CN103105160A - Processing method for detecting inclination angles by triaxial accelerometer - Google Patents
Processing method for detecting inclination angles by triaxial accelerometer Download PDFInfo
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Abstract
The invention relates to a processing method for detecting inclination angles by a triaxial accelerometer. The method comprises the following steps of: respectively and roughly regulating the X-axis, the Y-axis and the Z-axis of a tested inclination angle, and respectively and finely regulating the X-axis, the Y-axis and the Z-axis of the tested inclination angle, thus obtaining data of the tested inclination angle. According to the processing method, corresponding equipment or products are subjected to comprehensive, high-precision, high-sensitivity, rapid and dynamic inclination angle detection by the triaxial accelerometer with combination of a unique algorithm of rough regulation and fine regulation. The processing method has the outstanding characteristics that due to a comprehensive detection range, different angles of a whole special surface can be detected with high resolution; due to high-precision detection, original acquisition data can be obtained through twelve-bit high-precision motion detection in the accelerometer; due to the unique algorithm of rough regulation and fine regulation, the high-sensitivity detection is implemented; and due to a rough regulation algorithm, the rapid and dynamic detection is implemented.
Description
Technical field
The present invention relates to a kind of acceleration sensing meter in the application of electronic/mechanical industry, relate in particular to a kind of disposal route of utilizing three axis accelerometer to detect the inclination angle.
Background technology
At electronics or mechanical field, more and more use the gravitational vector of acceleration sensing meter and the projection on axle thereof and determine degree of tilt.But, this method has the following disadvantages: one, no matter utilize the accelerometer of single shaft, diaxon or three axles to detect the inclination angle, because the reason of its algorithm can only be confined to a specific scope, otherwise in the inclination angle occurs among a small circle, accomplish high-precision detection; Otherwise on a large scale, fast detecting; Can't accomplish simultaneously no matter in which scope, can high precision detecting also can fast detecting.Two, single shaft and two axis accelerometers in use, are subject to the restriction of itself characteristic, as the single-axis accelerometer system for detecting angle of inclination, are to pass through arcsin function
To realize the conversion from the acceleration to the angle, can find single-axis accelerometer for detection of deficiency and the limitation at inclination angle, this angle is more approaching ± and 90 °, sensitivity is more close to 0, and sensing range also is restricted, and also can learn from formula, and sensing range is-90 °～+ 90 °.Adopt two axis accelerometers, be subject to too the restriction of sensing range.From formula
In can learn, sensing range is 0 °～360 °, and can not accomplish the inclination angle detection to whole sphere.
Summary of the invention
The objective of the invention is to solve above-mentioned the deficiencies in the prior art, a kind of comprehensive, high precision, high sensitivity, and the disposal route of fast dynamic inclination angle detection are provided.
The objective of the invention is to adopt following technical scheme to realize:
A kind of disposal route of utilizing three axis accelerometer to detect the inclination angle, it is characterized in that: described method comprises the steps:
(1) respectively coarse adjustment is carried out at the X-axis/Y-axis at tested inclination angle/Z axis inclination angle, described algorithmic formula is adopted in the coarse adjustment of tested inclination angle: | Cd_n-Pd_n| 〉=Th,
Wherein: n is a certain axle X-axis/Y-axis/Z axis of corresponding three axles, and Cd_n is the output valve of X-axis/Y-axis of collecting of current three axis accelerometer/Z axis, and Pd_n is the output valve of X-axis/Y-axis of collecting of last three axis accelerometer/Z axis, and Th is the threshold value that arranges.
This value arranges according to actual conditions, but can not be in the noise range of accelerometer image data, otherwise can judge by accident.The meaning of formula is that data and the last data that collect that ought currently collect compare, if surpassed the threshold value of setting, and surpassed threshold value (in order to ensure certain and last large-scale variation of data generation of surveying of current state continuous three times, rather than the variation that causes of certain noise), Cd_n=Pd_n-Th (currency Cd_n is greater than initial value Pd_n) or Cd_n=Pd_n+Th (currency Cd_n is less than initial value Pd_n).Realize respectively the coarse adjustment at the X-axis/Y-axis/Z axis inclination angle to tested inclination angle by this algorithm, to realize navigating to fast the current state in tested inclination angle.
(2) respectively fine tuning is carried out at the X-axis/Y-axis at tested inclination angle/Z axis inclination angle, described algorithmic formula: Cd_n=Pd_n+ (Cd_n – Pd_n)/AverTimes is adopted in the fine tuning of tested inclination angle,
Wherein: n is a certain axle X-axis/Y-axis/Z axis of corresponding three axles, AverTimes is the parameter of adjusting the average time of resolution, Pd_n is X-axis/Y-axis of collecting of last three axis accelerometer/Z axis output data, and Cd_n is X-axis/Y-axis of collecting of current three axis accelerometer/Z axis output data.
