阅读说明：本技术 集成式数字角速度陀螺仪、预测滤波方法和电子设备 (Integrated digital angular rate gyroscope, prediction filtering method and electronic device ) 是由 邓永停 李洪文 王建立 邵蒙 于 2020-12-28 设计创作，主要内容包括：本发明属于数据处理技术领域,具体涉及一种集成式数字角速度陀螺仪、预测滤波方法和电子设备。本发明一种集成式数字角速度陀螺仪,包括顺次信号连接的角速度陀螺仪、DSP微型控制器和串口接口,所述DSP微型控制器包括预测滤波模块,所述预测滤波模块根据角速度陀螺仪传输的角速度信号进行处理,从串口接口输出预测滤波信号。本发明集成式数字角速度陀螺仪能够准确的对角速度数据进行滤波处理,同时能够对角加速度进行准确预测,能够大幅度提高系统控制精度。(The invention belongs to the technical field of data processing, and particularly relates to an integrated digital angular rate gyroscope, a prediction filtering method and electronic equipment. The invention discloses an integrated digital angular rate gyroscope, which comprises an angular rate gyroscope, a DSP micro controller and a serial port interface which are sequentially in signal connection, wherein the DSP micro controller comprises a prediction filtering module, the prediction filtering module processes an angular rate signal transmitted by the angular rate gyroscope and outputs the prediction filtering signal from the serial port interface. The integrated digital angular rate gyroscope can accurately filter angular rate data, can accurately predict angular acceleration, and can greatly improve the control precision of a system.)

1. The integrated digital angular rate gyroscope is characterized by comprising an angular rate gyroscope, a DSP micro controller and a serial port interface which are sequentially in signal connection, wherein the DSP micro controller comprises a prediction filtering module, the prediction filtering module processes an angular rate signal transmitted by the angular rate gyroscope and outputs the prediction filtering signal from the serial port interface.

2. The integrated digital angular rate gyroscope of claim 1, wherein the predictive filtering module includes a first filtering unit, a second filtering unit, and a predictive compensation unit; the first filtering unit is respectively connected with the second filtering unit and the prediction compensation unit through signals, and the second filtering unit is connected with the prediction compensation unit through signals.

3. The integrated digital angular rate gyroscope of claim 2, wherein the first filtering unit receives the angular rate signal of the angular rate gyroscope, performs filtering and differential processing, and outputs a filtered value and a differential value; the second filtering unit further filters the differential value to obtain an acceleration signal; and the prediction compensation unit performs prediction compensation according to the filtering value and the acceleration signal and outputs a prediction filtering signal.

4. An integrated digital angular rate gyroscope according to any of claims 1 to 3, wherein the angular rate gyroscope comprises an SPI interface, the signals transmitted by which include a chip select signal (CS), a clock Signal (SCLK), a command input signal (DIN), a data output signal (DOUT) and an interrupt generation signal (DIO).

5. The integrated digital angular rate gyroscope of any of claims 1 to 3, wherein the DSP microcontroller comprises an SCI module, an IRQ module and an SPI module and an SCIA module; the SPI module of the DSP microcontroller realizes the sending of angular rate gyroscope commands and the reading of speed data through chip select (SS), a clock (SCLK), Master Output Slave Input (MOSI), Master Input Slave Output (MISO) and Interrupt Response (IRQ) signals.

6. The integrated digital angular rate gyroscope of any of claims 1 to 3, wherein the serial interface comprises an RI interface, and the RI interface receives the prediction filtering signal from the SCIA module of the DSP microcontroller and converts the prediction filtering signal from a logic level signal into a differential signal for transmission.

7. A digital angular velocity prediction filtering method, comprising the steps of:

acquiring an angular velocity signal of an angular velocity gyroscope;

performing filtering and differential processing, and outputting a filtering value and a differential value;

further filtering the differential value to obtain an acceleration signal;

and performing prediction compensation according to the filtering value and the acceleration signal to output a prediction filtering signal.

