CN106226556A - Acceleration transducer calibration steps and device - Google Patents

Abstract

The invention discloses a kind of acceleration transducer calibration steps, including: receive the terminal data of the described terminal local acceleration transducer acquisition that terminal sends and obtain the very first time stamp that described terminal data is corresponding, and obtain vehicle data by the acceleration transducer that described vehicle is local and obtain the second timestamp that described vehicle data is corresponding；According to stamp of the described very first time and described second timestamp, described terminal data and described vehicle data are mated, according to the data acquisition target spin matrix after coupling；Calibrate according to the data that the acceleration transducer of described vehicle is collected by described target spin matrix.The invention also discloses a kind of acceleration transducer calibrating installation.The present invention improves the accuracy to acceleration transducer calibration and convenience.

Description

Acceleration transducer calibration steps and device

Technical field

The present invention relates to vehicle data collection technical field, particularly relate to a kind of acceleration transducer calibration steps and dress Put.

Background technology

At present, the onboard diagnostic system (On Board Diagnostics, OBD) of vehicle comprises acceleration transducer, car Acceleration transducer be a detection three-dimensional acceleration chip according to inertial pressure modelling, generally use acceleration Sensor all determines that the installation direction of the chip of acceleration transducer, i.e. its chip place in-plane x-y.In vehicle one As be to ensure that acceleration transducer coordinate system x-y-z overlaps with vehicle axis system x'-y'-z', then to acceleration transducer collection Data be corrected.

The data coordinates of acceleration transducer output needs through the conversion of a series of space thus is transformed into vehicle coordinate Fasten, generally have in the following manner: (1) uses direct coordinate system space transformation approach: the data of acceleration transducer are sat to vehicle The conversion of mark system, detects according to centripetal acceleration (being also the vertical direction of lateral acceleration, i.e. vehicle forward direction) after conversion Zig zag, acceleration transducer inherent shortcoming in the method, i.e. instantaneous acceleration value are inaccurate causes the error calculated too Greatly, make the reliability for acceleration transducer is demarcated the highest.(2) vehicle keeps acceleration transducer core when dispatching from the factory Sheet overlaps with vehicle axis system；But the method fills market before being only applicable to, owing to rear dress market OBD Installation posture is different, Acceleration transducer local Coordinate System direction cannot directly give, and therefore cannot use the party for the application of rear dress market Method, i.e. the method can not be calibrated for the acceleration transducer that any attitude is installed.

Summary of the invention

Present invention is primarily targeted at a kind of acceleration transducer calibration steps of offer and device, it is intended to improve acceleration The accuracy of degree pick up calibration and convenience.

For achieving the above object, the invention provides a kind of acceleration transducer calibration steps, including:

Receive the terminal data of the described terminal local acceleration transducer acquisition that terminal sends and obtain described number of terminals According to corresponding very first time stamp, and obtain vehicle data by the acceleration transducer that described vehicle is local and obtain described vehicle The second timestamp that data are corresponding；

Described terminal data and described vehicle data carried out according to stamp of the described very first time and described second timestamp Join, according to the data acquisition target spin matrix after coupling；

Calibrate according to the data that the acceleration transducer of described vehicle is collected by described target spin matrix.

Preferably, described according to the described very first time stamp and described second timestamp to described terminal data and described vehicle Data are mated, and include according to the data acquisition target spin matrix after coupling:

Described terminal data and described vehicle data carried out according to stamp of the described very first time and described second timestamp Join, calculate corresponding spin matrix respectively according to the data after coupling；

Obtain from described spin matrix the quadratic sum of satisfied each column column vector with 1 between differ in predetermined threshold value, And the appointment spin matrix that between the numerical value and corresponding terminal data obtained, error is minimum that is multiplied with described vehicle data, set For target spin matrix.

Preferably, the described acceleration transducer acquisition vehicle data local by described vehicle includes:

Obtain calibration matrix, and obtain initial data by the acceleration transducer that described vehicle is local；

According to described calibration matrix, the initial data of acceleration transducer is carried out demarcation and obtain vehicle data.

Preferably, the terminal data of the described terminal local acceleration transducer acquisition that described reception terminal sends and acquisition Include before the very first time stamp that described terminal data is corresponding:

Establish a connection with terminal, receive the packet of the acceleration transducer collection data that described terminal sends and send out The terminal sending described packet sends the time, and registration of vehicle receives the time；

The time that described packet, described vehicle receiver time and current vehicle sent sends to terminal, remembers for terminal Record terminal receives the time, and send the time according to described terminal, described vehicle receiver time, described vehicle send time and described Terminal receives the time, calibrates the time, carries out synchronize with vehicle time.

Preferably, the terminal data of the described terminal local acceleration transducer acquisition that described reception terminal sends and acquisition Include before the very first time stamp that described terminal data is corresponding:

Receive described terminal adjustment placement location on described vehicle, so that end coordinates system and vehicle axis system weight Close.

Additionally, for achieving the above object, present invention also offers a kind of acceleration transducer calibrating installation, including:

First acquisition module, for receiving the terminal that coordinate system overlaps with vehicle axis system, the described terminal local of transmission Acceleration transducer obtain terminal data and obtain described terminal data corresponding the very first time stamp, and by described vehicle this The acceleration transducer on ground obtains vehicle data and obtains the second timestamp that described vehicle data is corresponding；

Second acquisition module, for according to the described very first time stamp and described second timestamp to described terminal data and institute State vehicle data to mate, according to the data acquisition target spin matrix after coupling；

Calibration module, for the data collected the acceleration transducer of described vehicle according to described target spin matrix Calibrate.

Preferably, described second acquisition module is additionally operable to, and stabs according to the described very first time and described second timestamp is to institute State terminal data and described vehicle data mates, calculate corresponding spin matrix respectively according to the data after coupling；

Obtain from described spin matrix the quadratic sum of satisfied each column column vector with 1 between differ in predetermined threshold value, And the appointment spin matrix that between the numerical value and corresponding terminal data obtained, error is minimum that is multiplied with described vehicle data, set For target spin matrix.

Preferably, described first acquisition module is additionally operable to, and obtains calibration matrix, and the acceleration by described vehicle this locality Sensor obtains initial data；According to described calibration matrix, the initial data of acceleration transducer is carried out demarcation and obtain vehicle number According to.

Preferably, described acceleration transducer calibrating installation also includes:

Receiver module, for establishing a connection with terminal, receives the acceleration transducer collection number that described terminal sends According to packet and send described packet terminal send the time, registration of vehicle receive the time；

Calibration module, sends extremely for described packet, described vehicle receiver time and current vehicle send the time Terminal, receives the time for terminal record terminal, and sends time, described vehicle receiver time, described vehicle according to described terminal Transmission time and described terminal receive the time, and the time is calibrated, during with described vehicle by described time and described reception time Between synchronize.

Preferably, described acceleration transducer calibrating installation also includes:

Processing module, for receiving described terminal adjustment placement location on described vehicle so that end coordinates system with Vehicle axis system overlaps.

The acceleration transducer calibration steps of embodiment of the present invention offer and device, by terminal local acceleration transducer The terminal data that obtains and obtain the very first time stamp that terminal data is corresponding, and the local acceleration transducer of vehicle obtains car Data and obtain the second timestamp that vehicle data is corresponding, according to very first time stamp and the second timestamp to terminal data and car Data carry out coupling to obtain target spin matrix, then according to the acceleration transducer collection to vehicle of the target spin matrix To data calibrate, improve to acceleration transducer calibration accuracy and convenience.

Accompanying drawing explanation

Fig. 1 is the schematic flow sheet of acceleration transducer calibration steps first embodiment of the present invention；

Fig. 2 is deceleration sensor coordinate system of the present invention, the schematic diagram of relation between OBD coordinate system and vehicle axis system；

Fig. 3 is that two rectangular coordinate system in space of the present invention carry out origin translation and coordinate axes rotates the schematic diagram to overlap；

Fig. 4 is the schematic diagram that two rectangular coordinate system in space of the present invention are transformed into planar rectangular coordinate system；

Fig. 5 is the schematic diagram terminal juncture fish vehicle moment of the present invention carrying out synchronizing；

Fig. 6 is the high-level schematic functional block diagram of acceleration transducer calibrating installation first embodiment of the present invention.

The realization of the object of the invention, functional characteristics and advantage will in conjunction with the embodiments, are described further referring to the drawings.

Detailed description of the invention

Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.

As shown in Figure 1, it is shown that one acceleration transducer calibration steps first embodiment of the present invention.Adding of this embodiment Velocity sensor calibration steps includes:

Step S10, the terminal data receiving the described terminal local acceleration transducer acquisition that terminal sends and acquisition institute State the very first time stamp that terminal data is corresponding, and obtain vehicle data and acquisition by the acceleration transducer that described vehicle is local The second timestamp that described vehicle data is corresponding；

In the present embodiment, acceleration transducer calibration steps is applied to the acceleration transducer that OBD includes by vehicle to be carried out Demarcating, this OBD comprises bluetooth, wifi and acceleration transducer etc..

