CN107532900A - One kind determines calibration parameter method and mobile device - Google Patents

One kind determines calibration parameter method and mobile device Download PDF

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Publication number
CN107532900A
CN107532900A CN201580079572.6A CN201580079572A CN107532900A CN 107532900 A CN107532900 A CN 107532900A CN 201580079572 A CN201580079572 A CN 201580079572A CN 107532900 A CN107532900 A CN 107532900A
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output data
sensor
calibrated
mobile device
static state
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王宇
卢恒惠
王雷
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Huawei Technologies Co Ltd
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Huawei Technologies Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
    • G01C17/38—Testing, calibrating, or compensating of compasses
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L25/00—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R35/00—Testing or calibrating of apparatus covered by the other groups of this subclass

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  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Manufacturing & Machinery (AREA)
  • Telephone Function (AREA)

Abstract

One kind determines calibration parameter method and mobile device, applied to the mobile device with sensor to be calibrated, for improving the correlation of calibration parameter and temperature, reduces sensor because the error that temperature drift is brought.This method is：Obtain at least three groups of different output datas for the sensor to be calibrated being collected into a temperature range；At least three groups of different output datas are collected into when the mobile device is in static or quasistatic；The quasistatic represents that motion amplitude is less than the motion state of preset value；According at least three groups of different output datas, the calibration parameter that the sensor to be calibrated uses in the temperature range is determined.

Description

Method for determining calibration parameters and mobile device Technical Field
The present invention relates to the field of mobile device technologies, and in particular, to a method for determining calibration parameters and a mobile device.
Background
Technologies related to user motion, such as dead reckoning and motion state recognition, are widely applied in mobile devices, and the implementation effect of the technologies depends on the accuracy of output signals of sensors. For a sensor on a mobile device, the main factors affecting the accuracy of its output signal include: the zero point of each axis drifts with time, the zero point of each axis drifts with temperature, and the sensitivity coefficient of each axis drifts with temperature.
Due to zero drift and temperature drift of each axis of the sensor, a large error occurs in an output signal of the sensor, and thus user experience is seriously affected. In order to reduce the error and enhance the reliability of the output signal of the sensor, there are two ways:
firstly, a sensor with higher precision and stability is adopted. But selecting such devices tends to incur other costs, such as increased cost, increased size, and the like.
And secondly, calibrating the sensor in real time and compensating the temperature on the premise of not changing the existing sensor in the mobile equipment.
At present, there is a Z-axis calibration method for a three-axis acceleration sensor, which can solve the sensitivity coefficient and zero offset of the Z-axis by substituting sensor data in three stationary postures of a mobile device into a specific equation under the condition that the sensitivity coefficient and zero offset of the X-axis and the Y-axis are known, so as to achieve the purpose of calibrating the sensitivity coefficient and zero offset of the Z-axis of the acceleration sensor.
However, the calibration parameters obtained by this method still have a significant temperature drift in the practical application process, and are not accurate.
Disclosure of Invention
The application provides a method and mobile equipment for determining calibration parameters, which are used for improving the correlation between the calibration parameters and temperature and reducing the adverse effect of temperature change on the calibration parameters of a sensor.
In a first aspect, a method for determining calibration parameters is provided, which is applied to a mobile device having a sensor to be calibrated, and includes:
the method comprises the steps that the mobile equipment obtains at least three groups of different output data of a sensor to be calibrated, wherein the data are collected in a temperature range; wherein the obtained at least three different sets of output data are output data of the sensor to be calibrated when the mobile device is in a static state or a quasi-static state; the quasi-static state represents a motion state which is close to the static state and the motion amplitude is controlled within a small range;
then, the mobile device determines calibration parameters used by the sensor to be calibrated in the temperature range according to the acquired at least three different sets of output data.
For example, the mobile device calculates a calibration parameter based on a plurality of sets of output data of the acceleration sensor collected in a temperature range of 20 ℃ to 22 ℃, and the mobile device calibrates the acceleration sensor using the calibration parameter when the ambient temperature is within 20 ℃ to 22 ℃, such as 21.2 ℃.
By using specific calibration parameters in each specific temperature range in the above manner, the correlation between the calibration parameters and the temperature can be improved.
In one possible design, the method further includes:
if the preset application program is determined to be called, collecting a group of output data of the sensor to be calibrated, and recording the ambient temperature and the attitude angle of the mobile equipment when the group of output data is collected; when the preset application program is called, the posture of the mobile equipment possibly keeps unchanged within a set time length; for example, the preset application program may be a phone answering program, a short message reading program, or the like;
determining a temperature range to which the environment temperature belongs, and determining an attitude angle range to which the attitude angle belongs;
if the mobile equipment is determined to be always in a static state or a quasi-static state within the set time length after the application program is called, storing the group of output data; and the set of output data corresponds to the determined temperature range and the determined attitude angle range.
In one possible design, the temperature ranges corresponding to at least three different sets of output data acquired by the mobile device are the same, and the corresponding attitude angle ranges are different.
Because the calibration parameters of the sensors obtained by calculation are generally similar when the ambient temperatures are similar, a plurality of similar ambient temperatures are classified into one temperature range, and the calibration parameters used in the temperature range are obtained by calculation based on a plurality of groups of output data in the temperature range, so that on one hand, unnecessary calculation can be reduced, and on the other hand, the situation that the calibration parameters cannot be calculated due to the insufficient quantity of the sensor output data collected under individual ambient temperatures can be reduced. In addition, on the premise that the ambient temperatures are close, when the attitude angles are close, the output data of the sensors may be the same or close, and the same or close output data can be regarded as one group of data, so that a plurality of attitude angles close to each other are classified into one attitude angle range, and only one group of output data is mapped and stored in the subsequent temperature range and one attitude angle range, so that the situation that although the number of the sensor output data collected in a certain temperature range is larger than three groups, the number of the output data which are different in nature is smaller than three groups, and the calibration parameters cannot be calculated can be avoided.
