CN103808349A - Error correction method and device for vector sensors - Google Patents
Error correction method and device for vector sensors Download PDFInfo
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- CN103808349A CN103808349A CN201410053045.5A CN201410053045A CN103808349A CN 103808349 A CN103808349 A CN 103808349A CN 201410053045 A CN201410053045 A CN 201410053045A CN 103808349 A CN103808349 A CN 103808349A
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Abstract
The invention discloses an error correction method and device for vector sensors. The error correction method for the vector sensor comprises the following steps: acquiring the measured values of vector sensing signals of vector sensors in a plurality of reference coordinate systems of different postures; establishing an equation set in which an error parameter is taken as an unknown number according to a relation between the measured value of each vector sensing signal and the practical value of each vector sensing signal in an error model as well as an equation in which the practical value of each vector sensing signal is taken as a constant; calculating the error parameter of the measured value of each vector sensing signal according to the equation set; correcting each vector sensor according to the error parameter of the measured value of each vector sensing signal. By adopting the method and the device, correction of sensing data of the vector sensors is realized under the situation of not adding any auxiliary hardware device, and sensing data of multiple vector sensors of a mobile terminal become more accurate.
Description
Technical field
The present invention relates to communication terminal technical field, relate in particular to a kind of error calibration method and device of vector sensor.
Background technology
In current intelligent communications terminal, multiple sensors is installed, such as acceleration transducer, magnetometric sensor.Due to the restriction of the inner space of intelligent communications terminal, the performance of these sensors is not fine, and the data precision providing is not very high.If utilize the sensed data of these sensors to do accurate mathematical operation, the error of its operation result can be very large.
Therefore using before the sensed data doing mathematics computing of these sensors, need to carry out error correction to sensed data.But existing error correction techniques is all developed for specific sensor, some needs are installed the hardware unit for error correction in addition.This makes intelligent communications terminal be difficult to adopt existing error correction techniques to be proofreaied and correct the sensed data of multiple sensors.
Summary of the invention
In view of this, the present invention proposes a kind of error calibration method and device of vector sensor, can in the situation that not increasing any additional firmware device, proofread and correct the sensed data of the multiple sensors in mobile terminal, improves the degree of accuracy of described sensed data.
First aspect, the embodiment of the present invention provides a kind of error calibration method of vector sensor, and described method comprises:
Obtain the measured value of the vector induced signal of 3N at least the vector sensor in the reference frame under different attitudes, wherein, N is the quantity of the error parameter in error model, and under described at least 3N different attitudes, the actual value of described vector induced signal is constant;
The equation that is constant according to the actual value of the relation of the actual value of the measured value of vector induced signal described in described error model and vector induced signal and described vector induced signal, set up the system of equations take described error parameter as unknown number, wherein, described system of equations comprises at least 3N equation;
Calculate the described error parameter of the measured value of described vector induced signal according to described system of equations;
Proofread and correct described vector sensor according to the described error parameter of the measured value of described vector induced signal.
Second aspect, the embodiment of the present invention provides a kind of error correction device of vector sensor, and described device comprises:
Vector induced signal acquisition module, for obtaining the measured value of vector induced signal of vector sensor of 3N at least the reference frame under different attitudes, wherein, N is the quantity of the error parameter in error model, and under described at least 3N different attitudes, the actual value of described vector induced signal is constant;
System of equations is set up module, for the equation that is constant according to the actual value of the relation of the actual value of the measured value of vector induced signal described in described error model and vector induced signal and described vector induced signal, set up the system of equations take described error parameter as unknown number, wherein, described system of equations comprises at least 3N equation;
Error parameter computing module, for calculating the described error parameter of measured value of described vector induced signal according to described system of equations;
Vector sensor correction module, proofreaies and correct described vector sensor for the described error parameter according to the measured value of described vector induced signal.
The influence error of the vector sensor of the present invention to mobile terminal carries out modeling, the sensed data of utilizing different sampling time points to receive is calculated the error parameter of described vector sensor, the error parameter calculating in utilization is proofreaied and correct the sensed data of described vector sensor, realize the correction in the case of not increasing the sensed data to described vector sensor any additional hardware unit, made the sensed data of multiple vector sensor of mobile terminal more accurate.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the error calibration method of the vector sensor that provides of first embodiment of the invention.
