CN111895967A - Rotation angle sensor - Google Patents
Rotation angle sensor Download PDFInfo
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- CN111895967A CN111895967A CN202010586107.4A CN202010586107A CN111895967A CN 111895967 A CN111895967 A CN 111895967A CN 202010586107 A CN202010586107 A CN 202010586107A CN 111895967 A CN111895967 A CN 111895967A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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- Radar, Positioning & Navigation (AREA)
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Abstract
The invention discloses a rotation angle sensor, and relates to the field of angle sensors. The rotation angle sensor comprises a three-axis acceleration sensor and a three-axis gyroscope. And distinguishing the algorithms of current walking disability through static and moving judgment logics, executing the traditional AHRS course angle algorithm by moving, and executing the calibration algorithm in a static state when the algorithm is static. The inclination angle is calculated by utilizing the three-axis acceleration sensor, the acceleration sensor has 1g of gravitational acceleration under the action of gravity when being placed statically, and the inclination angle on a vertical plane is calculated by measuring the component of the gravitational acceleration on an X/Y axis; the static attitude calculated by the acceleration at rest is compared with the inclined attitude calculated by the IMU algorithm at motion, and the error of the motion is corrected, so that the error during operation is corrected.
Description
Technical Field
The invention relates to the field of angle sensors, in particular to a rotation angle sensor.
Background
The conventional angle sensor based on the magnetic angle sensor or magnetic decoder principle is a device which detects a rotating shaft machine, a magnet or magnetic characteristics is mounted on the machine part, the principle that a rotary transformer uses two groups of output coils which are perpendicular to each other is similar, and two (or two pairs of) Hall sensing elements which are perpendicular to each other in current direction also need to be used in a magnetic encoder so as to ensure the unique corresponding relation between the rotating position of a magnetic field and output voltage (combination).
Another type of rotation angle sensor is a gyroscope, which is an angular motion detection device that uses the moment of momentum sensitive housing of a high speed solid of revolution about one or two axes orthogonal to the axis of rotation relative to the inertial space. Angular motion detection devices made using other principles are also known as gyroscopes, which serve the same function. The principle of a gyroscope is that the direction of the axis of rotation of a rotating object does not change when not affected by external forces. It is used to maintain orientation according to this principle, making a gyroscope. During operation, the gyroscope needs to give a force to the gyroscope so that the gyroscope can rotate rapidly, generally can reach hundreds of thousands of revolutions per minute, and can work for a long time. The direction indicated by the axis is then read in a number of ways and the data signals are automatically transmitted to the control system. The output of the gyroscope is angular velocity, and the relationship ω between the angle and the angular velocity is used as Δ Φ/Δ t.
The angle sensor has strict requirements on installation of the sensor, and the appearance of the angle sensor based on the magnetic field, which is required to be installed on the part of the rotating shaft, needs corresponding structural modification or design. This undoubtedly adds cost in mass production and parts versatility. The angle sensor of the gyroscope can solve the above problems, but the installation precision requirement is high, the arrangement is required to be horizontal or vertical to the measuring angle, and the deviation of the installation can cause the error of the angle.
Disclosure of Invention
The present invention is directed to overcome the above-mentioned disadvantages, and an object of the present invention is to provide a rotation angle sensor which does not need to be installed at a position of a rotation shaft, does not require an installation error, and can automatically repair an angle deviation caused by the installation error.
The invention specifically adopts the following technical scheme:
a rotation angle sensor includes a three-axis acceleration sensor and a three-axis gyroscope.
Preferably, the measurement process of the rotation angle sensor is as follows:
a. and distinguishing the algorithms which are not communicated currently by judging logics of static and moving, executing the traditional AHRS course angle algorithm during moving, and executing the calibration algorithm in a static state during static.
b. The inclination angle is calculated by utilizing the three-axis acceleration sensor, the acceleration sensor has 1g of gravitational acceleration under the action of gravity when being placed statically, and the inclination angle on a vertical plane is calculated by measuring the component of the gravitational acceleration on an X/Y axis;
c. comparing the static attitude calculated by the acceleration in the static state with the inclined attitude calculated by the IMU algorithm in the motion state, correcting the error of the motion, and further correcting the error in the motion state;
d. since the output of the static state gyroscope is 0, the sensor has a certain deviation, and the deviation is 0 by calculating the deviation of the current attitude.
Preferably, the tilt angle of the triaxial acceleration sensor is calculated using equation (1):
wherein, alpha is the inclination angle of the three-axis acceleration sensor, Ax is the component of the acceleration on the x axis, Ay is the component of the acceleration on the y axis, and Az is the component of the acceleration on the z axis.
The invention has the following beneficial effects:
the rotation angle sensor is convenient to install, does not need to be installed at the position of the rotating shaft, does not have requirements on installation errors, and can automatically repair angle deviation caused by the installation errors.
