CN106918336A - Inertia measuring module and its inertial measurement method - Google Patents

Abstract

A kind of inertia measuring module and its inertial measurement method, the inertia measuring module have depth survey unit and inertial data arithmetic element.When inertia measuring module is moved, depth survey is persistently carried out to external environment condition by depth survey unit, and obtain the changes in coordinates value of multiple test points.Then, translation operation is carried out to changes in coordinates value by inertial data arithmetic element, includes inertia measuring module in the anglec of rotation and displacement on three axles because moving given birth to inertial data, wherein inertial data to obtain inertia measuring module.Finally, inertia measuring module output inertial data.The invention also discloses the inertial measurement method of the inertia measuring module.The present invention carries out computing to obtain inertial data by the measured value to depth survey unit, can obtain measurement result that is more more accurate than general inertial measuring unit and being not easily susceptible to interference.

Description

Inertia measuring module and its inertial measurement method

Technical field

The present invention relates to a kind of measurement module and measuring method, particularly a kind of inertia measuring module and inertia measurement side Method.

Background technology

For the motion state of recorded electronic device, and for electronic installation is positioned, existing electronic installation is generally matched somebody with somebody Inertial measuring unit is equipped with, is used to measure the inertial data of electronic installation.

Common inertial measuring unit such as accelerometer and gyroscope, may be used to measurement electronic installation in the fortune on three axles The inertial data such as dynamic acceleration and the anglec of rotation.However, existing inertial measuring unit is subject to many in fact in measurement behavior Limitation, for example, gyroscope must sense Geomagnetic signal can produce angle change data.

Specifically, existing gyroscope must can be operated in the environment of it stably can sense Geomagnetic signal, local (such as other electronic components or external environmental magnetic field change by arround are influenceed), gyroscope when magnetic signal is unstable Inertial data obtained by measurement will be quite inaccurate.In addition, when Geomagnetic signal cannot be sensed (such as in space), top Spiral shell instrument even cannot sense inertial data.

In addition, existing inertial measuring unit is all passive type element, such as gyroscope is passively to sense Geomagnetic signal. Therefore, the accuracy rate of inertial data can change with the Strength Changes of Geomagnetic signal, and user cannot be by inertia measurement The adjustment of device improves the accuracy rate of inertial data.

The content of the invention

In order to the technical problem present invention for solving above-mentioned provides a kind of inertia measuring module and its inertial measurement method, can lead to The inertial data that external environment condition carrys out the life because of motion of computing body relative to the depth information of body is crossed, obtains more used than general whereby Property measurement apparatus it is more accurate and be not easily susceptible to interference measurement result.

To achieve these goals, the invention provides a kind of inertia measuring module, including：

One depth survey unit, it is outer to obtain this in persistently depth survey is carried out to an external environment condition in a time interval Multiple test points in portion's environment are in the changes in coordinates value in the time interval；And

One inertial data arithmetic element, connects the depth survey unit, and the changes in coordinates value to the plurality of test point is carried out One translation operation is moved and a raw inertial data with obtaining the inertia measuring module in the time interval, and it is used to export this Property data, wherein the inertial data include an anglec of rotation and a displacement.

As described above, wherein the depth survey unit includes：

One signal transmitting unit, in the time interval persistently to the external environment condition send a measurement signal；

One signal receiving unit, in persistently received in the time interval external environment condition for the measurement signal a reflection Signal；And

One processing unit, connects the signal transmitting unit and the signal receiving unit, drives the signal transmitting unit to send The measurement signal, receives the reflected signal, and judge the plurality of test point according to the reflected signal by the signal receiving unit Changes in coordinates value.

As described above, wherein the inertial data arithmetic element includes：

One converting unit, the changes in coordinates value of the plurality of test point is received by the depth survey unit, and to the plurality of inspection The changes in coordinates value of measuring point carries out the translation operation to obtain the inertial data；And

One output unit, exports the converting unit and calculates the inertial data for producing.

As described above, wherein depth survey unit is an active sensing of the transmit power that can adjust the measurement signal Device.

As described above, wherein the depth survey unit is radar depth sense device or optical depth sensor.

As described above, wherein the inertial data arithmetic element passes through a conversion formula by the changes in coordinates of the plurality of test point Value is converted to the inertial data：P_it2=R (P_it1)+D,P_it1=[P_1t1~P_nt1],P_it2=[P_1t2~P_nt2],n≥4；Wherein P_it1 It is the particular detection o'clock in the plurality of test point in the coordinate data of a very first time, P_it2It is the particular detection o'clock in one The coordinate data of two times, n is the quantity of the plurality of test point, and R is the spin matrix comprising multiple anglecs of rotation, and D is A transposed matrix comprising multiple displacements.