8. The digital angular velocity prediction filtering method according to claim 7, wherein the filtering and differentiating process is implemented by formula (1) based on an arctan function;

wherein, a₁、a₂、f₁、f₂And R are both positive numbers, u (t) is the input of the prediction filter, i.e. the angular velocity signal; x is the number of₁(t) is the filter signal, i.e. the filtered value, of the input signal u (t); x is the number of₂(t) is a differential signal, i.e., a differential value, of the input signal u (t).

9. The digital angular velocity prediction filtering method according to claim 7, wherein the prediction compensation is implemented by formula (2);

wherein p is the predicted step number, h is the calculation period of the algorithm,the output speed of the integrated digital angular rate gyroscope is a predicted filtering signal; omega₁Is a filtered value of the angular velocity and,the filtered value is the angular velocity differential value, i.e., the angular acceleration signal output by the gyroscope.

10. An electronic device, characterized in that the integrated digital angular rate gyroscope of any of claims 1-6 is employed.

Technical Field

The invention belongs to the technical field of data processing, and particularly relates to an integrated digital angular rate gyroscope, a prediction filtering method and electronic equipment.

Background

At present, the digital angular rate gyroscope has the advantages of high bandwidth, stable zero offset and the like, and is widely applied to the fields of stable platform control systems, navigation, robots, medical instruments and the like. However, the conventional digital angular rate gyroscope is affected by power supply noise and the performance of the device, and the output angular rate signal has large noise, which affects the stability control precision of the system. In addition, the traditional angular rate gyroscope cannot directly provide angular acceleration feedforward information, so that the control system cannot adopt a feedforward composite control mode to further improve the tracking performance of the control system. Therefore, there is a need to research and design new types of integrated digital angular rate gyroscopes.

Disclosure of Invention

In view of the above problems, the present invention is directed to providing an integrated digital angular rate gyroscope, a prediction filtering method, and an electronic device, which are capable of accurately detecting angular velocity and angular acceleration information and improving system control accuracy.

In order to solve the technical problems, the invention adopts a technical scheme that:

the integrated digital angular rate gyroscope comprises an angular rate gyroscope, a DSP micro controller and a serial port interface which are sequentially in signal connection, wherein the DSP micro controller comprises a prediction filtering module, the prediction filtering module processes an angular rate signal transmitted by the angular rate gyroscope and outputs the prediction filtering signal from the serial port interface.

Optionally, the prediction filtering module includes a first filtering unit, a second filtering unit, and a prediction compensation unit; the first filtering unit is respectively connected with the second filtering unit and the prediction compensation unit through signals, and the second filtering unit is connected with the prediction compensation unit through signals.

Optionally, the first filtering unit receives an angular velocity signal of the angular velocity gyroscope, performs filtering and differential processing, and outputs a filtered value and a differential value; the second filtering unit further filters the differential value to obtain an acceleration signal; and the prediction compensation unit performs prediction compensation according to the filtering value and the acceleration signal and outputs a prediction filtering signal.

Optionally, the angular rate gyroscope includes an SPI interface, and the signals transmitted by the SPI interface include a chip select signal (CS), a clock Signal (SCLK), a command input signal (DIN), a data output signal (DOUT), and an interrupt generation signal (DIO).

Optionally, the DSP microcontroller comprises an SCI module, an IRQ module, an SPI module, and an SCIA module; the SPI module of the DSP microcontroller realizes the sending of angular rate gyroscope commands and the reading of speed data through chip select (SS), a clock (SCLK), Master Output Slave Input (MOSI), Master Input Slave Output (MISO) and Interrupt Response (IRQ) signals.

Optionally, the serial interface includes an RI interface, and the RI interface receives the prediction filtering signal from the DSP microcontroller SCIA module, and converts the prediction filtering signal from a logic level signal to a differential signal for transmission.

The technical scheme of the invention also comprises: a digital angular velocity prediction filtering method, comprising the steps of:

acquiring an angular velocity signal of an angular velocity gyroscope;

performing filtering and differential processing, and outputting a filtering value and a differential value;

further filtering the differential value to obtain an acceleration signal;

and performing prediction compensation according to the filtering value and the acceleration signal to output a prediction filtering signal.