Fig. 2 is the measured value of vector sensor and the schematic diagram of actual value that first embodiment of the invention provides.
Fig. 3 is the process flow diagram of the error calibration method of the vector sensor that provides of second embodiment of the invention.
Fig. 4 is the process flow diagram of the error calibration method of the acceleration transducer that provides of third embodiment of the invention.
Fig. 5 is that the acceleration transducer that third embodiment of the invention provides is proofreaied and correct the relative error comparison diagram after front and correction.
Fig. 6 is the process flow diagram of the error calibration method of the magnetometric sensor that provides of fourth embodiment of the invention.
Fig. 7 is that the magnetometric sensor that fourth embodiment of the invention provides is proofreaied and correct the relative error comparison diagram after front and correction.
Fig. 8 is the structural drawing of the error correction device of the acceleration transducer that provides of fifth embodiment of the invention.
Fig. 9 is the structural drawing of the error correction device of the magnetometric sensor that provides of sixth embodiment of the invention.
Embodiment
Further illustrate technical scheme of the present invention below in conjunction with accompanying drawing and by specific embodiment.
Fig. 1 and Fig. 2 show the first embodiment of the present invention.
Fig. 1 is the process flow diagram of the error calibration method of the vector sensor that provides of first embodiment of the invention.Referring to Fig. 1, the error calibration method of described vector sensor comprises: step S110, obtains the measured value of the vector induced signal of 3N at least the vector sensor in the reference frame under different attitudes; Step S120, the equation that is constant according to the relation of the actual value of the measured value of vector induced signal described in described error model and vector induced signal and described vector induced signal actual value, sets up the system of equations take described error parameter as unknown number; Step S130, calculates the described error parameter of the measured value of described vector induced signal according to described system of equations; And step S140, proofread and correct described vector sensor according to the described error parameter of the measured value of described vector induced signal.
In step S110, obtain the measured value of the vector induced signal of the vector sensor in reference frame under 3N at least different attitudes.
In the present embodiment, described vector sensor comprises acceleration transducer and the magnetometric sensor in mobile terminal.Due to the restriction of the inner space of described mobile terminal, the volume of described vector sensor is little.Cause the precision of the vector induced signal that described vector sensor obtains not high.Fig. 2 shows the error between the vector that actual vector and described vector sensor measure.In Fig. 2, x-axis, y-axis and z-axis are mutually vertical, jointly formed described reference frame.Vector j is actual vector, and vector j ' is the vector being measured by described vector sensor.From Fig. 2, obviously can find out, between the vector that actual vector and described vector sensor measure, have error.Therefore, need to carry out error correction to the described vector induced signal of described vector sensor.
Will carry out error correction to described vector induced signal, need to first obtain the measured value of the vector induced signal of described vector sensor under 3N different attitudes, wherein, N is the quantity of the error parameter of described vector sensor.And in the present embodiment, under described at least 3N different attitudes, the actual value of described vector induced signal is constant.
In step S120, the equation that is constant according to the relation of the actual value of the measured value of vector induced signal described in described error model and vector induced signal and described vector induced signal actual value, sets up the system of equations take described error parameter as unknown number.
The described error model of described vector sensor is that the measured value of described vector induced signal is about the linear model of the actual value of described vector induced signal.Described error model can be provided by following formula:
j’=(1+s)j+b (1)。
In formula (1), j ' represents the measured value of described vector induced signal, j represents the actual value of described vector induced signal, s represents the scale factor deviation between described measured value and described actual value, and b represents the zero point drift between described measured value and the described actual value of described vector sensor.
Because the actual value of described vector induced signal under described at least 3N different attitudes is constant, the equation that can be constant according to the actual value of described vector induced signal is set up the system of equations take error parameter as unknown number, wherein, described error parameter comprises the scale factor deviation between described measured value and described actual value, and zero point drift between described measured value and described actual value.
In step S130, calculate the described error parameter of the measured value of described vector induced signal according to described system of equations.
After the system of equations of setting up take described error parameter as unknown number, by system of equations described in the measured value substitution of described vector induced signal under described at least 3N different attitudes, and utilize numerical computation method to solve described system of equations, obtain described error parameter.In the present embodiment, the value of N is 2.
In step S140, proofread and correct described vector sensor according to the described error parameter of the measured value of described vector induced signal.
