CN108152535A - A kind of accelerometer calibration method and device - Google Patents

A kind of accelerometer calibration method and device Download PDF

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Publication number
CN108152535A
CN108152535A CN201711125014.6A CN201711125014A CN108152535A CN 108152535 A CN108152535 A CN 108152535A CN 201711125014 A CN201711125014 A CN 201711125014A CN 108152535 A CN108152535 A CN 108152535A
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accelerometer
acceleration
value
axis
angle
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陈维亮
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Goertek Techology Co Ltd
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Goertek Techology Co Ltd
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    • 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

Abstract

The invention discloses a kind of accelerometer calibration method and devices.This method includes：S1：Rotation acceleration meter makes the equal non-zero of acceleration detection value of each axis of accelerometer, obtains the accelerometer of current location in the opposite first angle for referring to zero degree of projection of horizontal plane and the second angle of the accelerometer relative level of current location to current location；S2：The acceleration detection value of the corresponding each axis in accelerometer current location is obtained, and the corresponding acceleration theoretical value in accelerometer current location is obtained according to first angle and second angle；S3：Accelerometer is rotated further, repeats step S1 S2, accelerometer is obtained and turns to corresponding every group of acceleration theoretical value and acceleration detection value during at least four different locations；S4：The corresponding every group of acceleration theoretical value of at least four different locations is turned to according to accelerometer and acceleration detection value asks for the calibration parameter of accelerometer.As it can be seen that the present invention improves the precision and efficiency of accelerometer calibration.

Description

A kind of accelerometer calibration method and device
Technical field
The present invention relates to sensor technical field, more particularly to a kind of accelerometer calibration method and device.
Background technology
Accelerometer is typically mounted in the carriers such as intelligent wearable device, is the sensing for the acceleration for measuring carrier Device.In order to accurately obtain the acceleration of carrier, need to calibrate accelerometer.
It is that the X-axis, Y-axis and Z axis of accelerometer are calibrated respectively in existing accelerometer calibration method.With right It is illustrated for the calibration process of the X-axis of accelerometer, by the X-axis of accelerometer straight up, the X-axis of accelerometer at this time Acceleration detection value be Axout1, the Y-axis of accelerometer and the acceleration detection value of Z axis are 0；The X-axis of accelerometer is erected again Straight downward, the acceleration detection value of the X-axis of accelerometer is A at this timexout2, the Y-axis of accelerometer and the acceleration detection value of Z axis It is 0.Due to gravity acceleration g it is known that i.e. the X-axis of accelerometer straight up when, the acceleration theoretical value of the X-axis of accelerometer Axin1=-g, the X-axis of accelerometer straight down when, the acceleration theoretical value A of the X-axis of accelerometerxin2=g.It can be according to above-mentioned The acceleration detection value and theoretical value of the X-axis of two groups of accelerometers and accelerometer calibration equation to the X-axis of accelerometer into Row calibration.The Y-axis and Z axis of accelerometer are calibrated respectively using similar method.
In existing accelerometer calibration method, the only acceleration detection value non-zero of some axis, and other two axis Acceleration detection value is zero, and accelerometer is not usually uniaxial stress in practical applications, the acceleration detection of three axis Value typically each non-zero, but three axis have acceleration detection value.Thus in existing accelerometer calibration method, calibrating The interaction between each axis is had ignored in journey, accelerometer calibration can be caused inaccurate.Also, use existing acceleration Meter calibrating method at least needs each axis to measure 2 times, at least measures 6 calibrations that could complete accelerometer in total, efficiency compared with It is low.
Invention content
In order to solve the problems, such as that the accelerometer calibration of the prior art is inaccurate, efficiency is low, the present invention provides one kind to add Speedometer calibration method and device.
