CN210689661U - Gyroscope calibration circuit and device - Google Patents
Gyroscope calibration circuit and device Download PDFInfo
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- CN210689661U CN210689661U CN201921116566.5U CN201921116566U CN210689661U CN 210689661 U CN210689661 U CN 210689661U CN 201921116566 U CN201921116566 U CN 201921116566U CN 210689661 U CN210689661 U CN 210689661U
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Abstract
The utility model provides a gyroscope calibration circuit and device, through adding humiture detection module, signal processing module and host computer, has realized the actual humiture that each gyroscope of real-time detection is located to select the target rotation angle in order to carry out corresponding detection and calibration to each gyroscope according to this actual humiture, solved among the traditional technical scheme because of not considering the influence of humiture to the gyroscope, only adopt a reference standard to detect the gyroscope and the measuring accuracy that leads to is low and be difficult to correct calibration gyroscope's problem.
Description
Technical Field
The utility model belongs to the technical field of the gyroscope, especially, relate to a gyroscope calibration circuit and device.
Background
The performance parameters of the gyroscope are affected by the temperature and humidity of the environment where the gyroscope is located, however, the influence of the environment temperature and humidity is generally not considered by the traditional platform type inertia test system, when the gyroscope is tested, the traditional platform type inertia test system generally only tests the gyroscope once in the environment with random temperature and humidity, and the same reference standard is used as the test reference value of the gyroscope in the environment with random temperature and humidity, so that the test precision of the gyroscope is low, and correct calibration cannot be carried out on the gyroscope.
Therefore, the conventional technical scheme has the problems of low test precision and difficulty in correctly calibrating the gyroscope.
SUMMERY OF THE UTILITY MODEL
In view of this, the embodiment of the present invention provides a gyroscope calibration circuit and apparatus, which aim to solve the problems of low test accuracy and difficulty in correctly calibrating a gyroscope in the conventional technical solution.
The utility model discloses a first aspect of the embodiment provides a gyroscope calibration circuit, is connected with at least one gyroscope, gyroscope calibration circuit includes: the temperature and humidity detection module is used for detecting the actual temperature and humidity of the environment where each gyroscope is located and outputting a temperature detection signal and a humidity detection signal; the signal processing module is connected with the temperature and humidity detection module and each gyroscope and is used for acquiring the temperature detection signal, the humidity detection signal and the rotation parameter of each gyroscope and converting each rotation parameter into each rotation angle; the upper computer is in communication connection with the signal processing module and is used for selecting a target rotation angle according to the temperature detection signal and the humidity detection signal, calibrating the rotation angles according to the target rotation angle in a one-to-one correspondence mode, outputting calibration parameters to the signal processing module, and outputting the calibration parameters to the corresponding gyroscopes respectively by the signal processing module.
In one embodiment, the temperature and humidity detection module includes a temperature and humidity sensor, and a data terminal of the temperature and humidity sensor is connected to the signal processing module.
In one embodiment, the signal processing module comprises a microprocessor.
In one embodiment, the gyroscope calibration circuit further comprises: the rotary table is used for placing each gyroscope and enabling each gyroscope to rotate; the level gauge detection module is fixed on the rotary table, the signal output end of the level gauge detection module is connected with the signal processing module, and the level gauge detection module is used for detecting the horizontal angle of the rotary table and outputting a horizontal detection signal to the signal processing module; the signal processing module transmits the horizontal detection signal to the upper computer, and the upper computer compares the horizontal detection signal with a target horizontal detection signal and generates a comparison result.
In one embodiment, the level detection module includes a tilt sensor.
In one embodiment, the gyroscope calibration circuit further includes a plurality of state display modules, each of the state display modules is connected to each of the gyroscopes in a one-to-one correspondence, and each of the state display modules is configured to indicate a working state of each of the gyroscopes.
In one embodiment, the gyroscope calibration circuit further comprises a wireless communication module, the wireless communication module is connected with the signal processing module, the wireless communication module is wirelessly connected with the upper computer, and the signal processing module performs data transmission with the upper computer through the wireless communication module.
