CN104819703B - A kind of angle of inclination parameter fitness method that fulcrum is sensed for inclination angle - Google Patents
A kind of angle of inclination parameter fitness method that fulcrum is sensed for inclination angle Download PDFInfo
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- CN104819703B CN104819703B CN201510216445.8A CN201510216445A CN104819703B CN 104819703 B CN104819703 B CN 104819703B CN 201510216445 A CN201510216445 A CN 201510216445A CN 104819703 B CN104819703 B CN 104819703B
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- inclination
- angle
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- fulcrum
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
Abstract
The invention discloses a kind of angle of inclination parameter fitness method for inclination angle fulcrum, including step：Obtain the actual measurement angle of inclination in X-axis and Y-axis；Degree of tilt parameter fitting model is built, is specifically included：Obtain some groups of Y-axis inclination angle values；Obtain the fitting data of X-axis and Y-axis；X-axis and Y-axis angle of inclination fitting function model are built respectively, and obtain the parameter of each model；Determine X-axis and Y-axis angle of inclination fitting function model；Step value set by step 1 is substituted into the X-axis and Y-axis angle of inclination fitting function model of the gained of step 24, X-axis and Y-axis angle of inclination is obtained；Actual measurement angle of inclination is corrected with reference to resulting X-axis and Y-axis angle of inclination.The present invention can have modified nonlinearity measured directly, allow angle of inclination to reach high accuracy with reference to fitting technique；Existing inclination angle fulcrum precision in measurement can effectively be solved not high, it is impossible to the problem of automatic correction, realize the fitting and correction of parameter.
Description
Technical field
The present invention relates to a kind of angle of inclination parameter fitness method that fulcrum is sensed for inclination angle, belong to communication and sensing skill
The field of art.
Background technology
In the various fields of science and technology, it is often necessary to according to the volume of data obtained by actual test, obtain it
Functional relation expression formula.Theoretically, polynomial of degree n f (x) can be constructed according to Interpolation Principle so that f (x) is each
The functional value of test point is just by eyeball.
But, under many circumstances, many sample points are acquired in order to reflect truth as far as possible, cause interpolation many
The number of times of item formula f (x) is very high, this increases not only the amount of calculation of function, and have impact on approximation ratio；Besides due to interpolation
Multinomial can thus retain measurement error by each actual measurement sampling point, so as to influence the precision of fitting function, be difficult reflection real
The functional relation of border data.
On this basis, people are improved, and typically take according to known actual test sampling point, find out between tested amount
Functional relation so that the relation that the function curve that draws of fitting can fully reflect between actual test amount, here it is bent
Line is fitted.As a result, curve fitting technique is in image procossing, reverse-engineering, CAD and test data
It is obtained in the field such as treatment display and fault mode diagnosis and is widely applied.
Generally there is inclination angle to sense fulcrum in the communications field, in equipment, and to the angle of inclination of inclination angle sensing fulcrum
In technology, thus the angle of inclination direct measurement at the angle of inclination of inclination angle sensing fulcrum is directly obtained using sensor often
Inclination angle senses the angle of inclination of fulcrum, also, be analyzed on the basis of measured value obtain corresponding after measurements are taken
Conclusion.This also brings some problems, due to the aging of equipment or between coordinate defective tightness, easily cause measurement inclination angle
There is error in degree, reduce the precision of measurement, and the angle measured by inclination angle cannot be corrected, so that inclination angle senses
Fulcrum is in actual running, and parameter is not accurate.
The content of the invention
The technical problems to be solved by the invention are to overcome the deficiencies in the prior art, there is provided one kind senses branch for inclination angle
The angle of inclination parameter fitness method of point, solves existing inclination angle sensing fulcrum precision in measurement not high, it is impossible to automatic correction
Problem, realize the fitting and correction of parameter.