One embodiment of the present of invention provides a kind of accelerometer calibration method, including：
S1：Rotation acceleration meter makes the equal non-zero of acceleration detection value of each axis of accelerometer, obtains and work as to current location The accelerometer of front position is opposite opposite with reference to the first angle of zero degree and the accelerometer of current location in the projection of horizontal plane The second angle of horizontal plane；
S2：Obtain the acceleration detection value of the corresponding each axis in accelerometer current location, and according to first angle and the Two angles obtain the acceleration theoretical value of the corresponding each axis in accelerometer current location；
S3：Accelerometer is rotated further, repeats step S1-S2, accelerometer is obtained and turns at least four different locations When corresponding every group of acceleration theoretical value and acceleration detection value；
S4：The corresponding every group of acceleration theoretical value of at least four different locations and acceleration inspection are turned to according to accelerometer Measured value asks for the calibration parameter of accelerometer, to complete the calibration to accelerometer.
Optionally, this method further includes：
Satellite coordinate system is established, wherein, the origin of satellite coordinate system is any point on accelerometer, satellite coordinate system X-axis be accelerometer X-axis, the Y-axis of satellite coordinate system is the Y-axis of accelerometer, and the Z axis of satellite coordinate system is accelerometer Z axis；
The acceleration theoretical value of the corresponding each axis in accelerometer current location is obtained according to first angle and second angle, Including：
The acceleration theoretical value of the corresponding each axis in accelerometer current location is obtained according to equation below：
Wherein, α is second angle, and β is first angle；G is acceleration of gravity；AxinFor the theoretical value of accelerometer X-axis, AyinFor the theoretical value of accelerometer Y-axis, AzinTheoretical value for accelerometer Z axis.
Optionally, the corresponding every group of acceleration theoretical value of at least four different locations and acceleration are turned to according to accelerometer Degree detected value asks for the calibration parameter of accelerometer, including：
The corresponding every group of acceleration theoretical value of four different locations is turned to according to accelerometer and acceleration detection value is asked Accelerometer calibration equation group is solved, the intersection factor of accelerometer and zero is obtained and floats value.
Optionally, this method further includes：
The corresponding every group of acceleration theoretical value of more than four different locations and acceleration detection are turned to according to accelerometer Value repeatedly solves accelerometer calibration equation group, obtains multigroup intersection factor of accelerometer and zero and floats value；
It is floatd using least square method from multigroup intersection factor and zero and determines that the optimal factor and zero of intersecting is floatd value in value.
Optionally, according to being initialized to electronic compass with reference to zero degree, first angle and the are obtained by electronic compass Two angles；The relative position of electronic compass and accelerometer is fixed.
An alternative embodiment of the invention provides a kind of accelerometer calibration device, including：
Angle acquiring unit to current location based on rotation acceleration, makes the acceleration detection of each axis of accelerometer It is worth equal non-zero, obtains projection opposite first angle and current location with reference to zero degree of the accelerometer in horizontal plane of current location Accelerometer relative level second angle；
Acceleration value acquiring unit, for obtaining the acceleration detection value of the corresponding each axis in accelerometer current location, And the acceleration theoretical value of the corresponding each axis in accelerometer current location is obtained according to first angle and second angle；
Multigroup acceleration value acquiring unit for being rotated further accelerometer, obtains accelerometer and turns at least four Corresponding every group of acceleration theoretical value and acceleration detection value during different location；
Accelerometer calibration unit, for turning to the corresponding every group of acceleration of at least four different locations according to accelerometer Topology degree value and acceleration detection value ask for the calibration parameter of accelerometer, to complete the calibration to accelerometer.
Optionally, acceleration value acquiring unit is further used for：
The acceleration theoretical value of the corresponding each axis in accelerometer current location is obtained according to equation below：
Wherein, α is second angle, and β is first angle；G is acceleration of gravity；AxinFor the theoretical value of accelerometer X-axis, AyinFor the theoretical value of accelerometer Y-axis, AzinTheoretical value for accelerometer Z axis.
Optionally, accelerometer calibration unit is further used for：
The corresponding every group of acceleration theoretical value of four different locations is turned to according to accelerometer and acceleration detection value is asked Accelerometer calibration equation group is solved, the intersection factor of accelerometer and zero is obtained and floats value.