In one embodiment, the gyroscope calibration circuit further includes a multi-channel switch module, a common terminal and a control terminal of the multi-channel switch module are connected to the signal processing module, a plurality of connection terminals of the multi-channel switch module are respectively connected to the gyroscopes, and the multi-channel switch module is configured to connect the rotation angles of the gyroscopes to the signal processing module in a one-to-one correspondence manner.
In one embodiment, the gyroscope calibration circuit further comprises a power supply module, wherein an input end of the power supply module is externally connected with a power supply, and the power supply module is used for converting the power supply into a target working power supply.
A second aspect of the embodiments of the present invention provides a gyroscope calibration apparatus, including as the first aspect of the embodiments of the present invention provide a gyroscope calibration circuit.
According to the gyroscope calibration circuit and device, the temperature and humidity detection module, the signal processing module and the upper computer are added, so that the actual temperature and humidity of each gyroscope are detected in real time, the target rotation angle is selected according to the actual temperature and humidity so as to perform corresponding detection and calibration on each gyroscope, and the problems that the temperature and humidity are not considered to influence the gyroscope in the traditional technical scheme, the gyroscope is low in test precision and difficult to calibrate correctly due to the fact that only one reference standard is adopted to detect the gyroscope are solved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.
Fig. 1 is a schematic circuit diagram of a gyroscope calibration circuit according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an exemplary circuit of a temperature and humidity detection module in the gyroscope calibration circuit shown in FIG. 1;
fig. 3 is another schematic circuit diagram of a gyroscope calibration circuit according to an embodiment of the present invention;
FIG. 4 is an exemplary circuit schematic of a level detection module in the gyroscope calibration circuit shown in FIG. 3;
FIG. 5 is an exemplary circuit schematic of a first status display block in the gyroscope calibration circuit shown in FIG. 3;
FIG. 6 is an exemplary circuit schematic of a multi-channel switch module in the gyroscope calibration circuit shown in FIG. 3.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, a circuit diagram of a gyroscope calibration circuit according to a first embodiment of the present invention is shown, for convenience of illustration, only the relevant portions of the gyroscope calibration circuit are shown, and the following details are described:
the gyro calibration circuit in this embodiment is connected to at least one gyro, in this embodiment, only the first gyro 110, the second gyro 120, and the third gyro 130 are shown, and in other embodiments, the gyro calibration circuit may be connected to one, two, or more than three gyros.
The gyroscope calibration circuit comprises a temperature and humidity detection module 200, a signal processing module 300 and an upper computer 400, wherein the signal processing module 300 is connected with the temperature and humidity detection module 200 and each gyroscope, and the upper computer 400 is in communication connection with the signal processing module 300; the temperature and humidity detection module 200 is configured to detect actual temperatures and humidities of environments where the gyroscopes are located and output temperature detection signals and humidity detection signals; the signal processing module 300 is configured to acquire a temperature detection signal, a humidity detection signal, and rotation parameters of each gyroscope and convert each rotation parameter into each rotation angle; the upper computer 400 is used for selecting a target rotation angle according to the temperature detection signal and the humidity detection signal, calibrating each rotation angle according to the target rotation angle in a one-to-one correspondence manner, and outputting calibration parameters to the signal processing module 300, and the signal processing module 300 outputs each calibration parameter to a corresponding gyroscope respectively.
It should be understood that the rotation parameters in the present embodiment include: the gyroscope comprises one or more of a rotation angle, acceleration, momentum moment, external moment and the like, wherein the rotation angle of the gyroscope can be transmitted to a signal processing module 300 after acquiring a rotation angle analog quantity through an angular velocity sensor arranged on a gyroscope body, the signal processing module 300 converts the rotation angle analog quantity into a data quantity and transmits the data quantity to an upper computer 400, or the signal processing module converts the acceleration or the momentum moment of the gyroscope and the external moment to obtain the rotation angle of the gyroscope and then transmits the rotation angle to the upper computer 400; the calibration parameter is a deviation value between the target rotation angle and the rotation angle; the signal processing module 300 specifically outputs each calibration parameter to the processor of the gyroscope; the temperature and humidity detecting module 200 may be formed by a device or a chip having a temperature and humidity detecting function, such as a temperature and humidity sensor; the signal processing module 300 may be constituted by a microprocessor, such as an STM32 series single chip microcomputer; the upper computer 400 may be constituted by a computer. It is to be understood that the temperature detection signal and the humidity detection signal may be data signals.