The acceleration transducer of vehicle is a detection three-dimensional acceleration chip according to inertial pressure modelling, its tool Have the particular feature that

1. instantaneous error big (noise is big), accumulated error is less, i.e. the measured value of acceleration transducer from the point of view of for a long time More stable, this point is just contrary with gyroscope.

2. three direction of principal axis of acceleration transducer are, the plane at its chip place is x-y plane, and z-axis plane is perpendicular to x-y Plane, the i.e. data of acceleration transducer collection are measured according to such coordinate system.Acceleration transducer is gathered Data are different according to the difference in its chip paster direction, or have the biggest association according to the putting position in the OBD of its place.

3. vehicle on the slope time, the acceleration that the data of acceleration transducer output exist weight component impact actual is sentenced Disconnected.

As in figure 2 it is shown, acceleration transducer coordinate system is (x1-y1-z1), acceleration transducer mounting coordinate system (i.e. OBD Coordinate system) it is (x2-y2-z2), vehicle axis system is (x3-y3-z3), and from Fig. 2, between three, relation understands acceleration sensing The data coordinates of device output needs just to be transformed into vehicle coordinate through the conversion of a series of space and fastens.

The present embodiment proposes the acceleration transducer of the acceleration transducer calibration vehicle utilizing terminal, to eliminate vehicle Acceleration transducer noise, this terminal includes mobile phone, iPad etc..Owing to rear dress market OBD Installation posture is different, acceleration Sensor local Coordinate System direction cannot directly determine, so needing the acceleration transducer installing any attitude to carry out Coordinate is demarcated, and calibrates with the data to acceleration transducer collection.

Carry out coordinate system demarcation, relate to two referentials: (OBD sits for vehicle axis system and acceleration transducer coordinate system Between mark system and acceleration transducer coordinate system, relation is a simple matrix relationship) so that be tied to car from OBD coordinate The conversion of coordinate system.

In the present embodiment, acceleration transducer can be set and carry out data every Preset Time (such as, every 10 milliseconds) Collect x, y, z number of axle evidence, and the coordinate system direction of x, y, z data is unknown, now can rely on third party's terminal, according to vehicle Coordinate system and the relativeness of acceleration transducer coordinate system, obtain between vehicle axis system and acceleration transducer coordinate system Transformational relation.Specifically, the acceleration transducer carried by terminal and the acceleration transducer related data of vehicle calculate car And the acceleration transducer of terminal between spin matrix, this spin matrix for demarcate spin matrix.

First, before performing above-mentioned steps S10, terminal is established a connection by bluetooth or wifi with vehicle, vehicle Receive described terminal adjustment placement location on described vehicle, so that end coordinates system overlaps with vehicle axis system.Specifically, End level is placed on vehicle, and the x-axis direction of end coordinates system is consistent with the x-axis direction of vehicle axis system so that terminal Coordinate system overlaps with vehicle axis system.Secondly, the terminal data that local acceleration transducer is obtained by terminal, and record acquisition The very first time stamp that this terminal data is corresponding, sends to vehicle.Meanwhile, the acceleration transducer that vehicle is local obtains vehicle number According to, and the second timestamp that record this vehicle data of acquisition is corresponding.The acceleration transducer of terminal and the acceleration of vehicle pass Sensor is during carrying out data acquisition, when the coordinate system of terminal to keep substantially overlapping with vehicle axis system and persistently specifying Between, this appointment time may be configured as 2～10 seconds, it is possible to arranges as the case may be and flexibly.

In order to improve the reliability of data, it is preferable that vehicle terminal data and vehicle data are carried out triangle filtering or Medium filtering, acceleration transducer data i.e. carry out three axle smothing filterings (being filtered three-axis sensor data respectively) will Filtered data store.

Step S20, according to the described very first time stamp and described second timestamp to described terminal data and described vehicle number According to mating, according to the data acquisition target spin matrix after coupling；

Vehicle is to the terminal data of storage and the very first time stamp of correspondence, vehicle data and the second time of correspondence thereof Stamp, mates terminal data and vehicle data according to very first time stamp and the second timestamp.Such as, by synchronization collection To terminal data and vehicle data mate, or will between vehicle moment and terminal juncture meet preset the time difference end End data and vehicle data mate.

Matrix equation is calculated according to the data after coupling, if the matrix equation now obtained is the most, can be from these squares In battle array equation, three or three combinations calculate spin matrix respectively.When obtaining multiple spin matrix, the spin matrix of optimum can be chosen As target spin matrix, following example will be described in more detail.

Hereinafter will be described in detail to utilizing method of least square to calculate spin matrix process, before carrying out coordinate transform, Acceleration transducer can be the calibration process that would have been completed initial data before dispatching from the factory, and instrument factory trade mark be can be used directly The parameter reserved, is standardized initial data.Or previously according to specific environment to acceleration transducer collection Initial data demarcate.After initial data calibration process completes, the most do not consider further that coordinate (x in Fig. 2₁y₁z₁) and coordinate (x₂y₂z₂Difference between), but acceleration sensor chip and OBD are regarded as an entirety.Now acceleration transducer is adopted The data that obtain of collection, act on the resultant acceleration of the OBD projection components on each axle of OBD.

The purpose of coordinate transform is exactly that the accekeration of axle each under OBD coordinate system is transformed into each axle under vehicle axis system Accekeration.This process relates to two steps: first, seeks the angle of each between centers of the two coordinate system；Second, accekeration Between corresponding relation.

As it is shown on figure 3, OBD coordinate system and vehicle axis system the two rectangular coordinate system in space are respectively O₁X₁Y₁Z₁With O₂X₂Y₂Z₂, the initial point of the two coordinate system is misaligned, and coordinate axes is the most misaligned.Want to realize from coordinate O₁X₁Y₁Z₁To coordinate O₂X₂Y₂Z₂Conversion, can be undertaken in two steps: first, be translated by zero, and three translation parameterss are Δ X, Δ Y, Δ Z, make Zero O₁With O₂Overlap.Secondly, for two three dimensions rectangular coordinate systems of same initial point, by carrying out around each coordinate axes Rotating, three rotation parameters are θ_x、θ_y、θ_z, O can be realized₁X₁Y₁Z₁To O₂X₂Y₂Z₂Conversion.

If same fixed point A coordinate under two coordinate systems is respectively (x₁,y₁,z₁) and (x₂,y₂,z₂), Coordinate Conversion is calculated The purpose of method is to find out (x₂,y₂,z₂) and (x₁,y₁,z₁Relation between).From translation above and rotation, OBD coordinate system Can be expressed as follows with the relation of vehicle axis system the two coordinate:

$\left[\begin{array}{c}{x}_2\\ y_2\\ z_2\end{array}\right]=\mathrm{\λ}R\left[\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right]+\left[\begin{array}{c}\mathrm{\Δ}x\\ \mathrm{\Δ}y\\ \mathrm{\Δ}z\end{array}\right]$

Wherein, λ is the scalefactor of two coordinate systems, and R is spin matrix, [Δ x, Δ y, Δ z]^TFor translation matrix.

If coordinate system O₁X₁Y₁Z₁Anglec of rotation θ about the z axis_z, then z it is apparent from₂=z₁, for the relation in Y-axis and Z axis, can be by They are transformed in plane calculating, as shown in Figure 4.In former coordinate system XOY, rotate θ degree around initial point in the counterclockwise direction, become Coordinate system SOT.Be provided with certain some p, the coordinate in former coordinate system be (x, y), postrotational new coordinate be (s, t), then:

Oa=ysin (θ)

As=xcos (θ)

From plane vector relation:

S=os=oa+as=xcos (θ)+ysin (θ)

T=ot=ay-yb=ycos (θ)-xsin (θ)

It is expressed as follows with determinant:

$\left(\begin{array}{c}s\\ t\end{array}\right)=\left(\begin{array}{cc}cos\left(\mathrm{\θ}\right)& sin\left(\mathrm{\θ}\right)\\ -sin\left(\mathrm{\θ}\right)& \cos \left(\mathrm{\θ}\right)\end{array}\right)\left(\begin{array}{c}x\\ y\end{array}\right)$

Thus, (1) coordinate system O₁X₁Y₁Z₁Anglec of rotation θ about the z axis_zAfter, (x₂,y₂,z₂) and (x₁,y₁,z₁Relation between) For:

$\left[\begin{array}{c}{x}_2\\ y_2\\ z_2\end{array}\right]=R_z\left[\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right]=\left[\begin{array}{ccc}cos\left({\mathrm{\θ}}_z\right)& sin\left({\mathrm{\θ}}_z\right)& 0\\ -sin\left({\mathrm{\θ}}_z\right)& \cos \left({\mathrm{\θ}}_z\right)& 0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right]$

