CN108627151A - Corner measuring apparatus, method based on Inertial Measurement Unit and electronic equipment - Google Patents
Corner measuring apparatus, method based on Inertial Measurement Unit and electronic equipment Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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Abstract
The embodiment of the present invention provides a kind of corner measuring apparatus based on Inertial Measurement Unit, method and electronic equipment, according to the measurement data of tri- axis of XYZ of accelerometer in Inertial Measurement Unit determine object under test tri- axis of XYZ at current time weights, and according to the measurement data of tri- axis of XYZ of gyroscope in the weights of determining tri- axis of XYZ and current time Inertial Measurement Unit, corner of the calculating object under test at current time, it the corner of measuring targets can accurately be measured in the case of nonspecific posture, and computation complexity is relatively low, it can be measured in real time.
Description
Technical Field
The invention relates to the technical field of communication, in particular to a rotation angle measuring device and method based on an inertia measuring unit and electronic equipment.
Background
In recent years, the demand for location-based services has increased, and the application of positioning technology has also become widespread. Among them, the measurement of the rotation angle of an object is one of important subjects.
Currently, an Inertial Measurement Unit (IMU) is often integrated on an aircraft, a robot, a wearable device, and a smart phone for detecting attitude and motion trajectory information of an object, and an existing rotation angle Measurement method based on the IMU needs to be based on an important premise that the IMU needs to maintain a specific attitude relative to an object to be measured during Measurement, for example, the IMU maintains a specific angle of 30 degrees with the object to be measured.
It should be noted that the above background description is only for the sake of clarity and complete description of the technical solutions of the present invention and for the understanding of those skilled in the art. Such solutions are not considered to be known to the person skilled in the art merely because they have been set forth in the background section of the invention.
Disclosure of Invention
In practical applications, application scenarios of any fixed posture and even posture-variable situations are very wide, for example, during human body movement, when the inertial measurement unit in the smartphone is used to detect the rotation angle of the human body movement, the posture of the smartphone may not be kept specific, and the angle of the smartphone with the human body may not be kept at the specific angle of 30 degrees all the time. When the conventional rotation angle measuring method based on the inertial measurement unit is used, the measurement result cannot reflect the real motion state of the human body under the condition that the posture of the inertial measurement unit is not specific, so that the measurement result is inaccurate.
The embodiment of the invention provides a device and a method for measuring the rotating angle of an inertial measurement unit and electronic equipment, wherein the device and the method are used for determining the weights of the three XYZ axes of an object to be measured at the current moment according to the measurement data of the three XYZ axes of an accelerometer in the inertial measurement unit, and calculating the rotating angle of the object to be measured at the current moment according to the determined weights of the three XYZ axes and the measurement data of the three XYZ axes of a gyroscope in the inertial measurement unit at the current moment.
According to a first aspect of the embodiments of the present invention, there is provided a rotation angle measuring device based on an inertial measurement unit, the inertial measurement unit being carried by an object to be measured, the inertial measurement unit including an accelerometer and a gyroscope, the device including: the first determination unit is used for determining the weight of the object to be measured in the three XYZ axes at the current moment according to the measurement data of the three XYZ axes of the accelerometer; and the first calculation unit is used for calculating the rotation angle of the object to be measured at the current moment according to the determined weight values of the three XYZ axes of the object to be measured at the current moment and the measurement data of the three XYZ axes of the gyroscope at the current moment.
According to a second aspect of embodiments of the present invention, there is provided an electronic device comprising the apparatus according to the first aspect of embodiments of the present invention.
According to a third aspect of the embodiments of the present invention, there is provided a rotation angle measurement method based on an inertial measurement unit, the inertial measurement unit being carried by an object to be measured, the inertial measurement unit including an accelerometer and a gyroscope, the method including: determining the weight of the object to be measured in the three-axis XYZ at the current moment according to the measurement data of the three-axis XYZ of the accelerometer; and calculating the rotation angle of the object to be measured at the current moment according to the determined weight of the three-axis XYZ of the object to be measured at the current moment and the measurement data of the three-axis XYZ of the gyroscope at the current moment.
The invention has the beneficial effects that: the method comprises the steps of determining the weights of the three X, Y and Z axes of the object to be measured at the current moment according to the measurement data of the three X, Y and Z axes of the accelerometer in the inertial measurement unit at the inertial measurement unit, calculating the rotation angle of the object to be measured at the current moment according to the determined weights of the three X, Y and Z axes and the measurement data of the three X, Y and Z axes of the gyroscope in the inertial measurement unit at the current moment, accurately measuring the rotation angle of the object to be measured under the condition of unspecified posture, and being low in calculation complexity and capable of measuring in.
Specific embodiments of the present invention are disclosed in detail with reference to the following description and drawings, indicating the manner in which the principles of the invention may be employed. It should be understood that the embodiments of the invention are not so limited in scope. The embodiments of the invention include many variations, modifications and equivalents within the spirit and scope of the appended claims.
Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments, in combination with or instead of the features of the other embodiments.
It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps or components.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
fig. 1 is a schematic view of an inertial measurement unit-based rotation angle measuring device according to embodiment 1 of the present invention;
fig. 2 is a schematic diagram of the first determination unit 101 of embodiment 1 of the present invention;
fig. 3 is a schematic view of the first detection unit 103 of embodiment 1 of the present invention;
fig. 4 is a schematic diagram of a second determination unit 201 of embodiment 1 of the present invention;
fig. 5 is a schematic diagram of the first calculation unit 102 of embodiment 1 of the present invention;
fig. 6 is a schematic diagram of detecting a change in the attitude of the inertial measurement unit according to a change in the XYZ triaxial weights determined by the motion principal axis in embodiment 1 of the present invention;
fig. 7 is a schematic diagram of an eighth determining unit 106 of embodiment 1 of the present invention;
fig. 8 is a schematic view of an electronic apparatus of embodiment 2 of the present invention;
fig. 9 is a schematic block diagram of a system configuration of an electronic apparatus of embodiment 2 of the present invention;
FIG. 10 is a schematic diagram of a rotation angle measuring method based on an inertial measurement unit according to embodiment 3 of the present invention;
fig. 11 is another schematic diagram of the rotation angle measuring method based on the inertial measurement unit according to embodiment 3 of the present invention.