In one possible design, determining that the mobile device is always in a static state or quasi-static state within a set duration after the application is invoked may be implemented as follows:
within a set time length after the application program is called, if the maximum value and the variance value of the output signal of the acceleration sensor on the mobile equipment are not greater than a preset maximum value threshold value and a preset variance value threshold value respectively, determining that the mobile equipment is always in a static state or a quasi-static state; or
And within the set time length after the application program is called, if the maximum value and the variance value of the output signal of the acceleration sensor on the mobile equipment are not greater than a preset first maximum value threshold value and a preset first variance value threshold value respectively, and the maximum value and the variance value of the output signal of the gyroscope on the mobile equipment are not greater than a preset second maximum value threshold value and a preset second variance value threshold value respectively, determining that the mobile equipment is always in a static state or a quasi-static state.
In one possible design, determining the calibration parameter based on the output data may be performed by:
if the quantity of the output data is not less than N1, substituting the output data into a calibration formula to obtain a zero point and a sensitivity coefficient of the sensor to be calibrated;
if the quantity of the output data is less than N1 but not less than N2, substituting the output data and the factory value of the sensitivity coefficient of the sensor to be calibrated into the calibration formula to obtain a zero point of the sensor to be calibrated; or substituting the output data and the factory value of the zero point of the sensor to be calibrated into the calibration formula to obtain the sensitivity coefficient of the sensor to be calibrated;
wherein the calibration formula is
V represents a theoretical value of a physical quantity output by the sensor to be calibrated in a static state, and V ═ VX VY VZ]T；
Representing the output data of the sensor to be calibrated,
representing the sensitivity coefficient of the sensor to be calibrated,
b denotes the zero point of the sensor to be calibrated, B ═ BX bY bZ]T；
n represents the order of the calibration formula;
n1 and N2 are positively correlated with N, and N1> N2, N1 and N2 are integers greater than 0.
In one possible design, when n is 1 in the above calibration formula, the calibration formula may be simplified as:
n1 ═ 12, N2 ═ 3; that is, when the number of acquired output data is not less than 12 groups, the calibration parameter K can be obtained by substituting the first-order calibration formula according to the output data of not less than 12 groups and the known Vi iAnd B; when the number of the acquired output data is less than 12 but not less than 3, the factory value of one of the calibration parameter and B may be taken as a known quantity, and the known output data of V and less than 12 may be substituted into a first-order calibration formula to obtain another unknown calibration parameter.
In one possible design, after storing the set of output data, this may be achieved by:
configuring an effective time length for the group of output data;
deleting the set of output data after the effective duration elapses since the effective duration is configured for the set of output data.
Therefore, the timeliness of the output data can be guaranteed, and errors caused by drift of zero points of all axes of the sensor to be calibrated along with time are reduced.
In one possible design, the sensor to be calibrated is any one of the following types of sensors: acceleration sensor, gyroscope, magnetic field sensor, electric field sensor and pressure sensor.
In a second aspect, a mobile device having a sensor to be calibrated is provided, the mobile device having functionality to implement the above method. The functions can be realized by hardware, and the functions can also be realized by executing corresponding software by hardware. The hardware or software includes one or more modules or units corresponding to the above functions.
In one possible implementation, the mobile device includes:
the acquisition unit is used for acquiring at least three groups of different output data of the sensor to be calibrated, which are collected in a temperature range; the at least three different sets of output data are collected while the mobile device is in a static or quasi-static state; the quasi-static state represents a motion state with a motion amplitude smaller than a preset value;
and the determining unit is used for determining the calibration parameters used by the sensor to be calibrated in the temperature range according to the at least three groups of different output data.
In another possible implementation manner, the mobile device includes a memory, a bus system, and at least one processor, and the memory and the at least one processor are connected to each other through the bus system; wherein
The at least one processor is configured to obtain at least three different sets of output data of the sensor to be calibrated collected over a temperature range; the at least three different sets of output data are collected while the mobile device is in a static or quasi-static state; the quasi-static state represents a motion state with a motion amplitude smaller than a preset value; and determining calibration parameters used by the sensor to be calibrated in the temperature range according to the at least three groups of different output data.
The memory stores a program, and collects output data of the sensor to be calibrated and calibration parameters obtained by the processor when the mobile device is in a static state or a quasi-static state, and the at least one processor implements any one of the methods of the first aspect by executing the program.
In another possible design, the mobile device includes a memory, a bus system, and at least one processor, the memory and the at least one processor being interconnected via a bus, the memory storing one or more programs therein, the one or more programs including instructions that, when executed by the mobile device, cause the mobile device to perform the method according to any one of the first aspects.
In a third aspect, the present application provides a computer readable storage medium storing one or more programs, the one or more programs comprising instructions, which when executed by an electronic device, cause the electronic device to perform any one of the implementations of the first aspect.
By utilizing the scheme provided by the application, the correlation between the calibration parameters and the temperature is improved, the error of the sensor caused by temperature drift is reduced, and the measurement precision of the sensor is improved.
Drawings
FIG. 1 is a flow chart of a method for determining calibration parameters provided herein;
fig. 2 is a schematic structural diagram of a mobile device provided in the present application;
fig. 3 is a schematic structural diagram of a mobile phone provided in the present application.