Solve described system of equations and obtain after described error parameter, utilization solves the described error parameter obtaining the measured value of vector induced signal is proofreaied and correct.Concrete, according to the relation between the measured value of vector induced signal described in formula (1) and the actual value of described vector induced signal, the measured value of described vector induced signal is proofreaied and correct.
The present embodiment is by gathering the vector induced signal of vector sensor under multiple attitudes, the error parameter of the vector induced signal that the vector sensor that utilizes relation between the measured value of described vector induced signal and the actual value of described vector induced signal to calculate mobile terminal is responded to, and utilize described error parameter to proofread and correct the vector induced signal of described vector sensor, effectively improve the induced signal precision of described vector sensor.
Fig. 3 shows the second embodiment of the present invention.
Fig. 3 is the process flow diagram of the error calibration method of the vector sensor that provides of second embodiment of the invention.Referring to Fig. 3, the error calibration method of described vector sensor comprises: step S301, obtains the measured value of the vector induced signal of 3N at least the vector sensor in the reference frame under different attitudes; Step S320, the equation that is constant according to the actual value of the relation of the actual value of the measured value of vector induced signal described in described error model and vector induced signal and described vector induced signal, sets up the system of equations take described error parameter as unknown number; Step S330, calculates the described error parameter of the measured value of described vector induced signal according to described system of equations; And step S340, proofread and correct described vector sensor according to the described error parameter of the measured value of described vector induced signal.
In the present embodiment, described error model is provided by following formula:
j’=j+b (2)。
In formula (2), j ' represents the measured value of described vector induced signal, and j represents the actual value of described vector induced signal, and b represents the zero point drift between described measured value and the described actual value of described vector sensor.Compare with first embodiment of the invention, described error parameter does not comprise the scale factor deviation between described measured value and the described actual value of described vector sensor.Therefore, in the present embodiment, the value of N is 1.The implementation of the each step of the present embodiment is identical with the first embodiment, does not repeat them here.
The present embodiment solves described error parameter by the relation between the measured value of described vector induced signal and the actual value of described vector induced signal, and utilize described error parameter to proofread and correct described vector induced signal, improve the precision of the induced signal of described vector sensor.
Fig. 4 and Fig. 5 show the third embodiment of the present invention.
Fig. 4 is the process flow diagram of the error calibration method of the acceleration transducer that provides of third embodiment of the invention.Referring to Fig. 4, the error calibration method of described acceleration transducer comprises: step S410, obtains the measured value of the acceleration induction signal of 3N at least the acceleration transducer in the reference frame under different attitudes; Step S420, the equation that is constant according to the actual value of the relation of the actual value of the measured value of acceleration induction signal described in described error model and acceleration induction signal and described acceleration induction signal, sets up the system of equations take described error parameter as unknown number; Step S430, calculates the described error parameter of the measured value of described acceleration induction signal according to described system of equations; And step S440, proofread and correct described acceleration transducer according to the described error parameter of the measured value of described acceleration induction signal.
In step S410, obtain the measured value of the acceleration induction signal of 3N at least the acceleration transducer in the reference frame under different attitudes.
Acceleration transducer in mobile terminal is the sensor for measuring the corresponding acceleration of acceleration force that described mobile terminal bears.The mobile terminal of most is all provided with acceleration transducer.But because the trend of mobile terminal miniaturization, the inner space of mobile terminal is very limited, so can not be equipped with bulky acceleration transducer.And it is not the acceleration transducer volume that is arranged at present mobile terminal inside is all smaller, corresponding high to the measuring accuracy of acceleration yet.Therefore, need to carry out error correction to the acceleration measurement of described acceleration transducer induction.
Under static state, the acceleration that acceleration transducer measures is acceleration of gravity.The value of acceleration of gravity is a constant.In the present embodiment, under static state utilize acceleration transducer to gather the measured value of acceleration induction signal, and utilize under static state the value of the actual value of described acceleration induction signal be the error parameter that constant calculates described acceleration induction signal, finally utilize the error parameter of described acceleration induction signal to proofread and correct described acceleration transducer.Therefore, first described acceleration transducer receives and is equipped with the mobile terminal of the described acceleration transducer acceleration induction signal under different attitudes.Concrete, under static state, obtain the measured value of the acceleration induction signal of described acceleration transducer under 3N different attitudes at least.In the present embodiment, the value of N is 2.
