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CN111811535A - Method and device for dynamically calibrating MEMS gyroscope and gyroscope - Google Patents

Method and device for dynamically calibrating MEMS gyroscope and gyroscope Download PDF

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Publication number
CN111811535A
CN111811535A CN201910294722.5A CN201910294722A CN111811535A CN 111811535 A CN111811535 A CN 111811535A CN 201910294722 A CN201910294722 A CN 201910294722A CN 111811535 A CN111811535 A CN 111811535A
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vehicle
scale
zero
gyroscope
gyro
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CN111811535B (en
Inventor
陈晓光
金栎
曾鹿滨
代良雨
刘涛
朱永清
鞠文强
吴旭峰
黄铮
卢同兴
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SAIC General Motors Corp Ltd
Pan Asia Technical Automotive Center Co Ltd
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SAIC General Motors Corp Ltd
Pan Asia Technical Automotive Center Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices

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  • Manufacturing & Machinery (AREA)
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  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Gyroscopes (AREA)

Abstract

The invention relates to a method and a device for dynamically calibrating a gyroscope and the gyroscope. The method for dynamically calibrating the MEMS gyroscope of the micro-electro-mechanical system comprises the following steps: the following model is provided for the MEMS gyroscope:
Figure DEST_PATH_IMAGE002
wherein
Figure DEST_PATH_IMAGE004
Is the angular velocity of the vehicle and,Ais a first scale bar, and is provided with a first scale,Bin the form of a second scale bar,Dthe gyro is zero-offset for the voltage signal of the gyro original outputD 0The voltage signal is output when the gyroscope is static; judging whether the vehicle is in a static state or a non-static state; and when the vehicle is judged to reach the non-static state, carrying out a scale calibration process according to the judgment result
Figure DEST_PATH_IMAGE004A
、DAndD 0is changed to obtainAAndB。

Description

Method and device for dynamically calibrating MEMS gyroscope and gyroscope
Technical Field
The invention relates to a method and a device for calibrating a gyroscope, in particular to a method and a device for dynamically calibrating a gyroscope.
Background
More and more modern vehicles have a global navigation satellite system/dead reckoning (GNSS/DR) combined navigation function as a standard function when the vehicle leaves the factory. The calibration result of the vehicle-mounted MEMS gyroscope directly influences the performance of the GNSS/DR combined navigation system with the gyroscope as an angle sensor element. The calibration work of the traditional vehicle-mounted MEMS gyroscope is finished before the vehicle leaves a factory, so that the calibration parameters are fixed and single. Therefore, the gyroscope angle information obtained by the parameter calibration mode is difficult to meet the navigation requirement of the vehicle under the conditions of complicated road conditions and vehicle conditions after leaving the factory.
Disclosure of Invention
The invention aims to provide a method and a device for dynamically obtaining calibration parameters of an MEMS gyroscope under the current road condition and vehicle condition in the normal driving process of a vehicle after the vehicle leaves a factory.
In order to achieve the above object, the present invention provides the following technical solutions.
According to a first aspect of the present invention, there is provided a method for dynamically calibrating a MEMS gyroscope of a microelectromechanical system, comprising the steps of:
the following model is provided for the MEMS gyroscope:
Figure 100002_DEST_PATH_IMAGE001
，
wherein
Figure 643440DEST_PATH_IMAGE002
Is the angular velocity of the vehicle and,Ais a first scale bar, and is provided with a first scale,Bin the form of a second scale bar,Dthe gyro is zero-offset for the voltage signal of the gyro original outputD 0The voltage signal is output when the gyroscope is static;
judging whether the vehicle is in a static state or a non-static state; and
when the vehicle is judged to reach the non-static state, the scaling process is carried out according to the judgment result
Figure 831976DEST_PATH_IMAGE002
、DAndD 0is changed to obtainAAndB。
according to an embodiment of the invention, the method for dynamically calibrating the MEMS gyroscope of the micro-electro-mechanical system comprises the following steps:
using the formula (2)
Figure 100002_DEST_PATH_IMAGE003
And within a first threshold time before the vehicle reaches a non-stationary stateA、B、DAnd
Figure 610576DEST_PATH_IMAGE004
deriving the sum of the corresponding corrected gyro outputs
Figure 100002_DEST_PATH_IMAGE005
And deriving the sum of the angular velocities by accumulation
Figure 681300DEST_PATH_IMAGE006
；
Using the formula (3)
Figure 100002_DEST_PATH_IMAGE007
And a plurality of sets obtained corresponding to the vehicle being in a non-stationary state for a plurality of times
Figure 679912DEST_PATH_IMAGE008
And
Figure 100002_DEST_PATH_IMAGE009
at least a first selected two groups of
Figure 988534DEST_PATH_IMAGE010
And
Figure 100002_DEST_PATH_IMAGE011
deriving at least one set of first dynamic scales corresponding to said selectionA' and second dynamic scaleB'；
For all obtainedA' values are averaged to obtain a first scale result
Figure 672456DEST_PATH_IMAGE012
And to all of the obtainedB' values are averaged to obtain a second scale result
Figure 100002_DEST_PATH_IMAGE013
。
A method for dynamically calibrating a MEMS gyroscope of a microelectromechanical system according to another embodiment of the invention or any of the embodiments above, further comprising:
when the vehicle is judged to reach the static state, a zero calibration process is carried out, and the time within a second threshold value before the vehicle reaches the static state is passed in the zero calibration processDThe values are averaged to obtain zero-position calibrated gyro zero offset
Figure 964897DEST_PATH_IMAGE014
。
In accordance with another embodiment of the present invention, or any of the above embodiments, a method for dynamically calibrating a MEMS gyroscope of a microelectromechanical system, wherein during scale calibration,
Figure 540104DEST_PATH_IMAGE014
gyro zero offset for initial calibration value or zero calibration
Figure 234390DEST_PATH_IMAGE014
。
In accordance with another embodiment of the present invention or any of the above embodiments, a method for dynamically calibrating a MEMS gyroscope of a micro-electro-mechanical system, wherein the determination of whether the vehicle is in a stationary state or in a non-stationary state is made based on vehicle sensor data, wherein the vehicle sensor data comprises:
GNSS data of a global navigation satellite system including latitude and longitude, speed and course angle information;
vehicle speed information from an odometer; and
the angular velocity information from the MEMS gyroscope.