Optionally, accelerometer calibration unit is additionally operable to turn to more than four different locations according to accelerometer corresponding Every group of acceleration theoretical value and acceleration detection value repeatedly solve accelerometer calibration equation group, obtain multigroup friendship of accelerometer The fork factor and zero is floatd value；
It is floatd using least square method from multigroup intersection factor and zero and determines that the optimal factor and zero of intersecting is floatd value in value.
An alternative embodiment of the invention provides a kind of electronic equipment, and electronic equipment includes memory and processor, storage It is communicated and connected by internal bus between device and processor, memory is stored with the program instruction that can be executed by processor, journey Sequence instruction can realize above-mentioned accelerometer calibration method when being executed by processor.
An alternative embodiment of the invention provides a kind of computer readable storage medium, computer-readable recording medium storage Computer instruction, computer instruction make computer perform above-mentioned accelerometer calibration method.
The solution have the advantages that the present invention is obtained accelerometer and is turned at least by multiple rotation acceleration meter Corresponding every group of acceleration theoretical value and acceleration detection value, make accelerometer each at each position during four different locations The equal non-zero of acceleration detection value of axis turns to the corresponding every group of acceleration topology degree of at least four different locations according to accelerometer Value and acceleration detection value complete the calibration to accelerometer.State during accelerometer calibration of the present invention is more in line with its reality State during use improves the precision of accelerometer calibration；At least No. four accelerometers of rotation can be completed to acceleration The calibration of meter improves the efficiency of accelerometer calibration.
Description of the drawings
Fig. 1 is the flow diagram of the accelerometer calibration method of one embodiment of the invention；
Fig. 2 is the schematic diagram of the satellite coordinate system of one embodiment of the invention；
Fig. 3 is the signal of the second angle of the accelerometer relative level of the current location of one embodiment of the invention Figure；
Fig. 4 is that the accelerometer of the current location of one embodiment of the invention is opposite with reference to zero degree in the projection of horizontal plane The schematic diagram of first angle；
Fig. 5 is the functional block diagram of the accelerometer calibration device of one embodiment of the invention；
Fig. 6 is the structure diagram of the electronic equipment of one embodiment of the invention.
Specific embodiment
The technical issues of in order to solve to propose in background technology, present inventor are expected through multiple rotation acceleration Meter obtains accelerometer and turns to corresponding every group of acceleration theoretical value and acceleration detection value during at least four different locations, Make the equal non-zero of acceleration detection value of accelerometer each axis at each position, at least four are turned to not according to accelerometer With position, corresponding every group of acceleration theoretical value and acceleration detection value complete the calibration to accelerometer.So that acceleration State during meter calibrating is more in line with its state in actual use, improves the precision of accelerometer calibration；Minimum rotation four Secondary accelerometer can complete the calibration to accelerometer, improve the efficiency of accelerometer calibration.
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention Formula is described in further detail.
Fig. 1 is the flow diagram of the accelerometer calibration method of one embodiment of the invention.It is as shown in Figure 1, of the invention The method of embodiment includes：
S1：Rotation acceleration meter makes the equal non-zero of acceleration detection value of each axis of accelerometer, obtains and work as to current location The accelerometer of front position is opposite opposite with reference to the first angle of zero degree and the accelerometer of current location in the projection of horizontal plane The second angle of horizontal plane；
It should be noted that the embodiment of the present invention is different from the acceleration detection value non-zero that the prior art only has some axis, And the acceleration detection value of other two axis is zero calibrating mode, is ensured when rotation acceleration meter is to current location each The equal non-zero of acceleration detection value of axis, state during accelerometer calibration are more in line with its state in actual use.
