CN110187144B - Acceleration sensor calibration method and device - Google Patents
Acceleration sensor calibration method and device Download PDFInfo
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- CN110187144B CN110187144B CN201910372993.8A CN201910372993A CN110187144B CN 110187144 B CN110187144 B CN 110187144B CN 201910372993 A CN201910372993 A CN 201910372993A CN 110187144 B CN110187144 B CN 110187144B
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Abstract
The embodiment of the application provides an acceleration sensor calibration method and device, which are used for calculating an acceleration sensor calibration parameter of each motion period according to acceleration detection information and video detection information of terminal equipment in each motion period, calibrating each relative displacement coordinate in each axis direction in the acceleration detection information according to the acceleration detection parameter, and calibrating the acceleration sensor according to a starting point positioning coordinate, an end point positioning coordinate and each calibrated relative displacement coordinate. The historical calibration process is continuously tracked for adaptive calibration thereafter. In the process, the user is basically not required to participate in calibration work, the acceleration sensor installed in any posture can be effectively calibrated, and navigation experience is greatly improved.
Description
Technical Field
The application relates to the field of sensor calibration, in particular to an acceleration sensor calibration method and device.
Background
In mobile terminals, navigation software is used more and more frequently, such as hundred degree maps, and high-grade navigation. At present, a mobile terminal usually comprises an acceleration sensor, a coordinate system of the acceleration sensor is generally used to coincide with a vehicle coordinate system in a navigation process, and then data collected by the acceleration sensor is corrected. However, the current method cannot calibrate the acceleration sensor installed in any posture, and still requires a user to participate in many calibration works.
Content of application
In order to overcome the defects in the prior art, the application aims to provide an acceleration sensor calibration method and an acceleration sensor calibration device, a user does not need to participate in calibration work basically, the acceleration sensor installed in any posture can be effectively calibrated based on acceleration detection information and video detection information of terminal equipment in each motion period, the historical calibration process can be tracked continuously for adaptive calibration, and navigation experience is greatly improved.
In order to achieve the above purpose, the embodiments of the present application employ the following technical solutions:
in a first aspect, an embodiment of the present application provides an acceleration sensor calibration method, which is applied to a terminal device, and the method includes:
acquiring acceleration detection information and video detection information of the terminal equipment in each motion period, wherein the acceleration detection information comprises a plurality of relative displacement coordinates of the terminal equipment in each axis direction in the motion period, and the video detection information comprises a starting point positioning coordinate and an end point positioning coordinate of the terminal equipment in the motion period;
calculating the calibration parameters of the acceleration sensor of the motion period according to the acceleration detection information and the video detection information;
calibrating each relative displacement coordinate in each axis direction in the acceleration detection information based on the acceleration sensor calibration parameters to obtain each calibrated relative displacement coordinate in each axis direction;
calibrating the acceleration sensor according to the starting point positioning coordinate, the end point positioning coordinate and the calibrated relative displacement coordinates in the axial directions;
when the next movement period starts, acquiring acceleration detection information in the next movement period;
calibrating each relative displacement coordinate in each axis direction in the next motion period based on the acceleration sensor calibration parameter of the historical motion period to obtain a predicted position coordinate corresponding to each relative displacement coordinate in each axis direction in the next motion period;
and continuously calibrating the acceleration sensor according to the predicted position coordinate corresponding to each relative displacement coordinate in each axis direction in the next motion period.
