CN106483334A - A kind of calibration steps of Gravity accelerometer and calibration system - Google Patents
A kind of calibration steps of Gravity accelerometer and calibration system Download PDFInfo
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- CN106483334A CN106483334A CN201610885403.8A CN201610885403A CN106483334A CN 106483334 A CN106483334 A CN 106483334A CN 201610885403 A CN201610885403 A CN 201610885403A CN 106483334 A CN106483334 A CN 106483334A
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- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
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Abstract
The present invention relates to technical field of information processing, discloses a kind of calibration steps of Gravity accelerometer and calibration system.The calibration steps includes：Obtain the side-play amount of the X-axis, Y-axis and Z axis of Gravity accelerometer；Respectively obtain X-axis perpendicular to horizontal plane when corresponding sampled value, Y-axis perpendicular to horizontal plane when corresponding sampled value and Z axis perpendicular to horizontal plane when corresponding sampled value；The standard value of side-play amount, sampled value and acceleration of gravity according to each axle, calculates the compensation rate of each axle of Gravity accelerometer；According to compensation rate and the sampled value of each axle, the final output value of X-axis, Y-axis and Z axis is obtained.Embodiment of the present invention also provides a kind of calibration system of Gravity accelerometer.Embodiment of the present invention at most need to only rotate four times, measure 3 side-play amounts and 3 sampled values, you can complete the calibration to Gravity accelerometer, improve the calibration speed of Gravity accelerometer, saved prover time, improve producing line efficiency.
Description
Technical field
The present invention relates to technical field of information processing, more particularly to a kind of calibration steps of Gravity accelerometer and school
Barebone.
Background technology
Gravity accelerometer is provided with most of electronic products (e.g., mobile phone, panel computer etc.) perceiving plus
The change of turn of speed.X-axis, Y-axis and Z axis are provided with Gravity accelerometer.During acceleration of gravity use, need
X-axis, Y-axis and Z axis are calibrated, authentic and valid to ensure the data for gathering.The present inventor is utilizing prior art
Find during realizing the present invention：The 6 face calibration methods that prior art is provided, not only tool structure is complicated, and equipment cost is high,
And the test in each face is required for devoting a tremendous amount of time, the time required for 6 times that rotates can have a strong impact on testing efficiency.
Content of the invention
It is an object of the invention to provide a kind of calibration steps of Gravity accelerometer and calibration system so that counterweight
The prover time of power acceleration transducer is reduced, and improves producing line efficiency.
For solving above-mentioned technical problem, embodiments of the present invention provide a kind of calibration side of Gravity accelerometer
Method, including：Obtain the offset X of the X-axis, Y-axis and Z axis of Gravity accelerometeroffset、YoffsetAnd Zoffset；Obtain respectively
X-axis perpendicular to horizontal plane when corresponding sampled value X ', Y-axis perpendicular to horizontal plane when corresponding sampled value Y ' and Z axis perpendicular to water
Corresponding sampled value Z during plane '；According to offset Xoffset、Yoffset、Zoffset, sampled value X ', Y ', Z ' and acceleration of gravity
Standard value g, calculates the compensation rate of the X-axis, Y-axis and Z axis of Gravity accelerometer；According to X-axis, Y-axis, the compensation rate of Z axis and
Sampled value X ', Y ', Z ', obtain the final output value of X-axis, Y-axis and Z axis.
Embodiments of the present invention additionally provide a kind of calibration system of Gravity accelerometer, including：Microcontroller list
Unit (Microcontroller Unit；) and Gravity accelerometer MCU；Micro-control unit includes：First acquisition module,
Two acquisition modules, computing module and output module；First acquisition module be used for obtaining the X-axis of Gravity accelerometer, Y-axis and
The offset X of Z axisoffset、YoffsetAnd Zoffset；Second acquisition module be used for obtain X-axis perpendicular to horizontal plane when corresponding X-axis
Sampled value X ', Y-axis perpendicular to horizontal plane when corresponding Y-axis sampled value Y ', Z axis perpendicular to horizontal plane when corresponding Z axis
Sampled value Z '；Computing module is used for according to offset Xoffset、Yoffset、Zoffset, sampled value X ', Y ', Z ' and acceleration of gravity
Standard value g, calculates the compensation rate of the X-axis, Y-axis and Z axis of Gravity accelerometer；Output module is used for according to X-axis, Y-axis, Z
The compensation rate and sampled value X of axle ', Y ', Z ', obtain the final output value of X-axis, Y-axis and Z axis.