It is of the invention specific using following technical scheme solution above-mentioned technical problem：
A kind of angle of inclination parameter fitness method that fulcrum is sensed for inclination angle, comprises the following steps：
Step 1, inclination angle sensing fulcrum is measured according to the step value of setting, obtain the actual measurement in X-axis and Y-axis
Angle of inclination；
Step 2, structure degree of tilt parameter fitting model, specifically include following steps：
Step 2-1, the angle of inclination according to different step values to inclination angle sensing fulcrum in X-axis measure, if obtaining
Dry group X-axis inclination angle value；Measured according to angle of inclination of the different step values to inclination angle sensing fulcrum in Y-axis, obtained
Some groups of Y-axis inclination angle values；
Step 2-2, some groups of X-axis and Y-axis inclination angle value are respectively adopted by line fitting approach and are fitted, obtained
The fitting data of X-axis and Y-axis；
Step 2-3, X-axis and Y-axis angle of inclination fitting function model are built respectively, and by the fitting of the X-axis of gained and Y-axis
Data substitute into fitting X-axis and Y-axis angle of inclination fitting function model respectively, obtain the parameter of each model；
Step 2-4, each model parameter according to obtained by step 2-3, determine X-axis and Y-axis angle of inclination fitting function model；
Step 3, the step value set by step 1 is substituted into the X-axis angle of inclination fitting function model obtained by step 2-4,
Obtain X-axis angle of inclination；And the step value set by step 1 substitutes into the Y-axis angle of inclination fitting function mould obtained by step 2-4
Type, obtains Y-axis angle of inclination；
Step 4, with reference to the X-axis angle of inclination obtained by step 3 to step 1 gained X-axis it is actual measure angle of inclination enter
Row correction, and school is carried out to the actual measurement angle of inclination of Y-axis of step 1 gained with reference to the Y-axis angle of inclination obtained by step 3
Just.
Further, as a preferred technical solution of the present invention：The step 2-2 line fitting approach is to use zero point
The method for being averaging translation curve carries out curve fitting.
Further, as a preferred technical solution of the present invention：The step 2-4 also includes inclining X-axis and Y-axis
Angle fitting function model carries out quadratic fit step.
Further, as a preferred technical solution of the present invention：The step 2-1 is obtained by the two groups of step values for setting
Obtain two groups of X-axis inclination angle values and Y-axis inclination angle value.
Further, as a preferred technical solution of the present invention：The step 1 obtains inclination angle using obliquity sensor
Actual measurement angle of inclination of the sensing fulcrum in X-axis and Y-axis.
The present invention uses above-mentioned technical proposal, can produce following technique effect：
(1), the angle of inclination parameter fitness method that fulcrum is sensed for inclination angle of the present invention, by actual measurement
Inclination angle sensing fulcrum obtains the actual measurement angle of inclination in X-axis and Y-axis, and builds degree of tilt parameter fitting model, and combines
The data of measurement substitute into model, and X-axis and Y-axis angle of inclination fitting function model are obtained after obtaining model parameter, then will be corresponding
Numerical value substitute into gained model and obtain angle of inclination, and combine and obtain axle angle of inclination the actual measurement angle of inclination of gained is entered
Row correction, accurately angle of inclination is calculated by model of fit, it is possible thereby to the error for avoiding direct measurement from existing, school is carried out to it
Just, by this fit approach, have modified nonlinearity measured directly so that based on being allowed with reference to fitting technique on the basis of measurement
Angle of inclination reaches precision very high.It is high thereby, it is possible to effectively solve existing inclination angle sensing fulcrum precision in measurement,
The problem that cannot be corrected automatically, realizes the fitting and correction of parameter.
(2), further, this method is in fit procedure, using the accuracy of line fitting method, further raising side
The precision of method.
Brief description of the drawings
Fig. 1 is schematic flow sheet of the present invention for the angle of inclination parameter fitness method of inclination angle sensing fulcrum.
