature. A curve is then plotted showing the gyroscope's temperature drift. This drift curve is then used to correct the gyroscope when the device is subsequently put into operation. However, the temperature drift can vary from device to device, and from gyroscope to gyroscope. Furthermore, individually performing a static calibration for each gyroscope consumes significant time and production costs.

[0026] In order to achieve rapid calibration of the gyroscope, this embodiment obtains the axial data of the gyroscope when the mechanical equipment is in a static state. The static state in this embodiment is the gap in the operation of the mechanical equipment. For example, when the robot is working, it may be in motion most of the time and in a static state for a small part of the time. Then, the three-axis data of the gyroscope installed on the robot can be obtained when the robot is in a static state, and the robot does not need to be in a static state all the time.

[0027] Axial data from a gyroscope primarily includes information about the gyroscope's angles in the X, Y, and Z axes. This axial data can be adjusted based on actual conditions, and the gyroscope's noise can then be calculated based on this data. Gyroscope noise refers to interference information other than angular velocity and position during measurement. Therefore, gyroscope noise can accurately reflect whether the gyroscope has experienced temperature drift.

[0028] S102: Determine whether the gyroscope meets a calibration condition based on the amount of the axial data and the current noise.

[0029] Since the time that mechanical equipment is in a static state during operation may be relatively short, in order to avoid misjudging the operating status of the gyroscope, it is necessary to collect sufficient axial data when the mechanical equipment is in a static state. Then, based on the axial data and noise, it can be determined whether the gyroscope needs to be calibrated.

[0030] S103: If the calibration condition is met, calculate a calibration value based on the axial data, and calibrate the gyroscope based on the calibration value when the mechanical device is in a next static state.

[0031] After determining that the gyroscope meets the calibration conditions, the calibration value is calculated based on the axial data, and then the gyroscope is calibrated when the mechanical device is detected to be in a stationary state next time.

[0032] This embodiment obtains axial data of the gyroscope during the intervals when the mechanical equipment is in a static state during operation, calculates the noise of the gyroscope based on the axial data, and determines whether the gyroscope needs to be calibrated based on the noise. If calibration is required, the calibration value is calculated based on the axial data, and then the gyroscope is calibrated during the interval when the mechanical equipment is in a static state next time. The calibration method of the present invention is short in time and can be calibrated at any time during the intervals when the equipment is in motion, will not affect the operation of the equipment, and reduces production costs and time costs.

[0033] Reference Figure 2 , step S101 includes: steps S1011-S1012.

[0034] S1011 , calculating the data difference between every two adjacent axial data in the axial data in chronological order to obtain a data difference sequence.

[0035] S1012: Obtain an absolute value sequence corresponding to the data difference sequence, and determine the current noise according to the absolute value sequence.

[0036] When the mechanical equipment is in a stationary state, a plurality of axial data are acquired, and then the data difference between two adjacent axial data are solved in sequence according to the time sequence of the axial data.

[0037] For example, if there are four axial data A, B, C, and D in chronological order, the difference between two adjacent axial data is calculated in sequence: BA, CB, and DC, thereby obtaining a data difference sequence corresponding to the axial data.

[0038] Since the axial data at different moments may fluctuate, in order to determine the magnitude of the current noise, the absolute value of the data difference sequence can be obtained, that is, (|BA|, |CB|, |DC|), and the absolute value sequence can be used as the change of the current noise.

[0039] This embodiment calculates the data difference between every two adjacent axial data and determines the noise condition of the gyroscope based on the data difference, thereby enabling real-time monitoring of the noise condition and providing accurate data support for subsequent gyroscope calibration.

[0040] In one embodiment, calibrating the gyroscope includes: Using the current noise as a calibration value of the gyroscope, and calibrating the axial data according to the calibration value to obtain normal operating parameters of the gyroscope; The gyroscope is controlled to operate according to the normal operating parameters.

[0041] The current noise mainly reflects other interference information of the gyroscope in addition to the angular velocity. Therefore, the normal operating parameters of the gyroscope can be obtained by subtracting the current noise from the current operating parameters of the gyroscope. Then, when the mechanical equipment is in a static state, the gyroscope is controlled to operate according to the normal operating parameters.

[0042] This embodiment calibrates the gyroscope during the intervals between the working states of the mechanical device, without stopping the mechanical device, thereby improving the efficiency of gyroscope calibration, not affecting the normal operation of the mechanical device, and reducing the calibration cost.

[0043] In one embodiment, the method further comprises: Determine whether the amount of data at the current moment is greater than the amount of data at the previous moment; If it is greater than the data amount at the previous moment, determining whether the noise at the current moment is greater than the noise at the previous moment; If it is greater than the noise at the previous moment, the amount of data at the current moment and the noise at the current moment are used as calibration parameters of the gyroscope.

