CN111307134B - Electronic compass calibration method, device, system and computer readable storage medium - Google Patents
Electronic compass calibration method, device, system and computer readable storage medium Download PDFInfo
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- CN111307134B CN111307134B CN202010345778.1A CN202010345778A CN111307134B CN 111307134 B CN111307134 B CN 111307134B CN 202010345778 A CN202010345778 A CN 202010345778A CN 111307134 B CN111307134 B CN 111307134B
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
- G01C17/38—Testing, calibrating, or compensating of compasses
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Abstract
The invention provides an electronic compass calibration method, device and system and a computer readable storage medium, and relates to the technical field of electronic compass calibration. The calibration method is applied to a calibration system, the calibration system comprises a fixed base, a rotary platform and an angle encoder, the angle encoder is arranged on the rotary platform, and the calibration method comprises the following steps: rotating the fixed base for at least one circle to obtain a plurality of first measurement values of the electronic compass on the rotating platform and an angle coding value corresponding to each first measurement value; acquiring a north-seeking measurement difference value corresponding to each first position; and acquiring calibration parameters of the electronic compass according to the plurality of angle code values and the north-seeking measurement difference value corresponding to each angle code value. By using the angle encoder and the rotary platform, only one north measurement operation is needed, and then the calibration parameters of the electronic compass can be accurately determined according to the north-seeking measurement difference corresponding to each angle measurement value of the angle encoder, so that the measurement accuracy of the electronic compass is improved.
Description
Technical Field
The invention relates to the technical field of electronic compass calibration, in particular to an electronic compass calibration method, device and system and a computer readable storage medium.
Background
In an unknown area, the electronic compass obtains a heading by sensing a geomagnetic field; when an interference magnetic field exists in the use environment of the electronic compass, the measurement error of the electronic compass is increased, and even the electronic compass cannot be used.
In the prior art, measurement errors under the influence of a magnetic field are reduced by adopting soft magnetic correction and hard magnetic correction methods; however, the electronic compass cannot be normally used due to overlarge measurement error in a near field; and the measurement accuracy of the electronic compass in different directions such as east, south, west, north and the like has different deviations. Therefore, how to accurately calibrate the electronic compass and reduce the measurement error of the electronic compass is a problem to be solved urgently at present.
Disclosure of Invention
In order to overcome at least the above-mentioned deficiencies in the prior art, it is an object of the present invention to provide an electronic compass calibration method, apparatus, system and computer readable storage medium.
In a first aspect, an embodiment of the present invention provides an electronic compass calibration method, which is applied to a calibration system, where the calibration system includes a fixed base, a rotating platform, and an angle encoder, the rotating platform is connected to the fixed base, and the angle encoder is disposed on the rotating platform. The method comprises the following steps: rotating the fixed base at least one turn to obtain a plurality of first measurement values of the electronic compass on the rotating platform and an angle coding value corresponding to each first measurement value; the angle coding value is an angle value measured by the angle coder at a first position consistent with the pointing direction of the electronic compass when the first measurement value is obtained. Acquiring a north-seeking measurement difference value corresponding to each first position; the north-seeking measurement difference value is a difference value between the first measurement value and a current north-seeking value, and the current north-seeking value is a north-seeking value measured by a north-seeking instrument which is located at the same position as the calibration system when the calibration system obtains the first measurement value. Obtaining calibration parameters of the electronic compass according to the angle code values and the north-pointing measurement difference corresponding to each angle code value; the calibration parameters are used for indicating the electronic compass to carry out pointing correction.
In an optional embodiment, the obtaining a calibration parameter of the electronic compass according to the plurality of angle code values and the north-seeking measurement difference value corresponding to each of the angle code values includes: taking the plurality of angle coding values as abscissa, and taking the north-pointing measurement difference value corresponding to each angle coding value as ordinate to obtain an error curve; the error curve is a deviation curve of a plurality of first measurement values and a theoretical orientation of the electronic compass; and fitting the error curve to obtain the calibration parameters.
In an alternative embodiment, rotating the fixed base at least one turn to obtain a plurality of first measurements of the electronic compass on the rotating platform and an angle encoded value corresponding to each of the first measurements comprises: rotating the fixed base to the first position by a preset angle according to a first direction; the first direction is a clockwise direction or a counterclockwise direction; acquiring the first measurement value and a first angle coding value of the electronic compass at the first position; the first angle code value is an angle value measured by the angle encoder when the calibration system is at the first position.