Described acceleration induction signal is a vector signal, and described acceleration induction signal is to be the vector signal of reference with reference coordinate.Described reference frame is definite reference frame according to the position of the mobile terminal of the described acceleration transducer of outfit.Described reference frame is made up of orthogonal x-axis, y-axis and z-axis.In a preferred implementation of the present embodiment, the z axle of described reference frame is parallel to the display screen of described mobile terminal, and extends to the top of described mobile terminal from the bottom of described mobile terminal along the short transverse of described mobile terminal; The x axle of described reference frame is perpendicular to the display screen of described mobile terminal, and stretched out by the inside of described mobile terminal; The y axle of described reference frame is parallel with the display screen of described mobile terminal, and is extended to the right side of described mobile terminal by the left side of described mobile terminal.
In step S420, the equation that is constant according to the actual value of the relation of the actual value of the measured value of acceleration induction signal described in described error model and acceleration induction signal and described acceleration induction signal, sets up the system of equations take described error parameter as unknown number.
The error model of described acceleration induction signal is the linear model about the relation between actual value and the measured value of described acceleration.The error model of described acceleration induction signal can be expressed from the next:
k’=(1+s)k+b (3)。
In above formula, k ' represents the measured value of described acceleration induction signal, k represents the actual value of described acceleration induction signal, s represents the scale factor deviation between described measured value and described actual value, and b represents the zero point drift between described measured value and the described actual value of described acceleration transducer.
Because the measured value of described acceleration induction signal and the actual value of described acceleration induction signal are the vectors in three dimensions, be that the measured value k ' of described acceleration induction signal and the actual value k of described acceleration induction signal have projection in three coordinate axis of described reference frame, the therefore projection value k ' of the measured value k ' of described acceleration induction signal in three coordinate axis
x, k '
ywith k '
zprojection value k with the actual value k of described acceleration induction signal in three coordinate axis
x, k
ywith k
zbetween relation can represent like this:
In formula (4), s
xrepresent the component k of described measured value on x axle
x' and the component k of described actual value on x axle
xbetween scale factor deviation; s
yrepresent the component k of described measured value on y axle
y' and the component k of described actual value on y axle
ybetween scale factor deviation; s
zrepresent the component k of described measured value on z axle
z' and the component k of described actual value on z axle
zbetween scale factor deviation; b
xrepresent the component k of described measured value on x axle
x' and the component k of described actual value on x axle
xbetween zero point drift; b
yrepresent the component k of described measured value on y axle
y' and the component k of described actual value on y axle
ybetween zero point drift; b
zrepresent the component k of described measured value on z axle
z' and the component k of described actual value on z axle
zbetween zero point drift.
By mathematic(al) manipulation, the component k of acceleration of gravity on x axle, y axle and z axle
x, k
yand k
zcan be provided by following formula:
Because acceleration of gravity is constant, its value is fixed, and is 9.80755, and k
x, k
yand k
zrespectively the component of this constant in x-axis, y-axis and z-axis, therefore k
x, k
yand k
zquadratic sum be definite value, namely:
In formula (6), k
x', k
y' and k
z' be the numerical value measuring, be known quantity; G is acceleration of gravity constant, is also known quantity.By k under at least six states
x', k
y' and k
z' numerical value substitution above formula, above formula is exactly about error parameter b
x, b
y, b
z, s
x, s
yand s
zequation.By six equations simultaneousnesses that state is corresponding wherein, just form about error parameter b
x, b
y, b
z, s
x, s
yand s
zpolynary quadratic equation group.
In step S430, calculate the described error parameter of the measured value of described acceleration induction signal according to described system of equations.
Set up after the described polynary quadratic equation group about error parameter, by system of equations described in the measured value of acceleration induction signal under six states and acceleration of gravity substitution, and utilize numerical computation method to solve described polynary quadratic equation group.
In step S440, proofread and correct described acceleration transducer according to the described error parameter of the measured value of described acceleration induction signal.
Try to achieve after the error parameter of described acceleration induction signal, just can proofread and correct the acceleration induction signal of described acceleration transducer according to the error parameter of described acceleration induction signal.Be by the measured value of acceleration of gravity and error parameter substitution formula (5) to the trimming process of described acceleration induction signal, solve the acceleration induction signal after being proofreaied and correct.