It should be understood that, when the gyroscope calibration circuit is actually operated, a user can change the rotation speed of the gyroscope and the temperature and humidity of the environment for multiple times to detect and calibrate the gyroscope.
The gyroscope calibration circuit in the embodiment realizes real-time detection of actual temperature and humidity of each gyroscope by adding the temperature and humidity detection module 200, the signal processing module 300 and the upper computer 400, and selects the target rotation angle according to the actual temperature and humidity so as to perform corresponding detection and calibration on each gyroscope, thereby solving the problems that the temperature and humidity are not considered to influence the gyroscope in the traditional technical scheme, and only one reference standard is adopted to detect the gyroscope, so that the test precision is low and the gyroscope is difficult to be correctly calibrated.
Referring to fig. 2, in an embodiment, the temperature and humidity detecting module 200 includes a temperature and humidity sensor U1, and the data terminals SDA and SCL of the temperature and humidity sensor U1 are connected to the signal processing module 300. It should be understood that the temperature and humidity sensor U1 in this embodiment is a temperature and humidity sensor of type TH06, and in other embodiments, other types of temperature and humidity sensors may also be used. The temperature and humidity detection module 200 may further include a first resistor R1, a second resistor R2, and a first capacitor C1, a power source terminal VDD of the temperature and humidity sensor U1 is connected to the first end of the first capacitor C1 and the working power source, a second end of the first capacitor C1 is grounded, a data terminal SDA of the temperature and humidity sensor U1 is connected to the first end of the second resistor R2, a data terminal SCL of the temperature and humidity sensor U1 is connected to the first end of the first resistor R1, a second end of the first resistor R1 and a second end of the second resistor R2 are commonly connected to the working power source, the data terminals SDA and SCL of the temperature and humidity sensor U1 are externally connected to the signal processing module 300, and a ground terminal GND of the temperature and humidity sensor U1 is grounded. In the temperature and humidity detection module 200 in this embodiment, the temperature and humidity of the actual environment of each gyroscope are collected in real time by using the temperature and humidity sensor U1.
Referring to fig. 3, in an embodiment, the method further includes: a turntable 500 and a level detecting module 600, the turntable 500 being used to place each gyroscope and rotate each gyroscope; the level meter detection module 600 is fixed on the turntable 500, the signal output end of the level meter detection module 600 is connected with the signal processing module 300, the level meter detection module 600 is used for detecting the horizontal angle of the turntable 500 and outputting a horizontal detection signal to the signal processing module 300, the signal processing module 300 transmits the horizontal detection signal to the upper computer 400, and the upper computer 400 compares the horizontal detection signal with a target horizontal detection signal and generates a comparison result.
It should be understood that the level detection signal may be a data signal; after the upper computer 400 generates the comparison result, the upper computer 400 stores the comparison result and displays the comparison result to the user, and the user manually adjusts the rotary table 500 according to the comparison result until the horizontal angle of the rotary table 500 is the target value, so that the horizontal precision of the gyroscope calibration circuit is ensured.
It should be understood that the turntable 500 and the upper computer 400 may be connected through a serial port, the upper computer 400 controls the operation parameters of the turntable 500 through the serial port, the turntable 500 feeds back the operation parameters of itself to the upper computer 400 through the serial port, and the operation parameters include the number of rotations, the rotation angle, the rotation speed, and the like; specifically, the upper computer 400 is connected to an internal control circuit of the turntable 500 through a serial port; optionally, the serial port may be one of RS-232, RS-422 and RS-485.
