CN117074722A - Zero calibration method and zero calibration device of acceleration sensor - Google Patents
Zero calibration method and zero calibration device of acceleration sensor Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
Abstract
The application provides a zero calibration method and a zero calibration device of an acceleration sensor, wherein the zero calibration method comprises the following steps: for each driving period after the delivery of the target vehicle, acquiring an acceleration value of a target acceleration sensor on the target vehicle every preset driving mileage in the driving period; and calibrating the acceleration zero position value of the target acceleration sensor based on each acquisition of a preset number of acceleration values. The zero calibration method and the zero calibration device can solve the problem that the zero value is inaccurate due to zero drift caused by aging of the sensor after the vehicle runs for a long time, and improve the accuracy of the zero value of the calibrated acceleration sensor.
Description
Technical Field
The application relates to the technical field of sensor calibration, in particular to a zero calibration method and a zero calibration device of an acceleration sensor.
Background
With the rapid popularity of electrification and intellectualization of automobiles, the number of sensors on automobiles has also increased exponentially, wherein acceleration sensors, such as IMU acceleration sensors, are mounted on the chassis of automobiles to assist the driving of the vehicles. The acceleration sensor belongs to an electronic product, and generally needs to be calibrated in zero position to ensure that an output signal of the acceleration sensor in working is stable and accurate.
At present, zero calibration work of the acceleration sensor is mainly realized by manual calibration before delivery. However, the sensor is easy to age after the vehicle runs for a long time, and even if the zero position value is manually calibrated before leaving a factory, the zero position of the vehicle drifts due to the aging of the sensor after the vehicle runs for a long time, so that the calibrated zero position value is inaccurate, the movement control of the vehicle is inaccurate, and dangerous conditions such as a slope sliding fault and a collision accident of the vehicle are even caused.
Disclosure of Invention
Therefore, the application aims to provide a zero calibration method and a zero calibration device for an acceleration sensor, so as to improve the accuracy of the calibrated zero value of the acceleration sensor.
In a first aspect, an embodiment of the present application provides a zero calibration method for an acceleration sensor, where the zero calibration method includes:
for each driving period after the delivery of the target vehicle, acquiring an acceleration value of a target acceleration sensor on the target vehicle every preset driving mileage in the driving period;
and calibrating the acceleration zero position value of the target acceleration sensor based on each acquisition of a preset number of acceleration values.
Optionally, the acceleration value includes: lateral acceleration values and/or longitudinal acceleration values.
Optionally, calibrating the acceleration zero value of the target acceleration sensor based on each acquisition of a predetermined number of acceleration values includes:
calibrating a lateral acceleration zero position value of a target acceleration sensor based on a preset number of lateral acceleration values acquired each time;
and/or;
and calibrating the longitudinal acceleration zero position value of the target acceleration sensor based on each acquisition of a preset number of longitudinal acceleration values.
Optionally, calibrating the lateral acceleration null value of the target acceleration sensor based on each acquired predetermined number of lateral acceleration values includes:
determining a lateral acceleration mean value based on each of the acquired predetermined number of lateral acceleration values;
calibrating the transverse acceleration average value as a transverse acceleration zero position value of a target acceleration sensor;
and/or;
calibrating the longitudinal acceleration zero position value of the target acceleration sensor based on each acquisition of a preset number of longitudinal acceleration values comprises the following steps:
determining a longitudinal acceleration mean value based on each of the acquired predetermined number of longitudinal acceleration values;
and calibrating the longitudinal acceleration average value as a longitudinal acceleration zero position value of the target acceleration sensor.
In a second aspect, an embodiment of the present application provides a zero calibration device of an acceleration sensor, where the zero calibration device includes:
the acquisition module is used for acquiring the acceleration value of the target acceleration sensor on the target vehicle every preset driving mileage in each driving period after the delivery of the target vehicle;
and the calibration module is used for calibrating the acceleration zero position value of the target acceleration sensor based on the acceleration values of each acquired preset number.
Optionally, the acceleration value includes: lateral acceleration values and/or longitudinal acceleration values.
Optionally, the calibration module is specifically configured to:
calibrating a lateral acceleration zero position value of a target acceleration sensor based on a preset number of lateral acceleration values acquired each time;
and/or;
and calibrating the longitudinal acceleration zero position value of the target acceleration sensor based on each acquisition of a preset number of longitudinal acceleration values.