Detailed Description
The application provides a method for determining calibration parameters and mobile equipment, wherein the calibration parameters are obtained through calculation based on at least three groups of different output data of a sensor to be calibrated, which are collected by the mobile equipment in a temperature range, and the calibration parameters are only used for calibrating the sensor in the temperature range, so that the correlation between the calibration parameters and the temperature is improved, the error of the sensor caused by temperature drift is reduced, and the measurement accuracy of the sensor is improved.
The technical scheme that this application provided can be used for confirming calibration parameter for the sensor on the mobile device, and wherein, the mobile device can be cell-phone, panel computer, or some wearable equipment such as intelligent wrist-watch, motion bracelet etc.. The sensor to be calibrated may be any type of three-axis vector sensor, for example, the following types of sensors may be used: acceleration sensors, gyroscopes, magnetic field sensors, electric field sensors, pressure sensors, and the like.
The technical scheme of the invention is explained by combining the drawings and various embodiments in the specification.
Fig. 1 is a flowchart illustrating a method for determining calibration parameters of a sensor of a mobile device according to the present application, the method comprising the steps of:
step 101: the method comprises the steps that the mobile equipment obtains at least three groups of different output data of a sensor to be calibrated, wherein the data are collected in a temperature range; the at least three different sets of output data are collected while the mobile device is in a static or quasi-static state; the quasi-static state represents a motion state in which the motion amplitude is smaller than a preset value.
Step 102: and the mobile equipment determines the calibration parameters used by the sensor to be calibrated in the temperature range according to the at least three groups of different output data.
Calculating the calibration parameters of the sensor requires acquiring the output data of the sensor of the mobile device at different poses. The manual calibration method is a method for prompting a user to manually provide different postures as required in a calibration process so as to acquire output data of the sensor of the mobile device in different postures, for example, when calibrating a magnetic field sensor, prompting the user to slowly rotate a terminal screen or draw an 8-shaped figure in the air with the terminal.
In order to reduce user operation and improve user experience, the application provides a trigger mechanism for automatically collecting output data of the sensor under different postures. The mobile device may trigger the collection of the sensor output data according to a set period, or may trigger the collection of the sensor output data when a preset application program is detected to be invoked. And when the preset application program is called, the posture of the mobile equipment is possibly kept unchanged within a set time length. For example, the gesture of the mobile device may be kept fixed for a certain time in a scenario where the user answers a phone call, reads a short message, takes a picture to focus, opens a web browser, searches for a wireless signal, and the like, and therefore, application programs such as a phone answering program, a short message opening program, a picture focusing program, a web browser opening program, a wireless signal searching program, and the like can be preset as application programs that can trigger the sensor to output data collection. The mobile device may keep the posture of the mobile device fixed for a certain time when being called, and the application is only described by taking the above application as an example, and does not limit the application.
In the application, the collection process of the sensor data and the calculation process of the calibration parameters do not have strict sequence, and the collection process of the sensor data and the calculation process of the calibration parameters can be performed simultaneously.
After triggering the collection of sensor data, the mobile device reads a set of output data of the sensor to be calibrated, and records the ambient temperature and the attitude angle of the mobile device at the time of reading the set of output data. Wherein the ambient temperature can be obtained by a temperature sensor; the attitude angle may be obtained by an acceleration sensor, a gyroscope, and a magnetic field sensor. The attitude angle refers to an euler angle of a local coordinate system (i.e., a local coordinate system) of the mobile device relative to a reference coordinate system (i.e., an inertial coordinate system), and the euler angle is a set of independent angle parameters and consists of a nutation angle, a precession angle and a rotation angle.
Then, the mobile device may determine, according to a preset division rule, a temperature range to which the recorded ambient temperature belongs, and determine an attitude angle range to which the recorded attitude angle belongs. For example, it can be specified that all ambient temperatures within a range of 20 degrees Celsius (unit:. degree. C.) to 22 ℃ fall within a temperature range of [20 to 22 ]. For example, all attitude angles having a nutation angle, a precession angle and a self-rotation angle of 0 DEG (unit:DEG) and 15 DEG can be defined as belonging to one attitude angle range [ 0-15 _ 0-15 ]. Because the calibration parameters of the sensors obtained by calculation are generally similar when the ambient temperatures are similar, a plurality of similar ambient temperatures are classified into one temperature range, and the calibration parameters used in the temperature range are obtained by calculation based on a plurality of groups of output data in the temperature range, so that on one hand, unnecessary calculation can be reduced, and on the other hand, the situation that the calibration parameters cannot be calculated due to the insufficient quantity of the sensor output data collected under individual ambient temperatures can be reduced. In addition, on the premise that the ambient temperatures are close, when the attitude angles are close, the output data of the sensors may be the same or close, and the same or close output data can be regarded as one group of data, so that a plurality of attitude angles close to each other are classified into one attitude angle range, and the subsequent temperature range and one attitude angle range only correspond to one group of output data, so that the situation that although the number of the sensor output data collected in a certain temperature range is larger than three groups, the number of the output data which are different in nature is smaller than three groups, and the calibration parameters cannot be calculated can be avoided.
After collecting the set of output data, the mobile device needs to determine whether the mobile device is always in a static state or a quasi-static state within a set duration after triggering the collection of the sensor output data according to a set period or within a set duration after the application program is invoked to trigger the collection of the sensor output data. If yes, storing the set of output data; otherwise, the set of output data is discarded.
Wherein the stored set of output data has a correspondence relationship with the determined temperature range and attitude angle range. In practical application, the temperature range and the attitude angle range can be used as the identifier of the sensor output data, and the three can be stored together, for example, in a structural body manner.