Detailed Description
The foregoing and other features of the invention will become apparent from the following description taken in conjunction with the accompanying drawings. In the description and drawings, particular embodiments of the invention have been disclosed in detail as being indicative of some of the embodiments in which the principles of the invention may be employed, it being understood that the invention is not limited to the embodiments described, but, on the contrary, is intended to cover all modifications, variations, and equivalents falling within the scope of the appended claims.
Example 1
The embodiment provides a rotation angle measuring device based on an inertial measurement unit, wherein the inertial measurement unit is carried by an object to be measured and comprises an accelerometer and a gyroscope. Fig. 1 is a schematic view of a rotation angle measuring device based on an inertial measurement unit according to embodiment 1 of the present invention. As shown in fig. 1, the rotation angle measuring device 100 includes:
a first determining unit 101, configured to determine, according to the measurement data of the XYZ three axes of the accelerometer, a weight of the object to be measured at the current time in the XYZ three axes;
and the first calculating unit 102 is used for calculating the rotation angle of the object to be measured at the current moment according to the determined weight values of the three XYZ axes of the object to be measured at the current moment and the measurement data of the three XYZ axes of the gyroscope at the current moment.
In the present embodiment, the rotation angle measuring device 100 performs the measurement of the rotation angle based on the measurement data of the inertial measurement unit, and the inertial measurement unit may not be included in the rotation angle measuring device 100, but only provide the measurement data to the rotation angle measuring device 100, and may also be included in the rotation angle measuring device 100.
In this embodiment, the object to be measured carries the inertia measurement unit, for example, the inertia measurement unit is integrated in an electronic device such as an aircraft, a robot, a wearable device, and a smart phone, and the aircraft or the robot, or a user wearing the wearable device and carrying the smart phone, may serve as the object to be measured.
In this embodiment, the inertial measurement unit includes an accelerometer and a gyroscope, which may use existing structures.
It can be known from the above embodiments that, the weights of the XYZ axes of the object to be measured at the current time are determined according to the measurement data of the XYZ axes of the accelerometer in the inertial measurement unit, and the rotation angle of the object to be measured at the current time is calculated according to the determined weights of the XYZ axes and the measurement data of the XYZ axes of the gyroscope in the inertial measurement unit at the current time, so that the rotation angle of the object to be measured can be accurately measured without specifying the attitude, and the calculation complexity is low, and real-time measurement can be performed.
In this embodiment, the first determining unit 101 is configured to determine the weight values of the three XYZ axes of the object to be measured at the current time according to the measurement data of the three XYZ axes of the accelerometer.
In this embodiment, the weight of the XYZ three axes of the object to be measured at the current time refers to the weight of the measurement data of the XYZ three axes of the gyroscope when the measurement data of the XYZ three axes of the gyroscope is used to calculate the rotation angle at the current time.
The structure of the first determination unit 101 and a method of determining the weight are exemplarily described below.
In this embodiment, the rotation angle measuring device 100 may further include:
a first detection unit 103, configured to detect whether the object to be detected is in a quasi-static state.
Fig. 2 is a schematic diagram of the first determination unit 101 of embodiment 1 of the present invention. As shown in fig. 2, the first determination unit 101 includes:
a second determining unit 201, configured to determine, when the object to be measured is not in a quasi-static state, a motion principal axis of the object to be measured at the current time according to measurement data of the three XYZ axes of the accelerometer within a predetermined time period before the current time, and determine, according to the motion principal axis, a weight of the three XYZ axes of the object to be measured at the current time;
a third determining unit 202, configured to obtain a gravity component of the three XYZ axes at the current time according to the measurement data of the accelerometer at the three XYZ axes at the current time when the object to be measured is in a quasi-static state, and determine a weight of the object to be measured at the three XYZ axes at the current time according to the gravity component.
In this embodiment, the quasi-static detection of the object to be measured runs through the whole process of detecting the rotation angle, and once the object to be measured is detected to be in the quasi-static state, the original determination of the weight value according to the motion principal axis is switched to the determination of the weight value according to the gravity component, and the process continues until the process of measuring the rotation angle is finished.
Therefore, the method for obtaining the weight is determined according to the quasi-static detection result, the weight is determined according to the motion main shaft under the condition that the weight is not in the quasi-static state, the calculation is simple, and the weight is determined according to the gravity component under the condition that the weight is in the quasi-static state, so that the measurement precision can be improved. Therefore, different weight determination methods can be flexibly applied according to the motion condition of the object to be measured to measure the rotation angle, and the flexibility of the measurement method and the accuracy of the measurement result can be further improved.
In this embodiment, for example, the measurement data of the accelerometer of the inertial measurement unit may be used to detect whether the object to be measured is in a quasi-static state. Fig. 3 is a schematic diagram of the first detection unit 103 according to embodiment 1 of the present invention. As shown in fig. 3, the first detection unit 103 includes:
a second calculating unit 301, configured to calculate a difference between a modulus of the measurement data of the accelerometer in the three XYZ axes at the current time and the acceleration of gravity;
a fourth determining unit 302, configured to determine that the object to be measured is in a quasi-static state at the current time when the difference is smaller than or equal to a predetermined threshold;
a fifth determining unit 303, configured to determine that the object to be measured is not in a quasi-static state at the current time when the difference is greater than the predetermined threshold.
In this embodiment, the predetermined threshold may be set according to actual needs, for example, the predetermined threshold is 0.01.
For example, the first detection unit 103 may determine whether the object to be measured is in a quasi-static state according to the following equations (1) and (2):
wherein,the model values of the measurement data of the accelerometer in the three XYZ axes at time k are shown, and G represents the acceleration of gravity.
