WO2018053969A1

WO2018053969A1 - Azimuth calibration method and apparatus

Info

Publication number: WO2018053969A1
Application number: PCT/CN2016/113144
Authority: WO
Inventors: 宋夏; 汪航
Original assignee: 广州视源电子科技股份有限公司
Priority date: 2016-09-21
Filing date: 2016-12-29
Publication date: 2018-03-29
Also published as: CN106441360A; CN106441360B

Abstract

The present invention relates to an azimuth calibration method and apparatus. The method comprises: obtaining information about an azimuth to be calibrated of a first device, and sending a calibration request to a second device; the second device performing azimuth calibration in response to the calibration request, and sending, to the first device, information about a calibrated azimuth obtained after the azimuth calibration; the first device receiving the information about the calibrated azimuth obtained by the second device after the azimuth calibration in response to the calibration request; and obtaining a preset relative azimuth between the first device and the second device, and then performing azimuth calibration according to the information about the azimuth to be calibrated, the information about the calibrated azimuth, and the preset relative azimuth. By means of the azimuth calibration method and apparatus, when azimuth calibration is performed on the first device, it is unnecessary to start the first device to move back and forth in the field. Information about the calibrated azimuth obtained by the second device after azimuth calibration is received, and azimuth calibration can be performed according to the information about the calibrated azimuth, the information about the azimuth to be calibrated of the first device, and the relative azimuth. The calibration process is simplified, and the calibration efficiency is improved.

Description

Azimuth calibration method and device

Technical field

The present invention relates to the field of data calibration technologies, and in particular, to an azimuth calibration method and apparatus.

Background technique

With the development of the Internet and smart products, cars have become more and more intelligent. Most cars are starting to install automotive central control or rearview mirror products. These products generally have a car orientation and navigation function. The implementation of directional positioning relies on the magnetic field sensor in the product. The magnetic field sensor is used to realize the compass function to determine the current head direction of the car. Then use the GPS function to realize the car navigation function. However, after the power failure or the strong magnetic field interference, the rearview mirror product cannot accurately obtain the southeast-northwest direction in which the automobile is currently located, that is, the position information of the automobile cannot be accurately obtained.

The magnetic field sensor must be azimuthally calibrated to accurately position the field. The traditional calibration method is to draw a “8” word for a rearview mirror product with a magnetic field sensor, so that the magnetic field sensor can acquire magnetic induction in all directions, which is equivalent to the user needing to start the car and wrap around in a relatively wide place for calibration. The "8" word is both cumbersome and time consuming, and the calibration efficiency is low.

Summary of the invention

Based on this, it is necessary to provide an azimuth calibration method and apparatus for improving calibration efficiency for the problem of low calibration efficiency.

A method of orientation calibration applied to a first device includes the following steps:

Obtaining the orientation information to be calibrated;

Sending a calibration request to the second device;

Receiving calibration orientation information after the second device performs orientation calibration in response to the calibration request;

Obtaining a preset relative orientation with the second device;

Azimuth calibration is performed according to the orientation information to be calibrated, the calibration orientation information, and the preset relative orientation.

The present invention also provides an attitude calibration apparatus for use in a first device, comprising:

The orientation information acquiring module to be calibrated is used to obtain the orientation information to be calibrated;

a calibration request sending module, configured to send a calibration request to the second device;

The orientation information acquiring module is configured to receive calibration orientation information after the second device performs orientation calibration in response to the calibration request;

a relative orientation acquisition module, configured to acquire a preset relative orientation with the second device;

And a calibration module, configured to perform calibration of the orientation according to the orientation information to be calibrated, the calibration orientation information, and the preset relative orientation.