And if the temperature range and the attitude angle range corresponding to the sensor output data to be updated and the stored group of output data are the same, the mobile equipment stores the latest output data and discards the stored output data.
Optionally, after the group of output data is stored, an effective duration may be configured for the group of output data to indicate validity of the group of output data, and after the effective duration is configured for the group of output data, the group of output data is deleted after the effective duration elapses, so that errors caused by drift of zero points of axes of the sensor to be calibrated with time may be reduced, and accuracy of the calibration parameters may be improved.
Correspondingly, the temperature ranges corresponding to at least three different sets of output data acquired by the mobile device are the same, and the corresponding attitude angle ranges are different.
In this application, static judgement or quasi-static judgement can be realized through acceleration sensor, or realize together through acceleration sensor and gyroscope. By static, it is meant a completely static state; by quasi-static, it is meant a state of motion that is near, but not completely stationary, with the amplitude of motion controlled over a small range.
The static or quasi-static judgment mainly comprises the following processes:
first, a signal conditioning process.
And in a set time length after the collection of the output data of the sensor is triggered according to a set period or the set time length after the application program is called, carrying out high-pass filtering on an original signal output by the acceleration sensor, and filtering an acceleration static component of the gravity acceleration from the original signal to obtain an acceleration dynamic component generated by the motion in the original signal of the acceleration sensor. Similarly, if the gyroscope is included, the high-pass filtering is also performed on the original signal output by the gyroscope to obtain the angular velocity dynamic component generated by the motion in the original signal of the gyroscope.
Optionally, signals of the acceleration sensor and the gyroscope after high-pass filtering may be smoothed, and the available technical means include low-pass filtering, median filtering, mean filtering, and the like.
Optionally, the signals of the acceleration sensor and the gyroscope after smoothing may be rectified, so that the negative half shaft part of the waveforms of the signals output by the acceleration sensor and the gyroscope is turned over to the positive half shaft.
Second, a statistical signal extraction process.
And extracting the maximum value and the variance value of the output signal of the acceleration sensor after the signal conditioning process. Similarly, if the signal conditioning device further comprises a gyroscope, the maximum value and the variance value of the output signal of the gyroscope after the signal conditioning process are extracted.
Thirdly, a signal decision process.
And comparing the extracted maximum value and the extracted variance value of the output signal of the acceleration sensor with a preset maximum value threshold value and a preset variance value threshold value respectively, and if the maximum value of the output signal of the acceleration sensor is not greater than the preset maximum value threshold value and the variance value of the output signal of the acceleration sensor is not greater than the preset variance value threshold value, determining that the mobile equipment is always in a static state or a quasi-static state.
Similarly, if a gyroscope is further included, in addition to comparing the maximum value and the variance value of the extracted output signal of the acceleration sensor with a preset first maximum value threshold and a preset first variance value threshold, the maximum value and the variance value of the extracted output signal of the gyroscope are further compared with a preset second maximum value threshold and a preset second variance value threshold, and if the maximum value and the variance value of the output signal of the acceleration sensor on the mobile device are not greater than the preset first maximum value threshold and the preset first variance value threshold, and the maximum value and the variance value of the output signal of the gyroscope on the mobile device are not greater than the preset second maximum value threshold and the preset second variance value threshold, it is determined that the mobile device is always in a static state or a quasi-static state.
After the mobile equipment acquires the output data, the output data is substituted into the following three-axis sensor calibration formula, and the calibration parameter K of the sensor to be calibrated can be obtained by solving through a numerical iteration methodi iAnd/or B.
Formula (1)
Wherein, V represents the theoretical value of the physical quantity output by the sensor to be calibrated in a static state, and V ═ VX VY VZ]T。
For example, in a static state, the sum of the three-axis component vectors of the theoretical value of the physical quantity output by the acceleration sensor is gravity acceleration, namely: the sum of three-axis component vectors of theoretical values of physical quantities output by the magnetic field sensor is a typical value of magnetic induction intensity on the earth surface; the sum of the three-axis component vectors of the theoretical value of the physical quantity output by the gyroscope is zero; the sum of the three-axis component vectors of the theoretical value of the physical quantity output by the electric field sensor is the typical value of the electric field intensity on the earth surface; the sum of the three-axis component vectors of the theoretical value of the physical quantity output by the pressure sensor is standard atmospheric pressure. The physical quantity output by each sensor under the quasi-static state also approximately meets the numerical relation of the theoretical value of the physical quantity output by each sensor under the static condition.
Representing the output data of the sensor to be calibrated,
representing the sensitivity coefficient of the sensor to be calibrated, where ki_XY、ki_XZ、ki_YX、ki_YZ、ki_ZX、ki_ZYFor the trans-axial coupling sensitivity coefficient, k, of the sensor to be calibrated when the order of the calibration formula is ii_XX、ki_YY、ki_ZZTo-be-calibrated pass with order i of calibration formula respectivelyThe sensitivity coefficients of the sensor in X, Y and Z axes.
B denotes the zero point of the sensor to be calibrated, B ═ BX bY bZ]T。
n represents the order of the calibration equation.
From the above calibration equation, when V ═ V is knownX VY VZ]TOn the premise of sum, the calibration parameters and B are solved simultaneously. At least N1 sets of values are required; in the presence of a known V ═ VX VY VZ]TAnd B, at least N2 sets of values are required to solve for the other calibration parameter. Wherein N1 and N2 are positively correlated with N, and N1>N2, N1 and N2 are integers greater than 0.
