CN109813336A - Inertial Measurement Unit scaling method - Google Patents
Inertial Measurement Unit scaling method Download PDFInfo
- Publication number
- CN109813336A CN109813336A CN201711175800.7A CN201711175800A CN109813336A CN 109813336 A CN109813336 A CN 109813336A CN 201711175800 A CN201711175800 A CN 201711175800A CN 109813336 A CN109813336 A CN 109813336A
- Authority
- CN
- China
- Prior art keywords
- axis
- inertial measurement
- measurement unit
- gyroscope
- clamping part
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000005259 measurement Methods 0.000 title claims abstract description 180
- 238000000034 method Methods 0.000 title claims abstract description 63
- 238000001514 detection method Methods 0.000 claims abstract description 33
- 238000012360 testing method Methods 0.000 claims description 69
- 230000036544 posture Effects 0.000 claims description 62
- 230000003068 static effect Effects 0.000 claims description 50
- 230000005389 magnetism Effects 0.000 claims description 7
- 239000000463 material Substances 0.000 claims description 4
- FNMKZDDKPDBYJM-UHFFFAOYSA-N 3-(1,3-benzodioxol-5-yl)-7-(3-methylbut-2-enoxy)chromen-4-one Chemical compound C1=C2OCOC2=CC(C2=COC=3C(C2=O)=CC=C(C=3)OCC=C(C)C)=C1 FNMKZDDKPDBYJM-UHFFFAOYSA-N 0.000 claims description 3
- 238000004321 preservation Methods 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 description 20
- 230000005484 gravity Effects 0.000 description 18
- 230000033001 locomotion Effects 0.000 description 12
- 238000012956 testing procedure Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 10
- 238000003860 storage Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000011160 research Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 241001416181 Axis axis Species 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 230000003190 augmentative effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000005358 geomagnetic field Effects 0.000 description 2
- 238000012163 sequencing technique Methods 0.000 description 2
- 230000001429 stepping effect Effects 0.000 description 2
- 238000010998 test method Methods 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000004220 aggregation Methods 0.000 description 1
- 230000002776 aggregation Effects 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 230000005415 magnetization Effects 0.000 description 1
- 210000003733 optic disk Anatomy 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000036632 reaction speed Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Landscapes
- Gyroscopes (AREA)
Abstract
The present invention relates to a kind of scaling methods of Inertial Measurement Unit, are applied to nine axis Inertial Measurement Units, the nine axis Inertial Measurement Unit includes three-axis gyroscope, three axis accelerometer and three axle magnetometer.The scaling method of the Inertial Measurement Unit includes: to provide three axis turntables and clamping part；The nine axis Inertial Measurement Unit is installed in the clamping part；The clamping part is installed in the three axis turntable；Control three axis turntable rotation, and record nine axis Inertial Measurement Units detection data, while the gyroscope, the accelerometer and the magnetometer are calibrated.The scaling method of above-mentioned Inertial Measurement Unit, cost is relatively low and precision is higher for calibration.The embodiment of the present invention also provides a kind of scaling method of controller, applied to the controller including nine axis Inertial Measurement Units.
Description
Technical field
The present invention relates to sensor technical field more particularly to a kind of Inertial Measurement Unit scaling methods.
Background technique
Unmanned plane, robot, mechanical holder, shipping vehicle, virtual reality/augmented reality, human motion analysis etc. are close
Year all achieves swift and violent development.And in such applications, the autonomous measurement in 3 d pose and orientation seems particularly important.Inertia
Sensor of the measuring unit (Inertialmeasurementunit, IMU) as measurement object triaxial attitude angle, is in realization
State the important spare part of technology and equipment.Especially in the development of virtual reality/augmented reality industry, virtual reality/enhancing is existing
Real equipment will not only meet viewing of the user to content, it is also necessary to by attitude transducer, ditch energy virtual world and real generation
Boundary, thus operation and control by the device of reality to virtual world.
Traditional Inertial Measurement Unit includes two sensors: gyroscope (Gyroscope) and accelerometer
(Accelerometer), gyroscope can estimate the posture Eulerian angles (Yaw, Pitch, Roll) of equipment, pass through accelerometer pair
The drift of gyroscope compensates.To obtain more accurate attitude data, people research and develop a kind of nine axis inertia measurement lists at present
Member, nine axis Inertial Measurement Units increase another sensor: magnetometer on the basis of traditional Inertial Measurement Unit
(Magnetometer) direction Yaw of posture is compensated.Due to three sensors of nine axis Inertial Measurement Units itself
The deviation of hardware manufacture craft, for sensor when perceiving extraneous, data have certain deviation, thus need to survey inertia
Amount unit is demarcated, to reach the requirement of sensor perception data consistency.Because the measurement attribute of three sensors is not
Equally, the calibration respectively to different sensors in different ways is needed, people mainly use following several method pair at present
Nine axis Inertial Measurement Units are demarcated:
1) manual scaling method: it is simple, it is upper quick-moving, but need using special fixture, jig to nine axis inertia measurements
Clamping is set in the sensor carry out portion of unit,.Manual scaling method is bigger to manual operation dependence, is easy to make mistakes, and
Precision is not high, is easy to appear maloperation, can not carry out volume production and control, calibration cost height, low efficiency.
2) machine standardization: Inertial Measurement Unit is demarcated using traditional three axis axis turntables, three axis axis turntables can
Improve calibration speed and precision.But this method is only capable of the gyroscope and accelerometer of nine axis Inertial Measurement Units of calibration, and
It cannot be used for the calibration of magnetometer.
3) turn 8 word methods: by demarcating manually to magnetometer, but can only realize the staking-out work of single magnetometer, and
And calibration effect is inconsistent, calibration quality can not define test.
To sum up, at present to the scaling method of nine axis Inertial Measurement Units there are cumbersome, precision insufficient and efficiency
Low problem.
Summary of the invention
Cost is relatively low, the higher nine axis Inertial Measurement Unit of precision for the one kind that is designed to provide of the embodiment of the present invention, uses
In solution above-mentioned technical problem.
A kind of scaling method of Inertial Measurement Unit is applied to nine axis Inertial Measurement Units, the nine axis inertia measurement list
Member includes three-axis gyroscope, three axis accelerometer and three axle magnetometer.The scaling method of the Inertial Measurement Unit includes: to mention
For three axis turntables and clamping part；The nine axis Inertial Measurement Unit is installed in the clamping part；By the clamping part
It is installed in the three axis turntable；And the control three axis turntable rotation, and record the nine axis Inertial Measurement Unit
Detection data, while the gyroscope, the accelerometer and the magnetometer are calibrated.
In a kind of wherein embodiment, after the clamping part is installed in the three axis turntable, controller is provided, it will
The nine axis Inertial Measurement Unit in the controller and the clamping part is wirelessly connected；The controller is described for controlling
The rotation of three axis turntables, and for calibrating the gyroscope, the accelerometer and the magnetometer.
In a kind of wherein embodiment, when calibrating the gyroscope, the gyroscope is calibrated thirdly static state on axis
Deviation.
In a kind of wherein embodiment, the gyroscope is calibrated thirdly when static deviation on axis, by the gyro
Instrument is placed in the three axis turntable with different predetermined postures respectively and stands the predetermined time；The gyroscope is obtained respectively
In data detected in different positions, and the gyroscope is calculated separately in static deviation in different positions, and save
After the static deviation of the gyroscope, the gyroscope is calibrated.
In a kind of wherein embodiment, when calibrating the gyroscope, while calibrate the static deviation of the gyroscope with
And rotation twist deviation.