In practical applications, any one direction of horizontal plane can be set as referring to zero degree direction.S2：It obtains and accelerates The acceleration detection value of the corresponding each axis in degree meter current location, and accelerometer is obtained according to first angle and second angle and is worked as The acceleration theoretical value of the corresponding each axis in front position；
It will be appreciated that acceleration detection value, that is, accelerometer present bit of the corresponding each axis in accelerometer current location Put the registration of corresponding each axis；The acceleration theoretical value of the corresponding each axis in current location be by mechanical balance equation according to What first angle and second angle were calculated.
S3：Accelerometer is rotated further, repeats step S1-S2, accelerometer is obtained and turns at least four different locations When corresponding every group of acceleration theoretical value and acceleration detection value；
S4：The corresponding every group of acceleration theoretical value of at least four different locations and acceleration inspection are turned to according to accelerometer Measured value asks for the calibration parameter of accelerometer, to complete the calibration to accelerometer.
In practical applications, the embodiment of the present invention turns to the corresponding every group of acceleration of different location according to accelerometer and manages Accelerometer calibration equation group is solved by value and acceleration detection value, the calibration parameter of accelerometer is asked for, completes to acceleration The calibration of meter.
Wherein, accelerometer calibration equation group is：
Wherein, AxoutFor the detected value of accelerometer X-axis, AyoutFor the detected value of accelerometer Y-axis, AzoutFor acceleration Count the detected value of Z axis；AxinFor the theoretical value of accelerometer X-axis, AyinFor the theoretical value of accelerometer Y-axis, AzinFor accelerometer The theoretical value of Z axis；kxxFor the intersection factor of accelerometer X-axis itself, kxyIt is accelerometer X-axis to the intersection factor of Y-axis, kxz It is accelerometer X-axis to the intersection factor of Z axis；kyxIt is accelerometer Y-axis to the intersection factor of X-axis, kyyFor accelerometer Y-axis The intersection factor of itself, kyzIt is accelerometer Y-axis to the intersection factor of Z axis；kzxFor accelerometer Z axis to the intersection of X-axis because Son, kzyIt is accelerometer Z axis to the intersection factor of Y-axis, kzzThe intersection factor for accelerometer Z axis itself；Offset_x is adds The zero of speedometer X-axis is floatd value, and offset_y is the zero of accelerometer Y-axis to float value, and offset_z floats for the zero of accelerometer Z axis Value.
As it can be seen that the calibration parameter that the needs in accelerometer calibration equation group are asked for shares 12, and by each position pair The every group of acceleration theoretical value and acceleration detection value answered, which substitute into acceleration Calibration equation group, can obtain 3 equations to be solved, Therefore, at least need the corresponding acceleration theoretical value in four positions and acceleration detection value that could solve accelerometer calibration equation Group asks for the calibration parameter of accelerometer, completes the calibration to accelerometer.
The embodiment of the present invention is by multiple rotation acceleration meter, when obtaining accelerometer and turning at least four different locations Corresponding every group of acceleration theoretical value and acceleration detection value make the acceleration detection of accelerometer each axis at each position It is worth equal non-zero, the corresponding every group of acceleration theoretical value of at least four different locations and acceleration detection is turned to according to accelerometer Value completes the calibration to accelerometer.State during accelerometer calibration of the embodiment of the present invention is more in line with it in actual use State improves the precision of accelerometer calibration；At least No. four accelerometers of rotation can complete the calibration to accelerometer, Improve the efficiency of accelerometer calibration.
Further, this method further includes：
As shown in Fig. 2, satellite coordinate system is established, wherein, the origin of satellite coordinate system is any point on accelerometer, The X-axis of satellite coordinate system is the X-axis of accelerometer, and the Y-axis of satellite coordinate system is the Y-axis of accelerometer, the Z axis of satellite coordinate system Z axis for accelerometer；
The acceleration theoretical value of the corresponding each axis in accelerometer current location is obtained according to first angle and second angle, Including：
The acceleration theoretical value of the corresponding each axis in accelerometer current location is obtained according to equation below：
Wherein, α is second angle, and β is first angle；G is acceleration of gravity；AxinFor the theoretical value of accelerometer X-axis, AyinFor the theoretical value of accelerometer Y-axis, AzinTheoretical value for accelerometer Z axis.