The azimuth calibration method and device, when performing the azimuth calibration of the first device, first acquire the orientation information of the first device itself to be calibrated, and send a calibration request to the second device, and the second device performs the azimuth calibration and responds to the calibration request. a device sends the calibration orientation information after performing the orientation calibration, the first device receives the calibration orientation information after the second device responds to the calibration request, and acquires the preset relative orientation of the first device and the second device, The relative positional relationship between the first device and the second device is known, and the orientation calibration is performed according to the orientation information to be calibrated, the calibration orientation information, and the preset relative orientation. When the azimuth calibration method is performed on the first device by using the azimuth calibration method and the device, the first device does not need to start the back and forth movement in the field to achieve calibration, and only needs to receive the calibration orientation information after the second device performs the azimuth calibration, according to the calibration orientation information. The orientation information of the first device to be calibrated and the relative orientation are azimuth calibration, which simplifies the calibration process and improves the calibration efficiency.

DRAWINGS

1 is an interactive schematic diagram of an orientation calibration system of an embodiment;

2 is a flow chart of an orientation calibration method of an embodiment;

3 is a flow chart of an orientation calibration method of another embodiment;

4 is a flow chart of an orientation calibration method of another embodiment;

5 is a positional relationship diagram of a first device and a second device according to an embodiment;

Figure 6 is a block diagram of an orientation calibration apparatus of an embodiment;

Figure 7 is a block diagram of an orientation calibration device of another embodiment;

Figure 8 is a block diagram of an orientation calibration device of another embodiment.

Specific embodiment

Referring to FIG. 1 , an orientation calibration system of an embodiment is provided, including a first device and a second device. When a first device needs to perform orientation calibration, first, the first device needs to acquire its own to-be-calibrated orientation information. a device The second device needs to establish a connection first, that is, the second device sends a connection request to the first device, the first device receives the connection request, and establishes a connection with the second device according to the connection request, and the first device sends a calibration request to the second device, The second device receives the calibration request and performs the orientation calibration in response to the calibration request to obtain the calibration orientation information, and sends the calibration orientation information after performing the orientation calibration to the first device, where the first device receives the calibration orientation information, and the first device further needs to Obtaining a preset relative orientation with the second device, performing orientation calibration according to the orientation information to be calibrated, the calibration orientation information, and the preset relative orientation, thereby implementing orientation calibration of the first device.

Referring to FIG. 2, an orientation calibration method of an embodiment is provided, which is applied to a first device, and includes the following steps:

S210: Acquire the orientation information to be calibrated.

By obtaining the orientation information of the first device itself to be calibrated, the orientation of the current positioning of the first device can be known. In this embodiment, the first device includes, but is not limited to, a traffic device or the like. In practical applications, in order to meet people's intelligent demand for traffic equipment, more and more traffic equipment will be equipped with local electronic terminals, for example, rearview mirror smart devices, with orientation detection devices and GPS installed in the electronic terminals. Position the device so that the user can see at any time where the location and location of the traffic device is traveling. However, the azimuth detecting device may have a large deviation when performing the azimuth detection after receiving a strong magnetic field interference, so that the azimuth positioning is inaccurate. At this time, the azimuth detecting device needs to be calibrated to obtain more accurate orientation information, then, Firstly, it is necessary to obtain the orientation information to be calibrated detected by the orientation detecting device installed on the traffic device. In this embodiment, the orientation detecting device is a magnetic field sensor, and the magnetic field sensor can sense the magnetic field strength in different directions to detect the orientation.

S220: Send a calibration request to the second device.

When the first device needs to perform orientation calibration, the calibration request is sent to the second device to request acquisition of the calibration orientation information after the second device performs the orientation calibration. The second device receives the calibration request and responds by transmitting the calibration orientation information after performing the azimuth calibration to the first device.

S230: Receive calibration direction information after the second device responds to the calibration request to perform the azimuth calibration.

