A gyroscope calibration method, system, device and storage medium

Abstract

The present application relates to the technical field of instrument calibration, and discloses a gyro calibration method, system, device and storage medium, wherein the gyro is installed on a mechanical device, and the method comprises the following steps: acquiring axial data of the gyro when the mechanical device is in a stationary state, calculating the current noise of the gyro according to the axial data; judging whether the gyro satisfies the calibration condition according to the data quantity of the axial data and the current noise; if the calibration condition is satisfied, calculating a calibration value according to the axial data, and calibrating the gyro according to the calibration value when the mechanical device is in the next stationary state. The calibration method has a short time, can be calibrated at any time during the motion of the device, does not affect the work of the device, and reduces the production cost and time cost.

Description

Technical Field

[0001] This invention relates to the field of instrument calibration technology, and in particular to a gyroscope calibration method, system, device and storage medium. Background Technology

[0002] A gyroscope is a device that uses the angular momentum of a high-speed rotating body to sense the angular velocity of its housing relative to inertial space around one or two axes orthogonal to its rotation axis. It is widely used in inertial navigation, drone control, robotics, and other fields. However, as temperature increases, gyroscope readings accumulate errors, and these errors increase over time. Current gyroscope calibration methods involve slowly increasing the temperature of the device while it is stationary, then plotting the temperature versus gyroscope reading offset curve, and finally calibrating the gyroscope based on this curve. However, the offset curves of different devices are not entirely identical, and the parameters of each gyroscope are also not exactly the same. Therefore, current calibration methods are time-consuming and costly in terms of production. Summary of the Invention

[0003] To address the issues of high time and production costs associated with existing gyroscope calibration methods, this 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: The axial data of the gyroscope is obtained when the mechanical device is in a stationary state, and the current noise of the gyroscope is calculated based on the axial data; The calibration conditions of the gyroscope are determined by the amount of axial data and the current noise. If the calibration conditions are met, the calibration value is calculated based on the axial data, and the gyroscope is calibrated based on the calibration value when the mechanical equipment is in the next stationary state.

[0005] In an optional implementation, calculating the current noise of the gyroscope based on the axial data includes: The data difference between every two adjacent axial data points in the axial data are calculated sequentially according to the time order to obtain the data difference sequence. Obtain the absolute value sequence corresponding to the data difference sequence, and determine the current noise based on the absolute value sequence.

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

[0007] In an optional implementation, the method further includes: Determine whether the number of data points at the current time is greater than the number of data points at the previous time. If the number of data points is greater than the number of data points at the previous time, then determine whether the noise at the current time is greater than the noise at the previous time. If the noise level is greater than that of the previous moment, then the data quantity and noise level at the current moment are used as the calibration parameters for the gyroscope.

[0008] In an optional implementation, the method further includes: If the number of data at the current moment is less than the number 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, then the number of data points and the noise at the previous moment are used as calibration parameters for the gyroscope.

[0009] In an optional implementation, determining whether the gyroscope meets the calibration conditions based on the amount of axial data and the current noise includes: If the calibration parameters are the number of data at the current moment and the noise at the current moment, then determine whether the number of data at the current moment is greater than the data number threshold; If the data quantity threshold is greater than the data quantity threshold, then determine whether the noise at the current moment is greater than the preset noise threshold. If the noise level is greater than the preset noise threshold, then the gyroscope is determined to meet the calibration conditions.

[0010] In an optional implementation, determining whether the gyroscope meets the calibration conditions based on the amount of axial data and the current noise includes: If the calibration parameters are the number of data at the previous moment and the noise at the previous moment, then determine whether the number of data at the previous moment is greater than the data number threshold. If the data quantity threshold is greater than the data quantity threshold, then it is determined 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, then the gyroscope is determined to meet the calibration conditions.

[0011] Secondly, 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, and the signal processing device is communicatively connected to the gyroscope, and the signal processing device comprises: The calculation module is used to acquire the axial data of the gyroscope when the mechanical equipment is in a stationary state, and to calculate the current noise of the gyroscope based on the axial data; The judgment module is used to determine whether the gyroscope meets the calibration conditions based on the amount of axial data and the current noise. The calibration module is used to calculate a calibration value based on the axial data if the calibration conditions are met, and to calibrate the gyroscope based on the calibration value when the mechanical equipment is in the next stationary state.

