CN103884869A - Sensor deviation correction method and device - Google Patents
Sensor deviation correction method and device Download PDFInfo
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- CN103884869A CN103884869A CN201210555118.1A CN201210555118A CN103884869A CN 103884869 A CN103884869 A CN 103884869A CN 201210555118 A CN201210555118 A CN 201210555118A CN 103884869 A CN103884869 A CN 103884869A
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Abstract
The invention provides a sensor deviation correction method and device. The method comprises the following steps: the step S1 in which a measured value difference of an unit interval obtained through a GPS and the measured value difference of the unit interval obtained through a sensor are acquired; the step S2 in which the measured value difference obtained through the GPS and the function relationship of the measured value difference obtained through the sensor are determined according to the measured value difference obtained in the step S1; and the step S3 in which correction is performed on measured values obtained through the sensor by utilizing the function relationship; wherein when the sensor is an acceleration sensor, the measured value difference is a velocity difference, the measured values are velocities; or the measured value difference is a displacement difference, the measured values are displacement values; and when the sensor is a velocity sensor, the measured value difference is a displacement difference, and the measured values are displacement values. According to the invention, the error of the velocity and moving distance information provided by the acceleration sensor and the error of the moving distance information provided by the velocity sensor can be corrected.
Description
[technical field]
The present invention relates to sensor technology, relate in particular to a kind of method and apparatus of correcting sensor deviation.
[background technology]
Nowadays the application of acceleration transducer is very extensive, acceleration transducer is all installed in numerous terminal electronic equipment for corresponding service is provided, for example, in the mobile phone of a lot of brands, be provided with acceleration transducer, for user provides the mobile relevant information such as speed and distance.But owing to using the problems such as the aging and wearing and tearing that produce, can there are some deviations in acceleration transducer, cause its information such as speed and displacement providing also to have certain error unavoidably.Speed pickup is applied in the vehicles such as automobile conventionally, same, and the deviation that speed pickup exists can cause its moving distance information providing also to have certain error.
[summary of the invention]
In view of this, the invention provides a kind of method and apparatus of correcting sensor deviation, the speed can corrected acceleration sensor providing and the error of moving distance information, and the error of the moving distance information that provides of speed pickup.
Concrete technical scheme is as follows:
A method for correcting sensor deviation, the method comprises:
S1, obtain the measurement value difference of the unit interval obtaining by GPS, and the described measurement value difference of the unit interval obtaining by sensor;
S2, the measurement value difference obtaining according to step S1, determine the measurement value difference that obtains by GPS and the funtcional relationship of the described measurement value difference that obtains by sensor;
S3, the measured value that utilizes described funtcional relationship to obtain sensor are proofreaied and correct;
Wherein, in the time that described sensor is acceleration transducer, described measurement value difference is velocity contrast, and described measured value is speed; Or described measurement value difference is displacement difference, described measured value is displacement;
In the time that described sensor is speed pickup, described measurement value difference is displacement difference, and described measured value is displacement.
According to one preferred embodiment of the present invention, in described step S1, before obtaining the measurement value difference of the unit interval obtaining by GPS, also comprise:
Judge the precision of the measurement value difference obtaining by GPS, if the precision of the measurement value difference obtaining by GPS does not reach predetermined threshold value, ignore this gps data.
According to one preferred embodiment of the present invention, described step S2 specifically comprises:
The measurement value difference that S21, foundation obtain by GPS and the described measurement value difference obtaining by sensor, the value of each parameter in definite default described funtcional relationship;
The value of many groups of each parameters that S22, foundation are obtained, determines the correction parameter of one group of optimal value of the parameter as sensor.
According to one preferred embodiment of the present invention, in the time that described sensor is acceleration transducer, if described measurement value difference is velocity contrast, described default funtcional relationship is polynomial relation of monobasic; If described measurement value difference is displacement difference, described default funtcional relationship is One-place 2-th Order polynomial relation;
In the time that described sensor is speed pickup, described default funtcional relationship is polynomial relation of monobasic.
