CN106382946A - Parameter calibration method and parameter calibration device - Google Patents
Parameter calibration method and parameter calibration device Download PDFInfo
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- CN106382946A CN106382946A CN201610825208.6A CN201610825208A CN106382946A CN 106382946 A CN106382946 A CN 106382946A CN 201610825208 A CN201610825208 A CN 201610825208A CN 106382946 A CN106382946 A CN 106382946A
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Abstract
The invention relates to a parameter calibration method and a parameter calibration device. The method comprises the following steps: acquiring an acceleration component of a gravity acceleration on each coordinate axis of a triaxial acceleration sensor, wherein the acceleration components are gravity acceleration components collected by the triaxial acceleration transducer under a static condition; calculating a deflection angle of a detection axis of the triaxial acceleration transducer relative to a detection axis in a running coordinate system of an object according to the gravity acceleration components; and calibrating motion parameters, which are collected by a target sensor, on a detection axis of the target sensor according to the deflection angle, wherein the target sensor is arranged on the object, and comprises the triaxial acceleration sensor and/or other sensors with detection axes parallel to that of the triaxial acceleration sensor. After the parameter calibration method and the parameter calibration device are applied, the target sensor is not required to be horizontally arranged, so that installation time is saved, the installation efficiency is improved, and the defect of inaccurate measured data caused by horizontal deviation of installation is avoided.
Description
Technical field
The application is related to collimation technique field, more particularly, to parameter calibrating method and device.
Background technology
Car-mounted terminal is fixedly mounted at a kind of intelligent hardware devices of vehicle interior, can be integrated with acceleration in equipment
The sensors such as sensor, angular-rate sensor, direction sensor, can with collection vehicle travel during acceleration, angular speed,
The kinematic parameters such as direction.Vehicle in the process of moving, due to the state on road surface, driver-operated behavior etc., can exist dynamic
The kinematic parameter of change.Can with Real-time Collection to kinematic parameter, and pass through default by the sensor being integrated in car-mounted terminal
The motion state of Algorithm Analysis vehicle, thus give to unsafe driving behavior to supervise and report to the police etc..
However, after car-mounted terminal is installed on vehicle, due to the restriction of installation site, terminal can not possibly be accomplished fully horizontally
Setting, thus lead to sensor cannot be horizontally disposed with.In order to detect the motion state of vehicle, vehicle has corresponding reference axis.When
When sensor cannot be horizontally disposed with, may there is angle with respect to the reference axis of vehicle in the reference axis of sensor, there is angle
When the kinematic parameter measured can be led to not to be actual motion parameter in this reference axis for the vehicle, ultimately result in false alarm or
Fail to report alert situation.
Content of the invention
The application provides parameter calibrating method and device, to solve the inaccurate problem of kinematic parameter in prior art.
According to the embodiment of the present application in a first aspect, providing a kind of parameter calibrating method, methods described includes：
Obtain component of acceleration in each reference axis of 3-axis acceleration sensor for the acceleration of gravity, described acceleration divides
Amount is the gravitational acceleration component that described 3-axis acceleration sensor gathers in a static condition；
According to described component of acceleration, calculate the traveling coordinate system with respect to object for the detection axle of 3-axis acceleration sensor
The deflection angle of middle detection axle, wherein, when deflection angle is zero, the ginseng that described 3-axis acceleration sensor detects on detection axle
Number, for representing the parameter on described object detection axle in traveling coordinate system；
Kinematic parameter on the detection axle of the described sensor of interest calibrating sensor of interest collection according to described deflection angle,
Described sensor of interest is arranged on described object, and described sensor of interest includes described 3-axis acceleration sensor, and/or inspection
Survey axle detects, with described 3-axis acceleration sensor, the other sensors that axle be arranged in parallel.
According to the second aspect of the embodiment of the present application, provide a kind of parametric calibration device, described device includes：
Component acquisition module, for obtaining acceleration in each reference axis of 3-axis acceleration sensor for the acceleration of gravity
Component, described component of acceleration is the gravitational acceleration component that described 3-axis acceleration sensor gathers in a static condition；
Deflection angle determining module, for according to described component of acceleration, calculating the detection axle phase of 3-axis acceleration sensor
Object is travelled to the deflection angle detecting axle in coordinate system, wherein, when deflection angle is zero, described 3-axis acceleration sensor
The parameter detecting on detection axle, for representing the parameter on described object detection axle in traveling coordinate system；
Parametric calibration module, for calibrating the inspection of the described sensor of interest of sensor of interest collection according to described deflection angle
Survey the kinematic parameter on axle, described sensor of interest is arranged on described object, and described sensor of interest includes described three axles and adds
Velocity sensor, and/or the other sensors that the detection axle of detection axle and described 3-axis acceleration sensor be arranged in parallel.
During application the embodiment of the present application, the gravity being gathered in a static condition by obtaining 3-axis acceleration sensor accelerates
Component of acceleration in each reference axis of 3-axis acceleration sensor for the degree, and calculate three axles acceleration using gravitational acceleration component
The detection axle of degree sensor, with respect to travelling the deflection angle detecting axle in coordinate system, can calibrate sensor of interest according to deflection angle
Kinematic parameter on the detection axle of the sensor of interest of collection, thus realize not needing level to pacify in installation targets sensor
Dress, saves the set-up time in a large number, improves installation effectiveness, avoids the measurement data that installation horizontal departure leads to inaccurate scarce simultaneously
Fall into.
It should be appreciated that above general description and detailed description hereinafter are only exemplary and explanatory, not
The application can be limited.