[0012] Thirdly, the present invention provides a computer device including a processor and a memory, the memory storing a computer program, and the processor executing the computer program to implement the gyroscope calibration method described in the first aspect.

[0013] Fourthly, the present invention provides a computer storage medium storing a computer program, which, when executed on a processor, 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 this invention acquires the axial data of the gyroscope during a pause in the mechanical equipment's stationary state during operation, calculates the noise of the gyroscope based on the axial data, determines whether the gyroscope needs calibration based on the noise, and if calibration is required, calculates the calibration value based on the axial data. Then, the gyroscope is calibrated during the next pause in the mechanical equipment's stationary state. The calibration method of this invention is quick, can be performed at any time during equipment movement, does not affect the equipment's operation, and reduces production and time costs. Attached Figure Description

[0015] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and should not be considered as a limitation on the scope of protection of the present invention. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 A schematic flowchart of a gyroscope calibration method provided in an embodiment of this application is shown; Figure 2 A flowchart illustrating a current noise acquisition method provided in an embodiment of this application is shown; Figure 3 A schematic diagram of the framework structure of a gyroscope calibration system provided in an embodiment of this application is shown. Detailed Implementation

[0017] The technical solutions 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 only some embodiments of the present invention, and not all embodiments.

[0018] The components of the embodiments of the invention described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0019] In the following, the terms “comprising,” “having,” and their cognates, which may be used in various embodiments of the invention, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as excluding, firstly, the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more features, numbers, steps, operations, elements, components, or combinations thereof.

[0020] Furthermore, the terms "first," "second," and "third" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0021] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of the invention pertain. Terms (such as those defined in commonly used dictionaries) shall be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and shall not be interpreted as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of the invention.

[0022] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features described herein can be combined with each other.

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

[0024] A gyroscope is an angular velocity detection device, primarily used to measure the angular velocity of various mechanical devices, such as drones and robots, and to assess the operational status of these devices based on the angular velocity. The gyroscope's operating condition is highly sensitive to temperature. Temperature increases caused by the operation of the mechanical equipment or by rising ambient temperatures can lead to errors in the gyroscope's readings, and these errors tend to increase over time; this is a common phenomenon known as temperature drift in gyroscopes.

[0025] To address the temperature drift issue of gyroscopes, current techniques involve first mounting the gyroscope on a mechanical device, then keeping the device stationary while slowly increasing its temperature. A deviation curve of the gyroscope's readings as a function of temperature is then plotted. This deviation curve is used to correct the gyroscope when it is subsequently put into use. However, temperature variations can differ between different devices and between different gyroscopes. Furthermore, performing individual stationary calibration on each gyroscope would be extremely time-consuming and costly in terms of production.

[0026] To achieve rapid gyroscope calibration, this embodiment acquires the axial data of the gyroscope when the mechanical device is in a stationary state. In this embodiment, the stationary state refers to the interval during the operation of the mechanical device. For example, when a robot is working, it may be in motion for most of the time and in a stationary state for a small part of the time. Therefore, the three-axis data of the gyroscope installed on the robot can be acquired when the robot is in a stationary state, and the robot does not need to be in a stationary state all the time.

[0027] The axial data of a gyroscope mainly consists of angular information along the X, Y, and Z axes. This axial data can be adjusted according to actual conditions, and then the gyroscope noise is calculated based on this data. Gyroscope noise refers to interference information other than angular velocity and angular position during the measurement process. Therefore, gyroscope noise can accurately reflect whether temperature drift has occurred in the gyroscope.

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

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

[0030] S103. If the calibration conditions are met, the calibration value is calculated based on the axial data, and the gyroscope is calibrated based on the calibration value when the mechanical equipment is in the next stationary state.

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

[0032] This embodiment acquires axial data of the gyroscope during a pause in the mechanical equipment's operation, calculates the gyroscope's noise based on the axial data, determines whether the gyroscope needs calibration based on the noise, and if calibration is required, calculates the calibration value based on the axial data. Then, the gyroscope is calibrated during the next pause in the mechanical equipment's operation. The calibration method of this invention is quick and can be performed at any time during equipment movement, without affecting the equipment's operation, thus reducing production and time costs.

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

[0034] S1011. Calculate the data difference between every two adjacent axial data in the axial data according to the time sequence to obtain the data difference sequence.