A method for dynamically calibrating a MEMS gyroscope according to another embodiment of the present invention or any of the above embodiments, wherein
Figure 885952DEST_PATH_IMAGE015
、
Figure 134530DEST_PATH_IMAGE016
And
Figure 529740DEST_PATH_IMAGE017
out of their respective predetermined ranges, are individually paired
Figure 78533DEST_PATH_IMAGE018
、
Figure 100002_DEST_PATH_IMAGE019
And
Figure 369837DEST_PATH_IMAGE017
endowing the top with zero biasD 0First scale of initial calibrationA 0And a second scale for initial calibrationB 0The value of (c).
According to a second aspect of the present invention, there is provided an apparatus for dynamically calibrating a MEMS gyroscope of a microelectromechanical system, comprising:
vehicle sensors that receive vehicle sensor data from the outside and the vehicle for dynamic calibration; and
an electronic control unit ECU configured to:
the following model is provided for the MEMS gyroscope:
Figure 59706DEST_PATH_IMAGE020
，
wherein
Figure 727448DEST_PATH_IMAGE002
Is the angular velocity of the vehicle and,Ais a first scale bar, and is provided with a first scale,Bin the form of a second scale bar,Dthe gyro is zero-offset for the voltage signal of the gyro original outputD 0The voltage signal is output when the gyroscope is static;
judging whether the vehicle is in a stationary state or a non-stationary state by using vehicle sensor data; and
when the vehicle is judged to reach the non-static state, the scaling process is carried out according to the judgment result
Figure 130747DEST_PATH_IMAGE002
、DAndD 0is changed to obtainAAndB。
the apparatus for dynamically calibrating a MEMS gyroscope of a micro-electro-mechanical system according to an embodiment of the invention, wherein the ECU is further configured to perform a scaling procedure comprising the steps of:
using the formula (2)
Figure 842220DEST_PATH_IMAGE003
And within a first threshold time before the vehicle reaches a non-stationary stateA、B、DAnd
Figure DEST_PATH_IMAGE021
deriving the sum of the corresponding corrected gyro outputs
Figure 596550DEST_PATH_IMAGE009
And deriving the sum of the angular velocities by accumulation
Figure 802403DEST_PATH_IMAGE022
；
Using the formula (3)
Figure 325788DEST_PATH_IMAGE007
And a plurality of sets obtained corresponding to the vehicle being in a non-stationary state for a plurality of times
Figure 958895DEST_PATH_IMAGE006
And
Figure 934941DEST_PATH_IMAGE009
at least a first selected two groups of
Figure 475644DEST_PATH_IMAGE006
And
Figure 587957DEST_PATH_IMAGE011
derive the correspondence toAt least one selected group of first dynamic scalesA' and second dynamic scaleB'；
For all obtainedA' values are averaged to obtain a first scale result
Figure 923123DEST_PATH_IMAGE012
And to all of the obtainedB' values are averaged to obtain a second scale result
Figure 652045DEST_PATH_IMAGE013
。
The apparatus for dynamically calibrating a MEMS gyroscope of a microelectromechanical system according to an embodiment of the invention or any of the embodiments above, wherein the electronic control unit ECU is further configured to:
when the vehicle is judged to reach the static state, a zero calibration process is carried out, and the time within a second threshold value before the vehicle reaches the static state is used in the zero calibration processDThe values are averaged to obtain zero-position calibrated gyro zero offset
Figure 416345DEST_PATH_IMAGE014
。
An apparatus for dynamically calibrating a MEMS gyroscope of a microelectromechanical system according to an embodiment of the invention or any of the embodiments above, wherein during scale calibration,
Figure 914322DEST_PATH_IMAGE014
gyro zero offset for initial calibration value or zero calibration
Figure 358073DEST_PATH_IMAGE023
。
The apparatus for dynamically calibrating a MEMS gyroscope according to an embodiment of the invention or any one of the above embodiments, wherein the vehicle sensor includes the following devices for obtaining information for determining whether the vehicle is in a stationary state or a non-stationary state:
the global navigation satellite system GNSS receiver is used for providing longitude and latitude, speed and course angle information;
an odometer for providing vehicle speed information; and
a MEMS gyroscope to provide angular velocity information.