Optionally, the filtering and differentiating process is implemented by formula (1) based on an arctan function;

wherein, a₁、a₂、f₁、f₂And R are both positive numbers, u (t) is the input of the prediction filter, i.e. the angular velocity signal; x is the number of₁(t) is the filter signal, i.e. the filtered value, of the input signal u (t); x is the number of₂(t) is a differential signal, i.e., a differential value, of the input signal u (t).

Optionally, the prediction compensation is implemented by formula (2);

wherein p is the predicted step number, h is the calculation period of the algorithm,the output speed of the integrated digital angular rate gyroscope is a predicted filtering signal; omega₁Is a filtered value of the angular velocity and,the filtered value is the angular velocity differential value, i.e., the angular acceleration signal output by the gyroscope.

The technical scheme of the invention also comprises: an electronic device employing an integrated digital angular rate gyroscope of any of the above.

For a stable platform control system, the tracking and control accuracy of the system is largely dependent on the angular velocity detection accuracy of the inertial device. The speed signal output by the existing angular rate gyroscope has large noise and cannot directly provide angular acceleration information. The integrated digital angular rate gyroscope can accurately filter angular rate data, can accurately predict angular acceleration, and can greatly improve the control precision of a system.

Drawings

FIG. 1 is a schematic diagram of the hardware architecture of the integrated digital angular rate gyroscope of the present invention;

FIG. 2 is a logic diagram of an integrated digital angular rate gyroscope prediction filter module according to the present invention;

FIG. 3 is a flow chart of a digital angular velocity prediction filtering method according to the present invention;

FIG. 4 shows a prediction filtering module of the present invention at a₁＝1,f₁＝1,a₂＝1,f₂Phase trace plot under 1 condition;

FIG. 5 shows a prediction filtering module of the present invention at a₁＝1,f₁＝1,a₂＝2,f₂Phase trace plot under 1 condition;

FIG. 6 is a graph of angular velocity and angular acceleration data output by the integrated digital angular rate gyroscope of the present invention in a static state;

fig. 7 is a graph of angular velocity and angular acceleration data output by the integrated digital angular rate gyroscope of the present invention when in motion.

Detailed Description

First, it should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention. And can be adjusted as needed by those skilled in the art to suit particular applications.

Next, it should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "inside", "outside", and the like are based on the direction or positional relationship shown in the drawings, which are merely for convenience of description, and do not indicate or imply that a device or a member must have a specific orientation, be configured in a specific orientation, and operate, and thus, should not be construed as limiting the present invention.

Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "connected" and "connected" should be interpreted broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, and the two components can be communicated with each other. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Furthermore, the terms "first", "second", "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", "third" may explicitly or implicitly include one or more of the features. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an exemplary," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The tracking and control accuracy of the stable platform control system depends on the angular velocity detection accuracy of the inertial device to a great extent; the existing angular rate gyroscope has large noise in the output speed signal and cannot directly provide angular acceleration information. In order to solve the problems of the existing angular rate gyroscope, the invention discloses a novel integrated digital angular rate gyroscope. The method is realized by the following technical scheme:

example 1

The integrated digital angular rate gyroscope comprises an angular rate gyroscope, a DSP micro controller and a serial port interface which are sequentially in signal connection, wherein the DSP micro controller comprises a prediction filtering module, the prediction filtering module processes an angular rate signal transmitted by the angular rate gyroscope and outputs the prediction filtering signal from the serial port interface.

The DSP microcontroller comprises an SCI module, an IRQ module, an SPI module and an SCIA module; the SPI module of the DSP microcontroller realizes the sending of angular rate gyroscope commands and the reading of speed data through chip select (SS), a clock (SCLK), Master Output Slave Input (MOSI), Master Input Slave Output (MISO) and Interrupt Response (IRQ) signals. The time sequence of SS, SCLK, MOSI and MISO signals is generated by the DSP microcontroller according to the time sequence requirement of the angular rate gyroscope, the SPI module sends instruction data to the angular rate gyroscope in each sampling period, the angular rate gyroscope responds to the instruction of the DSP and prepares angular rate measurement data, after the angular rate data is ready, the angular rate gyroscope can generate an external interrupt request to the IQR module of the DSP microcontroller, at the moment, the DSP microcontroller responds to the interrupt, and reads the measurement data of the angular rate gyroscope through the SPI module. TMS320F28069 chips from TI is preferred in the present invention.