In an alternative embodiment, the fitting the error curve to obtain the calibration parameter includes: obtaining at least a sixth-order fitting polynomial according to the error curve; and acquiring the calibration parameters according to the at least six-order fitting polynomial.
In a second aspect, an embodiment of the present invention provides an electronic compass calibration apparatus, which is applied to a calibration system, where the calibration system includes a fixed base, a rotating platform, and an angle encoder, the rotating platform is connected to the fixed base, and the angle encoder is disposed on the rotating platform. The calibration device comprises a control module, an acquisition module and a processing module. The control module is used for rotating the fixed base at least one turn to obtain a plurality of first measurement values of the electronic compass on the rotating platform and an angle coding value corresponding to each first measurement value; the angle coding value is an angle value measured by the angle coder at a first position consistent with the pointing direction of the electronic compass when the first measurement value is obtained. The acquisition module is used for acquiring a north-seeking measurement difference value corresponding to each first position; the north-seeking measurement difference value is a difference value between the first measurement value and a current north-seeking value, and the current north-seeking value is a north-seeking value measured by a north-seeking instrument which is located at the same position as the calibration system when the calibration system obtains the first measurement value. The processing module is used for acquiring calibration parameters of the electronic compass according to the angle code values and the north-seeking measurement difference value corresponding to each angle code value; the calibration parameters are used for indicating the electronic compass to carry out pointing correction.
In an optional implementation manner, the processing module is further configured to use the plurality of angle code values as an abscissa, and use the north-seeking measurement difference value corresponding to each of the angle code values as an ordinate, so as to obtain an error curve; the error curve is a deviation curve of the plurality of first measurement values from a theoretical orientation of the electronic compass. The processing module is further configured to fit the error curve to obtain the calibration parameter.
In an optional embodiment, the control module is further configured to rotate the fixing base by a preset angle to the first position according to a first direction; the first direction is a clockwise direction or a counterclockwise direction; the control module is further used for acquiring the first measurement value and a first angle coding value of the electronic compass at the first position; the first angle code value is an angle value measured by the angle encoder when the calibration system is at the first position.
In an optional embodiment, the processing module is further configured to obtain at least a sixth-order fitting polynomial according to the error curve; the processing module is further configured to obtain the calibration parameter according to the at least sixth-order fitting polynomial.
In a third aspect, an embodiment of the present invention provides an electronic compass calibration system, where the calibration system includes a fixed base, a rotating platform, an angle encoder, and the calibration apparatus described in any one of the foregoing embodiments, where the rotating platform is connected to the fixed base, and the angle encoder is disposed on the rotating platform; the calibration device comprises a control module, an acquisition module and a processing module. The control module is used for rotating the fixed base at least one turn to obtain a plurality of first measurement values of the electronic compass on the rotating platform and an angle coding value corresponding to each first measurement value; the angle coding value is an angle value measured by the angle coder at a first position consistent with the pointing direction of the electronic compass when the first measurement value is obtained. The acquisition module is used for acquiring a north-seeking measurement difference value corresponding to each first position; the north-seeking measurement difference value is a difference value between the first measurement value and a current north-seeking value, and the current north-seeking value is a north-seeking value measured by a north-seeking instrument which is located at the same position as the calibration system when the calibration system obtains the first measurement value. The processing module is used for acquiring calibration parameters of the electronic compass according to the angle code values and the north-seeking measurement difference value corresponding to each angle code value; the calibration parameters are used for indicating the electronic compass to carry out pointing correction.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the method of any one of the foregoing embodiments.
Compared with the prior art, the invention provides an electronic compass calibration method, device and system and a computer readable storage medium, and relates to the technical field of electronic compass calibration. The calibration method is applied to a calibration system, the calibration system comprises a fixed base, a rotary platform and an angle encoder, the rotary platform is connected with the fixed base, the angle encoder is arranged on the rotary platform, and the method comprises the following steps: rotating the fixed base at least one turn to obtain a plurality of first measurement values of the electronic compass on the rotating platform and an angle coding value corresponding to each first measurement value; the angle coding value is an angle value measured by the angle coder at a first position consistent with the pointing direction of the electronic compass when the first measurement value is obtained; acquiring a north-seeking measurement difference value corresponding to each first position; the north-seeking measurement difference value is a difference value between the first measurement value and a current north-seeking value, and the current north-seeking value is a north-seeking value measured by a north-seeking instrument which is located at the same position as the calibration system when the calibration system obtains the first measurement value; obtaining calibration parameters of the electronic compass according to the angle code values and the north-pointing measurement difference corresponding to each angle code value; the calibration parameters are used for indicating the electronic compass to carry out pointing correction. By using the angle encoder and the rotary platform, only one north measurement operation is needed, and then the calibration parameters of the electronic compass can be accurately determined according to the north-seeking measurement difference corresponding to each angle measurement value of the angle encoder, so that the measurement accuracy of the electronic compass is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed 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 invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic diagram of a calibration system according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a calibration method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of another calibration system provided in an embodiment of the present invention;
FIG. 4 is a schematic flow chart of another calibration method according to an embodiment of the present invention;
FIG. 5 is a schematic flow chart of another calibration method according to an embodiment of the present invention;
FIG. 6 is a schematic flow chart of another calibration method according to an embodiment of the present invention;
fig. 7 is a schematic block diagram of a calibration apparatus according to an embodiment of the present invention.