In a kind of wherein embodiment, when calibrating the accelerometer, the offset of each axis of the accelerometer is calibrated.
In a kind of wherein embodiment, the offset of each axis of the accelerometer is calibrated, comprising:
The clamping part is placed in the three axis turntable with different predetermined postures respectively and stands the predetermined time；
The accelerometer data detected under each posture are obtained respectively；Further, in order to improve detection and school
Quasi- stability and accuracy, can acquire multi-group data, and calculate separately the flat of all data detected under each posture
Mean value, as accelerometer described under posture data detected；
The central point for calculating separately the positive negative sense data of three axis of the accelerometer, to obtain in measurement range
The heart, the offset of as each axis；
After the offset of each axis for saving the gyroscope, the gyroscope is calibrated.
In a kind of wherein embodiment, when calibrating the magnetometer, the deviation and scale of the magnetometer are calibrated.
In a kind of wherein embodiment, the deviation and scale of the magnetometer are calibrated, comprising: the magnetometer is rotated,
Form the magnetometer in space spherical, according to magnetism intensity of three axis of the resulting magnetometer of rotation in three-dimensional coordinate
Maximin, calculate the deviation of magnetometer, and the magnetometer according to the deviation calibration.
In a kind of wherein embodiment, when the three axis turntable is provided, the magnetic field inside the three axis turntable is enabled
Intensity is less than or equal to 0.6Guass.
In a kind of wherein embodiment, the three-axle table is made of non-magnet material.
In a kind of wherein embodiment, multiple accommodating chambers are equipped in the clamping part, the accommodating chamber is used for collecting post
State nine axis Inertial Measurement Units；When the nine axis Inertial Measurement Unit is installed in the clamping part, by multiple nine axis
Inertial Measurement Unit is installed in the accommodating chamber of the clamping part simultaneously.
In a kind of wherein embodiment, the detection parameters of the nine axis Inertial Measurement Unit are tested, are wanted if test meets
It asks, then terminates, if detection backlog demand, continues to calibrate the nine axis Inertial Measurement Unit, until test result satisfaction is wanted
It asks.
In a kind of wherein embodiment, when testing the detection parameters of the nine axis Inertial Measurement Unit, institute is tested respectively
State the passive dithering precision of nine axis Inertial Measurement Units, rotational positioning precision, convergence rate, static drift, dynamic drift and
Rotation axis is inclined.
In a kind of wherein embodiment, the detection parameters of the nine axis Inertial Measurement Unit are tested, comprising: test simultaneously
Passive dithering precision, the rotational positioning precision, static drift of the nine axis Inertial Measurement Unit.
In a kind of wherein embodiment, the detection parameters of the nine axis Inertial Measurement Unit are tested, further include surveying simultaneously
Dynamic drift and the rotation axis for trying the nine axis Inertial Measurement Unit are inclined.
The embodiment of the present invention also provides a kind of scaling method for controlling equipment, applied to including nine axis Inertial Measurement Units
Equipment is controlled, the nine axis Inertial Measurement Unit includes three-axis gyroscope, three axis accelerometer and three axis magnetic force.The inertia
The scaling method of measuring unit includes: to provide three axis turntables and clamping part；The control equipment is installed in the clamping
In part；The clamping part is installed in the three axis turntable；And the control three axis turntable rotation, and record the control
The detection data of control equipment, while the gyroscope, the accelerometer and the magnetometer are calibrated
Compared with the existing technology, the scaling method of Inertial Measurement Unit provided in an embodiment of the present invention breaches usual used
Property measuring unit calibration limitation, can using the three axis turntable and the clamping part multiple Inertial Measurement Units are same
When install and demarcate, and calibration when simultaneously demarcate gyroscope, accelerometer and magnetometer, more efficiently improve nine axis
The efficiency and precision of Inertial Measurement Unit calibration.
Detailed description of the invention
In order to illustrate more clearly of technical solution of the present invention, attached drawing needed in embodiment will be made below
Simply introduce, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present invention, general for this field
For logical technical staff, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the flow diagram of the scaling method of Inertial Measurement Unit provided in an embodiment of the present invention；
Fig. 2 is the functional block diagram of nine axis Inertial Measurement Unit provided in an embodiment of the present invention.
Fig. 3 is the schematic diagram of three axis turntables in the scaling method of Inertial Measurement Unit shown in Fig. 1；
Fig. 4 is the schematic diagram of clamping part in the scaling method of Inertial Measurement Unit shown in Fig. 1；
Fig. 5 is the schematic diagram of clamping part wherein one group of posture in the scaling method of Inertial Measurement Unit shown in Fig. 1；
Fig. 6 is the schematic diagram of another group of posture of clamping part in the scaling method of Inertial Measurement Unit shown in Fig. 1；
Fig. 7 is the reading schematic diagram of the magnetometer of Inertial Measurement Unit shown in Fig. 1 during the calibration process.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, embodiment of the present invention provides a kind of scaling method of Inertial Measurement Unit, it is applied to shown in Fig. 2
Nine axis Inertial Measurement Units 100 calibration.
The nine axis Inertial Measurement Unit 100 includes gyroscope 10, accelerometer 30 and magnetometer 50.The gyroscope
10 be three-axis gyroscope, is used to detect three axis angular rates.The accelerometer 30 is three axis accelerometer, is used to detect three
Axle acceleration.The magnetometer 50 is three axle magnetometer, is used to detect three-axle magnetic field intensity.
The nine axis Inertial Measurement Unit 100 can be applied to the device for needing to detect movement or stationary posture, such as intelligence
Mobile terminal (such as mobile phone, tablet computer, smartwatch), remote-control handle, game paddle, body-sensing device, unmanned vehicle etc.
Deng.Due to manufacturing process, the nine axis Inertial Measurement Unit 100 is when leaving the factory or in being assemblied in above-mentioned device
When, can there are problems that measured deviation, in order to improve the nine axis Inertial Measurement Unit 100 output data stability and standard
Whether true property, and the performance of the verifying nine axis Inertial Measurement Unit 100 reach the standard of application, need used to nine axis
Property measuring unit 100 is demarcated and is calibrated equipped with the device of the nine axis Inertial Measurement Unit 100.
In the research process of the invention, inventors have found that using traditional manual standardization, six axis inertia measurements
Unit standardization turns a 8 word methods when demarcating to the nine axis Inertial Measurement Unit 100, it is generally existing it is cumbersome, precision is insufficient
And the problem of inefficiency, therefore inventor is dedicated to improving the stated accuracy of nine axis Inertial Measurement Units 100 and calibration effect
Rate.During the studies above, the research of inventor includes:
1) gyroscope 10 is for measuring angular speed, before not demarcating, zero reading and the linear scaling relation of reading
It is inconsistent, thus need to demarcate the center zero and reading scale of gyroscope.
2) accelerometer 30 is used to measure the acceleration of object, is mainly measured in a manner of power.It is not demarcating
Before, measuring center point is likely to occur inconsistent offset, and will appear the deviation of certain angle before its axis and axis, needs
The center and scale of accelerometer are demarcated.
3) magnetometer 50 is used to measure the intensity in magnetic field, by measuring the intensity in earth's magnetic field, calculates the north of earth magnetism
To.Inventors have found that will receive the shadow of electronic device itself and electromagnetic field since the magnetometer 50 is in fabric swatch and patch
It rings, fixed magnetic force is formed inside electronic product to be influenced, in addition in electronics external, it is also possible to will appear other magnetic fields
It influences, such as transformer, motor, magnetization irony articles etc., all influences there may be magnetic field.Thus need to inside and outside magnetic
Field is demarcated, and rejects influence of the various magnetic fields to magnetometer measures, the central point and scale of magnetometer will receive inside and outside these
The influence in magnetic field needs to demarcate it.