In this embodiment, the second determining unit 201 is configured to determine a movement principal axis of the object to be measured at the current time according to the measurement data of the three XYZ axes of the accelerometer within a predetermined time period before the current time when the object to be measured is not in a quasi-static state, and determine the weight values of the three XYZ axes of the object to be measured at the current time according to the movement principal axis.
The structure of the second determination unit 201 and the determination method are exemplarily described below.
Fig. 4 is a schematic diagram of the second determination unit 201 of embodiment 1 of the present invention. As shown in fig. 4, the second determination unit 201 includes:
a third calculation unit 401 for calculating an absolute value of a difference between an absolute value of a mean value of measurement data of XYZ three axes of the accelerometer in a predetermined period of time before the current time and the gravitational acceleration;
a sixth determining unit 402, configured to use an axis with a smallest absolute value of a difference between an absolute value of a mean value of the measurement data and the gravitational acceleration as a motion main axis of the object to be measured at the current time;
a seventh determining unit 403, configured to determine, according to the motion principal axis, weights of XYZ and three axes of the object to be measured at the current time.
For example, the measurement data of XYZ triaxial within a predetermined time period before the current time may be expressed as:
wherein,represents the mean of the measurement data of the XYZ triaxial of the accelerometer for a predetermined period of time before the current time,andthe mean values of the measured data of the X axis, Y axis and Z axis are shown, respectively.
In the present embodiment, the predetermined period of time (or number of sampling samples) TAccThis can be obtained according to the following equation (4):
wherein f issRepresenting the sampling rate of the inertial measurement unit. For example, the sampling rate is several hundred times per second.
In the present embodiment, the third calculation unit 401 and the sixth determination unit 402 may determine the movement principal axis according to the following formula (5):
wherein,the mean value of measurement data of one axis of XYZ axes is represented, and G represents the gravitational acceleration.
In the present embodiment, the seventh determining unit 403 determines the weights of the XYZ axes of the object to be measured at the current time according to the motion principal axis, for example, determines the weights of the XYZ axes of the object to be measured at the current time according to the following equations (6) and (7):
wherein L isAccThe weight values of the three axes of XYZ are represented,the axis on which the main axis of motion is indicated,the mean of the measured data representing the axis on which the principal axis of motion lies,representing the weight of the i-axis.
In this embodiment, the third determining unit 202 is configured to, when the object to be measured is in a quasi-static state, obtain a gravity component of the three XYZ axes at the current time according to the measurement data of the accelerometer at the three XYZ axes at the current time, and determine a weight of the object to be measured at the three XYZ axes at the current time according to the gravity component.
For example, the third determination unit 202 may calculate the gravitational components of XYZ triaxial at the current time according to the following equation (8):
wherein,respectively representing the gravity components of three axes of X, Y and Z,respectively representing the measured data of the accelerometer in the three axes X, Y and Z at time k.
In the present embodiment, when a new gravity component is obtained, the gravity component is updated to be used for calculating the weights of the XYZ triaxial axes, and if a new gravity component is not obtained, the weights of the XYZ triaxial axes are calculated using the original gravity component all the time.
For example, the weights of the XYZ axes of the object to be measured at the current time may also be determined according to the following formula (9):
wherein,respectively representing the weight values of the X axis, the Y axis and the Z axis of the object to be measured at the current moment,representing the X, Y and Z-axis gravity components, respectively.
In this embodiment, after the first determining unit 101 determines the weights of the three XYZ axes of the object to be measured at the current time, the first calculating unit 102 calculates the rotation angle of the object to be measured at the current time according to the determined weights of the three XYZ axes of the object to be measured at the current time and the measurement data of the three XYZ axes of the gyroscope at the current time.
The structure of the first calculation unit 102 and the method of calculating the rotation angle are exemplarily described below.
Fig. 5 is a schematic diagram of the first calculation unit 102 according to embodiment 1 of the present invention. As shown in fig. 5, the first calculation unit 102 includes:
a fourth calculating unit 501, configured to calculate a rotation angle increment of the object to be measured at the current time according to the determined weights of the three XYZ axes of the object to be measured at the current time and the measurement data of the three XYZ axes of the gyroscope at the current time;
a fifth calculating unit 502, configured to calculate a rotation angle of the object to be measured at the current time according to the rotation angle of the object to be measured at the previous time and a compensation function related to the rotation angle increment of the object to be measured at the current time.
For example, the fourth calculation unit 501 may calculate the rotation angle increment of the object to be measured at the current time according to the following formula (10):
wherein, Delta thetakIndicates the rotation angle increment at the time k (current time),XYZ triaxial output value, W, of gyroscope representing time kAcc＝[wx,wy,wz]And represents the weight of XYZ triaxial at time k.
In the present embodiment, when the weight is determined according to the motion principal axis, W ═ LAcc(ii) a When determining the weight value according to the gravity component, WAcc＝αAcc. That is, when the weight is determined according to the motion principal axis, the weight may be obtained according to the above equations (6) and (7), and when the weight is determined according to the gravity component, the weight may be obtained according to the above equation (9).
For example, the fifth calculating unit 502 may calculate the rotation angle of the object to be measured at the current time according to the following formula (11):
θk＝(θk-1+f(Δθk)+360)％360 (11)
wherein, thetakThe rotation angle, theta, representing the time k (current time)k-1Denotes a rotation angle f (Δ θ) at time k-1 (previous time)k) The compensation function, which may be a linear function or a second order function, represents the rotation angle increment at time k.
In the present embodiment, f (Δ θ)k) When a linear function, it can be expressed as:
f(Δθk)＝k1×Δθk+ε (12)
wherein k is1The weight is, for example, a value of 0.5 to 1.5, for example, 1.128; ε represents zero mean Gaussian noise, which is a random number.
f(Δθk) In the case of a second order function, it can be expressed as:
f(Δθk)＝k1×(Δθk)2+k2×Δθk+ε (13)
wherein k is1And k2As a weight value, e.g. k1Is 0.001, k2A value of 0.5 to 1.5, for example 1.128; ε represents zero mean Gaussian noise, which is a random number.