Optionally, the calibration module is specifically configured to:
determining a lateral acceleration mean value based on each of the acquired predetermined number of lateral acceleration values;
calibrating the transverse acceleration average value as a transverse acceleration zero position value of a target acceleration sensor;
and/or;
calibrating the longitudinal acceleration zero position value of the target acceleration sensor based on each acquisition of a preset number of longitudinal acceleration values comprises the following steps:
determining a longitudinal acceleration mean value based on each of the acquired predetermined number of longitudinal acceleration values;
and calibrating the longitudinal acceleration average value as a longitudinal acceleration zero position value of the target acceleration sensor.
In a third aspect, an embodiment of the present application provides an electronic device, including: the system comprises a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, the processor and the memory are communicated through the bus when the electronic device runs, and the machine-readable instructions are executed by the processor to execute the steps of the zero calibration method of the acceleration sensor.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium having a computer program stored thereon, which when executed by a processor performs the steps of the method for calibrating the zero position of an acceleration sensor as described above.
The zero calibration method and the zero calibration device for the acceleration sensor provided by the embodiment of the application comprise the following steps: for each driving period after the delivery of the target vehicle, acquiring an acceleration value of a target acceleration sensor on the target vehicle every preset driving mileage in the driving period; and calibrating the acceleration zero position value of the target acceleration sensor based on each acquisition of a preset number of acceleration values. The zero calibration method dynamically updates the acceleration zero value along with the running of the vehicle, so that the problem that the zero value is inaccurate due to drift of the zero caused by aging of the sensor after the vehicle runs for a long time can be solved, and the accuracy of the zero value of the calibrated acceleration sensor is improved.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 shows a flow chart of a zero calibration method of an acceleration sensor provided by an exemplary embodiment of the application;
FIG. 2 shows a schematic structural diagram of a zero calibration device of an acceleration sensor according to an exemplary embodiment of the present application;
fig. 3 shows a schematic structural diagram of an electronic device according to an exemplary embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. Based on the embodiments of the present application, every other embodiment obtained by a person skilled in the art without making any inventive effort falls within the scope of protection of the present application.
At present, zero calibration work of the acceleration sensor is mainly realized by manual calibration before delivery. However, the sensor is easy to age after the vehicle runs for a long time, and even if the zero position value is manually calibrated before leaving a factory, the zero position of the vehicle drifts due to the aging of the sensor after the vehicle runs for a long time, so that the calibrated zero position value is inaccurate, the movement control of the vehicle is inaccurate, and dangerous conditions such as a slope sliding fault and a collision accident of the vehicle are even caused.
Based on the above, the embodiment of the application provides a zero calibration method and a zero calibration device for an acceleration sensor, which can overcome the problem that the calibrated zero value is inaccurate due to zero drift caused by aging of the sensor after a vehicle runs for a long time by determining the acceleration zero value every time a preset number of acceleration values are acquired after a target vehicle leaves a factory, and improve the accuracy of the calibrated zero value of the acceleration sensor.
Referring to fig. 1, fig. 1 shows a flowchart of a zero calibration method of an acceleration sensor according to an embodiment of the present application.
As shown in fig. 1, the zero calibration method of the acceleration sensor provided by the embodiment of the application comprises the following steps:
s1, acquiring an acceleration value of a target acceleration sensor on a target vehicle every preset driving mileage in each driving period after the target vehicle leaves a factory;
as an example, the start time of the travel cycle may be a factory time of the target vehicle, and the end time of the travel cycle may be a current time. In this case, the travel cycle includes only one.
As another example, the start time of each travel cycle may be the ignition time of the target vehicle and the end time of each travel cycle may be the flameout time of the target vehicle. In this case, the travel cycle may include a plurality of.
Here, the target vehicle accumulates the mileage in real time at each time node from the start time of each travel cycle. It will be appreciated that each time node is a real-time node in which the target vehicle counts the mileage, and the time interval between every two adjacent time nodes is short.
As an example, the target vehicle may accumulate mileage in real time by integrating vehicle speed at each time node. For example, the mileage accumulated in real time by integrating the vehicle speed is 1m at the first time node, the mileage accumulated in real time by integrating the vehicle speed is 2m at the second time node, … …, and so on. The vehicle speed is integrated to accumulate the driving mileage in real time, so that the accumulated driving mileage of each time node is more accurate.
Here, the predetermined driving range is determined according to actual conditions, and for example, the predetermined driving range may be 1km.