For above-mentioned problem, the embodiment of the invention provides above-mentioned Inertial Measurement Unit scaling methods, for improving
The stated accuracy and calibration efficiency of nine axis Inertial Measurement Units 100.
Referring to Fig. 1, specifically in the embodiment shown in fig. 1, the Inertial Measurement Unit scaling method includes step
It is rapid:
Step S101: three axis turntables are provided.
Please refer to Fig. 3, specifically in some embodiments, three axis turntables 200 as shown in Figure 3 are provided.It is described
Three axis turntables 200 include bedframe 210, the first rotating mechanism 230, the second rotating mechanism 250 and third rotating mechanism
270。
First rotating mechanism 230 include be connected to the bedframe 210 the first actuator (not marked in figure),
It is connected to the first turntable 231 of first actuator and is connected to the support frame 233 of first turntable 231, described
One actuator is for driving the relatively described bedframe 210 of first turntable 231 and support frame as described above 233 around first axle Z
Rotation.In the present embodiment, the first axle Z is vertical axes.In some specific embodiments, first driving
Part can be motor.
Second rotating mechanism 250 includes the second actuator (not marking in figure) being connected on support frame as described above 233
And it is connected to the second turntable 251 of second actuator, second actuator is for driving 251 phase of the second turntable
Support frame as described above 233 is rotated around second axis Y, wherein the second axis Y is perpendicular to the first axle Z.In this implementation
In mode, the second axis Y is trunnion axis.In some specific embodiments, second actuator can be motor.
The third rotating mechanism 270 includes the third actuator 271 for being connected to second turntable 251, the third
Actuator 271 is for driving relatively described second turntable 251 of nine axis Inertial Measurement Unit 100 to be detected to turn around third axis X
Dynamic, the third axis X is both perpendicular to the first axle Z and second axis Y, that is, the first axle Z, institute
Second axis Y and the third axis X are stated in pairwise orthogonal state.In the present embodiment, the third axis X is trunnion axis.
In some specific embodiments, the third actuator 271 can be rotary cylinder.
In order to avoid causing magnetic disturbance to the nine axis Inertial Measurement Unit 100, the three axis turntable 200 is by non-magnetic
Material is made, such as aluminium, alloy material.Further, when first actuator and second actuator are motor
When, first actuator should away from first pre-determined distance of the second actuator, in other words, first actuator with it is described
At a distance of the first pre-determined distance between second actuator, first pre-determined distance is greater than or equal to 50cm.
In some embodiments, it in order to avoid causing magnetic disturbance to the nine axis Inertial Measurement Unit 100, provides described
When three axis turntables 200, the magnetic field strength inside the three axis turntable 200 is enabled to be less than or equal to 0.6Guass.
Step S103: clamping part is provided, the device with the nine axis Inertial Measurement Unit is installed in the clamping part
It is interior.
In the present embodiment, clamping part 400 as shown in Figure 4 is provided.Multiple accommodating chambers are equipped in the clamping part 400
410, multiple devices with the nine axis Inertial Measurement Unit can be accommodated simultaneously.It is appreciated that in other some realities
It applies in example, when demarcating to the device configured with the nine axis Inertial Measurement Unit, the clamping part may include one
Or multiple accommodating chambers for adapting to described device.
In some embodiments, the clamping part is polyhedron box, it is preferable that the clamping part is as shown in Figure 4
Hexahedron box (such as cuboid, square), so that the device with the nine axis Inertial Measurement Unit is installed in institute in calibration
Specific installation direction can also be had by stating in clamping part.Further, in order to make the clamping part in subsequent calibration process
Its posture can be easily recorded, three Cartesian coordinates can be established for the clamping part, as shown in figure 4, the dress
Coordinate system on folder includes x-axis mutually orthogonal two-by-two, y-axis and z-axis.
Step S105: the clamping part is installed in the three axis turntable.Specifically, the clamping part is connected to
The third actuator of the three axis turntable enables the third actuator to drive the clamping part around the third axis X
Rotation.
Step S107: providing controller, by the nine axis Inertial Measurement Unit in the controller and the clamping part
It is wirelessly connected.Wherein the controller is wirelessly connected and is communicated with the nine axis Inertial Measurement Unit, the controller energy
Enough detection datas for obtaining the nine axis Inertial Measurement Unit in real time.
Step S109: the control three axis turntable rotation, and the detection data of the nine axis Inertial Measurement Unit is recorded,
To be calibrated to the nine axis Inertial Measurement Unit.
Specifically in some embodiments, when being calibrated to the nine axis Inertial Measurement Unit, while to the gyro
Instrument, the accelerometer and the magnetometer are calibrated.Step S109 includes:
Step S1091: the gyroscope is calibrated.Specifically in the present embodiment, when calibrating the gyroscope, described in calibration
Gyroscope is thirdly static deviation on axis: the gyroscope is stood the predetermined time respectively with different predetermined postures；Respectively
The gyroscope is obtained in data detected in different positions, and calculates separately the gyroscope in static state in different positions
Deviation, and after the static deviation of the preservation gyroscope, calibrate the gyroscope.In the present embodiment, when the gyroscope
When standing, the static deviation of the gyroscope is to be embodied in the data of its detection.In order to improve the stability of detection and calibration
And accuracy, multi-group data can be acquired and take the average value of multi-group data, to calculate static state of the gyroscope on three axis
Deviation.Further, it is detected in the clamping part please refer to Fig. 5 by the clamping part respectively with different postures standing
Nine axis Inertial Measurement Units are in static deviation in different positions.Above-mentioned different postures include: to be in by the x-axis of the clamping part
It is vertical to place, placed by the y-axis of the clamping part in vertical placement and by the z-axis of the clamping part in vertical.
Specifically in the present embodiment, which, which refines, includes:
The clamping part is stood into the predetermined time with the first predetermined posture, the first predetermined posture is the clamping part
X-axis is in the posture placed vertically；Wherein, the x-axis of the clamping part can be along the positive direction of acceleration of gravity, can also be along gravity
The opposite direction of acceleration；
The data detected for obtaining the gyroscope calculate the first static deviation of the gyroscope；In this embodiment party
In formula, when the gyroscope is stood, the static deviation of the gyroscope is to be embodied in the data of its detection.In order to improve inspection
The stability and accuracy surveyed and calibrated, can acquire multi-group data and take the average value of multi-group data, in terms of relatively accurately
Calculate the first static deviation of the gyroscope；
The clamping part is stood into the predetermined time with the second predetermined posture, the second predetermined posture is the clamping part
Y-axis is in the posture placed vertically；Wherein, the y-axis of the clamping part can be along the positive direction of acceleration of gravity, can also be along gravity
The opposite direction of acceleration；
The data detected for obtaining the gyroscope calculate the second static deviation of the gyroscope；In order to improve inspection
The stability and accuracy surveyed and calibrated, can acquire multi-group data and take the average value of multi-group data, in terms of relatively accurately
Calculate the second static deviation of the gyroscope；
The clamping part is stood into the predetermined time with the predetermined posture of third, the predetermined posture of third is the clamping part
Z-axis is in the posture placed vertically；Wherein, the z-axis of the clamping part can be along the positive direction of acceleration of gravity, can also be along gravity
The opposite direction of acceleration；
The data detected for obtaining the gyroscope calculate the third static deviation of the gyroscope；In order to improve inspection
The stability and accuracy surveyed and calibrated, can acquire multi-group data and take the average value of multi-group data, in terms of relatively accurately
Calculate the third static deviation of the gyroscope；
The first, second and third static deviation of the gyroscope is saved, and calibrates the gyroscope.