Brief description
Accompanying drawing herein is merged in specification and constitutes the part of this specification, shows the enforcement meeting the application
Example, and be used for explaining the principle of the application together with specification.
Figure 1A is a kind of traveling coordinate system schematic diagram according to an exemplary embodiment for the application.
Figure 1B is a kind of car-mounted terminal according to an exemplary embodiment for the application and vehicle relative position schematic diagram.
Fig. 1 C is a kind of coordinate system contrast schematic diagram according to an exemplary embodiment for the application.
Fig. 2 is a kind of flow chart of parameter calibrating method according to an exemplary embodiment for the application.
Fig. 3 is a kind of structural representation of parametric calibration device according to an exemplary embodiment for the application.
Specific embodiment
Here will in detail exemplary embodiment be illustrated, its example is illustrated in the accompanying drawings.Explained below is related to
During accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represent same or analogous key element.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the application.On the contrary, they be only with such as appended
The example of the consistent apparatus and method of some aspects being described in detail in claims, the application.
It is the purpose only merely for description specific embodiment in term used in this application, and be not intended to be limiting the application.
" a kind of ", " described " and " being somebody's turn to do " of singulative used in the application and appended claims is also intended to including most
Form, unless context clearly shows that other implications.It is also understood that term "and/or" used herein refers to and wraps
Containing one or more associated any or all possible combination listing project.
It will be appreciated that though various information may be described using term first, second, third, etc. in the application, but this
A little information should not necessarily be limited by these terms.These terms are only used for same type of information is distinguished from each other out.For example, without departing from
In the case of the application scope, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as
One information.Depending on linguistic context, word as used in this " if " can be construed to " ... when " or " when ...
When " or " in response to determining ".
In the application, object can be provided with the Moving Objects of detection terminal, and such as object can be vehicle, scooter etc.
Moving Objects.Often it is provided with the devices such as sensor in detection terminal, can be used for motion in different reference axis for the detection object
Parameter.For example, detection terminal can be car-mounted terminal.Kinematic parameter can be acceleration, angular speed, direction etc..
Generally, by being arranged on the kinematic parameter in each reference axis of detection terminal detection object in object, and by fortune
Dynamic parameter and the motion state of preset algorithm analysis vehicle, and according to motion state, driving behavior is supervised and reminded.
Object in the process of moving, can be according to the virtual traveling coordinate system having object of travel direction.For example, object is in horizontal plane
When, the X-axis of coordinate system can be travelled according to object ridden in left or right direction direction setting, set to travel according to travel direction before and after object and sit
The Y-axis of mark system, the vertical direction according to object sets the Z axis travelling coordinate system.It is understood that travelling the setting of coordinate system
Mode can set according to demand.As shown in Figure 1A, Figure 1A is a kind of traveling according to an exemplary embodiment for the application
Coordinate system schematic diagram.In this schematic diagram, object is vehicle, and the direction of advance of vehicle is set to travel Y-axis in coordinate system
Positive direction, travels the positive direction of X-axis in coordinate system, according to the travel direction upwards of vehicle according to the right travel direction setting of vehicle
Setting travels the positive direction of Z axis in coordinate system.
Ideally, in order to be able to kinematic parameter on each axle for the object is detected, each for sensor axle can be set as
Axle corresponding to the traveling coordinate system of object is consistent, that is, travel coordinate system and sensor coordinate system is overlapping.The X-axis of sensor must be with
Traveling coordinate system X-axis is parallel, and the parameter in X-axis that now sensor detects is the ginseng in object X-axis in travelling coordinate system
Number；The Y-axis of sensor must be parallel with travelling coordinate system Y-axis, and the parameter in Y-axis that now sensor detects is that object is travelling
Parameter in Y-axis in coordinate system；The Z axis of sensor must be parallel with travelling coordinate system Z axis, on the Z axis that now sensor detects
The parameter Z axis in travelling coordinate system that are object on parameter.
Sensor can be fixedly installed on the chip of car-mounted terminal, in order to ensure the traveling seat of each axle of sensor and object
In mark system, corresponding axle is consistent, needs to install car-mounted terminal by very strict requirements.However, in actual installation, being difficult to accomplish
The each axle of sensor is consistent to corresponding axle in the traveling coordinate system of object, is particularly difficult to accomplish to be installed horizontally car-mounted terminal.
As shown in Figure 1B, Figure 1B is that a kind of car-mounted terminal according to an exemplary embodiment for the application is relative with vehicle
Position view.As shown in Figure 1 C, Fig. 1 C is that a kind of coordinate system contrast according to an exemplary embodiment for the application is illustrated
Figure.Figure 1B is in order to illustrate conveniently, to represent vehicle using a big hexahedron, another little hexahedron represents car-mounted terminal.This shows
It is intended to list the situation that one of which car-mounted terminal is not horizontally arranged on vehicle.Fig. 1 C is the installation car shown in Figure 1B
Under the scene of mounted terminal, the contrast schematic diagram travelling coordinate system and being arranged on the coordinate system of car-mounted terminal inner sensor of vehicle.
In fig. 1 c, the coordinate system of depicted as solid lines is to travel coordinate system, and the coordinate system of dotted lines is sensor coordinate system.In order to pass
The X-axis (transverse coordinate axis) of sensor, Y-axis (longitudinal coordinate axle), Z axis (vertical coordinate axle) (are laterally sat with the X-axis travelling coordinate system
Parameter), Y-axis (longitudinal coordinate axle), Z axis (vertical coordinate axle) make a distinction, in fig. 1 c, represent sensing respectively with X ', Y ', Z '
The transverse coordinate axis of device, longitudinal coordinate axle, vertical coordinate axle, are represented respectively with X, Y, Z and travel the transverse coordinate axis of coordinate system, indulge
To reference axis, vertical coordinate axle.Under this scene, the X ' reference axis of three-axis sensor being arranged in car-mounted terminal is sat with travelling
In mark system there is angle in X-coordinate axle, and the Z ' reference axis of three-axis sensor has angle with travelling Z coordinate axle in coordinate system.