In one possible example, the axes include a first axis, a second axis and a third axis, and the step of calculating the calibration parameter of the acceleration sensor for the motion cycle according to the acceleration detection information and the video detection information includes:
calculating a sum of first axial coordinates, a sum of second axial coordinates, and a sum of third axial coordinates of the plurality of relative displacement coordinates in each axial direction;
calculating the difference of a first axial coordinate, the difference of a second axial coordinate and the difference of a third axial coordinate between the starting point positioning coordinate and the end point positioning coordinate;
calculating a first axial coordinate acceleration sensor calibration parameter of the motion period according to the sum of the first axial coordinates and the difference of the first axial coordinates;
calculating a second axial coordinate acceleration sensor calibration parameter of the motion period according to the sum of the second axial coordinates and the difference of the second axial coordinates;
calculating a third axial coordinate acceleration sensor calibration parameter of the motion period according to the sum of the third axial coordinates and the difference of the third axial coordinates;
obtaining the calibration parameters of the acceleration sensor of the motion period according to the calibration parameters of the first axial coordinate acceleration sensor, the calibration parameters of the second axial coordinate acceleration sensor and the calibration parameters of the third axial coordinate acceleration sensor;
the step of calibrating each relative displacement coordinate in each axis direction in the acceleration detection information based on the acceleration sensor calibration parameter to obtain each calibrated relative displacement coordinate in each axis direction includes:
calibrating the first axial coordinate of each relative displacement coordinate in the first axial direction in the acceleration detection information based on the first axial coordinate acceleration sensor calibration parameter to obtain the calibrated first axial coordinate of each relative displacement coordinate in the first axial direction;
calibrating the second axial coordinate of each relative displacement coordinate in the second axial direction in the acceleration detection information based on the second axial coordinate acceleration sensor calibration parameter to obtain a second axial coordinate of each relative displacement coordinate in the second axial direction after calibration;
and calibrating the third axial coordinate of each relative displacement coordinate in the third axial direction in the acceleration detection information based on the calibration parameter of the acceleration sensor of the third axial coordinate to obtain the calibrated third axial coordinate of each relative displacement coordinate in the third axial direction.
In one possible example, the step of calibrating the acceleration sensor according to the start point positioning coordinate, the end point positioning coordinate, and the calibrated relative displacement coordinates in the respective axial directions includes:
calculating according to the calibrated relative displacement coordinates in each axial direction to obtain position coordinates corresponding to the calibrated relative displacement coordinates in each axial direction between the starting point positioning coordinates and the end point positioning coordinates;
calibrating each axis detection parameter of the acceleration sensor based on the start point positioning coordinate, the end point positioning coordinate, and each position coordinate between the start point positioning coordinate and the end point positioning coordinate.
In a possible example, the step of calibrating each relative displacement coordinate in each axis direction in the next motion cycle based on the acceleration sensor calibration parameter in the historical motion cycle to obtain the predicted position coordinate corresponding to each relative displacement coordinate in each axis direction in the next motion cycle includes:
calculating an average acceleration sensor calibration parameter of each acceleration sensor calibration parameter of the historical movement period;
and calibrating each relative displacement coordinate in each axis direction in the next motion period based on the average acceleration sensor calibration parameter to obtain a predicted position coordinate corresponding to each relative displacement coordinate in each axis direction in the next motion period.
In one possible example, the method further comprises:
acquiring attitude conversion angle data of the acceleration sensor after calibration when the terminal equipment is converted from a first attitude to a second attitude, wherein the attitude conversion angle data comprises an azimuth angle to be calibrated, a flip angle to be calibrated, a reference azimuth angle and a reference flip angle of the acceleration sensor;
carrying out weighted summation calculation on the reference azimuth and the azimuth to be calibrated to obtain a calibrated azimuth, and carrying out weighted summation calculation on the reference flip angle and the flip angle to be calibrated to obtain a calibrated flip angle;
acquiring real-time acceleration detected by the calibrated acceleration sensor;
judging whether the acceleration is in a preset range, if so, adjusting the weight of the reference azimuth and the weight of the azimuth to be calibrated to enable the weight of the reference azimuth to be higher than the weight of the azimuth to be calibrated, and adjusting the weight of the reference flip angle and the weight of the flip angle to be calibrated to enable the weight of the reference flip angle to be higher than the weight of the flip angle to be calibrated; if the acceleration is not within the preset range, adjusting the weight of the reference azimuth and the weight of the azimuth to be calibrated to enable the weight of the reference azimuth to be lower than the weight of the azimuth to be calibrated, and adjusting the weight of the reference flip angle and the weight of the flip angle to be calibrated to enable the weight of the reference flip angle to be lower than the weight of the flip angle to be calibrated.
In a second aspect, an embodiment of the present application further provides an acceleration sensor calibration apparatus, which is applied to a terminal device, and the apparatus includes:
the device comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring acceleration detection information and video detection information of the terminal equipment in each motion period, the acceleration detection information comprises a plurality of relative displacement coordinates of the terminal equipment in each axis direction in the motion period, and the video detection information comprises a starting point positioning coordinate and an end point positioning coordinate of the terminal equipment in the motion period;
the calculation module is used for calculating the calibration parameters of the acceleration sensor of the motion period according to the acceleration detection information and the video detection information;
the coordinate calibration module is used for calibrating each relative displacement coordinate in each axis direction in the acceleration detection information based on the acceleration sensor calibration parameters to obtain each calibrated relative displacement coordinate in each axis direction;
the sensor calibration module is used for calibrating the acceleration sensor according to the starting point positioning coordinate, the end point positioning coordinate and each calibrated relative displacement coordinate in each axial direction;
the acquisition module is further configured to acquire acceleration detection information in a next motion cycle when the next motion cycle starts;
the coordinate calibration module is further configured to calibrate each relative displacement coordinate in each axis direction in the next motion cycle based on the acceleration sensor calibration parameter in the historical motion cycle, so as to obtain a predicted position coordinate corresponding to each relative displacement coordinate in each axis direction in the next motion cycle;
the sensor calibration module is further configured to continue to calibrate the acceleration sensor according to the predicted position coordinates corresponding to each relative displacement coordinate in each axis direction in the next motion cycle.