In other some embodiments, in order to improve the calibration accuracy of the gyroscope, it can calibrate simultaneously described
The static deviation and rotation twist deviation of gyroscope.When calibrating the rotation twist deviation of the gyroscope, by the clamping part
It is placed in the three axis turntable and is rotated according to predetermined direction, the rotation twist deviation of the gyroscope is embodied in its institute
In the data of detection.In order to improve the stability and accuracy of detection and calibration, multi-group data can be acquired, to calculate the top
Rotation twist deviation of the spiral shell instrument on three axis.
Further, similar with the method for above-mentioned calibration static deviation please refer to Fig. 5, the clamping part is distinguished
With the rotation of different postures, and the clamping part is detected in rotation twist deviation in different positions to obtain the gyroscope at it
Rotation twist deviation on three axis, and after the rotation twist deviation of the preservation gyroscope, calibrate the gyroscope.It is above-mentioned not
It include: to be placed by the x-axis of the clamping part in vertical placement and around rotation in x weeks, by the y-axis of the clamping part in vertical with posture
And it was rotated around y weeks, and the z-axis of the clamping part is placed and in vertical around rotation in z weeks.Further, the clamping is rotated
When part, at the uniform velocity to rotate.
Step S1093: the accelerometer is calibrated.Specifically in the present embodiment, when calibrating the accelerometer, calibration
The offset of each axis of the accelerometer.Specifically, the step includes:
The clamping part is stood into the predetermined time respectively with different predetermined postures；Wherein, different please refer to Fig. 6
Predetermined posture include the x-axis of the clamping part is placed along the positive direction of acceleration of gravity, by the y-axis of the clamping part along weight
The positive direction of power acceleration places, the z-axis of the clamping part is placed along the positive direction of acceleration of gravity, x-axis accelerates along gravity
The opposite direction of degree places, the y-axis of the clamping part placed along the opposite direction of acceleration of gravity, by the z-axis edge of the clamping part
The opposite direction of acceleration of gravity is placed；Further, the clamping part timing is being placed, by the clamping part in strict accordance with predetermined
Posture is placed, to enable each direction of the hardware of the accelerometer to be horizontally arranged, to avoid acceleration of gravity
Adverse effect is caused to the accelerometer, and then improves calibration accuracy.
The accelerometer data detected under each posture are obtained respectively；Further, in order to improve detection and school
Quasi- stability and accuracy, can acquire multi-group data, and calculate separately the flat of all data detected under each posture
Mean value, as accelerometer described under posture data detected；
The central point for calculating separately the positive negative sense data of three axis of the accelerometer, to obtain in measurement range
The heart, the offset of as each axis；
After the offset of each axis for saving the gyroscope, the gyroscope is calibrated.
Specifically in the present embodiment, above-mentioned step, which refines, includes:
Step SZ101: the clamping part is stood into the predetermined time with the first just predetermined posture, the described first just predetermined posture
X-axis for the clamping part is in the posture placed vertically；Wherein, the x-axis of the clamping part is set along the positive direction of acceleration of gravity
It sets；
Step SZ102: accelerometer data detected are obtained；Further, in order to improve detection and calibration
Stability and accuracy can acquire multi-group data, and calculate the average value of all data detected, just predetermined as first
The accelerometer data detected under posture；
Step SZ103: the clamping part is stood into the predetermined time with the first negative predetermined posture, the first negative predetermined posture
X-axis for the clamping part is in the posture placed vertically；Wherein, the x-axis of the clamping part is set along the opposite direction of acceleration of gravity
It sets；
Step SZ104: accelerometer data detected are obtained；Further, in order to improve detection and calibration
Stability and accuracy can acquire multi-group data, and calculate the average value of all data detected, negative predetermined as first
The accelerometer data detected under posture；
Step SZ105: accelerometer data detected and the first negative predetermined appearance under the first just predetermined posture are calculated
The central point of the accelerometer data detected, the offset as x-axis under state；
Step SZ106: saving the offset of the x-axis of the gyroscope, calibrates the gyroscope；
Step SZ107: the clamping part is stood into the predetermined time with the second just predetermined posture, the described second just predetermined posture
Y-axis for the clamping part is in the posture placed vertically；Wherein, the y-axis of the clamping part is set along the positive direction of acceleration of gravity
It sets；
Step SZ108: accelerometer data detected are obtained；Further, in order to improve detection and calibration
Stability and accuracy can acquire multi-group data, and calculate the average value of all data detected, just predetermined as second
The accelerometer data detected under posture；
Step SZ109: with the second negative predetermined posture and standing the predetermined time for the clamping part, the second negative predetermined appearance
State is that the y-axis of the clamping part is in the posture placed vertically；Wherein, opposite direction of the y-axis of the clamping part along acceleration of gravity
Setting；
Step SZ110: accelerometer data detected are obtained；Further, in order to improve detection and calibration
Stability and accuracy can acquire multi-group data, and calculate the average value of all data detected, negative predetermined as second
The accelerometer data detected under posture；
Step SZ111: accelerometer data detected and the second negative predetermined appearance under the second just predetermined posture are calculated
The central point of the accelerometer data detected, the offset as y-axis under state；
Step SZ112: saving the offset of the y-axis of the gyroscope, calibrates the gyroscope；
Step SZ113: the clamping part with the just predetermined posture of third and is stood into the predetermined time, the just predetermined appearance of the third
State is that the z-axis of the clamping part is in the posture placed vertically；Wherein, positive direction of the z-axis of the clamping part along acceleration of gravity
Setting；
Step SZ114: accelerometer data detected are obtained；Further, in order to improve detection and calibration
Stability and accuracy can acquire multi-group data, and calculate the average value of all data detected, just predetermined as third
The accelerometer data detected under posture；
Step SZ115: the clamping part is born into predetermined posture with third and stands the predetermined time, the third bears predetermined appearance
State is that the z-axis of the clamping part is in the posture placed vertically；Wherein, opposite direction of the z-axis of the clamping part along acceleration of gravity
Setting；
Step SZ116: accelerometer data detected are obtained；Further, in order to improve detection and calibration
Stability and accuracy can acquire multi-group data, and calculate the average value of all data detected, negative predetermined as third
The accelerometer data detected under posture；
Step SZ117: accelerometer data detected and third under the just predetermined posture of third are calculated and bears predetermined appearance
The central point of the accelerometer data detected, the offset as z-axis under state；
Step SZ118: saving the offset of the z-axis of the gyroscope, calibrates the gyroscope.
In other some embodiments, in order to improve the calibration accuracy of the accelerometer, institute can be calibrated simultaneously
State each axle offset and the dimensional deviations of accelerometer.Further, specifically in some embodiments, in calibrating accolerometer
When, after saving parameter detected by the rotation of six directions, calculated with offset and scale calculation formula, dimensional deviations
The distortion deviation parameter of as each axis.
Step S1095: the magnetometer is calibrated.Specifically in the present embodiment, when calibrating the magnetometer, described in calibration
The deviation and scale of magnetometer.Specifically, the step includes:
The magnetometer is rotated, substantially forms the reading of the magnetometer in three dimensional coordinate space spherical, as Fig. 7 shows
Effect out；
According to the maximin for rotating magnetism intensity of three axis of resulting magnetometer in three-dimensional coordinate, magnetic is calculated
The deviation of power meter；Wherein, the maximum value of above-mentioned magnetism intensity is the strongest direction in magnetic field, and the minimum value of magnetism intensity is that magnetic field is anti-
To.Because geomagnetic field intensity only has 50~60mGauss, and the range of magnetometer is much larger than geomagnetic field intensity, so only existing
In the case where earth's magnetic field, the magnetism intensity reading of magnetometer has maximum and minimum value.