In the implementation, the storage trigger can output a trigger signal every preset driving distance, and the storage acquires the acceleration value of the target acceleration sensor on the target vehicle once after receiving the trigger signal.
Here, the acceleration value may include: lateral acceleration values and/or longitudinal acceleration values. The acceleration sensor is used for calibrating the zero position of the acceleration sensor, wherein the acceleration sensor is used for measuring the transverse acceleration value or the longitudinal acceleration value of the vehicle.
As an example, for the case where the acceleration values include only lateral acceleration values, in this step S1, the lateral acceleration values of the target acceleration sensor on the target vehicle are acquired every 1km.
As another example, for the case where the acceleration value includes only the longitudinal acceleration value, in this step S1, the longitudinal acceleration value of the target acceleration sensor on the target vehicle is acquired every 1 km;
as another example, for the case where the acceleration values include a lateral acceleration value and a longitudinal acceleration value, in this step S1, the lateral acceleration value and the longitudinal acceleration value of the target acceleration sensor on the target vehicle are acquired at the same time every 1km.
S2, calibrating the acceleration zero position value of the target acceleration sensor based on the acceleration values acquired in a preset number.
Here, the predetermined number is determined according to actual conditions, and for example, the predetermined number may be 50 or 100 or the like.
As an example, in the case where the acceleration values include only lateral acceleration values, in this step S2, the lateral acceleration null value of the target acceleration sensor is calibrated based on a predetermined number of lateral acceleration values per acquisition.
Specifically, in this step, a lateral acceleration average value may be first determined based on each acquired predetermined number of lateral acceleration values, and then calibrated as a lateral acceleration zero value of the target acceleration sensor;
as another example, in the case where the acceleration values include only longitudinal acceleration values, in this step S2, the longitudinal acceleration null value of the target acceleration sensor is calibrated based on a predetermined number of longitudinal acceleration values per acquisition.
Specifically, in this step, a longitudinal acceleration average value may be first determined based on each acquisition of a predetermined number of longitudinal acceleration values, and then calibrated as a longitudinal acceleration null value of the target acceleration sensor.
As another example, in the case where the acceleration values include a lateral acceleration value and a longitudinal acceleration value, in this step S2, the longitudinal acceleration null value of the target acceleration sensor is calibrated based on a predetermined number of lateral acceleration values and longitudinal acceleration values per acquisition.
It will be appreciated that, since there are two acceleration values acquired at each sampling instant in the case where the acceleration values include the lateral acceleration value and the longitudinal acceleration value, the predetermined number corresponding to the case where the acceleration values include the lateral acceleration value and the longitudinal acceleration value may be twice the predetermined number corresponding to the case where the acceleration values include only the lateral acceleration value or the longitudinal acceleration value, for example, if the predetermined number corresponding to the case where the acceleration values include only the lateral acceleration value or the longitudinal acceleration value is 50, the predetermined number corresponding to the case where the acceleration values include the lateral acceleration value and the longitudinal acceleration value may be 100.
Specifically, in this step, a lateral acceleration average value may be determined based on each acquired predetermined number of lateral acceleration values, and the lateral acceleration average value may be calibrated to a lateral acceleration zero value of the target acceleration sensor; and determining a longitudinal acceleration average value based on each acquired preset number of longitudinal acceleration values, and calibrating the longitudinal acceleration average value as a longitudinal acceleration zero position value of the target acceleration sensor.
With respect to step S2, in a specific example, in the case where the acceleration values include only lateral acceleration values, assuming that the predetermined number of acquisitions is 50, then every 50 lateral acceleration values are acquired, the acceleration null value of the target acceleration sensor is calibrated, namely: collecting 1 st to 50 th lateral acceleration values, determining a lateral acceleration average value corresponding to the 1 st to 50 th lateral acceleration values based on the 1 st to 50 th lateral acceleration values, and calibrating the lateral acceleration average value corresponding to the 1 st to 50 th lateral acceleration values as an acceleration zero position value of a target acceleration sensor; and acquiring 51-100 th lateral acceleration values, determining a lateral acceleration average value corresponding to the 51-100 th lateral acceleration values based on the 51-100 th lateral acceleration values, and then recalibrating the lateral acceleration average value corresponding to the 51-100 th lateral acceleration values as an acceleration zero position value of the target acceleration sensor, … …, and so on.
By calibrating the acceleration null value of the target acceleration sensor based on each collection of a predetermined number of acceleration values, the acceleration null value may be dynamically updated as the vehicle travels.