In a third aspect, the present application further provides a readable storage medium, on which a computer program is stored, where the computer program is executed to implement the acceleration sensor calibration method described above.
Based on any one of the above aspects, the embodiment of the present application provides that the calibration parameter of the acceleration sensor in each motion period is calculated according to the acceleration detection information and the video detection information of the terminal device in each motion period, and each relative displacement coordinate in each axis direction in the acceleration detection information is calibrated accordingly, and then the acceleration sensor is calibrated according to the starting point positioning coordinate, the end point positioning coordinate, and each calibrated relative displacement coordinate in each axis direction. And then, when the next movement period starts, acquiring acceleration detection information in the next movement period, calibrating each relative displacement coordinate in each axis direction in the next movement period based on the acceleration sensor calibration parameters of the historical movement period, and continuing to calibrate the acceleration sensor. In the process, the user is basically not required to participate in calibration work, the acceleration sensor installed in any posture can be effectively calibrated, the historical calibration process is continuously tracked, adaptive calibration is carried out, and navigation experience is greatly improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and it will be apparent to those skilled in the art that other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic block diagram of a structure of a terminal device according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a calibration method for an acceleration sensor according to an embodiment of the present disclosure;
fig. 3 is a second schematic flowchart of a calibration method for an acceleration sensor according to an embodiment of the present application;
fig. 4 is a schematic functional block diagram of an acceleration sensor calibration apparatus according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Fig. 1 is a schematic block diagram illustrating a structure of a terminal device 100 according to an embodiment of the present invention, where the terminal device 100 may include a smart phone, a touch PDA or a tablet computer, or a computer with a touch screen function, however, it should be understood that the terminal device 100 may also optionally include one or more other physical user interface devices, such as a physical keyboard, a mouse, and/or a joystick.
The terminal device 100 typically supports various applications (e.g., software such as APP that performs certain functions), such as one or more of the following: a navigation application, a positioning application, a notepad production application, a mapping application, a presentation application, a word processing application, a website creation application, a disc editing application, a spreadsheet application, a gaming application, a telephony application, a video conferencing application, an email application, an instant messaging application, a fitness support application, a photo management application, a digital camera application, a digital video camera application, a web browsing application, a digital music player application, and/or a digital video player application.
Various applications executing on the terminal device 100 optionally use at least one common physical user interface device, such as a touch screen. One or more functions of the touch screen and corresponding information displayed on the device are optionally adjusted and/or varied from one application to the next and/or within the respective application. In this way, a common physical architecture of the devices (such as a touch screen) optionally supports various applications with a user interface that is intuitive and clear to the user.
The terminal device 100 includes a memory 102 (which optionally includes one or more computer-readable storage media), a memory controller 104, one or more processors (CPUs) 106, a peripheral interface 108, radio frequency circuitry 110, audio circuitry 112, a speaker 1121, a microphone 1122, an input/output (I/O) subsystem 114 and external port 116, a proximity sensor 118, and an acceleration sensor 120, and a power system 132 that supports the operational functioning of the various electronic components throughout the terminal device 100.
The memory 102 stores therein various functional modules such as an operating system, a communication module, a graphic module, a text input, and various application programs, and the processor 106 performs various functions of the portable multifunction device such as text processing, communication, photographing, and the like, using data stored in the memory 102 under the control of the memory controller 104.
The I/O subsystem 114 further includes a display controller 1141, an optical sensor controller 1142, a haptic feedback controller 1143, and other input controllers 1144 for controlling the respective components of the terminal device 100. Terminal device 100 also optionally includes a touch display system 122 for receiving touch input from a user on a display screen. The terminal device 100 also optionally includes one or more optical sensors 124 for sensing light intensity. Device 100 also optionally includes one or more tactile output generators 126 for generating tactile outputs on device 100 (e.g., tactile outputs generated by a motor on a touch screen such as touch display system 122 of device 100). The terminal device 100 also optionally includes other input or control devices 128. These components optionally communicate over one or more communication buses or signal lines 130.