In like manner can extrapolate, (2) coordinate system O₁X₁Y₁Z₁Pivoting angle θ_yAfter, (x₂,y₂,z₂) and (x₁,y₁,z₁Between) Relation be:

$\left[\begin{array}{c}{x}_2\\ y_2\\ z_2\end{array}\right]=R_y\left[\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right]=\left[\begin{array}{ccc}cos\left({\mathrm{\θ}}_y\right)& 0& -sin\left({\mathrm{\θ}}_y\right)\\ 0& 1& 0\\ sin\left({\mathrm{\θ}}_y\right)& 0& \cos \left({\mathrm{\θ}}_y\right)\end{array}\right]\left[\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right]$

(3) coordinate system O₁X₁Y₁Z₁Around X-axis anglec of rotation θ_xAfter, (x₂,y₂,z₂) and (x₁,y₁,z₁Relation between) is:

$\left[\begin{array}{c}{x}_2\\ y_2\\ z_2\end{array}\right]=R_x\left[\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right]=\left[\begin{array}{ccc}1& 0& 0\\ & cos\left({\mathrm{\θ}}_x\right)& sin\left({\mathrm{\θ}}_x\right)\\ 0& -sin\left({\mathrm{\θ}}_x\right)& cos\left({\mathrm{\θ}}_x\right)\end{array}\right]\left[\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right]$

Finally, the mathematical model of two transformations of coordinates is:

$\begin{array}{c}\left[\begin{array}{c}{x}_2\\ y_2\\ z_2\end{array}\right]=\mathrm{\λ}R\left[\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right]+\left[\begin{array}{c}\mathrm{\Δ}x\\ \mathrm{\Δ}y\\ \mathrm{\Δ}z\end{array}\right]={\mathrm{\λR}}_x{R}_y{R}_z\left[\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right]+\left[\begin{array}{c}\mathrm{\Δ}x\\ \mathrm{\Δ}y\\ \mathrm{\Δ}z\end{array}\right]\\ =\mathrm{\λ}\left[\begin{array}{ccc}cos\left({\mathrm{\θ}}_y\right)cos\left({\mathrm{\θ}}_z\right)-\sin \left({\mathrm{\θ}}_y\right)\sin \left({\mathrm{\θ}}_x\right)\sin \left({\mathrm{\θ}}_z\right)& -cos\left({\mathrm{\θ}}_y\right)\sin \left({\mathrm{\θ}}_z\right)-\sin \left({\mathrm{\θ}}_y\right)\sin \left({\mathrm{\θ}}_x\right)\cos \left({\mathrm{\θ}}_z\right)& -\sin \left({\mathrm{\θ}}_y\right)\cos \left({\mathrm{\θ}}_x\right)\\ \cos \left({\mathrm{\θ}}_x\right)\sin \left({\mathrm{\θ}}_z\right)& \cos \left({\mathrm{\θ}}_x\right)\cos \left({\mathrm{\θ}}_z\right)& -\sin \left({\mathrm{\θ}}_x\right)\\ \sin \left({\mathrm{\θ}}_y\right)\cos \left({\mathrm{\θ}}_z\right)+\cos \left({\mathrm{\θ}}_y\right)\sin \left({\mathrm{\θ}}_x\right)\sin \left({\mathrm{\θ}}_z\right)& -\sin \left({\mathrm{\θ}}_y\right)\sin \left({\mathrm{\θ}}_z\right)+\cos \left({\mathrm{\θ}}_y\right)\sin \left({\mathrm{\θ}}_x\right)\cos \left({\mathrm{\θ}}_z\right)& \cos \left({\mathrm{\θ}}_y\right)\cos \left({\mathrm{\θ}}_x\right)\end{array}\right]\left[\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right]+\left[\begin{array}{c}\mathrm{\Δ}x\\ \mathrm{\Δ}y\\ \mathrm{\Δ}z\end{array}\right]\end{array}$

It follows that only need to determine three translation parameters Δ X, Δ Y, Δ Z, three rotation parameters are θ_x、θ_y、θ_zAnd ratio Example chi factor lambda, can realize the conversion between two space coordinatess, and above-mentioned calculating process can be obtained by principle of least square method Arrive.

Step S30, the data collected the acceleration transducer of described vehicle according to described target spin matrix are carried out Calibration.

Above-mentioned obtain target spin matrix after, according to target spin matrix, the acceleration transducer of vehicle can be collected Data calibrate so that utilize the acceleration transducer of terminal to remove to calibrate the acceleration sensing of vehicle of different Installation posture Device, by the spin matrix between acceleration transducer coordinate system and vehicle axis system is obtained, such that it is able on OBD The sensing data each number of axle evidence under spin matrix is transformed into vehicle axis system.It is easy to utilize the data analysis car after converting Move ahead, lateral and vehicle travels the vertical speed of plane.Solving for traditional rear dress market, rear dress product OBD is at car On, Installation posture is each different, and the acceleration transducer filling product OBD after causing cannot accurately reach real-time each number of axle evidence；And In the case of on the slope, owing to gravity affects the problem that cannot utilize real-time three number of axle evidences of acceleration accurately.

It should be noted that can also be that local acceleration transducer is obtained vehicle data by vehicle, and acquisition should The second timestamp that vehicle data is corresponding sends to terminal.The terminal data that terminal obtains according to local acceleration transducer, with And after obtaining the very first time stamp that terminal data is corresponding, stab according to the very first time and the second timestamp is to terminal data and vehicle number According to mating, according to the data acquisition target spin matrix after coupling, and target spin matrix is sent to vehicle.Vehicle connects After receiving target spin matrix, calibrate according to the data that the acceleration transducer of vehicle is collected by target spin matrix.

Terminal data and acquisition terminal data that the embodiment of the present invention is obtained by terminal local acceleration transducer are corresponding Very first time stamp, and the local acceleration transducer of vehicle obtain vehicle data and obtain vehicle data corresponding second time Between stab, according to the very first time stamp and the second timestamp terminal data and vehicle data are carried out coupling and obtain target spin moment Battle array, the data then collected the acceleration transducer of vehicle according to target spin matrix are calibrated, and improve acceleration The accuracy of degree pick up calibration and convenience.

Further, based on above-mentioned acceleration transducer calibration steps first embodiment, it is proposed that acceleration of the present invention passes Sensor calibration steps the second embodiment, in this embodiment, above-mentioned steps S20 includes: according to stamp of the described very first time and described second Described terminal data and described vehicle data are mated by timestamp, calculate corresponding rotation respectively according to the data after coupling Matrix；

Obtain from described spin matrix the quadratic sum of satisfied each column column vector with 1 between differ in predetermined threshold value, And the appointment spin matrix that between the numerical value and corresponding terminal data obtained, error is minimum that is multiplied with described vehicle data, set For target spin matrix.

In the present embodiment, obtaining during target spin matrix at vehicle, vehicle is to the terminal data of storage and right Very first time stamp, vehicle data and the second timestamp of correspondence thereof answered, stabs according to the very first time and the second timestamp is to terminal Data and vehicle data mate.Such as, the terminal data and the vehicle data that are collected by synchronization mate, or It is that the terminal data and vehicle data that meet the default time difference between vehicle moment and terminal juncture are mated.

Calculating corresponding spin matrix respectively according to the data after coupling, timestamp coupling is to mate one with resultant acceleration Rising and use, the difference between the timestamp that two sensors data are corresponding meets fluctuation range in the range of certain appointment, and And the difference meeting two corresponding resultant acceleration data meets certain threshold value, go out alternative matrix equation according to this conditional filtering, this Time the matrix equation selected the most, from these matrix equations, three or three combinations can calculate spin matrix respectively.Many when obtaining During individual spin matrix, the spin matrix of optimum can be chosen as target spin matrix.Specifically, the every string of spin matrix is chosen Differ in predetermined threshold value between the quadratic sum and 1 of vector, can be to be infinitely close to 1, and actual output error is minimum, Target spin matrix can be obtained eventually.This actual output error be by and spin matrix be multiplied with vehicle data the numerical value that obtains with Error between corresponding terminal data, the spin matrix of error minimum is set as target spin matrix.

It should be noted that for the reliability improving target spin matrix, it is also possible to terminal data and vehicle number are set According to, error of each pairing meets certain threshold value, and the number completing pairing reaches always to match more than half of number.Upper Stating in the mathematical model of two transformations of coordinates, desirable λ=1, skew is 0.

After the present embodiment is calculated spin matrix according to the terminal data after coupling and described vehicle data, according to appointment Condition from spin matrix select optimum target spin matrix, improve to acceleration transducer calibration reliability.