Realize the fine tuning at the X-axis/Y-axis/Z axis inclination angle to tested inclination angle by this algorithm, to improve the resolution of tested inclination angle current state.
(3) adopt following algorithm to obtain tested inclination data:
,
，
Wherein: Ax, Ay, Az are respectively Pd_X, Pd_Y, the Pd_Z after three axis accelerometer X-axis/Y-axis/Z axis output valve process above-mentioned steps (1) coarse adjustment and step (2) fine tuning, it is the Pd_n value in above-mentioned steps (2) fine tuning formula, θ is the angle of X-axis and surface level, Ψ is the angle of Y-axis and surface level, and Φ is the inclination angle of Z axis and surface level vertical plane.
The disposal route of utilizing three axis accelerometer to detect the inclination angle provided by the invention, to utilize algorithm that three axis accelerometer coordinates uniqueness of the present invention to carry out comprehensive, high precision, high sensitivity and fast dynamic inclination angle detection to corresponding equipment or product, this disposal route be of proposing of the angle from program utilize the unique algorithm that coarse adjustment adds fine tuning and coordinate the built-in motion state detection of accelerometer to the disposal route calculated of data.Coarse adjustment can realize that equipment or product navigate to current inclination angle state fast, and fine tuning improves equipment or the product resolution when the top rake state-detection, and inclination angle detection adopts three axis data that read three axis accelerometer to carry out operational analysis to go out angle.
Outstanding feature of the present invention is: omnibearing sensing range, and the different angles of whole sphere can high-resolutionly detect; High precision detects, the acquired original data that 12 built-in High precise motion detections of accelerometer draw; The unique algorithm that adds fine tuning by coarse adjustment embodies high-sensitivity detection; Embody quick detection of dynamic by the coarse adjustment algorithm.Concrete test data sees the following form:
Respectively two kinds of existing common algorithm and the data of the resulting resolution of algorithm of the present invention (being precision) and detection time shown in table 1, table 2:
Table 1
Table 2
Table 3
Data Comparison by above-mentioned three tables can be found out, has common algorithm now in the situation that detection time is relatively short, and the precision of detection is also lower, if but will obtain higher accuracy of detection, need to spend long detection time.That is to say, precision and detection time are difficult to take into account, and precision has improved, and the time of detecting cost is just longer, and the time of detecting cost is little, and precision just reduces, and can't realize short effect of high time of precision.Table 3 is when reaching the accuracy of detection of table 2, and its time of detecting cost is short more a lot of than table 1, has proved absolutely, when only having the algorithm of the present invention of employing, could obtain high precision and realize the effect of fast detecting.
Need to prove, the data of table 1, table 2 and table 3 are respectively to record at the more serious triaxial accelerometer of noise, if in the situation that noise is lower, the precision that table 3 records can be higher, the detection time of changing can be shorter, although in this case, the precision of table 1, table 2 has raising a little, and improved effect does not have table 3 obvious.
Description of drawings
Fig. 1 is that the embodiment of the present invention is detected the inclination angle schematic diagram;
Fig. 2 is embodiment of the present invention inclination angle detection process flow diagram.
Embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is further described:
Shown in Figure 1,45 degree inclination angles have occured as example in the present embodiment take an electronic scale from horizontality, by inclination angle of the present invention disposal route, can be fast accurately the electronic scale inclination angle be navigated to 45 current degree states, and testing process sees also Fig. 2.Its computing method are as follows:
(1) respectively coarse adjustment is carried out at the X-axis/Y-axis at electronic scale inclination angle/Z axis inclination angle, coarse adjustment navigates to the speed when top rake, adopts algorithmic formula: | Cd_n-Pd_n| 〉=Th.
Wherein: n is a certain axle X-axis/Y-axis/Z axis of corresponding three axles, represents it is the current output valve of X-axis as Cd_X, and Pd_X is the output valve of X-axis last time; Cd_n is the output valve of X-axis/Y-axis of collecting of current three axis accelerometer/Z axis, and Pd_n is the output valve of X-axis/Y-axis of collecting of last three axis accelerometer/Z axis, and Th is the threshold value that arranges.