As described above, wherein the inertial data arithmetic element by one first formula, one second formula, one the 3rd formula, One the 4th formula, one the 5th formula and one the 6th formula calculate the inertial data, wherein：

First formula is：WhereinIt is the plurality of inspection Measuring point is in one first mass centre of a very first time, P_it1It is each test point in the coordinate data of the very first time, N was for should The quantity of multiple test points；

Second formula is：WhereinIt is the plurality of inspection Measuring point is in one second mass centre of one second time, P_it2It is each test point in the coordinate data of second time, N was for should The quantity of multiple test points；

3rd formula is：Its Middle H is a covariance matrix, P_it1It is each test point in the coordinate data of the very first time,For this One mass centre, P_it2It is each test point in the coordinate data of second time,For in second mass The heart, N is the quantity of the plurality of test point, and T is matrix transposition (Transpose)；

4th formula is：[U, S, V]=SVD (H)；Wherein SVD is singular value decomposition computing, and H is the covariance matrix, U, S, V are respectively three matrixes of singular value decomposition computing generation；

5th formula is：R=UV^T；Wherein R is the spin matrix comprising multiple anglecs of rotation；

6th formula is：Wherein D is comprising multiple One transposed matrix of the displacement, R is the spin matrix,It is first mass centre,It is second mass centre.

In order to above-mentioned purpose is better achieved, present invention also offers a kind of inertial measurement method, apply to have one deeply One inertia measuring module of degree measuring unit and an inertial data arithmetic element, the inertial measurement method includes：

A) by a signal transmitting unit of the depth survey unit in persistently being sent out an external environment condition in a time interval A measurement signal is sent, the multiple test points during wherein the measurement signal is used for the external environment condition carry out depth survey；

B) by a signal receiving unit of the depth survey unit in persistently receiving the external environment condition in the time interval For a reflected signal of the measurement signal；

C) processing unit of the depth survey unit judges the plurality of test point in the time zone according to the reflected signal Interior changes in coordinates value；

D) translation operation is carried out to the changes in coordinates value of the plurality of test point by the inertial data arithmetic element, to take Obtain the inertia measuring module to be moved in the time interval and a raw inertial data, wherein the inertial data includes an anglec of rotation Degree and a displacement；And

E) inertial data is exported.

As described above, wherein step d is to carry out the translation operation by a conversion formula：P_it2=R (P_it1)+D,P_it1 =[P_1t1~P_nt1],P_it2=[P_1t2~P_nt2],n≥4；Wherein P_it1It is the particular detection o'clock in the plurality of test point in one The coordinate data of one time, P_it2It is the particular detection o'clock in the coordinate data of one second time, n is the number of the plurality of test point Amount, R is the spin matrix comprising multiple anglecs of rotation, and D is the transposed matrix comprising multiple displacements.

As described above, wherein step d comprises the following steps：

D1 the plurality of test point) is calculated in one first mass centre of a very first time；

D2 the plurality of test point) is calculated in one second mass centre of one second time；

D3) one is calculated according to the changes in coordinates value of the plurality of test point, first mass centre and second mass centre Covariance matrix；

D4 singular value decomposition computing) is carried out to the covariance matrix, to obtain a U matrixes, a s-matrix and a V matrixes；

D5 a spin matrix of multiple anglecs of rotation) is included according to the U matrixes and the V matrix computations；And

D6) calculated comprising multiple displacements according to the spin matrix, first mass centre and second mass centre A transposed matrix.

As described above, wherein step d1 calculates first mass centre by one first formula：

WhereinIt is first mass centre, P_it1For each In the coordinate data of the very first time, N is the quantity of the plurality of test point to the test point；Step d2 passes through one second formula meter Calculate second mass centre：

WhereinIt is second mass centre, P_it2For each In the coordinate data of second time, N is the quantity of the plurality of test point to the test point.

As described above, wherein step d3 calculates the covariance matrix by one the 3rd formula：Wherein H is the covariance square Battle array, P_it1It is each test point in the coordinate data of the very first time,It is first mass centre, P_it2For Respectively the test point is in the coordinate data of second time,It is second mass centre, N is the plurality of detection The quantity of point, T is matrix transposition (Transpose).

As described above, wherein step d4 calculates the U matrixes, the s-matrix and the V matrixes by one the 4th formula：[U,S, V]=SVD (H)；Wherein SVD is singular value decomposition computing, and H is the covariance matrix.

As described above, wherein step d5 calculates the spin matrix by one the 5th formula：R=UV^T；Wherein R is the rotation Torque battle array.

