CN110750536A - Vibration noise smoothing method and system for attitude time series data - Google Patents
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Abstract
本发明提供一种姿态时间序列数据的振动噪声平滑处理方法及系统，将原始姿态时间序列数据按照预设时间窗口进行划分，形成多段姿态时间子序列数据，可以同时对每一段姿态时间子序列数据进行振动噪声平滑的处理，能够提高处理效率，具有较高的实时性，本发明的方法能够抑制姿态时间序列数据中的振动噪声，支持连续同工况、不同姿态数据的平滑过度。
The present invention provides a vibration noise smoothing processing method and system for attitude time series data. The original attitude time series data is divided according to a preset time window to form multiple pieces of attitude time subsequence data, and each piece of attitude time subsequence data can be processed simultaneously. Performing vibration noise smoothing processing can improve processing efficiency and has high real-time performance. The method of the present invention can suppress vibration noise in attitude time series data, and supports smooth transition of continuous same working conditions and different attitude data.
Description
技术领域technical field
本发明属于数据处理技术领域，尤其涉及一种姿态时间序列数据的振动噪声平滑处理方法及系统。The invention belongs to the technical field of data processing, and in particular relates to a vibration noise smoothing method and system for attitude time series data.
背景技术Background technique
根据力的合成与分解，采用陀螺仪三轴加速度数据可得到被测物体的姿态时间序列数据。被测物体一般是复杂的机械装备，其工作时各部件将产生耦合振动，导致检测的被测物体的姿态时间序列数据叠加了振动噪声干扰，使得被测物体的姿态时间序列数据不能够准确地反映被测物体的姿态。According to the synthesis and decomposition of the force, the attitude time series data of the measured object can be obtained by using the three-axis acceleration data of the gyroscope. The measured object is generally a complex mechanical equipment, and each component will generate coupled vibration during operation, resulting in the superimposed vibration noise interference on the detected attitude time series data of the measured object, so that the measured attitude time series data of the measured object cannot be accurately measured. Reflects the posture of the measured object.
传统的方式是批量对被测物体的姿态时间序列数据进行振动噪声平滑处理，由于姿态时间序列数据的数据量大，因此，对姿态时间序列数据批量处理时，处理需要的时间长、实时性不高，具有较长的滞后性。The traditional method is to perform vibration noise smoothing on the attitude time series data of the measured object in batches. Due to the large amount of attitude time series data, when batch processing the attitude time series data, the processing time is long and the real-time performance is poor. high, with longer hysteresis.
发明内容SUMMARY OF THE INVENTION
为克服上述现有问题或者至少部分地解决上述问题，本发明实施例提供一种姿态时间序列数据的振动噪声平滑处理方法及系统。To overcome the above existing problems or at least partially solve the above problems, embodiments of the present invention provide a vibration noise smoothing method and system for attitude time series data.
根据本发明实施例的第一方面，提供一种姿态时间序列数据的振动噪声平滑处理方法，包括：According to a first aspect of the embodiments of the present invention, a vibration noise smoothing method for attitude time series data is provided, including:
将原始姿态时间序列数据按照预设时间窗口进行截取，形成与每一个预设时间窗口对应的姿态时间子序列数据，其中，所述姿态时间子序列数据中包括多个时间点对应的姿态数据；Intercepting the original attitude time series data according to a preset time window to form attitude time sub-sequence data corresponding to each preset time window, wherein the attitude time sub-sequence data includes attitude data corresponding to multiple time points;
对每一个姿态时间子序列数据中的每一个姿态数据进行振动噪声平滑处理，得到平滑处理后的姿态时间子序列数据；Perform vibration noise smoothing processing on each attitude data in each attitude time subsequence data to obtain the smoothed attitude time subsequence data;
将每一个平滑处理后的姿态时间子序列数据进行组合，对所述原始姿态时间序列数据进行替换更新。Combining each smoothed attitude time sub-sequence data to replace and update the original attitude time series data.
在上述技术方案的基础上，本发明还可以做如下改进。On the basis of the above technical solutions, the present invention can also be improved as follows.
进一步的，在所述将原始姿态时间序列数据按照预设时间窗口进行截取之前还包括：Further, before the intercepting the original attitude time series data according to the preset time window, the method further includes:
在内存中创建第一数组，用于存放原始姿态时间序列数据；Create a first array in memory for storing the original pose time series data;
在内存中创建第二数组，用于存放原始姿态时间序列数据的副本；Create a second array in memory to store a copy of the original pose time series data;
相应的，所述将原始姿态时间序列数据按照预设时间窗口进行截取包括：Correspondingly, the intercepting the original attitude time series data according to the preset time window includes:
对所述第二数组中存放的原始姿态时间序列数据的副本按照预设时间窗口进行截取。The copy of the original attitude time series data stored in the second array is intercepted according to a preset time window.