It can be seen that, without being installed horizontally car-mounted terminal, then the kinematic parameter that sensor detects is not that object is real
The kinematic parameter on border.
In order to avoid due to being horizontally mounted, leading to the kinematic parameter detecting not to be the actual kinematic parameter of object,
A kind of parameter calibrating method of disclosure and device, are added by calculating three axles using gravitational acceleration component in a static condition
Velocity sensor detection axle with respect to travel coordinate system in detect axle deflection angle, it is hereby achieved that be not horizontally mounted leading
The deflection angle causing, the kinematic parameter on the detection axle of the sensor of interest that can calibrate sensor of interest collection according to deflection angle,
Thus the kinematic parameter after calibration is defined as kinematic parameter on this detection axle for the object, improve the accuracy of kinematic parameter,
And then avoid the false alarm leading to because kinematic parameter is inaccurate or fail to report police.It can be seen that, the application calibrates target according to deflection angle
The kinematic parameter of sensor collection, is equivalent to and is calibrated the detection terminal including sensor of interest with respect to object.
As shown in Fig. 2 Fig. 2 is a kind of flow process of parameter calibrating method according to an exemplary embodiment for the application
Figure, comprises the following steps 201 to step 203：
In step 201, obtain component of acceleration in each reference axis of 3-axis acceleration sensor for the acceleration of gravity,
Described component of acceleration is the gravitational acceleration component that described 3-axis acceleration sensor gathers in a static condition.
In step 202., according to described component of acceleration, the detection axle calculating 3-axis acceleration sensor is with respect to object
Travel coordinate system in detect axle deflection angle, wherein, when deflection angle is zero, described 3-axis acceleration sensor detection axle
On the parameter that detects, for representing that described object travelling the parameter on detection axle in coordinate system.
In step 203, the detection axle of the described sensor of interest of sensor of interest collection is calibrated according to described deflection angle
On kinematic parameter, described sensor of interest is arranged on described object, and described sensor of interest includes described 3-axis acceleration
Sensor, and/or the other sensors that the detection axle of detection axle and described 3-axis acceleration sensor be arranged in parallel.
In this application, can solve due to not being horizontally mounted the kinematic parameter leading to measurement parameter not to be object reality
Defect.In one example, described parameter calibrating method is applied to detection terminal, and detection terminal is arranged on object, and examines
Survey the kinematic parameter that terminal is used for detection object.It is also possible to pass through other equipment execution step 201 He in another example
202, thus obtaining deflection angle, using the detection terminal being arranged on object according to determine deflection angle execution step 203.
In one example, due to, in some application scenarios, specifying the coordinate on horizontal plane in 3-axis acceleration sensor
Axle place vertical plane, is more or less the same with the angle travelling the reference axis place vertical plane on horizontal plane in coordinate system of object, then
This angle can be ignored, directly using application scheme, kinematic parameter is calibrated.
In another example, in order to improve calibration accuracy, increase a precondition, that is, described 3-axis acceleration passes
In sensor specify horizontal plane on reference axis parallel to or be present in respective coordinates axle place vertical plane, described respective coordinates axle is
With the corresponding reference axis of reference axis specified in described 3-axis acceleration sensor on horizontal plane in the traveling coordinate system of object.
3-axis acceleration sensor, in order to be able to detect 3-axis acceleration, can include three mutually perpendicular reference axis, when
When 3-axis acceleration sensor is horizontally mounted, in 3-axis acceleration sensor, specify horizontal plane parallel with real standard face；Three axles
When acceleration transducer cannot be horizontally mounted, in 3-axis acceleration sensor, specify horizontal plane not parallel with real standard face.?
When specifying horizontal plane and real standard face not parallel in 3-axis acceleration sensor, need in the present embodiment to limit 3-axis acceleration biography
In sensor specify horizontal plane on reference axis parallel to or be present in respective coordinates axle place vertical plane, that is, on specified level face
Reference axis is parallel with respective coordinates axle place vertical plane, or the reference axis on specified level face is in respective coordinates axle place vertical plane
On.The purpose of this restriction is to ensure that specifies the reference axis on horizontal plane to exist with respective coordinates axle in 3-axis acceleration sensor
Angle is not existed on horizontal plane, that is, angle is zero.Wherein, respective coordinates axle be object traveling coordinate system in described reference axis
Corresponding reference axis.Reference axis place vertical plane is the face including reference axis and with horizontal plane.
Illustrate, in 3-axis acceleration sensor, virtual three-dimensional system of coordinate can include X, Y, Z axis it is assumed that X, Y-axis
The plane being constituted is specified level face.Virtual traveling coordinate system in object can also include X, Y, Z axis, travels in coordinate system
The plane that X, Y-axis are constituted is real standard face.Therefore, in 3-axis acceleration sensor X-axis parallel to or be present in traveling sit
Mark system in X-axis place vertical plane, in 3-axis acceleration sensor Y-axis parallel to or be present in traveling coordinate system in Y-axis be located hang down
Face directly.
It is understood that by travelling the Z axis plane that X, Y-axis are constituted in traveling coordinate system in coordinate system,
So X-axis place vertical plane is to travel the plane that in coordinate system, X-axis is constituted with Z axis in traveling coordinate system, travel Y-axis in coordinate system
Place vertical plane is to travel the plane that in coordinate system, Y-axis is constituted with Z axis.