In order to prove the validity of error calibration method of described acceleration transducer, the error calibration method of described acceleration transducer is carried out to demonstration test.In demonstration test, we adopt acceleration transducer that mobile terminal is conventional as the data source of testing, 16 groups of acceleration of gravity data are gathered, respectively these 16 groups of acceleration of gravity data acquisitions are being proofreaied and correct the front relative error with proofreading and correct rear described acceleration transducer of last calculation correction with the error calibration method of described acceleration transducer.Fig. 5 shows the test findings of this test.As can be seen from Figure 5, the relative error of the acceleration of gravity after correction is starkly lower than the relative error of the acceleration of gravity before correction.
The present embodiment is by gathering the acceleration induction signal of acceleration transducer under multiple attitudes, the error parameter of the acceleration induction signal that the acceleration transducer that should be the relation calculating mobile terminal of constant according to described acceleration transducer acceleration induction signal is under static state responded to, and utilize described error parameter to proofread and correct the acceleration induction signal of described acceleration transducer, effectively improve the induced signal precision of described acceleration transducer.
Fig. 6 and Fig. 7 illustrate the fourth embodiment of the present invention.
Fig. 6 is the process flow diagram of the error calibration method of the magnetometric sensor that provides of fourth embodiment of the invention.The error calibration method of described magnetometric sensor comprises: step S610, obtains the measured value of the magnetic force induction signal of 3N at least the magnetometric sensor in the reference frame under different attitudes; Step S620, the equation that is constant according to the actual value of the relation of the actual value of the measured value of magnetic force induction signal described in described error model and magnetic force induction signal and described acceleration induction signal, sets up the system of equations take described error parameter as unknown number; Step S630, calculates the described error parameter of the measured value of described magnetic force induction signal according to described system of equations; And step S640, proofread and correct described magnetometric sensor according to the described error parameter of the measured value of described magnetic force induction signal.
In step S610, obtain the measured value of the magnetic force induction signal of 3N at least the magnetometric sensor in the reference frame under different attitudes.
Described magnetometric sensor is for responding to mobile terminal magnetic field of the earth around, to indicate the magnetic field of the earth direction of present position for mobile phone users.But due to the miniaturization demand of mobile terminal, the general volume of magnetometric sensor in mobile terminal is little, the precision of the magnetic force induction signal of corresponding described magnetometric sensor is not high, need to proofread and correct the magnetic force induction signal of described magnetometric sensor.
The value of the magnetic field of the earth length signals of described magnetometric sensor induction is constant, therefore can apply the error calibration method of vector sensor of the present invention and proofread and correct.
Described reference frame is also according to the location positioning of mobile terminal that is equipped with described magnetometric sensor.Definite method of concrete reference frame is identical with the first embodiment, does not repeat them here.
In step S620, the equation that is constant according to the actual value of the relation of the actual value of the measured value of acceleration induction signal described in described error model and acceleration induction signal and described acceleration induction signal, sets up the system of equations take described error parameter as unknown number.
The error model of described magnetic force induction signal is the linear model about the relation between actual value and the measured value of described magnetic force induction signal.The error model of described magnetic force induction signal can be expressed from the next:
m’=(1+s)m+b (7)。
In formula (7), m ' represents the measured value of described magnetic force induction signal, m represents the actual value of described magnetic force induction signal, and s represents the scale factor deviation between described measured value and described actual value, and b represents the zero point drift between described measured value and described actual value.
Because the measured value of described magnetic force induction signal and the actual value of described magnetic force induction signal are also the vectors in three dimensions, be that the measured value m ' of described magnetic force induction signal and the actual value m of described magnetic force induction signal have projection in three coordinate axis of described reference frame, the therefore projection value m ' of the measured value m ' of described magnetic force induction signal in three coordinate axis
x, m '
ywith m '
zprojection value m with the actual value m of described magnetic force induction signal in three coordinate axis
x, m
ywith m
zbetween relation can represent like this:
In formula (8), s
xrepresent the component m of described measured value on x axle
x' and the component m of described actual value on x axle
xbetween scale factor deviation; s
yrepresent the component m of described measured value on y axle
y' and the component m of described actual value on y axle
ybetween scale factor deviation; s
zrepresent the component m of described measured value on z axle
z' and the component m of described actual value on z axle
zbetween scale factor deviation; b
xrepresent the component m of described measured value on x axle
x' and the component m of described actual value on x axle
xbetween zero point drift; b
yrepresent the component m of described measured value on y axle
y' and the component m of described actual value on y axle
ybetween zero point drift; b
zrepresent the component m of described measured value on z axle
z' and the component m of described actual value on z axle
zbetween zero point drift.