After transmitting the calibration request to the second device, the second device performs the orientation calibration in response to the calibration request, and sends the calibration orientation information after performing the orientation calibration to the first device, and the first device can receive the calibration after the second device performs the orientation calibration. Bearing information. In this embodiment, the second device includes, but is not limited to, a smart terminal such as a mobile phone and a tablet computer. In actual applications, with the increasing demand of the user for the smart terminal product, the general intelligent terminal also installs the orientation detecting device and the GPS. Positioning device, so that the user knows the position and position of the user through the smart terminal. Similarly, the azimuth detecting device in the smart terminal needs to be corrected from time to time, that is, the azimuth calibration is performed, so that the position detection is accurate, and the smart device is When calibrating, the user can achieve azimuth calibration by drawing the “8” word in the space of the smartphone or through the integrated calibration program in the smart terminal. The calibration process is convenient and simple. When the electronic terminal in the traditional transportation equipment is to be calibrated, it is necessary to start the transportation equipment and move back and forth in the field for calibration, which is too time consuming. In this embodiment, it is no longer necessary to carry out mobile calibration of the transportation equipment and directly pass the traffic equipment. Obtain the orientation information after the smart terminal performs the azimuth calibration to perform its own azimuth calibration.

S240: Acquire a preset relative orientation with the second device.

S250: Perform azimuth calibration according to the orientation information to be calibrated, the orientation information, and the preset relative orientation.

The relative orientation between the first device and the second device is preset, and can be set according to the user's needs, and the first device and the second device are placed according to the preset relative orientation. Since the first device and the second device may have a difference in orientation, that is, when the first device is calibrated, the orientations of the first device and the second device may be different, and the calibration directly using the orientation information of the first device may exist. The error, so that the preset relative orientation of the first device and the second device needs to be acquired. In the subsequent azimuth calibration of the first device, since the calibration orientation information is the calibration orientation information after the second device performs the calibration, it is relatively accurate, and the calibration orientation information can accurately know the orientation of the user, however, the first device The information to be calibrated may be less accurate. At this time, the acquired orientation information to be calibrated needs to be calibrated, and the orientation calibration may be performed according to the received calibration orientation information and the relative orientation, and the calibrated first device can accurately locate the orientation of the user. For example, the first device is placed 20 degrees north of the second device, that is, the relative orientation between the two devices is 20 degrees north and north. When calibration is required, the acquired orientation information of the first device is 78 degrees northeast, the calibration position information of the second device after calibration is 60 degrees in the northeast direction, and the calibration information obtained by the second device after performing calibration is accurate, thereby performing calibration according to the calibration orientation information, that is, 60 degrees northeast. Because the azimuth difference between the two devices is 20 degrees, according to the orientation information and the relative orientation of the second device, the orientation of the first device to be calibrated can be calibrated by 78 degrees to achieve the orientation calibration of the first device, that is, the first The orientation information of the two devices is 60 degrees and the relative azimuth is 20 degrees east. It can be seen that the more accurate orientation information of the first device is 80 degrees, and the self-acquired orientation to be calibrated is 78 degrees, which is different, and then the orientation calibration is performed. The orientation of the first device is more accurate, that is, the accurate calibration of the first device can be quickly achieved according to the calibration orientation information and relative orientation of the second device.

The azimuth calibration method, when the first device performs the azimuth calibration, first acquires the orientation information of the first device itself to be calibrated, and sends a calibration request to the second device, and the second device performs the azimuth calibration and sends the orientation to the first device in response to the calibration request. Sending the calibration orientation information after performing the orientation calibration, the first device receives the calibration orientation information after the second device responds to the calibration request, and acquires the preset relative orientation of the first device and the second device, and thus knows the first Assume The relative positional relationship between the second device and the second device is performed, and then the orientation calibration is performed according to the orientation information to be calibrated, the calibration orientation information, and the preset relative orientation. When the first device is azimuthally calibrated by the azimuth calibration method, the first device does not need to start the back and forth movement in the field to achieve calibration, and only needs to receive the calibration orientation information after the second device performs the azimuth calibration, according to the calibration orientation information, The orientation information of a device to be calibrated and the relative orientation can be azimuthally calibrated, simplifying the calibration process and improving calibration efficiency.

Referring to FIG. 3, in one embodiment, the step S350 of performing orientation calibration on the first device according to the orientation information to be calibrated, the calibration orientation information, and the preset relative orientation includes:

S351: Acquire accurate orientation information of the first device according to the calibration orientation information and the preset relative orientation.

S353: Perform azimuth calibration according to the orientation information to be calibrated and the accurate orientation information.