Wherein, 3-axis acceleration sensor is one of acceleration transducer, can detect adding in three reference axis
Speed.When 3-axis acceleration sensor in a static condition, 3-axis acceleration sensor be only capable of sense acceleration of gravity.Due to three
Axle acceleration sensor cannot be accomplished to be installed horizontally when mounted, and therefore acceleration of gravity is in 3-axis acceleration sensor
There is component of acceleration, this component of acceleration can be gathered by 3-axis acceleration sensor on each axle, therefore can be from three axles
Component of acceleration is obtained in acceleration transducer.
Wherein, static conditions is that 3-axis acceleration sensor is in preassigned inactive state.Preassigned static
State can include totally stationary it is also possible to include close to static.Obtain acceleration of gravity each in 3-axis acceleration sensor
It may be determined that 3-axis acceleration sensor meets static conditions before component of acceleration in reference axis.Determine that 3-axis acceleration passes
The method that sensor meets static conditions is that have a lot, and the application enumerates wherein several illustrating：
First kind of way：The accekeration of preset group number is obtained from described 3-axis acceleration sensor；Determine that every axle adds
In velocity amplitude, the difference of maxima and minima is less than or equal to this axle predetermined threshold value.
In this implementation, adding of the preset group number that 3-axis acceleration sensor collects can be obtained in different time
Velocity amplitude.Preset group number is preassigned quantity, can set according to demand, to judge this time period according to accekeration
Whether interior 3-axis acceleration sensor is in preassigned inactive state.For example, preset group number can be 10 groups, 15 groups etc..
Every axle is all preset with corresponding predetermined threshold value, for example, it is possible to it is pre- to there are X-axis predetermined threshold value, Y-axis predetermined threshold value, Z axis
If threshold value, each axle predetermined threshold value can identical it is also possible to differ.
After obtaining accekeration, determine that the difference of maxima and minima in every axle acceleration value is less than or equal to this axle
During predetermined threshold value, execution step 201.
For example, it is possible to judge that whether the difference of maximum and minimum of a value in every axle acceleration value is preset less than or equal to this axle
Threshold value, if the difference of maximum and minimum of a value is preset less than or equal to X-axis in the X-axis accekeration of 3-axis acceleration sensor
In threshold value, and the Y-axis accekeration of 3-axis acceleration sensor, the difference of maximum and minimum of a value is less than or equal to Y-axis and presets threshold
Value, and in the Z axis accekeration of 3-axis acceleration sensor, the difference of maximum and minimum of a value is less than or equal to the default threshold of Z axis
Value, then judge that 3-axis acceleration sensor meets static conditions, can be with execution step 201, otherwise, it is determined that 3-axis acceleration senses
Device is unsatisfactory for static conditions.
It can be seen that, this embodiment is without outside resources, the directly accekeration according to 3-axis acceleration sensor collection
Judge whether 3-axis acceleration sensor meets static conditions, cost-effective.
The second way：When described 3-axis acceleration sensor is arranged on object, if object meets static conditions,
3-axis acceleration sensor meets static conditions.
It can be seen that, relatively easily determine because whether object meets static conditions, therefore by the state of detection object
To judge the state of 3-axis acceleration sensor, easily realize.
The third mode：Receive static instruction, then 3-axis acceleration sensor meets static conditions.
In this embodiment it is possible to trigger static instruction by way of keys or buttons, described static instruction is used for referring to
Show that 3-axis acceleration sensor meets static conditions, then when receiving static instruction it is possible to determine that 3-axis acceleration sensor
Meet static conditions.
It can be seen that, judge whether 3-axis acceleration sensor meets static conditions, the standard of judgement by way of static instruction
Really property is high.
It is understood that the application only lists several judgment modes, can also be other judgment modes, here is not another
One repeats.
After obtaining component of acceleration, can according to the detection axle of component of acceleration calculating 3-axis acceleration sensor relatively
In the deflection angle travelling detection axle in coordinate system.The detection axle of 3-axis acceleration sensor exists with travelling detection axle in coordinate system
Corresponding relation.3-axis acceleration sensor is correct install on the premise of, each axle of 3-axis acceleration sensor and the row of object
There is not angle in the corresponding axle sailing coordinate system, that is, deflection angle is zero, and the parameter of 3-axis acceleration sensor each axle collection is as right
As the parameter in each axle.
Due to being horizontally mounted, so the corresponding axle of the traveling coordinate system of each axle of 3-axis acceleration sensor and object
There may be angle.Detection axle can be one or more of X-axis, Y-axis, Z axis, then can calculate three according to component of acceleration
The X-axis of axle acceleration sensor, with respect to the deflection angle travelling X-axis in coordinate system, can calculate three axles according to component of acceleration and add
The Y-axis of velocity sensor, with respect to the deflection angle travelling Y-axis in coordinate system, can also calculate three axles according to component of acceleration and accelerate
The Z axis of degree sensor are with respect to the deflection angle travelling Z axis in coordinate system.
In an optional implementation, 3-axis acceleration can be determined according to described component of acceleration and trigonometric function
The detection axle of sensor is with respect to the deflection angle travelling detection axle in coordinate system.
It can be seen that, the present embodiment calculates deflection angle by way of trigonometric function, without outside resources, is easier reality
Existing.