As described above, wherein step d6 calculates the transposed matrix by one the 6th formula：Wherein D is the transposed matrix, and R is the spin matrix,It is first mass centre,It is second mass centre.

The present invention is relative to technology effect that prior art to be reached, by the measurement number to depth survey unit The translation operation of value can avoid producing general inertial measuring unit when measuring to obtain inertial data, easily be subject to The power of Geomagnetic signal, or arround other electronic components or external environment condition magnetic field influence and cause measurement result it is inaccurate Problem.

Below in conjunction with the drawings and specific embodiments, the present invention will be described in detail, but not as a limitation of the invention.

Brief description of the drawings

Fig. 1 is the inertia measuring module schematic diagram of the first specific embodiment of the invention；

Fig. 2 is the inertia measuring module block diagram of the first specific embodiment of the invention；

Fig. 3 is the measurement procedure figure of the first specific embodiment of the invention；

Fig. 4 A are the inertia measuring module motion schematic diagram of the first specific embodiment of the invention；

Fig. 4 B are the inertia measuring module motion schematic diagram of the second specific embodiment of the invention；

Fig. 5 is the translation operation flow chart of the first specific embodiment of the invention；

Fig. 6 is that the inertia measuring module of the first specific embodiment of the invention uses schematic diagram；

Fig. 7 is that the inertia measuring module of the second specific embodiment of the invention uses schematic diagram；

Fig. 8 is the anti-hand shake flow chart of the first specific embodiment of the invention.

Wherein, reference：

1 inertia measuring module

10 shell bodies

11 depth survey units

111 signal transmitting units

112 signal receiving units

113 processing units

12 inertial data arithmetic elements

121 converting units

122 output units

2 external environment conditions

3 overlapping regions

31 test points

4 cameras

40 camera cases

5 intelligent mobile phones

50 phone housings

S10~S18 measuring process

S160~S170 calculation steps

The anti-hand shake steps of S20~S28

Specific embodiment

Structural principle of the invention and operation principle are described in detail below in conjunction with the accompanying drawings：

Fig. 1 is referred to, is the inertia measuring module schematic diagram of the first specific embodiment of the invention.As shown in figure 1, this hair It is bright to disclose a kind of inertia measuring module 1, the inertia measuring module 1 include a depth survey unit 11 and with the depth survey unit One inertial data arithmetic element 12 of 11 connections.

It is of the invention to be mainly characterized by, by 11 pairs of external environment conditions of the depth survey unit (as shown in Figure 4 A External environment condition 2) carry out depth survey, then the depth information obtained by depth survey is carried out as the inertial data arithmetic element 12 One translation operation, to show that the inertia measuring module 1 moves given birth to inertial data in the external environment condition 2.Whereby, the inertia Measurement module 1 is exportable with general inertial measuring unit (such as three axis accelerometer, three-axis gyroscope etc.) identical inertia number According to, and then may replace those inertial measuring units.

In the present embodiment, the depth survey unit 11 is mainly persistently carried out in a time interval to the external environment condition 2 Depth survey, to obtain the multiple test points (test point 31 as shown in Figure 4 B) in the external environment condition 2 in the time interval Change in depth.Specifically obtaining the plurality of test point 31 in the changes in coordinates value in the time interval.In more detail, should After inertia measuring module 1 is moved (rotation or displacement), the plurality of test point 31 changes relative to the depth of the inertia measuring module 1 (that is, relative coordinate change), therefore show that the coordinate of the plurality of test point 31 becomes after the depth survey unit 11 can be computed Change value.

The inertial data arithmetic element 12 receives the changes in coordinates value of the plurality of test point 31 from the depth survey unit 11, And the translation operation is carried out to those changes in coordinates values, to obtain comprising the inertia measuring module 1 in the time interval The anglec of rotation and a displacement are in the interior inertial data.Whereby, the inertia measuring module 1 can be by the inertial data computing list The inertial data obtained by the output conversion of unit 12.

It is the inertia measuring module block diagram of the first specific embodiment of the invention please refer to Fig. 2.The depth survey list Unit 11 mainly includes a signal transmitting unit 111, a signal receiving unit 112 and connects the signal transmitting unit 111 and the letter One processing unit 113 of number receiving unit 112.

As shown in figure 1, the depth survey unit 11 also includes a shell body 10, the signal transmitting unit 111, the letter are coated Number receiving unit 112 and the processing unit 113.It is noted that the depth survey unit 11 is an active in the present embodiment Formula sensor, sends with receiving to measure the depth of each object in the external environment condition 2 by signal.Therefore, the signal sends Unit 111 is mainly exposed to outside the shell body 10 with the signal receiving unit 112.