[0044] Because the amount of data and noise in a gyroscope vary over time, determining the optimal calibration parameters requires real-time comparison of the amount of data and noise. For example, a sequential comparison method can be used, comparing the current noise and amount of data with the noise and amount of data at the previous moment, and determining the optimal calibration parameters based on the comparison results. If both the amount of data and noise at the current moment are greater than those at the previous moment, the calibration parameters can be determined based on information such as the current axial data and noise.

[0045] This embodiment determines the optimal calibration parameters by comparing the data quantity and noise of the gyroscope, provides data support for subsequent gyroscope calibration, and improves the accuracy of gyroscope calibration.

[0046] In one embodiment, the method further comprises: If the amount of data at the current moment is less than the amount of data at the previous moment, Alternatively, if the noise at the current moment is less than or equal to the noise at the previous moment, the amount of data at the previous moment and the noise at the previous moment are used as calibration parameters of the gyroscope.

[0047] Usually, the amount of axial data will gradually increase over time. However, considering that there may be some special circumstances, the mechanical equipment happens to be in an environment with greater interference. For example, when the mechanical equipment is a robot, as the robot works, it may move to an area with greater noise. At this time, the collected axial data and noise may be deemed as invalid data. Therefore, in these special circumstances, if the amount of axial data and noise at the previous moment also meet the calibration requirements, the axial data and noise at the previous moment can be used as the calibration parameters of the gyroscope.

[0048] This embodiment takes into account that in some special cases of mechanical equipment, the data collected at the current moment may be invalid data. In this case, the axial data and noise of the gyroscope collected at the previous moment can be used as the calibration parameters of the gyroscope, thereby improving the accuracy of gyroscope calibration.

[0049] In one embodiment, determining whether the gyroscope meets a calibration condition based on the amount of the axial data and the current noise includes: If the calibration parameters are the amount of data at the current moment and the noise at the current moment, determining whether the amount of data at the current moment is greater than a data amount threshold; If it is greater than the data quantity threshold, determining whether the noise at the current moment is greater than a preset noise threshold; If the noise level is greater than the preset noise threshold, it is determined that the gyroscope meets the calibration condition.

[0050] The determining whether the gyroscope meets the calibration condition based on the data quantity of the axial data and the current noise further includes: If the calibration parameters are the amount of data at the previous moment and the noise at the previous moment, determining whether the amount of data at the previous moment is greater than the data amount threshold; If it is greater than the data quantity threshold, determining whether the noise at the previous moment is greater than the preset noise threshold; If the noise level is greater than the preset noise threshold, it is determined that the gyroscope meets the calibration condition.

[0051] In order to improve the accuracy of gyroscope calibration, it is necessary to judge the quantity and noise of the axial data of the gyroscope separately. Specifically, a voting mechanism or other methods can be used to judge whether the quantity and noise of the axial data meet the preset conditions. If both meet the preset conditions, the gyroscope is calibrated.

[0052] This embodiment verifies the calibration parameters in different situations respectively to determine whether the calibration parameters meet the calibration conditions. If the calibration conditions are met, the gyroscope is calibrated accordingly, thereby improving the scientific nature of the gyroscope calibration.

[0053] Reference Figure 3 This embodiment provides a gyroscope calibration system 300, including: a gyroscope 400, a mechanical device 500, and a signal processing device 600. The gyroscope 400 is mounted on the mechanical device 500, and the signal processing device 600 is communicatively connected to the gyroscope 400. The signal processing device 600 includes: a calculation module 601, configured to obtain axial data of the gyroscope when the mechanical device is in a stationary state, and calculate current noise of the gyroscope based on the axial data; A judgment module 602 is configured to judge whether the gyroscope meets a calibration condition based on the amount of the axial data and the current noise; The calibration module 603 is configured to calculate a calibration value based on the axial data if the calibration condition is met, and calibrate the gyroscope based on the calibration value when the mechanical device is in a next static state.

[0054] It can be understood that the gyroscope calibration system of this embodiment corresponds to the gyroscope calibration method of the above embodiment, and the options in the above embodiment are also applicable to this embodiment, so they will not be described again here.

[0055] The present invention also provides a computer device. Exemplarily, the computer device includes a processor and a memory, wherein the memory stores a computer program, and the processor runs the computer program to enable the computer device to execute the functions of the various modules in the above-mentioned gyroscope calibration method or the above-mentioned gyroscope calibration system.

[0056] The processor can be an integrated circuit chip with signal processing capabilities. The processor can be a general-purpose processor, including at least one of a central processing unit (CPU), a graphics processing unit (GPU), a network processor (NP), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor, and can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present invention.

[0057] The memory may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), and electrically erasable programmable read-only memory (EEPROM). The memory is used to store computer programs, and the processor can execute the computer programs accordingly after receiving an execution instruction.