In this embodiment, the rotation angle measuring device 100 may further include:
a second detection unit 104 for detecting whether the attitude of the inertial measurement unit changes;
and an invalidation unit 105, configured to, when it is detected that the attitude of the inertial measurement unit changes, invalidate the rotation angle measurement result of the object to be measured at the current time and within a predetermined time period before and after the current time.
In the present embodiment, the detection of the attitude change of the inertial measurement unit by the second detection unit 104 is performed throughout the entire rotation angle detection process. Therefore, by setting the rotation angle measurement results at the current time and in the previous preset time period and the next preset time period as invalid when the posture of the inertial measurement unit changes, unreliable measurement result output can be avoided, and misleading to a user is avoided.
In the present embodiment, the predetermined time period may be set according to actual needs, for example, the predetermined time period may be determined according to the above formula (4).
In the present embodiment, the second detecting unit 104 may detect whether the attitude of the inertial measurement unit changes according to the change of the XYZ triaxial weight determined by the motion principal axis, for example, may determine whether the attitude of the inertial measurement unit changes according to the following formula (14):
wherein d iskRepresents the attitude decision result at time k, when dkWhen the value is 1, the posture is changed, and when d iskWhen the attitude is 0, the posture is not changed;an X-axis weight determined from the motion principal axis representing time k,represents the X-axis weight determined from the motion principal axis at time k-1,a Y-axis weight determined from the motion principal axis representing time k,represents the Y-axis weight determined from the motion principal axis at time k-1,a Z-axis weight determined from the principal axis of motion at time k,representing the Z-axis weight determined from the principal axis of motion at time k-1.
Fig. 6 is a schematic diagram of detecting a change in the attitude of the inertial measurement unit according to a change in the XYZ triaxial weights determined by the motion principal axis in embodiment 1 of the present invention. As shown in fig. 6, at dkAt the time of 1, a change in the attitude of the inertial measurement unit is detected.
In this embodiment, the invalidation unit 105 is configured to invalidate the rotation angle measurement result of the object to be measured at the current time and within a predetermined time period before and after the current time when the change of the attitude of the inertial measurement unit is detected.
In this embodiment, the rotation angle measuring device may further include:
an eighth determining unit 106, configured to determine a turning direction of the object to be measured at the current time according to a change of the turning angle of the object to be measured at the current time with respect to the turning angle at the previous time.
The structure of the eighth determination unit 106 and the method of determining steering are exemplarily described below.
Fig. 7 is a schematic diagram of an eighth determining unit 106 of embodiment 1 of the present invention. As shown in fig. 7, the eighth determining unit 106 includes:
a ninth determining unit 701, configured to determine that the object to be measured turns left at the current time when the rotation angle of the object to be measured at the current time increases with respect to the rotation angle at the previous time, and determine that the object to be measured turns right at the current time when the rotation angle of the object to be measured at the current time decreases with respect to the rotation angle at the previous time, in a case where the XYZ triaxial output is a positive value when the gyroscope rotates counterclockwise;
a tenth determining unit 702, configured to determine that the object to be measured turns to the right at the current time when the rotation angle of the object to be measured at the current time increases with respect to the rotation angle at the previous time, and determine that the object to be measured turns to the left at the current time when the rotation angle of the object to be measured at the current time decreases with respect to the rotation angle at the previous time, in a case where the XYZ triaxial output is a positive value when the gyroscope rotates clockwise.
It can be known from the above embodiments that, the weights of the XYZ axes of the object to be measured at the current time are determined according to the measurement data of the XYZ axes of the accelerometer in the inertial measurement unit, and the rotation angle of the object to be measured at the current time is calculated according to the determined weights of the XYZ axes and the measurement data of the XYZ axes of the gyroscope in the inertial measurement unit at the current time, so that the rotation angle of the object to be measured can be accurately measured without specifying the attitude, and the calculation complexity is low, and real-time measurement can be performed.
Example 2
An embodiment of the present invention further provides an electronic device, and fig. 8 is a schematic diagram of an electronic device in embodiment 2 of the present invention. As shown in fig. 8, the electronic device 800 includes a rotation angle measuring apparatus 801, wherein the structure and function of the rotation angle measuring apparatus 801 are the same as those described in embodiment 1, and are not described herein again.
Fig. 9 is a schematic block diagram of a system configuration of an electronic apparatus according to embodiment 2 of the present invention. As shown in fig. 9, the electronic device 900 may include a central processor 901 and a memory 902; the memory 902 is coupled to the central processor 901. The figure is exemplary; other types of structures may also be used in addition to or in place of the structure to implement telecommunications or other functions.
As shown in fig. 9, the electronic device 900 may further include: input unit 903, display 904, power supply 905.
In one embodiment, the functions of the rotation angle measuring device described in example 1 may be integrated into the central processor 901. The central processor 901 may be configured to: determining the weight of the object to be measured in the three X, Y and Z axes at the current moment according to the measurement data of the three X, Y and Z axes of the accelerometer of the inertial measurement unit; and calculating the rotation angle of the object to be measured at the current moment according to the determined weight values of the three XYZ axes of the object to be measured at the current moment and the measurement data of the three XYZ axes of the gyroscope of the inertial measurement unit at the current moment.
The central processor 901 may be further configured to: detecting whether the object to be detected is in a quasi-static state; the determining the weight of the object to be measured in the three XYZ axes at the current moment according to the measurement data of the three XYZ axes of the accelerometer includes: when the object to be measured is not in a quasi-static state, determining a motion main shaft of the object to be measured at the current moment according to measurement data of three-axis XYZ of the accelerometer in a preset time period before the current moment, and determining the weight of the three-axis XYZ of the object to be measured at the current moment according to the motion main shaft; when the object to be measured is in a quasi-static state, obtaining the gravity component of the current XYZ three axes according to the measurement data of the accelerometer at the current moment in the XYZ three axes, and determining the weight of the object to be measured at the current moment in the XYZ three axes according to the gravity component.
