A Method for Controlling a Vibrating Micro Gyroscope to Measure a Attitude Angle in a Direct Manner

摘要

The present invention provides such a small vehicle, automatic navigation of a mobile vehicle, camera stabilization system, attitude control system, widely relates to a gyroscope which is utilized and, in particular, using a vibration type micro-gyroscope position capable of measuring the attitude angle directly using a conventional structure of each direct measurement control method. Vibration type micro-gyro attitude control using a direct measurement of the scope of each method of the invention, a) a vibratory gyroscope of the mass to the X-axis direction and the X-axis direction amplitude control device and a frequency control coupling between the axis X -Y axis DE (coupled) controlling the X-axis direction vibration frequency and damping coefficient using identification (identification) a; b) wherein a) the mass of the device using the output of the X-axis direction vibration amplitude of the phase control and the Y-axis direction Y Y-axis direction of the frequency axis by using the control to match the resonant frequency and the X-axis Y-axis resonant frequency controlling the direction of vibration; c) step of the linear vibration free movement in step b) measures the kinetic energy of the two-axis in phase and the gyroscope coordinate system inertia mass element with a proportion of the kinetic energy of the measured two-axis; d) calculating an attitude angle is applied to measure the displacement of the mass element in the X-axis and Y-axis; Characterized in that said.