Referring to FIG. 4, in one embodiment, the level detection module 600 includes a tilt sensor U2. It should be understood that the level detecting module 600 in this embodiment is an inclination angle sensor of model SCL3300, in other embodiments, other types of inclination angle sensors may also be used, and the level detecting module 600 in this embodiment may further include a second capacitor C2, a third capacitor C3, and a fourth capacitor C4, the second capacitor is connected between the a _ EXTC terminal of the inclination angle sensor U2 and the ground, the third capacitor C3 is connected between the D _ EXTC terminal of the inclination angle sensor U2 and the ground, and the fourth capacitor C4 is connected between the DVIO terminal of the inclination angle sensor U2 and the ground.
Referring to fig. 3, in an embodiment, the present invention further includes a plurality of status display modules, each of the status display modules is connected to each of the gyroscopes in a one-to-one correspondence, and each of the status display modules is configured to indicate a working status of each of the gyroscopes, and in this embodiment, only a first status display module 710 configured to indicate a working status of the first gyroscope 110, a second status display module 720 configured to indicate a working status of the second gyroscope 120, and a third status display module 730 configured to indicate a working status of the third gyroscope 130 are shown.
It should be understood that the operating state may include a normal operating state and a fault state; the ports of each gyroscope connected with each state display module can also be connected to the signal processing module 300, and the working state of each gyroscope is transmitted to the upper computer 400 through the signal processing module 300; each status display module may be composed of a light emitting device, such as a light emitting diode, and optionally, in one embodiment, each status display module may include a light emitting device, and the light emitting device is turned on or off to indicate a normal operation status or a fault status of the gyroscope; in another embodiment, each status display module may include two light emitting devices, which may have different colors therebetween, for indicating a normal operation status and a failure status, respectively.
Referring to fig. 5, taking the first status display module 710 as an example, the first status display module 710 includes a third resistor R3, a fourth resistor R4, a first light emitting diode D1 and a second light emitting diode D2, a first end of the third resistor R3 and a first end of the fourth resistor R4 are connected to the first gyroscope 110, a second end of the third resistor R3 is connected to an anode of the first light emitting diode D1, a second end of the fourth resistor R4 is connected to an anode of the second light emitting diode D2, a cathode of the first light emitting diode D1 and a cathode of the second light emitting diode D2 are grounded, and the first light emitting diode D1 and the second light emitting diode D2 are two light emitting diodes with different colors.
Referring to fig. 3, in an embodiment, the wireless communication module 800 is further included, the wireless communication module 800 is connected to the signal processing module 300, the wireless communication module 800 is wirelessly connected to the upper computer 400, and the signal processing module 300 performs data transmission with the upper computer 400 through the wireless communication module 800. It is to be understood that the wireless communication module 800 may include a bluetooth module and/or a WIFI module.
Referring to fig. 3, in an embodiment, the multi-channel switch module 900 is further included, a common terminal and a control terminal of the multi-channel switch module 900 are connected to the signal processing module 300, a plurality of connection terminals of the multi-channel switch module 900 are respectively connected to each gyroscope, and the multi-channel switch module 900 is configured to correspondingly connect rotation angles of each gyroscope to the signal processing module 300 one by one.
It should be understood that the multi-channel switch module 900 may include a switch chip or multiplexer, such as a switch chip model 4051_16, and when the gyroscope calibration circuit is testing and calibrating multiple gyroscopes simultaneously, the multi-channel switch module 900 may include multiple switch chips or multiplexers.
Referring to fig. 6, the multi-channel switch module 900 includes a switch chip U3, an address terminal of the switch chip U3 is a control terminal of the multi-pass switch module 900, a COM terminal of the switch chip U3 is a common terminal of the multi-pass switch module 900, and 1-8 terminals of the switch chip U3 are connection terminals of the multi-pass switch module 900.
In one embodiment, the power supply system further comprises a power supply module, wherein the input end of the power supply module is externally connected with a power supply, and the power supply module is used for converting the power supply into a target working power supply. It should be understood that the target operating power supply is a required operating power supply for other modules in the gyroscope calibration circuit connected to the output terminal of the power supply module, the target operating power supply may be a power supply of the same value or a power supply of different values, and the power supply module may include a plurality of voltage stabilizing chips or DC-DC conversion chips, for example, a voltage stabilizing chip of model XC6220D332 VR-G.