Embodiment of the present invention need to rotate four times in terms of existing technologies, at most only, measure 6 values (i.e. side-play amount
Xoffset、Yoffset、Zoffset, and sampled value X ', Y ', Z '), you can complete the calibration to Gravity accelerometer, carry significantly
The high calibration speed of Gravity accelerometer, has saved prover time, has improved producing line efficiency.
Further, according to offset Xoffset、Yoffset、Zoffset, sampled value X ', the standard value of Y ', Z ' and acceleration of gravity
G, calculates the compensation rate of the X-axis, Y-axis and Z axis of Gravity accelerometer, specifically includes：According to X "=(X '+Xoffset)/g、Y”
=(Y '+Yoffset)/g and Z "=(Z '+Zoffset)/g, calculates the compensation rate of the X-axis, Y-axis and Z axis of Gravity accelerometer；
Wherein, X " for X-axis compensation rate, Y " for Y-axis compensation rate, Z " for Z axis compensation rate.Calculating side there is provided a compensation rate
Method, further increases the realizability of embodiment of the present invention.
Further, according to X-axis, Y-axis, the compensation rate of Z axis and sampled value X ', Y ', Z ', obtain X-axis, Y-axis and Z axis final
Output valve, specifically includes：Sampled value X by X-axis, Y-axis and Z axis ', the product of Y ', Z ' and corresponding compensation rate, as X-axis, Y-axis
And the final output value of Z axis.Be conducive to improving the accuracy of test.
Further, the offset X of the X-axis, Y-axis and Z axis of Gravity accelerometer is obtainedoffset、YoffsetAnd
Zoffset, specifically include：X-axis is obtained parallel to corresponding output valve during horizontal plane as Xoffset；Y-axis is obtained parallel to horizontal plane
When corresponding output valve as Yoffset；Z axis are obtained parallel to corresponding output valve during horizontal plane as Zoffset.Provide one kind
The acquisition methods of side-play amount, are conducive to improving the realizability of embodiment of the present invention further.
Further, Xoffset、YoffsetTogether obtain when Z axis are perpendicular to horizontal plane；ZoffsetX-axis or Y-axis perpendicular to
Obtain during horizontal plane.There is provided a kind of Xoffset、Yoffset、ZoffseThe acquisition opportunity of t.
Further, computing module is additionally operable to according to X "=(X '+Xoffset)/g, Y "=(Y '+Yoffset)/g and Z "=(Z '
+Zoffset)/g, calculates the compensation rate of the X-axis, Y-axis and Z axis of Gravity accelerometer；Wherein, X " is the compensation rate of X-axis, Y "
For the compensation rate of Y-axis, Z " for Z axis compensation rate.There is provided the computational methods of a compensation rate, present invention enforcement is further increased
The realizability of mode.
Further, output module is additionally operable to sampled value X of X-axis, Y-axis and Z axis ', Y ', Z ' and corresponding compensation rate it
Product, used as the final output value of X-axis, Y-axis and Z axis.Be conducive to improving the accuracy of test.
Further, the first acquisition module is used for obtaining the X-axis parallel to corresponding output valve conduct during horizontal plane
Xoffset；First acquisition module is additionally operable to obtain Y-axis parallel to corresponding output valve during horizontal plane as Yoffset；First obtains mould
Block is additionally operable to obtain Z axis parallel to corresponding output valve during horizontal plane as Zoffset.There is provided a kind of acquisition side of side-play amount
Method, is conducive to improving the realizability of embodiment of the present invention further.