First set the threshold value Th of coarse adjustment, this threshold value Th determines according to the noise of three axis accelerometer.This threshold value Th will be a bit larger tham level of noise, if less than level of noise, erroneous judgement can occur.But threshold value Th can not be a lot of greater than level of noise, and the span of threshold value Th is greater than noise 10～30mg usually, otherwise when next step fine tuning, the time of cost can account for total detection time of suitable proportion.Because the part less than threshold value Th is calculated by fine tuning, if threshold value Th arranges very greatly, the scope that is equivalent to fine tuning is just large, and computing time will be elongated accordingly.Here suppose that level of noise is 100mg, so threshold value Th be set to 110mg～130mg can.The present embodiment selects to be set to 130mg.
In the time of the electronic scale horizontal positioned, the run-off the straight of electronic scale XY surface level tilts to 45 degree from 0 current degree.That 0 degree is exactly the value Pd_n of laststate output with respect to the value of 45 degree outputs, and the horizontal output value 0mg of three axis accelerometer X-axis, Y-axis horizontal output 0mg, Z axis are perpendicular to XY surface level output 1000mg so.Corresponding to formula | Cd_n-Pd_n| 〉=the Cd_n value of Th, Pd_X=0mg namely, Pd_Y=0mg, Pd_Z=1000mg.45 three axle output valves when spending are exactly the output valve of current state, the three axis accelerometer X-axis be output as 707mg(sin45 ° * 1000mg), Y-axis is output as 0mg, Z axis be output as 707mg(sin45 ° * 1000mg).Corresponding to formula | Cd_n-Pd_n| 〉=the Pd_n value of Th, Cd_X=0mg namely, Cd_Y=0mg, Cd_Z=1000mg.
Because the absolute value output valve Pd_X under the original state of 707mg (the current output valve Cd_X of X-axis being detected)-0mg(X axle)〉the threshold value Th of 130mg(coarse adjustment); Output valve Pd_Z under the original state of 707mg (the current output valve Cd_Z of Z axis being detected)-1000mg(X axle) absolute value〉the threshold value Th of 130mg(coarse adjustment); The threshold value Th of the absolute value output valve Pd_Y under the original state of 0mg (the current output valve Cd_Y of Z axis being detected)-0mg(Y axle)＜130mg(coarse adjustment); So X-axis and Z axis all satisfy the coarse adjustment formula: | Cd_n-Pd_n| 〉=Th, and Y-axis does not satisfy this formula.Here Th is threshold value 130mg, and Pd_X is that 0mg, Pd_Y are that 0mg, Pd_Z are 1000mg (because be that level is as original state), and Cd_X/Cd_Z is the X-axis that arrives of current detection and the state value 707mg of Z axis; Cd_Y is the state value 0mg of the Y-axis that arrives of current detection.The erroneous judgement that causes for fear of noise needs to continue Monitoring Data, judges whether all to satisfy the coarse adjustment formula continuous three times | Cd_n-Pd_n| 〉=Th.if the coarse adjustment formula is all satisfied in continuous three times, again because the currency of X-axis greater than initial value, so Pd_X=Pd_X+Th, Pd_X=0mg+130mg=130mg, and the currency of Z axis is less than initial value, so Pd_Z=Pd_Z-Th, Pd_Z=1000mg-130mg=870mg, again judge whether to satisfy the coarse adjustment formula continuous three times, as X-axis | 707mg-130mg| is still greater than threshold value 130mg, Z axis | 707mg-870mg| is still greater than threshold value 130mg, again because the currency of X-axis greater than initial value, so Pd_X=Pd_X+Th, Pd_X=130mg+130mg=260mg, and and the currency of Z axis less than initial value, so Pd_Z=Pd_Z-Th, Pd_Z=870mg-130mg=740mg, by that analogy, until no longer satisfy the coarse adjustment formula, enter fine tuning.Here when Pd_X equals 650mg, X-axis just no longer satisfies coarse adjustment | Cd_X-Pd_X| 〉=condition of Th; When Pd_Z equaled 740mg, Z axis just no longer satisfied coarse adjustment | Cd_Z-Pd_Z| 〉=condition of Th.
(2) fine tuning is carried out at the X-axis/Y-axis at electronic scale inclination angle/Z axis inclination angle, fine tuning determines the inclination angle precision that detects, and smoothly and not can significantly be beated in the inclination angle that calculates.Algorithmic formula: Cd_n=Pd_n+ (Cd_n – Pd_n)/AverTimes is adopted in fine tuning.
Wherein: n is a certain axle X-axis/Y-axis/Z axis of corresponding three axles, AverTimes is the parameter of adjusting the average time of resolution, Pd_n is X-axis/Y-axis of collecting of last three axis accelerometer/Z axis output data, and Cd_n is X-axis/Y-axis of collecting of current three axis accelerometer/Z axis output data.