Further, the application is also disclosed the specific computational methods of one of which, as follows：
If described detection axle includes X-axis, adopt following formula to calculate 3-axis acceleration according to described component of acceleration and pass
The X-axis of sensor is with respect to the deflection angle travelling X-axis in coordinate system：
If described detection axle includes Y-axis, adopt following formula to calculate 3-axis acceleration according to described component of acceleration and pass
The Y-axis of sensor is with respect to the deflection angle travelling Y-axis in coordinate system：
If described detection axle includes Z axis, adopt following formula to calculate 3-axis acceleration according to described component of acceleration and pass
The Z axis of sensor are with respect to the deflection angle travelling Z axis in coordinate system：
Wherein, α represents the X-axis of 3-axis acceleration sensor with respect to the deflection angle travelling X-axis in coordinate system, and β represents three
The Y-axis of axle acceleration sensor represents the Z axis of 3-axis acceleration sensor with respect to the deflection angle travelling Y-axis in coordinate system, γ
With respect to the deflection angle travelling Z axis in coordinate system, Jx、Jy、JzRepresent acceleration of gravity in described 3-axis acceleration sensor respectively
X-axis, Y-axis, the different component of acceleration producing on Z axis.
It can be seen that, the present embodiment passes through trigonometric function relation and directly can calculate 3-axis acceleration sensing according to component of acceleration
The detection axle of device is with respect to travelling the deflection angle detecting axle in coordinate system, without other outside resources, cost-effective, and counts
Calculate efficiency high.
Motion ginseng after determining deflection angle, on the detection axle of the sensor of interest that can obtain sensor of interest collection
Number, and described kinematic parameter is calibrated according to deflection angle, it is possible to obtain the kinematic parameter after calibration.Wherein, sensor of interest is to set
Put on object and be used for the sensor that this object is detected.
In an optional implementation, sensor of interest can be that three axles referring in step 201 and step 202 add
Velocity sensor, kinematic parameter is acceleration.
In this embodiment it is possible to 3-axis acceleration sensor is arranged on object, by 3-axis acceleration sensor
The component of acceleration of detection calculates deflection angle, and using the deflection angle calibration 3-axis acceleration sensor being calculated in motion process
The acceleration of middle collection, so that the acceleration after calibration is the actual acceleration of object, can avoid due to cannot level pacify
Dress leads to the defect that the acceleration detecting is not object actual acceleration, and then avoids leading to supervise due to inaccurate acceleration
Failing to report during control is warned or false alarm.
In another optional implementation, sensor of interest can be detection axle and described 3-axis acceleration sensor
The detection other sensors that be arranged in parallel of axle.
Wherein, other sensors can be the sensor of the kinematic parameter of energy detection object, for example, can be that angular speed passes
Sensor, direction sensor etc..The purpose of setting 3-axis acceleration sensor is the detection in order to determine 3-axis acceleration sensor
Axle detects the deflection angle of axle with respect to travelling in coordinate system, therefore, 3-axis acceleration sensor can be arranged on object, also may be used
To be not arranged on object, as long as the detection axle of guarantee other sensors is parallel with the detection axle of 3-axis acceleration sensor i.e.
Can.
Citing, other sensors and 3-axis acceleration sensor may be located on car-mounted terminal, and by car-mounted terminal
It is arranged on vehicle.Because other sensors and 3-axis acceleration sensor are provided to detect the parameter of vehicle, therefore inciting somebody to action
When other sensors and 3-axis acceleration sensor are arranged on car-mounted terminal, other sensors and 3-axis acceleration sensor phase
Answer reference axis consistent, between corresponding axis, there is not angle.When car-mounted terminal cannot be horizontally mounted, other sensors
Detection axle detects the deflection angle of axle with respect to travelling in coordinate system, sit with respect to travelling with the detection axle of 3-axis acceleration sensor
Detect that the deflection angle of axle is identical in mark system.
In this embodiment, because the detection axle of other sensors is parallel with the detection axle of 3-axis acceleration sensor, because
The detection axle of this other sensors is with respect to the deflection angle travelling detection axle in coordinate system, the detection with 3-axis acceleration sensor
With respect to travelling, axle detects in coordinate system that the deflection angle of axle is identical, therefore can calibrate other using the deflection angle calculated
The kinematic parameter of sensor collection, makes calibration parameter be not limited to 3-axis acceleration, thus increased the diversity of calibration parameter.
According to deflection angle calibrate sensor of interest collection sensor of interest detection axle on kinematic parameter when, permissible
Motion ginseng on the detection axle of the described sensor of interest calibrating sensor of interest collection according to described deflection angle and trigonometric function
Number.
It can be seen that, the present embodiment is calibrated by way of trigonometric function, without outside resources, is easier reality
Existing.
Further, the application is also disclosed the specific computational methods of one of which, as follows：
If described detection axle includes X-axis, following formula are adopted to calibrate sensor of interest collection according to described deflection angle
Kinematic parameter in the X-axis of described sensor of interest：
If described detection axle includes Y-axis, following formula are adopted to calibrate sensor of interest collection according to described deflection angle
Kinematic parameter in the Y-axis of described sensor of interest：
If described detection axle includes Z axis, following formula are adopted to calibrate sensor of interest collection according to described deflection angle
Kinematic parameter on the Z axis of described sensor of interest：
Wherein, Rx、Ry、RzRepresent sensor of interest actual acquisition X-axis, Y-axis, the kinematic parameter of Z axis, R respectivelyx'、R'y、
Rz' representing X-axis, Y-axis, the kinematic parameter after Z axis calibration respectively, α represents the X-axis of 3-axis acceleration sensor and sits with respect to travelling
The deflection angle of X-axis in mark system, β represents the Y-axis of 3-axis acceleration sensor with respect to the deflection angle travelling Y-axis in coordinate system, γ
The Z axis representing 3-axis acceleration sensor are with respect to the deflection angle travelling Z axis in coordinate system.