Taking the first-order calibration equation as an example, when n is 1, the above calibration equation (1) can be simplified as follows:
formula (2)
In the presence of a known V ═ VX VY VZ]TUnder the premise of sum, at least 12 groups of values are needed to solve the sum B at the same time. Known as V ═ VX VY VZ]TAnd B, at least 3 sets of values are required to solve for the other calibration parameter.
If the number of the stored valid output data in a certain temperature range is not less than N1, a first calibration parameter calculation procedure may be performed, and the output data may be substituted into the above calibration equation (1) to obtain the zero point and the sensitivity coefficient of the sensor to be calibrated. In practical application, the more the number of the substituted output data is, the more accurate the obtained calibration parameter is.
If the number of the stored valid output data in a certain temperature range is less than N1 but not less than N2, a second calibration parameter calculation procedure may be performed, and the output data and the factory value of the sensitivity coefficient of the sensor to be calibrated are substituted into the calibration formula (1) to obtain the zero point of the sensor to be calibrated. Or substituting the output data and the factory value of the zero point of the sensor to be calibrated into the calibration formula (1) to obtain the sensitivity coefficient of the sensor to be calibrated.
If the number of stored valid output data within a certain temperature range is less than N2, the calibration parameters calculated last time in history may be used, or the calibration parameters of the sensor may be used, or the user may be prompted to calibrate the sensor manually.
After the mobile device calculates the calibration parameters, the calibration parameters can be stored in a fixed storage medium, and the temperature range suitable for the calibration parameters is marked. The specific storage medium may be a Memory, a Programmable Read-Only Memory (EEPROM), a magnetic disk, a flash Memory, or other hardware with an information storage function. For convenience of explanation, the storage medium region storing the calibration parameters is referred to as a parameter pool in the present application.
Optionally, after the application program of the sensor is called to start, the calibration parameters of each sensor marked in the corresponding temperature range in the parameter pool may be read as the initial calibration parameters of each sensor according to the current ambient temperature. In the running process of the application program, the mobile device can trigger the collection of the output data of the sensor through the trigger mechanism and update the output data meeting the static or quasi-static judgment to the memory. When new sensor output data is updated to the memory, the mobile device may trigger the execution of steps 101-102, obtain new calibration parameters based on the new output data and other data stored in the memory that is the same as the temperature range marked by the new output data, and update the new calibration parameters to the parameter pool. Detecting whether the parameter pool is updated or not in a timed or real-time mode in the running process of an application program calling the sensor, and if the parameter pool is updated with calibration parameters, extracting the calibration parameters which are updated last time from the parameter pool as new calibration parameters of the sensor; if the parameter pool is not updated, the current calibration parameters continue to be used.
Based on the method for determining calibration parameters provided by the present application, the present application provides a mobile device 200, configured to implement the function of the mobile device in the method for determining calibration parameters, configured to determine calibration parameters of a sensor to be calibrated, located on the mobile device 200, as shown in fig. 2, where the mobile device includes:
an acquiring unit 201, configured to acquire at least three different sets of output data of the sensor to be calibrated, which are collected in a temperature range; the at least three different sets of output data are collected while the mobile device 200 is in a static or quasi-static state; the quasi-static state represents a motion state in which the motion amplitude is smaller than a preset value.
A determining unit 202, configured to determine, according to the at least three different sets of output data, calibration parameters used by the sensor to be calibrated in the temperature range.
Optionally, the mobile device 200 may further include:
a collecting unit 203, configured to collect a set of output data of the sensor to be calibrated when it is determined that a preset application program is invoked, and record an ambient temperature and an attitude angle of the mobile device when the set of output data is collected; and determining a temperature range to which the ambient temperature belongs, and determining an attitude angle range to which the attitude angle belongs. The pose of the mobile device 200 may remain unchanged for a set length of time when the predetermined application is invoked.
The determining unit 204 is configured to determine whether the mobile device 200 is always in a static state or a quasi-static state within a set time length after the application is invoked.
A storage unit 205, configured to store the set of output data when the determining unit 204 determines that the mobile device 200 is always in a static state or a quasi-static state within a set time length after the application program is invoked.
Correspondingly, the temperature ranges corresponding to the at least three different sets of output data acquired by the acquiring unit 201 are the same, and the corresponding attitude angle ranges are different.
Optionally, when determining that the mobile device is always in a static state or a quasi-static state within the set duration after the application is invoked, the determining unit 204 specifically includes: within a set time length after the application program is called, if the maximum value and the variance value of the output signal of the acceleration sensor on the mobile device 200 are not greater than a preset maximum value threshold value and a preset variance value threshold value respectively, determining that the mobile device 200 is always in a static state or a quasi-static state; or, in a set time period after the application program is called, if the maximum value and the variance value of the output signal of the acceleration sensor on the mobile device 200 are not greater than a preset first maximum value threshold and a preset first variance value threshold, respectively, and the maximum value and the variance value of the output signal of the gyroscope on the mobile device 200 are not greater than a preset second maximum value threshold and a preset second variance value threshold, respectively, it is determined that the mobile device 200 is always in a static state or a quasi-static state.
Optionally, when determining the calibration parameter according to the output data, the determining unit 202 specifically includes:
if the quantity of the output data is not less than N1, substituting the output data into a calibration formula to obtain a zero point and a sensitivity coefficient of the sensor to be calibrated;
if the quantity of the output data is less than N1 but not less than N2, substituting the output data and the factory value of the sensitivity coefficient of the sensor to be calibrated into the calibration formula to obtain a zero point of the sensor to be calibrated; or substituting the output data and the factory value of the zero point of the sensor to be calibrated into the calibration formula to obtain the sensitivity coefficient of the sensor to be calibrated.
