陀螺仪

LASER GYRO, A gyro which uses two laser light beams to measure angular rotation.

激光陀螺仪，一种由两条激光光束来测量旋转角速度的陀螺仪。

For achieve two-wheel balanced function, we used fuzzy control algorithm to program the controlled codes. About the processes of control, the encoders is used to measure the angle and angular velocity of two wheels; the gyroscopei is used to measure the angular velocity of the robot; the inclined angle is got from integrating the angular velocity, and is adjusted by angle got from tiltmeter per second.

在控制流程中，用陀螺仪测量机器人倾斜角速度，透过积分得到机器人倾斜角度，且每隔1秒就用倾斜计测量的角度来校正陀螺仪积分角度，透过马达后方的光学编码器来得知马达转动角度与角速度，将陀螺仪、倾斜计与光学编码器的资讯作为控制器的输入，以模糊控制理论计算后，控制马达转动，以达到动态平衡的目的。

Each capacitance in the model is analyzed in theory and simulated with the simulation software of circuit.

并以某硅微机械陀螺仪的理论模型为对象，建立了陀螺仪结构中的电容模型。

On the basis of direct modelling method by using extended Kalman filter, a new method combining extended Kalman filter with adaptive extended Kalman filter is presented to model gyro drift directly from rotate angle of turntable. Extended Kalman filter has great estimation error, what is more, may be divergent if the model and noise statistic are not accurate or wrong. The new method solves the problem of general extended Kalman filter by using fictious noise with timevarying statistic to compensate the linearized model error of extended Kalman filter. The parameter estimators of single-axis and double-axis servo test are designed from it.

本文深入研究了根据伺服试验数据进行陀螺仪漂移误差模型建模的方法，在应用广义Kalman滤波器直接建模的方法基础上，针对广义Kalman滤波器对于不精确或错误的模型和噪声统计，估计误差较大，甚至滤波发散的缺陷，借助于用带时变噪声统计的虚拟噪声补偿广义Kalman滤波的线性化模型误差的新思想，提出了用广义Kalman滤波和自适应广义Kalman滤波算法相结合的方法由转台的转角数据直接建模陀螺仪漂移误差模型，并设计了陀螺仪单轴伺服和双轴伺服测试时参数估计的滤波器。

Because of the limited rigidity in every direction of the flexure joint, the gyro drift must be existed.

研究了挠性支承特性对动力调谐速率陀螺仪精度的影响，推导了动力调谐速率陀螺仪的漂移公式。

This course consists of three parts : A.The fundamental theory of gyroscopes. a.Kinematics and dynamics of gyroscopes, consisting of Coriolis acceleration, theorem of angular momentum, Euler's dynamical equations, dynamical explanation of gyroscopes' properties. b.Gyroscopes' motion equations, including the complete equations, technical equations and precession equations derived from Euler's dynamical equations, and the technical equations derived from static vs. dynamic method. c.Analysis of gyroscopes' motion. d.Coordinate systems and their mutual transformation. e.Gyroscope drift and its measurement. B.Principle of typical gyroscope instruments, such as gyro compass, gyro north finder, gyro horizon, platform compass, rate gyroscope and integrating gyroscope. C.Principles and applications of new-type gyroscpes, such as electrically suspended gyro, ring laser gyroscope, fiber optical gyroscope, hemispherical resonator gyro, dynamically tuned gyroscope and micro inertial sensors.

本课程教学内容由三部分组成：陀螺仪的基本理论，内容包括：陀螺力学基础（哥氏加速度、角动量定理和欧拉动力学方程、陀螺特性的力学解释）；陀螺仪运动方程和运动分析（用欧拉动力学方程建立完整方程、陀螺仪运动的技术方程和进动方程，用动静法建立技术方程）；坐标系及其变换；陀螺仪的漂移及其测试；典型陀螺仪器（包括陀螺罗经、陀螺找北仪、陀螺地平仪、平台罗经、速率陀螺仪和积分陀螺仪等）的工作原理；新型陀螺仪（包括静电陀螺仪、激光陀螺仪、光纤陀螺仪、半球谐振陀螺仪、挠性陀螺仪、微机械陀螺仪等）的原理及应用。

In practical experiment on a ceramic cylinder gyroscope, it shows that the resonant frequency is quite approximate to the simulated one. A good linear relation of the sense voltage to rotation speed is obtained, which indicates the piezoelectric ceramic cylinder gyroscope is good at the measurement for low and medium rotation speed.