The component m of described actual value on x axle, y axle and z axle
x, m
yand m
zcan be provided by following formula:
Because earth magnetic field intensity is constant, its value is fixed, and m
x, m
yand m
zrespectively the component of this constant in x-axis, y-axis and z-axis, therefore m
x, m
yand m
zquadratic sum be definite value, namely:
In formula (10), m
x', m
y' and m
z' be the numerical value measuring, be known quantity; L is magnetic field of the earth constant, is also known quantity.By m under six states
x', m
y' and m
z' numerical value substitution above formula, above formula is exactly about error parameter b
x, b
y, b
z, s
x, s
yand s
zequation.By six equations simultaneousnesses that state is corresponding, just form about error parameter b
x, b
y, b
z, s
x, s
yand s
zsystem of equations.
In step S630, calculate the described error parameter of the measured value of described magnetic force induction signal according to described system of equations.
Set up after the described polynary quadratic equation group about error parameter, by system of equations described in the measured value of six state lower magnetic force induced signals and earth magnetic field intensity substitution, utilize numerical computation method to solve described polynary quadratic equation group.
In step S640, proofread and correct the magnetic force induction signal of described magnetometric sensor according to the error parameter of described magnetic force induction signal.
Calculate the error parameter of described magnetic force induction signal, can proofread and correct the magnetic force induction signal of described magnetometric sensor according to described error parameter.The process of proofreading and correct is identical with step S440 in the 3rd embodiment, does not repeat them here.
In order to prove the validity of error calibration method of described magnetometric sensor, the error calibration method of described magnetometric sensor is carried out to demonstration test.In demonstration test, we adopt magnetometric sensor that mobile terminal is conventional as the data source of testing, 16 groups of magnetic force induction signal datas are gathered, adopting the error calibration method of described magnetometric sensor to proofread and correct to these 16 groups of magnetic force induction signal datas respectively, the front relative error with proofreading and correct rear described magnetometric sensor of last calculation correction.Fig. 7 shows the test findings of this test.As can be seen from Figure 7, the relative error of the magnetic force induction signal after correction is starkly lower than the relative error of the magnetic force induction signal before correction.
The present embodiment is by gathering the magnetic force induction signal of magnetometric sensor under multiple attitudes, the error parameter of the magnetic force induction signal of responding to according to the magnetometric sensor of earth magnetic field intensity constant calculating mobile terminal, and utilize described error parameter to proofread and correct the magnetic force induction signal of described magnetometric sensor, effectively improve the induced signal precision of described magnetometric sensor.
Fig. 8 shows the fifth embodiment of the present invention.
Fig. 8 is the structural drawing of the error correction device of the acceleration transducer that provides of fifth embodiment of the invention.Referring to Fig. 8, the error correction device of described acceleration transducer comprises that acceleration induction signal acquisition module 810, system of equations set up module 820, error parameter computing module 830 and acceleration transducer correction module 840.
Described acceleration induction signal acquisition module 810 is for obtaining the measured value of acceleration induction signal of acceleration transducer of 3N at least the reference frame under different attitudes, wherein, N is the quantity of the error parameter in error model, and under described at least 3N different attitudes, the actual value of described acceleration induction signal is constant.
The error correction device of described acceleration transducer need to gather the error parameter of the acceleration induction signal of described acceleration transducer under different attitudes as acceleration transducer described in sample calculation.Described acceleration induction signal acquisition module 810 is for obtaining the acceleration induction signal of the reference frame under the different attitudes of stationary state, as the sample that calculates described error parameter.
Under static state, the acceleration that described acceleration transducer obtains is acceleration of gravity, and the value of acceleration of gravity is constant.
In the present embodiment, described acceleration induction signal acquisition module 810 obtains under static state the measured value of the acceleration induction signal in the reference frame of 3N attitude at least, wherein, N represents the quantity of the error parameter in the error model of described acceleration induction signal.In a preferred implementation of the present embodiment, the value of N is 2.