The apparatus for dynamically calibrating a MEMS gyroscope of a microelectromechanical system according to an embodiment of the invention or any of the embodiments above, wherein the electronic control unit ECU is further configured to:
in that
Figure 574291DEST_PATH_IMAGE014
、
Figure 456796DEST_PATH_IMAGE012
And
Figure 809280DEST_PATH_IMAGE024
out of their respective predetermined ranges, are individually paired
Figure 751828DEST_PATH_IMAGE025
、
Figure 376714DEST_PATH_IMAGE012
And
Figure 797331DEST_PATH_IMAGE024
endowing the top with zero biasD 0First scale of initial calibrationA 0And a second scale for initial calibrationB 0The value of (c).
According to a third aspect of the invention, there is provided a gyroscope which produces an output by the following model:
Figure 269900DEST_PATH_IMAGE026
，
wherein
Figure 117771DEST_PATH_IMAGE002
Is the angular velocity of the vehicle and,Ais a first scale bar, and is provided with a first scale,Bin the form of a second scale bar,Dthe gyro is zero-offset for the voltage signal of the gyro original outputD 0The voltage signal is output when the gyroscope is static; and wherein saidAAndBfollowed by
Figure 980684DEST_PATH_IMAGE002
、DAndD 0is changed.
A gyroscope according to an embodiment of the invention, wherein:
using the formula (2)
Figure 204992DEST_PATH_IMAGE027
And within a first threshold time before the vehicle reaches a non-stationary stateA、B、DAnd
Figure 532068DEST_PATH_IMAGE028
deriving the sum of the corresponding corrected gyro outputs
Figure 816419DEST_PATH_IMAGE009
And deriving the sum of the angular velocities by accumulation
Figure 228946DEST_PATH_IMAGE022
；
Using the formula (3)
Figure 679781DEST_PATH_IMAGE007
And a plurality of sets obtained corresponding to the vehicle being in a non-stationary state for a plurality of times
Figure 861364DEST_PATH_IMAGE006
And
Figure 316616DEST_PATH_IMAGE009
at least a first selected two groups of
Figure 216439DEST_PATH_IMAGE006
And
Figure 720232DEST_PATH_IMAGE011
deriving at least one set of first dynamic scales corresponding to said selectionA' and second dynamic scaleB'；
For all obtainedA' values are averaged to obtain a first scale result
Figure 756322DEST_PATH_IMAGE012
And to all of the obtainedB' values are averaged to obtain a second scale result
Figure 382475DEST_PATH_IMAGE013
。
Drawings
The above and/or other aspects and advantages of the present invention will become more apparent and more readily appreciated from the following description of the various aspects taken in conjunction with the accompanying drawings, in which like or similar elements are designated with like reference numerals. In the drawings:
FIG. 1 is a flow chart of a method for dynamically calibrating a MEMS gyroscope of a micro-electro-mechanical system in accordance with an embodiment of the present invention; and
FIG. 2 is a schematic block diagram of an apparatus for dynamically calibrating a MEMS gyroscope of a micro-electro-mechanical system in accordance with an embodiment of the present invention.
Detailed Description
In this specification, the invention is described more fully with reference to the accompanying drawings, in which exemplary embodiments of the invention are shown. This invention may, however, be embodied in different forms and should not be construed as limited to the embodiments set forth herein. The embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Words such as "comprising" and "comprises" mean that, in addition to having elements or steps which are directly and unequivocally stated in the description and the claims, the solution of the invention does not exclude other elements or steps which are not directly or unequivocally stated. Terms such as "first" and "second" do not denote an order of the elements in time, space, size, etc., but rather are used to distinguish one element from another.
The present invention is described below with reference to flowchart illustrations, block diagrams, and/or flow diagrams of methods and systems according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block and/or flow diagram block or blocks.
These computer program instructions may be stored in a computer-readable memory that can direct a computer or other programmable processor to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer program instructions may be loaded onto a computer or other programmable data processor to cause a series of operational steps to be performed on the computer or other programmable processor to produce a computer implemented process such that the instructions which execute on the computer or other programmable processor provide steps for implementing the functions or acts specified in the flowchart and/or block diagram block or blocks. It should also be noted that, in some alternative implementations, the functions/acts noted in the blocks may occur out of the order noted in the flowcharts. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality/acts involved.