It is to be understood that the structure shown in fig. 1 is merely illustrative, and the terminal device 100 may include more or less components than those shown in fig. 1, or have a different configuration than that shown in fig. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
Referring to fig. 2, a schematic flow chart of a calibration method of an acceleration sensor according to an embodiment of the present application is shown, in this embodiment, the calibration method of the acceleration sensor is executed by the terminal device 100 shown in fig. 1, and a specific flow of the method is as follows:
and step S1, acquiring the acceleration detection information and the video detection information of the terminal equipment in each motion period.
In this embodiment, the acceleration detection information may include a plurality of relative displacement coordinates of the terminal device in each axis direction in the motion cycle, and the video detection information includes a start point positioning coordinate and an end point positioning coordinate of the terminal device in the motion cycle.
And step S2, calculating the calibration parameters of the acceleration sensor of the movement period according to the acceleration detection information and the video detection information.
Optionally, the axial directions include a first axial direction, a second axial direction, and a third axial direction.
In one embodiment, first, the sum of the first axial coordinates and the second axial coordinate of the plurality of relative displacement coordinates in each axial direction are calculatedThe sum of the target and the sum of the third axial coordinates. Illustratively, assume that at a start time T0With a period of movement t1Within each movement cycle of (T)0+nt1，T0+(n+1)t1) Time period, the start point coordinate of the terminal device 100 obtained by video detection is (X)n，Yn，Zn)，(Xn+1，Yn+1，Zn+1) During the movement period t1When acceleration detection is performed m times in total, the relative displacement of the terminal device 100 detected by the acceleration is (S)x1，Sy1，Sz1)，......，(Sxi，Syi，Szi)，.......，(Sxm，Sym，Szm) The total shift is (Σ S)xi，∑Syii，∑Szi) Wherein a sum of first axial coordinates of the plurality of relative displacement coordinates in each axial direction is ∑ SxiThe sum of the second axial coordinates of the plurality of relative displacement coordinates in each axial direction is ∑ SyiThe sum of the third axial coordinates of the plurality of relative displacement coordinates in each axial direction is ∑ Szi。
Then, calculating the difference of the first axial coordinate, the difference of the second axial coordinate and the difference of the third axial coordinate between the starting point positioning coordinate and the end point positioning coordinate; based on the above example, the difference between the first axial coordinate between the start point location coordinate and the end point location coordinate is Xn+1-XnThe difference of the second axial coordinate between the start point positioning coordinate and the end point positioning coordinate is Yn+1-YnThe difference of the third axial coordinate between the starting point positioning coordinate and the end point positioning coordinate is Zn+1-Zn。
Then, calculating a first axial coordinate acceleration sensor calibration parameter of the movement period according to the sum of the first axial coordinates and the difference of the first axial coordinates. The calibration parameters of the first axial coordinate acceleration sensor are as follows:
kxn＝(Xn+1-Xn)/∑Sxi
and calculating the calibration parameter of the acceleration sensor of the second axial coordinate of the motion period according to the sum of the second axial coordinates and the difference of the second axial coordinates. The calibration parameters of the second axial coordinate acceleration sensor are as follows:
kyn＝(Yn+1-Yn)/∑Syi
and calculating the calibration parameter of the third axial coordinate acceleration sensor of the motion period according to the sum of the third axial coordinates and the difference of the third axial coordinates. The calibration parameters of the third axial coordinate acceleration sensor are as follows:
kzn＝(Zn+1-Zn)/∑Szi
and obtaining the calibration parameters of the acceleration sensor of the motion period according to the calibration parameters of the first axial coordinate acceleration sensor, the calibration parameters of the second axial coordinate acceleration sensor and the calibration parameters of the third axial coordinate acceleration sensor.
Step S3, calibrating each relative displacement coordinate in each axis direction in the acceleration detection information based on the acceleration sensor calibration parameter, to obtain each calibrated relative displacement coordinate in each axis direction.
As an embodiment, first, the first axial coordinate of each relative displacement coordinate in the first axial direction in the acceleration detection information is calibrated based on the first axial coordinate acceleration sensor calibration parameter, and the calibrated first axial coordinate of each relative displacement coordinate in the first axial direction is obtained.