When the inertia measuring module 1 is operated, the signal transmitting unit 111 in the time interval persistently to the external rings Border 2 sends a measurement signal.In the present embodiment, the measurement signal can be radio signal, infrared signal or laser signal, be somebody's turn to do Depth survey unit 11 can be radar depth sense device, or the optics depth such as infrared ray depth sense device or laser depth sense device Degree sensor, but be not limited.

The signal receiving unit 112 in persistently received in the time interval external environment condition 2 for the measurement signal one Reflected signal.More specifically, the plurality of sensing points can be reflected the measurement signal is contacted, to produce the reflected signal. The processing unit 113 receives the reflected signal by the signal receiving unit 112, and judges the plurality of detection according to the reflected signal The changes in coordinates value (that is, depth changes) of point 31.

The inertial data arithmetic element 12 includes a converting unit 121 and an output unit 122.Specifically, the conversion list Unit 121 is received the changes in coordinates value of the plurality of test point 31 by the processing unit 113 of the depth survey unit 11, and to this Changes in coordinates value carries out the translation operation, to obtain the inertial data.Whereby, the output unit 122 can be in the converting unit 121 The inertial data obtained by conversion is obtained, and is externally exported.

In the present invention, the converting unit 121 can realize (such as electronic circuit or integrated circuit) via hardware module mode, also (such as program (program) or Application Program Interface (Application Programming can be realized via form of software modules Interface, API)), and the internal reservoir of converting unit 121 has the procedure code needed for performing the translation operation.When this turn Change unit 121 receive the changes in coordinates value after, the translation operation can be realized by the execution of the procedure code, to produce the inertia Data.

Fig. 3 is referred to, is the measurement procedure figure of the first specific embodiment of the invention.Present invention simultaneously discloses a kind of inertia Measuring method, applies to the inertia measuring module 1 described in Fig. 1, Fig. 2.Specifically, the inertial measurement method is used in the inertia When measurement module 1 is moved, the depth information measured by the depth survey unit 11 produces the phase of inertia measuring module 1 come computing For the inertial data of time.

First, the inertia measuring module 1 by the signal transmitting unit 111 in the time interval persistently to the external rings Border 2 sends the measurement signal (step S10), wherein, the measurement signal is used for the plurality of test point 31 in the external environment condition 2 Carry out depth survey.Then, the inertia measuring module 1 is persistently received by the signal receiving unit 112 in the time interval The reflected signal (step S12) of the external environment condition 2 for the measurement signal.More specifically, the signal receiving unit 112 is to connect Receive the signal that the plurality of test point 31 is reflected.

Then, the processing unit 113 judges the plurality of test point 31 in the seat in the time interval according to the reflected signal Mark changing value (step S14).After step S14, the inertia measuring module 1 is by the inertial data arithmetic element 12 to the plurality of The changes in coordinates value of test point 31 carries out the translation operation, is moved in the time interval with obtaining the inertia measuring module 1 And the raw inertial data (step S16).Wherein, the inertial data mainly includes the inertia measuring module 1 in the time interval An interior anglec of rotation and a displacement.Finally, the inertia measuring module 1 exports the inertial data (step S18).

If it is noted that after the inertia measuring module 1 motion, it is impossible to receive in the plurality of test point 31 again The reflected signal of particular detection point, the processing unit 113 cannot just calculate the changes in coordinates value of the particular detection point.In this situation Under, the inertial data arithmetic element 12 cannot carry out computing and produce the inertial data according to the depth information of the particular detection point.So And, because the measurement time interval that the inertia measuring module 1 in the present invention is used is small, therefore the Probability of this kind of situation is micro- Its is micro-.

Refering to Fig. 4 A and Fig. 4 B, respectively Fig. 4 A are the first specific embodiment of the invention and the second specific embodiment is used to Property measurement module motion schematic diagram.In the embodiment of Fig. 4 A, the inertia measuring module 1 is located at one the in a very first time (T1) One position, and the measurement signal is being sent to the external environment condition 2, while it is anti-for measurement signal institute to receive the external environment condition 2 The reflected signal penetrated.

Moved when the inertia measuring module 1 and when one second time (T2) second place was located at, the inertia is surveyed Measure module 1 same to the external environment condition 2 transmission measurement signal, and receive the external environment condition 2 and reflected for the measurement signal The reflected signal.

As shown in Figure 4 A, the reflected signal for being received in the very first time when the inertia measuring module 1 with this second When judging to have an overlapping region 3 in the reflected signal that the time is received, you can obtained such as Fig. 4 B institutes in the overlapping region 3 The plurality of test point 31 for showing.In the embodiment of Fig. 4 B, with a test point a, a test point b, a test point c, a test point d As a example by a test point e, but it is not limited.