Specific embodiment
Embodiments of the present invention are described with reference to Figure of description.
As shown in figure 1, the present invention devises a kind of angle of inclination parameter fitness method that fulcrum is sensed for inclination angle, including
Following steps：
Step 1, inclination angle sensing fulcrum is measured according to the step value of setting, obtain the actual measurement in X-axis and Y-axis
Angle of inclination；
Step 2, structure degree of tilt parameter fitting model, specifically include following steps：
Step 2-1, the angle of inclination according to different step values to inclination angle sensing fulcrum in X-axis measure, if obtaining
Dry group X-axis inclination angle value；Measured according to angle of inclination of the different step values to inclination angle sensing fulcrum in Y-axis, obtained
Some groups of Y-axis inclination angle values；
Step 2-2, some groups of X-axis and Y-axis inclination angle value are respectively adopted by line fitting approach and are fitted, obtained
The fitting data of X-axis and Y-axis；
Step 2-3, X-axis and Y-axis angle of inclination fitting function model are built respectively, and by the fitting of the X-axis of gained and Y-axis
Data substitute into fitting X-axis and Y-axis angle of inclination fitting function model respectively, obtain the parameter of each model；
Step 2-4, each model parameter according to obtained by step 2-3, determine X-axis and Y-axis angle of inclination fitting function model；
Step 3, the step value set by step 1 is substituted into the X-axis angle of inclination fitting function model obtained by step 2-4,
Obtain X-axis angle of inclination；And the step value set by step 1 substitutes into the Y-axis angle of inclination fitting function mould obtained by step 2-4
Type, obtains Y-axis angle of inclination；
Step 4, with reference to the X-axis angle of inclination obtained by step 3 to step 1 gained X-axis it is actual measure angle of inclination enter
Row correction, and school is carried out to the actual measurement angle of inclination of Y-axis of step 1 gained with reference to the Y-axis angle of inclination obtained by step 3
Just.
The actual measurement angle of inclination in fulcrum acquisition X-axis and Y-axis is sensed by actual measurement inclination angle, and combination obtains axle
Angle of inclination is corrected to the actual measurement angle of inclination of gained, and accurately angle of inclination is calculated by model of fit, thus may be used
With the error for avoiding direct measurement from existing, it is corrected, by this fit approach, have modified measured directly non-linear
Degree.
In order to verify that parameter fitness method of the invention can realize the correction at the angle of inclination of inclination angle sensing fulcrum, below
Enumerate an embodiment to illustrate, embodiment is as follows：
The present embodiment uses SCA100T type obliquity sensors, and SCA100T series is the high-precision dual-axis based on 3D MEMS
Obliquity sensor chip, it provides the other performance of horizontal survey instrument grade.The sensing of twin shaft high-precision tilt angle sensor chip
Element needs to be mutually perpendicular to measuring table keeping parallelism, and sensor twin shaft in measurement.Weak temperature dependency, height
Resolution ratio, low noise and sound sensing element design allow SCA100T-D01, SCA100T-D02 high-precision dual-axis inclination angle to sense
Device chip turns into the only selection of Horizontal measuring apparatus.And the mechanical impact force of 20,000g can be withstood up to, it is possible thereby to very
It is good in this method.Using inclination of the SCA100T types obliquity sensor measurement inclination angle sensing fulcrum in the case where step value is set,
Obtain the actual measurement angle of inclination in X-axis and Y-axis.
Then, degree of tilt parameter fitting model is built.The X-axis angle of inclination fitting function model of structure, i.e. model of fit
It is straight line, its formula is as follows：
P=A+BX (1)
Wherein, P is step value；A and B are model parameter, and X is X-axis angle of inclination.
Then, inclination angle sensing fixed pivot on the platform of school position.School position platform steps to+10 ° from -10 °, and step value is
0.2°.An X-axis angle of inclination is obtained in stepping one time.High-ranking officers position platform is set as other step values again, obtains second X-axis
Angle of inclination.Thus, two groups of step values by setting obtain two groups of X-axis inclination angle values.