According to a first aspect of the invention, a method 100 (see fig. 1) for dynamically calibrating a MEMS gyroscope of a microelectromechanical system is provided.
The method begins at step 110, where the vehicle's MEMS gyroscope has typically been initially calibrated. Namely, relevant gyroscope parameters of initial calibration are set. The initially calibrated parameters are used by default in the gyroscope model until no new relevant gyroscope parameters are obtained.
In step 120, the components associated with the vehicle MEMS gyroscope are subjected to conventional initialization operations. For example, a Global Navigation Satellite System (GNSS) receiver searches for satellite signals and correlates with particular satellite signals. The initially calibrated gyroscope parameters described in step 110 are imported into a mathematical model provided by an electronic processing unit (ECU).
In step 130, the ECU provides the MEMS gyroscope with the following model:
Figure 769594DEST_PATH_IMAGE029
，
wherein
Figure 60767DEST_PATH_IMAGE002
Is the angular velocity of the vehicle and,Ais a first scale bar, and is provided with a first scale,Bin the form of a second scale bar,Dthe signal is a signal originally output by the gyroscope, and is generally a voltage signal. Gyroscope zero biasD 0The signal output when the gyroscope is stationary is generally a stable voltage signal. In one embodiment, the first scale is used when the vehicle is rotating clockwiseA(ii) a And when the vehicle rotates anticlockwise, adopting a second scaleB。
In step 140, the ECU uses the GNSS data (including latitude and longitude, speed, and heading angle information) and other sensor data of the vehicle to determine whether the vehicle is stationary or not. The vehicle sensors may include cameras, radars, speed sensors, acceleration sensors, etc., and the other sensor data may include: such as handbrake messages, map information, and lane line identification information from other vehicle sensors; vehicle speed information from an odometer; and angular velocity information from the MEMS gyroscope.
In particular, when the speed v of the vehicle is < 0.5m/s and HDOP2+VDOP2And (5) when the time is less than or equal to 3 and reaches a second threshold value, judging that the vehicle reaches a static state. And at this time, the ECU performs zero calibration on the model (step 151) to obtain zero-calibrated gyro zero offset
Figure 216942DEST_PATH_IMAGE015
. The second threshold time may be, for example, 30 s. When the vehicle satisfies v < 0.5m/s and HDOP2+VDOP2When the time is less than or equal to 3 and does not reach the specified time, the vehicle is used at the previous moment
Figure 13996DEST_PATH_IMAGE004
. Wherein VDOP (vertical Dilution of precision) is the vertical component precision factor, and HDOP (horizontal Dilution of precision) is the horizontal component precision factor.
And when the vehicle is not judged to reach the static state for the first threshold time, judging that the vehicle reaches the non-static state. And at this time, the ECU performs scale calibration on the model (step 152). During the calibration of the scale according to
Figure 560515DEST_PATH_IMAGE002
、DAndD 0is changed to obtainAAndB. The first threshold time may be, for example, 60 s.
Specifically, in step 151, the gyro within a second threshold time before the vehicle comes to a standstill is originally outputDAnd averaging the zero offset values to obtain zero-calibrated gyro zero offset
Figure 734008DEST_PATH_IMAGE014
. For example, in one embodiment, where the second threshold time is 30s, the vehicle may be brought to a standstill for a continuous period of 15sDGyro zero offset for obtaining zero calibration by carrying out average processing
Figure 744689DEST_PATH_IMAGE021
. The averaging process may be a simple arithmetic averaging process, such as:
Figure 712645DEST_PATH_IMAGE030
. It should be understood that the averaging process may also be a weighted average process or a geometric average process, as appropriate.
On the other hand, specifically in step 152, when it is judged that the vehicle reaches the non-stationary state, the scale scaling process is performed. In the scale calibration process, formula (2) is first utilized:
Figure 500122DEST_PATH_IMAGE031
and within a first threshold time before the vehicle reaches a non-stationary stateA、B、DAnd
Figure 946147DEST_PATH_IMAGE025
deriving the sum of the corresponding corrected gyro outputs
Figure 76914DEST_PATH_IMAGE032
And deriving the sum of the angular velocities by accumulation
Figure 215772DEST_PATH_IMAGE010
. That is, if the first threshold time is 60s, the gyro raw output may be output for not more than the first threshold time (e.g., 15s, 30s, or 60 s) before the vehicle reaches the non-stationary stateDTo obtain a corresponding one
Figure 736883DEST_PATH_IMAGE010
Value and one
Figure 986598DEST_PATH_IMAGE033
The value is obtained. During the running process of the vehicle, the scale calibration program can be started for multiple times in response to the vehicle reaching the non-stationary state for multiple times, so that corresponding multiple groups are obtained
Figure 971872DEST_PATH_IMAGE010
Value sum
Figure 281631DEST_PATH_IMAGE032
The value is obtained.