In the present embodiment, described reference frame is determined according to the locus of the mobile terminal that is equipped with described acceleration transducer.Under the fixing condition of the relative position between described acceleration transducer and described mobile terminal, the position of the coordinate axis of described reference frame is determined about the locus of described acceleration transducer is unique.
Described system of equations is set up module 820 for the equation that is constant according to the actual value of the relation of the actual value of the measured value of acceleration induction signal described in described error model and acceleration induction signal and described acceleration induction signal, sets up the system of equations take described error parameter as unknown number.
In the present embodiment, the error model of the described acceleration induction signal of foundation is the linear model about the relation between measured value and the actual value of described acceleration induction signal.The error model of described acceleration induction signal is provided by following formula:
In formula (11), k
x' be the measured value of the described acceleration induction signal component on x direction of principal axis, k
y' be the measured value of the described acceleration induction signal component on y direction of principal axis, k
z' be the measured value of the described acceleration induction signal component on z direction of principal axis, k
xthe actual value of the described acceleration induction signal component on x direction of principal axis, k
ythe actual value of the described acceleration induction signal component on y direction of principal axis, k
zit is the actual value of the described acceleration induction signal component on z direction of principal axis.
S
xrepresent the component k of described measured value on x axle
x' and the component k of described actual value on x axle
xbetween scale factor deviation; s
yrepresent the component k of described measured value on y axle
y' and the component k of described actual value on y axle
ybetween scale factor deviation; s
zrepresent the component k of described measured value on z axle
z' and the component k of described actual value on z axle
zbetween scale factor deviation; b
xrepresent the component k of described measured value on x axle
x' and the component k of described actual value on x axle
xbetween zero point drift; b
yrepresent the component k of described measured value on y axle
y' and the component k of described actual value on y axle
ybetween zero point drift; b
zrepresent the component k of described measured value on z axle
z' and the component k of described actual value on z axle
zbetween zero point drift.
According to being constant in the value of acceleration of gravity, through mathematical derivation, can obtain:
In formula (12), g represents acceleration of gravity.By the measured value substitution formula (12) of the acceleration induction signal measuring under 3N attitude at least, obtain at least 3N equation.By the equation composition system of equations obtaining, described system of equations is exactly the system of equations take error parameter as unknown number.
Described error parameter computing module 830 is for according to the error model of described acceleration induction signal, utilizes the error parameter of acceleration induction signal described in described acceleration induction calculated signals.
Described error parameter computing module 830 is for calculating the error parameter of described acceleration induction signal according to numerical computation method.
Described acceleration transducer correction module 840 is proofreaied and correct described acceleration transducer for the described error parameter according to the measured value of described acceleration induction signal.
Solve and obtain after described error parameter, described acceleration transducer correction module 840 is according to the error model of described acceleration induction signal, and utilization solves the described error parameter obtaining described acceleration induction signal is proofreaied and correct.
The present embodiment is set up the processing of module, error parameter computing module and acceleration induction signal-corecting module the acceleration induction signal of described acceleration transducer is proofreaied and correct by acceleration induction signal acquisition module, system of equations, effectively improved the precision of the acceleration induction signal of described acceleration transducer.
Fig. 9 shows the sixth embodiment of the present invention.
Fig. 9 is the structural drawing of the error correction device of the magnetometric sensor that provides of sixth embodiment of the invention.Referring to Fig. 9, the error correction device of described magnetometric sensor comprises that magnetic force induction signal acquisition module 910, system of equations set up module 920, error parameter computing module 930 and magnetometric sensor correction module 940.
The module of the error correction device of the acceleration transducer that in the present embodiment, the function and structure of the modules of the error correction device of described magnetometric sensor provides with the fifth embodiment of the present invention is corresponding one by one.Difference between the two is that the signal that described acceleration transducer obtains is acceleration induction signal, and the signal that described magnetometric sensor obtains is magnetic force induction signal.In addition, the 26S Proteasome Structure and Function of the modules of the error correction device of described magnetometric sensor is identical with the 26S Proteasome Structure and Function of the modules of the error correction device of acceleration transducer in fifth embodiment of the invention, does not repeat them here.
The present embodiment is set up the processing of module, error parameter computing module and magnetic force induction signal-corecting module the magnetic force induction signal of described magnetometric sensor is proofreaied and correct by magnetic force induction signal acquisition module, system of equations, effectively improved the precision of the magnetic force induction signal of described magnetometric sensor.