According to magnetometer described in the deviation calibration.
In other some embodiments, the magnetometer is calibrated using ellipse fitting method.
Step S111: control turntable rotates to test position, tests the detection parameters of the nine axis Inertial Measurement Unit, if
Test is met the requirements, then is terminated, if detection backlog demand, thens follow the steps S109, until the nine axis Inertial Measurement Unit
Test result is met the requirements.Specifically, the step includes:
Step S1111: the passive dithering precision of the test nine axis Inertial Measurement Unit further tests institute respectively
The passive dithering under nine axis Inertial Measurement Units, six predetermined postures shown in Fig. 6 is stated, when shake is less than or equal to 0.05 degree
When, the passive dithering accuracy test of the nine axis Inertial Measurement Unit passes through.
Specifically, shake precision is to describe the stability of the subtle operation of Inertial Measurement Unit, due to the gyroscope sheet
Body has the precision of oneself, should not be more than the small operation precision of itself to the compensation of the gyroscope.Due to shaking data master
The stability of the subtle operation of Inertial Measurement Unit is described, shake is smaller, more it can be seen that subtle rotary motion.Passive dithering
Data analysis then by difference, acquire multiple point data average values, the standard deviation of each point calculated, to describe its shake
The case where.The acquisition of passive dithering data, by rotation angle positioning, every N degree (for example, in some embodiments, every 4
A point is spent, totally 45 points), to each anchor point, calculate the standard deviation of the data of 50 static points.To n all data,
Calculate its average jitter distance are as follows:
Wherein, diFor the degree of present frame, average deviation is bigger, illustrates that shake is bigger.
Step S1112: the rotational positioning precision of the test nine axis Inertial Measurement Unit further tests institute respectively
Rotation error when nine axis Inertial Measurement Units are rotated around three of them axis with 45 degree of steppings is stated, when rotation error is less than or equal to 1
When spending, the rotational positioning accuracy test of the nine axis Inertial Measurement Unit passes through.
Specifically, rotational positioning precision is the nine axis Inertial Measurement Unit in the rotation of different directions, to the east of
Position on the basis of going up north as positive direction, the precise degrees of each position of the nine axis Inertial Measurement Unit, parameter description
The accurate reproduction degree in the direction of the nine axis Inertial Measurement Unit.Rotational positioning precision is obtained by the three axis turntable
Rotation position, then by the nine axis Inertial Measurement Unit resolved data, the nine axis inertia measurement list is obtained after
The extent of deviation of member and the rotation of three axis turntables is determined by average deviation to calculate the rotation of the nine axis Inertial Measurement Unit
The size of position precision.
For example, in some specific embodiments, the data acquisition of rotational positioning precision, comprising steps of by three axis
It is cut into the rotation position of fixed angle, every N degree (for example, every 45 degree of points, totally 8 points), passes through turntable rotation rotation
Turn to navigate to M point, obtain the angle that Inertial Measurement Unit rotates to the point, data are then carried out by rotation origin alignment again
Calibration calculates Inertial Measurement Unit angle and practical rotation so that the angle of every Inertial Measurement Unit is consistent with the angle of turntable
The rotational positioning deviation of turntable angle are as follows:
Wherein,For the angle of i-th of turntable,For the angle of i-th of Inertial Measurement Unit.Inertia is surveyed
Amount unit rotational positioning deviation is bigger, illustrates that the precision for restoring original angle is poorer.Step S1113: test nine axis is used
The convergence rate of property measuring unit further tests the nine axis Inertial Measurement Unit around three of them axis with different respectively
Spend step angle and rotation speed rotation after, when stopping rotating described in the convergent angle of nine axis Inertial Measurement Units and time, when
Convergent angle is less than or equal to 1 degree, and when convergence time is less than or equal to 200ms, the convergence of the nine axis Inertial Measurement Unit
Test passes through.
Specifically, convergence precision is that the data acquisition speed for describing Inertial Measurement Unit, efficiency of transmission and fusion are calculated
One comprehensive parameter of method computing speed.The speed of Inertial Measurement Unit locating speed, the size depending on the speed.Same
In the case that one turntable is with amplitude movement, speed is bigger, illustrates that convergence rate is faster, and convergence rate is faster, and virtual location is got over
The position of handle is returned to, delay is reduced, improves reaction speed.But since some have solved the problems, such as shake, positive mistake is being returned
Cheng Zhong, tail portion can have the process of certain revolution, but convergence rate is faster, which is just more difficult to discover.
Convergence data Main Analysis Inertial Measurement Unit is resolving back positive speed, and the acquisition of data is by continuously recording inertia
The variation of data in the turntable motion process of measuring unit calculates Inertial Measurement Unit by calculating the rate of data variation
On the one hand the convergence rate of resolving, the speed of data generate speed depending on the data of sensor, on the other hand depend on algorithm
The speed of resolving, both convergence rate measurements combine the convergence rate speed for generating data.
Different speed is tested on three axis, in the case where identical stepping, when the run duration and stopping of system
Between ratio, computing system shared time scale during the motion, to estimate the convergence time of system.By movement and
The identical movement in the same direction of static time moves three directions around three axis with turntable, and storage system is during the motion
Each data judge that system in movement plus in the static period, moves shared ratio, convergence time is by data
(N%-50%) * time/2, using the time as convergence time.
In another embodiment, the static time is moved to by computing system, and is convergence time by the timing definition,
But the time includes system operations time and data transmission period, when the convergence time finally calculated needs eliminating system operation
Between and data transmission period.
Step S1114: the static drift of the test nine axis Inertial Measurement Unit further tests described nine respectively
Data wander when static under axis Inertial Measurement Unit six predetermined postures shown in Fig. 6, when data wander is less than or waits
When 1 degree/min, the static drift test of the nine axis Inertial Measurement Unit passes through.
Specifically, in some embodiments, static drift tests Inertial Measurement Unit after static a period of time,
Its degree for deviateing initial position, the test method are static flat by Inertial Measurement Unit with the starting point of a point, such as origin
It is placed on platform, the regular hour is placed, for example, 1 minute, 5 minutes, 10 minutes, 30 minutes, 60 minutes.After placement, inertia is read
The reading of measuring unit, is compared with initial position, obtains the deviation of static drift.
Step S1115: the dynamic drift of the test nine axis Inertial Measurement Unit further tests described nine respectively
Axis Inertial Measurement Unit around three of them axis with different degree step angles and rotation speed rotation after, when stopping rotating described in nine axis
Inertial Measurement Unit continues speed and the time of movement, and when movement velocity is less than or equal to 0.1 degrees second clock, and run duration is small
When 200ms, the dynamic drift test of the nine axis Inertial Measurement Unit passes through.
Specifically, static drift tests Inertial Measurement Unit after prolonged exercise, deviate the degree of initial position,
The test method is constantly rotated with the starting point of a point, such as origin, by turntable around three axis, using the time as base
Standard, after test different time rotation, Inertial Measurement Unit return initial point position when, reading deviates original starting point reading
Deviation, the precision as static drift.
Step S1116: the rotation axis of the test nine axis Inertial Measurement Unit is inclined, further, tests described nine respectively
Axis Inertial Measurement Unit is bigger than normal small with the axis generated when not synchronized speed rotation around three of them axis, when axis is less than or equal to 1 partially
When spending, the rotation axis bias testing of the nine axis Inertial Measurement Unit passes through.