For example, the detecting whether the object to be detected is in a quasi-static state includes: calculating the difference value between the module value of the measurement data of the accelerometer in the three XYZ axes at the current moment and the gravity acceleration; when the difference value is smaller than or equal to a preset threshold value, determining that the object to be detected is in a quasi-static state at the current moment; and when the difference is larger than the preset threshold value, determining that the object to be detected is not in a quasi-static state at the current moment.
For example, the determining, according to the measurement data of the XYZ triaxial apparatus within a predetermined time period before the current time by the accelerometer, the motion principal axis of the object to be measured at the current time, and determining, according to the motion principal axis, the weight values of the XYZ triaxial apparatus of the object to be measured at the current time include: calculating an absolute value of a difference value between an absolute value of a mean value of measurement data of XYZ three axes of the accelerometer in a predetermined time period before a current time and a gravitational acceleration; taking the axis with the minimum absolute value of the difference between the absolute value of the mean value of the measured data and the gravity acceleration as the motion main axis of the object to be measured at the current moment; and determining the weight of the XYZ three axes of the object to be measured at the current moment according to the motion main axis.
For example, the calculating the rotation angle of the object to be measured at the current time according to the determined weights of the three XYZ axes of the object to be measured at the current time and the measurement data of the three XYZ axes of the gyroscope at the current time includes: calculating the rotation angle increment of the object to be measured at the current moment according to the determined weight of the three-axis XYZ of the object to be measured at the current moment and the measurement data of the three-axis XYZ of the gyroscope at the current moment; and calculating the rotation angle of the object to be measured at the current moment according to the rotation angle of the object to be measured at the previous moment and a compensation function related to the rotation angle increment of the object to be measured at the current moment.
For example, the central processor 901 may also be configured to: detecting whether the attitude of the inertial measurement unit changes; and when the change of the attitude of the inertial measurement unit is detected, setting the rotation angle measurement result of the object to be measured at the current moment and in the previous and subsequent preset time periods as invalid.
For example, the central processor 901 may also be configured to: and determining the steering of the object to be measured at the current moment according to the change condition of the corner of the object to be measured at the current moment relative to the corner at the previous moment.
For example, the determining the steering of the object to be measured at the current moment according to the change of the turning angle of the object to be measured at the current moment relative to the turning angle of the object to be measured at the previous moment includes: under the condition that the output of the XYZ three axes is a positive value when the gyroscope rotates anticlockwise, when the rotation angle of the object to be detected at the current moment is increased relative to the rotation angle at the previous moment, determining that the object to be detected rotates leftwards at the current moment, and when the rotation angle of the object to be detected at the current moment is decreased relative to the rotation angle at the previous moment, determining that the object to be detected rotates rightwards at the current moment; when the gyroscope rotates clockwise, under the condition that the output of the XYZ three axes is a positive value, when the rotation angle of the object to be detected at the current moment is increased relative to the rotation angle at the previous moment, determining that the object to be detected rotates rightwards at the current moment, and when the rotation angle of the object to be detected at the current moment is decreased relative to the rotation angle at the previous moment, determining that the object to be detected rotates leftwards at the current moment.
In another embodiment, the rotation angle measuring device described in embodiment 1 may be configured separately from the central processor 901, for example, the rotation angle measuring device may be configured as a chip connected to the central processor 901, and the function of the rotation angle measuring device is realized by the control of the central processor 901.
It is not necessary for the electronic device 900 to include all of the components shown in fig. 9 in this embodiment.
As shown in fig. 9, a central processor 901, sometimes referred to as a controller or operational control, may include a microprocessor or other processor device and/or logic device, the central processor 901 receiving input and controlling operation of various components of the electronic device 900.
The memory 902, for example, may be one or more of a buffer, a flash memory, a hard drive, a removable media, a volatile memory, a non-volatile memory, or other suitable device. And the central processor 901 can execute the program stored in the memory 902 to realize information storage or processing or the like. The functions of other parts are similar to the prior art and are not described in detail here. The components of electronic device 900 may be implemented in dedicated hardware, firmware, software, or combinations thereof, without departing from the scope of the invention.
It can be known from the above embodiments that, the weights of the XYZ axes of the object to be measured at the current time are determined according to the measurement data of the XYZ axes of the accelerometer in the inertial measurement unit, and the rotation angle of the object to be measured at the current time is calculated according to the determined weights of the XYZ axes and the measurement data of the XYZ axes of the gyroscope in the inertial measurement unit at the current time, so that the rotation angle of the object to be measured can be accurately measured without specifying the attitude, and the calculation complexity is low, and real-time measurement can be performed.
Example 3
The embodiment of the invention also provides a rotation angle measuring method based on the inertial measurement unit, which corresponds to the rotation angle measuring device in the embodiment 1, wherein the inertial measurement unit is carried by the object to be measured, and the inertial measurement unit comprises an accelerometer and a gyroscope. Fig. 10 is a schematic diagram of a rotation angle measuring method based on an inertial measurement unit according to embodiment 3 of the present invention. As shown in fig. 10, the method includes:
step 1001: determining the weight of an object to be measured in the XYZ three axes at the current moment according to the measurement data of the XYZ three axes of the accelerometer;
step 1002: and calculating the rotation angle of the object to be measured at the current moment according to the determined weight of the object to be measured at the current moment in three-axis XYZ and the measurement data of the gyroscope at the current moment in three-axis XYZ.