进一步的，所述对所述第二数组中存放的原始姿态时间序列数据的副本按照预设时间窗口进行截取之后还包括：Further, after the copy of the original attitude time series data stored in the second array is intercepted according to a preset time window, the method further includes:
多个姿态时间子序列数据形成第一矩阵，将所述第一矩阵存储于在内存中创建的第一队列中，所述第一矩阵中的每一个姿态时间子序列数据占用所述第一队列中一个存储空间。A plurality of attitude time sub-sequence data forms a first matrix, the first matrix is stored in a first queue created in memory, and each attitude time sub-sequence data in the first matrix occupies the first queue in a storage space.
进一步的，所述将所述第一矩阵存储于在内存中创建的第一队列中之后还包括：Further, after storing the first matrix in the first queue created in the memory, it further includes:
创建第二队列，将所述第一矩阵中每一个姿态数据在所述第二数组中的索引形成第二矩阵，且将所述第二矩阵存储于所述第二队列中，其中，属于同一个姿态时间子序列数据的多个姿态数据对应的索引占用所述第二队列的一个存储空间。Create a second queue, form a second matrix with the index of each attitude data in the first matrix in the second array, and store the second matrix in the second queue, wherein, belonging to the same Indices corresponding to multiple pose data of one pose time subsequence data occupy one storage space of the second queue.
进一步的，所述第一矩阵中的每一个姿态数据与所述第二数组中的每一个姿态数据通过所述第二矩阵中的每一个姿态数据的索引一一对应。Further, each piece of attitude data in the first matrix corresponds to each piece of attitude data in the second array through an index of each piece of attitude data in the second matrix.
进一步的，所述对每一个姿态时间子序列数据中的振动噪声进行平滑处理，得到平滑处理后的姿态时间子序列数据包括：Further, the vibration noise in each attitude time sub-sequence data is smoothed, and the smoothed attitude time sub-sequence data includes:
对于所述第一队列中的任一个存储空间，计算所述任一个存储空间中的多个姿态数据的平均值；For any one of the storage spaces in the first queue, calculate the average value of multiple attitude data in the any one of the storage spaces;
将所述任一个存储空间中的多个姿态数据采用所述平均值代替，形成所述任一个存储空间替换后的多个姿态数据。The average value is used to replace the plurality of attitude data in any one of the storage spaces to form multiple pieces of attitude data after the replacement of any one of the storage spaces.
进一步的，还包括：Further, it also includes:
在内存中创建第三数组，将计算的所述任一存储空间对应的平均值存储于所述第三数组中；Create a third array in the memory, and store the calculated average value corresponding to any storage space in the third array;
相应的，将所述任一个存储空间中的多个姿态数据采用所述平均值代替包括：Correspondingly, substituting the average value for the plurality of attitude data in any one of the storage spaces includes:
采用所述第三数组中与所述任一存储空间对应的平均值替换所述任一存储空间中的每一个姿态数据。Each piece of attitude data in any one of the storage spaces is replaced with an average value in the third array corresponding to the any one of the storage spaces.
根据本发明实施例第二方面提供一种姿态时间序列数据的振动噪声平滑处理系统，包括：According to a second aspect of the embodiments of the present invention, a vibration and noise smoothing processing system for attitude time series data is provided, including:
截取模块，用于将原始姿态时间序列数据按照预设时间窗口进行截取，形成与每一个预设时间窗口对应的姿态时间子序列数据，其中，所述姿态时间子序列数据中包括多个时间点对应的姿态数据；The interception module is used for intercepting the original attitude time series data according to a preset time window to form attitude time sub-sequence data corresponding to each preset time window, wherein the attitude time sub-sequence data includes a plurality of time points Corresponding attitude data;
平滑处理模块，用于对每一个姿态时间子序列数据中的每一个姿态数据进行振动噪声平滑处理，得到平滑处理后的姿态时间子序列数据；The smoothing processing module is used to perform vibration noise smoothing processing on each attitude data in each attitude time sub-sequence data to obtain the smoothed attitude time sub-sequence data;
替换更新模块，用于将每一个平滑处理后的姿态时间子序列数据进行组合，对所述原始姿态时间序列数据进行替换更新。A replacement update module is used for combining each smoothed attitude time sub-sequence data to replace and update the original attitude time series data.