In a specific implementation, the zero calibration method may further include: a memory space of a predetermined size, which may be a size including only a predetermined number of acceleration values, is created in advance in the memory. After the acceleration values of the target acceleration sensor on the target vehicle are acquired every predetermined driving distance, the acceleration values are sequentially stored in the storage space, then after each predetermined number of acceleration values are acquired, the stored first acceleration value is replaced by the next acceleration value of the acquired predetermined number of acceleration values, the stored second acceleration value is replaced by the next acceleration value of the acquired predetermined number of acceleration values, and so on. For example, after every 50 lateral acceleration values are acquired, the 51 st lateral acceleration value is used to replace the 1 st acceleration value, the 52 nd lateral acceleration value is used to replace the 2 nd acceleration value, and so on. By means of the method, the acceleration value is stored in a rolling mode, and waste of storage space can be avoided.
The zero calibration method of the acceleration sensor provided by the embodiment of the application comprises the following steps: for each driving period after the delivery of the target vehicle, acquiring an acceleration value of a target acceleration sensor on the target vehicle every preset driving mileage in the driving period; and calibrating the acceleration zero position value of the target acceleration sensor based on each acquisition of a preset number of acceleration values. The zero calibration method dynamically updates the acceleration zero value along with the running of the vehicle, so that the problem that the zero value is inaccurate due to drift of the zero caused by aging of the sensor after the vehicle runs for a long time can be solved, and the accuracy of the zero value of the calibrated acceleration sensor is improved.
Based on the same inventive concept, the embodiment of the application also provides a zero calibration device of the acceleration sensor corresponding to the zero calibration method of the acceleration sensor, and because the principle of solving the problem of the device in the embodiment of the application is similar to that of the zero calibration method of the acceleration sensor in the embodiment of the application, the implementation of the device can refer to the implementation of the method, and the repetition is omitted.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a zero calibration device of an acceleration sensor according to an exemplary embodiment of the present application. As shown in fig. 2, the zero calibration device 200 includes:
the acquisition module 210 is configured to acquire, for each driving cycle after the target vehicle leaves the factory, an acceleration value of a target acceleration sensor on the target vehicle every predetermined driving mileage within the driving cycle;
the calibration module 220 is configured to calibrate an acceleration zero value of the target acceleration sensor based on each of the acquired predetermined number of acceleration values.
Optionally, the acceleration value includes: lateral acceleration values and/or longitudinal acceleration values.
Optionally, the calibration module 220 is specifically configured to:
calibrating a lateral acceleration zero position value of a target acceleration sensor based on a preset number of lateral acceleration values acquired each time;
and/or;
and calibrating the longitudinal acceleration zero position value of the target acceleration sensor based on each acquisition of a preset number of longitudinal acceleration values.
Optionally, the calibration module 220 is specifically configured to:
determining a lateral acceleration mean value based on each of the acquired predetermined number of lateral acceleration values;
calibrating the transverse acceleration average value as a transverse acceleration zero position value of a target acceleration sensor;
and/or;
calibrating the longitudinal acceleration zero position value of the target acceleration sensor based on each acquisition of a preset number of longitudinal acceleration values comprises the following steps:
determining a longitudinal acceleration mean value based on each of the acquired predetermined number of longitudinal acceleration values;
and calibrating the longitudinal acceleration average value as a longitudinal acceleration zero position value of the target acceleration sensor.
The zero calibration device of the acceleration sensor provided by the embodiment of the application comprises: for each driving period after the delivery of the target vehicle, acquiring an acceleration value of a target acceleration sensor on the target vehicle every preset driving mileage in the driving period; and calibrating the acceleration zero position value of the target acceleration sensor based on each acquisition of a preset number of acceleration values. The zero calibration method dynamically updates the acceleration zero value along with the running of the vehicle, so that the problem that the zero value is inaccurate due to drift of the zero caused by aging of the sensor after the vehicle runs for a long time can be solved, and the accuracy of the zero value of the calibrated acceleration sensor is improved.
Referring to fig. 3, fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the application. As shown in fig. 3, the electronic device 300 includes a processor 310, a memory 320, and a bus 330.
The memory 320 stores machine-readable instructions executable by the processor 310, when the electronic device 300 is running, the processor 310 communicates with the memory 320 through the bus 330, and when the machine-readable instructions are executed by the processor 310, the steps of the method for calibrating the zero position of the acceleration sensor in the method embodiment described above may be executed, and the specific implementation may refer to the method embodiment and will not be described herein.