Further, the first acquisition module is additionally operable to when Z axis are perpendicular to horizontal plane, when obtaining X-axis parallel to horizontal plane
Corresponding output valve and Y-axis are parallel to corresponding output valve during horizontal plane；First acquisition module is additionally operable in the X-axis or Y-axis
Perpendicular to horizontal plane when, obtain the Z axis parallel to corresponding output valve during horizontal plane.There is provided a kind of Xoffset、Yoffset、
ZoffseThe acquisition opportunity of t.
Description of the drawings
One or more embodiments are illustrative by the picture in corresponding accompanying drawing, these exemplary theorys
Bright do not constitute the restriction to embodiment, the element with same reference numbers label in accompanying drawing is expressed as similar element, removes
Non- have especially statement, and composition is not limited the figure in accompanying drawing.
Fig. 1 is the flow chart of the calibration steps of the Gravity accelerometer according to first embodiment of the invention；
Fig. 2 is the flow chart of the calibration steps of the Gravity accelerometer according to second embodiment of the invention；
Fig. 3 is schematic diagram when keeping flat (Z axis are perpendicular to horizontal plane) according to the turntable of second embodiment of the invention；
Fig. 4 is schematic diagram when ratating 90 degrees (Y-axis is perpendicular to horizontal plane) according to the turntable of second embodiment of the invention；
Fig. 5 is signal when spending (X-axis is perpendicular to horizontal plane) according to the turntable of second embodiment of the invention rotation -90
Figure；
Fig. 6 is the structured flowchart of the calibration system of the Gravity accelerometer according to third embodiment of the invention；
Fig. 7 is the structured flowchart of the calibration system of the Gravity accelerometer according to fifth embodiment of the invention.
Specific embodiment
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with each reality of the accompanying drawing to the present invention
The mode of applying is explained in detail.However, it will be understood by those skilled in the art that in each embodiment of the present invention,
In order that reader more fully understands the application and proposes many ins and outs.But, even if there is no these ins and outs and base
Many variations and modification in following embodiment, it is also possible to realize the application technical scheme required for protection.
The first embodiment of the present invention is related to a kind of calibration steps of Gravity accelerometer.The tool of present embodiment
Body flow process as shown in figure 1, including：
Step 101：Obtain the offset X of the X-axis, Y-axis and Z axis of Gravity accelerometeroffset、YoffsetAnd Zoffset.
It is well known that the X-axis (or Y-axis or Z axis) of Gravity accelerometer is when parallel to horizontal plane, its corresponding X
The output valve of axle (or Y-axis or Z axis) in theory for should be 0.But the presence due to Gravity accelerometer itself error,
X-axis (or Y-axis or Z axis) is caused when parallel to horizontal plane, the output valve of its corresponding X-axis (or Y-axis or Z axis) is not
0, and the actual numerical value of its output is the offset X of X-axis (or Y-axis or Z axis)offset(or Yoffset, or Zoffset).
Step 102：Respectively obtain X-axis perpendicular to horizontal plane when corresponding sampled value X ', Y-axis perpendicular to horizontal plane when correspond to
Sampled value Y ' and Z axis perpendicular to horizontal plane when corresponding sampled value Z '.
As described in step 101, due to the presence of Gravity accelerometer itself error, X-axis, Y-axis, Z axis are caused
All there is certain side-play amount, therefore, in this step, the X-axis of collection perpendicular to horizontal plane when corresponding X-axis sampled value (
Output valve) X ', Y-axis perpendicular to horizontal plane when corresponding Y-axis sampled value Y ' and Z axis perpendicular to horizontal plane when corresponding Z axis
Sampled value Z ' all there is certain error.
Step 103：According to offset Xoffset、Yoffset、Zoffset, sampled value X ', the standard of Y ', Z ' and acceleration of gravity
Value g, calculates the compensation rate of the X-axis, Y-axis and Z axis of Gravity accelerometer.
