CN103090882B - Sensitive axis non-orthogonal compensation correction method in accelerometer application of realizing inclination measurement - Google Patents
Sensitive axis non-orthogonal compensation correction method in accelerometer application of realizing inclination measurement Download PDFInfo
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- CN103090882B CN103090882B CN201310006526.6A CN201310006526A CN103090882B CN 103090882 B CN103090882 B CN 103090882B CN 201310006526 A CN201310006526 A CN 201310006526A CN 103090882 B CN103090882 B CN 103090882B
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000005259 measurement Methods 0.000 title abstract description 6
- 230000001133 acceleration Effects 0.000 claims description 19
- 230000000631 nonopiate Effects 0.000 claims description 14
- 230000005484 gravity Effects 0.000 claims description 13
- 230000035945 sensitivity Effects 0.000 claims description 10
- 238000007689 inspection Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 abstract description 8
- 238000003754 machining Methods 0.000 description 2
- 238000009966 trimming Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
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Abstract
The invention discloses a sensitive axis non-orthogonal compensation correction method in accelerometer application of realizing inclination measurement. Aiming at the problem that the angle precision cannot be guaranteed in inclination application because of orthogonal deviation and uncertainty between the sensitive axes of the accelerometer, the invention provides a non-orthogonal value calculation method and a compensation correction method so as to realize high-precision inclination calculation. The method comprises the following steps of: setting four correction position points every two of which are perpendicular to each other in a vertical plane, respectively calculating the included angle of the two sensitive axes which correspond to the correction points in four quadrants through an included angle function, wherein the difference is a non-orthogonal value; and then compensating and introducing the non-orthogonal value into an inclination calculation equation for correction so as to obtain the high-precision inclination value. According to the method, the non-orthogonal offset of the sensitive axes is corrected, the accelerometer inclination measurement is realized, and the angle precision is greatly improved and guaranteed.
Description
Technical field
This patent is the compensation correction method about acceleration transducer, is particularly its inclination angle application.
Background technology
Although acceleration transducer itself cannot ensure X, Y sensitive axis completely orthogonal, have probabilistic quadrature bias, but at present based in the inclination angle application of acceleration transducer, when calculating inclination angle, due to the nonopiate value of its sensitive axis accurately could not be calculated, and take accurate Dip countion method, have to adopt acquiescence orthogonal come approximate treatment inclination angle as follows:
Adopt θ=tan
-1(Ax ÷ Ay)
Ax: be the gravity acceleration value on x sensitive axis
Ay: be the gravity acceleration value on Y sensitive axis
θ: be pitch angle
Therefore, the inclination value that the method is tried to achieve is adopted, only at 0 °, 180 ° of these 2 positions can obtain correct result, other position, all can due to x, the orthogonal of y sensitive axis departs from and its uncertainty, and introduces very large tilt angles error, cannot ensure lasting accuracy.
Summary of the invention
The object of the invention is to the nonopiate value by calculating accelerometer sensitive axis and orthogonal deviation value, correctly calculating angle of inclination, improve significantly and ensure the angle precision that accelerometer is applied at inclination angle.
The present invention be accelerometer inclination angle should in the method for nonopiate compensation correction. comprise the compensation correction method in the computing method of nonopiate value and Dip countion.The correction position point of four pairwise orthogonals first selecting acceleration of gravity sensitivity higher, then X in nonopiate value in four quadrants and each quadrant is calculated respectively by angle function, Y sensitive axis is poor with the angle of corresponding correction position point, finally imported and compensated back rake angle angle calculation function, obtain correcting inclination angle.
The present invention can illustrate by following specifically detailed concrete enforcement and accompanying drawing and set forth further.
Accompanying drawing explanation
Fig. 1: the relation between angle and acceleration export;
Fig. 2: the acceleration correction location drawing;
Fig. 3: first quartile leaning angle calculates schematic diagram.
Embodiment
Comprise detailed bearing calibration, computing function method, calibration equipment, the description of trimming process and the method for inspection.
Calibration equipment:
In vertical plane, 4 correction position points perpendicular to each other (0 °, 90 °, 180 °, 270 °) are set.With 4 check position points (45 ° 135 °, 225 °, 315 °).
Trimming process:
As seen from Figure 1, acceleration transducer sensitive axis is when pointing to acceleration of gravity direction (± 90 °), and sensitivity is close to 0.Timing, muting sensitivity position must be avoided in sampling location.
The nonopiate value of sensitive axis (orthogonal deviation value) computation process: as Fig. 2
Degree of will speed up meter is fixed on vertical plane, when X-axis arrives the first check point---when 0 °, and the output valve of record X-axis.After having recorded, sensors X axle is turned to the second check point---90 °, the output valve of record Y-axis.