Specifically, rotation axis calculates Inertial Measurement Unit in rotary course partially, the deflection size between axis and axis,
Ideally, when Inertial Measurement Unit is rotated around a certain axis, the reading of the axis should be stable, but due to device and resolving
The problem of algorithm, may cause its axis and not parallel, this just will appear the inclined situation of axis, and axis will affect greatly very much the body of user partially
It tests.
The inclined test of rotation axis is constantly rotated around three axis by turntable, obtains reading of the axis in rotary course
Number, calculates its standard deviation and maximum deviation, the as size and maximum deviation of the axis average deviation.
In some embodiments provided by the invention, when executing above-mentioned testing procedure S111, step S1111~
The test process of S1116, one or more of steps can with concurrent testing, can also each step test one by one, test
The sequencing of step is not limited to number limitation as described above.For example, in another embodiment of the present invention,
When executing above-mentioned testing procedure S111, passive dithering accuracy test, rotational positioning accuracy test, static drift are tested integrated
One testing procedure S115；Dynamic drift test and rotation axis bias testing are integrated into a testing procedure S117, to form one
A production line test scheme for having two step testing procedures, to reduce the testing time, improve production efficiency.In some embodiments
In, specific testing procedure executes as follows:
Step S115: while testing the passive dithering precision of the nine axis Inertial Measurement Unit, rotational positioning precision, static state
Drift.Specifically, in three axis directions, with every 45 degree for test angle, three axis are divided into 8+8+4, totally 20 test points
Test process.Each fixed point, the data of storage 5 seconds, asks its mean value and standard deviation.By the standard deviation (shake of 20 sample positions
Precision) average, the passive dithering precision as system.It by the angle of 20 points, is made the difference with the angle of turntable, computing system position
The total drift with rotating platform is set, then to each point aggregation offset, the offset of each location point is obtained, finally calculates 20 samples
Rotational positioning precision is made in the mean deviation of this point.Meanwhile the maximum deviation of each point is calculated, as the size of static drift, meter
20 sample point mean deviations are calculated, as static shift precision.
Step S117: at the same test the nine axis Inertial Measurement Unit dynamic drift and rotation axis it is inclined.Specifically, respectively
It is rotated around three axis, each axis rotates 20 seconds；The initial position for recording three axis stops arriving start bit after rotation 20 seconds
It sets；Euler's angular data of storage 20 seconds, calculates the standard deviation of shaft, as the inclined precision of rotation axis；Calculate the maximum of each axis partially
Difference, the most size of dynamic drift.
In other embodiments provided by the invention, when executing above-mentioned testing procedure S111, step S1111
The test process of~S1116, one or more of steps can carry out simplifying test, and the sequencing of testing procedure is not
It is confined to number limitation as described above.For example, in another embodiment of the present invention, executing above-mentioned testing procedure
When S111, specific testing procedure executes as follows:
Step S1191: the passive dithering precision of the test nine axis Inertial Measurement Unit, it is possible to further by handle
Rotation in the plane, checks its jitter conditions, and when the amplitude of judgement shake is greater than preset value, test does not pass through.Further,
When shake is less than or equal to 0.05 degree, the passive dithering accuracy test of the nine axis Inertial Measurement Unit passes through.
Step S1192: the rotational positioning precision of the test nine axis Inertial Measurement Unit, it is possible to further revolve manually
It turn 90 degrees, it is much to see that 90 degree of data of deviation has, when judgment bias is greater than preset value, test does not pass through.Further, work as rotation
When turning error less than or equal to 1 degree, the rotational positioning accuracy test of the nine axis Inertial Measurement Unit passes through.
Step S1193: the static drift of the test nine axis Inertial Measurement Unit, it is possible to further direct mounting table
On face, initial position Eulerian angles are recorded, after placing a period of time, read data, the size of its available static drift again.Into
One step, when data wander is less than or equal to 1 degree, the static drift test of the nine axis Inertial Measurement Unit passes through.
Step S1194: the dynamic drift of the examination nine axis Inertial Measurement Unit, further, by the side for moving emergency stop
Formula can be moved reciprocally, then emergency stop back and forth, then observe each axis after motor rest, if be drifted about, data increase
The case where reduction, drifts about too big, then it is assumed that do not pass through.Further, when data wander is less than or equal to 15 degree, nine axis
The dynamic drift test of Inertial Measurement Unit passes through.
Step S1195: the rotation axis of the test nine axis Inertial Measurement Unit is inclined, further, by handle around three axis
Rotation, sees three axis directions, when rotated, if the more inclined situation in axle center occur, if direction of rotation and rotary shaft are relatively inclined
Greatly, then it is assumed that do not pass through.Further, when axis is less than or equal to 1 degree partially, the rotation axis of the nine axis Inertial Measurement Unit is inclined
Test passes through.
The above-mentioned simplification to testing procedure, can achieve the effect that fast verification, can permit research staff and test
Afterwards, the corresponding relationship of physical quantity in test parameter and practical application scene can be understood, and by some specific phenomenons, more
Easily judge whether the performance of the nine axis Inertial Measurement Unit is qualified, improves the detection effect of nine axis Inertial Measurement Units
Rate.
The embodiment of the present invention also provides a kind of control equipment, and the control equipment includes nine above-mentioned axis inertia measurement lists
Member, the control equipment can shine to allow machine vision device to identify.Meanwhile the present invention also provides one kind for being configured with
The scaling method of the control equipment of nine axis Inertial Measurement Units, the scaling method are used to calibrate and test the nine of the control equipment
Axis Inertial Measurement Unit.The scaling method and above-mentioned inertia measurement list of the control equipment for being configured with nine axis Inertial Measurement Units
The scaling method of member is roughly the same, and difference is:
When demarcating the control equipment, the control equipment configured with nine axis Inertial Measurement Units is integrally installed in and is mutually fitted
In the clamping part matched, the nine axis Inertial Measurement Unit in the control equipment is calibrated and tested.
The scaling method of Inertial Measurement Unit provided in an embodiment of the present invention breaches usual Inertial Measurement Unit calibration
Multiple Inertial Measurement Units can be installed and be demarcated simultaneously using the three axis turntable and the clamping part by limitation, and
Gyroscope, accelerometer and magnetometer are demarcated simultaneously in calibration, more efficiently improves nine axis Inertial Measurement Unit marks
Fixed efficiency and precision.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.
The more specific example (non-exhaustive list) of computer-readable medium include the following: there are one or more wirings
Electrical connection section (mobile terminal), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.In addition, in each embodiment of the present invention
In each functional unit can integrate in a processing module, be also possible to each unit and physically exist alone, can also two
A or more than two units are integrated in a module.Above-mentioned integrated module both can take the form of hardware realization, can also
It is realized in the form of using software function module.If the integrated module realized in the form of software function module and as
Independent product when selling or using, also can store in a computer readable storage medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above
The embodiment of the present invention is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as to limit of the invention
System, those skilled in the art can be changed above-described embodiment, modify, replace and become within the scope of the invention
Type.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, and those skilled in the art are when understanding: it still can be with
It modifies the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；And
These are modified or replaceed, do not drive corresponding technical solution essence be detached from technical solution of various embodiments of the present invention spirit and
Range.
Claims (10)
1. a kind of scaling method of Inertial Measurement Unit, which is characterized in that be applied to nine axis Inertial Measurement Units, nine axis is used
Property measuring unit includes three-axis gyroscope, three axis accelerometer and three axle magnetometer；The calibration side of the Inertial Measurement Unit
Method includes:
Three axis turntables and clamping part are provided；
The nine axis Inertial Measurement Unit is installed in the clamping part；
The clamping part is installed in the three axis turntable；And
The three axis turntable rotation is controlled, and records the detection data of the nine axis Inertial Measurement Unit, while to the top
Spiral shell instrument, the accelerometer and the magnetometer are calibrated.