According to one preferred embodiment of the present invention, in described step S22, in organizing parameter, the mean value of same parameters is as the optimal value of the parameter of this same parameters more; Or, determine the optimal value of the parameter of parameter, make optimal value of the parameter and the variance minimum of many class values of this parameter of obtaining.
A device for correcting sensor deviation, this device comprises:
Data acquisition unit, for obtaining the measurement value difference of the unit interval obtaining by GPS, and the described measurement value difference of the unit interval obtaining by sensor;
Parameter calculation unit, for the measurement value difference obtaining according to described data acquisition unit, determines the funtcional relationship of the measurement value difference obtaining by GPS and the described measurement value difference obtaining by sensor;
Correcting unit, proofreaies and correct for the measured value that utilizes described funtcional relationship to obtain sensor;
Wherein, in the time that described sensor is acceleration transducer, described measurement value difference is velocity contrast, and described measured value is speed; Or described measurement value difference is displacement difference, described measured value is displacement;
In the time that described sensor is speed pickup, described measurement value difference is displacement difference, and described measured value is displacement.
According to one preferred embodiment of the present invention, described data acquisition unit, before obtaining the measurement value difference of the unit interval obtaining by GPS, is also carried out:
Judge the precision of the measurement value difference obtaining by GPS, if the precision of the measurement value difference obtaining by GPS does not reach predetermined threshold value, ignore this gps data.
According to one preferred embodiment of the present invention, described parameter calculation unit is specifically carried out:
According to the measurement value difference obtaining by GPS and the described measurement value difference obtaining by sensor, determine the value of each parameter in default described funtcional relationship;
According to the value of many groups of each parameters obtaining, determine the correction parameter of one group of optimal value of the parameter as sensor.
According to one preferred embodiment of the present invention, in the time that described sensor is acceleration transducer, if described measurement value difference is velocity contrast, described default funtcional relationship is polynomial relation of monobasic; If described measurement value difference is displacement difference, described default funtcional relationship is One-place 2-th Order polynomial relation;
In the time that described sensor is speed pickup, described default funtcional relationship is polynomial relation of monobasic.
According to one preferred embodiment of the present invention, when described parameter calculation unit is determined one group of optimal value of the parameter as the correction parameter of sensor, in organizing parameter, the mean value of same parameters is as the optimal value of the parameter of this same parameters more; Or, determine the optimal value of the parameter of parameter, make optimal value of the parameter and the variance minimum of many class values of this parameter of obtaining.
As can be seen from the above technical solutions, the funtcional relationship of the speed that the velocity and acceleration sensor that the present invention gets by default GPS obtains, and the funtcional relationship of the distance that obtains of the distance that gets of GPS and acceleration transducer, obtain corresponding correction parameter, utilize corresponding funtcional relationship to proofread and correct with speed and distance that acceleration transducer is obtained.The speed that the present invention can corrected acceleration sensor provides and the error of moving distance information, and the error of the moving distance information that provides of speed pickup.
[brief description of the drawings]
The method flow diagram of the correcting sensor deviation that Fig. 1 provides for the embodiment of the present invention one;
The method flow diagram of the correcting sensor deviation that Fig. 2 provides for the embodiment of the present invention two;
The device schematic diagram of the correcting sensor deviation that Fig. 3 provides for the embodiment of the present invention three.
[embodiment]
In order to make the object, technical solutions and advantages of the present invention clearer, describe the present invention below in conjunction with the drawings and specific embodiments.
Acceleration transducer is due to aging, wearing and tearing, or due to other factors such as individual differences, the acceleration of its acquisition tends to exist certain deviation.Under normal circumstances, this deviation is fixed, be that the each acceleration obtaining of acceleration transducer all can exist a fixing deviation, therefore, cause the speed of its place equipment and the distance of movement that acceleration transducer is calculated out according to the acceleration of its acquisition all to have error.The present invention utilizes the data that GPS obtains to proofread and correct the speed of the acceleration transducer reckoning causing due to the droop of acceleration transducer and the error of distance.