For example, the first axial coordinate of each relative displacement coordinate is SxiThen the corresponding calibrated first axial coordinate S'xi＝kxnSxi。
And calibrating the second axial coordinate of each relative displacement coordinate in the second axial direction in the acceleration detection information based on the second axial coordinate acceleration sensor calibration parameter to obtain the second axial coordinate of each relative displacement coordinate in the second axial direction after calibration.
For example, the second axial coordinate of each relative displacement coordinateIs SyiThen the corresponding calibrated second axial coordinate S'yi＝kynSyi。
And calibrating the third axial coordinate of each relative displacement coordinate in the third axial direction in the acceleration detection information based on the calibration parameter of the acceleration sensor of the third axial coordinate to obtain the calibrated third axial coordinate of each relative displacement coordinate in the third axial direction.
For example, the third axial coordinate of each relative displacement coordinate is SziThen the corresponding calibrated third axial coordinate S'zi＝kznSzi。
Step S4, calibrating the acceleration sensor according to the start point positioning coordinate, the end point positioning coordinate, and the calibrated relative displacement coordinates in the respective axial directions.
Specifically, first, a position coordinate corresponding to each relative displacement coordinate in each calibrated axis direction between the start point positioning coordinate and the end point positioning coordinate is calculated according to each relative displacement coordinate in each calibrated axis direction.
Then, each axis detection parameter of the acceleration sensor is calibrated based on the start point positioning coordinate, the end point positioning coordinate, and each position coordinate between the start point positioning coordinate and the end point positioning coordinate.
In step S5, acceleration detection information in the next movement cycle is acquired at the start of the next movement cycle.
Step S6, calibrating each relative displacement coordinate in each axis direction in the next movement cycle based on the acceleration sensor calibration parameter in the historical movement cycle, to obtain a predicted position coordinate corresponding to each relative displacement coordinate in each axis direction in the next movement cycle.
In detail, an average acceleration sensor calibration parameter of each acceleration sensor calibration parameter of the historical movement period may be calculated, and then each relative displacement coordinate in each axis direction in the next movement period may be calibrated based on the average acceleration sensor calibration parameter, so as to obtain a predicted position coordinate corresponding to each relative displacement coordinate in each axis direction in the next movement period.
And step S7, continuing to calibrate the acceleration sensor according to the predicted position coordinates corresponding to each relative displacement coordinate in each axis direction in the next motion period.
Based on the design, the calibration parameters of the acceleration sensor in each motion period are calculated according to the acceleration detection information and the video detection information of the terminal equipment in each motion period, each relative displacement coordinate in each axis direction in the acceleration detection information is calibrated according to the calibration parameters, and then the acceleration sensor is calibrated according to the starting point positioning coordinate, the end point positioning coordinate and each calibrated relative displacement coordinate. And after that, the historical calibration process is continuously tracked for adaptive calibration, so that the accumulated error formed by acceleration detection during the period that the next movement period starts but does not end is reduced, and more accurate calibration is realized. In the process, the user is basically not required to participate in calibration work, the acceleration sensor installed in any posture can be effectively calibrated, and navigation experience is greatly improved.
Further, referring to fig. 3, after the step S3, the method for calibrating an acceleration sensor according to the embodiment may further include the following steps:
step S8, obtaining attitude conversion angle data of the acceleration sensor after calibration when the terminal device is converted from the first attitude to the second attitude, where the attitude conversion angle data includes an azimuth to be calibrated, a roll-over angle to be calibrated, a reference azimuth, and a reference roll-over angle of the acceleration sensor.
Step S9, carrying out weighted summation calculation on the reference azimuth and the azimuth to be calibrated to obtain a calibrated azimuth, and carrying out weighted summation calculation on the reference flip angle and the flip angle to be calibrated to obtain a calibrated flip angle.
And step S10, acquiring the real-time acceleration detected by the calibrated acceleration sensor.
Step S11, determining whether the acceleration is within a preset range, and if the acceleration is within the preset range, adjusting the weight of the reference azimuth and the weight of the azimuth to be calibrated so that the weight of the reference azimuth is higher than the weight of the azimuth to be calibrated, and adjusting the weight of the reference flip angle and the weight of the flip angle to be calibrated so that the weight of the reference flip angle is higher than the weight of the flip angle to be calibrated; if the acceleration is not within the preset range, adjusting the weight of the reference azimuth and the weight of the azimuth to be calibrated to enable the weight of the reference azimuth to be lower than the weight of the azimuth to be calibrated, and adjusting the weight of the reference flip angle and the weight of the flip angle to be calibrated to enable the weight of the reference flip angle to be lower than the weight of the flip angle to be calibrated.