2. the scaling method of Inertial Measurement Unit as described in claim 1, which is characterized in that the clamping part is installed in institute
After stating three axis turntables, provide controller, by the nine axis Inertial Measurement Unit in the controller and the clamping part without
Line connection；The controller is used to calibrate the gyroscope, the accelerometer for controlling the three axis turntable rotation
And the magnetometer.
3. the scaling method of Inertial Measurement Unit as claimed in claim 2, which is characterized in that when calibrating the gyroscope, school
The quasi- gyroscope is thirdly static deviation on axis；
The gyroscope is calibrated thirdly when static deviation on axis, the gyroscope is placed respectively with different predetermined postures
In the three axis turntable and stand the predetermined time；The gyroscope is obtained respectively in number detected in different positions
According to, and the gyroscope is calculated separately in static deviation in different positions, and after the static deviation of the preservation gyroscope, school
The quasi- gyroscope.
4. the scaling method of Inertial Measurement Unit as claimed in claim 2, which is characterized in that when calibrating the gyroscope, together
When calibrate the static deviation and rotation twist deviation of the gyroscope；
When calibrating the accelerometer, the offset of each axis of the accelerometer is calibrated；
Calibrate the offset of each axis of the accelerometer, comprising:
The clamping part is placed in the three axis turntable with different predetermined postures respectively and stands the predetermined time；
The accelerometer data detected under each posture are obtained respectively；Further, in order to improve detection and calibration
Stability and accuracy can acquire multi-group data, and calculate separately the average value of all data detected under each posture,
As accelerometer described under posture data detected；
The central point for calculating separately the positive negative sense data of three axis of the accelerometer, to obtain the center of measurement range, i.e.,
For the offset of each axis；
After the offset of each axis for saving the gyroscope, the gyroscope is calibrated.
5. the scaling method of Inertial Measurement Unit as claimed in claim 2, which is characterized in that when calibrating the magnetometer, school
The deviation and scale of the quasi- magnetometer；
Calibrate the deviation and scale of the magnetometer, comprising: rotate the magnetometer, the magnetometer is made to form ball in space
Shape calculates magnetometer according to the maximin for rotating magnetism intensity of three axis of resulting magnetometer in three-dimensional coordinate
Deviation, and the magnetometer according to the deviation calibration.
6. the scaling method of Inertial Measurement Unit as described in claim 1, which is characterized in that provide the three axis turntable
When, enable the magnetic field strength inside the three axis turntable be less than or equal to 0.6Guass；The three-axle table is by non-magnet material
It is made.
7. the scaling method of Inertial Measurement Unit as described in claim 1, which is characterized in that be equipped in the clamping part multiple
Accommodating chamber, the accommodating chamber is for accommodating the nine axis Inertial Measurement Unit；The nine axis Inertial Measurement Unit is installed in institute
When stating in clamping part, multiple nine axis Inertial Measurement Units are installed in the accommodating chamber of the clamping part simultaneously.
8. the scaling method of Inertial Measurement Unit as described in claim 1, which is characterized in that the test nine axis inertia measurement
The detection parameters of unit terminate if test is met the requirements, if detection backlog demand, continues to calibrate the nine axis inertia
Measuring unit, until test result is met the requirements.
9. the scaling method of Inertial Measurement Unit as claimed in claim 8, which is characterized in that the test nine axis inertia measurement
When the detection parameters of unit, the passive dithering precision, rotational positioning precision, convergence of the nine axis Inertial Measurement Unit are tested respectively
Speed, static drift, dynamic drift and rotation axis are inclined；
Alternatively, the detection parameters of the test nine axis Inertial Measurement Unit, comprising: while testing the nine axis Inertial Measurement Unit
Passive dithering precision, rotational positioning precision, static drift, dynamic drift and rotation axis it is inclined.
10. a kind of scaling method for controlling equipment, which is characterized in that set applied to the control for including nine axis Inertial Measurement Units
Standby, the nine axis Inertial Measurement Unit includes three-axis gyroscope, three axis accelerometer and three axle magnetometer；The inertia measurement
The scaling method of unit includes:
Three axis turntables and clamping part are provided；
The control equipment is installed in the clamping part；
The clamping part is installed in the three axis turntable；And
Three axis turntable rotation is controlled, and records the detection data of the control equipment, while to the gyroscope, described
Accelerometer and the magnetometer are calibrated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711175800.7A CN109813336B (en) | 2017-11-22 | 2017-11-22 | Calibration method for inertia measurement unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711175800.7A CN109813336B (en) | 2017-11-22 | 2017-11-22 | Calibration method for inertia measurement unit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109813336A true CN109813336A (en) | 2019-05-28 |
| CN109813336B CN109813336B (en) | 2023-03-28 |
Family
ID=66599827
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711175800.7A Active CN109813336B (en) | 2017-11-22 | 2017-11-22 | Calibration method for inertia measurement unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109813336B (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110455312A (en) * | 2019-08-08 | 2019-11-15 | 中国科学院长春光学精密机械与物理研究所 | A kind of gyro misalignment Calibration System and its Calibration Method |
| CN110542430A (en) * | 2019-07-24 | 2019-12-06 | 北京控制工程研究所 | large dynamic performance testing device and method for inertial measurement unit |
| CN110617838A (en) * | 2019-10-30 | 2019-12-27 | 西安兆格电子信息技术有限公司 | Method for calibrating gyroscope and acceleration sensor on balance car |
| CN111273058A (en) * | 2020-04-07 | 2020-06-12 | 广东电网有限责任公司 | Accelerometer calibration method |
| CN111486871A (en) * | 2020-04-27 | 2020-08-04 | 新石器慧通（北京）科技有限公司 | Sensor detection method, sensor detection device, detection equipment and readable storage medium |
| CN111487859A (en) * | 2020-04-29 | 2020-08-04 | 莆田市信田农业科技有限公司 | Safety redundant method and device for automatic pilot of unmanned aerial vehicle |
| CN112179377A (en) * | 2019-07-05 | 2021-01-05 | 浙江宇视科技有限公司 | Pan-tilt error compensation method and device, pan-tilt camera and readable storage medium |
| CN112577518A (en) * | 2020-11-19 | 2021-03-30 | 北京华捷艾米科技有限公司 | Inertial measurement unit calibration method and device |
| CN113008273A (en) * | 2021-03-09 | 2021-06-22 | 北京小马智行科技有限公司 | Calibration method and device for inertial measurement unit of vehicle and electronic equipment |
| CN113124905A (en) * | 2021-04-27 | 2021-07-16 | 西安电子科技大学 | Automatic measurement method for precision evaluation of multi-axis inertial attitude sensor |
| CN113218357A (en) * | 2021-05-19 | 2021-08-06 | 广西电网有限责任公司电力科学研究院 | On-line monitoring system of high-voltage isolating switch |