Drawings
Fig. 1 is a schematic diagram of a three-axis acceleration sensor for calculating an inclination angle.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings:
the rotation angle sensor comprises a three-axis acceleration sensor and a three-axis gyroscope. The measuring process of the rotation angle sensor comprises the following steps:
a. and distinguishing the algorithms of current walking disability through static and moving judgment logics, executing the traditional AHRS course angle algorithm by moving, and executing the calibration algorithm in a static state when the algorithm is static.
b. The inclination angle is calculated by utilizing the three-axis acceleration sensor, the acceleration sensor has 1g of gravitational acceleration under the action of gravity when being placed statically, and the inclination angle on a vertical plane is calculated by measuring the component of the gravitational acceleration on an X/Y axis; calculating the inclination angle of the triaxial acceleration sensor using equation (1):
wherein, alpha is the inclination angle of the three-axis acceleration sensor, Ax is the component of acceleration on the x axis, Ay is the component of acceleration on the y axis, and Az is the component of acceleration on the z axis.
c. Comparing the static attitude calculated by the acceleration in the static state with the inclined attitude calculated by the IMU algorithm in the motion state, correcting the error of the motion, and further correcting the error in the motion state;
d. because the static state is adopted, the output of the gyroscope is 0, the sensor has certain deviation due to the influence of temperature and linearity, the deviation is 0 by calculating the deviation of the current attitude, and the sensor is more and more accurately used along with more and more used static attitudes and more temperature ranges.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.
Claims (3)
1. A rotation angle sensor is characterized by comprising a three-axis acceleration sensor and a three-axis gyroscope.
2. A rotation angle sensor according to claim 1, characterized in that the measurement process is:
a. and distinguishing the algorithms which are not communicated currently by judging logics of static and moving, executing the traditional AHRS course angle algorithm during moving, and executing the calibration algorithm in a static state during static.
b. The inclination angle is calculated by utilizing the three-axis acceleration sensor, the acceleration sensor has 1g of gravitational acceleration under the action of gravity when being placed statically, and the inclination angle on a vertical plane is calculated by measuring the component of the gravitational acceleration on an X/Y axis;
c. comparing the static attitude calculated by the acceleration in the static state with the inclined attitude calculated by the IMU algorithm in the motion state, correcting the error of the motion, and further correcting the error in the motion state;
d. since the output of the static state gyroscope is 0, the sensor has a certain deviation, and the deviation is 0 by calculating the deviation of the current attitude.
3. A rotation angle sensor according to claim 1, wherein the inclination angle of the three-axis acceleration sensor is calculated by using the formula (1):
wherein, alpha is the inclination angle of the three-axis acceleration sensor, Ax is the component of the acceleration on the x axis, Ay is the component of the acceleration on the y axis, and Az is the component of the acceleration on the z axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010586107.4A CN111895967A (en) | 2020-06-24 | 2020-06-24 | Rotation angle sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010586107.4A CN111895967A (en) | 2020-06-24 | 2020-06-24 | Rotation angle sensor |
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| Publication Number | Publication Date |
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| CN111895967A true CN111895967A (en) | 2020-11-06 |
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| CN202010586107.4A Pending CN111895967A (en) | 2020-06-24 | 2020-06-24 | Rotation angle sensor |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113670358A (en) * | 2021-08-11 | 2021-11-19 | 追觅创新科技(苏州)有限公司 | Compensation method, compensation device and storage medium |
| WO2023092767A1 (en) * | 2021-11-23 | 2023-06-01 | 歌尔股份有限公司 | Calibration control method, apparatus and device for sound box, and readable storage medium |
| WO2023092766A1 (en) * | 2021-11-23 | 2023-06-01 | 歌尔股份有限公司 | Loudspeaker box calibration control method and apparatus, device, and readable storage medium |
| WO2023092765A1 (en) * | 2021-11-23 | 2023-06-01 | 歌尔股份有限公司 | Calibration and control method and apparatus for sound box, and device and readable storage medium |
| CN117110649A (en) * | 2023-08-02 | 2023-11-24 | 中国科学院自动化研究所 | A method, device and system for quality enhancement of sports data |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN205300595U (en) * | 2015-10-19 | 2016-06-08 | 陕西宝成航空仪表有限责任公司 | Novel MEMS vertical gyro detecting system |
| CN107515011A (en) * | 2017-07-07 | 2017-12-26 | 青岛海信移动通信技术股份有限公司 | A kind of bearing calibration of gyroscope and device |
| CN109211190A (en) * | 2018-06-08 | 2019-01-15 | 北京鼎致远科技发展有限公司 | A kind of shaft tower tilt angle monitoring device based on NB-IoT network |
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2020
- 2020-06-24 CN CN202010586107.4A patent/CN111895967A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205300595U (en) * | 2015-10-19 | 2016-06-08 | 陕西宝成航空仪表有限责任公司 | Novel MEMS vertical gyro detecting system |
| CN107515011A (en) * | 2017-07-07 | 2017-12-26 | 青岛海信移动通信技术股份有限公司 | A kind of bearing calibration of gyroscope and device |
| CN109211190A (en) * | 2018-06-08 | 2019-01-15 | 北京鼎致远科技发展有限公司 | A kind of shaft tower tilt angle monitoring device based on NB-IoT network |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113670358A (en) * | 2021-08-11 | 2021-11-19 | 追觅创新科技(苏州)有限公司 | Compensation method, compensation device and storage medium |
| WO2023092767A1 (en) * | 2021-11-23 | 2023-06-01 | 歌尔股份有限公司 | Calibration control method, apparatus and device for sound box, and readable storage medium |
| WO2023092766A1 (en) * | 2021-11-23 | 2023-06-01 | 歌尔股份有限公司 | Loudspeaker box calibration control method and apparatus, device, and readable storage medium |
| WO2023092765A1 (en) * | 2021-11-23 | 2023-06-01 | 歌尔股份有限公司 | Calibration and control method and apparatus for sound box, and device and readable storage medium |
| CN117110649A (en) * | 2023-08-02 | 2023-11-24 | 中国科学院自动化研究所 | A method, device and system for quality enhancement of sports data |
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Application publication date: 20201106 |
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