For example, the inertia measuring module 1 can receive the one first reflection letter of test point a in the very first time Number, one second reflected signal of test point a can be received in second time, whereby, can according to first reflected signal with Second reflected signal calculates the changes in coordinates values of test point a relative to the inertia measuring module 1.When the inertia measurement mould Block 1 respectively obtains multiple test points 31, if test point a to test point e is by the seat of the very first time to second time During mark changing value, you can draw the inertia measuring module 1 in the very first time to second time by the translation operation The inertial data for being moved and being given birth to.

In an embodiment, the inertial data arithmetic element 12 can perform the translation operation by a conversion formula, with The changes in coordinates value of the plurality of test point 31 is converted into the inertial data.The conversion formula is as follows：

P_it2=R (P_it1)+D,P_it1=[P_1t1~P_nt1],P_it2=[P_1t2~P_nt2],n≥4

Conversion formula

In the above-mentioned conversion formula, P_it1For in the plurality of test point 31 a particular detection point (such as test point a) in The coordinate data of one very first time, P_it2For the particular detection point, (such as test point a) is in the coordinate data of one second time, n It is the quantity of the plurality of test point 31, R is the spin matrix comprising multiple anglecs of rotation, and D is comprising multiple displacements A transposed matrix.

As noted previously, as the inertia measuring module 1 can directly learn the plurality of test point 31 after depth survey is carried out In coordinate data (that is, the P of the very first time_it1), also can directly learn the plurality of test point 31 in the number of coordinates of second time According to (that is, P_it2), therefore, as long as the quantity of the plurality of test point 31 be more than four (that is, in the overlapping region 3 include four with On the test point 31), the inertial data arithmetic element 12 just can carry out computing by following simultaneous equations sequences, with Go out the spin matrix and the transposed matrix：

The above-mentioned conversion formula is a general solution (General Solution) of the invention, but not so limited.Value Obtain one to be mentioned that, the depth survey unit 11 is mainly an active sensor in the present invention, therefore user can be to the signal The transmit power that transmitting element 111 is used to send the measurement signal is adjusted.Whereby, can by improve the transmit power come Promote 11 pairs of investigative ranges of the external environment condition 2 of the depth survey unit, to improve the reflected signal of the plurality of test point 31 With the accuracy rate of the changes in coordinates value, and then improve according to the accurate of the inertial data obtained by the changes in coordinates value translation operation Rate.

It is the translation operation flow chart of the first specific embodiment of the invention refering to Fig. 5.Specifically, in the step of Fig. 3 In S16, the inertial data arithmetic element 12 except can by the above-mentioned conversion formula to calculate the inertial data in addition to, can also pass through Flow shown in Fig. 5 carrys out the computing inertial data.Different from the conversion formula, the translation operation flow shown in Fig. 5 is mainly this The quick solution (Fast Solution) of of invention.

As shown in figure 5, after the inertial data arithmetic element 12 receives the changes in coordinates value of the plurality of test point 31, first counting The plurality of test point 31 is calculated in one first mass centre (step S160) of the very first time, and calculates the plurality of test point again 31 in one second mass centre (step S162) of second time.Then, the inertial data arithmetic element 12 is according to the plurality of The changes in coordinates value of test point 31, first mass centre and second mass centre calculate a covariance matrix (Covariance matrix) (step S164).

Specifically, the inertial data arithmetic element 12 is public according to one first formula as follows and one second

Second formula

In above-mentioned first formula and second formula,It is first mass centre,It is second mass centre, P_it1It is each test point 31 in the coordinate data of the very first time, P_it2For Respectively in the coordinate data of second time, N is the quantity of the plurality of test point to the test point 31.

Also, the inertial data arithmetic element 12 calculates the covariance matrix according to one the 3rd formula as follows：

3rd formula

In above-mentioned 3rd formula, H is the covariance matrix, P_it1It is each test point 31 in the seat of the very first time Mark data, P_it2It is each test point in the coordinate data of second time,It is first mass centre,It is second mass centre, N is the quantity of the plurality of test point 31, and T is matrix transposition computing (Transpose)。

After the completion of the covariance matrix (H) calculating, 12 pairs of covariance matrixes of the inertial data arithmetic element carry out square A singular value decomposition computing (singular value in battle array decomposition operation (decomposition factorization) Decomposition, SVD), to obtain a U matrixes, a s-matrix and V matrixes (step S166).The above-mentioned U matrixes, the S squares Battle array is the usual knowledge in matrix decomposition computing with the generation technology of the V matrixes, is repeated no more in this.

