CN109945848B - Method for solving gyroscope drift - Google Patents
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- CN109945848B CN109945848B CN201910275379.XA CN201910275379A CN109945848B CN 109945848 B CN109945848 B CN 109945848B CN 201910275379 A CN201910275379 A CN 201910275379A CN 109945848 B CN109945848 B CN 109945848B
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Abstract
The invention is suitable for the technical field of gyroscope drift, and comprises a system module, a sensor concentrator module, a gyroscope module and an acceleration module; respectively acquiring first data output by a gyroscope module and second data output by an acceleration module through a sensor concentrator module, performing algorithm fusion on the first data and the second data to form third data, caching 16 recently obtained third data, sequencing the 16 recently obtained third data, taking nine bits behind a decimal point of an intermediate value, and performing binary integer conversion on the intermediate value; setting a precision value, wherein the precision value is the digital digit which is output at least after the intermediate value is subjected to binary integer conversion; after binary integer conversion, the intermediate value is multiplied by the precision value and then divided by the precision value, seven effective digits are reserved, and finally the reserved seven effective digits are reported to a system module; therefore, the problem of gyroscope drift is solved, and user experience is improved.
Description
Technical Field
The invention belongs to the technical field of solving the drift of a gyroscope, and particularly relates to a method for solving the drift of the gyroscope.
Background
The sensor hub is an optimized intermediate carrier for 9-axis sensor melting; sensor hub produced by part of companies occupies considerable share in the market, and particularly, requirements on sensors are higher and higher due to the appearance of novel exchange scenes such as VR (virtual reality) AR (augmented reality technology) and the like; VR products are very sensitive to shaking, which directly leads to poor user experience; zero drift is a jitter expression in a melting algorithm defaulted by part of companies; the null shift is static, but the gyroscope has a drift phenomenon.
Disclosure of Invention
The invention aims to provide a method for solving the drift of a gyroscope, and aims to solve the problem of poor user experience caused by the fact that the prior art cannot provide a method for solving the drift of the gyroscope.
The invention provides a method for solving gyroscope drift, which comprises the following steps:
and the sensor hub module is used for respectively acquiring first data output by the gyroscope module and second data output by the acceleration module, performing algorithm fusion on the first data and the second data to form third data, and outputting the third data to the system module.
Further preferably, before outputting the third data to the system module, the method further includes:
and caching the 16 third data which are obtained recently, sequencing the 16 third data which are obtained recently, and taking a middle value to report to the system module.
Further preferably, before reporting the intermediate value to the system module, the method further includes:
and taking nine bits behind the decimal point of the intermediate value, and performing binary integer conversion on the intermediate value.
Preferably, a precision value is set, and the precision value is a digital bit number which is output at least after the intermediate value is subjected to binary integer conversion.
Preferably, the intermediate value is subjected to binary integer conversion, multiplied by the precision value and divided by the precision value.
Further preferably, after the intermediate value is subjected to binary integer conversion, multiplied by the precision value and divided by the precision value, seven significant digits are retained.
Preferably, the reserved seven significant digits are reported to the system module.
According to the invention, a sensor hub module is used for respectively acquiring first data output by a gyroscope module and second data output by an acceleration module, the first data and the second data are subjected to algorithm fusion to form third data, 16 recently obtained third data are cached, the 16 recently obtained third data are sequenced, nine bits after a decimal point of an intermediate value are taken, and binary integer conversion is carried out on the intermediate value; setting an accuracy value which is the minimum output digital digit after binary integer conversion of the intermediate value; after binary integer conversion is carried out on the intermediate value, the intermediate value is multiplied by the precision value and then divided by the precision value, seven effective digits are reserved, and finally the reserved seven effective digits are reported to a system module; therefore, the problem of gyroscope drift is solved, and user experience is improved.
Drawings
Fig. 1 is a flowchart of an implementation of a method for solving a drift of a gyroscope according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
The following detailed description of specific implementations of the present invention is provided in conjunction with specific embodiments:
fig. 1 shows a flow of implementing the method for solving the drift of the gyroscope provided by the embodiment of the present invention, and for convenience of description, only the parts related to the embodiment of the present invention are shown, and the details are as follows:
in step S101, the sensor hub module respectively collects first data output by the gyroscope module and second data output by the acceleration module, and performs algorithm fusion on the first data and the second data to obtain third data.
In the embodiment of the invention, the sensor hub is respectively connected with the gyroscope module and the acceleration module and is also connected with the system module.
In step S102, the latest obtained 16 third data are cached, and the latest obtained 16 third data are sorted, and the intermediate value is fetched.
In the embodiment of the present invention, the most recently obtained 16 third data are sorted in ascending or descending order, and the middle two third data are added and then divided by 2 to obtain a middle value.
In step S103, nine bits after the decimal point of the intermediate value are taken, and binary integer conversion is performed on the intermediate value.
In the embodiment of the invention, the last nine digits of the decimal point of the intermediate value are reserved and converted into a binary format for integer conversion, and the integer conversion is then converted into a decimal format.
In step S104, an accuracy value is set, which is the minimum number of digital bits to be output after binary integer conversion of the intermediate value.
In step S105, the intermediate value is subjected to binary integer conversion, multiplied by the precision value, and divided by the precision value.
In step S106, the seven significant digits are retained.
In the embodiment of the invention, the intermediate value is subjected to binary integer conversion, then multiplied by the precision value, and then divided by the precision value, and then seven significant digits are reserved, and at least six significant digits are reserved.
In step S107, the reserved seven significant digits are reported to the system module.
In the embodiment of the present invention, the remaining seven significant digits are the third data (null shift data) after the third data is subjected to the shift processing.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (1)
1. A method for solving gyroscope drift comprises a system module, a sensor concentrator module, a gyroscope module and an acceleration module; characterized in that the method comprises the following steps:
a sensor hub module respectively collects first data output by the gyroscope module and second data output by the acceleration module, and the first data and the second data are subjected to algorithm fusion to form third data;
caching 16 recently obtained third data, sequencing the 16 recently obtained third data, taking nine bits behind a decimal point of an intermediate value, and performing binary integer conversion on the intermediate value;
setting an accuracy value, wherein the accuracy value is the digital digit which is output at least after the intermediate value is subjected to binary integer conversion;
after binary integer conversion is carried out on the intermediate value, the intermediate value is multiplied by the precision value and then divided by the precision value, and seven significant digits are reserved;
and reporting the reserved seven effective digits to the system module, wherein the reserved seven effective digits are zero-drift data after the drift processing is performed on the third data.
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