Two groups of X-axis inclination angle values are fitted using line fitting approach, the fitting data of X-axis is obtained.Wherein
Fitting data is the correlation function of model parameter A and B.
Then the fitting data of the X-axis of gained substitutes into fitting X-axis angle of inclination fitting function model, obtains the parameter of model
The concrete numerical value of number A and B.After being determined by the concrete numerical value of A and B, X-axis angle of inclination fitting function model is obtained.
Similarly, degree of tilt parameter fitting model is built.The Y-axis angle of inclination fitting function model of structure, i.e. model of fit
It is straight line, its formula is as follows：
Q=C+BY (2)
Wherein, Q is step value；C and D are model parameter, and Y is Y-axis angle of inclination.
Then, inclination angle sensing fixed pivot on the platform of school position.School position platform steps to+10 ° from -10 °, and step value is
0.2°.A Y-axis angle of inclination is obtained in stepping one time.High-ranking officers position platform is set as other step values again, obtains second Y-axis
Angle of inclination.Thus, two groups of step values by setting obtain two groups of Y-axis inclination angle values.
Two groups of Y-axis inclination angle values are fitted using line fitting approach, the fitting data of Y-axis is obtained.Wherein
Fitting data is the correlation function of model parameter C and D.
Then the fitting data of the Y-axis of gained substitutes into fitting Y-axis angle of inclination fitting function model, obtains the parameter of model
The concrete numerical value of number C and D.After being determined by the concrete numerical value of C and D, Y-axis angle of inclination fitting function model is obtained.
In order to further improve the precision of parameter fitting, the inventive method also includes pair X-axis for determining and Y-axis inclination angle
Degree fitting function model carries out quadratic fit step.The quadratic fit process can use various fittings well known in the prior art
Method carries out quadratic fit, obtains the model after quadratic fit.As a result, inclination angle value and reality that model of fit is obtained
The quadratic sum of the difference between measured value is minimum, for minimum problems therein, can be using using negative gradient direction in gradient method
As the direction of search of optimization.
Then, the X-axis angle of inclination fitting function model obtained by set step value is substituted into, obtains X-axis inclination angle
Degree；And the Y-axis angle of inclination fitting function model obtained by set step value substitution, obtain Y-axis angle of inclination.
Finally, complete contrast and correct.Specially：With reference to X-axis angle of inclination resulting under model of fit to the X of gained
The actual measurement angle of inclination of axle is corrected, and when angle of inclination of the X-axis angle of inclination for obtaining more than actual measurement, chooses it
The average of difference increases on the angle of inclination of actual measurement as correction radix, obtains the X-axis angle of inclination of last correction
Output.When angle of inclination of the X-axis angle of inclination for obtaining less than actual measurement, the average of its difference is chosen as correction base
Number, reduces the correction radix on the actually angle of inclination of measurement, obtains the X-axis angle of inclination output of last correction.
Similarly, school is carried out to the actual measurement angle of inclination of Y-axis of gained to Y-axis angle of inclination resulting under model of fit
Just.When angle of inclination of the Y-axis angle of inclination for obtaining more than actual measurement, the average of its difference is chosen as correction base
Number, increases on the angle of inclination of actual measurement, obtains the Y-axis angle of inclination output of last correction.When the Y-axis inclination angle for obtaining
When degree is less than the angle of inclination that reality is measured, the average of its difference is chosen as correction radix, at the inclination angle of actually measurement
The correction radix is reduced on degree, the Y-axis angle of inclination output of last correction is obtained.