Wherein the angular rate gyroscope comprises an SPI interface, and signals transmitted by the SPI interface comprise a chip select signal (CS), a clock Signal (SCLK), a command input signal (DIN), a data output signal (DOUT) and an interrupt generation signal (DIO). As shown in fig. 1, the CS signal of the angular rate gyroscope is connected to the SS signal of the DSP microcontroller for receiving the DSP chip select enable; the SCLK signal of the angular rate gyroscope is connected with the SCLK signal of the DSP microcontroller and used for receiving a clock request from the DSP; the DIN signal of the angular rate gyroscope is connected with the MOSI signal of the DSP microcontroller and is used for receiving a data instruction from the DSP; the DOUT signal of the angular rate gyroscope is connected with the MISO signal of the DSP microcontroller and is used for sending angular rate measurement data to the DSP; the DIO signal of the angular rate gyroscope is connected with the IRQ signal of the DSP microcontroller for generating an interrupt request to the DSP. The invention preferably selects an ADIS16137 digital angular rate gyroscope of ADI company, which realizes the perfect combination of the advanced iMEMS technology and the signal conditioning technology in the industry and can provide optimized dynamic performance.

The serial interface comprises an RI interface, and the RI interface receives the prediction filtering signal from the SCIA module of the DSP microcontroller and converts the prediction filtering signal from a logic level signal into a differential signal for transmission. The present invention preferably uses MAXIM MAX 3077E.

The specific working process of the integrated digital angular rate gyroscope is as follows: at the beginning of each data sampling period, the DSP microcontroller sends an instruction to the angular rate gyroscope through the SPI communication module, the angular rate gyroscope prepares angular rate measurement data after receiving the instruction of the DSP, and the angular rate gyroscope generates an interrupt signal to the DSP after the data is ready; after receiving an interrupt request signal from the angular rate gyroscope, the DSP microcontroller reads data in a register of the angular rate gyroscope through an SPI (serial peripheral interface) protocol; then, the DSP microcontroller adopts a novel prediction filtering algorithm to carry out speed filtering and acceleration prediction on the angular speed data of the gyroscope; and finally, the DSP sends the angular velocity and angular acceleration data obtained through filtering and prediction processing to a stable platform control system through a serial port interface circuit, so that accurate angular velocity feedback information and angular acceleration feedforward information are provided for the stable platform control system. The above process is repeated for each angular velocity data sampling period.

Example 2

The integrated digital angular rate gyroscope of the invention has the advantages of data processing of the angular rate gyroscope. After the DSP microcontroller finishes reading the angular velocity data, the DSP also carries out filtering of the angular velocity data and prediction of angular acceleration, and the processed DSP outputs angular velocity data with smaller noise and smoother acceleration data to a serial port interface circuit, so that more accurate angular velocity feedback information and angular acceleration feedforward information are provided for a stable platform control system.

Specifically, as shown in fig. 2, in the DSP microcontroller, the prediction filtering module includes a first filtering unit, a second filtering unit, and a prediction compensation unit; the first filtering unit is respectively connected with the second filtering unit and the prediction compensation unit through signals, and the second filtering unit is connected with the prediction compensation unit through signals.

The first filtering unit receives an angular velocity signal of the angular velocity gyroscope, carries out filtering and differential processing, and outputs a filtering value and a differential value; the second filtering unit further filters the differential value to obtain an acceleration signal; and the prediction compensation unit performs prediction compensation according to the filtering value and the acceleration signal and outputs a prediction filtering signal.

Example 3

The technical scheme of the invention also comprises: a digital angular velocity prediction filtering method, comprising the steps of:

acquiring an angular velocity signal of an angular velocity gyroscope;

performing filtering and differential processing, and outputting a filtering value and a differential value;

further filtering the differential value to obtain an acceleration signal;

and performing prediction compensation according to the filtering value and the acceleration signal to output a prediction filtering signal.