Further, based on above-mentioned acceleration transducer calibration steps first embodiment, it is proposed that acceleration of the present invention passes Sensor calibration steps the 3rd embodiment, obtains vehicle number above by the acceleration transducer that described vehicle is local in this embodiment According to step include: obtain calibration matrix, and obtain initial data by the acceleration transducer that described vehicle is local；According to institute State calibration matrix the initial data of acceleration transducer is carried out demarcation to obtain vehicle data.

In the present embodiment, the initial data of the acceleration transducer to vehicle is needed to mark when obtaining vehicle data It is fixed, such that it is able to acceleration sensor chip and OBD are regarded as an entirety.In particular it is required that according to specific environment to acceleration The initial data of degree sensor is demarcated, and the principle demarcated initial data below is described in detail.

Established standards acceleration is (A_x2,A_y2,A_z2), the initial data of the acceleration transducer collection that vehicle is local is (A_x1,A_y1,A_z1), the relation between standardization acceleration and initial data can be represented by following equation 1.Equation 1:

$\begin{array}{c}\left[\begin{array}{c}{A}_{x2}\\ A_{y2}\\ A_{z2}\end{array}\right]={\[A\_m\]}_{3\×3}\left[\begin{array}{ccc}1/A\_{\mathrm{SC}}_x& 0& 0\\ 0& 1/A\_{\mathrm{SC}}_y& 0\\ 0& 0& 1/A\_{\mathrm{SC}}_z\end{array}\right]\·\left[\begin{array}{c}{A}_{x1}-A\_O{S}_x\\ A_{y1}-A\_{\mathrm{OS}}_y\\ A_{z1}-A\_{\mathrm{OS}}_z\end{array}\right]\\ =\left[\begin{array}{ccc}{\mathrm{ACC}}_{11}& {\mathrm{ACC}}_{12}& {\mathrm{ACC}}_{13}\\ {\mathrm{ACC}}_{21}& {\mathrm{ACC}}_{22}& {\mathrm{ACC}}_{23}\\ {\mathrm{ACC}}_{31}& {\mathrm{ACC}}_{31}& {\mathrm{ACC}}_{33}\end{array}\right]\·\left[\begin{array}{c}{A}_x\\ A_y\\ A_z\end{array}\right]+\left[\begin{array}{c}{\mathrm{ACC}}_{10}\\ {\mathrm{ACC}}_{20}\\ {\mathrm{ACC}}_{30}\end{array}\right]\end{array}$

Wherein, [A_m]_3×3Represent the error matrix of acceleration transducer coordinate axes and OBD coordinate between centers；

A_SC_i(i=1,2,3) sensitivity of each axle of acceleration transducer is represented；

A_OS_i(i=1,2,3) zero gravity offset (zero-g level offset) of acceleration transducer is represented；

The purpose that acceleration transducer carries out " demarcation " determines that ACC₁₀To ACC₃₃These 12 parameters, such as table 1 below institute Show:

Table 1: OBD each axle acceleration exact value under fixed position

Can be at the six of table 1 fixed position (A_x2,A_y2,A_z2Known) with output data rate (the Output Data of 100Hz Rate) gather the acceleration of each axle of acceleration transducer of 5s to 10s, use following method of least square that above-mentioned 12 parameters are entered Row estimation.Above-mentioned equation 1 can be rewritten into equation 2:

$\left[\begin{array}{c}{A}_{x2}\\ A_{y2}\\ A_{z2}\end{array}\right]=\left[\begin{array}{cccc}{A}_{x1}& A_{y1}& A_{z1}& 1\end{array}\right]\left[\begin{array}{ccc}{\mathrm{ACC}}_{11}& {\mathrm{ACC}}_{21}& {\mathrm{ACC}}_{31}\\ {\mathrm{ACC}}_{12}& {\mathrm{ACC}}_{22}& {\mathrm{ACC}}_{32}\\ {\mathrm{ACC}}_{13}& {\mathrm{ACC}}_{23}& {\mathrm{ACC}}_{33}\\ {\mathrm{ACC}}_{10}& {\mathrm{ACC}}_{20}& {\mathrm{ACC}}_{30}\end{array}\right]$

Or write a Chinese character in simplified form into equation 3:Y=w X

Wherein, matrix X represents 12 parameters that calibration process needs are estimated, i.e. X represents calibration matrix；

Matrix w represents the acceleration transducer initial data gathered under 6 fixed positions；

Matrix Y represents known equipment Acceleration standard value under 6 fixed positions.

Such as, when position upwards, [A_x2,A_y2,A_z2]=[0 0-1], it is assumed that in this station acquisition, n1 group is accelerated The initial data A of degree sensor_x1,A_y1,A_z1, then obtain equation 4:

Y₁=[0 0-1]_n1×3

w₁=[A_xP1 A_yP1 A_zP1 1]_n1×4

Wherein, matrix has n1 row [0 0-1], the initial data of the n1 group acceleration transducer of matrix acquisition.In like manner, exist In table 1, other 5 positions gather the initial data of n2, n3, n4, n5, n6 group acceleration transducer respectively, then obtain equation 5:

Y₂=[0 0-1]_n2×3

w₂=[A_xP2 A_yP2 A_zP2 1]_n2×4

Equation 6:

Y₃=[0 0-1]_n3×3

w₃=[A_xP3 A_yP3 A_zP3 1]_n3×4

Equation 7:

Y₄=[0 0-1]_n4×3

w₄=[A_xP4 A_yP4 A_zP4 1]_n4×4

Equation 8:

Y₅=[0 0-1]_n5×3

w₅=[A_xP5 A_yP5 A_zP5 1]_n5×4

Equation 9:

Y₆=[0 0-1]_n6×3

w₆=[A_xP6 A_yP6 A_zP6 1]_n6×4

Composite equation 4 to equation 9, and make n=n₁+n₂+n₃+n₄+n₅+n₆, the most above-mentioned equation 3 rewritable one-tenth equation 10:Y_n×3 =w_n×4·X_4×3, wherein,

$\begin{array}{cc}Y=Y_{n\×3}={\left[\begin{array}{c}{Y}_1\\ Y_2\\ Y_3\\ Y_4\\ Y_5\\ Y_6\end{array}\right]}_{n\×3}& w=w_{n\×4}={\left[\begin{array}{c}{w}_1\\ w_2\\ w_3\\ w_4\\ w_5\\ w_6\end{array}\right]}_{n\×4}\end{array}$

Thus calibration process needs 12 parameters estimated can be obtained by equation below 11, equation 11:

X=[w^T·w]^-1w^T·Y

Wherein, w^TThe transposition of representing matrix；[w^T·w]^-1Representing matrix inverse.

Said process is can to demarcate as the initial data of acceleration transducer, and merely just one with reference to demarcation side Method.It is of course also possible to the sensing data coordinate using acceleration transducer manufacturer to provide is tied to the conversion square of chip coordinate system Battle array.

The initial data that the present embodiment is gathered by calibration matrix and acceleration transducer, carries out demarcation and obtains vehicle number According to, improve the accuracy to acceleration transducer calibration.

Further, based on above-mentioned acceleration transducer calibration steps any embodiment, it is proposed that acceleration of the present invention passes Sensor calibration steps the 4th embodiment, includes before above-mentioned steps S10 in this embodiment: establish a connection with terminal, receives The acceleration transducer that described terminal sends gathers the packet of data and sends the terminal transmission time of described packet, record The vehicle receiver time；

The time that described packet, described vehicle receiver time and current vehicle sent sends to terminal, remembers for terminal Record terminal receives the time, and send the time according to described terminal, described vehicle receiver time, described vehicle send time and described Terminal receives the time, calibrates the time, carries out synchronize with vehicle time.

In the present embodiment, before terminal gathers data with vehicle by acceleration transducer, need terminal and vehicle Time synchronize.Terminal and vehicle are set up by bluetooth or wifi and are connected, and once set up connection, it is first determined terminal and car Time difference between, carries out time rectification, and obtains time difference meansigma methods, so that it is determined that the time difference between terminal and vehicle Value.

Specifically, being described in detail the principle of improvement time below, as it is shown in figure 5, terminal is from the T0 moment, (terminal is sent out Send the time) send data packets to vehicle, this packet is that the collection event of a certain moment acceleration transducer collection data is sent out The raw time.Assuming that, when terminal time is T0, the time of vehicle is T0+offset, bluetooth or wifi are sent to reception when needing Between be Delay, calculate for convenience, from terminal be sent to vehicle receiver time interval and from vehicle be sent to terminal receive Time interval is all Delay.Therefore vehicle receiver is T0+offset+Delay to the time of packet, and then vehicle is again connecing The packet that receives, vehicle receiver number time T0+offset+Delay (vehicle receiver time) and vehicle send packet time Between T1-Delay+offset (vehicle send time) packing beam back terminal again, record the reception time T1 of terminal (terminal connects simultaneously Between the time receiving), thus have relationship below to set up:

Phone_send_time=T0；

Phone_receive_time=T1；

Golo_send_time=T1-Delay+offset；

Golo_receive_time=T0+offset+Delay；

Offset=(Golo_send_time+Golo_receive_time-Phone_send_time-Phone_ receive_time)/2；

Delay=(Golo_receive_time-Golo_send_time+Phone_receive_time-Phon e_ send_time)/2；

Offset represents the time difference between terminal and vehicle；Delay represents that bluetooth sends and receives a process time； Phone_send_time represents that terminal sends the time；Phone_receive_time represents that terminal receives the time；Golo_send_ Time represents that vehicle sends the time；Golo_receive_time represents the vehicle receiver time.