Embodiment mono-
The method flow diagram of the correcting sensor deviation that Fig. 1 provides for the embodiment of the present invention one, as shown in Figure 1, the method comprises:
S101, obtain the velocity contrast Vg of the unit interval obtaining by GPS, and the velocity contrast Vs of the unit interval obtaining by acceleration transducer.
Can obtain the current speed of its place electronic equipment by GPS, conventionally GPS chip can will obtain present speed one time every Fixed Time Interval, for example, obtain once current speed every 1s, using this time interval of GPS as unit interval, obtain two adjacent speed by GPS and just can obtain the velocity contrast Vg of its place electronic equipment in this unit interval.
Similar with GPS, acceleration transducer will obtain once current acceleration every certain time interval equally, conventionally, this time interval is short more a lot of than the output time interval duration of GPS,, if using the output time interval of GPS as unit interval,, in a unit interval, acceleration transducer can obtain repeatedly current acceleration.If acceleration transducer has obtained current acceleration, the velocity contrast obtaining by acceleration transducer in this unit interval n time in unit interval
wherein, T
kbe the time interval of obtaining between acceleration for the k-1 time to the k time, a
kfor the acceleration obtaining for the k time.
Further, before obtaining the velocity contrast Vg of the unit interval obtaining by GPS, can also first judge the precision of Current GPS data, if the precision of gps data does not reach predetermined threshold value, ignore this gps data.The precision of gps data can be according to positional precision degree of strength PDOP(Position Dilution of Precision), also can be according to Horizontal Dilution of Precision HDOP(Horizontal Dilution of Precision) obtain, or comprehensive gps satellite number, PDOP, HDOP and noise recently obtain.This part is prior art, exceeds and repeats at this.
S102, according to obtained Vg and Vs, obtain the parameters value in the funtcional relationship of default Vg and Vs, and according to obtained many groups parameter value, obtain one group of optimized parameter and calculate as acceleration transducer the correction parameter of speed.
In order to utilize the velocity contrast Vg that GPS obtains to proofread and correct the velocity contrast Vs obtaining of acceleration transducer, need to preset the funtcional relationship of Vg and Vs, again by the occurrence of Vg and Vs, the parameters solving in set function obtains correction parameter afterwards.Funtcional relationship can be set as required, and can be, but not limited to is polynomial expression, logarithmic, power formula etc., because acceleration and speed are linear relationships, the invention provides following a kind of preferred implementation:
The funtcional relationship of setting Vg and Vs is monobasic one order polynomial, i.e. Vg=b*Vs+c, and wherein, b and c are correction parameter to be separated.Owing to there being two correction parameters to be separated, therefore just can solve the value of b and c by the value of two groups of Vg and Vs.Can obtain by many groups Vg and Vs the value of many group b and c, to can obtain according to many groups b and c the correction parameter of one group of optimum.
Obtaining one group of optimized parameter according to the parameters value in the funtcional relationship of many groups of default Vg and Vs can realize by following method:
Using the mean value of the parameters value in the funtcional relationship of obtained many groups default Vg and Vs as optimized parameter; Or, also can calculate one group with the funtcional relationship of obtained many groups default Vg and Vs in the parameter of parameters value variance minimum as optimized parameter,, make the dispersion degree minimum of the parameters in the funtcional relationship of the default Vg of optimized parameter and many groups of obtaining and Vs.For example, taking the Vg=b*Vs+c that sets in step S102 as example, can pass through obtained many groups b and the value of c, obtain the mean value of one group of b and c as optimized parameter, or, also the value of one group of b and c be can obtain as optimized parameter, this group optimized parameter and the many groups b obtaining and the variance minimum of c made.
S103, calculate correction parameter and default Vg and the funtcional relationship of Vs of speed according to obtained acceleration transducer, the speed that acceleration transducer is obtained is proofreaied and correct.
Finally, can carry out the speed that corrected acceleration sensor obtains with obtained optimized parameter.Conventionally, the speed that acceleration transducer obtained by a upper moment and the velocity contrast in a period of time of process calculate the speed in a certain moment, therefore, acceleration transducer is calculated to obtaining speed proofreaies and correct essence and namely velocity contrast is proofreaied and correct, so, can directly use obtained optimized parameter corrected acceleration sensor to calculate the speed obtaining.With Vg=b*Vs+c example, be V if acceleration transducer is calculated the speed in a certain moment obtaining, be modified to b*V+c, wherein b and c are obtained optimized parameter.