In order to filter noise in the output signal of the digital angular rate gyroscope and predict and obtain a smooth angular acceleration signal, a prediction filtering algorithm based on an arc tangent function is invented and is implemented in a DSP microcontroller in a digital discretization mode. The filtering and differentiating process is realized by formula (1) based on an arc tangent function;

wherein, a₁、a₂、f₁、f₂And R are both positive numbers, u (t) is the input of the prediction filter, i.e. the angular velocity signal; x is the number of₁(t) is the filter signal, i.e. the filtered value, of the input signal u (t); x is the number of₂(t) is a differential signal, i.e., a differential value, of the input signal u (t).

The invention adopts the arctangent function mainly because of the following two advantages: (1) the arctangent function has a saturation-like characteristic, and has good filtering and differential characteristics while considering stationarity and rapidity; (2) the arctangent function has good smooth characteristic and continuously and gradually changes, and the prediction filtering algorithm based on the arctangent function has fewer parameters, so that the parameter adjustment is convenient.

As a preferred embodiment, the structure of the angular rate gyroscope data processing based on the prediction filtering module is shown in fig. 2, wherein the first filter is used for filtering and differentiating the input gyroscope angular rate signal and outputting the filtered value ω of the angular rate₁And differential valueThe second filter is used for differentiating the output value of the first filterPerforming secondary filtering and further filteringRemoving noise from the differential signal output by the prediction filter to produce an output acceleration signalAnd is smoother. And finally, performing prediction compensation on the output speed signal of the angle gyroscope through a prediction compensation unit, and obtaining an output expression of the integrated digital angle gyroscope by adopting a linear p extrapolation method. The prediction compensation is realized by formula (2);

wherein p is the predicted step number, h is the calculation period of the algorithm,the output speed of the integrated digital angular rate gyroscope is a predicted filtering signal; omega₁Is a filtered value of the angular velocity and,the filtered value is the angular velocity differential value, i.e., the angular acceleration signal output by the gyroscope.

Example 4

The technical scheme of the invention also comprises: an electronic device employing an integrated digital angular rate gyroscope of any of the above. The integrated digital angular rate gyroscope comprises an angular rate gyroscope, a DSP micro controller and a serial port interface which are sequentially in signal connection, wherein the DSP micro controller comprises a prediction filtering module, the prediction filtering module processes angular rate signals transmitted by the angular rate gyroscope and outputs the prediction filtering signals from the serial port interface.

The convergence of the prediction filter algorithm of the invention is a precondition for ensuring the stable output of speed and acceleration signals of the integrated digital angular rate gyroscope. To further illustrate the convergence of the prediction filter algorithm of the present invention, it is demonstrated from two aspects:

(1) first, in a₁、a₂、f₁And f₂All the positive values are positive values, and the arbitrary bounded integrable function upsilon (T) and the arbitrary constant T are subjected to>0, solution x of the novel prediction filter expression (1) based on the arctan function proposed by this patent₁(t) satisfies the expression:the prediction filter based on the arctan function is therefore globally asymptotically stable.

(2) Secondly, the phase trajectory is an intuitive and effective method for differential equation analysis, and under different parameters, the phase trajectory of the novel prediction filter based on the arctan function is shown in fig. 4 and 5, the phase trajectories all approach to the original point along the same direction, and the prediction filter finally achieves gradual stability. The two analysis methods prove the convergence of the novel prediction filter based on the arctan function from the theoretical point of view, so that the algorithm of the novel prediction filter based on the arctan function is feasible in the aspect of data processing of the digital angular rate gyroscope.

To further illustrate the advantages of the integrated digital angular rate gyroscope of the present invention, the angular rate and angular acceleration data output by the present invention under static and dynamic conditions were tested as shown in fig. 6 and 7, respectively; as can be seen from the figure, the integrated digital angular rate gyroscope can accurately filter the angular rate data of the stable platform and can accurately predict the angular acceleration of the stable platform. The experimental data verify the good performance of the integrated digital angular rate gyroscope in the aspects of angular speed and angular acceleration measurement.

In conclusion, the integrated digital angular rate gyroscope can accurately filter angular rate data, can accurately predict angular acceleration, and can greatly improve the control precision of a system.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.