进一步的，所述平滑处理模块包括计算单元和均值替换单元；Further, the smoothing processing module includes a calculation unit and a mean value replacement unit;
所述计算单元，用于对于所述第一队列中的任一个存储空间，计算所述任一个存储空间中的多个姿态数据的平均值；The computing unit is configured to, for any one of the storage spaces in the first queue, calculate the average value of a plurality of attitude data in the any one of the storage spaces;
均值替换单元，用于将所述任一个存储空间中的多个姿态数据采用所述平均值代替，形成所述任一个存储空间替换后的多个姿态数据；an average value replacement unit, configured to replace a plurality of attitude data in any one of the storage spaces with the average value to form a plurality of attitude data after the replacement of any one of the storage spaces;
其中，多个姿态时间子序列数据形成第一矩阵，将所述第一矩阵存储于在内存中创建的第一队列中，所述第一矩阵中的每一个姿态时间子序列数据占用所述第一队列中一个存储空间。Wherein, a plurality of attitude time sub-sequence data form a first matrix, the first matrix is stored in a first queue created in memory, and each attitude time sub-sequence data in the first matrix occupies the first matrix. One storage space in one queue.
根据本发明实施例的第三个方面，还提供一种电子设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器调用所述程序指令能够执行第一方面的各种可能的实现方式中任一种可能的实现方式所提供的姿态时间序列数据的振动噪声平滑处理方法。According to a third aspect of the embodiments of the present invention, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor calling the program instructions to execute A vibration noise smoothing method for attitude time series data provided by any one of the various possible implementations of the first aspect.
根据本发明实施例的第四个方面，还提供一种非暂态计算机可读存储介质，所述非暂态计算机可读存储介质存储计算机指令，所述计算机指令使所述计算机执行第一方面的各种可能的实现方式中任一种可能的实现方式所提供的姿态时间序列数据的振动噪声平滑处理方法。According to a fourth aspect of the embodiments of the present invention, a non-transitory computer-readable storage medium is further provided, the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions cause the computer to execute the first aspect A vibration and noise smoothing method for attitude time series data provided by any one of the various possible implementations.
本发明实施例提供一种姿态时间序列数据的振动噪声平滑处理方法及系统，将原始姿态时间序列数据按照预设时间窗口进行划分，形成多段姿态时间子序列数据，可以同时对每一段姿态时间子序列数据进行振动噪声平滑的处理，能够提高处理效率，具有较高的实时性，本发明的方法能够抑制姿态时间序列数据中的振动噪声，支持连续同工况、不同姿态数据的平滑过度。Embodiments of the present invention provide a method and system for smoothing vibration noise of attitude time series data. The original attitude time series data is divided according to a preset time window to form multiple pieces of attitude time sub-sequence data. The vibration noise is smoothed on the sequence data, which can improve the processing efficiency and has high real-time performance. The method of the present invention can suppress the vibration noise in the attitude time series data, and supports the smooth transition of continuous same working conditions and different attitude data.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative efforts.
图1为本发明一个实施例提供的姿态时间序列数据的振动噪声平滑处理方法整体流程示意图；FIG. 1 is a schematic overall flowchart of a vibration noise smoothing method for attitude time series data provided by an embodiment of the present invention;
图2为本发明一个实施例提供的姿态时间序列数据的振动噪声平滑处理系统结构示意图；2 is a schematic structural diagram of a system for smoothing vibration and noise of attitude time series data according to an embodiment of the present invention;
图3为本发明实施例的姿态时间序列数据的振动噪声平滑处理系统结构示意图3 is a schematic structural diagram of a vibration noise smoothing system for attitude time series data according to an embodiment of the present invention
图4为图3中平滑处理模块的内部连接框图；Fig. 4 is the internal connection block diagram of the smoothing processing module in Fig. 3;
图5为本发明一个实施例提供的电子设备整体结构示意图。FIG. 5 is a schematic diagram of an overall structure of an electronic device according to an embodiment of the present invention.
具体实施方式Detailed ways
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative efforts.
在本发明的一个实施例中提供一种姿态时间序列数据的振动噪声平滑处理方法，图1为本发明实施例提供的振动噪声平滑处理方法整体流程示意图，该方法包括：In an embodiment of the present invention, a vibration noise smoothing method for attitude time series data is provided. FIG. 1 is a schematic overall flowchart of the vibration noise smoothing method provided by the embodiment of the present invention, and the method includes:
将原始姿态时间序列数据按照预设时间窗口进行截取，形成与每一个预设时间窗口对应的姿态时间子序列数据，其中，所述姿态时间子序列数据中包括多个时间点对应的姿态数据；Intercepting the original attitude time series data according to a preset time window to form attitude time sub-sequence data corresponding to each preset time window, wherein the attitude time sub-sequence data includes attitude data corresponding to multiple time points;
对每一个姿态时间子序列数据中的每一个姿态数据进行振动噪声平滑处理，得到平滑处理后的姿态时间子序列数据；Perform vibration noise smoothing processing on each attitude data in each attitude time subsequence data to obtain the smoothed attitude time subsequence data;
将每一个平滑处理后的姿态时间子序列数据进行组合，对所述原始姿态时间序列数据进行替换更新。Combining each smoothed attitude time sub-sequence data to replace and update the original attitude time series data.