Illustrate the acquisition principle of the acceleration theoretical value of the embodiment of the present invention below in conjunction with Fig. 2, Fig. 3 and Fig. 4：Assuming that accelerate The initial position of meter is spent as shown in Fig. 2, after vertical rotation acceleration meter second angle α, and the accelerometer of current location is (as schemed Shown in 3) angle of relative level is second angle α, according to mechanical balance, the theoretical value of Y-axis is in the component of vertical direction AyinThe theoretical value of sin α and Z axis is in the component A of vertical directionzinCos α are equal with gravity acceleration g, i.e.,：
Ayinsinα+AzinCos α=g
After accelerometer first angle β is horizontally rotated, the accelerometer (as shown in Figure 4) of current location is in horizontal plane The opposite angle with reference to zero degree of projection is first angle β, according to mechanical balance, the theoretical value of each axis of accelerometer at 0 ° and Meet on 180 ° of line direction：
AyinCos β=Azincosβ+Axinsinβ
Similarly, according to mechanical balance, the theoretical value of each axis of accelerometer expires on 90 ° and 270 ° of line direction Foot：
Ayinsinβ+AxinCos β=Azinsinβ
Specifically, the corresponding every group of acceleration theoretical value of at least four different locations and acceleration are turned to according to accelerometer Degree detected value asks for the calibration parameter of accelerometer, including：
The corresponding every group of acceleration theoretical value of four different locations is turned to according to accelerometer and acceleration detection value is asked Accelerometer calibration equation group is solved, the intersection factor of accelerometer and zero is obtained and floats value.
It will be appreciated that the calibration parameter of accelerometer, which includes 9, intersects the factor and 3 zero values of floaing, by each position pair The every group of acceleration theoretical value and acceleration detection value answered, which substitute into acceleration Calibration equation group, can obtain 3 equations to be solved, Therefore, the corresponding acceleration theoretical value in four positions and acceleration detection value are obtained with regard to accelerometer calibration equation group can be solved, The calibration parameter of accelerometer is asked for, completes the calibration to accelerometer, the side of 6 times must be at least measured relative to the prior art Formula improves the efficiency of accelerometer calibration.
Preferably, in order to further improve the accuracy of acceleration of embodiment of the present invention calibration, this method further includes：
The corresponding every group of acceleration theoretical value of more than four different locations and acceleration detection are turned to according to accelerometer Value repeatedly solves accelerometer calibration equation group, obtains multigroup intersection factor of accelerometer and zero and floats value；
It is floatd using least square method from multigroup intersection factor and zero and determines that the optimal factor and zero of intersecting is floatd value in value.
For example, the embodiment of the present invention obtains accelerometer and turns to the corresponding every group of acceleration reason of five different locations By value and acceleration detection value, four groups of acceleration theoretical values and acceleration detection value are arbitrarily chosen from five groups, one can be completed The solution of secondary accelerometer calibration equation group obtains one group of intersection factor of accelerometer and zero and floats value, five groups of acceleration are managed It is combined the five groups of intersection factors that can obtain accelerometer in total and zero by value and acceleration detection value to float value, using minimum two Multiplication determines that the optimal intersection factor and zero is floatd value in floaing value from above-mentioned five groups of intersection factors and zero, so as to further improve acceleration Spend the precision of meter calibrating.
In practical applications, electronic compass is initialized according to reference to zero degree, first jiao is obtained by electronic compass Degree and second angle；The relative position of electronic compass and accelerometer is fixed.
It should be noted that electronic compass and accelerometer are all mounted in the equipment such as handle, electronic compass and acceleration The relative position of meter is fixed.Before calibration, need to initialize electronic compass according to reference to zero degree, i.e., in electronic compass Setting, when the position for changing accelerometer, can read first angle and the with reference to the direction of zero degree by electronic compass Two angles.