It can be seen that, the present embodiment passes through the mesh that trigonometric function relation directly can calibrate sensor of interest collection according to deflection angle
Kinematic parameter on the detection axle of mark sensor, without other outside resources, cost-effective, and computational efficiency is high.
After calibration kinematic parameter, the kinematic parameter after calibration can be defined as motion ginseng on detection axle for the object
Number, thus improve the accuracy of kinematic parameter.
Corresponding with the embodiment of the application parameter calibrating method, present invention also provides the enforcement of parametric calibration device
Example.
Referring to Fig. 3, Fig. 3 is a kind of structural representation of parametric calibration device according to an exemplary embodiment for the application
Figure.Described device includes：Component acquisition module 310, deflection angle determining module 320 and parametric calibration module 330.
Wherein, component acquisition module 310, for obtaining each reference axis in 3-axis acceleration sensor for the acceleration of gravity
Component of acceleration, described component of acceleration is the acceleration of gravity that described 3-axis acceleration sensor gathers in a static condition
Component.
Deflection angle determining module 320, for according to described component of acceleration, calculating the detection axle of 3-axis acceleration sensor
With respect to the deflection angle travelling detection axle in coordinate system of object, wherein, when deflection angle is zero, described 3-axis acceleration sensing
The parameter that device detects on detection axle, for representing the parameter on described object detection axle in traveling coordinate system.
Parametric calibration module 330, for calibrating the described sensor of interest of sensor of interest collection according to described deflection angle
Detection axle on kinematic parameter, described sensor of interest is arranged on described object, and described sensor of interest includes described three
Axle acceleration sensor, and/or the other sensors that the detection axle of detection axle and described 3-axis acceleration sensor be arranged in parallel.
As seen from the above-described embodiment, by obtaining the acceleration of gravity that 3-axis acceleration sensor gathers in a static condition
Component of acceleration in each reference axis of 3-axis acceleration sensor, and calculate 3-axis acceleration using gravitational acceleration component
The detection axle of sensor, with respect to travelling the deflection angle detecting axle in coordinate system, can be calibrated sensor of interest according to deflection angle and adopt
Kinematic parameter on the detection axle of the sensor of interest of collection, thus realizing not needing to be horizontally mounted in installation targets sensor,
A large amount of saving set-up times, improve installation effectiveness, avoid the inaccurate defect of measurement data that horizontal departure leads to is installed simultaneously.
In an optional implementation, in described 3-axis acceleration sensor, specify the reference axis on horizontal plane parallel
In or be present in respective coordinates axle place vertical plane, described respective coordinates axle be object traveling coordinate system in add with described three axles
The corresponding reference axis of reference axis on horizontal plane is specified in velocity sensor.
In an optional implementation, described device also includes condition determining module (Fig. 3 is not shown).
Condition determining module, for obtaining the accekeration of preset group number from described 3-axis acceleration sensor；Determine
In every axle acceleration value, the difference of maxima and minima is less than or equal to this axle predetermined threshold value.
It is understood that condition determining module is connected with component acquisition module, in the situation of condition determining module satisfaction
Lower just execution component acquisition module.
As seen from the above-described embodiment, without outside resources, the directly acceleration according to 3-axis acceleration sensor collection
Angle value judges whether 3-axis acceleration sensor meets static conditions, cost-effective.
In an optional implementation, described deflection angle determining module includes deflection angle determination sub-module, and (Fig. 3 does not show
Go out).
Wherein, deflection angle determination sub-module, for determining 3-axis acceleration according to described component of acceleration and trigonometric function
The detection axle of sensor is with respect to the deflection angle travelling detection axle in coordinate system.
As seen from the above-described embodiment, the present embodiment calculates deflection angle by way of trigonometric function, without extraneous money
Source, is easier to realize.
In an optional implementation, described parametric calibration module includes parametric calibration submodule (Fig. 3 is not shown).
Wherein, parametric calibration submodule, for calibrating sensor of interest collection according to described deflection angle and trigonometric function
Kinematic parameter on the detection axle of described sensor of interest.
As seen from the above-described embodiment, the present embodiment is calibrated by way of trigonometric function, without outside resources,
It is easier to realize.
In an optional implementation, described deflection angle determination sub-module, it is used for：
If described detection axle includes X-axis, adopt following formula to calculate 3-axis acceleration according to described component of acceleration and pass
The X-axis of sensor is with respect to the deflection angle travelling X-axis in coordinate system：
If described detection axle includes Y-axis, adopt following formula to calculate 3-axis acceleration according to described component of acceleration and pass
The Y-axis of sensor is with respect to the deflection angle travelling Y-axis in coordinate system：
If described detection axle includes Z axis, adopt following formula to calculate 3-axis acceleration according to described component of acceleration and pass
The Z axis of sensor are with respect to the deflection angle travelling Z axis in coordinate system：
Wherein, α represents the X-axis of 3-axis acceleration sensor with respect to the deflection angle travelling X-axis in coordinate system, and β represents three
The Y-axis of axle acceleration sensor represents the Z axis of 3-axis acceleration sensor with respect to the deflection angle travelling Y-axis in coordinate system, γ
With respect to the deflection angle travelling Z axis in coordinate system, Jx, Jy, Jz represent that acceleration of gravity senses in described 3-axis acceleration respectively
The different component of acceleration producing on the X-axis of device, Y-axis, Z axis.