The utility model provides a second aspect of the embodiment provides a gyroscope calibrating device, include the utility model discloses the gyroscope calibration circuit of the first aspect of the embodiment.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A gyroscope calibration circuit, connected to at least one gyroscope, the gyroscope calibration circuit comprising:
the temperature and humidity detection module is used for detecting the actual temperature and humidity of the environment where each gyroscope is located and outputting a temperature detection signal and a humidity detection signal;
the signal processing module is connected with the temperature and humidity detection module and each gyroscope and is used for acquiring the temperature detection signal, the humidity detection signal and the rotation parameter of each gyroscope and converting each rotation parameter into a rotation angle; and
the upper computer is in communication connection with the signal processing module and is used for selecting a target rotation angle according to the temperature detection signal and the humidity detection signal, calibrating the rotation angles according to the target rotation angle in a one-to-one correspondence mode, outputting calibration parameters to the signal processing module, and outputting the calibration parameters to the corresponding gyroscopes respectively by the signal processing module.
2. The gyroscope calibration circuit of claim 1, wherein the temperature and humidity detection module comprises a temperature and humidity sensor, and a data terminal of the temperature and humidity sensor is connected to the signal processing module.
3. The gyroscope calibration circuit of claim 1, wherein the signal processing module comprises a microprocessor.
4. The gyroscope calibration circuit of claim 1, further comprising:
the rotary table is used for placing each gyroscope and enabling each gyroscope to rotate; and
the level gauge detection module is fixed on the rotary table, the signal output end of the level gauge detection module is connected with the signal processing module, and the level gauge detection module is used for detecting the horizontal angle of the rotary table and outputting a horizontal detection signal to the signal processing module;
the signal processing module transmits the horizontal detection signal to the upper computer, and the upper computer compares the horizontal detection signal with a target horizontal detection signal and generates a comparison result.
5. The gyroscope calibration circuit of claim 4, wherein the level detection module comprises a tilt sensor.
6. The gyroscope calibration circuit of claim 1, further comprising a plurality of status display modules, each status display module being connected in one-to-one correspondence with each gyroscope, each status display module being configured to indicate an operating status of each gyroscope.
7. The gyroscope calibration circuit according to claim 1, further comprising a wireless communication module, wherein the wireless communication module is connected with the signal processing module, the wireless communication module is wirelessly connected with the upper computer, and the signal processing module performs data transmission with the upper computer through the wireless communication module.
8. The gyroscope calibration circuit according to claim 1, further comprising a multi-channel switch module, wherein a common terminal and a control terminal of the multi-channel switch module are connected to the signal processing module, a plurality of connection terminals of the multi-channel switch module are respectively connected to the gyroscopes, and the multi-channel switch module is configured to connect the rotation angles of the gyroscopes to the signal processing module in a one-to-one correspondence manner.
9. The gyroscope calibration circuit according to any one of claims 1 to 8, further comprising a power supply module, wherein an input terminal of the power supply module is externally connected with a power supply, and the power supply module is configured to convert the power supply into a target operating power supply.
10. A gyro calibration device comprising a gyro calibration circuit as claimed in any one of claims 1 to 9.
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| CN201921116566.5U CN210689661U (en) | 2019-07-16 | 2019-07-16 | Gyroscope calibration circuit and device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112220474A (en) * | 2020-09-16 | 2021-01-15 | 广东工业大学 | A body balance detection device |
| CN112857318A (en) * | 2021-01-08 | 2021-05-28 | 重庆开谨科技有限公司 | Bridge inclination and dynamic parameter monitoring sensor and detection method |
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2019
- 2019-07-16 CN CN201921116566.5U patent/CN210689661U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112220474A (en) * | 2020-09-16 | 2021-01-15 | 广东工业大学 | A body balance detection device |
| CN112857318A (en) * | 2021-01-08 | 2021-05-28 | 重庆开谨科技有限公司 | Bridge inclination and dynamic parameter monitoring sensor and detection method |
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