More specifically, the inertial data arithmetic element 12 is entered according to one the 4th formula as described below to the covariance matrix Row matrix decomposition operation：

[U, S, V]=SVD (H)

4th formula

In above-mentioned 4th formula, SVD is the singular value decomposition computing, and H is the covariance matrix, and U is the U matrixes, S It is the s-matrix, V is the V matrixes.

From the above, after the U matrixes, the s-matrix and the V matrixes is drawn, the inertial data arithmetic element 12 is further The spin matrix (step S168) of multiple anglecs of rotation, also, foundation again are included according to the U matrixes and the V matrix computations The spin matrix, first mass centre and second mass centre calculate the transposed matrix (step comprising multiple displacements Rapid S170).

Specifically, the inertial data arithmetic element 12 calculates the spin matrix according to one the 5th formula as described below：

R=UV^T

5th formula

5th formula as described above, R is the spin matrix, and U is the U matrixes, and V is the V matrixes, and T is matrix transposition Computing.

Also, the inertial data arithmetic element 12 calculates the transposed matrix according to one the 6th formula as described below：

6th formula

In above-mentioned 6th formula, D is the transposed matrix, and R is the spin matrix,It is first matter Amount center,It is second mass centre.It is noted that the "×" in the 6th formula is vector product Computing (cross product), rather than multiplication operation.

As described above, the execution for passing through the conversion formula (that is, the general solution), or by first formula to the 6th public affairs The execution of formula (that is, the quick solution), the inertial data arithmetic element 12 can turn the changes in coordinates value of the plurality of test point 31 The inertia measuring module 1 is changed in (being the very first time to second time in above-described embodiment) in the time interval because of fortune Move and the raw inertial data.

Refer to the inertia measurement of Fig. 6 and Fig. 7, the first specific embodiment respectively of the invention and the second specific embodiment Module uses schematic diagram.Fig. 6 discloses a camera 4, and the inertia measuring module 1 is arranged in the camera 4.Also, the camera 4 has The signal transmitting unit 111 and the signal receiving unit 112 for having a camera case 40, the inertia measuring module 1 are exposed to this Outside camera case 40.Fig. 7 discloses an intelligent mobile phone 5, and the inertia measuring module 1 is arranged in the intelligent mobile phone 5.Should The signal transmitting unit 111 and signal that intelligent mobile phone 5 has a phone housing 50, the inertia measuring module 1 receive single Unit 112 is exposed to outside the phone housing 50.

As described in the text, although the inertia measuring module 1 of the invention is for carrying out depth survey to the external environment condition 2 Amount, but can be by after the translation operation, the data of output and general inertial measuring unit same format and content, i.e. this is used to Property data.Therefore, the inertia measuring module 1 can directly replace general inertial measuring unit, such as three axis accelerometer or three Axle gyroscope, is arranged on the camera 4 or the intelligent mobile phone 5, with the camera 4 and the intelligent mobile phone 5 be tracked with Positioning.Further, the inertia measuring module 1 of the invention can also assist the camera 4 to realize that anti-hand shakes with the intelligent mobile phone 5 Function.

It is the anti-hand shake flow chart of the first specific embodiment of the invention refering to Fig. 8.Realize above-mentioned anti-hand shake work( Can, first, the camera 4 or the intelligent mobile phone 5 (by taking the intelligent mobile phone 5 as an example) start a photograph mode (step S20), connect , the inertia measuring module 1 can continue externally to send the measurement signal under the photograph mode, and continue to receive the reflected signal (step S22).Further, the inertia measuring module 1 calculates the changes in coordinates of the plurality of test point 31 according to the reflected signal Value, and the inertial data (step S24) is produced after the translation operation.

It is noted that in the present invention, the content and data form of the inertial data, with general inertial measuring unit Output data content it is identical with data form, therefore the intelligent mobile phone 5 need to only replace internal inertial measuring unit It is the inertia measuring module 1 of the invention, it is not necessary to which any modification is carried out to other elements and circuit, quite facilitates.

After the inertial data is produced, inside the inertia measuring module 1 output inertial data to intelligent mobile phone 5 one Processor (schemes not indicating), and the processor can perform anti-hand shake computing (step S26) according to the inertial data whereby.Specifically Ground, the processor can perform existing various computings according to the inertial data, and each element to the intelligent mobile phone 5 enters Row adjustment, shooting the photo for coming with order will not obscure because of rocking for the intelligent mobile phone 5.