[0035] S1012. Obtain the absolute value sequence corresponding to the data difference sequence, and determine the current noise based on the absolute value sequence.

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

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

[0038] Since the axial data may fluctuate at different times, in order to determine the current noise level, the absolute values ​​of the data difference sequence can be obtained, i.e., (|BA|, |CB|, |DC|), and the absolute value sequence can be used as a reference for the current noise change.

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

[0040] In one embodiment, calibrating the gyroscope includes: The current noise is used as the calibration value of the gyroscope, and the axial data is calibrated according to the calibration value to obtain the 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 besides angular velocity. Therefore, by subtracting the current noise from the current operating parameters of the gyroscope, the normal operating parameters of the gyroscope can be obtained. Then, when the mechanical equipment is in a stationary 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 equipment, without requiring the mechanical equipment to be stopped. This improves the efficiency of gyroscope calibration, does not affect the normal operation of the mechanical equipment, and reduces calibration costs.

[0043] In one embodiment, the method further includes: Determine whether the number of data points at the current time is greater than the number of data points at the previous time. If the number of data points is greater than the number of data points at the previous time, then determine whether the noise at the current time is greater than the noise at the previous time. If the noise level is greater than that of the previous moment, then the data quantity and noise level at the current moment are used as the calibration parameters for the gyroscope.

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

[0045] This embodiment compares the amount of data and noise of the gyroscope to determine the optimal calibration parameters, providing data support for subsequent gyroscope calibration and improving the accuracy of gyroscope calibration.

[0046] In one embodiment, the method further includes: If the number of data at the current moment is less than the number 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, then the number of data points and the noise at the previous moment are used as calibration parameters for the gyroscope.

[0047] Typically, the amount of axial data increases gradually over time. However, considering the possibility of special circumstances where the mechanical equipment is in a highly noisy environment, such as when the equipment is a robot, it may move to a noisy area as it works. In such cases, the collected axial data and noise may be considered invalid data. Therefore, in these special circumstances, if the amount of axial data and noise from the previous moment also meet the calibration requirements, the axial data and noise from the previous moment can be used as calibration parameters for the gyroscope.

[0048] This embodiment takes into account that in certain special circumstances, 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 implementation, determining whether the gyroscope meets the calibration conditions based on the amount of axial data and the current noise includes: If the calibration parameters are the number of data at the current moment and the noise at the current moment, then determine whether the number of data at the current moment is greater than the data number threshold; If the data quantity threshold is greater than the data quantity threshold, then determine whether the noise at the current moment is greater than the preset noise threshold. If the noise level is greater than the preset noise threshold, then the gyroscope is determined to meet the calibration conditions.

[0050] The step of determining whether the gyroscope meets the calibration conditions based on the amount of axial data and the current noise also includes: If the calibration parameters are the number of data at the previous moment and the noise at the previous moment, then determine whether the number of data at the previous moment is greater than the data number threshold. If the data quantity threshold is greater than the data quantity threshold, then it is determined 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, then the gyroscope is determined to meet the calibration conditions.

[0051] To improve the accuracy of gyroscope calibration, it is necessary to judge the quantity and noise of the gyroscope's axial data 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 conditions are met, the gyroscope is calibrated.

[0052] This embodiment verifies the calibration parameters under different conditions to determine whether the calibration parameters meet the calibration conditions. If the calibration conditions are met, the gyroscope is calibrated accordingly, thus 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: The calculation module 601 is used to acquire the axial data of the gyroscope when the mechanical equipment is in a stationary state, and to calculate the current noise of the gyroscope based on the axial data; The judgment module 602 is used to determine whether the gyroscope meets the calibration conditions based on the amount of axial data and the current noise. The calibration module 603 is used to calculate a calibration value based on the axial data if the calibration conditions are met, and to calibrate the gyroscope based on the calibration value when the mechanical equipment is in the next stationary state.

[0054] It is 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, exemplary of which includes a processor and a memory, wherein the memory stores a computer program, and the processor, by running the computer program, causes the computer device to perform the functions of the various modules in the above-described gyroscope calibration method or the above-described 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), Graphics Processing Unit (GPU), Network Processor (NP), Digital Signal Processor (DSP), Application-Specific Integrated Circuit (ASIC), 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, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this invention.

[0057] The memory can 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), Electrically Erasable Programmable Read-Only Memory (EEPROM), etc. The memory is used to store computer programs, and the processor can execute the computer programs accordingly after receiving execution instructions.