The purpose for calculating the compensation rate is the error for calculating each axle of Gravity accelerometer (X-axis, Y-axis and Z axis).
Step 104：According to X-axis, Y-axis, the compensation rate of Z axis and sampled value X ', Y ', Z ', obtain X-axis, Y-axis and Z axis most
Whole output valve.
After calculating the compensation rate of each axle of Gravity accelerometer, you can the compensation rate calculated with this calibrate from weight
Sampled value X obtained inside power acceleration sensor chip ', Y ', Z ', to improve the accuracy of the data of collection.
It is seen that, present embodiment, at most only need to rotate four times, you can measure 6 values (i.e. offset Xoffset、
Yoffset、Zoffset, and sampled value X ', Y ', Z '), you can complete the calibration to Gravity accelerometer, substantially increase weight
The calibration speed of power acceleration transducer, has saved prover time, improves producing line efficiency.
Second embodiment of the invention is related to a kind of calibration steps of Gravity accelerometer.Second embodiment be
The improvement further that does on the basis of first embodiment, mainly thes improvement is that：Second embodiment further limit
The method for obtaining each axle compensation rate, so as to further increase the realizability of embodiment of the present invention.The tool of present embodiment
Body flow process is as shown in Figure 2：
Step 201：Obtain the X-axis of Gravity accelerometer and the offset X of Y-axisoffset、Yoffset.
In this step, first Gravity accelerometer can be placed in one can rotate on the turntable of 180 degree.Selecting this turn
Its horizontal and vertical degree of accuracy should be taken into full account during platform, the horizontal and vertical degree of accuracy is higher, can more improve the accurate of calibration
Rate.
First turntable is rotated to horizontal plane, make the Z axis of Gravity accelerometer perpendicular to horizontal plane, X-axis is parallel with Y-axis
In horizontal plane (as shown in figure 3, Y-axis is perpendicular to page in Fig. 3).The output valve of current X-axis and Y-axis is obtained, and which is made respectively
Offset X for X-axisoffset, Y-axis side-play amount Yoffset.
Obtain offset Xoffset、YoffsetAfterwards, turntable is ratated 90 degrees, makes Y-axis perpendicular to horizontal plane, X-axis is put down with Z axis
Row is in horizontal plane (as shown in figure 4, Z axis are perpendicular to page in Fig. 4), and enters step 202.
Step 202：Obtain Y-axis perpendicular to horizontal plane when corresponding sampled value Y ', and side-play amount Z of Z axisoffset.
In this step, output valve (i.e. sampled value) Y ' of Y-axis, and the output valve of Z axis, the output valve of the Z axis can be obtained
Side-play amount Z of as Z axisoffset.
Obtain sampled value Y ' and side-play amount ZoffsetAfterwards, by turntable rotation -90 spend, make X-axis perpendicular to horizontal plane, Y-axis and
Z axis are parallel to horizontal plane (as shown in figure 5, Z axis are perpendicular to page in Fig. 5), and enter step 203.
Step 203：Obtain X-axis perpendicular to horizontal plane when corresponding sampled value X '.
In this step, sampled value X of X-axis is got ' after, you can turntable is rotated back to the position of step 201, is entered
Step 204.
Step 204：Obtain Z axis perpendicular to horizontal plane when corresponding sampled value Z '.
In present embodiment, sampled value Z ' obtain in step 204, but in actual applications, it is also possible in step
In 201, sampled value Z is just obtained '.That is, in present embodiment, turntable can also reduce by a number of revolutions.
In addition, it is noted that present embodiment be not intended to limit acquisition sampled value X ', Y ', the order of Z ', also do not limit
Obtain offset Xoffset、Yoffset、ZoffsetOrder.Sampled value X ' (or Y ' or Z ') can be X-axis (or Y-axis or Z axis) hang down
The sampled value of sampled value, or vertical-horizontal corresponding X-axis when facing down of corresponding X-axis when straight level is faced upwards.