Preferably, offset and delay of n times transmitting and receiving data bag can be added up, ask for the average of offset and delay Value, N is the biggest, and offset and Delay is the most accurate, and adds up the max min that n times send the offset of reception process.Known The average of offset, maximum, minima, then the time relationship between terminal and vehicle is exactly: the moment of terminal=vehicle Moment-offset, the time difference between such terminal and vehicle can be as accurate as under 10ms, substantially meets synchronization needs.Keep The reason of time synchronized is, under synchronization to be gathered the three of the acceleration transducer of the acceleration transducer of terminal and vehicle The number of axle is according to carrying out calculating transition matrix and spin matrix, the sensing data collected from the acceleration transducer of terminal and vehicle The timestamp of sensing data that collects of acceleration transducer to mate.

The present embodiment can send time, vehicle receiver time according to terminal, vehicle sends the time and terminal receives the time pair The terminal local time calibrates, and carries out synchronize with vehicle time, in order to enter terminal data and vehicle data according to timestamp Row coupling obtains target spin matrix, improves the accuracy to acceleration transducer calibration and convenience.

Accordingly, as shown in Figure 6, one acceleration transducer calibrating installation first embodiment of the present invention is proposed.This enforcement The acceleration transducer calibrating installation of example includes:

First acquisition module 100, for receiving the terminal that coordinate system overlaps with vehicle axis system, the described terminal of transmission is originally Terminal data that ground acceleration transducer obtains and obtain the very first time stamp that described terminal data is corresponding, and by described vehicle Local acceleration transducer obtains vehicle data and obtains the second timestamp that described vehicle data is corresponding；

In the present embodiment, acceleration transducer calibrating installation is applied to the acceleration transducer that OBD includes by vehicle to be carried out Demarcating, this OBD comprises bluetooth, wifi and acceleration transducer etc..

As in figure 2 it is shown, acceleration transducer coordinate system is (x1-y1-z1), acceleration transducer mounting coordinate system (i.e. OBD Coordinate system) it is (x2-y2-z2), vehicle axis system is (x3-y3-z3), and from Fig. 2, between three, relation understands acceleration sensing The data coordinates of device output needs just to be transformed into vehicle coordinate through the conversion of a series of space and fastens.

The present embodiment proposes the acceleration transducer of the acceleration transducer calibration vehicle utilizing terminal, to eliminate vehicle Acceleration transducer noise, this terminal includes mobile phone, iPad etc..Owing to rear dress market OBD Installation posture is different, acceleration Sensor local Coordinate System direction cannot directly determine, so needing the acceleration transducer installing any attitude to carry out Coordinate is demarcated, and calibrates with the data to acceleration transducer collection.

Carry out coordinate system demarcation, relate to two referentials: (OBD sits for vehicle axis system and acceleration transducer coordinate system Between mark system and acceleration transducer coordinate system, relation is a simple matrix relationship) so that be tied to car from OBD coordinate The conversion of coordinate system.

In the present embodiment, acceleration transducer can be set and carry out data every Preset Time (such as, every 10 milliseconds) Collect x, y, z number of axle evidence, and the coordinate system direction of x, y, z data is unknown, now can rely on third party's terminal, according to vehicle Coordinate system and the relativeness of acceleration transducer coordinate system, obtain between vehicle axis system and acceleration transducer coordinate system Transformational relation.Specifically, the acceleration transducer carried by terminal and the acceleration transducer related data of vehicle calculate car And the acceleration transducer of terminal between spin matrix, this spin matrix for demarcate spin matrix.

Acceleration transducer calibrating installation also includes: processing module, for receiving described terminal tune on described vehicle Whole placement location, so that end coordinates system overlaps with vehicle axis system.First, terminal is set up even by bluetooth or wifi with vehicle Connecing relation, end level is placed on vehicle, and the x-axis direction of end coordinates system is consistent with the x-axis direction of vehicle axis system, makes Obtain end coordinates system to overlap with vehicle axis system.Secondly, the terminal data that local acceleration transducer is obtained by terminal, Yi Jiji Record obtains the very first time stamp that this terminal data is corresponding, sends to vehicle.First acquisition module 100 receives this terminal data and right The very first time stamp answered, meanwhile, obtains vehicle data by the acceleration transducer that vehicle is local, and record obtains this vehicle The second timestamp that data are corresponding.The acceleration transducer of terminal and the acceleration transducer of vehicle are in the mistake carrying out data acquisition Cheng Zhong, the coordinate system of terminal to keep substantially overlapping with vehicle axis system and persistently specifying the time, and this appointment time may be configured as 2 ～10 seconds, it is possible to arrange as the case may be and flexibly.

In order to improve the reliability of data, it is preferable that vehicle terminal data and vehicle data are carried out triangle filtering or Medium filtering, acceleration transducer data i.e. carry out three axle smothing filterings (being filtered three-axis sensor data respectively) will Filtered data store.

Second acquisition module 200, for according to the described very first time stamp and described second timestamp to described terminal data And described vehicle data mates, according to the data acquisition target spin matrix after coupling；

Vehicle is to the terminal data of storage and the very first time stamp of correspondence, vehicle data and the second time of correspondence thereof Stamp, is mated terminal data and vehicle data according to very first time stamp and the second timestamp by the second acquisition module 200.Example As, the terminal data and the vehicle data that are collected by synchronization mate, or by vehicle moment and terminal juncture it Between meet and preset the terminal data of the time difference and vehicle data mates.

Second acquisition module 200 calculates matrix equation according to the data after coupling, if the matrix equation now obtained compares Many, from these matrix equations, three or three combinations can calculate spin matrix respectively.When obtaining multiple spin matrix, can choose Optimum spin matrix will be described in more detail as target spin matrix, following example.

Hereinafter will be described in detail to utilizing method of least square to calculate spin matrix process, before carrying out coordinate transform, Acceleration transducer can be the calibration process that would have been completed initial data before dispatching from the factory, and instrument factory trade mark be can be used directly The parameter reserved, is standardized initial data.Or previously according to specific environment to acceleration transducer collection Initial data demarcate.After initial data calibration process completes, the most do not consider further that coordinate (x in Fig. 2₁y₁z₁) and coordinate (x₂y₂z₂Difference between), but acceleration sensor chip and OBD are regarded as an entirety.Now acceleration transducer is adopted The data that obtain of collection, act on the resultant acceleration of the OBD projection components on each axle of OBD.

The purpose of coordinate transform is exactly that the accekeration of axle each under OBD coordinate system is transformed into each axle under vehicle axis system Accekeration.This process relates to two steps: first, seeks the angle of each between centers of the two coordinate system；Second, accekeration Between corresponding relation.

As it is shown on figure 3, OBD coordinate system and vehicle axis system the two rectangular coordinate system in space are respectively O₁X₁Y₁Z₁With O₂X₂Y₂Z₂, the initial point of the two coordinate system is misaligned, and coordinate axes is the most misaligned.Want to realize from coordinate O₁X₁Y₁Z₁To coordinate O₂X₂Y₂Z₂Conversion, can be undertaken in two steps: first, be translated by zero, and three translation parameterss are Δ X, Δ Y, Δ Z, make Zero O₁With O₂Overlap.Secondly, for two three dimensions rectangular coordinate systems of same initial point, by carrying out around each coordinate axes Rotating, three rotation parameters are θ_x、θ_y、θ_z, O can be realized₁X₁Y₁Z₁To O₂X₂Y₂Z₂Conversion.

If same fixed point A coordinate under two coordinate systems is respectively (x₁,y₁,z₁) and (x₂,y₂,z₂), Coordinate Conversion is calculated The purpose of method is to find out (x₂,y₂,z₂) and (x₁,y₁,z₁Relation between).From translation above and rotation, OBD coordinate system Can be expressed as follows with the relation of vehicle axis system the two coordinate:

$\left[\begin{array}{c}{x}_2\\ y_2\\ z_2\end{array}\right]=\mathrm{\λ}R\left[\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right]+\left[\begin{array}{c}\mathrm{\Δ}x\\ \mathrm{\Δ}y\\ \mathrm{\Δ}z\end{array}\right]$

Wherein, λ is the scalefactor of two coordinate systems, and R is spin matrix, [Δ x, Δ y, Δ z]^TFor translation matrix.