可以理解的是，在对被测物体的姿态数据进行采集时，是利用陀螺仪三轴加速度传感器来测量被测物体的三轴加速度数据，根据陀螺仪三轴加速度数据计算可得到被测物体的姿态时间序列数据，即被测物体与水平方向的倾斜角随时间变化的数据。It can be understood that when the attitude data of the measured object is collected, the gyroscope three-axis acceleration sensor is used to measure the three-axis acceleration data of the measured object. Attitude time series data, that is, the data of the change of the inclination angle between the measured object and the horizontal direction with time.
其中，在实际应用中，被测物体一般是复杂的机械装备，其工作时各部件将产生耦合振动，导致被测物体姿态的时间序列数据叠加了振动噪声干扰，不能够准确反映被测物体的真正姿态。在本发明实施例中，当一批陀螺仪姿态时间序列数据(称为原始姿态时间序列数据)到来时，按照预设时间窗口对原始姿态时间序列数据进行截取，形成多段与每一个预设时间窗口对应的姿态时间子序列数据。Among them, in practical applications, the measured object is generally a complex mechanical equipment, and each component will generate coupled vibration during operation, resulting in the time series data of the measured object posture superimposed with vibration noise interference, which cannot accurately reflect the measured object. real gesture. In the embodiment of the present invention, when a batch of gyroscope attitude time series data (referred to as original attitude time series data) arrives, the original attitude time series data is intercepted according to a preset time window to form multiple segments with each preset time The pose time subsequence data corresponding to the window.
其中，每一个时间点对应有一个姿态数据，众多个时间点对应的姿态数据组成原始姿态时间序列数据。另外，比如预设时间窗口为10s，每一秒对应被测物体一个时间点的姿态数据，则将原始的姿态时间序列数据按照每10s的时间窗口进行截取，需要说明的是，本发明实施例中，截取后形成的多段姿态时间序列数据之间是有重叠的，比如，第一个时间窗口截取原始姿态时间序列数据的第1s到第10s的10个姿态数据，第二个时间窗口截取原始姿态时间序列数据的第2s到第11s的10个姿态数据。Among them, each time point corresponds to one attitude data, and the attitude data corresponding to many time points constitute the original attitude time series data. In addition, for example, the preset time window is 10s, and each second corresponds to the attitude data of the measured object at one time point, then the original attitude time series data is intercepted according to the time window of every 10s. It should be noted that this embodiment of the present invention There is overlap between the multi-segment attitude time series data formed after interception. For example, the first time window intercepts the 10 attitude data from the 1s to the 10th of the original attitude time series data, and the second time window intercepts the original attitude time series data. 10 pose data from 2s to 11s of pose time series data.
对每一个姿态时间子序列数据中的振动噪声进行平滑处理，得到振动噪声平滑处理后的姿态时间子序列数据；将每一个平滑处理后的姿态时间子序列数据进行组合，对原始姿态时间序列数据进行替换更新，得到整个原始姿态时间序列数据对应的振动平滑处理后的姿态时间序列数据。Smooth the vibration noise in each attitude time subsequence data to obtain the attitude time subsequence data after vibration noise smoothing; Perform replacement and update to obtain the vibration-smoothed attitude time series data corresponding to the entire original attitude time series data.
本发明实施例提供一种姿态时间序列数据的振动噪声平滑处理方法及系统，将原始姿态时间序列数据按照预设时间窗口进行划分，形成多段姿态时间子序列数据，可以同时对每一段姿态时间子序列数据进行振动噪声平滑的处理，能够提高处理效率，具有较高的实时性，本发明的方法能够抑制姿态时间序列数据中的振动噪声，支持连续同工况、不同姿态数据的平滑过度。Embodiments of the present invention provide a method and system for smoothing vibration noise of attitude time series data. The original attitude time series data is divided according to a preset time window to form multiple pieces of attitude time sub-sequence data. The vibration noise is smoothed on the sequence data, which can improve the processing efficiency and has high real-time performance. The method of the present invention can suppress the vibration noise in the attitude time series data, and supports the smooth transition of continuous same working conditions and different attitude data.