To sum up, the angle of inclination parameter fitness method that fulcrum is sensed for inclination angle of the present invention, by model of fit
Accurately angle of inclination is calculated, it is possible thereby to the error for avoiding direct measurement from existing, is corrected, by this fitting side to it
Formula, have modified nonlinearity measured directly so that based on allowing angle of inclination to reach very with reference to fitting technique on the basis of measurement
Precision high.It is not high thereby, it is possible to effectively solve existing inclination angle sensing fulcrum precision in measurement, it is impossible to automatic correction
Problem, realizes the fitting and correction of parameter.
Embodiments of the present invention are explained in detail above in conjunction with accompanying drawing, but the present invention is not limited to above-mentioned implementation
Mode, in the ken that those of ordinary skill in the art possess, can also be on the premise of present inventive concept not be departed from
Make a variety of changes.
Claims (4)
1. it is a kind of for inclination angle sense fulcrum angle of inclination parameter fitness method, it is characterised in that comprise the following steps：
Step 1, inclination angle sensing fulcrum is measured according to the step value of setting, the actual measurement obtained in X-axis and Y-axis is inclined
Angle；
Step 2, structure angle of inclination parameter fitting model, specifically include following steps：
Step 2-1, the angle of inclination according to different step values to inclination angle sensing fulcrum in X-axis measure, and obtain some groups of X
Axle inclination angle value；Measured according to angle of inclination of the different step values to inclination angle sensing fulcrum in Y-axis, obtain some groups
Y-axis inclination angle value；
Step 2-2, some groups of X-axis and Y-axis inclination angle value are respectively adopted by line fitting approach and are fitted, obtain X-axis
With the fitting data of Y-axis；
Step 2-3, X-axis and Y-axis angle of inclination fitting function model are built respectively, and by the X-axis of gained and the fitting data of Y-axis
Fitting X-axis and Y-axis angle of inclination fitting function model are substituted into respectively, obtain the parameter of each model；
Step 2-4, each model parameter according to obtained by step 2-3, determine X-axis and Y-axis angle of inclination fitting function model；
Step 3, the step value set by step 1 is substituted into the X-axis angle of inclination fitting function model obtained by step 2-4, obtain X
Axle angle of inclination；And the step value set by step 1 substitutes into the Y-axis angle of inclination fitting function model obtained by step 2-4, obtains
Y-axis angle of inclination；
Step 4, with reference to the X-axis angle of inclination obtained by step 3 to step 1 gained X-axis it is actual measure angle of inclination carry out school
Just, and with reference to the Y-axis angle of inclination obtained by step 3 the actual measurement angle of inclination of Y-axis of step 1 gained is corrected.
2. the angle of inclination parameter fitness method that inclination angle senses fulcrum is used for according to claim 1, it is characterised in that：It is described
Step 2-4 also includes carrying out quadratic fit step to X-axis and Y-axis angle of inclination fitting function model.
3. the angle of inclination parameter fitness method that inclination angle senses fulcrum is used for according to claim 1, it is characterised in that：It is described
Step 2-1 obtains two groups of X-axis inclination angle values and Y-axis inclination angle value by the two groups of step values for setting.
4. the angle of inclination parameter fitness method that inclination angle senses fulcrum is used for according to claim 1, it is characterised in that：It is described
Step 1 obtains actual measurement angle of inclination of the inclination angle sensing fulcrum in X-axis and Y-axis using obliquity sensor.
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| US4580926A (en) * | 1983-09-28 | 1986-04-08 | Mobil Oil Corporation | Foundation level and orientation tool |
| JP2006077725A (en) * | 2004-09-13 | 2006-03-23 | Honda Motor Co Ltd | Angle adjustment device for inclination sensor in vehicle |
| CN101349559B (en) * | 2008-09-04 | 2010-10-13 | 河北中博联创科技有限公司 | Method for testing indication angle of accurate near sea-route indicator light fitting |
| CN102288162B (en) * | 2011-05-23 | 2013-03-13 | 南京航空航天大学 | Tilt angle sensor based on optical fiber Bragg gratings and method for measuring tilt angle of tilt angle sensor |
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