Subsequently, the plurality of groups may be
Figure 352355DEST_PATH_IMAGE010
Value sum
Figure 592712DEST_PATH_IMAGE034
Selecting any two groups of values
Figure 432492DEST_PATH_IMAGE010
Value sum
Figure 913152DEST_PATH_IMAGE009
Substituting the value into equation (3):
Figure 205593DEST_PATH_IMAGE007
，
so as to aim at every two groups by means of simultaneous equations
Figure 374DEST_PATH_IMAGE010
Value sum
Figure 694660DEST_PATH_IMAGE034
Value obtaining a first set of first dynamic scalesA' and second dynamic scaleBThe result of' is obtained. Preferably, two further groups may be selected
Figure 346222DEST_PATH_IMAGE006
Value sum
Figure 391538DEST_PATH_IMAGE033
Values of a second set of first dynamic scales obtained by a method similar to that described aboveA' and second dynamic scaleBThe result of' is obtained. Optimally, the two groups can be selected in all possible ways
Figure 786747DEST_PATH_IMAGE006
Value sum
Figure 23956DEST_PATH_IMAGE005
Obtaining a plurality of groups of first dynamic scalesA' and second dynamic scaleBThe result of' is obtained.
Then, all the obtainedA' values are averaged to obtain a first scale result
Figure 111997DEST_PATH_IMAGE019
And to all of the obtainedB' values are averaged to obtain a second scale result
Figure 379031DEST_PATH_IMAGE013
. The averaging process may be a simple arithmetic averaging process. It should be understood that the averaging process may also be a weighted average process or a geometric average process, as appropriate. It should be noted that, during the scaling procedure,
Figure 312352DEST_PATH_IMAGE028
the gyroscope parameter value can be selected as initial calibrationD 0Or gyro zero offset calibrated by zero
Figure 918914DEST_PATH_IMAGE028
The value of (c).
After steps 151 and 152, steps 161 and 162 are performed to determine the zero offset of the obtained zero-calibrated gyroscope
Figure 177857DEST_PATH_IMAGE015
Or the result of the first scale
Figure 666607DEST_PATH_IMAGE016
And the result of the second scale
Figure 669198DEST_PATH_IMAGE013
Whether or not a predetermined range of the respective initial values is exceeded. In step 161, if
Figure 192583DEST_PATH_IMAGE028
If the initial value exceeds a predetermined range, then pair
Figure 543799DEST_PATH_IMAGE018
Assigning initial calibrated gyroscope parameter valuesD 0. In step 162, if
Figure 785424DEST_PATH_IMAGE016
And
Figure 326127DEST_PATH_IMAGE013
if the initial value exceeds a predetermined range, then pair
Figure 704019DEST_PATH_IMAGE016
And
Figure 242447DEST_PATH_IMAGE013
first scale for initial calibrationA 0 And a second scaleB 0 . The values of the initial calibration may be set in step 110. Reasonable range of initial values for each parameter, wherein
Figure 705790DEST_PATH_IMAGE035
May be in the range of
Figure 50184DEST_PATH_IMAGE036
，
Figure 548161DEST_PATH_IMAGE012
May be in the range of
Figure 54229DEST_PATH_IMAGE037
And an
Figure 955932DEST_PATH_IMAGE017
May be in the range of
Figure 838438DEST_PATH_IMAGE038
. The predetermined ranges may be suitably broadened or narrowed to achieve optimum calibration results under different road conditions and driving conditions, as the case may be。
In step 161, if
Figure 190921DEST_PATH_IMAGE015
If the initial value is not exceeded, the process proceeds to step 170 to obtain
Figure 867890DEST_PATH_IMAGE015
Substituting into the MEMS gyroscope model
Figure 243508DEST_PATH_IMAGE039
To complete the zero calibration process.
In step 162, if
Figure 929704DEST_PATH_IMAGE012
And
Figure 136695DEST_PATH_IMAGE013
exceeds the predetermined range of the initial value, proceed to step 170 to obtain
Figure 250144DEST_PATH_IMAGE012
And
Figure DEST_PATH_IMAGE040
substituting into the MEMS gyroscope model
Figure 362326DEST_PATH_IMAGE041
To complete the scale calibration process.
Output of MEMS gyroscope model after zero calibration or scale calibration
Figure 586634DEST_PATH_IMAGE002
The values may be used as input to a dead reckoning navigation algorithm for calculating position information such as that required by the vehicle.
The dynamic calibration comprising zero calibration and scale calibration can be used for dynamically obtaining the calibration parameters of the MEMS gyroscope under the current road condition and vehicle condition after the vehicle leaves the factory and during the normal driving process of the vehicle, so that the angle information of the gyroscope can meet the navigation requirements of the vehicle under the complex road condition and vehicle condition after leaving the factory.
According to a second aspect of the present invention, an apparatus 200 for dynamically calibrating a MEMS gyroscope of a microelectromechanical system is provided.