Fig. 5 is the functional block diagram of the accelerometer calibration device of one embodiment of the invention.As shown in figure 5, the present invention is real The device for applying example includes angle acquiring unit 51, acceleration value acquiring unit 52, multigroup acceleration value acquiring unit 53 and accelerates Meter calibrating unit 54 is spent, specifically：
Angle acquiring unit 51 to current location based on rotation acceleration, examines the acceleration of each axis of accelerometer The equal non-zero of measured value obtains the projection opposite first angle and present bit that refer to zero degree of the accelerometer in horizontal plane of current location The second angle of accelerometer relative level put；
Acceleration value acquiring unit 52, for obtaining the acceleration detection of the corresponding each axis in accelerometer current location Value, and according to the acceleration theoretical value of the corresponding each axis of first angle and second angle acquisition accelerometer current location；
Multigroup acceleration value acquiring unit 53 for being rotated further accelerometer, obtains accelerometer and turns at least four Corresponding every group of acceleration theoretical value and acceleration detection value during a different location；
Accelerometer calibration unit 54 adds for turning to corresponding every group of at least four different locations according to accelerometer Rate theory value and acceleration detection value ask for the calibration parameter of accelerometer, to complete the calibration to accelerometer.
Acceleration value acquiring unit 52 is further used for：
The acceleration theoretical value of the corresponding each axis in accelerometer current location is obtained according to equation below：
Wherein, α is second angle, and β is first angle；G is acceleration of gravity；AxinFor the theoretical value of accelerometer X-axis, AyinFor the theoretical value of accelerometer Y-axis, AzinTheoretical value for accelerometer Z axis.
Accelerometer calibration unit 54 is further used for：
The corresponding every group of acceleration theoretical value of four different locations is turned to according to accelerometer and acceleration detection value is asked Accelerometer calibration equation group is solved, the intersection factor of accelerometer and zero is obtained and floats value.
Accelerometer calibration unit 54 is additionally operable to turn to more than four different locations according to accelerometer every group corresponding Acceleration theoretical value and acceleration detection value repeatedly solve accelerometer calibration equation group, obtain multigroup intersection of accelerometer because Son and zero floats value；
It is floatd using least square method from multigroup intersection factor and zero and determines that the optimal factor and zero of intersecting is floatd value in value.
Fig. 6 is the structure diagram of the electronic equipment of one embodiment of the invention.As shown in fig. 6, the electronic equipment includes Processor 61 and memory 62 are communicated by internal bus 63 between processor 61 and memory 62 and connected, and memory 62 stores There is the program instruction that can be performed by processor 61, above-mentioned accelerometer can be realized when program instruction is performed by processor 61 Calibration method.
In addition, the logical order in above-mentioned memory 62 can be realized by the form of SFU software functional unit and is used as solely Vertical product is sold or in use, can be stored in a computer read/write memory medium.Based on such understanding, this hair The part or the part of the technical solution that bright technical solution substantially in other words contributes to the prior art can be with soft The form of part product embodies, which is stored in a storage medium, including some instructions making Computer equipment (can be personal computer, server or the network equipment etc.) performs each embodiment of the application The all or part of step of method.And aforementioned storage medium includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read- Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with Store the medium of program code.
An alternative embodiment of the invention provides a kind of computer readable storage medium, computer-readable recording medium storage Computer instruction, computer instruction make computer perform above-mentioned accelerometer calibration method.
To sum up, according to the technique and scheme of the present invention, it by multiple rotation acceleration meter, obtains accelerometer and turns at least Corresponding every group of acceleration theoretical value and acceleration detection value, make accelerometer each at each position during four different locations The equal non-zero of acceleration detection value of axis turns to the corresponding every group of acceleration topology degree of at least four different locations according to accelerometer Value and acceleration detection value complete the calibration to accelerometer.The invention enables states during accelerometer calibration to be more in line with it State in actual use improves the precision of accelerometer calibration；At least No. four accelerometers of rotation can complete pair plus The calibration of speedometer improves the efficiency of accelerometer calibration.