Finally, the inertia measuring module 1 judges whether the intelligent mobile phone 5 leaves the photograph mode (step S28), and in Step S22 to step S26 is continuously carried out before leaving the photograph mode, anti-hand is realized with lasting assistance intelligent mobile phone 5 Shake function.

Certainly, the present invention can also have other various embodiments, ripe in the case of without departing substantially from spirit of the invention and its essence Know those skilled in the art and work as and various corresponding changes and deformation, but these corresponding changes and change can be made according to the present invention Shape should all belong to the protection domain of appended claims of the invention.

Claims (15)

1. a kind of inertia measuring module, it is characterised in that including：

One depth survey unit, in persistently depth survey is carried out to an external environment condition in a time interval, to obtain the external rings Multiple test points in border are in the changes in coordinates value in the time interval；And

One inertial data arithmetic element, connects the depth survey unit, and the changes in coordinates value to the plurality of test point carries out one turn Change computing and moved in the time interval and a raw inertial data with obtaining the inertia measuring module, and export the inertia number According to wherein the inertial data includes an anglec of rotation and a displacement.

2. inertia measuring module according to claim 1, it is characterised in that the depth survey unit includes：

One signal transmitting unit, in the time interval persistently to the external environment condition send a measurement signal；

One signal receiving unit, believes in a reflection of the external environment condition for the measurement signal is persistently received in the time interval Number；And

One processing unit, connects the signal transmitting unit and the signal receiving unit, drives the signal transmitting unit to send the survey Amount signal, receives the reflected signal, and the seat of the plurality of test point is judged according to the reflected signal by the signal receiving unit Mark changing value.

3. inertia measuring module according to claim 2, it is characterised in that the inertial data arithmetic element includes：

One converting unit, the changes in coordinates value of the plurality of test point is received by the depth survey unit, and to the plurality of test point Changes in coordinates value the translation operation is carried out to obtain the inertial data；And

One output unit, exports the converting unit and calculates the inertial data for producing.

4. inertia measuring module according to claim 2, it is characterised in that depth survey unit is that can adjust measurement letter Number transmit power an active sensor.

5. inertia measuring module according to claim 4, it is characterised in that the depth survey unit is radar depth sense Device or optical depth sensor.

6. inertia measuring module according to claim 2, it is characterised in that the inertial data arithmetic element is by a conversion The changes in coordinates value of the plurality of test point is converted to the inertial data by formula：

P_it2=R (P_it1)+D,P_it1=[P_1t1~P_nt1],P_it2=[P_1t2~P_nt2],n≥4；Wherein P_it1It is the plurality of test point In a particular detection o'clock in the coordinate data of a very first time, P_it2It is the particular detection o'clock in the number of coordinates of one second time According to n is the quantity of the plurality of test point, and R is the spin matrix comprising multiple anglecs of rotation, and D is comprising multiple displacements One transposed matrix of amount.

7. inertia measuring module according to claim 2, it is characterised in that the inertial data arithmetic element passes through one first Formula, one second formula, one the 3rd formula, one the 4th formula, one the 5th formula and one the 6th formula calculate the inertial data, its In：

First formula is： ${\mathrm{Centroid}}_{P_{it1}}=\frac{1}{N}{\mathrm{\Σ}}_{i=1}^N{P}_{it1};$ WhereinIt is the plurality of detection O'clock in one first mass centre of a very first time, P_it1For respectively the test point is in the coordinate data of the very first time, N is more for this The quantity of individual test point；

Second formula is： ${\mathrm{Centroid}}_{P_{it2}}=\frac{1}{N}{\mathrm{\Σ}}_{i=1}^N{P}_{it2};$ WhereinIt is the plurality of detection O'clock in one second mass centre of one second time, P_it2For respectively the test point is in the coordinate data of second time, N is more for this The quantity of individual test point；

3rd formula is： $H={\mathrm{\Σ}}_{i=1}^N(P_{it1}-{\mathrm{Centroid}}_{P_{it1}}){(P_{it2}-{\mathrm{Centroid}}_{P_{it2}})}^T;$ Wherein H It is a covariance matrix, P_it1It is each test point in the coordinate data of the very first time,It is first matter Amount center, P_it2It is each test point in the coordinate data of second time,It is second mass centre, N It is the quantity of the plurality of test point, T is matrix transposition；

4th formula is：[U, S, V]=SVD (H)；Wherein SVD be singular value decomposition computing, H be the covariance matrix, U, S, V is respectively three matrixes of singular value decomposition computing generation；

5th formula is：R=UV^T；Wherein R is the spin matrix comprising multiple anglecs of rotation；

6th formula is： $D=-R\×{\mathrm{Centroid}}_{P_{it1}}+{\mathrm{Centroid}}_{P_{it2}};$ Wherein D is comprising multiple One transposed matrix of the displacement, R is the spin matrix,It is first mass centre,It is second mass centre.