Through the steps, the acceleration detection precision of the acceleration sensor can be continuously tested after the acceleration sensor is calibrated, and the attitude conversion angle data of the acceleration sensor is continuously adjusted, so that the navigation precision is further improved.
Further, an embodiment of the present application also provides a readable storage medium, on which a computer program is stored, where the computer program is executed to implement the acceleration sensor calibration method in any of the above-mentioned method embodiments.
It should be noted that, for the information interaction, execution process and other contents between the modules and units in the apparatus and system, the specific contents may refer to the description in the embodiment of the method of the present application because the same concept is used as the embodiment of the processing method of the present application, and are not described herein again.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. An acceleration sensor calibration method is applied to a terminal device, and comprises the following steps:
acquiring acceleration detection information and video detection information of the terminal equipment in each motion period, wherein the acceleration detection information comprises a plurality of relative displacement coordinates of the terminal equipment in each axis direction in the motion period, and the video detection information comprises a starting point positioning coordinate and an end point positioning coordinate of the terminal equipment in the motion period;
calculating the calibration parameters of the acceleration sensor of the motion period according to the acceleration detection information and the video detection information;
calibrating each relative displacement coordinate in each axis direction in the acceleration detection information based on the acceleration sensor calibration parameters to obtain each calibrated relative displacement coordinate in each axis direction;
calibrating the acceleration sensor according to the starting point positioning coordinate, the end point positioning coordinate and the calibrated relative displacement coordinates in the axial directions;
when the next movement period starts, acquiring acceleration detection information in the next movement period;
calibrating each relative displacement coordinate in each axis direction in the next motion period based on the acceleration sensor calibration parameter of the historical motion period to obtain a predicted position coordinate corresponding to each relative displacement coordinate in each axis direction in the next motion period;
and continuously calibrating the acceleration sensor according to the predicted position coordinate corresponding to each relative displacement coordinate in each axis direction in the next motion period.
2. The method of claim 1, wherein the axial directions include a first axial direction, a second axial direction and a third axial direction, and the step of calculating the calibration parameter of the acceleration sensor for the motion cycle based on the acceleration detection information and the video detection information comprises:
calculating a sum of first axial coordinates, a sum of second axial coordinates, and a sum of third axial coordinates of the plurality of relative displacement coordinates in each axial direction;
calculating the difference of a first axial coordinate, the difference of a second axial coordinate and the difference of a third axial coordinate between the starting point positioning coordinate and the end point positioning coordinate;
calculating a first axial coordinate acceleration sensor calibration parameter of the motion period according to the sum of the first axial coordinates and the difference of the first axial coordinates;
calculating a second axial coordinate acceleration sensor calibration parameter of the motion period according to the sum of the second axial coordinates and the difference of the second axial coordinates;
calculating a third axial coordinate acceleration sensor calibration parameter of the motion period according to the sum of the third axial coordinates and the difference of the third axial coordinates;
obtaining the calibration parameters of the acceleration sensor of the motion period according to the calibration parameters of the first axial coordinate acceleration sensor, the calibration parameters of the second axial coordinate acceleration sensor and the calibration parameters of the third axial coordinate acceleration sensor;
the step of calibrating each relative displacement coordinate in each axis direction in the acceleration detection information based on the acceleration sensor calibration parameter to obtain each calibrated relative displacement coordinate in each axis direction includes:
calibrating the first axial coordinate of each relative displacement coordinate in the first axial direction in the acceleration detection information based on the first axial coordinate acceleration sensor calibration parameter to obtain the calibrated first axial coordinate of each relative displacement coordinate in the first axial direction;
calibrating the second axial coordinate of each relative displacement coordinate in the second axial direction in the acceleration detection information based on the second axial coordinate acceleration sensor calibration parameter to obtain a second axial coordinate of each relative displacement coordinate in the second axial direction after calibration;
and calibrating the third axial coordinate of each relative displacement coordinate in the third axial direction in the acceleration detection information based on the calibration parameter of the acceleration sensor of the third axial coordinate to obtain the calibrated third axial coordinate of each relative displacement coordinate in the third axial direction.