在上述各实施例的基础上，本发明一个实施例中，在将原始姿态时间序列数据按照预设时间窗口进行截取之前还包括：On the basis of the above embodiments, in an embodiment of the present invention, before the original attitude time series data is intercepted according to a preset time window, the method further includes:
在内存中创建第一数组，用于存放原始姿态时间序列数据；Create a first array in memory for storing the original pose time series data;
在内存中创建第二数组，用于存放原始姿态时间序列数据的副本；Create a second array in memory to store a copy of the original pose time series data;
相应的，所述将原始姿态时间序列数据按照预设时间窗口进行截取包括：Correspondingly, the intercepting the original attitude time series data according to the preset time window includes:
对所述第二数组中存放的原始姿态时间序列数据的副本按照预设时间窗口进行截取。The copy of the original attitude time series data stored in the second array is intercepted according to a preset time window.
可以理解的是，在内存中分别创建第一数组和第二数组，在第一数组中存放原始姿态时间序列数据，在第二数组中存放原始姿态时间序列数据的副本。其中，在对原始姿态时间序列数据进行截取时，是对第二数组中存放的原始姿态时间序列数据的副本按照预设时间窗口进行截取，形成与每一个预设时间窗口对应的姿态时间子序列数据，每一个姿态时间子序列数据均包括多个姿态数据。It can be understood that the first array and the second array are respectively created in the memory, the original attitude time series data is stored in the first array, and the copy of the original attitude time series data is stored in the second array. Wherein, when the original attitude time series data is intercepted, the copy of the original attitude time series data stored in the second array is intercepted according to a preset time window, and an attitude time sub-sequence corresponding to each preset time window is formed. Each attitude time sub-sequence data includes multiple attitude data.
在上述各实施例的基础上，本发明一个实施例中，对第二数组中存放的原始姿态时间序列数据的副本按照预设时间窗口进行截取之后还包括：On the basis of the foregoing embodiments, in an embodiment of the present invention, after the copy of the original attitude time series data stored in the second array is intercepted according to a preset time window, the method further includes:
多个姿态时间子序列数据形成第一矩阵，将第一矩阵存储于在内存中创建的第一队列中，所述第一矩阵中的每一个姿态时间子序列数据占用所述第一队列中一个存储空间。A plurality of attitude time sub-sequence data forms a first matrix, the first matrix is stored in a first queue created in the memory, and each attitude time sub-sequence data in the first matrix occupies one of the first queues. storage.
可以理解的是，在对第二数组中的原始姿态时间序列数据按照预设时间窗口进行截取后，形成多个姿态时间子序列数据，在本发明实施例中，多个姿态时间子序列数据形成第一矩阵，在内存中开辟第一队列，将第一矩阵存储于第一队列中，其中，第一矩阵中的每一个姿态时间子序列数据占用第一队列中一个存储空间，即第一队列中的每一个存储空间存放有多个姿态数据。It can be understood that after the original attitude time series data in the second array is intercepted according to the preset time window, multiple attitude time sub-sequence data are formed. The first matrix is to open up a first queue in the memory, and store the first matrix in the first queue, wherein each attitude time subsequence data in the first matrix occupies a storage space in the first queue, that is, the first queue Each storage space in is stored with multiple pose data.
在上述各实施例的基础上，本发明一个实施例中，将第一矩阵存储于在内存中创建的第一队列中之后还包括：On the basis of the foregoing embodiments, in an embodiment of the present invention, after storing the first matrix in the first queue created in the memory, the method further includes:
创建第二队列，将第一矩阵中每一个姿态数据在第二数组中的索引形成第二矩阵，且将第二矩阵存储于与第二队列中，其中，属于同一个姿态时间子序列数据的多个姿态数据对应的索引占用第二队列的一个存储空间。A second queue is created, the indices of each attitude data in the first matrix in the second array are formed into a second matrix, and the second matrix is stored in the second queue, wherein the data belonging to the same attitude time subsequence data The indices corresponding to the plurality of gesture data occupy one storage space of the second queue.
