Calibration method of gyroscope zero drift

Abstract

The embodiment of the invention provides a calibration method of gyroscope zero drift. The method comprises the steps that step 1, after a robot is started, the angular velocity of the gyroscope is read at each of the time intervals, in the reading process of the angular velocity, angular integration is conducted to obtain the angle of the gyroscope, and step 2 is executed; step 2, a zero drift value is determined according to the angular velocity read under the static condition of the gyroscope, and step 3 is executed; step 3, the zero drift value is subtracted from the angle of the gyroscopein the reading process to obtain the calibrated angle of the gyroscope. The method has the advantages of being simple and easy to implement, and the influence of the gyroscope zero drift value is solved to improve the accuracy of the data output of the gyroscope.

Description

technical field [0001] The invention relates to a calibration method for a gyroscope, in particular to a calibration method for the zero drift of a gyroscope. Background technique [0002] According to different specifications, the gyroscope has one-axis, six-axis, and nine-axis sensors, which are used to detect angular velocity, acceleration, and geomagnetism. On sweeper robots, they are often used to judge attitudes, such as yaw angles. Determine the angle at which an object swings horizontally. The micro-electromechanical gyroscope (MEMS) uses the Coriolis force of physics to generate a small capacitance change internally, then measures the capacitance, calculates the angular velocity, and replaces the gyroscope. In recent years, with the development of MEMS (Micro-electromechanical Systems) technology, the research and development of MEMS gyroscopes has received extensive attention. MEMS gyroscopes have the advantages of small size, light weight, good reliability, and ...

AI Technical Summary

Problems solved by technology

Assuming that the gyroscope is fixed, the ideal angular velocity value is 0dps (degree per second, angle / second), but there is a zero point drift, for example, there is a bias of 0.1dps added to it, so the measured value is 0.1dps, after one second of integration , the obtained angle is 0.1 degrees, 6 degrees after one minute of integration, and 180 degrees after half an hour of integration, the longer the integration time, the greater the drift

It is precisely because of the zero point drift phenomenon of the gyroscope, after integration, the drift phenomenon will be more serious, affecting the accuracy of the sensor

If the yaw angle shifts in the sweeper, the entire map will shift accordingly, resulting in poor user experience

In the prior art, limitations on processing speed, power consumption, and memory can make some complex matrix operations impractical for applications running on robotic devices with limited resources

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