Embodiment bis-
The method flow diagram of the correcting sensor deviation that Fig. 2 provides for the embodiment of the present invention two, as shown in Figure 2, the method comprises:
S201, obtain the displacement Lg of the unit interval obtaining by GPS, and the displacement Ls of the unit interval that obtains of acceleration transducer.
Can obtain the current position coordinates of its place electronic equipment by GPS, can obtain the current position coordinates of its place electronic equipment by GPS, conventionally GPS chip can will obtain present speed one time every Fixed Time Interval, for example, obtain once current position coordinates every 1s, using this time interval of GPS as unit interval, obtain two adjacent position coordinateses by GPS and just can calculate and obtain the distance L g of its place electronic equipment in the movement of this unit interval.
Conventionally, acceleration transducer can obtain repeatedly the current acceleration of its place electronic equipment in such a unit interval, meanwhile, the initial velocity when more initial according to this unit interval just can be calculated and obtain its place electronic equipment mobile distance L s in this unit interval.
Further, before obtaining the displacement Lg of the unit interval obtaining by GPS, can also first judge the precision of Current GPS data, if the precision of gps data does not reach predetermined threshold value, ignore this gps data.The precision of gps data can be according to positional precision degree of strength PDOP(Position Dilution of Precision), also can be according to Horizontal Dilution of Precision HDOP(Horizontal Dilution of Precision) obtain, or comprehensive gps satellite number, PDOP, HDOP and noise recently obtain.This part is prior art, exceeds and repeats at this.
S202, according to obtained Lg and Ls, calculate the parameters in the funtcional relationship of default Lg and Ls, and according to obtained many groups parameter value, obtain the correction parameter of the displacement that one group of optimized parameter calculates as acceleration transducer.
In order to utilize the displacement Lg that GPS obtains to proofread and correct the displacement Ls obtaining of acceleration transducer, need to preset the funtcional relationship of Lg and Ls, again by the occurrence of Lg and Ls, the parameters solving in set function obtains correction parameter afterwards.Funtcional relationship can be set as required, and can be, but not limited to is polynomial expression, logarithmic, power formula etc., because acceleration and distance exist the relation of second power, the invention provides following a kind of preferred implementation:
The funtcional relationship of setting Lg and Ls is One-place 2-th Order polynomial expression, i.e. Lg=d*Ls
2+ e*Ls+f, wherein, d, e and f are correction parameter to be separated.Owing to there being two correction parameters to be separated, therefore just can solve the value of b and c by the value of two groups of Lg and Ls.Can obtain by many groups Lg and Ls the values of many group d, e and f, to can obtain according to many groups d, e and f the correction parameter of one group of optimum.
Obtaining one group of optimized parameter according to the parameters value in the funtcional relationship of many groups of default Lg and Ls can realize by following method:
Using the mean value of the parameters value in the funtcional relationship of obtained many groups default Lg and Ls as optimized parameter; Or, also can calculate one group with the funtcional relationship of obtained many groups default Lg and Ls in the parameter of parameters value variance minimum as optimized parameter,, make the dispersion degree minimum of the parameters in the funtcional relationship of the default Lg of optimized parameter and many groups of obtaining and Ls.For example, the Lg=d*Ls to set in step S202
2+ e*Ls+f is example, can pass through obtained many groups d, e and the value of f, obtain the mean value of one group of d, e and f as optimized parameter, or, also the value of one group of d, e and f be can obtain as optimized parameter, this group optimized parameter and the many groups d, the e that obtain and the variance minimum of f made.
S203, calculate correction parameter and default Lg and the funtcional relationship of Ls of displacement according to obtained acceleration transducer, the displacement that acceleration transducer is obtained is proofreaied and correct.