Fig. 11 is another schematic diagram of the rotation angle measuring method based on the inertial measurement unit according to embodiment 3 of the present invention. As shown in fig. 11, the method includes:
step 1101: initializing a flag, and setting the flag to be 0;
step 1102: determining a motion main shaft of an object to be measured at the moment k according to the measurement data of the accelerometer in the three X, Y and Z axes within a preset time period before the moment k;
step 1103: detecting whether the attitude of the inertial measurement unit changes, if so, entering step 1104, and if not, entering step 1105;
step 1104: setting the rotation angle measurement result of the object to be measured at the moment k and in the preset time period before and after the moment k as invalid;
step 1105: detecting whether the object to be detected is in a quasi-static state, if the judgment result is yes, entering a step 1106, and if the judgment result is no, entering a step 1107;
step 1106: setting flag to be 1, and updating the gravity component;
step 1107: judging whether the flag is 1, if the judgment result is 'no', entering the step 1108, and if the judgment result is 'yes', entering the step 1109;
step 1108: determining the weight of the object to be measured in XYZ three axes at the moment k according to the motion main axis;
step 1109: determining the weight of the object to be measured in XYZ three axes at the moment k according to the gravity component;
step 1110: calculating the rotation angle of the object to be measured at the moment k according to the determined weight of the object to be measured at the moment k in three XYZ axes and the measurement data of the gyroscope at the moment k in three XYZ axes;
step 1111: k is k + 1.
In the present embodiment, the detection of the attitude change of the inertial measurement unit in step 1103 and the detection of the quasi-static state in step 1105 may be performed throughout the entire process of the rotation angle measurement.
In this embodiment, the specific implementation method in each step is the same as that described in embodiment 1, and is not described herein again.
It can be known from the above embodiments that, the weights of the XYZ axes of the object to be measured at the current time are determined according to the measurement data of the XYZ axes of the accelerometer in the inertial measurement unit, and the rotation angle of the object to be measured at the current time is calculated according to the determined weights of the XYZ axes and the measurement data of the XYZ axes of the gyroscope in the inertial measurement unit at the current time, so that the rotation angle of the object to be measured can be accurately measured without specifying the attitude, and the calculation complexity is low, and real-time measurement can be performed.
Embodiments of the present invention also provide a computer-readable program, where when the program is executed in a rotation angle measuring device or an electronic apparatus, the program causes a computer to execute the rotation angle measuring method according to embodiment 3 in the rotation angle measuring device or the electronic apparatus.
An embodiment of the present invention further provides a storage medium storing a computer-readable program, where the computer-readable program enables a computer to execute the rotation angle measuring method according to embodiment 3 in a rotation angle measuring device or an electronic device.
The method for performing rotation angle measurement in a rotation angle measuring device or an electronic apparatus described in connection with the embodiments of the present invention may be directly embodied as hardware, a software module executed by a processor, or a combination of the two. For example, one or more of the functional block diagrams and/or one or more combinations of the functional block diagrams illustrated in fig. 1 may correspond to individual software modules of a computer program flow or may correspond to individual hardware modules. These software modules may correspond to the steps shown in fig. 10 and 11, respectively. These hardware modules may be implemented, for example, by solidifying these software modules using a Field Programmable Gate Array (FPGA).
A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. A storage medium may be coupled to the processor such that the processor can read information from, and write information to, the storage medium; or the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The software module may be stored in the memory of the mobile terminal or in a memory card that is insertable into the mobile terminal. For example, if the apparatus (e.g., mobile terminal) employs a relatively large capacity MEGA-SIM card or a large capacity flash memory device, the software module may be stored in the MEGA-SIM card or the large capacity flash memory device.
One or more of the functional block diagrams and/or one or more combinations of the functional block diagrams described with respect to fig. 1 may be implemented as a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any suitable combination thereof designed to perform the functions described herein. One or more of the functional block diagrams and/or one or more combinations of the functional block diagrams described with respect to fig. 1 may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP communication, or any other such configuration.
While the invention has been described with reference to specific embodiments, it will be apparent to those skilled in the art that these descriptions are illustrative and not intended to limit the scope of the invention. Various modifications and alterations of this invention will become apparent to those skilled in the art based upon the spirit and principles of this invention, and such modifications and alterations are also within the scope of this invention.
With respect to the embodiments including the above embodiments, the following remarks are also disclosed:
supplementary note 1, a corner measuring device based on inertia measuring unit, inertia measuring unit is carried by the object that awaits measuring, inertia measuring unit includes accelerometer and gyroscope, the device includes:
the first determination unit is used for determining the weight of the object to be measured in the three XYZ axes at the current moment according to the measurement data of the three XYZ axes of the accelerometer;
and the first calculation unit is used for calculating the rotation angle of the object to be measured at the current moment according to the determined weight values of the three XYZ axes of the object to be measured at the current moment and the measurement data of the three XYZ axes of the gyroscope at the current moment.
Supplementary note 2, the apparatus according to supplementary note 1, wherein the apparatus further comprises:
the first detection unit is used for detecting whether the object to be detected is in a quasi-static state;
the first determination unit includes:
a second determining unit, configured to determine, when the object to be measured is not in a quasi-static state, a motion principal axis of the object to be measured at a current time according to measurement data of XYZ three axes of the accelerometer within a predetermined time period before the current time, and determine the weight of the object to be measured at the XYZ three axes of the current time according to the motion principal axis;
a third determining unit, configured to, when the object to be measured is in a quasi-static state, obtain, according to measurement data of the accelerometer on three XYZ axes at the current time, a gravity component of the three XYZ axes at the current time, and determine, according to the gravity component, the weight of the object to be measured on the three XYZ axes at the current time.
Note 3 of the present invention, the apparatus according to note 2, wherein the first detection unit includes:
a second calculation unit, configured to calculate a difference between a modulus of measurement data of the accelerometer in the three XYZ axes at the current time and a gravitational acceleration;
a fourth determination unit, configured to determine that the object to be measured is in a quasi-static state at the current time when the difference is smaller than or equal to a predetermined threshold;
a fifth determining unit, configured to determine that the object to be measured is not in a quasi-static state at the current time when the difference is greater than the predetermined threshold.