Step 205：According to offset Xoffset、Yoffset、Zoffset, sampled value X ', the standard of Y ', Z ' and acceleration of gravity
Value g, calculates the compensation rate of the X-axis, Y-axis and Z axis of Gravity accelerometer.
Specifically, can be according to X "=(X '+Xoffset)/g, Y "=(Y '+Yoffset)/g and Z "=(Z '+Zoffset)/g, calculates
The X-axis, Y-axis of Gravity accelerometer and the compensation rate of Z axis；Wherein, X " for X-axis compensation rate, Y " for Y-axis compensation rate,
Z " is the compensation rate of Z axis.
Step 206：According to X-axis, Y-axis, the compensation rate of Z axis and sampled value X ', Y ', Z ', obtain X-axis, Y-axis and Z axis most
Whole output valve.
In this step, can be by sampled value X of X-axis, Y-axis and Z axis ', the product of Y ', Z ' and corresponding compensation rate, as X-axis, Y
The final output value of axle and Z axis.
Final output value X=X of the X-axis for gathering ' * X "；
Final output value Y=Y of Y-axis ' * Y "；
Final output value Z=Z of Z axis ' * Z ".
Above finally goes out value, is the data of each axle after calibrating.
Present embodiment, for first embodiment, it is further provided calculate each axle compensation rate method and
The method of calibration, is conducive to improving the realizability of present embodiment.
Divide the step of various methods above, be intended merely to describe clear, can merge into when realizing a step or
Some steps are split, multiple steps are decomposed into, as long as comprising identical logical relation, all in the protection domain of this patent
Interior；To adding inessential modification in algorithm or in flow process or inessential design being introduced, but its algorithm is not changed
With the core design of flow process all in the protection domain of the patent.
Third embodiment of the present invention is related to a kind of calibration system of Gravity accelerometer.As shown in fig. 6, the school
Barebone includes：Micro-control unit 61 and Gravity accelerometer 62.
Micro-control unit 61 includes：First acquisition module 611, the second acquisition module 612, computing module 613 and output mould
Block 614.
Wherein, the first acquisition module 611 is used for the side-play amount of X-axis, Y-axis and the Z axis for obtaining Gravity accelerometer
Xoffset、YoffsetAnd Zoffset.
It is well known that the X-axis (or Y-axis or Z axis) of Gravity accelerometer is when parallel to horizontal plane, its corresponding X
The output valve of axle (or Y-axis or Z axis) in theory for should be 0.But the presence due to Gravity accelerometer itself error,
X-axis (or Y-axis or Z axis) is caused when parallel to horizontal plane, the output valve of its corresponding X-axis (or Y-axis or Z axis) is not
0, and the actual numerical value of its output is the offset X of X-axis (or Y-axis or Z axis)offset(or Yoffset, or Zoffset).
Second acquisition module 612 be used for obtaining X-axis perpendicular to horizontal plane when corresponding X-axis sampled value X ', Y-axis perpendicular to
Sampled value Y of corresponding Y-axis during horizontal plane ', Z axis perpendicular to horizontal plane when corresponding Z axis sampled value Z '.
As stated earlier, due to the presence of Gravity accelerometer itself error, X-axis, Y-axis, Z axis are caused all to exist
Certain side-play amount, therefore, the X-axis of collection perpendicular to horizontal plane when sampled value (output valve) X ' of corresponding X-axis, Y-axis hang down
Sampled value Y of straight Y-axis corresponding when horizontal plane ' and Z axis perpendicular to horizontal plane when corresponding Z axis sampled value Z ' all have one
Fixed error.
Computing module 613 is used for according to offset Xoffset、Yoffset、Zoffset, sampled value X ', Y ', Z ' and acceleration of gravity
Standard value g, calculate Gravity accelerometer X-axis, Y-axis and Z axis compensation rate.
The purpose for calculating the compensation rate is the error for calculating each axle of Gravity accelerometer (X-axis, Y-axis and Z axis).