The apparatus 200 includes a plurality of vehicle sensors, each of which receives vehicle sensor data from the outside (e.g., satellite signals) as well as the vehicle itself (e.g., vehicle data bus) for dynamic calibration. Wherein the vehicle sensor includes the following devices for acquiring information for determining whether the vehicle is in a stationary state or a non-stationary state: a global navigation satellite system GNSS receiver 220 for receiving information from satellite signals to provide latitude and longitude, speed and heading angle information; an odometer 230 for providing vehicle speed information; and a MEMS gyroscope 240 for providing angular velocity information.
The device 200 also comprises an electronic control unit ECU 210. The ECU 210 is configured to: providing a model for MEMS gyroscope 240
Figure 913710DEST_PATH_IMAGE042
，
Wherein
Figure 135744DEST_PATH_IMAGE002
Is the angular velocity of the vehicle and,Ais a first scale bar, and is provided with a first scale,Bin the form of a second scale bar,Dthe signal is a signal originally output by the gyroscope, and is generally a voltage signal. Gyroscope zero biasD 0The signal output when the gyroscope is stationary is generally a stable voltage signal. In one embodiment, the first scale is used when the vehicle is rotating clockwiseA(ii) a And when the vehicle rotates anticlockwise, adopting a second scaleB。
The ECU 210 uses the GNSS data (including latitude and longitude, speed, and heading angle information) and other sensor data of the vehicle to determine whether the vehicle is stationary or not. The other sensor data may include: such as handbrake messages, map information, and lane line identification information from other vehicle sensors; vehicle speed information from the odometer 230; and angular velocity information from MEMS gyroscope 240.
In particular, when the speed v of the vehicle is < 0.5m/s and HDOP2+VDOP2And (5) when the time is less than or equal to 3 and reaches a second threshold value, judging that the vehicle reaches a static state. And at this time, the ECU performs zero calibration on the model (step 151) to obtain zero-calibrated gyro zero offset
Figure 971107DEST_PATH_IMAGE015
. The second threshold time may be, for example, 30 s. When the vehicle satisfies v < 0.5m/s and HDOP2+VDOP23 or less than the specified time, the vehicle is used at the moment before
Figure 999106DEST_PATH_IMAGE018
. Wherein VDOP (vertical Dilution of precision) is the vertical component precision factor, and HDOP (horizontal Dilution of precision) is the horizontal component precision factor.
And when the vehicle is not judged to reach the static state for the first threshold time, judging that the vehicle reaches the non-static state. And at this time, the ECU 210 performs scale calibration on the model (step 152). During the calibration of the scale according to
Figure 180688DEST_PATH_IMAGE043
、DAndD 0is changed to obtainAAndB. The first threshold time may be, for example, 60 s.
Specifically, after the end of the determination, the ECU 210 is configured to execute steps 151, 161, 170 or steps 152, 162, 170 according to the first aspect of the invention. Output of MEMS gyroscope model after zero calibration or scale calibration
Figure 573624DEST_PATH_IMAGE002
The values may be sent as input to a Dead Reckoning (DR) navigation algorithm to a dead reckoning module 212 in the ECU 210 for calculating position information such as vehicle needsAnd the like.
The dynamic calibration comprising zero calibration and scale calibration can be used for dynamically obtaining the calibration parameters of the MEMS gyroscope under the current road condition and vehicle condition after the vehicle leaves the factory and during the normal driving process of the vehicle, so that the angle information of the gyroscope can meet the navigation requirements of the vehicle under the complex road condition and vehicle condition after leaving the factory.
According to a third aspect of the invention, there is provided a gyroscope which produces an output by the following model:
Figure 473446DEST_PATH_IMAGE044
，
wherein
Figure 39557DEST_PATH_IMAGE002
Is the angular velocity of the vehicle and,Ais a first scale bar, and is provided with a first scale,Bin the form of a second scale bar,Dthe gyro is zero-offset for the voltage signal of the gyro original outputD 0The voltage signal is output when the gyroscope is static; and wherein saidAAndBfollowed by
Figure 75646DEST_PATH_IMAGE002
、DAndD 0is changed.
In one embodiment, equation (2) is also utilized
Figure 701800DEST_PATH_IMAGE045
And within a first threshold time before the vehicle reaches a non-stationary stateA、B、DAnd
Figure 10290DEST_PATH_IMAGE014
deriving the sum of the corresponding corrected gyro outputs
Figure 380091DEST_PATH_IMAGE009
And deriving the sum of the angular velocities by accumulation
Figure 536266DEST_PATH_IMAGE022
. Then, using formula (3)
Figure 333321DEST_PATH_IMAGE007
And a plurality of sets obtained corresponding to the vehicle being in a non-stationary state for a plurality of times
Figure 879840DEST_PATH_IMAGE006
And
Figure 787753DEST_PATH_IMAGE009
at least a first selected two groups of
Figure 798434DEST_PATH_IMAGE006
And
Figure 766390DEST_PATH_IMAGE011
deriving at least one set of first dynamic scales corresponding to said selectionA' and second dynamic scaleB'. For all obtainedA' values are averaged to obtain a first scale result
Figure 862522DEST_PATH_IMAGE012
And to all of the obtainedB' values are averaged to obtain a second scale result
Figure 277190DEST_PATH_IMAGE013
。
It should be noted that the above embodiments are merely representative, and those skilled in the art will appreciate that in the event of a change in the vehicle driving conditions, corresponding adaptive changes or substitutions that need to be made can be anticipated or predicted in light of the above teachings of the embodiments.