It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or computer program Product.Therefore, the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware can be used in the present invention Apply the form of example.Moreover, the computer for wherein including computer usable program code in one or more can be used in the present invention The computer program production that usable storage medium is implemented on (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) The form of product.
The present invention be with reference to according to the method for the embodiment of the present invention, the flow of equipment (system) and computer program product Figure and/or block diagram describe.It should be understood that it can be realized by computer program instructions every first-class in flowchart and/or the block diagram The combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be provided The processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce A raw machine so that the instruction performed by computer or the processor of other programmable data processing devices is generated for real The device of function specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.
It should be noted that term " comprising ", "comprising" or its any other variant are intended to the packet of nonexcludability Contain so that process, method, article or equipment including a series of elements not only include those elements, but also including It other elements that are not explicitly listed or further includes as elements inherent to such a process, method, article, or device. In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that in the mistake including element Also there are other identical elements in journey, method, article or equipment.
In the specification of the present invention, numerous specific details are set forth.Although it is understood that the embodiment of the present invention can To put into practice without these specific details.In some instances, well known method, structure and skill is not been shown in detail Art, so as not to obscure the understanding of this description.Similarly, it should be understood that disclose in order to simplify the present invention and helps to understand respectively One or more of a inventive aspect, above in the description of exemplary embodiment of the present invention, each spy of the invention Sign is grouped together into sometimes in single embodiment, figure or descriptions thereof.It however, should not be by the method solution of the disclosure It releases and is intended in reflection is following：I.e. the claimed invention requirement is than the feature that is expressly recited in each claim more More features.More precisely, as the following claims reflect, inventive aspect is less than single reality disclosed above Apply all features of example.Therefore, it then follows thus claims of specific embodiment are expressly incorporated in the specific embodiment, Wherein each claim is in itself as separate embodiments of the invention.
More than, specific embodiment only of the invention, under the above-mentioned introduction of the present invention, those skilled in the art can be with Other improvement or deformation are carried out on the basis of above-described embodiment.It will be understood by those skilled in the art that above-mentioned specifically retouches It states and only preferably explains the purpose of the present invention, protection scope of the present invention should be subject to the protection scope in claims.

Claims (10)

  1. A kind of 1. accelerometer calibration method, which is characterized in that including：
    S1：Rotation acceleration meter makes the equal non-zero of acceleration detection value of each axis of the accelerometer, obtains and work as to current location The accelerometer of front position is in the acceleration of the opposite first angle and current location for referring to zero degree of projection of horizontal plane The second angle of degree meter relative level；
    S2：The acceleration detection value of the corresponding each axis in the accelerometer current location is obtained, and according to the first angle The acceleration theoretical value of each axis corresponding with the second angle acquisition accelerometer current location；
    S3：The accelerometer is rotated further, repeats step S1-S2, the accelerometer is obtained and turns at least four differences Corresponding every group of acceleration theoretical value and acceleration detection value during position；
    S4：The corresponding every group of acceleration theoretical value of at least four different locations and acceleration inspection are turned to according to the accelerometer Measured value asks for the calibration parameter of the accelerometer, to complete the calibration to the accelerometer.
  2. 2. according to the method described in claim 1, it is characterized in that, the method further includes：
    Establish satellite coordinate system, wherein, the origin of the satellite coordinate system is any point on the accelerometer, it is described with The X-axis of body coordinate system is the X-axis of the accelerometer, and the Y-axis of the satellite coordinate system is the Y-axis of the accelerometer, described The Z axis of satellite coordinate system is the Z axis of the accelerometer；
    It is described that the corresponding each axis in the accelerometer current location is obtained according to the first angle and the second angle Acceleration theoretical value, including：
    The acceleration theoretical value of the corresponding each axis in the accelerometer current location is obtained according to equation below：
    Wherein, α is the second angle, and β is the first angle；G is acceleration of gravity；AxinFor the accelerometer X-axis Theoretical value, AyinFor the theoretical value of the accelerometer Y-axis, AzinTheoretical value for the accelerometer Z axis.