| CN113551690A (en) * | 2021-07-15 | 2021-10-26 | Oppo广东移动通信有限公司 | Calibration parameter acquisition method and device, electronic equipment and storage medium |
| US20220136380A1 (en) * | 2020-10-30 | 2022-05-05 | Vector Magnetics, Llc | Magnetic borehole surveying method and apparatus |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102506898A (en) * | 2011-11-03 | 2012-06-20 | 中国科学院自动化研究所 | Genetic algorithm-based calibration method for inertial/geomagnetic sensors |
| CN102636665A (en) * | 2012-04-26 | 2012-08-15 | 中国科学院微电子研究所 | High-precision calibration method for accelerometers in AHRS (attitude and heading reference system) without using turntable |
| US20140278183A1 (en) * | 2013-03-13 | 2014-09-18 | Invensense, Inc. | Heading confidence interval estimation |
| CN104567931A (en) * | 2015-01-14 | 2015-04-29 | 华侨大学 | Course-drifting-error elimination method of indoor inertial navigation positioning |
| CN106706018A (en) * | 2016-12-28 | 2017-05-24 | 北京奇艺世纪科技有限公司 | VR equipment nine-shaft sensor performance testing method, device and testing rotary table |
| CN106840204A (en) * | 2017-01-18 | 2017-06-13 | 清华大学 | Inertial Measurement Unit scaling method based on test platform |
-
2017
- 2017-11-22 CN CN201711175800.7A patent/CN109813336B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102506898A (en) * | 2011-11-03 | 2012-06-20 | 中国科学院自动化研究所 | Genetic algorithm-based calibration method for inertial/geomagnetic sensors |
| CN102636665A (en) * | 2012-04-26 | 2012-08-15 | 中国科学院微电子研究所 | High-precision calibration method for accelerometers in AHRS (attitude and heading reference system) without using turntable |
| US20140278183A1 (en) * | 2013-03-13 | 2014-09-18 | Invensense, Inc. | Heading confidence interval estimation |
| CN104567931A (en) * | 2015-01-14 | 2015-04-29 | 华侨大学 | Course-drifting-error elimination method of indoor inertial navigation positioning |
| CN106706018A (en) * | 2016-12-28 | 2017-05-24 | 北京奇艺世纪科技有限公司 | VR equipment nine-shaft sensor performance testing method, device and testing rotary table |
| CN106840204A (en) * | 2017-01-18 | 2017-06-13 | 清华大学 | Inertial Measurement Unit scaling method based on test platform |
Non-Patent Citations (1)
| Title |
|---|
| S.BONNET ETAL.: "Calibration methods for inertial and magneticsensors", 《SENSORS AND ACTUATORS A：PHYSICAL》 * |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112179377B (en) * | 2019-07-05 | 2022-11-04 | 浙江宇视科技有限公司 | Pan-tilt error compensation method and device, pan-tilt camera and readable storage medium |
| CN112179377A (en) * | 2019-07-05 | 2021-01-05 | 浙江宇视科技有限公司 | Pan-tilt error compensation method and device, pan-tilt camera and readable storage medium |
| CN110542430A (en) * | 2019-07-24 | 2019-12-06 | 北京控制工程研究所 | large dynamic performance testing device and method for inertial measurement unit |
| CN110542430B (en) * | 2019-07-24 | 2021-06-11 | 北京控制工程研究所 | Large dynamic performance testing device and method for inertial measurement unit |
| CN110455312B (en) * | 2019-08-08 | 2021-05-14 | 中国科学院长春光学精密机械与物理研究所 | Gyro installation error calibration system and calibration method thereof |
| CN110455312A (en) * | 2019-08-08 | 2019-11-15 | 中国科学院长春光学精密机械与物理研究所 | A kind of gyro misalignment Calibration System and its Calibration Method |
| CN110617838A (en) * | 2019-10-30 | 2019-12-27 | 西安兆格电子信息技术有限公司 | Method for calibrating gyroscope and acceleration sensor on balance car |
| CN111273058A (en) * | 2020-04-07 | 2020-06-12 | 广东电网有限责任公司 | Accelerometer calibration method |
| CN111486871A (en) * | 2020-04-27 | 2020-08-04 | 新石器慧通（北京）科技有限公司 | Sensor detection method, sensor detection device, detection equipment and readable storage medium |
| CN111487859A (en) * | 2020-04-29 | 2020-08-04 | 莆田市信田农业科技有限公司 | Safety redundant method and device for automatic pilot of unmanned aerial vehicle |
| US20220136380A1 (en) * | 2020-10-30 | 2022-05-05 | Vector Magnetics, Llc | Magnetic borehole surveying method and apparatus |
| US11965408B2 (en) * | 2020-10-30 | 2024-04-23 | Vector Magnetics, Llc | Magnetic borehole surveying method and apparatus |
| CN112577518A (en) * | 2020-11-19 | 2021-03-30 | 北京华捷艾米科技有限公司 | Inertial measurement unit calibration method and device |
| CN113008273A (en) * | 2021-03-09 | 2021-06-22 | 北京小马智行科技有限公司 | Calibration method and device for inertial measurement unit of vehicle and electronic equipment |
| CN113124905A (en) * | 2021-04-27 | 2021-07-16 | 西安电子科技大学 | Automatic measurement method for precision evaluation of multi-axis inertial attitude sensor |
| CN113218357A (en) * | 2021-05-19 | 2021-08-06 | 广西电网有限责任公司电力科学研究院 | On-line monitoring system of high-voltage isolating switch |
| CN113551690A (en) * | 2021-07-15 | 2021-10-26 | Oppo广东移动通信有限公司 | Calibration parameter acquisition method and device, electronic equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109813336B (en) | 2023-03-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109813336A (en) | Inertial Measurement Unit scaling method | |
| CN103776451B (en) | A kind of high-precision three-dimensional attitude inertial measurement system based on MEMS and measuring method | |
| CN107390155B (en) | Magnetic sensor calibration device and method | |
| CN104755941B (en) | Method for making mobile device surface be aligned with the coordinate system of sensor | |
| CN101887068B (en) | Calibration compensation method for triaxial vector sensor and biaxial vector sensor | |
| KR100939158B1 (en) | Azimuth measuring device and azimuth measuring method | |
| CN106624709B (en) | Assembly system and assembly method based on binocular vision | |
| US9098123B2 (en) | Moving trajectory generation method | |
| CN104459828B (en) | Based on the non-aligned bearing calibration of earth magnetism vector system around method of principal axes | |
| CN101587132B (en) | Field weakening direction sensor calibration method | |
| CN109682399B (en) | Precision verification method for position and pose measurement result of total station based on three-axis turntable | |
| CN110414510A (en) | A kind of readings of pointer type meters bearing calibration | |
| CN104597273B (en) | A kind of test method and equipment of movement velocity | |
| CN106940175A (en) | Sphere ring gauge and gauge head lengthy calibration method for endoporus parameter measuring apparatus gauge head lengthy calibration | |
| CN107607899B (en) | Magnetometer calibration method and apparatus | |
| JPWO2010103966A1 (en) | Geomagnetic detector | |
| CN113267817A (en) | Underwater magnetic substance positioning method based on magnetic gradient tensor | |
| CN108592902A (en) | A kind of positioning device and localization method based on multisensor, system and mechanical arm | |
| WO2023143170A1 (en) | Magnetic ball calibration method and magnetic ball calibration apparatus | |
| WO2023092392A1 (en) | Magnetometer sensor experimental positioning device and method | |
| CN105758422B (en) | A kind of test method of integration type closed-loop fiber optic gyroscope | |
| JP2006275523A (en) | Electronic azimuth device and recording medium | |
| JPH033190B2 (en) | ||
| JP5688842B2 (en) | Magnetic field measurement adjustment device | |
| CN108398576A (en) | A kind of static error calibration system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Calibration method for inertial measurement units Granted publication date: 20230328 Pledgee: Industrial and Commercial Bank of China Limited Guangzhou High tech Development Zone Sub branch Pledgor: GUANGDONG VIRTUAL REALITY TECHNOLOGY Co.,Ltd. Registration number: Y2024980002196 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right |