Wherein the calibration formula is
V represents a theoretical value of a physical quantity output by the sensor to be calibrated in a static state, and V ═ VX VY VZ]T；
Representing the output data of the sensor to be calibrated,
representing the sensitivity coefficient of the sensor to be calibrated,
b denotes the zero point of the sensor to be calibrated, B ═ BX bY bZ]T；
n represents the order of the calibration formula;
n1 and N2 are positively correlated with N, and N1> N2, N1 and N2 are integers greater than 0.
Alternatively, when n is 1, the calibration formula may be simplified as:
in this case, N1 is 12, and N2 is 3.
Optionally, the mobile device 200 may further include:
a deleting unit 206, configured to configure an effective duration for the set of output data after the storing unit 205 stores the set of output data; deleting the set of output data after the effective duration elapses since the effective duration is configured for the set of output data.
Optionally, the sensor to be calibrated may be any one of the following types of sensors: acceleration sensor, gyroscope, magnetic field sensor, electric field sensor and pressure sensor.
It should be noted that the division of the unit in the embodiment of the present invention is schematic, and is only a logic function division, and there may be another division manner in actual implementation. The functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The application also provides a mobile device comprising a memory, a bus system and at least one processor, wherein the memory and the at least one processor are connected through the bus system.
The memory stores one or more programs, the one or more programs including instructions, which when executed by the mobile device, cause the mobile device to perform the method of determining calibration parameters in any of the above cases.
Taking a mobile device as an example, fig. 3 is a block diagram illustrating a part of the structure of a mobile phone 300 related to the present application. Referring to fig. 3, the mobile phone 300 includes an RF (Radio Frequency) circuit 310, a memory 320, an input unit 330, a display unit 340, a sensor 350, an audio circuit 360, a WiFi (wireless fidelity) module 370, a processor 380, and a power supply 390. Those skilled in the art will appreciate that the handset configuration shown in fig. 3 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
The following describes the components of the mobile phone 300 in detail with reference to fig. 3:
the RF circuit 310 may be used for receiving and transmitting signals during information transmission and reception or during a call, and in particular, receives downlink information of a base station and then processes the received downlink information to the processor 380; in addition, the data for designing uplink is transmitted to the base station. In general, RF circuits include, but are not limited to, an antenna, at least one Amplifier, a transceiver, a coupler, an LNA (Low Noise Amplifier), a duplexer, and the like. In addition, RF circuit 310 may also communicate with networks and other devices via wireless communication. The wireless communication may use any communication standard or protocol, including but not limited to GSM (Global System for Mobile communication), GPRS (General Packet Radio Service), CDMA (Code Division Multiple Access), WCDMA (Wideband Code Division Multiple Access), LTE (Long Term Evolution), e-mail, SMS (Short Messaging Service), and the like.
The memory 320 may be used to store software programs and modules, and the processor 380 executes various functional applications and data processing of the mobile phone 300 by operating the software programs and modules stored in the memory 320. The memory 320 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone 300, and the like. Further, the memory 320 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
The input unit 330 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the cellular phone 300. Specifically, the input unit 330 may include a touch panel 331 and other input devices 332. The touch panel 331, also referred to as a touch screen, can collect touch operations of a user (e.g., operations of the user on the touch panel 331 or near the touch panel 331 using any suitable object or accessory such as a finger, a stylus, etc.) on or near the touch panel 331, and drive the corresponding connection device according to a preset program. Alternatively, the touch panel 331 may include two parts, a touch detection device and a touch controller. The touch detection device detects the touch direction of a user, detects a signal brought by touch operation and transmits the signal to the touch controller; the touch controller receives touch information from the touch sensing device, converts the touch information into touch point coordinates, sends the touch point coordinates to the processor 380, and can receive and execute commands sent by the processor 380. In addition, the touch panel 331 may be implemented in various types, such as a resistive type, a capacitive type, an infrared ray, and a surface acoustic wave. The input unit 330 may include other input devices 332 in addition to the touch panel 331. In particular, other input devices 332 may include, but are not limited to, one or more of a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, a joystick, and the like.
The display unit 340 may be used to display information input by the user or information provided to the user and various menus of the cellular phone 300. The Display unit 340 may include a Display panel 341, and optionally, the Display panel 341 may be configured in the form of an LCD (Liquid Crystal Display), an OLED (Organic Light-Emitting Diode), or the like. Further, the touch panel 331 can cover the display panel 341, and when the touch panel 331 detects a touch operation on or near the touch panel 331, the touch panel is transmitted to the processor 380 to determine the type of the touch event, and then the processor 380 provides a corresponding visual output on the display panel 341 according to the type of the touch event. Although the touch panel 331 and the display panel 341 are shown in fig. 3 as two separate components to implement the input and output functions of the mobile phone 300, in some cases, the touch panel 331 and the display panel 341 may be integrated to implement the input and output functions of the mobile phone 300.
The handset 300 may also include at least one sensor 350, such as a light sensor, motion sensor, and other sensors. Specifically, the light sensor may include an ambient light sensor that adjusts the brightness of the display panel 341 according to the brightness of ambient light, and a proximity sensor that turns off the display panel 341 and/or the backlight when the mobile phone 300 is moved to the ear. As one of the motion sensors, the accelerometer sensor can detect the magnitude of acceleration in each direction (generally, three axes), can detect the magnitude and direction of gravity when stationary, and can be used for applications of recognizing the posture of a mobile phone (such as horizontal and vertical screen switching, related games, magnetometer posture calibration), vibration recognition related functions (such as pedometer and tapping), and the like; as for other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor, which can be configured on the mobile phone 300, further description is omitted here.
