Research On Angular Velocity Sensor With Gyroscope Free Based On DSP

The spin angular velocity measurement of discus flight process can provide a basis for guiding the training of athletes. Conventional gyroscope (mechanical gyros, optical gyroscope) for small range, poor anti-impact capacity, poor anti-overload capacity, large volume and other reasons cannot be used to measure the spin angular velocity; while the imports gyroscope and the military gyroscope are not easy to get, and the price is very costly. This paper presents a gyroscope which take the theory of gyroscope free strap-down inertial navigation (GFSINS) as its’theoretical basis, the gyroscope free angular velocity sensor based on DSP.In order to satisfy the requirement of measurement of discus spin angular velocity and the installation requirement of discus, the principle of velocity calculation in GFSINS was taken as the foundation, a MIMU is designed. In order to verify the feasibility of the MIMU, a simulation analysis is carried on, the simulation results show that the angular velocity of the MIMU calculated to meet the requirement of accuracy. In order to improve the real-time of data calculation, the hardware system of the angular velocity sensor takes FPGA as coprocessor for data acquisition and data cache and takes DSP as main processor for data calculation.In order to realize the synchronous acquisition of multi-channel sensor signal of MIMU, two FPGA function unit that the ADC controller and the FIFO memory is designed in the hardware platform, and test results show that the ADC controller and FIFO memory can realize the data acquisition and caching. DSP is initialized in order to DSP can work normally with its peripheral equipment. Low-pass filter is combined designed by MATLAB and DSP to filter out the noise signal of sensor output, and its filtering results meet the requirements. The DSP software program of angular velocity calculation is designed.Angular velocity sensor that designed in this paper, satisfy the requirements of measurement, convenient installation, low cost, stable and reliable.