8. a kind of inertial measurement method, applies to an inertia measuring module, it is characterised in that the inertia measuring module has one deeply Measuring unit and an inertial data arithmetic element are spent, and the inertial measurement method includes：

A) by a signal transmitting unit of the depth survey unit in persistently sending one to an external environment condition in a time interval Multiple test points during measurement signal, the wherein measurement signal are used for the external environment condition carry out depth survey；

B) it is directed in persistently receiving the external environment condition in the time interval by a signal receiving unit of the depth survey unit One reflected signal of the measurement signal；

C) processing unit of the depth survey unit judges the plurality of test point in the time interval according to the reflected signal Changes in coordinates value；

D) translation operation is carried out to the changes in coordinates value of the plurality of test point by the inertial data arithmetic element, is somebody's turn to do with obtaining Inertia measuring module is moved and a raw inertial data in the time interval, wherein the inertial data include an anglec of rotation and One displacement；And

E) inertial data is exported.

9. inertial measurement method according to claim 8, it is characterised in that step d is carried out by a conversion formula The translation operation：

P_it2=R (P_it1)+D,P_it1=[P_1t1~P_nt1],P_it2=[P_1t2~P_nt2],n≥4；Wherein P_it1It is the plurality of test point In a particular detection o'clock in the coordinate data of a very first time, P_it2It is the particular detection o'clock in the number of coordinates of one second time According to n is the quantity of the plurality of test point, and R is the spin matrix comprising multiple anglecs of rotation, and D is comprising multiple displacements One transposed matrix of amount.

10. inertial measurement method according to claim 8, it is characterised in that step d comprises the following steps：

D1 the plurality of test point) is calculated in one first mass centre of a very first time；

D2 the plurality of test point) is calculated in one second mass centre of one second time；

D3) an association side is calculated according to the changes in coordinates value of the plurality of test point, first mass centre and second mass centre Difference matrix；

D4 singular value decomposition computing) is carried out to the covariance matrix, to obtain a U matrixes, a s-matrix and a V matrixes；

D5 a spin matrix of multiple anglecs of rotation) is included according to the U matrixes and the V matrix computations；And

D6) comprising multiple displacements one is calculated according to the spin matrix, first mass centre and second mass centre Transposed matrix.

11. inertial measurement methods according to claim 10, it is characterised in that step d1 is calculated by one first formula First mass centre：

${\mathrm{Centroid}}_{P_{it1}}=\frac{1}{N}{\mathrm{\Σ}}_{i=1}^N{P}_{it1};$ WhereinIt is first mass centre, P_it1It is the respectively inspection In the coordinate data of the very first time, N is the quantity of the plurality of test point to measuring point；Step d2 is calculated by one second formula should Second mass centre：

${\mathrm{Centroid}}_{P_{it2}}=\frac{1}{N}{\mathrm{\Σ}}_{i=1}^N{P}_{it2};$ WhereinIt is second mass centre, P_it2Respectively should In the coordinate data of second time, N is the quantity of the plurality of test point to test point.

12. inertial measurement methods according to claim 11, it is characterised in that step d3 is calculated by one the 3rd formula The covariance matrix：

$H={\mathrm{\Σ}}_{i=1}^N(P_{it1}-{\mathrm{Centroid}}_{P_{it1}}){(P_{it2}-{\mathrm{Centroid}}_{P_{it2}})}^T;$ Wherein H is the covariance matrix, P_it1It is each test point in the coordinate data of the very first time,It is first mass centre, P_it2For each The test point in the coordinate data of second time,It is second mass centre, N is the plurality of test point Quantity, T be matrix transposition.

13. inertial measurement methods according to claim 12, it is characterised in that step d4 is calculated by one the 4th formula The U matrixes, the s-matrix and the V matrixes：

[U, S, V]=SVD (H)；Wherein SVD is singular value decomposition computing, and H is the covariance matrix.

14. inertial measurement methods according to claim 13, it is characterised in that step d5 is calculated by one the 5th formula The spin matrix：

R=UV^T；Wherein R is the spin matrix.

15. inertial measurement methods according to claim 14, it is characterised in that step d6 is calculated by one the 6th formula The transposed matrix：

$D=-R\×{\mathrm{Centroid}}_{P_{it1}}+{\mathrm{Centroid}}_{P_{it2}};$ Wherein D is the transposed matrix, and R is the spin matrix,It is first mass centre,It is second mass centre.