Note 4 of the apparatus according to note 2, wherein the second determining unit includes:
a third calculation unit for calculating an absolute value of a difference between an absolute value of a mean value of measurement data of XYZ three axes of the accelerometer in a predetermined period of time before a current time and a gravitational acceleration;
a sixth determining unit, configured to use an axis with a smallest absolute value of a difference between an absolute value of a mean value of the measurement data and the gravitational acceleration as a motion main axis of the object to be measured at the current time;
a seventh determining unit, configured to determine the weights of the XYZ triaxial of the object to be measured at the current time according to the motion principal axis.
Supplementary note 5, the apparatus according to supplementary note 1, wherein the first calculation unit includes:
a fourth calculating unit, configured to calculate a rotation angle increment of the object to be measured at the current time according to the determined weights of the three XYZ axes of the object to be measured at the current time and the measurement data of the three XYZ axes of the gyroscope at the current time;
and the fifth calculation unit is used for calculating the rotation angle of the object to be measured at the current moment according to the rotation angle of the object to be measured at the previous moment and a compensation function related to the rotation angle increment of the object to be measured at the current moment.
Supplementary note 6, the apparatus according to supplementary note 1, wherein the apparatus further comprises:
a second detection unit for detecting whether the attitude of the inertial measurement unit changes;
and the invalid unit is used for setting the rotation angle measurement result of the object to be measured at the current moment and in a preset time period before and after the current moment as invalid when the change of the attitude of the inertial measurement unit is detected.
Supplementary note 7, the apparatus according to supplementary note 1, wherein the apparatus further comprises:
and the eighth determining unit is used for determining the steering of the object to be measured at the current moment according to the change condition of the rotating angle of the object to be measured at the current moment relative to the rotating angle at the previous moment.
Note 8, the apparatus according to note 7, wherein the eighth determining unit includes:
a ninth determining unit, configured to determine that the object to be measured turns left at the current time when the rotation angle of the object to be measured at the current time increases relative to the rotation angle at the previous time, and determine that the object to be measured turns right at the current time when the rotation angle of the object to be measured at the current time decreases relative to the rotation angle at the previous time, in a case where the XYZ triaxial output is a positive value when the gyroscope rotates counterclockwise;
a tenth determining unit, configured to determine that the object to be measured turns right at the current time when the rotation angle of the object to be measured at the current time increases relative to the rotation angle at the previous time, and determine that the object to be measured turns left at the current time when the rotation angle of the object to be measured at the current time decreases relative to the rotation angle at the previous time, in a case where the XYZ triaxial output is a positive value when the gyroscope rotates clockwise.
Supplementary note 9, an electronic device comprising the apparatus according to supplementary note 1.
Supplementary note 10, a method of measuring a rotation angle based on an inertial measurement unit comprising an accelerometer and a gyroscope, the method comprising:
determining the weight of the object to be measured in the three-axis XYZ at the current moment according to the measurement data of the three-axis XYZ of the accelerometer;
and calculating the rotation angle of the object to be measured at the current moment according to the determined weight of the three-axis XYZ of the object to be measured at the current moment and the measurement data of the three-axis XYZ of the gyroscope at the current moment.
Supplementary note 11, the method according to supplementary note 10, wherein the method further comprises:
detecting whether the object to be detected is in a quasi-static state;
the determining the weight of the object to be measured in the three XYZ axes at the current moment according to the measurement data of the three XYZ axes of the accelerometer includes:
when the object to be measured is not in a quasi-static state, determining a motion main shaft of the object to be measured at the current moment according to measurement data of three-axis XYZ of the accelerometer in a preset time period before the current moment, and determining the weight of the three-axis XYZ of the object to be measured at the current moment according to the motion main shaft;
when the object to be measured is in a quasi-static state, obtaining the gravity component of the current XYZ three axes according to the measurement data of the accelerometer at the current moment in the XYZ three axes, and determining the weight of the object to be measured at the current moment in the XYZ three axes according to the gravity component.
Supplementary note 12, the method according to supplementary note 11, wherein said detecting whether said object to be measured is in quasi-static state comprises:
calculating the difference value between the module value of the measurement data of the accelerometer in the three XYZ axes at the current moment and the gravity acceleration;
when the difference value is smaller than or equal to a preset threshold value, determining that the object to be detected is in a quasi-static state at the current moment;
and when the difference is larger than the preset threshold value, determining that the object to be detected is not in a quasi-static state at the current moment.
Supplementary notes 13, the method according to supplementary notes 11, wherein the determining a movement principal axis of the object to be measured at the current time according to the measurement data of the three XYZ axes of the accelerometer within a predetermined time period before the current time, and determining the weight values of the three XYZ axes of the object to be measured at the current time according to the movement principal axis, comprises:
calculating an absolute value of a difference value between an absolute value of a mean value of measurement data of XYZ three axes of the accelerometer in a predetermined time period before a current time and a gravitational acceleration;
taking the axis with the minimum absolute value of the difference between the absolute value of the mean value of the measured data and the gravity acceleration as the motion main axis of the object to be measured at the current moment;
and determining the weight of the XYZ three axes of the object to be measured at the current moment according to the motion main axis.
Supplementary note 14, the method according to supplementary note 10, wherein the calculating the rotation angle of the object at the current time according to the determined weights of the three XYZ axes of the object at the current time and the measurement data of the three XYZ axes of the gyroscope at the current time comprises:
calculating the rotation angle increment of the object to be measured at the current moment according to the determined weight of the three-axis XYZ of the object to be measured at the current moment and the measurement data of the three-axis XYZ of the gyroscope at the current moment;
and calculating the rotation angle of the object to be measured at the current moment according to the rotation angle of the object to be measured at the previous moment and a compensation function related to the rotation angle increment of the object to be measured at the current moment.
Supplementary note 15, the method according to supplementary note 10, wherein the method further comprises:
detecting whether the attitude of the inertial measurement unit changes;
and when the change of the attitude of the inertial measurement unit is detected, setting the rotation angle measurement result of the object to be measured at the current moment and in the previous and subsequent preset time periods as invalid.