可以理解的是，第二数组中存放的是原始姿态时间序列数据，截取后得到的每一个姿态时间子序列数据存放于第一队列中的第一矩阵中。本发明实施例在内存中开辟第二队列，其中，将第一矩阵中每一个姿态数据在第二数组中的索引形成第二矩阵，且将第二矩阵存储于与第二队列中，即第二矩阵中存储的为每一个姿态数据的索引。其中，属于同一个姿态时间子序列数据的多个姿态数据对应的索引占用第二队列的一个存储空间，即同一个姿态时间子序列数据中的多个姿态数据对应的多个索引占用第二队列中的一个存储空间。It can be understood that the original attitude time series data is stored in the second array, and each attitude time sub-sequence data obtained after interception is stored in the first matrix in the first queue. In the embodiment of the present invention, a second queue is created in the memory, wherein the index of each attitude data in the first matrix in the second array is formed into a second matrix, and the second matrix is stored in the second queue, that is, the first matrix is stored in the second queue. The index of each attitude data is stored in the two-matrix. Wherein, the indexes corresponding to the multiple attitude data belonging to the same attitude time subsequence data occupy a storage space of the second queue, that is, the multiple indexes corresponding to the multiple attitude data in the same attitude time subsequence data occupy the second queue a storage space in .
经过上述的索引处理后，第一矩阵中的每一个姿态数据与第二数组中的每一个姿态数据通过第二矩阵中的每一个姿态数据的索引一一对应。以便后续需要对姿态数据进行处理时，能够将第二数组中的姿态数据和第一矩阵中的姿态数据进行一一对应。After the above index processing, each piece of attitude data in the first matrix corresponds to each piece of attitude data in the second array through the index of each piece of attitude data in the second matrix. So that when the attitude data needs to be processed later, the attitude data in the second array can be in a one-to-one correspondence with the attitude data in the first matrix.
在上述各实施例的基础上，本发明一个实施例中，对每一个姿态时间子序列数据中的振动噪声进行平滑处理，得到平滑处理后的姿态时间子序列数据包括：On the basis of the above embodiments, in one embodiment of the present invention, the vibration noise in each attitude time sub-sequence data is smoothed, and the smoothed attitude time sub-sequence data obtained include:
对于所述第一队列中的任一个存储空间，计算所述任一个存储空间中的多个姿态数据的平均值；For any one of the storage spaces in the first queue, calculate the average value of multiple attitude data in the any one of the storage spaces;
将所述任一个存储空间中的多个姿态数据采用所述平均值代替形成所述任一个存储空间替换后的多个姿态数据。The average value is used to replace the plurality of posture data in the any one of the storage spaces to form a plurality of replaced posture data in the any one of the storage spaces.
可以理解的是，第一队列中存放的为经过截取后的姿态时间子序列数据，每一个姿态时间子序列数据占用第一队列中的一个存储空间，在本发明实施例中，对于第一队列中的任一个存储空间，该任一一个存储空间中存储有多个姿态数据，这些姿态数据中会存在振动噪声。因此，本发明实施例中，对于第一队列中的任一个存储空间，计算该任一个存储空间中的多个姿态数据的平均值，并采用该平均值代替该存储空间中的每一个姿态数据，形成任一个存储空间替换后的多个姿态数据。It can be understood that the attitude time sub-sequence data after interception is stored in the first queue, and each attitude time sub-sequence data occupies a storage space in the first queue. In this embodiment of the present invention, for the first queue Any storage space in the storage space, there is a plurality of attitude data stored in any storage space, and vibration noise may exist in these attitude data. Therefore, in this embodiment of the present invention, for any storage space in the first queue, an average value of multiple gesture data in any storage space is calculated, and the average value is used to replace each gesture data in the storage space , forming a plurality of attitude data after any storage space is replaced.
在上述各实施例的基础上，本发明一个实施例中，还包括：On the basis of the foregoing embodiments, an embodiment of the present invention further includes:
在内存中创建第三数组，将计算的所述任一存储空间对应的平均值存储于所述第三数组中；Create a third array in the memory, and store the calculated average value corresponding to any storage space in the third array;
相应的，将所述任一个存储空间中的多个姿态数据采用所述平均值代替包括：Correspondingly, substituting the average value for the plurality of attitude data in any one of the storage spaces includes:
采用所述第三数组中与所述任一存储空间对应的平均值替换所述任一存储空间中的每一个姿态数据。Each piece of attitude data in any one of the storage spaces is replaced with an average value in the third array corresponding to the any one of the storage spaces.
可以理解的是，本发明实施例中，在内存中创建第三数组，其中，将计算的任一存储空间对应的平均值存储于第三数组中。It can be understood that, in this embodiment of the present invention, a third array is created in the memory, wherein the calculated average value corresponding to any storage space is stored in the third array.
在进行数值替换时，采用第三数组中与任一存储空间对应的平均值替换该任一存储空间中的多个姿态数据，那么对于任一存储空间，其中的多个姿态数据均为振动噪声平滑处理后处于正常的姿态数据。When performing numerical replacement, the average value corresponding to any storage space in the third array is used to replace the plurality of attitude data in any storage space, then for any storage space, the plurality of attitude data are vibration noise. Normal pose data after smoothing.
