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Integrated digital angular velocity gyroscope, predictive filtering method and electronic equipment

An angular velocity gyro and predictive filtering technology, applied in the field of data processing, can solve problems such as large noise of angular velocity signals, affecting system stability and control accuracy, and inability to directly provide angular acceleration feedforward information, etc.

Pending Publication Date: 2021-05-07
CHANGCHUN INST OF OPTICS FINE MECHANICS & PHYSICS CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the traditional digital angular velocity gyroscope is affected by power supply noise and the performance of the device itself, and there is a large noise in the output angular velocity signal, which affects the stable control accuracy of the system
In addition, the traditional angular velocity gyroscope cannot directly provide angular acceleration feedforward information, so the control system cannot use feedforward compound control to further improve the tracking performance of the control system

Method used

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  • Integrated digital angular velocity gyroscope, predictive filtering method and electronic equipment
  • Integrated digital angular velocity gyroscope, predictive filtering method and electronic equipment
  • Integrated digital angular velocity gyroscope, predictive filtering method and electronic equipment

Examples

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Embodiment 1

[0038] An integrated digital angular velocity gyroscope, comprising an angular velocity gyroscope, a DSP micro-controller and a serial port interface connected by sequential signals, the DSP micro-controller includes a predictive filtering module, and the predictive filtering module transmits the angular velocity according to the angular velocity gyroscope The signal is processed, and the predictive filter signal is output from the serial port interface.

[0039] Wherein, described DSP microcontroller comprises SCI module, IRQ module and SPI module and SCIA module; Wherein, the SPI module of described DSP microcontroller is through chip select (SS), clock (SCLK), master output slave machine input ( MOSI), host input slave output (MISO) and interrupt response (IRQ) signals to realize the sending of angular velocity gyroscope commands and reading of velocity data. Among them, the timing of SS, SCLK, MOSI and MISO signals is generated by the DSP microcontroller according to the t...

Embodiment 2

[0044] The advantages of the integrated digital angular velocity gyroscope of the present invention are also reflected in the data processing aspect of the angular velocity gyroscope. After the DSP microcontroller finishes reading the angular velocity data, the DSP also filters the angular velocity data and predicts the angular acceleration. After processing, the DSP outputs the angular velocity with less noise and the smoother acceleration data to the serial port interface circuit, so as to provide stability. The platform control system provides more accurate angular velocity feedback information and angular acceleration feedforward information.

[0045] Specifically, such as figure 2 As shown, in the DSP microcontroller, the predictive filter module includes a first filter unit, a second filter unit and a predictive compensation unit; the first filter unit is connected with the second filter unit and the predictive compensation unit respectively Signal connection, the seco...

Embodiment 3

[0048] The technical solution of the present invention also includes: a digital angular velocity prediction filtering method, comprising the following steps:

[0049] Obtain the angular velocity signal of the angular velocity gyroscope;

[0050] Perform filtering and differential processing, and output the filtered value and differential value;

[0051] The differential value is further filtered to obtain the acceleration signal;

[0052] Predictive compensation is performed according to the filter value and the acceleration signal to output a predictive filter signal.

[0053] As a preferred embodiment, in order to filter out the noise in the output signal of the digital angular velocity gyroscope, and predict and obtain a smooth angular acceleration signal, a predictive filtering algorithm based on the arctangent function is invented, and the algorithm is digitally discrete in the DSP microcontroller. realized. The filtering and differential processing are realized by for...

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Abstract

The invention belongs to the technical field of data processing, and particularly relates to an integrated digital angular velocity gyroscope, a predictive filtering method and electronic equipment. The integrated digital angular velocity gyroscope comprises an angular velocity gyroscope, a DSP microcontroller and a serial port interface which are in signal connection in sequence, the DSP microcontroller comprises a prediction filtering module, and the prediction filtering module carries out processing according to an angular velocity signal transmitted by the angular velocity gyroscope and outputs a prediction filtering signal from the serial port interface. According to the integrated digital angular velocity gyroscope, angular velocity data can be accurately filtered, angular acceleration can be accurately predicted, and the system control precision can be greatly improved.

Description

technical field [0001] The invention belongs to the technical field of data processing, and in particular relates to an integrated digital angular velocity gyroscope, a predictive filtering method and electronic equipment. Background technique [0002] At present, the digital angular velocity gyroscope has been widely used in the fields of stable platform control system, navigation, robot and medical equipment due to its advantages of high bandwidth and stable zero bias. However, the traditional digital angular velocity gyroscope is affected by the noise of the power supply and the performance of the device itself, and there is a large noise in the output angular velocity signal, which affects the stability and control accuracy of the system. In addition, the traditional angular velocity gyroscope cannot directly provide angular acceleration feedforward information, so the control system cannot use feedforward compound control to further improve the tracking performance of t...

Claims

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Application Information

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IPC IPC(8): G01C19/5719G01C19/5726
CPCG01C19/5719G01C19/5726Y02E40/40
Inventor 邓永停李洪文王建立邵蒙
Owner CHANGCHUN INST OF OPTICS FINE MECHANICS & PHYSICS CHINESE ACAD OF SCI
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