Output module 614 is used for according to X-axis, Y-axis, the compensation rate of Z axis and sampled value X ', Y ', Z ', obtain X-axis, Y-axis and Z
The final output value of axle.
After calculating the compensation rate of each axle of Gravity accelerometer, you can the compensation rate calculated with this calibrate from weight
Sampled value X obtained inside power acceleration sensor chip ', Y ', Z ', to improve the accuracy of the data of collection.
It is seen that, present embodiment, at most only need to rotate four times, you can measure 6 values (i.e. offset Xoffset、
Yoffset、Zoffset, and sampled value X ', Y ', Z '), you can complete the calibration to Gravity accelerometer, substantially increase weight
The calibration speed of power acceleration transducer, has saved prover time, improves producing line efficiency.
It is seen that, present embodiment is the system embodiment corresponding with first embodiment, and present embodiment can be with
First embodiment is worked in coordination enforcement.The relevant technical details that mentions in first embodiment still have in the present embodiment
Effect, in order to reduce repetition, is repeated no more here.Correspondingly, the relevant technical details that mentions in present embodiment are also applicable in
In first embodiment.
It is noted that involved each module in present embodiment is logic module, in actual applications, one
Individual logical block can be a part for a physical location, or a physical location, can also be with multiple physics lists
The combination of unit is realized.Additionally, for the innovative part for projecting the present invention, will not be with solution institute of the present invention in present embodiment
The unit that the technical problem relation of proposition is less close is introduced, but this is not intended that in present embodiment there are no other lists
Unit.
4th embodiment of the present invention is related to a kind of calibration system of Gravity accelerometer.4th embodiment is
The improvement further that does on the basis of the 3rd embodiment, mainly thes improvement is that：4th embodiment is limited further
The method of each axle compensation rate of acquisition, so as to further increase the realizability of embodiment of the present invention.
Specifically, in the present embodiment, first acquisition module 611 is used for obtaining X-axis parallel to during horizontal plane pair
The output valve that answers is used as Xoffset；First acquisition module 611 is additionally operable to obtain Y-axis parallel to corresponding output valve work during horizontal plane
For Yoffset, the first acquisition module 611 be additionally operable to obtain Z axis parallel to corresponding output valve during horizontal plane as Zoffset.
First acquisition module 611 can obtain X-axis parallel to corresponding during horizontal plane in the lump when Z axis are perpendicular to horizontal plane
Output valve and Y-axis parallel to corresponding output valve during horizontal plane, respectively as Xoffset、Yoffset；Can X-axis or Y-axis perpendicular to
During horizontal plane, Z axis are obtained parallel to corresponding output valve during horizontal plane using as Zoffset.
It is noted that present embodiment is to Xoffset、YoffsetAnd ZoffsetAcquisition order be not limited,
Xoffset、YoffsetAnd ZoffsetBoth can obtain in rotating twice, it is also possible to obtain in three rotations.
Computing module 613 is according to offset Xoffset、Yoffset、Zoffset, sampled value X ', Y ', Z ' and acceleration of gravity
Standard value g, during the compensation rate of the X-axis, Y-axis and Z axis that calculate Gravity accelerometer, can be according to X "=(X '+Xoffset)/g、
Y "=(Y '+Yoffset)/g and Z "=(Z '+Zoffset)/g, calculates the compensation of the X-axis, Y-axis and Z axis of Gravity accelerometer
Amount；Wherein, X " for X-axis compensation rate, Y " for Y-axis compensation rate, Z " for Z axis compensation rate.
Output module 614 is according to X-axis, Y-axis, the compensation rate of Z axis and sampled value X ', Y ', Z ', obtain X-axis, Y-axis and Z axis
Final output value when, can be by sampled value X of X-axis, Y-axis and Z axis ', the product of Y ', Z ' and corresponding compensation rate, as X-axis, Y-axis
And the final output value of Z axis.
Final output value X=X of the X-axis for gathering ' * X "；
Final output value Y=Y of Y-axis ' * Y "；
Final output value Z=Z of Z axis ' * Z ".