Finally, can carry out the distance that move unit interval that corrected acceleration sensor obtains with obtained optimized parameter, acceleration transducer calculates that the displacement essence in a certain amount of time obtaining is the displacement sum of multiple unit intervals, therefore, displacement to unit interval is proofreaied and correct, and just can eliminate acceleration transducer and calculate the error of displacement in a certain period of obtaining.With Lg=d*Ls
2+ e*Ls+f example, if the distance of the movement of a certain unit interval that acceleration transducer obtains is Ls, is modified to d*Ls
2+ e*Ls+f, wherein d, e and f are obtained optimized parameter.
Above-mentioned is the method for correcting sensor deviation provided by the invention, and wherein, two methods that provide of enforcement can also be used for the error of the displacement obtaining of correction rate sensor.Speed pickup is used on the vehicles such as automobile conventionally, can obtain in real time the current speed of its place equipment, meanwhile, can go out according to its acquired speed calculation the distance of its place equipment moving in a period of time.If there is fixing deviation in the speed that speed pickup obtains, can cause its displacement of extrapolating also to have error, utilize the error of the displacement that method that the embodiment of the present invention two provides can correction rate sensor obtains, wherein, because speed and displacement are linear relationships, the funtcional relationship of the displacement Ls of the unit interval that the displacement Lg of the unit interval obtaining by GPS and speed pickup can be obtained is preset as monobasic one order polynomial, i.e. Lg=b*Ls+c.
Embodiment tri-
The device schematic diagram of the correcting sensor deviation that Fig. 3 provides for the embodiment of the present invention three, as shown in Figure 3, this device comprises: data acquisition unit 10, parameter calculation unit 20 and correcting unit 30.
Further, before obtaining the velocity contrast Vg or displacement Lg of the unit interval obtaining by GPS, data acquisition unit 10 can also first judge the precision of Current GPS data, if the precision of gps data does not reach predetermined threshold value, ignores this gps data.The precision of gps data can be according to positional precision degree of strength PDOP(Position Dilution of Precision), also can be according to Horizontal Dilution of Precision HDOP(Horizontal Dilution of Precision) obtain, or comprehensive gps satellite number, PDOP, HDOP and noise recently obtain.This part is prior art, exceeds and repeats at this.
Can utilize velocity contrast Vg that GPS obtains to proofread and correct and utilize to the velocity contrast Vs obtaining of acceleration transducer the displacement Lg that GPS obtains for parameter calculation unit 20 proofreaies and correct the displacement Ls obtaining of acceleration transducer, need to preset the funtcional relationship of Vg and Vs or the funtcional relationship of Lg and Ls, the parameters solving afterwards in set function obtains correction parameter.Funtcional relationship can be set as required, and can be, but not limited to is polynomial expression, logarithmic, power formula etc.
Because acceleration and speed are linear relationships, the funtcional relationship that can set Vg and Vs is monobasic one order polynomial, i.e. Vg=b*Vs+c, and wherein, b and c are correction parameter to be separated.Owing to there being two correction parameters to be separated, therefore just can solve the value of b and c by the value of two groups of Vg and Vs.Subsequent step can obtain by many groups Vg and Vs the value of many group b and c, so that can be obtained according to many groups b and c the correction parameter of one group of optimum.
Because acceleration and distance exist the relation of second power, the funtcional relationship that can set Lg and Ls is One-place 2-th Order polynomial expression, i.e. Lg=d*Ls
2+ e*Ls+f, wherein, d, e and f are correction parameter to be separated.Owing to there being two correction parameters to be separated, therefore just can solve the value of b and c by the value of two groups of Lg and Ls.Can obtain by many groups Lg and Ls the values of many group d, e and f, so that subsequent step can be obtained according to many groups d, e and f the correction parameter of one group of optimum.