  3. 3. according to the method described in claim 1, it is characterized in that, described turn at least four not according to the accelerometer With position, corresponding every group of acceleration theoretical value and acceleration detection value ask for the calibration parameter of the accelerometer, including：
    The corresponding every group of acceleration theoretical value of four different locations is turned to according to the accelerometer and acceleration detection value is asked Accelerometer calibration equation group is solved, the intersection factor of the accelerometer and zero is obtained and floats value.
  4. 4. according to the method described in claim 3, it is characterized in that, the method further includes：
    The corresponding every group of acceleration theoretical value of more than four different locations and acceleration detection are turned to according to the accelerometer Value repeatedly solves accelerometer calibration equation group, obtains multigroup intersection factor of the accelerometer and zero and floats value；
    It is floatd using least square method from multigroup intersection factor and zero and determines that the optimal factor and zero of intersecting is floatd value in value.
  5. 5. according to the method described in claim 1, it is characterized in that, electronic compass is carried out initially with reference to zero degree according to described Change, the first angle and the second angle are obtained by the electronic compass；The electronic compass and the accelerometer Relative position fix.
  6. 6. a kind of accelerometer calibration device, which is characterized in that including：
    Angle acquiring unit to current location based on rotation acceleration, makes the acceleration detection of each axis of the accelerometer It is worth equal non-zero, obtains the accelerometer of current location in the opposite first angle with reference to zero degree of projection of horizontal plane and current The second angle of the accelerometer relative level of position；
    Acceleration value acquiring unit, for obtaining the acceleration detection value of the corresponding each axis in the accelerometer current location, And the acceleration of the corresponding each axis in the accelerometer current location is obtained according to the first angle and the second angle Theoretical value；
    Multigroup acceleration value acquiring unit for being rotated further the accelerometer, obtains the accelerometer and turns at least Corresponding every group of acceleration theoretical value and acceleration detection value during four different locations；
    Accelerometer calibration unit, for turning to the corresponding every group of acceleration of at least four different locations according to the accelerometer Topology degree value and acceleration detection value ask for the calibration parameter of the accelerometer, to complete the calibration to the accelerometer.
  7. 7. device according to claim 6, which is characterized in that the acceleration value acquiring unit is further used for：
    The acceleration theoretical value of the corresponding each axis in the accelerometer current location is obtained according to equation below：
    Wherein, α is the second angle, and β is the first angle；G is acceleration of gravity；AxinFor the accelerometer X-axis Theoretical value, AyinFor the theoretical value of the accelerometer Y-axis, AzinTheoretical value for the accelerometer Z axis.
  8. 8. device according to claim 6, which is characterized in that the accelerometer calibration unit is further used for：
    The corresponding every group of acceleration theoretical value of four different locations is turned to according to the accelerometer and acceleration detection value is asked Accelerometer calibration equation group is solved, the intersection factor of the accelerometer and zero is obtained and floats value.
  9. 9. device according to claim 8, which is characterized in that the accelerometer calibration unit is additionally operable to be added according to described Speedometer turns to the corresponding every group of acceleration theoretical value of more than four different locations and acceleration detection value repeatedly solves acceleration Meter calibrating equation group is spent, multigroup intersection factor of the accelerometer and zero is obtained and floats value；
    It is floatd using least square method from multigroup intersection factor and zero and determines that the optimal factor and zero of intersecting is floatd value in value.
  10. 10. a kind of electronic equipment, which is characterized in that the electronic equipment includes memory and processor, the memory and institute It states to communicate by internal bus between processor and connect, the memory, which is stored with, to be referred to by the program that the processor performs It enables, described program instruction can realize claim 1-5 any one of them accelerometer calibrations when being performed by the processor Method.
CN201711125014.6A 2017-11-14 2017-11-14 A kind of accelerometer calibration method and device Pending CN108152535A (en)

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Application publication date: 20180612