The parameter A verTimes of average time of the resolution of fine tuning is set, i.e. filter times, number of times is larger, and precision is higher, can be longer but consume the time of detecting.So the filter times of fine tuning decides according to the demand of Product Precision.It is 200 times that the present embodiment is established filter times.How many filter times are how many precision need, and can calculate according to iterative algorithm, do not give unnecessary details here.The formula of the iterative algorithm that the present embodiment adopts is exactly the formula Cd_n=Pd_n+ (Cd_n – Pd_n)/AverTimes of fine tuning.Can find out by this formula, adjust AverTimes, can know the speed that Cd_n changes, thereby reach different resolution.AverTimes is larger, and it is slower that Cd_n changes, thereby the smoothness of calculating is better, and precision (resolution) is also just higher.
At this moment enter fine tuning formula Cd_n=Pd_n+ (Cd_n – Pd_n)/AverTimes, here Pd_n is exactly the net result of coarse adjustment, Cd_n is the value that current detection arrives, the Pd_n of X-axis is Pd_X=650mg, X-axis Cd_n is Cd_X=707mg, and AverTimes is the filter times set according to accuracy requirement 200 times.What the formula of fine tuning adopted is exactly process of iteration, makes Pd_n approach the Cd_n value.Then go to calculate the inclination angle with the value of Pd_n, the value that draws is exactly current inclination angle value.Coarse adjustment enters fine tuning, and Pd_X is 650mg, and Pd_Z is 740mg, calls Cd_X=Pd_X+ (Cd_X – Pd_X)/AverTimes=650mg+ (707mg-650mg)/200=650.285mg after formula; Cd_Z=Pd_Z+ (Cd_Z – Pd_Z)/AverTimes=740mg+ (707mg-740mg)/200=739.835mg by that analogy, makes Pd_n approach the Cd_n value.
(3) positioning electronic claims current inclination angle.Adopt following algorithm to obtain tested inclination data:
,
Wherein: Ax, Ay, Az are respectively the Pd_n after three axis accelerometer X-axis/Y-axis/Z axis output valve process above-mentioned steps (1) coarse adjustment and step (2) fine tuning, it is the Pd_n value in above-mentioned steps (2) fine tuning formula, θ is the angle of X-axis and surface level, Ψ is the angle of Y-axis and surface level, and Φ is the inclination angle of Z axis and surface level vertical plane.
Three axle outputs of three axis accelerometer calculate current inclination angle by after top coarse adjustment and fine tuning.Pd_n after triaxial accelerometer X-axis/Y-axis/Z axis output valve process above-mentioned steps (1) coarse adjustment and step (2) fine tuning, be that Pd_n value in step (2) fine tuning formula is respectively: X-axis output Ax is 707mg, the output Ay of Y-axis is 0mg, the output Az of Z axis is 707mg, and X-axis is passed through formula to the inclination angle of the surface level generation of XY:
Draw θ=45 degree;
Y-axis is passed through formula to the inclination angle of the surface level generation of XY:
Draw Ψ=0 degree;
Z axis passes through formula to the inclination angle that the vertical plane perpendicular to surface level occurs:
Draw Φ=45 degree.
In the electronic scale industry, precision and electronic scale itself that electronic scale measures put whether level has the relation that very directly affects.In order to correct this error, more and more utilized three axis accelerometer to detect this inclination angle.The output of accelerometer three axles is vectors of a gravity, if want to obtain by vector the inclination angle of electronic scale itself, need to come the gravitational vector of determination of acceleration sensing gauge and the degree of tilt of the projection on its axle thereof by a series of algorithm.This a series of algorithm, the strategy different (as aforementioned table 1, table 2 and table 3) of employing, speed and the precision that calculate at the inclination angle also have very large difference.Take the present embodiment as example, employing be an inclination angle that three axis accelerometer calculates certain electronic scale.If the noise of this three axis accelerometer is 100mg, gravitational vector is 1000mg.The every 10 milliseconds of output valves that detect primary acceleration meter three axles of electronic scale.Table 1 adopts be 16 times average, table 2 adopts be 1000 times average, table 3 adopts be 1000 times average, the threshold value of coarse adjustment is 130mg (this threshold value must be greater than level of noise, otherwise erroneous judgement will occur).The electronic scale virgin state is level (0mg), when electronic scale is in 30 degree during the inclination angle (500mg), algorithm institute's time spent of table 1 and table 2 is so: the time (average algorithm of iteration) of system detection time (10ms) * average algorithm, average time is also more or test specification is wider, and institute's time spent is longer altogether.The test specification of table 1 and table 2 is 500mg (500mg=500mg-0mg).The algorithm of table 3, coarse adjustment before this, data jump 500mg (500mg-0mg), greater than the threshold value (130mg) of coarse adjustment, minute 3 steps are jumped to 390mg (130mg*3=390mg), and remaining 110mg (500mg-390mg) adopts average algorithm again.So contrast three different disposal routes, the result of table 3 is the most desirable, and is most effective.Three kinds of different method of testings, the effect that tests out is with table 1, table 2 and table 3.