在圆柱型陀螺仪之实验过程中，显示驱动与感测之共振频率几乎为一致；而在旋转实验中得到转速与感测电压拥有良好的线性关系，亦指出该陀螺仪在中低转速下拥有较佳之线性关系。

So, the study in this dissertation focuses on some key points in theuncertainty treatment of mobile robot localization as follows: Combined with the multiple proprioceptive and exteroceptive sensors ofmobile robot MORCS-1, aimed at the drift error of fiber optic gyro as theproprioceptive sensor, the neural network using genetic algorithm as optimaltool is proposed to accomplish the modeling and calibration for temperaturedrift of fiber optic gyro, which can reduce the drift error to the standard outputat constant temperature; and aimed at the noisy disturbance of ranging datafrom the exteroceptive sensor laser scanner, a dynamic adaptive filter isintroduced through the analysis of neighboring ranging data in time and spatialcorrelation to realize the real-time and dynamic filter, which can validly filter the noisy disturbance to meet the requirement of the accurately real-timeobstacle detection in mobile robot navigation.

总结全文，在移动机器人定位的不确定性处理研究中，提出了一些具有一定创新性的方法：结合自行研制的移动机器人MORCS-1系统的多种内外部定位传感器，针对内部本体感受传感器光纤陀螺仪的漂移误差，提出采用基于遗传算法优化的神经网络来对光纤陀螺仪的温漂建模及校准，能够将其温漂变化控制在恒温条件下标准测试输出附近；针对外部环境感知传感器激光雷达测距数据中包含的噪声干扰，考虑移动机器人导航中激光雷达测距数据的时空关联性，提出采用动态自适应滤波技术进行预处理，从而可以有效滤除噪声干扰满足导航中障碍实时精确检测的要求。

To reduce and compensate the influence of temperature on ring laser gyro bias error and attain the precision of inertial level gyro, the mechanism of RLG zero-bias error due to temperature is analyzed. Based on a great number of environmental temperature experiments of RLG, a general temperature compensating model and a new kind of BP neural network model are established. A method for identifying the model parameter is proposed. Simulation results show that the simplified compensating model can reduce the zero-bias by more than a magnitude and achieve real-time compensating feature.

零偏是衡量激光陀螺性能的一个重要指标，但其受温度影响很大，为了降低和补偿温度对激光陀螺零偏的影响，使其达到惯性级陀螺仪的精度要求，分析了温度对激光陀螺零偏误差的产生机理，在大量高低温环境试验的基础上，建立了一种通用的零偏温度补偿模型和一种BP神经网络模型，并给出了模型参数的辨识方法，仿真结果表明，对该模型作适当的简化，可以将零偏减小一个数量级以上，而且具有实时补偿性能。

operation process and arithmetic of the two-position gyro-based north seeker are introduced.

文章介绍了二位置陀螺寻北仪工作过程及算法原理，它采用陀螺仪在相差180°的两点上采样相互对消陀螺常值漂移的方法，提高寻北精度；其突出特点是结构简单，实现方便，精度较好；为了提高寻北精度和缩短寻北时间，文章找出误差源中的转位误差，并分析了转位误差对寻北误差的影响，推导了误差公式，得出转位误差引起的寻北误差是一个常量的结论，同时提出了转位误差的测量与补偿方法。

I didn't watch TV last night, because it .

昨晚我没有看电视，因为电视机坏了。

Since this year, in a lot of villages of Beijing, TV of elevator liquid crystal was removed.

今年以来，在北京的很多小区里，电梯液晶电视被撤了下来。