If coordinate system O₁X₁Y₁Z₁Anglec of rotation θ about the z axis_z, then z it is apparent from₂=z₁, for the relation in Y-axis and Z axis, can be by They are transformed in plane calculating, as shown in Figure 4.In former coordinate system XOY, rotate θ degree around initial point in the counterclockwise direction, become Coordinate system SOT.Be provided with certain some p, the coordinate in former coordinate system be (x, y), postrotational new coordinate be (s, t), then:

Oa=ysin (θ)

As=xcos (θ)

From plane vector relation:

S=os=oa+as=xcos (θ)+ysin (θ)

T=ot=ay-yb=ycos (θ)-xsin (θ)

It is expressed as follows with determinant:

$\left(\begin{array}{c}s\\ t\end{array}\right)=\left(\begin{array}{cc}cos\left(\mathrm{\θ}\right)& sin\left(\mathrm{\θ}\right)\\ -sin\left(\mathrm{\θ}\right)& \cos \left(\mathrm{\θ}\right)\end{array}\right)\left(\begin{array}{c}x\\ y\end{array}\right)$

Thus, (1) coordinate system O₁X₁Y₁Z₁Anglec of rotation θ about the z axis_zAfter, (x₂,y₂,z₂) and (x₁,y₁,z₁Relation between) For:

$\left[\begin{array}{c}{x}_2\\ y_2\\ z_2\end{array}\right]=R_z\left[\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right]=\left[\begin{array}{ccc}cos\left({\mathrm{\θ}}_z\right)& sin\left({\mathrm{\θ}}_z\right)& 0\\ -sin\left({\mathrm{\θ}}_z\right)& \cos \left({\mathrm{\θ}}_z\right)& 0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right]$

In like manner can extrapolate, (2) coordinate system O₁X₁Y₁Z₁Pivoting angle θ_yAfter, (x₂,y₂,z₂) and (x₁,y₁,z₁Between) Relation be:

$\left[\begin{array}{c}{x}_2\\ y_2\\ z_2\end{array}\right]=R_y\left[\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right]=\left[\begin{array}{ccc}cos\left({\mathrm{\θ}}_y\right)& 0& -sin\left({\mathrm{\θ}}_y\right)\\ 0& 1& 0\\ sin\left({\mathrm{\θ}}_y\right)& 0& \cos \left({\mathrm{\θ}}_y\right)\end{array}\right]\left[\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right]$

(3) coordinate system O₁X₁Y₁Z₁Around X-axis anglec of rotation θ_xAfter, (x₂,y₂,z₂) and (x₁,y₁,z₁Relation between) is:

$\left[\begin{array}{c}{x}_2\\ y_2\\ z_2\end{array}\right]=R_x\left[\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right]=\left[\begin{array}{ccc}1& 0& 0\\ & cos\left({\mathrm{\θ}}_x\right)& sin\left({\mathrm{\θ}}_x\right)\\ 0& -sin\left({\mathrm{\θ}}_x\right)& cos\left({\mathrm{\θ}}_x\right)\end{array}\right]\left[\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right]$

Finally, the mathematical model of two transformations of coordinates is:

$\begin{array}{c}\left[\begin{array}{c}{x}_2\\ y_2\\ z_2\end{array}\right]=\mathrm{\λ}R\left[\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right]+\left[\begin{array}{c}\mathrm{\Δ}x\\ \mathrm{\Δ}y\\ \mathrm{\Δ}z\end{array}\right]={\mathrm{\λR}}_x{R}_y{R}_z\left[\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right]+\left[\begin{array}{c}\mathrm{\Δ}x\\ \mathrm{\Δ}y\\ \mathrm{\Δ}z\end{array}\right]\\ =\mathrm{\λ}\left[\begin{array}{ccc}cos\left({\mathrm{\θ}}_y\right)cos\left({\mathrm{\θ}}_z\right)-\sin \left({\mathrm{\θ}}_y\right)\sin \left({\mathrm{\θ}}_x\right)\sin \left({\mathrm{\θ}}_z\right)& -cos\left({\mathrm{\θ}}_y\right)\sin \left({\mathrm{\θ}}_z\right)-\sin \left({\mathrm{\θ}}_y\right)\sin \left({\mathrm{\θ}}_x\right)\cos \left({\mathrm{\θ}}_z\right)& -\sin \left({\mathrm{\θ}}_y\right)\cos \left({\mathrm{\θ}}_x\right)\\ \cos \left({\mathrm{\θ}}_x\right)\sin \left({\mathrm{\θ}}_z\right)& \cos \left({\mathrm{\θ}}_x\right)\cos \left({\mathrm{\θ}}_z\right)& -\sin \left({\mathrm{\θ}}_x\right)\\ \sin \left({\mathrm{\θ}}_y\right)\cos \left({\mathrm{\θ}}_z\right)+\cos \left({\mathrm{\θ}}_y\right)\sin \left({\mathrm{\θ}}_x\right)\sin \left({\mathrm{\θ}}_z\right)& -\sin \left({\mathrm{\θ}}_y\right)\sin \left({\mathrm{\θ}}_z\right)+\cos \left({\mathrm{\θ}}_y\right)\sin \left({\mathrm{\θ}}_x\right)\cos \left({\mathrm{\θ}}_z\right)& \cos \left({\mathrm{\θ}}_y\right)\cos \left({\mathrm{\θ}}_x\right)\end{array}\right]\left[\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right]+\left[\begin{array}{c}\mathrm{\Δ}x\\ \mathrm{\Δ}y\\ \mathrm{\Δ}z\end{array}\right]\end{array}$

It follows that only need to determine three translation parameters Δ X, Δ Y, Δ Z, three rotation parameters are θ_x、θ_y、θ_zAnd ratio Example chi factor lambda, can realize the conversion between two space coordinatess, and above-mentioned calculating process can be obtained by principle of least square method Arrive.

Calibration module 300, for collect the acceleration transducer of described vehicle according to described target spin matrix Data are calibrated.

Above-mentioned obtain target spin matrix after, calibration module 300 can be according to the target spin matrix acceleration to vehicle Sensor acquisition to data calibrate so that utilize the acceleration transducer of terminal to remove to calibrate the vehicle of different Installation posture Acceleration transducer, by the spin matrix between acceleration transducer coordinate system and vehicle axis system is obtained, thus Can be each number of axle evidence under spin matrix is transformed into vehicle axis system of the sensing data on OBD.It is easy to utilize and converts After data analysis vehicle forward, lateral and vehicle travel the vertical speed of plane.Solve for traditional rear dress market, after Dress product OBD Installation posture on vehicle is each different, and the acceleration transducer filling product OBD after causing cannot accurately reach real Time each number of axle evidence；And in the case of on the slope, owing to gravity impact cannot utilize asking of real-time three number of axle evidences of acceleration accurately Topic.

It should be noted that can also be that local acceleration transducer is obtained vehicle data by vehicle, and acquisition should The second timestamp that vehicle data is corresponding sends to terminal.The terminal data that terminal obtains according to local acceleration transducer, with And after obtaining the very first time stamp that terminal data is corresponding, stab according to the very first time and the second timestamp is to terminal data and vehicle number According to mating, according to the data acquisition target spin matrix after coupling, and target spin matrix is sent to vehicle.Vehicle connects After receiving target spin matrix, calibrate according to the data that the acceleration transducer of vehicle is collected by target spin matrix.

Terminal data and acquisition terminal data that the embodiment of the present invention is obtained by terminal local acceleration transducer are corresponding Very first time stamp, and the local acceleration transducer of vehicle obtain vehicle data and obtain vehicle data corresponding second time Between stab, according to the very first time stamp and the second timestamp terminal data and vehicle data are carried out coupling and obtain target spin moment Battle array, the data then collected the acceleration transducer of vehicle according to target spin matrix are calibrated, and improve acceleration The accuracy of degree pick up calibration and convenience.

Further, based on above-mentioned acceleration transducer calibrating installation first embodiment, it is proposed that acceleration of the present invention passes Sensor calibrating installation the second embodiment, in this embodiment, above-mentioned second acquisition module 200 is additionally operable to, and stabs according to the described very first time And described terminal data and described vehicle data are mated by described second timestamp, calculate respectively according to the data after coupling Corresponding spin matrix；

Obtain from described spin matrix the quadratic sum of satisfied each column column vector with 1 between differ in predetermined threshold value, And the appointment spin matrix that between the numerical value and corresponding terminal data obtained, error is minimum that is multiplied with described vehicle data, set For target spin matrix.

In the present embodiment, during vehicle obtains target spin matrix, second acquisition module 200 terminal to storage The very first time stamp of data and correspondence thereof, vehicle data and the second timestamp of correspondence thereof, according to very first time stamp and when second Between stab terminal data and vehicle data mated.Such as, the terminal data and the vehicle data that are collected by synchronization enter Row coupling, or preset the terminal data of the time difference by meeting between vehicle moment and terminal juncture and vehicle data is carried out Join.