Audio circuitry 360, speaker 361, and microphone 362 may provide an audio interface between a user and the handset 300. The audio circuit 360 may transmit the electrical signal converted from the received audio data to the speaker 361, and the audio signal is converted by the speaker 361 and output; on the other hand, the microphone 362 converts collected sound signals into electrical signals, which are received by the audio circuit 360 and converted into audio data, which are output to the RF circuit 308 for transmission to, for example, another cell phone, or to the memory 320 for further processing.
WiFi belongs to short-distance wireless transmission technology, and the mobile phone 300 can help the user send and receive e-mail, browse web pages, access streaming media, etc. through the WiFi module 370, and it provides wireless broadband internet access for the user. Although fig. 3 shows the WiFi module 370, it is understood that it does not belong to the essential constitution of the handset 300, and can be omitted entirely as needed within the scope not changing the essence of the invention.
The processor 380 is a control center of the mobile phone 300, connects various parts of the entire mobile phone by using various interfaces and lines, and performs various functions and processes of the mobile phone 300 by operating or executing software programs and/or modules stored in the memory 320 and calling data stored in the memory 320, thereby performing overall monitoring of the mobile phone. Optionally, processor 380 may include one or more processing units; preferably, the processor 380 may integrate an application processor, which primarily handles operating systems, user interfaces, applications, etc., and a modem processor, which primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into processor 380.
The handset 300 also includes a power supply 390 (e.g., a battery) for powering the various components, which may preferably be logically coupled to the processor 380 via a power management system to manage charging, discharging, and power consumption via the power management system.
Although not shown, the mobile phone 300 may further include a camera, a bluetooth module, etc., which will not be described herein.
In this application, to accomplish the above method for determining calibration parameters, the processor 380 executes the program stored in the memory 320 to trigger the mobile phone 300 to perform the following operations:
acquiring at least three different sets of output data of the sensor to be calibrated 350 collected over a temperature range; the at least three different sets of output data are collected while the handset 300 is in a static or quasi-static state; the quasi-static state represents a motion state with a motion amplitude smaller than a preset value; according to the at least three different sets of output data, calibration parameters used by the sensor to be calibrated 350 in the temperature range are determined.
The memory 320 is also used for storing the output data of the sensor 350 to be calibrated and the calibration parameters obtained by the processor 380.
As a possible design, the processor 380 may also perform other operations performed by the obtaining unit 201, the determining unit 202, the collecting unit 203, the judging unit 204, and the deleting unit 206 shown in fig. 2, and the memory 320 may also perform other operations performed by the storing unit 205 shown in fig. 2. For brevity, no further description is provided herein.
For details, reference may be made to the above description of the mobile device in the method for determining calibration parameters shown in fig. 1, and details are not described herein again.
Further, the present application provides a computer readable storage medium storing one or more programs, the one or more programs comprising instructions, which when executed by an electronic device, cause the electronic device to perform the method of determining calibration parameters in any of the above cases.
To sum up, in the technical scheme provided by the application, when detecting that a static or quasi-static application program which is possibly kept in a certain time is opened when the mobile device is called, the mobile device can trigger a collection process of sensor output data, update the sensor output data in real time, reduce the times of manual calibration of a user, and improve the user experience; and based on at least three groups of different sensor output data collected in a temperature range, calibration parameters are obtained, and the obtained calibration parameters are specially used for calibrating the sensor in the temperature range, so that the correlation between the calibration parameters and the temperature is improved, errors of the sensor caused by zero drift and temperature drift are reduced, and the measurement accuracy of the sensor is improved.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made in the embodiments of the present invention without departing from the spirit or scope of the embodiments of the invention. Thus, if such modifications and variations of the embodiments of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to encompass such modifications and variations.

Claims (16)

  1. A method for determining calibration parameters, applied to a mobile device having a sensor to be calibrated, includes:
    acquiring at least three different sets of output data of the sensor to be calibrated, which are collected within a temperature range; the at least three different sets of output data are collected while the mobile device is in a static or quasi-static state; the quasi-static state represents a motion state with a motion amplitude smaller than a preset value;
    and determining calibration parameters used by the sensor to be calibrated in the temperature range according to the at least three different sets of output data.
  2. The method of claim 1, wherein the method further comprises:
    if the preset application program is determined to be called, collecting a group of output data of the sensor to be calibrated, and recording the ambient temperature and the attitude angle of the mobile equipment when the group of output data is collected;
    determining a temperature range to which the environment temperature belongs, and determining an attitude angle range to which the attitude angle belongs;
    if the mobile equipment is determined to be always in a static state or a quasi-static state within the set time length after the application program is called, storing the group of output data; and the set of output data corresponds to the determined temperature range and the determined attitude angle range.
  3. The method of claim 1 or 2, wherein the at least three different sets of output data correspond to the same temperature range and different attitude angle ranges.
  4. The method of claim 2 or 3, wherein determining that the mobile device is always static or quasi-static for a set length of time after the application is invoked comprises:
    within a set time length after the application program is called, if the maximum value and the variance value of the output signal of the acceleration sensor on the mobile equipment are not greater than a preset maximum value threshold value and a preset variance value threshold value respectively, determining that the mobile equipment is always in a static state or a quasi-static state; or
    And within the set time length after the application program is called, if the maximum value and the variance value of the output signal of the acceleration sensor on the mobile equipment are not greater than a preset first maximum value threshold value and a preset first variance value threshold value respectively, and the maximum value and the variance value of the output signal of the gyroscope on the mobile equipment are not greater than a preset second maximum value threshold value and a preset second variance value threshold value respectively, determining that the mobile equipment is always in a static state or a quasi-static state.