[0058] The present invention also provides a computer storage medium for storing the computer program used in the aforementioned computer device. The computer storage medium may be a readable storage medium, a non-volatile storage medium, or a volatile storage medium. For example, the computer storage medium may include, but is not limited to, various media capable of storing program code, such as a USB flash drive, a removable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0059] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and structure diagrams in the accompanying drawings show the possible architectures, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, program segment or part of the code, and the module, program segment or part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in alternative implementations, the functions marked in the boxes can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the structure diagram and / or flowchart, as well as the combination of boxes in the structure diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions.

[0060] In addition, the functional modules or units in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0061] If the functions are implemented as software modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product, stored in a storage medium, includes instructions for causing a computer device (such as a smartphone, personal computer, server, or network device) to execute all or part of the steps of the methods described in various embodiments of the present invention.

[0062] The above description is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed by the present invention, which should be covered by the scope of protection of the present invention.

Claims

1. A gyroscope calibration method, characterized in that: The gyroscope is mounted on a mechanical device, and the method includes: acquiring axial data of the gyroscope when the mechanical device is in a stationary state, and calculating current noise of the gyroscope based on the axial data; Determining whether the gyroscope meets a calibration condition based on the data quantity of the axial data and the current noise; If the calibration condition is met, a calibration value is calculated based on the axial data, and the gyroscope is calibrated based on the calibration value when the mechanical device is in a next stationary state.

2. The gyroscope calibration method according to claim 1, wherein: The calculating the current noise of the gyroscope according to the axial data includes: Calculate the data difference between every two adjacent axial data in the axial data in chronological order to obtain a data difference sequence; An absolute value sequence corresponding to the data difference sequence is obtained, and the current noise is determined according to the absolute value sequence.

3. The gyroscope calibration method according to claim 2, characterized in that: The calibrating the gyroscope includes: Using the current noise as a calibration value of the gyroscope, and calibrating the axial data according to the calibration value to obtain normal operating parameters of the gyroscope; The gyroscope is controlled to operate according to the normal operating parameters.

4. The gyroscope calibration method according to claim 1, wherein: The method further comprises: Determine whether the amount of data at the current moment is greater than the amount of data at the previous moment; If it is greater than the data amount at the previous moment, determining whether the noise at the current moment is greater than the noise at the previous moment; If it is greater than the noise at the previous moment, the amount of data at the current moment and the noise at the current moment are used as calibration parameters of the gyroscope.

5. The gyroscope calibration method according to claim 4, characterized in that: The method further comprises: If the amount of data at the current moment is less than the amount of data at the previous moment, Alternatively, if the noise at the current moment is less than or equal to the noise at the previous moment, the amount of data at the previous moment and the noise at the previous moment are used as calibration parameters of the gyroscope.

6. The gyroscope calibration method according to claim 5, characterized in that: The determining whether the gyroscope meets a calibration condition based on the data quantity of the axial data and the current noise includes: If the calibration parameters are the amount of data at the current moment and the noise at the current moment, determining whether the amount of data at the current moment is greater than a data amount threshold; If it is greater than the data quantity threshold, determining whether the noise at the current moment is greater than a preset noise threshold; If the noise level is greater than the preset noise threshold, it is determined that the gyroscope meets the calibration condition.

7. The gyroscope calibration method according to claim 6, characterized in that: The determining whether the gyroscope meets a calibration condition based on the data quantity of the axial data and the current noise includes: If the calibration parameters are the amount of data at the previous moment and the noise at the previous moment, determining whether the amount of data at the previous moment is greater than the data amount threshold; If it is greater than the data quantity threshold, determining whether the noise at the previous moment is greater than the preset noise threshold; If the noise level is greater than the preset noise threshold, it is determined that the gyroscope meets the calibration condition.

8. A gyroscope calibration system, characterized in that: include: A gyroscope, a mechanical device, and a signal processing device, wherein the gyroscope is arranged on the mechanical device, the signal processing device is communicatively connected with the gyroscope, and the signal processing device includes: a calculation module, configured to obtain axial data of the gyroscope when the mechanical device is in a stationary state, and calculate current noise of the gyroscope based on the axial data; a judgment module, configured to judge whether the gyroscope meets a calibration condition based on the amount of the axial data and the current noise; A calibration module is configured to calculate a calibration value based on the axial data if the calibration condition is met, and calibrate the gyroscope based on the calibration value when the mechanical device is in a next stationary state.

9. A computer device, characterized in that: The computer device includes a processor and a memory, wherein the memory stores a computer program, and the processor is configured to execute the computer program to implement the gyroscope calibration method according to any one of claims 1 to 7.

10. A computer storage medium, characterized in that The device stores a computer program, which, when executed on a processor, implements the gyroscope calibration method according to any one of claims 1 to 7.

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