Claims (1)
1. disposal route of utilizing three axis accelerometer to detect the inclination angle, it is characterized in that: described method comprises the steps:
(1) respectively coarse adjustment is carried out at the X-axis/Y-axis at tested inclination angle/Z axis inclination angle, described algorithmic formula is adopted in the coarse adjustment of tested inclination angle: | Cd_n-Pd_n| 〉=Th,
Wherein: n is a certain axle X-axis/Y-axis/Z axis of corresponding three axles, and Cd_n is the output valve of X-axis/Y-axis of collecting of current three axis accelerometer/Z axis, and Pd_n is the output valve of X-axis/Y-axis of collecting of last three axis accelerometer/Z axis, and Th is the threshold value that arranges;
(2) respectively fine tuning is carried out at the X-axis/Y-axis at tested inclination angle/Z axis inclination angle, described algorithmic formula: Cd_n=Pd_n+ (Cd_n – Pd_n)/AverTimes is adopted in the fine tuning of tested inclination angle,
Wherein: n is a certain axle X-axis/Y-axis/Z axis of corresponding three axles, AverTimes is the parameter of adjusting the average time of resolution, Pd_n is X-axis/Y-axis of collecting of last three axis accelerometer/Z axis output data, and Cd_n is X-axis/Y-axis of collecting of current three axis accelerometer/Z axis output data;
(3) adopt following algorithm to obtain tested inclination data:
,
Wherein: Ax, Ay, Az are respectively Pd_X, Pd_Y, the Pd_Z after three axis accelerometer X-axis/Y-axis/Z axis output valve process above-mentioned steps (1) coarse adjustment and step (2) fine tuning, it is the Pd_n value in above-mentioned steps (2) fine tuning formula, θ is the angle of X-axis and surface level, Ψ is the angle of Y-axis and surface level, and Φ is the inclination angle of Z axis and surface level vertical plane.
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| CN103591936A (en) * | 2013-11-18 | 2014-02-19 | 浙江大学 | Method for measuring slant angle |
| CN106323235A (en) * | 2016-08-08 | 2017-01-11 | 东莞嘉丰机电设备有限公司 | Machinery device slanting installation detecting method |
| CN107782369A (en) * | 2017-09-15 | 2018-03-09 | 华侨大学 | A kind of shaft wind resistance detecting system |
| CN114631687A (en) * | 2022-03-07 | 2022-06-17 | 深圳市瑞必达科技有限公司 | Control method for performing knocking protection and inclination protection on lifting table without calculating Euler angle |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103591936A (en) * | 2013-11-18 | 2014-02-19 | 浙江大学 | Method for measuring slant angle |
| CN103591936B (en) * | 2013-11-18 | 2015-06-17 | 浙江大学 | Method for measuring slant angle |
| CN106323235A (en) * | 2016-08-08 | 2017-01-11 | 东莞嘉丰机电设备有限公司 | Machinery device slanting installation detecting method |
| CN106323235B (en) * | 2016-08-08 | 2019-07-26 | 东莞嘉丰机电设备有限公司 | A kind of machinery equipment inclination installation detection method |
| CN107782369A (en) * | 2017-09-15 | 2018-03-09 | 华侨大学 | A kind of shaft wind resistance detecting system |
| CN114631687A (en) * | 2022-03-07 | 2022-06-17 | 深圳市瑞必达科技有限公司 | Control method for performing knocking protection and inclination protection on lifting table without calculating Euler angle |
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Address after: Room 509, Building A4, Bio-Nano Science Park, No. 218, Xinghu Street, Suzhou Industrial Park, Suzhou, Jiangsu Province, 215123 Patentee after: Suzhou Mingyi Sensor Technology Co.,Ltd. Address before: Room 509, Building A4, Bio-Nano Science Park, No. 218, Xinghu Street, Suzhou Industrial Park, Suzhou, Jiangsu Province, 215123 Patentee before: MiraMEMS Sensing Technology Co.,Ltd. |