In an optional implementation, described parametric calibration submodule, it is used for：
If described detection axle includes X-axis, following formula are adopted to calibrate sensor of interest collection according to described deflection angle
Kinematic parameter in the X-axis of described sensor of interest：
If described detection axle includes Y-axis, following formula are adopted to calibrate sensor of interest collection according to described deflection angle
Kinematic parameter in the Y-axis of described sensor of interest：
If described detection axle includes Z axis, following formula are adopted to calibrate sensor of interest collection according to described deflection angle
Kinematic parameter on the Z axis of described sensor of interest：
Wherein, Rx'、R'y、Rz' respectively represent X-axis, Y-axis, Z axis calibration after kinematic parameter, Rx、Ry、RzRepresent mesh respectively
Mark sensor actual acquisition X-axis, Y-axis, the kinematic parameter of Z axis, α represents that the X-axis of 3-axis acceleration sensor is sat with respect to travelling
The deflection angle of X-axis in mark system, β represents the Y-axis of 3-axis acceleration sensor with respect to the deflection angle travelling Y-axis in coordinate system, γ
The Z axis representing 3-axis acceleration sensor are with respect to the deflection angle travelling Z axis in coordinate system.
In said apparatus, the process of realizing of the function of modules and effect specifically refers to corresponding step in said method
Realize process, will not be described here.
For device embodiment, because it corresponds essentially to embodiment of the method, thus real referring to method in place of correlation
The part applying example illustrates.Device embodiment described above is only schematically, wherein said as separating component
The module illustrating can be or may not be physically separate, as the part that module shows can be or can also
It is not physical module, you can with positioned at a place, or can also be distributed on multiple mixed-media network modules mixed-medias.Can be according to actual
Need to select the purpose to realize application scheme for some or all of module therein.Those of ordinary skill in the art are not paying
In the case of going out creative work, you can to understand and to implement.
Those skilled in the art, after considering specification and putting into practice invention disclosed herein, will readily occur to its of the application
Its embodiment.The application is intended to any modification, purposes or the adaptations of the application, these modifications, purposes or
Person's adaptations are followed the general principle of the application and are included the undocumented common knowledge in the art of the application
Or conventional techniques.Description and embodiments be considered only as exemplary, the true scope of the application and spirit by following
Claim is pointed out.
It should be appreciated that the application is not limited to be described above and precision architecture illustrated in the accompanying drawings, and
And various modifications and changes can carried out without departing from the scope.Scope of the present application only to be limited by appended claim.
Claims (10)
1. a kind of parameter calibrating method is it is characterised in that methods described includes：
Obtain component of acceleration in each reference axis of 3-axis acceleration sensor for the acceleration of gravity, described component of acceleration is
The gravitational acceleration component that described 3-axis acceleration sensor gathers in a static condition；
According to described component of acceleration, the detection axle calculating 3-axis acceleration sensor is examined with respect in the traveling coordinate system of object
Survey the deflection angle of axle, wherein, when deflection angle is zero, the parameter that described 3-axis acceleration sensor detects on detection axle,
For representing the parameter on described object detection axle in traveling coordinate system；
Kinematic parameter on the detection axle of the described sensor of interest calibrating sensor of interest collection according to described deflection angle, described
Sensor of interest is arranged on described object, and described sensor of interest includes described 3-axis acceleration sensor, and/or detection axle
The other sensors be arrangeding in parallel with the detection axle of described 3-axis acceleration sensor.
2. method according to claim 1 is it is characterised in that specify on horizontal plane in described 3-axis acceleration sensor
Reference axis parallel to or be present in respective coordinates axle place vertical plane, described respective coordinates axle be object traveling coordinate system in
The corresponding reference axis of reference axis on horizontal plane is specified in described 3-axis acceleration sensor.
3. method according to claim 1 and 2 is it is characterised in that described acquisition acceleration of gravity passes in 3-axis acceleration
Before component of acceleration in each reference axis of sensor, also include：
The accekeration of preset group number is obtained from described 3-axis acceleration sensor；
Determine that the difference of maxima and minima in every axle acceleration value is less than or equal to this axle predetermined threshold value.
4. method according to claim 1 and 2 it is characterised in that described according to described component of acceleration, calculate three axles and add
Velocity sensor detection axle with respect to object travel coordinate system in detect axle deflection angle, including：According to described acceleration
Component and trigonometric function determine the detection axle of 3-axis acceleration sensor with respect to the deflection angle travelling detection axle in coordinate system；
And/or,
Kinematic parameter on the detection axle of the described described sensor of interest calibrating sensor of interest collection according to described deflection angle,
Including：Fortune on the detection axle of the described sensor of interest calibrating sensor of interest collection according to described deflection angle and trigonometric function
Dynamic parameter.
5. method according to claim 4 is it is characterised in that described determine according to described component of acceleration and trigonometric function
3-axis acceleration sensor detection axle with respect to travel coordinate system in detect axle deflection angle, including：
If described detection axle includes X-axis, following formula are adopted to calculate 3-axis acceleration sensor according to described component of acceleration
X-axis with respect to travel coordinate system in X-axis deflection angle：
If described detection axle includes Y-axis, following formula are adopted to calculate 3-axis acceleration sensor according to described component of acceleration
Y-axis with respect to travel coordinate system in Y-axis deflection angle：
If described detection axle includes Z axis, following formula are adopted to calculate 3-axis acceleration sensor according to described component of acceleration
Z axis with respect to travel coordinate system in Z axis deflection angle：
Wherein, α represents the X-axis of 3-axis acceleration sensor with respect to the deflection angle travelling X-axis in coordinate system, and β represents that three axles add
With respect to the deflection angle travelling Y-axis in coordinate system, γ represents the Z axis of 3-axis acceleration sensor relatively to the Y-axis of velocity sensor
In the deflection angle travelling Z axis in coordinate system, Jx、Jy、JzRepresent the X in described 3-axis acceleration sensor for the acceleration of gravity respectively
The different component of acceleration producing on axle, Y-axis, Z axis.