The embodiments and examples set forth herein are presented to best explain the embodiments in accordance with the present technology and its particular application and to thereby enable those skilled in the art to make and utilize the invention. However, those skilled in the art will recognize that the foregoing description and examples have been presented for the purpose of illustration and example only. The description as set forth is not intended to cover all aspects of the invention or to limit the invention to the precise form disclosed.

Claims (14)

1. A method for dynamically calibrating a MEMS gyroscope of a microelectromechanical system, comprising the steps of:
the following model is provided for the MEMS gyroscope:
Figure DEST_PATH_IMAGE001
，
wherein
Figure 834139DEST_PATH_IMAGE002
Is the angular velocity of the vehicle and,Ais a first scale bar, and is provided with a first scale,Bin the form of a second scale bar,Dthe gyro is zero-offset for the voltage signal of the gyro original outputD 0The voltage signal is output when the gyroscope is static;
judging whether the vehicle is in a static state or a non-static state; and
when the vehicle is judged to reach the non-static state, a scale calibration process is carried out according to the condition
Figure 101172DEST_PATH_IMAGE002
、DAndD 0is changed to obtainAAndB。
2. the method of claim 1, wherein the scale calibration process comprises the steps of:
using the formula (2)
Figure DEST_PATH_IMAGE003
And within a first threshold time before the vehicle reaches the non-stationary stateA、B、DAnd
Figure 487023DEST_PATH_IMAGE004
deriving the sum of the corresponding corrected gyro outputs
Figure DEST_PATH_IMAGE005
And deriving the sum of the angular velocities by accumulation
Figure 155902DEST_PATH_IMAGE006
；
Using the formula (3)
Figure DEST_PATH_IMAGE007
And a plurality of sets obtained corresponding to the vehicle being in the non-stationary state a plurality of times
Figure 86949DEST_PATH_IMAGE006
And
Figure 841278DEST_PATH_IMAGE008
at least a first selected two groups of
Figure DEST_PATH_IMAGE009
And
Figure 843869DEST_PATH_IMAGE005
deriving at least one set of first dynamic scales corresponding to said selectionA' and second dynamic scaleB'；
For all the obtainedA' values are averaged to obtain a first scale result
Figure 55670DEST_PATH_IMAGE010
And to all of the obtainedB' values are subjected to said averaging to obtain a second scale result
Figure DEST_PATH_IMAGE011
。
3. The method of claim 1 or 2, further comprising:
when the vehicle is judged to reach the static state, a zero calibration process is carried out, and in the zero calibration process, the time within a second threshold value before the vehicle reaches the static state is usedDThe values are averaged to obtain zero-position calibrated gyro zero offset
Figure 219935DEST_PATH_IMAGE012
。
4. A method according to claim 3, wherein during the scale calibration process, the scale is calibrated
Figure DEST_PATH_IMAGE013
Gyro zero offset calibrated for initial calibration value or zero position
Figure 461560DEST_PATH_IMAGE014
。
5. The method of claim 4, wherein the determination of whether the vehicle is in the stationary state or the non-stationary state is made as a function of the vehicle sensor data, wherein the vehicle sensor data comprises:
GNSS data of a global navigation satellite system including latitude and longitude, speed and course angle information;
vehicle speed information from an odometer; and
the angular velocity information from the MEMS gyroscope.
6. The method of claim 2, wherein in said
Figure 939946DEST_PATH_IMAGE014
、
Figure 317838DEST_PATH_IMAGE010
And
Figure 918584DEST_PATH_IMAGE015
out of their respective predetermined ranges, are individually paired
Figure 381926DEST_PATH_IMAGE016
、
Figure 913270DEST_PATH_IMAGE010
And
Figure DEST_PATH_IMAGE017
endowing the top with zero biasD 0First scale of initial calibrationA 0And a second scale for initial calibrationB 0The value of (c).
