Gyroscope Delay Compensation for Zero-Delay Angular Velocity
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Solution Overview
Problem
Existing gyroscope systems introduce unnecessary delay due to high sampling frequencies exceeding digital filter cutoff frequencies, affecting the anti-jitter performance of optical image stabilizers.
Innovation Solution
A method involving digital filtering, integration calculation, Gaussian filtering, and scalar addition to optimize gyroscope delay, including partitioned integration for non-integer delays, to minimize the impact of filter sampling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If digital filtering is applied to angular velocity data from gyroscope, then noise is reduced and signal quality is improved, but unnecessary delay is introduced to the signal
Solution Approach 1:
The patent applies preliminary action by performing delay compensation calculations before final output. It calculates the delay amount based on filter parameters and sampling frequency, then compensates for this delay by adjusting the timing of the filtered signal or by predicting future values, ensuring the output signal is delivered at the correct time without unnecessary lag
Solution Approach 2:
The patent changes parameters by adjusting filter design parameters (such as filter order, cutoff frequency, or filter type) and sampling frequency to optimize the balance between noise reduction and delay. By modifying these parameters, the system achieves better signal quality while minimizing the introduced delay, or calculates appropriate compensation based on the known delay characteristics
2Measurement precision
If high sampling frequency is used for angular velocity data, then data accuracy is improved, but unnecessary delay is introduced due to filter processing
Solution Approach 1:
The system performs preliminary calculation of the delay amount caused by digital filtering based on the filter parameters and sampling frequency. This delay compensation is applied in advance or in real-time to counteract the processing delay, ensuring that high sampling frequency data maintains its accuracy advantage without suffering from filter-induced timing delays
Solution Approach 2:
The patent implements feedback by using the known delay characteristics of the digital filter (calculated from filter parameters and sampling frequency) to adjust the timing or prediction of the output signal. This feedback mechanism ensures that the high-accuracy data from high sampling frequency is delivered with correct timing, compensating for the filter processing delay
Data Source
AI summary
The present disclosure provides a method and system, and a device. The method includes: acquiring first angular velocity data captured by a gyroscope sensor, wherein k is a positive integer; performing digital filtering on the angular velocity data to obtain second angular velocity data with a delay γ, and performing integration calculation on the second angular velocity data to obtain a first angular velocity scalar; acquiring an angular velocity vector of a predetermined length including the first angular velocity data captured by the gyroscope sensor, and successively performing Gaussian filtering and integration calculation on the angular velocity vector to obtain a second angular velocity scalar; and adding the first angular velocity scalar and the second angular velocity scalar to obtain optimized angular velocity data. Compared to the related art, in the present disclosure, the impacts caused by filter sampling are minimized, and zero-delay data output is achieved.