Afterwards, parameter calculation unit 20 obtains one group of optimized parameter according to the parameters value in the funtcional relationship of the default Vg of many groups and Vs, or obtain one group of optimized parameter according to the parameters value in the funtcional relationship of many groups of default Lg and Ls, parameter calculation unit 20 can be carried out following operation and realize this process:
Using the mean value of the parameters value in the funtcional relationship of obtained many groups default Vg and Vs as optimized parameter, or the mean value of organizing the parameters value in the funtcional relationship of default Lg and Ls as optimized parameter more; Or, also can calculate one group with the funtcional relationship of obtained many groups default Vg and Vs in the parameter of parameters value variance minimum as optimized parameter,, make the dispersion degree minimum of the parameters in the funtcional relationship of the default Vg of optimized parameter and many groups of obtaining and Vs, or calculate one group with the funtcional relationship of obtained many groups default Lg and Ls in the parameter of parameters value variance minimum as optimized parameter, make the dispersion degree minimum of the parameters in the funtcional relationship of optimized parameter and many groups that obtain default Lg and Ls.For example, taking Vg=b*Vs+c as example, can pass through obtained many groups b and the value of c, obtain the mean value of one group of b and c as optimized parameter, or, also can obtain the value of one group of b and c as optimized parameter, make this group optimized parameter and the many groups b obtaining and the variance minimum of c.
Correcting unit 30, proofreaies and correct for the measured value that utilizes described funtcional relationship to obtain sensor.
Correcting unit 30 can carry out velocity contrast and the displacement that corrected acceleration sensor obtains with obtained optimized parameter.Conventionally, the speed that acceleration transducer obtained by a upper moment and the velocity contrast in a period of time of process calculate the speed in a certain moment, therefore, acceleration transducer is calculated to obtaining speed proofreaies and correct essence and namely velocity contrast is proofreaied and correct, so, can directly use obtained optimized parameter corrected acceleration sensor to calculate the speed obtaining.With Vg=b*Vs+c example, be V if acceleration transducer is calculated the speed in a certain moment obtaining, be modified to b*V+c, wherein b and c are obtained optimized parameter.Acceleration transducer calculates that the displacement essence in a certain amount of time obtaining is the displacement sum of multiple unit intervals, therefore, displacement to unit interval is proofreaied and correct, and just can eliminate acceleration transducer and calculate the error of displacement in a certain period of obtaining.With Lg=d*Ls
2+ e*Ls+f example, if the distance of the movement of a certain unit interval that acceleration transducer obtains is Ls, is modified to d*Ls
2+ e*Ls+f, wherein d, e and f are obtained optimized parameter.
Above-mentioned is the device of correcting sensor deviation provided by the invention, and this device can also be used for the error of the displacement obtaining of correction rate sensor.Speed pickup is used on the vehicles such as automobile conventionally, can obtain in real time the current speed of its place equipment, meanwhile, can go out according to its acquired speed calculation the distance of its place equipment moving in a period of time.If there is fixing deviation in the speed that speed pickup obtains, can cause its displacement of extrapolating also to have error, utilize the error of the displacement that device provided by the present invention can correction rate sensor obtains, wherein, utilize data acquisition unit 10 to obtain the displacement Lg of unit interval by GPS, and obtain the displacement Ls of unit interval by acceleration transducer, because speed and displacement are linear relationships, the funtcional relationship of Lg and Ls can be preset as to monobasic one order polynomial, be Lg=b*Ls+c, recycling parameter calculation unit 20 obtains correction parameter, and utilize correcting unit 30 to proofread and correct.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, within the spirit and principles in the present invention not all, any amendment of making, be equal to replacement, improvement etc., within all should being included in the scope of protection of the invention.
Claims (10)
1. a method for correcting sensor deviation, is characterized in that, the method comprises:
S1, obtain the measurement value difference of the unit interval obtaining by GPS, and the described measurement value difference of the unit interval obtaining by sensor;
S2, the measurement value difference obtaining according to step S1, determine the measurement value difference that obtains by GPS and the funtcional relationship of the described measurement value difference that obtains by sensor;
S3, the measured value that utilizes described funtcional relationship to obtain sensor are proofreaied and correct;
Wherein, in the time that described sensor is acceleration transducer, described measurement value difference is velocity contrast, and described measured value is speed; Or described measurement value difference is displacement difference, described measured value is displacement;
In the time that described sensor is speed pickup, described measurement value difference is displacement difference, and described measured value is displacement.