Above finally goes out value, is the data of each axle after calibrating.
Present embodiment, for first embodiment, it is further provided calculate each axle compensation rate method and
The method of calibration, is conducive to improving the realizability of present embodiment.
As second embodiment is mutually corresponding with present embodiment, therefore present embodiment can be mutual with second embodiment
Match enforcement.The relevant technical details that mentions in second embodiment still effectively, are implemented second in the present embodiment
The technique effect that can be reached in mode is in the present embodiment similarly it is achieved that in order to reduce repetition, no longer go to live in the household of one's in-laws on getting married here
State.Correspondingly, the relevant technical details that mentions in present embodiment are also applicable in second embodiment.
5th embodiment of the present invention is related to a kind of calibration system of Gravity accelerometer.As shown in fig. 7, the school
Barebone includes：Micro-control unit 71 and Gravity accelerometer 72.
The micro-control unit 71 includes：Processor 711, memory 712, transceiver 713 and interactive device 714.
Wherein, processor 711 is the core of micro-control unit 71, is mainly responsible in micro-control unit 71 between each part
The compensation rate for calculating each axle referred in co-ordination, and above-mentioned embodiment, the compensation rate calculated with this are calibrated from weight
Co-ordination between the sampled value of each axle obtained inside power acceleration sensor chip and each part etc..Wherein, store
Device 712 can be used for storing the side-play amount for obtaining each axle, and the sampled value of each axle.Transceiver 713 is mainly used in acquisition gravity and adds
The side-play amount of each axle of velocity sensor, and the sampled value of each axle.Interactive device 714 is mainly used in the operation of receiving user's input and refers to
Order.
It will be appreciated by those skilled in the art that all or part of step that realizes in above-described embodiment method can be by
Program is completed to instruct the hardware of correlation, and the program storage is used so that one including some instructions in a storage medium
Individual equipment (can be single-chip microcomputer, chip etc.) or processor (processor) execute the whole of each embodiment method of the application
Or part steps.And aforesaid storage medium includes：USB flash disk, portable hard drive, read-only storage (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
It will be understood by those skilled in the art that the respective embodiments described above are to realize the specific embodiment of the present invention,
And in actual applications, can to which, various changes can be made in the form and details, without departing from the spirit and scope of the present invention.
Claims (10)
1. a kind of calibration steps of Gravity accelerometer, it is characterised in that include：
Obtain the offset X of the X-axis, Y-axis and Z axis of Gravity accelerometeroffset、YoffsetAnd Zoffset；
Obtain X-axis perpendicular to horizontal plane when corresponding sampled value X ', Y-axis perpendicular to horizontal plane when corresponding sampled value Y ' and Z axis
Perpendicular to horizontal plane when corresponding sampled value Z '；
According to the offset Xoffset、Yoffset、Zoffset, sampled value X ', standard value g of Y ', Z ' and acceleration of gravity, calculate
The X-axis, Y-axis of the Gravity accelerometer and the compensation rate of Z axis；
According to the X-axis, Y-axis, the compensation rate of Z axis and sampled value X ', Y ', Z ', obtain the final defeated of the X-axis, Y-axis and Z axis
Go out value.
2. the calibration steps of Gravity accelerometer according to claim 1, it is characterised in that described according to side-play amount
Xoffset、Yoffset、Zoffset, sampled value X ', standard value g of Y ', Z ' and acceleration of gravity, calculate the X of Gravity accelerometer
The compensation rate of axle, Y-axis and Z axis, specifically includes：
According to X "=(X '+Xoffset)/g, Y "=(Y '+Yoffset)/g and Z "=(Z '+Zoffset)/g, calculates the gravity and accelerates
The compensation rate of the X-axis, Y-axis and Z axis of degree sensor；Wherein, X " is the compensation rate of the X-axis, Y " be the Y-axis compensation rate,
Z " is the compensation rate of the Z axis.