[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 can 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 portable 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 this invention, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of the invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that, as an alternative implementation, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or 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 can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0061] If the aforementioned functions are implemented as software functional 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 part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a smartphone, personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention.

[0062] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A gyroscope calibration method, characterized in that, The method of mounting a gyroscope on a mechanical device includes: Acquiring the axial data of the gyroscope when the mechanical equipment is in a stationary state, and calculating the current noise of the gyroscope based on the axial data, includes: sequentially calculating the data difference between every two adjacent axial data in the axial data according to time order to obtain a data difference sequence; obtaining the absolute value sequence corresponding to the data difference sequence, and determining the current noise based on the absolute value sequence; The calibration conditions of the gyroscope are determined by the amount of axial data and the current noise. If the calibration conditions are met, a calibration value is calculated based on the axial data, and the gyroscope is calibrated based on the calibration value when the mechanical equipment is in the next stationary state. This includes: using the current noise as the calibration value of the gyroscope, calibrating the axial data based on the calibration value to obtain the normal operating parameters of the gyroscope, and controlling the gyroscope to operate according to the normal operating parameters.

2. The gyroscope calibration method according to claim 1, characterized in that, The method further includes: Determine whether the number of data at the current moment is greater than the number of data at the previous moment. The number of data refers to the number of data collected by the mechanical equipment when it is in a stationary state. The current moment refers to the current stationary state, and the previous moment refers to the previous stationary state. If the number of data points is greater than the number of data points at the previous time, then determine whether the noise at the current time is greater than the noise at the previous time. If the noise level is greater than that of the previous moment, then the data quantity and noise level at the current moment are used as the calibration parameters for the gyroscope.

3. The gyroscope calibration method according to claim 2, characterized in that, The method further includes: If the number of data at the current moment is less than the number 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, then the number of data points and the noise at the previous moment are used as calibration parameters for the gyroscope.

4. The gyroscope calibration method according to claim 3, characterized in that, The step of determining whether the gyroscope meets the calibration conditions based on the amount of axial data and the current noise includes: If the calibration parameters are the number of data at the current moment and the noise at the current moment, then determine whether the number of data at the current moment is greater than the data number threshold; If the data quantity threshold is greater than the data quantity threshold, then determine whether the noise at the current moment is greater than the preset noise threshold. If the noise level is greater than the preset noise threshold, then the gyroscope is determined to meet the calibration conditions.

5. The gyroscope calibration method according to claim 4, characterized in that, The step of determining whether the gyroscope meets the calibration conditions based on the amount of axial data and the current noise includes: If the calibration parameters are the number of data at the previous moment and the noise at the previous moment, then determine whether the number of data at the previous moment is greater than the data number threshold. If the data quantity threshold is greater than the data quantity threshold, then it is determined 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, then the gyroscope is determined to meet the calibration conditions.

6. A gyroscope calibration system, characterized in that, include: A gyroscope, a mechanical device, and a signal processing device, wherein the gyroscope is mounted on the mechanical device, and the signal processing device is communicatively connected to the gyroscope, and the signal processing device includes: The calculation module is used to acquire the axial data of the gyroscope when the mechanical equipment is in a stationary state, and to calculate the current noise of the gyroscope based on the axial data, including: calculating the data difference between every two adjacent axial data in the axial data in chronological order to obtain a data difference sequence; acquiring the absolute value sequence corresponding to the data difference sequence, and determining the current noise based on the absolute value sequence; The judgment module is used to determine whether the gyroscope meets the calibration conditions based on the amount of axial data and the current noise. A calibration module is used to calculate a calibration value based on the axial data if the calibration conditions are met, and to calibrate the gyroscope based on the calibration value when the mechanical equipment is in the next stationary state. The calibration module includes: using the current noise as the calibration value of the gyroscope, calibrating the axial data based on the calibration value to obtain the normal operating parameters of the gyroscope, and controlling the gyroscope to operate according to the normal operating parameters.

7. A computer device, characterized in that, The computer device includes a processor and a memory, the memory storing a computer program, and the processor executing the computer program to implement the gyroscope calibration method according to any one of claims 1-5.

8. A computer storage medium, characterized in that, It stores a computer program that, when executed on a processor, implements the gyroscope calibration method according to any one of claims 1-5.

Images