Since the phases of the first device and the second device may be different, after obtaining the calibration orientation information after the second device performs the azimuth calibration, the first device may not be directly calibrated by using the calibration orientation information, and the relative orientation is also required. The information is adjusted so that the orientation of the first device can be obtained, and then the first device is calibrated according to the accurate orientation information. Specifically, the calibration orientation information is calibrated according to the accurate orientation information, and the first device is to be calibrated. The information is calibrated to accurate position information. For example, as shown in FIG. 4, the relative orientation of the first device and the second device is 0 degrees, that is, there is no azimuth difference between the two devices, and the orientation of the first device is the same as the orientation of the second device, and the second The orientation of the device is the orientation of the first device, and the calibration orientation information after the second device performs the azimuth calibration is 50 degrees southeast. However, the orientation information of the first device to be calibrated is 49 degrees southeast, due to the calibration of the second device. The orientation information is calibrated, so that it is more accurate. By obtaining the calibration orientation information of the second device, the orientation information of the first device to be calibrated is performed, and the orientation of the first device is calibrated to 50 degrees southeast to realize the orientation calibration of the first device. That is, the orientation after the calibration of the first device is the same as the orientation after the calibration of the second device. For another example, the relative orientation of the first device and the second device is that the first device is 20 degrees north of the second device, and the calibration orientation information after the second device performs the azimuth calibration is 50 degrees northeast, so that the first device can be acquired. The exact position information is 70 degrees northeast. However, the orientation information of the first device to be calibrated is 72 degrees in the northeast direction, and there is an orientation information error value of 2 degrees north to north between the orientation information to be calibrated and the accurate orientation information, and the information to be calibrated of the first device is calibrated east to north. 2 degrees, the adjustment of the orientation information to be calibrated is the same as the accurate orientation information, that is, the orientation after calibrating the first device is 72 degrees, and the orientation calibration is realized. Further, performing the azimuth calibration according to the orientation information to be calibrated and the accurate orientation information may include acquiring the azimuth error value of the azimuth information to be calibrated and the accurate azimuth information, and calibrating the azimuth information to be calibrated to the accurate azimuth information according to the azimuth error value.

In one of the embodiments, the preset relative orientation is zero degrees.

In order to further facilitate the calibration, improve the calibration efficiency, and avoid the problem that the first device and the second device have long calibration time due to different orientations, the first device and the second device are placed in the same position before acquiring the orientation information of the first device to be calibrated. Orientation, that is, the preset relative orientation is zero degrees, that is, there is no azimuth difference between the first device and the second device, and the first device and the second device are in the same orientation, that is, the first device and the second device are in the same Direction, then the first device can be directly oriented using the calibration orientation information after the azimuth calibration is performed by the second device.

Referring to FIG. 5, in one embodiment, before the step S520 of sending a calibration request to the second device, the method further includes:

S511: Receive a connection request sent by the second device.

S513: Establish a connection with the second device according to the connection request.

Before the first device receives the calibration orientation information after the second device performs the azimuth calibration, the first device and the second device must first establish a connection, so that the second device requests to establish a connection by sending a connection request to the first device. In order to communicate, after the first device receives the connection request, it establishes a connection with the second device, and can perform information transmission.

In one embodiment, after step S550 of performing calibration of the orientation calibration according to the orientation information to be calibrated, the calibration orientation information, and the preset relative orientation, the method further includes:

S561: Get the destination location.

S563: Real-time information about the current location of the first device and the current geographic location.

S565: Navigating according to current orientation information, current geographic location, and destination location.

A GPS (Global Positioning System) positioning device is generally disposed on the electronic terminal installed on the transportation device, and can be used to locate the geographical location of the transportation device in real time, so that when the user needs to navigate, the user prefers to acquire the user. The destination location to be reached, and the location where the user wants to go, the user can input the destination location and also notify the destination location of the traffic device by voice, and obtain the current location information of the first device and the current geographic location in real time. It is to obtain the current location of the traffic device itself and the current location, and then perform the navigation process from the current geographic location to the destination location. In this embodiment, the current location of the traffic device can be located in real time by the GPS positioning device to obtain the current geographic location. After the traffic equipment performs the azimuth calibration, it can accurately locate, accurately know the current position information of the user, and according to the user operation, know the target position that the user needs to navigate, according to the current location information, the current geographic location and the destination location. Accurate navigation from the current geographic location to the target location.