3. The acceleration sensor calibration method according to claim 1, wherein the step of calibrating the acceleration sensor based on the start point positioning coordinates, the end point positioning coordinates, and the respective relative displacement coordinates in the respective calibrated axial directions includes:
calculating according to the calibrated relative displacement coordinates in each axial direction to obtain position coordinates corresponding to the calibrated relative displacement coordinates in each axial direction between the starting point positioning coordinates and the end point positioning coordinates;
calibrating each axis detection parameter of the acceleration sensor based on the start point positioning coordinate, the end point positioning coordinate, and each position coordinate between the start point positioning coordinate and the end point positioning coordinate.
4. The acceleration sensor calibration method according to claim 1, wherein the step of calibrating each relative displacement coordinate in each axis direction in the next motion cycle based on the acceleration sensor calibration parameter in the historical motion cycle to obtain the predicted position coordinate corresponding to each relative displacement coordinate in each axis direction in the next motion cycle comprises:
calculating an average acceleration sensor calibration parameter of each acceleration sensor calibration parameter of the historical movement period;
and calibrating each relative displacement coordinate in each axis direction in the next motion period based on the average acceleration sensor calibration parameter to obtain a predicted position coordinate corresponding to each relative displacement coordinate in each axis direction in the next motion period.
5. The acceleration sensor calibration method of any one of claims 1-4, characterized in that the method further comprises:
acquiring attitude conversion angle data of the acceleration sensor after calibration when the terminal equipment is converted from a first attitude to a second attitude, wherein the attitude conversion angle data comprises an azimuth angle to be calibrated, a flip angle to be calibrated, a reference azimuth angle and a reference flip angle of the acceleration sensor;
carrying out weighted summation calculation on the reference azimuth and the azimuth to be calibrated to obtain a calibrated azimuth, and carrying out weighted summation calculation on the reference flip angle and the flip angle to be calibrated to obtain a calibrated flip angle;
acquiring real-time acceleration detected by the calibrated acceleration sensor;
judging whether the acceleration is in a preset range, if so, adjusting the weight of the reference azimuth and the weight of the azimuth to be calibrated to enable the weight of the reference azimuth to be higher than the weight of the azimuth to be calibrated, and adjusting the weight of the reference flip angle and the weight of the flip angle to be calibrated to enable the weight of the reference flip angle to be higher than the weight of the flip angle to be calibrated; if the acceleration is not within the preset range, adjusting the weight of the reference azimuth and the weight of the azimuth to be calibrated to enable the weight of the reference azimuth to be lower than the weight of the azimuth to be calibrated, and adjusting the weight of the reference flip angle and the weight of the flip angle to be calibrated to enable the weight of the reference flip angle to be lower than the weight of the flip angle to be calibrated.
6. An acceleration sensor calibration device, characterized in that, being applied to a terminal device, the device includes:
the device comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring acceleration detection information and video detection information of the terminal equipment in each motion period, the acceleration detection information comprises a plurality of relative displacement coordinates of the terminal equipment in each axis direction in the motion period, and the video detection information comprises a starting point positioning coordinate and an end point positioning coordinate of the terminal equipment in the motion period;
the calculation module is used for calculating the calibration parameters of the acceleration sensor of the motion period according to the acceleration detection information and the video detection information;
the coordinate calibration module is used for calibrating each relative displacement coordinate in each axis direction in the acceleration detection information based on the acceleration sensor calibration parameters to obtain each calibrated relative displacement coordinate in each axis direction;
the sensor calibration module is used for calibrating the acceleration sensor according to the starting point positioning coordinate, the end point positioning coordinate and each calibrated relative displacement coordinate in each axial direction;
the acquisition module is further configured to acquire acceleration detection information in a next motion cycle when the next motion cycle starts;
the coordinate calibration module is further configured to calibrate each relative displacement coordinate in each axis direction in the next motion cycle based on the acceleration sensor calibration parameter in the historical motion cycle, so as to obtain a predicted position coordinate corresponding to each relative displacement coordinate in each axis direction in the next motion cycle;
the sensor calibration module is further configured to continue to calibrate the acceleration sensor according to the predicted position coordinates corresponding to each relative displacement coordinate in each axis direction in the next motion cycle.
