陀螺仪角速度的检测与处理  

Measuring and processing of the gyroscope's angular velocity

作　　者：陈亮[1] 黄玉美[2] 林义忠[2] 史恩秀[2] 高峰[2] 

机构地区：[1]煤炭科学研究总院西安分院,陕西西安710054 [2]西安理工大学机械制造及自动化系,陕西西安710048

出　　处：《传感器与微系统》2006年第4期58-59,共2页Transducer and Microsystem Technologies

基　　金：陕西省教育厅产业化培育计划资助项目(220312)

摘　　要：对陀螺仪测量自动导航小车的角速度进行了理论分析,并对其角速度的采集作出了说明。针对陀螺仪采集自动导航小车瞬时角速度值时噪声信号往往淹没真实的角速度,对提取自动导航小车的真实角速度提出了几种方案,并通过实验证明其可行性。对小车角速度为45°/s时做了2种滤波,实验证明:2种算法有效地滤去噪声信号,大大降低了淹没角速度的范围。Analyzing the automated guided vehicle（AGV） angular velocity measured by gyroscope for the theroy and detailing to the angular velocity sampling. When the instantaneous angular speed value of the AGV is gathered by the gyroscope, the noise signal often floods the true speed. Several kinds of schemes in drawing the true angular speed of the AGV are proposed. Experiment shows its feasibility is proved. Two kinds filtration of AGV when it＇s angular velocity is 45°/s is made. The experiment shows the two filtration algorithms filtered the noise signal effectively, and reduced the range of the flooded angular velocity greatly.

关 键 词：陀螺仪 自动导航小车 角速度采集 噪声信号 数字滤波 

分 类 号：TP206.1[自动化与计算机技术—检测技术与自动化装置]