Referring to FIG. 6, an attitude calibration apparatus according to an embodiment is provided for application to a first device, including:

The orientation information acquisition module 610 to be calibrated is configured to acquire orientation information to be calibrated.

The calibration request sending module 620 is configured to send a calibration request to the second device.

The orientation information acquisition module 630 is configured to receive calibration orientation information after the second device performs the orientation calibration in response to the calibration request.

After transmitting the calibration request to the second device, the second device performs the orientation calibration in response to the calibration request, and sends the calibration orientation information after performing the orientation calibration to the first device, and the first device can receive the calibration after the second device performs the orientation calibration. Bearing information. In this embodiment, the second device includes, but is not limited to, a smart terminal such as a mobile phone and a tablet computer. In actual applications, with the increasing demand of the user for the smart terminal product, the general intelligent terminal also installs the orientation detecting device and the GPS. Positioning device, so that the user knows the position and position of the user through the smart terminal. Similarly, the azimuth detecting device in the smart terminal does not need to perform correction, that is, azimuth calibration, so that the position detection is accurate, and the smart device is in calibration. Azimuth calibration can be achieved by drawing a "8" word in the space of the smartphone or through a calibration program integrated in the smart terminal. The calibration process is simple and convenient. When the electronic terminal in the traditional transportation equipment is to be calibrated, it is necessary to start the transportation equipment and move back and forth in the field for calibration, which is too time consuming. In this embodiment, it is no longer necessary to carry out mobile calibration of the transportation equipment and directly pass the traffic equipment. Obtain the orientation information after the smart terminal performs the azimuth calibration to perform its own azimuth calibration.

The relative orientation acquisition module 640 is configured to acquire a preset relative orientation with the second device.

The calibration module 650 is configured to perform orientation calibration according to the calibration of the orientation information to be calibrated, the orientation information, and the relative orientation.

The orientation calibration device performs the orientation calibration of the first device, first acquires the orientation information of the first device itself to be calibrated, and sends a calibration request to the second device, and the second device performs orientation calibration and sends the calibration to the first device in response to the calibration request. Sending the calibration orientation information after performing the orientation calibration, the first device receives the calibration orientation information after the second device responds to the calibration request, and acquires the preset relative orientation of the first device and the second device, and thus knows the first The relative positional relationship between the device and the second device is performed, and then the orientation calibration is performed according to the orientation information to be calibrated, the calibration orientation information, and the preset relative orientation. When the first device is azimuthally calibrated by the azimuth calibration method, the first device does not need to start the back and forth movement in the field to achieve calibration, and only needs to receive the calibration orientation information after the second device performs the azimuth calibration, according to the calibration orientation information, The orientation information of a device to be calibrated and the relative orientation can be azimuthally calibrated, simplifying the calibration process and improving calibration efficiency.

Referring to FIG. 7, in one embodiment, the calibration module 750 includes:

The accurate orientation information acquiring module 751 is configured to acquire accurate orientation information of the first device according to the calibration orientation information and the preset relative orientation.

The orientation calibration module 753 is configured to perform orientation calibration according to the orientation information to be calibrated and the accurate orientation information.

In one of the embodiments, the preset relative orientation is zero degrees.

Referring to FIG. 8, in one embodiment, the attitude calibration apparatus further includes:

The request receiving module 811 is configured to receive a connection request sent by the second device.

The connection module 813 is configured to establish a connection with the second device according to the connection request.

In one embodiment, the attitude calibration apparatus further includes:

The destination location obtaining module 861 is configured to acquire a destination location.

The real-time information obtaining module 863 is configured to obtain the current orientation information of the first device and the current geographic location in real time.