Supplementary note 16, the method according to supplementary note 10, wherein the method further comprises:
and determining the steering of the object to be measured at the current moment according to the change condition of the corner of the object to be measured at the current moment relative to the corner at the previous moment.
Supplementary note 17, the method according to supplementary note 16, wherein the determining the steering of the object to be measured at the current time according to the change of the turning angle of the object to be measured at the current time with respect to the turning angle at the previous time includes:
under the condition that the output of the XYZ three axes is a positive value when the gyroscope rotates anticlockwise, when the rotation angle of the object to be detected at the current moment is increased relative to the rotation angle at the previous moment, determining that the object to be detected rotates leftwards at the current moment, and when the rotation angle of the object to be detected at the current moment is decreased relative to the rotation angle at the previous moment, determining that the object to be detected rotates rightwards at the current moment;
when the gyroscope rotates clockwise, under the condition that the output of the XYZ three axes is a positive value, when the rotation angle of the object to be detected at the current moment is increased relative to the rotation angle at the previous moment, determining that the object to be detected rotates rightwards at the current moment, and when the rotation angle of the object to be detected at the current moment is decreased relative to the rotation angle at the previous moment, determining that the object to be detected rotates leftwards at the current moment.
Claims (10)
1. A rotation angle measuring device based on an inertial measurement unit carried by an object to be measured, the inertial measurement unit including an accelerometer and a gyroscope, the device comprising:
the first determination unit is used for determining the weight of the object to be measured in the three XYZ axes at the current moment according to the measurement data of the three XYZ axes of the accelerometer;
and the first calculation unit is used for calculating the rotation angle of the object to be measured at the current moment according to the determined weight values of the three XYZ axes of the object to be measured at the current moment and the measurement data of the three XYZ axes of the gyroscope at the current moment.
2. The apparatus of claim 1, wherein the apparatus further comprises:
the first detection unit is used for detecting whether the object to be detected is in a quasi-static state;
the first determination unit includes:
a second determining unit, configured to determine, when the object to be measured is not in a quasi-static state, a motion principal axis of the object to be measured at a current time according to measurement data of XYZ three axes of the accelerometer within a predetermined time period before the current time, and determine the weight of the object to be measured at the XYZ three axes of the current time according to the motion principal axis;
a third determining unit, configured to, when the object to be measured is in a quasi-static state, obtain, according to measurement data of the accelerometer on three XYZ axes at the current time, a gravity component of the three XYZ axes at the current time, and determine, according to the gravity component, the weight of the object to be measured on the three XYZ axes at the current time.
3. The apparatus of claim 2, wherein the first detection unit comprises:
a second calculation unit, configured to calculate a difference between a modulus of measurement data of the accelerometer in the three XYZ axes at the current time and a gravitational acceleration;
a fourth determination unit, configured to determine that the object to be measured is in a quasi-static state at the current time when the difference is smaller than or equal to a predetermined threshold;
a fifth determining unit, configured to determine that the object to be measured is not in a quasi-static state at the current time when the difference is greater than the predetermined threshold.
4. The apparatus of claim 2, wherein the second determining unit comprises:
a third calculation unit for calculating an absolute value of a difference between an absolute value of a mean value of measurement data of XYZ three axes of the accelerometer in a predetermined period of time before a current time and a gravitational acceleration;
a sixth determining unit, configured to use an axis with a smallest absolute value of a difference between an absolute value of a mean value of the measurement data and the gravitational acceleration as a motion main axis of the object to be measured at the current time;
a seventh determining unit, configured to determine the weights of the XYZ triaxial of the object to be measured at the current time according to the motion principal axis.
5. The apparatus of claim 1, wherein the first computing unit comprises:
a fourth calculating unit, configured to calculate a rotation angle increment of the object to be measured at the current time according to the determined weights of the three XYZ axes of the object to be measured at the current time and the measurement data of the three XYZ axes of the gyroscope at the current time;
and the fifth calculation unit is used for calculating the rotation angle of the object to be measured at the current moment according to the rotation angle of the object to be measured at the previous moment and a compensation function related to the rotation angle increment of the object to be measured at the current moment.
6. The apparatus of claim 1, wherein the apparatus further comprises:
a second detection unit for detecting whether the attitude of the inertial measurement unit changes;
and the invalid unit is used for setting the rotation angle measurement result of the object to be measured at the current moment and in a preset time period before and after the current moment as invalid when the change of the attitude of the inertial measurement unit is detected.
7. The apparatus of claim 1, wherein the apparatus further comprises:
and the eighth determining unit is used for determining the steering of the object to be measured at the current moment according to the change condition of the rotating angle of the object to be measured at the current moment relative to the rotating angle at the previous moment.
8. The apparatus of claim 7, wherein the eighth determining unit comprises:
a ninth determining unit, configured to determine that the object to be measured turns left at the current time when the rotation angle of the object to be measured at the current time increases relative to the rotation angle at the previous time, and determine that the object to be measured turns right at the current time when the rotation angle of the object to be measured at the current time decreases relative to the rotation angle at the previous time, in a case where the XYZ triaxial output is a positive value when the gyroscope rotates counterclockwise;
a tenth determining unit, configured to determine that the object to be measured turns right at the current time when the rotation angle of the object to be measured at the current time increases relative to the rotation angle at the previous time, and determine that the object to be measured turns left at the current time when the rotation angle of the object to be measured at the current time decreases relative to the rotation angle at the previous time, in a case where the XYZ triaxial output is a positive value when the gyroscope rotates clockwise.
9. An electronic device comprising the apparatus of claim 1.
10. A method of rotational angle measurement based on an inertial measurement unit comprising an accelerometer and a gyroscope, the method comprising:
determining the weight of the object to be measured in the three-axis XYZ at the current moment according to the measurement data of the three-axis XYZ of the accelerometer;
and calculating the rotation angle of the object to be measured at the current moment according to the determined weight of the three-axis XYZ of the object to be measured at the current moment and the measurement data of the three-axis XYZ of the gyroscope at the current moment.
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