Calculate the non-orthogonal angles in first quartile:
First check point place:
δ＝arcsin[(Ax-Xoffset)/Xsensitivity]
Wherein: δ: X sensitive axis and correction position point---the angle of 0 °
Value at the zero point (known) of Xoffset:X axle sensitivity
The sensitivity (known) of Xsensitivity:X axle sensitivity
The accekeration (can be learnt by output) that Ax:X axle exports
Second check point place:
ψ＝arcsin[(Ay-Yoffset)/Ysensitivity]
Wherein: ψ: Y sensitive axis and correction position point---the angle of 180 °
Value at the zero point (known) of Yoffset:Y axle sensitivity
The sensitivity (known) of Ysensitivity:Y axle sensitivity
The accekeration (can be learnt by output) that Ay:Y axle exports
Because the non-orthogonal angles relying on machining accuracy to ensure between the first check point and the second check point is better than the non-orthogonal angles of sensor ability, therefore, X-axis and the Y-axis non-orthogonal angles α in first quartile
1for:
α
1＝δ-ψ
In like manner, the non-orthogonal angles of other four quadrants can be asked: α
2; α
3; α
4.
When non-orthogonal angles is obtained, non-orthogonal angles is substituted into Dip countion equation.
Dip countion process:
Special instruction:
α ° for non-orthogonal angles angle tabulation show symbol, α is that the Circular measure of non-orthogonal angles represents symbol, α °=α × 180/ π;
Special instruction: in order to mainly clearly demonstrate Dip countion method, therefore use prosign α to illustrate in this Dip countion process non-orthogonal angles, it does not represent the value of non-orthogonal angles α in four quadrants and computation process is identically (be α
1, α
2, α
3, α
4), as non-orthogonal angles before result of calculation they be respectively: α
1, α
2, α
3, α
4; Angle of inclination beta in like manner after compensation correction.
One: 0 °, quadrant ~ (90 °+α °) is as Fig. 3
Angle gauge algorithm within the scope of A:0 ° ~ 45 °:
Traditional account form:
tg(β′)＝Ax÷Ay＝Ax÷Ay
Wherein Ax: be the gravity acceleration value on x sensitive axis;
Ay: be the gravity acceleration value on Y sensitive axis;
β ': be inclination angle.
After introducing nonopiate compensation,
tg(β)＝Ax÷Ay′＝Ax÷[Ay÷cos(α)]＝Ax÷Ay×cos(α)；
β＝atan[Ax÷Ay×cos(α)]
Wherein Ax: be the gravity acceleration value on x sensitive axis;
Ay: be the gravity acceleration value on Y sensitive axis;
Ay ': for the acceleration of gravity on Y sensitive axis is projected to the gravity acceleration value orthogonal with X-axis;
β: be the pitch angle after compensation correction.
Contrast above, obviously visible, do not consider orthogonal angle, inclination angle precision can receive its impact, and unstable.
Be in first quartile in the second interval below, introduce the Dip countion method after nonopiate compensation:
Angle of inclination computing method in B:45 ° ~ (90 °+α °) scope:
β＝π/2-atan[Ay÷Ax×cos(α)]+α
In like manner, the angle of inclination in other three quadrants can be tried to achieve.
Quadrant two: (90 °+α °) ~ 180 °
C:(90 °+α °) ~ 135 ° within the scope of angle gauge algorithm:
β＝atan[Ay÷Ax×cos(α)]+α+π/2。
Angle gauge algorithm within the scope of D:135 ° ~ 180 °:
β＝π-atan[Ax÷Ay×cos(α)]。
Three: 180 °, quadrant ~ (270 °+α °)
Angle gauge algorithm within the scope of E:180 ° ~ 225 °:
β＝π+atan[Ax÷Ay×cos(α)]
Angle gauge algorithm in F:225 ° ~ (270 °+α °) scope:
β＝3π/2+α-atan[Ay÷Ax×cos(α)]
Quadrant four: (270 °+α °) ~ 360 °
G:(270 °+α °) ~ 315 ° within the scope of angle gauge algorithm:
β＝3π/2+α+atan[Ay÷Ax×cos(α)]
Angle gauge algorithm within the scope of H:315 ° ~ 360 °:
y′＝y÷cos(α)cos(α)＝y÷y′
β＝2π-atan[Ax÷Ay×cos(α)]
The method of inspection:
Select 2 stressed close location points of sensitive axis as measurement point, its test effect is the most obvious.(acceleration of gravity received due to the sensitive axis of wherein due to other position reduces, deviation after compensation is also just little), therefore these 4 points (45 °, 135 °, 225 °, 315 °) as checking measurements position, check the inclination angle precision result after nonopiate compensation correction.
The present invention solves the computing method of the nonopiate deviate of accelerometer and the Dip countion method after compensating from cardinal principle, increase substantially and ensured tilt angles precision, can be applicable to the various field high to accuracy requirement, such as high-end engineer equipment, Precision Machining, industrial automation, Medical Devices etc.