The navigation module 865 is configured to navigate according to current orientation information, current geographic location, and destination location.

The electronic terminal installed on the transportation device is generally provided with a GPS positioning device, which can be used for real-time positioning of the geographical location of the transportation device, so that when the user needs to navigate, the user prefers to obtain the destination location that the user wants to reach, and also knows. Where the user wants to go, the user can input the destination location or notify the destination location of the traffic device by voice, and obtain the current location information of the first device and the current geographic location in real time, that is, obtain the current location of the traffic device itself. The orientation and the current location, then the navigation process from the current location to the destination location. In this embodiment, the current location of the traffic device can be located in real time by the GPS positioning device to obtain the current geographic location. After the traffic equipment performs the azimuth calibration, it can accurately locate, accurately know the current position information of the user, and according to the user operation, know the target position that the user needs to navigate, according to the current location information, the current geographic location and the destination location. Accurate navigation from the current geographic location to the target location.

The technical features of the above embodiments may be arbitrarily combined. For the sake of brevity of description, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, It is considered to be the range described in this specification.

The above embodiments are merely illustrative of several embodiments of the present invention, and the description thereof is more specific and detailed, but is not to be construed as limiting the scope of the invention. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, the scope of the invention should be determined by the appended claims.

Claims

An orientation calibration method is applied to a first device, which comprises the following steps:

Obtaining the orientation information to be calibrated;

Sending a calibration request to the second device;

Receiving calibration orientation information after the second device performs orientation calibration in response to the calibration request;

Obtaining a preset relative orientation with the second device;

Azimuth calibration is performed according to the orientation information to be calibrated, the calibration orientation information, and the preset relative orientation.
The azimuth calibration method according to claim 1, wherein the step of performing orientation calibration according to the orientation information to be calibrated, the calibration orientation information, and the preset relative orientation comprises:

Obtaining accurate orientation information of the first device according to the calibration orientation information and the preset relative orientation;

Azimuth calibration is performed according to the orientation information to be calibrated and the accurate orientation information.
The orientation calibration method according to claim 1 or 2, wherein the preset relative orientation is zero degrees.
The azimuth calibration method according to claim 1, wherein the step of transmitting the calibration request to the second device further comprises:

Receiving a connection request sent by the second device;

Establishing a connection with the second device according to the connection request.
The method of claim 1 , wherein the step of performing the orientation calibration according to the orientation information to be calibrated, the calibration orientation information, and the preset relative orientation further comprises:

Get the destination location;

Obtaining the current orientation information of the first device itself and the current geographic location in real time;

Navigation is performed according to the current orientation information, the current geographic location, and the destination location.
An attitude calibration device is applied to a first device, and includes:

The orientation information acquiring module to be calibrated is used to obtain the orientation information to be calibrated;

a calibration request sending module, configured to send a calibration request to the second device;

The orientation information acquiring module is configured to receive calibration orientation information after the second device performs orientation calibration in response to the calibration request;

a relative orientation acquisition module, configured to acquire a preset relative orientation with the second device;

And a calibration module, configured to perform calibration of the orientation according to the orientation information to be calibrated, the calibration orientation information, and the preset relative orientation.
The attitude calibration apparatus according to claim 6, wherein the calibration module comprises:

An accurate orientation information acquisition module, configured to acquire accurate orientation information of the first device according to the calibration orientation information and the preset relative orientation;

The orientation calibration module is configured to perform orientation calibration according to the orientation information to be calibrated and the accurate orientation information.
The azimuth calibration method according to claim 6 or 7, wherein the preset relative azimuth is zero degrees.
The attitude calibration apparatus according to claim 6, further comprising:

a request receiving module, configured to receive the second device connection request;

And a connection module, configured to establish a connection with the second device according to the connection request.
The attitude calibration apparatus according to claim 6, further comprising:

a destination location acquisition module for obtaining a destination location;

a real-time information obtaining module, configured to acquire, in real time, current orientation information of the first device and a current geographic location;

And a navigation module, configured to navigate according to the current orientation information, the current geographic location, and the target target location.