3. the calibration steps of Gravity accelerometer according to claim 1, it is characterised in that described according to X-axis, Y
Axle, the compensation rate of Z axis and sampled value X ', Y ', Z ', obtain the final output value of X-axis, Y-axis and Z axis, specifically include：
Sampled value X by the X-axis, Y-axis and Z axis ', the product of Y ', Z ' and corresponding compensation rate, as the X-axis, Y-axis and Z axis
Final output value.
4. the calibration steps of Gravity accelerometer according to claim 1, it is characterised in that the acquisition gravity adds
The X-axis, Y-axis of velocity sensor and the offset X of Z axisoffset、YoffsetAnd Zoffset, specifically include：
The X-axis is obtained parallel to corresponding output valve during horizontal plane as Xoffset；
The Y-axis is obtained parallel to corresponding output valve during horizontal plane as Yoffset；
The Z axis are obtained parallel to corresponding output valve during horizontal plane as Zoffset.
5. the calibration steps of Gravity accelerometer according to claim 4, it is characterised in that
The Xoffset、YoffsetTogether obtain when the Z axis are perpendicular to horizontal plane；
The ZoffsetObtain when the X-axis or Y-axis are perpendicular to horizontal plane.
6. a kind of calibration system of Gravity accelerometer, it is characterised in that include：Micro-control unit and acceleration of gravity are passed
Sensor；
The micro-control unit includes：First acquisition module, the second acquisition module, computing module and output module；
First acquisition module is used for the offset X of X-axis, Y-axis and the Z axis for obtaining Gravity accelerometeroffset、Yoffset
And Zoffset；
Second acquisition module be used for obtain the X-axis perpendicular to horizontal plane when corresponding X-axis sampled value X ', the Y-axis
Perpendicular to horizontal plane when corresponding Y-axis sampled value Y ', the Z axis perpendicular to horizontal plane when corresponding Z axis sampled value Z '；
The computing module is used for according to the offset Xoffset、Yoffset、Zoffset, sampled value X ', Y ', Z ' and gravity accelerates
Standard value g of degree, calculates the compensation rate of the X-axis, Y-axis and Z axis of the Gravity accelerometer；
The output module is used for according to the X-axis, Y-axis, the compensation rate of Z axis and sampled value X ', Y ', Z ', obtain the X-axis, Y
The final output value of axle and Z axis.
7. the calibration system of Gravity accelerometer according to claim 6, it is characterised in that
The computing module is additionally operable to according to X "=(X '+Xoffset)/g, Y "=(Y '+Yoffset)/g and Z "=(Z '+Zoffset)/
G, calculates the compensation rate of the X-axis, Y-axis and Z axis of the Gravity accelerometer；Wherein, X " is the compensation rate of the X-axis, Y "
For the compensation rate of the Y-axis, Z " be the Z axis compensation rate.
8. the calibration system of Gravity accelerometer according to claim 6, it is characterised in that
The output module is additionally operable to sampled value X of the X-axis, Y-axis and Z axis ', the product of Y ', Z ' and corresponding compensation rate, make
Final output value for the X-axis, Y-axis and Z axis.
9. the calibration system of Gravity accelerometer according to claim 6, it is characterised in that
First acquisition module is used for obtaining the X-axis parallel to corresponding output valve during horizontal plane as Xoffset；
First acquisition module is additionally operable to obtain the Y-axis parallel to corresponding output valve during horizontal plane as Yoffset；
First acquisition module is additionally operable to obtain the Z axis parallel to corresponding output valve during horizontal plane as Zoffset.
10. the calibration system of Gravity accelerometer according to claim 9, it is characterised in that described first obtains
Module is additionally operable to, when the Z axis are perpendicular to horizontal plane, obtain the X-axis parallel to corresponding output valve during horizontal plane and institute
Y-axis is stated parallel to corresponding output valve during horizontal plane；
First acquisition module is additionally operable to, when the X-axis or Y-axis are perpendicular to horizontal plane, obtain the Z axis parallel to level
Corresponding output valve during face.
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