Second acquisition module 200 calculates corresponding spin matrix respectively according to the data after coupling, timestamp coupling be with Resultant acceleration coupling uses together, and the difference between the timestamp that two sensors data are corresponding meets fluctuation range necessarily Appointment in the range of, and meet two corresponding resultant acceleration data difference meet certain threshold value, go out according to this conditional filtering Alternative matrix equation, the matrix equation now selected is the most, three or three combinations can calculate rotation respectively from these matrix equations Torque battle array.When obtaining multiple spin matrix, the spin matrix of optimum can be chosen as target spin matrix.Specifically, Two acquisition modules 200 are chosen and are differed in predetermined threshold value between the quadratic sum and 1 of each column vector of spin matrix, can be unlimited Close to 1, and actual output error is minimum, may finally obtain target spin matrix.This actual output error is for will and revolve Torque battle array is multiplied with vehicle data error between the numerical value obtained and corresponding terminal data, and the minimum spin matrix of error sets For target spin matrix.

It should be noted that for the reliability improving target spin matrix, it is also possible to terminal data and vehicle number are set According to, error of each pairing meets certain threshold value, and the number completing pairing reaches always to match more than half of number.Upper Stating in the mathematical model of two transformations of coordinates, desirable λ=1, skew is 0.

After the present embodiment is calculated spin matrix according to the terminal data after coupling and described vehicle data, according to appointment Condition from spin matrix select optimum target spin matrix, improve to acceleration transducer calibration reliability.

Further, based on above-mentioned acceleration transducer calibrating installation first embodiment, it is proposed that acceleration of the present invention passes Sensor calibrating installation the 3rd embodiment, in this embodiment, upper first acquisition module 100 is additionally operable to, and obtains calibration matrix, and passes through The acceleration transducer acquisition initial data that described vehicle is local；According to the described calibration matrix original number to acceleration transducer Vehicle data is obtained according to carrying out demarcation.

In the present embodiment, the initial data of the acceleration transducer to vehicle is needed to mark when obtaining vehicle data It is fixed, such that it is able to acceleration sensor chip and OBD are regarded as an entirety.Specifically, the first acquisition module 100 needs basis The initial data of acceleration transducer is demarcated by specific environment, and the principle demarcated initial data below is described in detail.

Established standards acceleration is (A_x2,A_y2,A_z2), the initial data of the acceleration transducer collection that vehicle is local is (A_x1,A_y1,A_z1), the relation between standardization acceleration and initial data can be represented by following equation 1.

Equation 1:

$\begin{array}{c}\left[\begin{array}{c}{A}_{x2}\\ A_{y2}\\ A_{z2}\end{array}\right]={\[A\_m\]}_{3\×3}\left[\begin{array}{ccc}1/A\_{\mathrm{SC}}_x& 0& 0\\ 0& 1/A\_{\mathrm{SC}}_y& 0\\ 0& 0& 1/A\_{\mathrm{SC}}_z\end{array}\right]\·\left[\begin{array}{c}{A}_{x1}-A\_O{S}_x\\ A_{y1}-A\_{\mathrm{OS}}_y\\ A_{z1}-A\_{\mathrm{OS}}_z\end{array}\right]\\ =\left[\begin{array}{ccc}{\mathrm{ACC}}_{11}& {\mathrm{ACC}}_{12}& {\mathrm{ACC}}_{13}\\ {\mathrm{ACC}}_{21}& {\mathrm{ACC}}_{22}& {\mathrm{ACC}}_{23}\\ {\mathrm{ACC}}_{31}& {\mathrm{ACC}}_{31}& {\mathrm{ACC}}_{33}\end{array}\right]\·\left[\begin{array}{c}{A}_x\\ A_y\\ A_z\end{array}\right]+\left[\begin{array}{c}{\mathrm{ACC}}_{10}\\ {\mathrm{ACC}}_{20}\\ {\mathrm{ACC}}_{30}\end{array}\right]\end{array}$

Wherein, [A_m]_3×3Represent the error matrix of acceleration transducer coordinate axes and OBD coordinate between centers；

A_SC_i(i=1,2,3) sensitivity of each axle of acceleration transducer is represented；

A_OS_i(i=1,2,3) zero gravity offset (zero-g level offset) of acceleration transducer is represented；

The purpose that acceleration transducer carries out " demarcation " determines that ACC₁₀To ACC₃₃These 12 parameters, such as above-mentioned table 1 institute Show, can be at the six of table 1 fixed position (A_x2,A_y2,A_z2Known) with output data rate (the Output Data of 100Hz Rate) gather the acceleration of each axle of acceleration transducer of 5s to 10s, use following method of least square that above-mentioned 12 parameters are entered Row estimation.Above-mentioned equation 1 can be rewritten into equation 2:

$\left[\begin{array}{c}{A}_{x2}\\ A_{y2}\\ A_{z2}\end{array}\right]=\left[\begin{array}{cccc}{A}_{x1}& A_{y1}& A_{z1}& 1\end{array}\right]\left[\begin{array}{ccc}{\mathrm{ACC}}_{11}& {\mathrm{ACC}}_{21}& {\mathrm{ACC}}_{31}\\ {\mathrm{ACC}}_{12}& {\mathrm{ACC}}_{22}& {\mathrm{ACC}}_{32}\\ {\mathrm{ACC}}_{13}& {\mathrm{ACC}}_{23}& {\mathrm{ACC}}_{33}\\ {\mathrm{ACC}}_{10}& {\mathrm{ACC}}_{20}& {\mathrm{ACC}}_{30}\end{array}\right]$

Or write a Chinese character in simplified form into equation 3:Y=w X

Wherein, matrix X represents 12 parameters that calibration process needs are estimated, i.e. X represents calibration matrix；

Matrix w represents the acceleration transducer initial data gathered under 6 fixed positions；

Matrix Y represents known equipment Acceleration standard value under 6 fixed positions.

Such as, when position upwards, [A_x2,A_y2,A_z2]=[0 0-1], it is assumed that in this station acquisition, n1 group is accelerated The initial data A of degree sensor_x1,A_y1,A_z1, then obtain equation 4:

Y₁=[0 0-1]_n1×3

w₁=[A_xP1 A_yP1 A_zP1 1]_n1×4

Wherein, matrix has n1 row [0 0-1], the initial data of the n1 group acceleration transducer of matrix acquisition.In like manner, exist In table 1, other 5 positions gather the initial data of n2, n3, n4, n5, n6 group acceleration transducer respectively, then obtain equation 5:

Y₂=[0 0-1]_n2×3

w₂=[A_xP2 A_yP2 A_zP2 1]_n2×4

Equation 6:

Y₃=[0 0-1]_n3×3

w₃=[A_xP3 A_yP3 A_zP3 1]_n3×4

Equation 7:

Y₄=[0 0-1]_n4×3

w₄=[A_xP4 A_yP4 A_zP4 1]_n4×4

Equation 8:

Y₅=[0 0-1]_n5×3

w₅=[A_xP5 A_yP5 A_zP5 1]_n5×4

Equation 9:

Y₆=[0 0-1]_n6×3

w₆=[A_xP6 A_yP6 A_zP6 1]_n6×4

Composite equation 4 to equation 9, and make n=n₁+n₂+n₃+n₄+n₅+n₆, the most above-mentioned equation 3 rewritable one-tenth equation 10:Y_n×3 =w_n×4·X_4×3, wherein,

$\begin{array}{cc}Y=Y_{n\×3}={\left[\begin{array}{c}{Y}_1\\ Y_2\\ Y_3\\ Y_4\\ Y_5\\ Y_6\end{array}\right]}_{n\×3}& w=w_{n\×4}={\left[\begin{array}{c}{w}_1\\ w_2\\ w_3\\ w_4\\ w_5\\ w_6\end{array}\right]}_{n\×4}\end{array}$

Thus calibration process needs 12 parameters estimated can be obtained by equation below 11, equation 11:

X=[w^T·w]^-1w^T·Y

Wherein, w^TThe transposition of representing matrix；[w^T·w]^-1Representing matrix inverse.

Said process is can to demarcate as the initial data of acceleration transducer, and merely just one with reference to demarcation side Method.It is of course also possible to the sensing data coordinate using acceleration transducer manufacturer to provide is tied to the conversion square of chip coordinate system Battle array.

The initial data that the present embodiment is gathered by calibration matrix and acceleration transducer, carries out demarcation and obtains vehicle number According to, improve the accuracy to acceleration transducer calibration.