7. The acceleration sensor calibration device of claim 6, wherein the axis directions include a first axis direction, a second axis direction, and a third axis direction, and the calculation module calculates the acceleration sensor calibration parameter for the motion cycle by:
calculating a sum of first axial coordinates, a sum of second axial coordinates, and a sum of third axial coordinates of the plurality of relative displacement coordinates in each axial direction;
calculating the difference of a first axial coordinate, the difference of a second axial coordinate and the difference of a third axial coordinate between the starting point positioning coordinate and the end point positioning coordinate;
calculating a first axial coordinate acceleration sensor calibration parameter of the motion period according to the sum of the first axial coordinates and the difference of the first axial coordinates;
calculating a second axial coordinate acceleration sensor calibration parameter of the motion period according to the sum of the second axial coordinates and the difference of the second axial coordinates;
calculating a third axial coordinate acceleration sensor calibration parameter of the motion period according to the sum of the third axial coordinates and the difference of the third axial coordinates;
obtaining the calibration parameters of the acceleration sensor of the motion period according to the calibration parameters of the first axial coordinate acceleration sensor, the calibration parameters of the second axial coordinate acceleration sensor and the calibration parameters of the third axial coordinate acceleration sensor;
the step of calibrating each relative displacement coordinate in each axis direction in the acceleration detection information based on the acceleration sensor calibration parameter to obtain each calibrated relative displacement coordinate in each axis direction includes:
calibrating the first axial coordinate of each relative displacement coordinate in the first axial direction in the acceleration detection information based on the first axial coordinate acceleration sensor calibration parameter to obtain the calibrated first axial coordinate of each relative displacement coordinate in the first axial direction;
calibrating the second axial coordinate of each relative displacement coordinate in the second axial direction in the acceleration detection information based on the second axial coordinate acceleration sensor calibration parameter to obtain a second axial coordinate of each relative displacement coordinate in the second axial direction after calibration;
and calibrating the third axial coordinate of each relative displacement coordinate in the third axial direction in the acceleration detection information based on the calibration parameter of the acceleration sensor of the third axial coordinate to obtain the calibrated third axial coordinate of each relative displacement coordinate in the third axial direction.
8. The acceleration sensor calibration device of claim 6, wherein the sensor calibration module calibrates the acceleration sensor by:
calculating according to the calibrated relative displacement coordinates in each axial direction to obtain position coordinates corresponding to the calibrated relative displacement coordinates in each axial direction between the starting point positioning coordinates and the end point positioning coordinates;
calibrating each axis detection parameter of the acceleration sensor based on the start point positioning coordinate, the end point positioning coordinate, and each position coordinate between the start point positioning coordinate and the end point positioning coordinate.
9. The acceleration sensor calibration apparatus according to claim 6, wherein the coordinate calibration module is configured to calibrate each relative displacement coordinate in each axial direction in the next motion cycle to obtain the predicted position coordinate corresponding to each relative displacement coordinate in each axial direction in the next motion cycle by:
calculating an average acceleration sensor calibration parameter of each acceleration sensor calibration parameter of the historical movement period;
and calibrating each relative displacement coordinate in each axis direction in the next motion period based on the average acceleration sensor calibration parameter to obtain a predicted position coordinate corresponding to each relative displacement coordinate in each axis direction in the next motion period.
10. The acceleration sensor calibration device of any one of claims 6-9, characterized in that the device further comprises:
the acquisition module is further configured to acquire attitude conversion angle data of the acceleration sensor after calibration when the terminal device is converted from the first attitude to the second attitude, where the attitude conversion angle data includes an azimuth to be calibrated, a roll-over angle to be calibrated, a reference azimuth, and a reference roll-over angle of the acceleration sensor;
the calculation module is further configured to perform weighted summation calculation on the reference azimuth and the azimuth to be calibrated to obtain a calibrated azimuth, and perform weighted summation calculation on the reference flip angle and the flip angle to be calibrated to obtain a calibrated flip angle;
the acquisition module is further used for acquiring real-time acceleration detected by the calibrated acceleration sensor;
the sensor calibration module is further configured to determine whether the acceleration is within a preset range, and if the acceleration is within the preset range, adjust the weight of the reference azimuth and the weight of the azimuth to be calibrated so that the weight of the reference azimuth is higher than the weight of the azimuth to be calibrated, and adjust the weight of the reference flip angle and the weight of the flip angle to be calibrated so that the weight of the reference flip angle is higher than the weight of the flip angle to be calibrated; if the acceleration is not within the preset range, adjusting the weight of the reference azimuth and the weight of the azimuth to be calibrated to enable the weight of the reference azimuth to be lower than the weight of the azimuth to be calibrated, and adjusting the weight of the reference flip angle and the weight of the flip angle to be calibrated to enable the weight of the reference flip angle to be lower than the weight of the flip angle to be calibrated.
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