7. An apparatus for dynamically calibrating a MEMS gyroscope of a microelectromechanical system, comprising:
a vehicle sensor that receives vehicle sensor data from outside and the vehicle for the dynamic calibration; and
an electronic control unit ECU configured to:
the following model is provided for the MEMS gyroscope:
Figure 145668DEST_PATH_IMAGE018
，
wherein
Figure 917315DEST_PATH_IMAGE002
Is the angular velocity of the vehicle and,Ais a first scale bar, and is provided with a first scale,Bin the form of a second scale bar,Dthe gyro is zero-offset for the voltage signal of the gyro original outputD 0The voltage signal is output when the gyroscope is static;
determining whether the vehicle is in a stationary state or a non-stationary state using the vehicle sensor data; and
when the judgment is madeWhen the vehicle reaches the non-static state, a scale calibration process is carried out according to the weight of the vehicle
Figure 867954DEST_PATH_IMAGE002
、DAndD 0is changed to obtainAAndB。
8. the apparatus according to claim 7, wherein the electronic control unit ECU is further configured to execute the scaling process including the steps of:
using the formula (2)
Figure DEST_PATH_IMAGE019
And within a first threshold time before the vehicle reaches the non-stationary stateA、B、DAnd
Figure 688142DEST_PATH_IMAGE020
deriving the sum of the corresponding corrected gyro outputs
Figure 40626DEST_PATH_IMAGE021
And deriving the sum of the angular velocities by accumulation
Figure 983174DEST_PATH_IMAGE006
；
Using the formula (3)
Figure 106595DEST_PATH_IMAGE007
And a plurality of sets obtained corresponding to the vehicle being in the non-stationary state a plurality of times
Figure 792791DEST_PATH_IMAGE006
And
Figure 999782DEST_PATH_IMAGE008
at least a first selected two groups of
Figure 113231DEST_PATH_IMAGE009
And
Figure 38462DEST_PATH_IMAGE005
deriving at least one set of first dynamic scales corresponding to said selectionA' and second dynamic scaleB'；
For all the obtainedA' values are averaged to obtain a first scale result
Figure 200453DEST_PATH_IMAGE022
And to all of the obtainedB' values are subjected to said averaging to obtain a second scale result
Figure 527529DEST_PATH_IMAGE011
。
9. The apparatus according to claim 7 or 8, wherein the electronic control unit ECU is further configured to:
when the vehicle is judged to reach the static state, a zero calibration process is carried out, and in the zero calibration process, the time within a second threshold value before the vehicle reaches the static state is usedDThe values are averaged to obtain zero-position calibrated gyro zero offset
Figure 546301DEST_PATH_IMAGE023
。
10. The apparatus of claim 9, wherein during the scale calibration process, the scale is calibrated
Figure 958827DEST_PATH_IMAGE020
Gyro zero offset calibrated for initial calibration value or zero position
Figure 173777DEST_PATH_IMAGE014
。
11. The apparatus of claim 10, wherein the vehicle sensor comprises the following devices for obtaining information for determining whether a vehicle is in the stationary state or the non-stationary state:
the global navigation satellite system GNSS receiver is used for providing longitude and latitude, speed and course angle information;
an odometer for providing vehicle speed information; and
the MEMS gyroscope is used for providing the angular velocity information.
12. The apparatus of claim 8, wherein the Electronic Control Unit (ECU) is further configured to:
in the above-mentioned
Figure 355359DEST_PATH_IMAGE014
、
Figure 810612DEST_PATH_IMAGE010
And
Figure 444855DEST_PATH_IMAGE024
out of their respective predetermined ranges, are individually paired
Figure 10966DEST_PATH_IMAGE014
、
Figure 250317DEST_PATH_IMAGE010
And
Figure 876471DEST_PATH_IMAGE024
endowing the top with zero biasD 0First scale of initial calibrationA 0And a second scale for initial calibrationB 0The value of (c).
13. A gyroscope that produces an output by the following model:
Figure 998010DEST_PATH_IMAGE025
，
wherein
Figure 367812DEST_PATH_IMAGE002
Is the angular velocity of the vehicle and,Ais a first scale bar, and is provided with a first scale,Bin the form of a second scale bar,Dthe gyro is zero-offset for the voltage signal of the gyro original outputD 0The voltage signal is output when the gyroscope is static; and is
Wherein saidAAndBfollowed by
Figure 212402DEST_PATH_IMAGE002
、DAndD 0is changed.
14. The gyroscope of claim 13, wherein:
using the formula (2)
Figure 9457DEST_PATH_IMAGE026
And within a first threshold time before the vehicle reaches a non-stationary stateA、B、DAnd
Figure 618293DEST_PATH_IMAGE014
deriving the sum of the corresponding corrected gyro outputs
Figure 526206DEST_PATH_IMAGE027
And deriving the sum of the angular velocities by accumulation
Figure 536887DEST_PATH_IMAGE028
；
Using the formula (3)
Figure 442526DEST_PATH_IMAGE007
And a plurality of sets obtained corresponding to the vehicle being in the non-stationary state a plurality of times
Figure 538658DEST_PATH_IMAGE029
And
Figure 250262DEST_PATH_IMAGE030
at least a first selected two groups of
Figure 115450DEST_PATH_IMAGE009
And
Figure 441258DEST_PATH_IMAGE005
deriving at least one set of first dynamic scales corresponding to said selectionA' and second dynamic scaleB'；
For all the obtainedA' values are averaged to obtain a first scale result
Figure 24686DEST_PATH_IMAGE010
And to all of the obtainedB' values are subjected to said averaging to obtain a second scale result
Figure 539981DEST_PATH_IMAGE011
。
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