Further, based on above-mentioned acceleration transducer calibrating installation any embodiment, it is proposed that acceleration of the present invention passes Sensor calibrating installation the 4th embodiment, in this embodiment, above-mentioned acceleration transducer calibrating installation also includes:

Receiver module, for establishing a connection with terminal, receives the acceleration transducer collection number that described terminal sends According to packet and send described packet terminal send the time, registration of vehicle receive the time；

Calibration module, sends extremely for described packet, described vehicle receiver time and current vehicle send the time Terminal, receives the time for terminal record terminal, and sends time, described vehicle receiver time, described vehicle according to described terminal Transmission time and described terminal receive the time, and the time is calibrated, during with described vehicle by described time and described reception time Between synchronize.

In the present embodiment, before terminal gathers data with vehicle by acceleration transducer, need terminal and vehicle Time synchronize.Terminal and vehicle are set up by bluetooth or wifi and are connected, and once set up connection, it is first determined terminal and car Time difference between, carries out time rectification, and obtains time difference meansigma methods, so that it is determined that the time difference between terminal and vehicle Value.

Specifically, being described in detail the principle of improvement time below, as it is shown in figure 5, terminal is from the T0 moment, (terminal is sent out Send the time) send data packets to vehicle, this packet is that the collection event of a certain moment acceleration transducer collection data is sent out The raw time, receiver module receives this packet.Assume that, when terminal time is T0, the time of vehicle is T0+offset, bluetooth or Wifi is sent to reception and requires time for being Delay, calculates for convenience, from terminal be sent to vehicle receiver time interval and from It is all Delay that vehicle is sent to the time interval of terminal reception.Therefore vehicle receiver is T0+offset+ to the time of packet Delay, then vehicle is again the packet received, vehicle receiver number time T0+offset+Delay (vehicle receiver time) Terminal is beamed back in time T1-Delay+offset (vehicle the sends the time) packing sending packet with vehicle again, records end simultaneously The reception time T1 (terminal receives the time) of end, thus have relationship below to set up:

Phone_send_time=T0；

Phone_receive_time=T1；

Golo_send_time=T1-Delay+offset；

Golo_receive_time=T0+offset+Delay；

Offset=(Golo_send_time+Golo_receive_time-Phone_send_time-Phone_ receive_time)/2；

Delay=(Golo_receive_time-Golo_send_time+Phone_receive_time-Phon e_ send_time)/2；

Offset represents the time difference between terminal and vehicle；Delay represents that bluetooth sends and receives a process time； Phone_send_time represents that terminal sends the time；Phone_receive_time represents that terminal receives the time；Golo_send_ Time represents that vehicle sends the time；Golo_receive_time represents the vehicle receiver time.

Preferably, offset and delay of n times transmitting and receiving data bag can be added up, ask for the average of offset and delay Value, N is the biggest, and offset and Delay is the most accurate, and adds up the max min that n times send the offset of reception process.Known The average of offset, maximum, minima, then the time relationship between terminal and vehicle is exactly: the moment of terminal=vehicle Moment-offset, the time of terminal calibrated by calibration module according to this time relationship, between such terminal and vehicle time Between difference can be as accurate as under 10ms, substantially meet synchronization needs.The reason that retention time synchronizes is, under synchronization to be gathered Three number of axle evidences of the acceleration transducer of terminal and the acceleration transducer of vehicle carry out calculating transition matrix and spin matrix, from Sensing data that the acceleration transducer of terminal collects and the sensing data that the acceleration transducer of vehicle collects Timestamp to mate.

The present embodiment can send time, vehicle receiver time according to terminal, vehicle sends the time and terminal receives the time pair The terminal local time calibrates, and carries out synchronize with vehicle time, in order to enter terminal data and vehicle data according to timestamp Row coupling obtains target spin matrix, improves the accuracy to acceleration transducer calibration and convenience.

These are only the preferred embodiments of the present invention, not thereby limit the scope of the claims of the present invention, every utilize this Equivalent structure or equivalence flow process that bright description and accompanying drawing content are made convert, or are directly or indirectly used in other relevant skills Art field, is the most in like manner included in the scope of patent protection of the present invention.

Claims (10)

1. an acceleration transducer calibration steps, it is characterised in that described acceleration transducer calibration steps includes following step Rapid:

Receive the terminal data of the described terminal local acceleration transducer acquisition that terminal sends and obtain described terminal data pair The very first time stamp answered, and obtain vehicle data by the acceleration transducer that described vehicle is local and obtain described vehicle data The second corresponding timestamp；

According to stamp of the described very first time and described second timestamp, described terminal data and described vehicle data are mated, root According to the data acquisition target spin matrix after coupling；

Calibrate according to the data that the acceleration transducer of described vehicle is collected by described target spin matrix.

2. acceleration transducer calibration steps as claimed in claim 1, it is characterised in that described stab according to the described very first time And described terminal data and described vehicle data are mated by described second timestamp, according to the data acquisition target after coupling Spin matrix includes:

According to stamp of the described very first time and described second timestamp, described terminal data and described vehicle data are mated, root Corresponding spin matrix is calculated respectively according to the data after coupling；

Obtain from described spin matrix the quadratic sum of satisfied each column column vector with 1 between differ in predetermined threshold value, and with Described vehicle data is multiplied the minimum appointment spin matrix of error between the numerical value and corresponding terminal data obtained, and is set as mesh Mark spin matrix.

3. acceleration transducer calibration steps as claimed in claim 1, it is characterised in that described local by described vehicle Acceleration transducer obtains vehicle data and includes:

Obtain calibration matrix, and obtain initial data by the acceleration transducer that described vehicle is local；

According to described calibration matrix, the initial data of acceleration transducer is carried out demarcation and obtain vehicle data.

4. the acceleration transducer calibration steps as according to any one of claim 1-3, it is characterised in that described reception terminal Send described terminal local acceleration transducer obtain terminal data and obtain the very first time that described terminal data is corresponding Include before stamp:

Establish a connection with terminal, receive the packet of the acceleration transducer collection data that described terminal sends and send institute The terminal stating packet sends the time, and registration of vehicle receives the time；

The time that described packet, described vehicle receiver time and current vehicle sent sends to terminal, for terminal record eventually Between the termination time receiving, and send time, described vehicle receiver time, described vehicle transmission time and described terminal according to described terminal The reception time, the time is calibrated, carry out synchronize with vehicle time.

5. the acceleration transducer calibration steps as according to any one of claim 1-3, it is characterised in that described reception terminal Send described terminal local acceleration transducer obtain terminal data and obtain the very first time that described terminal data is corresponding Include before stamp:

Receive described terminal adjustment placement location on described vehicle, so that end coordinates system overlaps with vehicle axis system.

6. an acceleration transducer calibrating installation, it is characterised in that described acceleration transducer calibrating installation includes:

First acquisition module, for receiving the terminal that coordinate system overlaps with vehicle axis system, the described terminal local of transmission is accelerated Spend the terminal data of sensor acquisition and obtain the very first time stamp that described terminal data is corresponding, and by described vehicle this locality Acceleration transducer obtains vehicle data and obtains the second timestamp that described vehicle data is corresponding；

Second acquisition module, for according to the described very first time stamp and described second timestamp to described terminal data and described car Data are mated, according to the data acquisition target spin matrix after coupling；

Calibration module, is carried out for the data collected the acceleration transducer of described vehicle according to described target spin matrix Calibration.

7. acceleration transducer calibrating installation as claimed in claim 6, it is characterised in that described second acquisition module is also used In, according to stamp of the described very first time and described second timestamp, described terminal data and described vehicle data are mated, root Corresponding spin matrix is calculated respectively according to the data after coupling；

Obtain from described spin matrix the quadratic sum of satisfied each column column vector with 1 between differ in predetermined threshold value, and with Described vehicle data is multiplied the minimum appointment spin matrix of error between the numerical value and corresponding terminal data obtained, and is set as mesh Mark spin matrix.

8. acceleration transducer calibrating installation as claimed in claim 6, it is characterised in that described first acquisition module is also used In, obtain calibration matrix, and obtain initial data by the acceleration transducer that described vehicle is local；According to described calibration matrix The initial data of acceleration transducer is carried out demarcation and obtains vehicle data.

9. the acceleration transducer calibrating installation as according to any one of claim 6-8, it is characterised in that described acceleration passes Sensor calibrating installation also includes:

Receiver module, for establishing a connection with terminal, the acceleration transducer receiving the transmission of described terminal gathers data Packet and send described packet terminal send the time, registration of vehicle receive the time；

Calibration module, sends to terminal for described packet, described vehicle receiver time and current vehicle send the time, The time is received for terminal record terminal, and when sending time, described vehicle receiver time, the transmission of described vehicle according to described terminal Between and described terminal receive the time, the time calibrated, carries out with described vehicle time by described time and described reception time Synchronize.

10. the acceleration transducer calibrating installation as according to any one of claim 6-8, it is characterised in that described acceleration Calibrating device for sensors also includes:

Processing module, for receiving described terminal adjustment placement location on described vehicle, so that end coordinates system and vehicle Coordinate system overlaps.