  5. The method of any of claims 1-4, wherein determining calibration parameters from the output data comprises:
    if the quantity of the output data is not less than N1, substituting the output data into a calibration formula to obtain a zero point and a sensitivity coefficient of the sensor to be calibrated;
    if the quantity of the output data is less than N1 but not less than N2, substituting the output data and the factory value of the sensitivity coefficient of the sensor to be calibrated into the calibration formula to obtain a zero point of the sensor to be calibrated; or substituting the output data and the factory value of the zero point of the sensor to be calibrated into the calibration formula to obtain the sensitivity coefficient of the sensor to be calibrated;
    wherein the calibration formula is
    V represents a theoretical value of a physical quantity output by the sensor to be calibrated in a static state, and V ═ VX VY VZ]T；
    Representing the output data of the sensor to be calibrated,
    representing the sensitivity coefficient of the sensor to be calibrated,
    b denotes the zero point of the sensor to be calibrated, B ═ BX bY bZ]T；
    n represents the order of the calibration formula;
    n1 and N2 are positively correlated with N, and N1> N2, N1 and N2 are integers greater than 0.
  6. The method of claim 5, wherein when n-1, the calibration formula is:
    N1＝12，N2＝3。
  7. the method of any of claims 2-4, wherein after storing the set of output data, the method further comprises:
    configuring an effective time length for the group of output data;
    deleting the set of output data after the effective duration elapses since the effective duration is configured for the set of output data.
  8. A mobile device having a sensor to be calibrated, the mobile device comprising:
    the acquisition unit is used for acquiring at least three groups of different output data of the sensor to be calibrated, which are collected in a temperature range; the at least three different sets of output data are collected while the mobile device is in a static or quasi-static state; the quasi-static state represents a motion state with a motion amplitude smaller than a preset value;
    and the determining unit is used for determining the calibration parameters used by the sensor to be calibrated in the temperature range according to the at least three groups of different output data.
  9. The mobile device of claim 8, wherein the mobile device further comprises:
    the collecting unit is used for collecting a group of output data of the sensor to be calibrated when a preset application program is determined to be called, and recording the ambient temperature and the attitude angle of the mobile equipment when the group of output data is collected; determining a temperature range to which the environment temperature belongs, and determining an attitude angle range to which the attitude angle belongs;
    the judging unit is used for determining whether the mobile equipment is always in a static state or a quasi-static state within a set time length after the application program is called;
    the storage unit is used for storing the group of output data when the judging unit determines that the mobile equipment is always in a static state or a quasi-static state within the set time length after the application program is called; and the set of output data corresponds to the determined temperature range and the determined attitude angle range.
  10. The mobile device according to claim 8 or 9, wherein the at least three different sets of output data acquired by the acquisition unit correspond to the same temperature range and different attitude angle ranges.
  11. The mobile device according to claim 9 or 10, wherein the determining unit, when determining that the mobile device is always in a static state or a quasi-static state within a set duration after the application program is invoked, specifically includes:
    within a set time length after the application program is called, if the maximum value and the variance value of the output signal of the acceleration sensor on the mobile equipment are not greater than a preset maximum value threshold value and a preset variance value threshold value respectively, determining that the mobile equipment is always in a static state or a quasi-static state; or
    And within the set time length after the application program is called, if the maximum value and the variance value of the output signal of the acceleration sensor on the mobile equipment are not greater than a preset first maximum value threshold value and a preset first variance value threshold value respectively, and the maximum value and the variance value of the output signal of the gyroscope on the mobile equipment are not greater than a preset second maximum value threshold value and a preset second variance value threshold value respectively, determining that the mobile equipment is always in a static state or a quasi-static state.
  12. The mobile device according to any of claims 8 to 11, wherein the determining unit, when determining the calibration parameter from the output data, specifically comprises:
    if the quantity of the output data is not less than N1, substituting the output data into a calibration formula to obtain a zero point and a sensitivity coefficient of the sensor to be calibrated;
    if the quantity of the output data is less than N1 but not less than N2, substituting the output data and the factory value of the sensitivity coefficient of the sensor to be calibrated into the calibration formula to obtain a zero point of the sensor to be calibrated; or substituting the output data and the factory value of the zero point of the sensor to be calibrated into the calibration formula to obtain the sensitivity coefficient of the sensor to be calibrated;
    wherein the calibration formula is
    V represents a theoretical value of a physical quantity output by the sensor to be calibrated in a static state, and V ═ VX VY VZ]T；
    Representing the output data of the sensor to be calibrated,
    representing the sensitivity coefficient of the sensor to be calibrated,
    b denotes the zero point of the sensor to be calibrated, B ═ BX bY bZ]T；
    n represents the order of the calibration formula;
    n1 and N2 are positively correlated with N, and N1> N2, N1 and N2 are integers greater than 0.
  13. The mobile device of claim 12, wherein when n-1, the calibration formula is:
    N1＝12，N2＝3。
  14. the mobile device of any one of claims 9-11, wherein the mobile device further comprises:
    a deleting unit configured to configure an effective duration for the set of output data after the storing unit stores the set of output data; deleting the set of output data after the effective duration elapses since the effective duration is configured for the set of output data.
  15. A mobile device comprising a memory, a bus system and at least one processor, said memory and said at least one processor being connected via said bus system;
    the memory stores one or more programs therein, the one or more programs comprising instructions, which when executed by the mobile device, cause the mobile device to perform the method of any of claims 1 to 7.
  16. A computer readable storage medium storing one or more programs, the one or more programs comprising instructions, which when executed by an electronic device, cause the electronic device to perform the method of any of claims 1-7.
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