6. method according to claim 4 is it is characterised in that described calibrate target according to described deflection angle and trigonometric function
Kinematic parameter on the detection axle of the described sensor of interest of sensor collection, including：
If described detection axle includes X-axis, according to described deflection angle adopts following formula calibration sensor of interest collections
Kinematic parameter in the X-axis of sensor of interest：
If described detection axle includes Y-axis, according to described deflection angle adopts following formula calibration sensor of interest collections
Kinematic parameter in the Y-axis of sensor of interest：
If described detection axle includes Z axis, according to described deflection angle adopts following formula calibration sensor of interest collections
Kinematic parameter on the Z axis of sensor of interest：
Wherein, R 'x、R'y、R′zKinematic parameter after expression X-axis, Y-axis, Z axis are calibrated respectively, Rx、Ry、RzRepresent that target passes respectively
Sensor actual acquisition X-axis, Y-axis, the kinematic parameter of Z axis, α represents the X-axis of 3-axis acceleration sensor with respect to traveling coordinate system
The deflection angle of middle X-axis, β represents the Y-axis of 3-axis acceleration sensor with respect to the deflection angle travelling Y-axis in coordinate system, and γ represents
The Z axis of 3-axis acceleration sensor are with respect to the deflection angle travelling Z axis in coordinate system.
7. a kind of parametric calibration device is it is characterised in that described device includes：
Component acquisition module, divides for obtaining acceleration in each reference axis of 3-axis acceleration sensor for the acceleration of gravity
Amount, described component of acceleration is the gravitational acceleration component that described 3-axis acceleration sensor gathers in a static condition；
Deflection angle determining module, for according to described component of acceleration, calculate the detection axle of 3-axis acceleration sensor with respect to
The deflection angle travelling detection axle in coordinate system of object, wherein, when deflection angle is zero, described 3-axis acceleration sensor is in inspection
The parameter detecting is surveyed on axle, for representing the parameter on described object detection axle in traveling coordinate system；
Parametric calibration module, for calibrating the detection axle of the described sensor of interest of sensor of interest collection according to described deflection angle
On kinematic parameter, described sensor of interest is arranged on described object, and described sensor of interest includes described 3-axis acceleration
Sensor, and/or the other sensors that the detection axle of detection axle and described 3-axis acceleration sensor be arranged in parallel.
8. device according to claim 7 is it is characterised in that specify on horizontal plane in described 3-axis acceleration sensor
Reference axis parallel to or be present in respective coordinates axle place vertical plane, described respective coordinates axle be object traveling coordinate system in
The corresponding reference axis of reference axis on horizontal plane is specified in described 3-axis acceleration sensor.
9. the device according to claim 7 or 8 is it is characterised in that described device also includes：
Condition determining module, for obtaining the accekeration of preset group number from described 3-axis acceleration sensor, determines every axle
In accekeration, the difference of maxima and minima is less than or equal to this axle predetermined threshold value.
10. the device according to claim 7 or 8, it is characterised in that described deflection angle determination sub-module, is used for：
If described detection axle includes X-axis, following formula are adopted to calculate 3-axis acceleration sensor according to described component of acceleration
X-axis with respect to travel coordinate system in X-axis deflection angle：
If described detection axle includes Y-axis, following formula are adopted to calculate 3-axis acceleration sensor according to described component of acceleration
Y-axis with respect to travel coordinate system in Y-axis deflection angle：
If described detection axle includes Z axis, following formula are adopted to calculate 3-axis acceleration sensor according to described component of acceleration
Z axis with respect to travel coordinate system in Z axis deflection angle：
Wherein, α represents the X-axis of 3-axis acceleration sensor with respect to the deflection angle travelling X-axis in coordinate system, and β represents that three axles add
With respect to the deflection angle travelling Y-axis in coordinate system, γ represents the Z axis of 3-axis acceleration sensor relatively to the Y-axis of velocity sensor
In the deflection angle travelling Z axis in coordinate system, Jx、Jy、JzRepresent the X in described 3-axis acceleration sensor for the acceleration of gravity respectively
The different component of acceleration producing on axle, Y-axis, Z axis；
Described parametric calibration submodule, is used for：
If described detection axle includes X-axis, according to described deflection angle adopts following formula calibration sensor of interest collections
Kinematic parameter in the X-axis of sensor of interest：
If described detection axle includes Y-axis, according to described deflection angle adopts following formula calibration sensor of interest collections
Kinematic parameter in the Y-axis of sensor of interest：
If described detection axle includes Z axis, according to described deflection angle adopts following formula calibration sensor of interest collections
Kinematic parameter on the Z axis of sensor of interest：
Wherein, R 'x、R'y、R′zKinematic parameter after expression X-axis, Y-axis, Z axis are calibrated respectively, Rx、Ry、RzRepresent that target passes respectively
Sensor actual acquisition X-axis, Y-axis, the kinematic parameter of Z axis, α represents the X-axis of 3-axis acceleration sensor with respect to traveling coordinate system
The deflection angle of middle X-axis, β represents the Y-axis of 3-axis acceleration sensor with respect to the deflection angle travelling Y-axis in coordinate system, and γ represents
The Z axis of 3-axis acceleration sensor are with respect to the deflection angle travelling Z axis in coordinate system.
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