Obviously, those skilled in the art should be understood that, above-mentioned of the present invention each module or each step can be implemented by communication terminal as above, and can be integrated in for the transmission of voice messaging and receiving function also can receiving speech information so that communication terminal both can have been sent on same communication terminal.Alternatively, the embodiment of the present invention can realize by the executable program of computer installation, thereby they can be stored in memory storage and be carried out by processor, described program can be stored in a kind of computer-readable recording medium, the above-mentioned storage medium of mentioning can be ROM (read-only memory), disk or CD etc.; Or they are made into respectively to each integrated circuit modules, or the multiple modules in them or step are made into single integrated circuit module realize.Like this, the present invention is not restricted to the combination of any specific hardware and software.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, to those skilled in the art, the present invention can have various changes and variation.All any modifications of doing, be equal to replacement, improvement etc., within protection scope of the present invention all should be included within spirit of the present invention and principle.
Claims (10)
1. an error calibration method for vector sensor, is characterized in that, comprising:
Obtain the measured value of the vector induced signal of 3N at least the vector sensor in the reference frame under different attitudes, wherein, N is the quantity of the error parameter in error model, and under described at least 3N different attitudes, the actual value of described vector induced signal is constant;
The equation that is constant according to the actual value of the relation of the actual value of the measured value of vector induced signal described in described error model and vector induced signal and described vector induced signal, set up the system of equations take described error parameter as unknown number, wherein, described system of equations comprises at least 3N equation;
Calculate the described error parameter of the measured value of described vector induced signal according to described system of equations;
Proofread and correct described vector sensor according to the described error parameter of the measured value of described vector induced signal.
2. the error calibration method of vector sensor according to claim 1, is characterized in that, described vector sensor comprises acceleration transducer and magnetometric sensor.
3. the error calibration method of vector sensor according to claim 1, is characterized in that, described reference frame is the 3 d space coordinate system definite with the locus of described vector sensor.
4. the error calibration method of vector sensor according to claim 1, it is characterized in that, the error model of described vector induced signal is j '=(1+s) j+b, wherein, j ' represents the measured value of described vector induced signal, j represents the actual value of described vector induced signal, s represents the scale factor deviation between the measured value of described vector induced signal and the actual value of described vector induced signal, and b represents the zero point drift between the measured value of described vector induced signal and the actual value of described vector induced signal.
5. the error calibration method of vector sensor according to claim 1, it is characterized in that, described error parameter comprises the scale factor deviation between the measured value of described vector induced signal and the actual value of described vector induced signal, and zero point drift between the measured value of described vector induced signal and the actual value of described vector induced signal.
6. an error correction device for vector sensor, is characterized in that, comprising:
Vector induced signal acquisition module, for obtaining the measured value of vector induced signal of vector sensor of 3N at least the reference frame under different attitudes, wherein, N is the quantity of the error parameter in error model, and under described at least 3N different attitudes, the actual value of described vector induced signal is constant;
System of equations is set up module, for the equation that is constant according to the actual value of the relation of the actual value of the measured value of vector induced signal described in described error model and vector induced signal and described vector induced signal, set up the system of equations take described error parameter as unknown number, wherein, described system of equations comprises at least 3N equation;
Error parameter computing module, for calculating the described error parameter of measured value of described vector induced signal according to described system of equations;
Vector sensor correction module, proofreaies and correct described vector sensor for the described error parameter according to the measured value of described vector induced signal.
7. the error calibration method of vector induced signal according to claim 6, is characterized in that, described vector sensor comprises acceleration transducer and magnetometric sensor.
8. the error calibration method of vector sensor according to claim 6, is characterized in that, described reference frame is the 3 d space coordinate system definite with the locus of described vector sensor.
9. the error calibration method of vector sensor according to claim 6, it is characterized in that, the error model of described vector induced signal is j '=(1+s) j+b, wherein, j ' represents the measured value of described vector sensor, j represents the actual value of described vector sensor, and s represents the scale factor deviation between described measured value and described actual value, and b represents the zero point drift between described measured value and the described actual value of described vector sensor.
10. the error calibration method of vector sensor according to claim 6, it is characterized in that, described error parameter comprises the scale factor deviation between the measured value of described vector induced signal and the actual value of described vector induced signal, and zero point drift between the measured value of described vector induced signal and the actual value of described vector induced signal.
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