The embodiment of the application also provides a computer readable storage medium, and a computer program is stored on the computer readable storage medium, and when the computer program is run by a processor, the steps of the zero calibration method of the acceleration sensor in the method embodiment can be executed, and the specific implementation manner can refer to the method embodiment and is not repeated herein.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.
In the several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer readable storage medium executable by a processor. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the above examples are only specific embodiments of the present application, and are not intended to limit the scope of the present application, but it should be understood by those skilled in the art that the present application is not limited thereto, and that the present application is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application. Therefore, the protection scope of the application is subject to the protection scope of the claims.
Claims (10)
1. The zero calibration method of the acceleration sensor is characterized by comprising the following steps of:
for each driving period after the delivery of the target vehicle, acquiring an acceleration value of a target acceleration sensor on the target vehicle every preset driving mileage in the driving period;
and calibrating the acceleration zero position value of the target acceleration sensor based on each acquisition of a preset number of acceleration values.
2. The zero calibration method according to claim 1, characterized in that the acceleration value comprises: lateral acceleration values and/or longitudinal acceleration values.
3. The null calibration method according to claim 2, wherein calibrating the acceleration null value of the target acceleration sensor based on each acquisition of a predetermined number of acceleration values comprises:
calibrating a lateral acceleration zero position value of a target acceleration sensor based on a preset number of lateral acceleration values acquired each time;
and/or;
and calibrating the longitudinal acceleration zero position value of the target acceleration sensor based on each acquisition of a preset number of longitudinal acceleration values.
4. A zero calibration method according to claim 3, wherein calibrating the zero value of the lateral acceleration of the target acceleration sensor based on a predetermined number of lateral acceleration values per acquisition comprises:
determining a lateral acceleration mean value based on each of the acquired predetermined number of lateral acceleration values;
calibrating the transverse acceleration average value as a transverse acceleration zero position value of a target acceleration sensor;
and/or;
calibrating the longitudinal acceleration zero position value of the target acceleration sensor based on each acquisition of a preset number of longitudinal acceleration values comprises the following steps:
determining a longitudinal acceleration mean value based on each of the acquired predetermined number of longitudinal acceleration values;
and calibrating the longitudinal acceleration average value as a longitudinal acceleration zero position value of the target acceleration sensor.
5. A zero calibration device of an acceleration sensor, characterized in that the zero calibration device comprises:
the acquisition module is used for acquiring the acceleration value of the target acceleration sensor on the target vehicle every preset driving mileage in each driving period after the delivery of the target vehicle;
and the calibration module is used for calibrating the acceleration zero position value of the target acceleration sensor based on the acceleration values of each acquired preset number.
6. The zero calibration device of claim 5, wherein the acceleration value comprises: lateral acceleration values and/or longitudinal acceleration values.
7. The zero calibration device according to claim 6, characterized in that the calibration module is specifically configured to:
calibrating a lateral acceleration zero position value of a target acceleration sensor based on a preset number of lateral acceleration values acquired each time;
and/or;
and calibrating the longitudinal acceleration zero position value of the target acceleration sensor based on each acquisition of a preset number of longitudinal acceleration values.
8. The zero calibration device according to claim 7, characterized in that the calibration module is specifically configured to:
determining a lateral acceleration mean value based on each of the acquired predetermined number of lateral acceleration values;
calibrating the transverse acceleration average value as a transverse acceleration zero position value of a target acceleration sensor;
and/or;
calibrating the longitudinal acceleration zero position value of the target acceleration sensor based on each acquisition of a preset number of longitudinal acceleration values comprises the following steps:
determining a longitudinal acceleration mean value based on each of the acquired predetermined number of longitudinal acceleration values;
and calibrating the longitudinal acceleration average value as a longitudinal acceleration zero position value of the target acceleration sensor.
9. An electronic device, comprising: a processor, a memory and a bus, said memory storing machine readable instructions executable by said processor, said processor and said memory communicating via said bus when the electronic device is running, said machine readable instructions when executed by said processor performing the steps of the zero calibration method of an acceleration sensor according to any one of claims 1 to 4.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of the zero calibration method of an acceleration sensor according to any one of claims 1 to 4.
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| JP2022190463A (en) * | 2021-06-14 | 2022-12-26 | 矢崎エナジーシステム株式会社 | Acceleration sensor correction device, road gradient detection device, operation record device, acceleration sensor correction program, and structure of correction value data |
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