对每一个存储空间中的多个姿态数据，即对于截取后的每一个姿态时间子序列数据，均采用相同的平滑处理方式，平滑处理后，每一个姿态时间子序列中的多个姿态数据为正常数据，即对每一个存储空间中的多个姿态数据进行了振动噪声的平滑处理。将平滑处理后的每一个姿态时间子序列数据写回第二数组中的原始位置，对第一队列中的原始姿态时间序列数据的副本进行替换更新，至此，将原始姿态时间序列数据中的振动噪声进行了处理。For multiple attitude data in each storage space, that is, for each attitude time subsequence after interception, the same smoothing method is used. After smoothing, the multiple attitude data in each attitude time subsequence is Normal data, that is, the smoothing of vibration noise is performed on multiple pose data in each storage space. Write the smoothed data of each attitude time series back to the original position in the second array, and replace and update the copy of the original attitude time series data in the first queue. Noise is processed.
在本发明的另一个实施例中提供一种姿态时间序列数据的振动噪声平滑处理系统，该系统用于实现前述各实施例中的方法。因此，在前述姿态时间序列数据的振动噪声平滑处理方法的各实施例中的描述和定义，可以用于本发明实施例中各个执行模块的理解。图2为本发明实施例提供的姿态时间序列数据的振动噪声平滑处理系统整体结构示意图，该系统包括截取模块21、平滑处理模块22和替换更新模块23。In another embodiment of the present invention, a vibration noise smoothing processing system for attitude time series data is provided, and the system is used to implement the methods in the foregoing embodiments. Therefore, the descriptions and definitions in the foregoing embodiments of the method for smoothing vibration and noise of attitude time series data can be used for the understanding of each execution module in the embodiments of the present invention. 2 is a schematic diagram of the overall structure of a vibration and noise smoothing system for attitude time series data provided by an embodiment of the present invention. The system includes an intercepting
截取模块21，用于将原始姿态时间序列数据按照预设时间窗口进行截取，形成与每一个预设时间窗口对应的姿态时间子序列数据，其中，所述姿态时间子序列数据中包括多个时间点对应的姿态数据；The
平滑处理模块22，用于对每一个姿态时间子序列数据中的每一个姿态数据进行振动噪声平滑处理，得到平滑处理后的姿态时间子序列数据；The smoothing
替换更新模块23，用于将每一个平滑处理后的姿态时间子序列数据进行组合，对所述原始姿态时间序列数据进行替换更新。The replacement and
参见图3，本发明实施例提供的一种姿态时间序列数据的振动噪声平滑处理系统还包括存储模块24；Referring to FIG. 3, a vibration and noise smoothing processing system for attitude time series data provided by an embodiment of the present invention further includes a
存储模块24，用于在第一数组中存放原始姿态时间序列数据，在第二数组中存放原始姿态时间序列数据的副本；The
相应的，截取模块21，具体用于对第二数组中存放的原始姿态时间序列数据的副本按照预设时间窗口进行截取。Correspondingly, the
存储模块24，还用于将第一矩阵存储于在内存中创建的第一队列中，其中，多个姿态时间子序列数据形成第一矩阵，第一矩阵中的每一个姿态时间子序列数据占用第一队列中一个存储空间；以及还用于将第一矩阵中每一个姿态数据在第二数组中的索引形成的第二矩阵，存储于第二队列中，其中，属于同一个姿态时间子序列数据的多个姿态数据对应的索引占用第二队列的一个存储空间。The
其中，第一矩阵中的每一个姿态数据与所述第二数组中的每一个姿态数据通过所述第二矩阵中的每一个姿态数据的索引一一对应。Wherein, each piece of attitude data in the first matrix corresponds to each piece of attitude data in the second array through an index of each piece of attitude data in the second matrix.
参见图4，平滑处理模块22包括计算单元221和均值替换单元222。Referring to FIG. 4 , the smoothing
计算单元221，用于对于所述第一队列中的任一个存储空间，计算所述任一个存储空间中的多个姿态数据的平均值；a
均值替换单元222，用于将所述任一个存储空间中的多个姿态数据采用所述平均值代替，形成所述任一个存储空间替换后的多个姿态数据；The mean
其中，多个姿态时间子序列数据形成第一矩阵，将所述第一矩阵存储于在内存中创建的第一队列中，所述第一矩阵中的每一个姿态时间子序列数据占用所述第一队列中一个存储空间。Wherein, a plurality of attitude time sub-sequence data form a first matrix, the first matrix is stored in a first queue created in memory, and each attitude time sub-sequence data in the first matrix occupies the first matrix. One storage space in one queue.