2. method according to claim 1, is characterized in that, in described step S1, before obtaining the measurement value difference of the unit interval obtaining by GPS, also comprises:
Judge the precision of the measurement value difference obtaining by GPS, if the precision of the measurement value difference obtaining by GPS does not reach predetermined threshold value, ignore this gps data.
3. method according to claim 1, is characterized in that, described step S2 specifically comprises:
The measurement value difference that S21, foundation obtain by GPS and the described measurement value difference obtaining by sensor, the value of each parameter in definite default described funtcional relationship;
The value of many groups of each parameters that S22, foundation are obtained, determines the correction parameter of one group of optimal value of the parameter as sensor.
4. method according to claim 3, is characterized in that, in the time that described sensor is acceleration transducer, if described measurement value difference is velocity contrast, described default funtcional relationship is polynomial relation of monobasic; If described measurement value difference is displacement difference, described default funtcional relationship is One-place 2-th Order polynomial relation;
In the time that described sensor is speed pickup, described default funtcional relationship is polynomial relation of monobasic.
5. method according to claim 3, is characterized in that, in described step S22, in organizing parameter, the mean value of same parameters is as the optimal value of the parameter of this same parameters more; Or, determine the optimal value of the parameter of parameter, make optimal value of the parameter and the variance minimum of many class values of this parameter of obtaining.
6. a device for correcting sensor deviation, is characterized in that, this device comprises:
Data acquisition unit, for obtaining the measurement value difference of the unit interval obtaining by GPS, and the described measurement value difference of the unit interval obtaining by sensor;
Parameter calculation unit, for the measurement value difference obtaining according to described data acquisition unit, determines the funtcional relationship of the measurement value difference obtaining by GPS and the described measurement value difference obtaining by sensor;
Correcting unit, proofreaies and correct for the measured value that utilizes described funtcional relationship to obtain sensor;
Wherein, in the time that described sensor is acceleration transducer, described measurement value difference is velocity contrast, and described measured value is speed; Or described measurement value difference is displacement difference, described measured value is displacement;
In the time that described sensor is speed pickup, described measurement value difference is displacement difference, and described measured value is displacement.
7. device according to claim 6, is characterized in that, described data acquisition unit, before obtaining the measurement value difference of the unit interval obtaining by GPS, is also carried out:
Judge the precision of the measurement value difference obtaining by GPS, if the precision of the measurement value difference obtaining by GPS does not reach predetermined threshold value, ignore this gps data.
8. device according to claim 6, is characterized in that, described parameter calculation unit is specifically carried out:
According to the measurement value difference obtaining by GPS and the described measurement value difference obtaining by sensor, determine the value of each parameter in default described funtcional relationship;
According to the value of many groups of each parameters obtaining, determine the correction parameter of one group of optimal value of the parameter as sensor.
9. device according to claim 8, is characterized in that, in the time that described sensor is acceleration transducer, if described measurement value difference is velocity contrast, described default funtcional relationship is polynomial relation of monobasic; If described measurement value difference is displacement difference, described default funtcional relationship is One-place 2-th Order polynomial relation;
In the time that described sensor is speed pickup, described default funtcional relationship is polynomial relation of monobasic.
10. device according to claim 8, is characterized in that, when described parameter calculation unit is determined one group of optimal value of the parameter as the correction parameter of sensor, in organizing parameter, the mean value of same parameters is as the optimal value of the parameter of this same parameters more; Or, determine the optimal value of the parameter of parameter, make optimal value of the parameter and the variance minimum of many class values of this parameter of obtaining.
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| CN105548615A (en) * | 2015-12-31 | 2016-05-04 | 北京金风科创风电设备有限公司 | Wind vane calibration method for wind generating set |
| CN107505478A (en) * | 2017-08-31 | 2017-12-22 | 加驰（厦门）智能科技有限公司 | A kind of automatic intelligent bicycle and its control method for obtaining absolute velocity |
| CN111866785A (en) * | 2019-04-28 | 2020-10-30 | 北京小米移动软件有限公司 | Terminal, parameter measuring method, device and storage medium |
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