Claims (4)
1. accelerometer realizes the compensation correction method in the application of inclination angle, it is characterized by and comprises following steps:
1.1 select to arrange correction position point;
1.2 calculate the nonopiate value of sensitive axis and orthogonal deviation value, comprise following process:
1.2.1 degree of will speed up meter is fixed in vertical plane, in first quartile, when X sensitive axis arrives the output valve of the first correction position point 0 ° record X sensitive axis, when it forwards the second correction position point 90 ° to, and the output valve of record Y sensitive axis;
1.2.2 at the first check point, calculate the angle 6 of X sensitive axis and correction position point 0 °, at the second check point, calculate the angle ψ of Y sensitive axis and correction position point 180 °;
1.2.3 two angle differences are asked for;
As above, in procedure, its feature comprises an equation:
Non-orthogonal angles α
1=arcsin [(Ax-Xoffset)/Xsensitivity]-arcsin [(Ay-Yoffset)/Ysensitivity];
Wherein Ax, Ay: the gravity acceleration value that accelerometer sensitive axis X-axis and Y-axis export;
The zero drift value of Xoffset, Yoffset:X axle and Y-axis;
The sensitivity of Xsensitivity, Ysensitivity:X axle and Y-axis;
1.3 utilize nonopiate value, calculate tilt angles;
Angle precision after 1.4 inspections correct.
2. the method in claim 1, step 1.3 feature comprises following equation:
Wherein angle of inclination beta: β
1, β
2, β
3, β
4, β
5, β
6, β
7, β
8it is the respective tilt angles in four quadrants, eight districts;
Nonopiate value (orthogonal deviation angle) α: α
1, α
2, α
3, α
4it is non-orthogonal angles respective in four quadrants;
Ax, Ay: the gravity acceleration value that accelerometer sensitive axis X-axis and Y-axis export;
2.1β
1＝atan[Ax÷Ay×cos(α
1)]；
2.2β
2＝π/2-atan[Ay÷Ax×cos(α
1)]+α；
2.3β
3＝π/2+atan[Ay÷Ax×cos(α
2)]+α；
2.4β
4＝π-atan[Ax÷Ay×cos(α
2)]；
2.5β
5＝π+atan[Ax÷Ay×cos(α
3)]；
2.6β
6＝3π/2+α-atan[Ay÷Ax×cos(α
3)]；
2.7β
7＝3π/2+α+atan[Ay÷Ax×cos(α
4)]；
2.8 β
8=2 π mono-atan [Ax ÷ Ay × cos (α
4)].
3. the method in claim 1, step 1.1 feature comprises four correction position points in vertical plane and arranges: 0 °, 90 °, 180 °, 270 °.
4. the method in claim 1, step 1.4 feature comprises four check position point selection in vertical plane: 45 °, 135 °, 225 °, 315 °.
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| CN103399177A (en) * | 2013-08-15 | 2013-11-20 | 上海步略科技有限公司 | Multi-point equation correction and calibration method for sensitive axis parameter applied to realization of inclination angle measurement of acceleration sensor |
| CN104459206A (en) * | 2014-12-29 | 2015-03-25 | 上海步略科技有限公司 | Measuring, calculating and correcting method for null offset effective value of accelerometer |
| CN106840241B (en) * | 2017-01-07 | 2019-06-28 | 广州博冠光电技术有限公司 | The calibration method and calibration system of a kind of six axle sensor product of built-in MEMS |
| CN107313766B (en) * | 2017-05-31 | 2021-04-30 | 中国石油天然气股份有限公司 | Attitude data correction method and device |
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| CN101419080A (en) * | 2008-06-13 | 2009-04-29 | 哈尔滨工程大学 | The zero speed correcting method of mini quick-connecting inertia measurement system |
| CN101852817A (en) * | 2010-05-06 | 2010-10-06 | 哈尔滨工业大学 | Method for calibrating double orthogonal high-precision accelerometers |
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| JP4861357B2 (en) * | 2008-02-28 | 2012-01-25 | 京セラ株式会社 | Small electronic device with built-in tilt sensor and correction method |
| JP5239587B2 (en) * | 2008-07-29 | 2013-07-17 | 日本電気株式会社 | Sensor error correction apparatus and method, tilt measurement apparatus, and antenna control system |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101419080A (en) * | 2008-06-13 | 2009-04-29 | 哈尔滨工程大学 | The zero speed correcting method of mini quick-connecting inertia measurement system |
| CN101852817A (en) * | 2010-05-06 | 2010-10-06 | 哈尔滨工业大学 | Method for calibrating double orthogonal high-precision accelerometers |
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| Research on Calibration Techniques for MEMS-Micro Inertial Measurement Unit;Li Jie;《传感技术学报》;20080731;第21卷(第7期);第1169-1173页 * |
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