上述的存储模块24，还用于将计算的任一存储空间对应的平均值存储于所述第三数组中；The above-mentioned
相应的，均值替换单元222，用于采用第三数组中与任一存储空间对应的平均值替换任一存储空间中的每一个姿态数据。Correspondingly, the mean
图5示例了一种电子设备的实体结构示意图，如图5所示，该电子设备可以包括：处理器(processor)510、通信接口(Communications Interface)520、存储器(memory)530和通信总线540，其中，处理器510，通信接口520，存储器530通过通信总线540完成相互间的通信。处理器510可以调用存储器530中的逻辑指令，以执行如下方法：将原始姿态时间序列数据按照预设时间窗口进行截取，形成与每一个预设时间窗口对应的姿态时间子序列数据，其中，所述姿态时间子序列数据中包括多个时间点对应的姿态数据；对每一个姿态时间子序列数据中的每一个姿态数据进行振动噪声平滑处理，得到平滑处理后的姿态时间子序列数据；将每一个平滑处理后的姿态时间子序列数据进行组合，对所述原始姿态时间序列数据进行替换更新。FIG. 5 illustrates a schematic diagram of the physical structure of an electronic device. As shown in FIG. 5 , the electronic device may include: a processor (processor) 510, a communication interface (Communications Interface) 520, a memory (memory) 530 and a
此外，上述的存储器530中的逻辑指令可以通过软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。In addition, the above-mentioned logic instructions in the
本实施例提供一种非暂态计算机可读存储介质，非暂态计算机可读存储介质存储计算机指令，计算机指令使计算机执行上述各方法实施例所提供的方法，例如包括：将原始姿态时间序列数据按照预设时间窗口进行截取，形成与每一个预设时间窗口对应的姿态时间子序列数据，其中，所述姿态时间子序列数据中包括多个时间点对应的姿态数据；对每一个姿态时间子序列数据中的每一个姿态数据进行振动噪声平滑处理，得到平滑处理后的姿态时间子序列数据；将每一个平滑处理后的姿态时间子序列数据进行组合，对所述原始姿态时间序列数据进行替换更新。This embodiment provides a non-transitory computer-readable storage medium, the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions cause the computer to execute the methods provided by the above method embodiments, for example, including: The data is intercepted according to a preset time window to form attitude time sub-sequence data corresponding to each preset time window, wherein the attitude time sub-sequence data includes attitude data corresponding to a plurality of time points; Each attitude data in the subsequence data is subjected to vibration noise smoothing processing to obtain the smoothed attitude time subsequence data; each smoothed attitude time subsequence data is combined, and the original attitude time series data are processed. Replacement update.
本发明实施例提供一种姿态时间序列数据的振动噪声平滑处理方法及系统，将原始姿态时间序列数据按照预设时间窗口进行划分，形成多段姿态时间子序列数据，可以同时对每一段姿态时间子序列数据进行振动噪声平滑的处理，能够提高处理效率，具有较高的实时性，本发明的方法能够抑制姿态时间序列数据中的振动噪声，支持连续同工况、不同姿态数据的平滑过度。Embodiments of the present invention provide a method and system for smoothing vibration noise of attitude time series data. The original attitude time series data is divided according to a preset time window to form multiple pieces of attitude time sub-sequence data. The vibration noise is smoothed on the sequence data, which can improve the processing efficiency and has high real-time performance. The method of the present invention can suppress the vibration noise in the attitude time series data, and supports the smooth transition of continuous same working conditions and different attitude data.
本领域普通技术人员可以理解：实现上述方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成，前述的程序可以存储于一计算机可读取存储介质中，该程序在执行时，执行包括上述方法实施例的步骤；而前述的存储介质包括：ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by program instructions related to hardware, the aforementioned program can be stored in a computer-readable storage medium, and when the program is executed, execute It includes the steps of the above method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk and other media that can store program codes.
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。The device embodiments described above are only illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到各实施方式可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件。基于这样的理解，上述技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如ROM/RAM、磁碟、光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行各个实施例或者实施例的某些部分所述的方法。From the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and certainly can also be implemented by hardware. Based on this understanding, the above-mentioned technical solutions can be embodied in the form of software products in essence or the parts that make contributions to the prior art, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic A disc, an optical disc, etc., includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the methods described in various embodiments or some parts of the embodiments.
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be The technical solutions described in the foregoing embodiments are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.
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