Icon: the system comprises a north-pointing instrument 10, an electronic compass 20, a calibration system 30, an angle encoder 31, a rotating platform 311, a main frame 312, a motor 313, a rotating platform 32, an angle code disc 321, an angle reading head 322, a fixed base 33, a calibration device 50, a control module 51, an acquisition module 52 and a processing module 53.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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 invention.
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. In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the prior art, measurement errors under the influence of a magnetic field are reduced by adopting soft magnetic correction and hard magnetic correction methods; however, the electronic compass cannot be normally used due to overlarge measurement error in a near field; for example, when a magnetic component such as a motor exists in a range of 20cm near the electronic compass, a measurement error of the electronic compass is significantly increased; in addition, the electronic compass usually has different deviations in measurement accuracy in different directions such as east, south, west, north, and the like.
In order to solve the above problems, an embodiment of the present invention provides a calibration system for an electronic compass, please refer to fig. 1, and fig. 1 is a schematic diagram of the calibration system according to the embodiment of the present invention. The calibration system 30 includes an angle encoder 31, a rotary platform 32 and a fixed base 33, the rotary platform 32 is connected with the fixed base 33, and the angle encoder 31 is disposed on the rotary platform 32.
The electronic compass 20 may be disposed on the calibration system 30, and specifically, the electronic compass 20 may be disposed on the rotating platform 32, and the electronic compass 20 is further connected to the angle encoder 31.
The north arrow 10 may be positioned above the calibration system 30, and in particular, may be positioned directly above the rotating platform 32. The north indicator 10 may be a high-precision north indicator, such as a high-precision north indicator with a heading angle error of less than 0.05 °.
The installation mode of each part can be as follows: mounting the electronic compass 20, the angle encoder 31, the north indicator 10 and the magnetic components of the calibration system 30 to be mounted on the rotating platform 32, and then connecting the rotating platform 32 with the fixed base 33; when the installation is finished, the electronic compass can be self-corrected so as to improve the calibration precision. It should be noted that the positions of the electronic compass 20 and the north arrow 10 may be other arrangements, where possible. For example, the north indicator 10 may be integrated into the calibration system 30, or a plurality of north indicators 10 may be used to obtain a more accurate north indicator value through data processing; the plurality of north indicators 10 may be integrated into the calibration system 30, may be external to the calibration system 30, or both.
Next, on the basis of the calibration system 30 shown in fig. 1, an embodiment of the invention provides an electronic compass calibration method, please refer to fig. 2, and fig. 2 is a schematic flow chart of the calibration method provided in the embodiment of the invention. The calibration method of the electronic compass comprises the following steps:
and S41, rotating the fixed base at least one turn, and acquiring a plurality of first measurement values of the electronic compass on the rotating platform and the angle code value corresponding to each first measurement value.
The angle code value is the angle value measured by the angle encoder at the first position consistent with the pointing direction of the electronic compass when the first measurement value is obtained. It will be appreciated that at each first position there is a first measurement value, and each first measurement value corresponds to an angle code value; specifically, the angle encoder can be used to record the rotation angle of the electronic compass, and the rotation angle is the angle encoding value. When the fixed base is rotated, clockwise rotation or anticlockwise rotation can be used; the angle of each rotation may be fixed, or may be rotated multiple times according to a preset angle, and the angle of each rotation may be different.
And S42, acquiring the north-seeking measurement difference corresponding to each first position.
The north-seeking measurement difference value is a difference value between the first measurement value and the current north-seeking value, and the current north-seeking value is a north-seeking value measured by a north-seeking instrument which is located at the same position as the calibration system when the calibration system obtains the first measurement value.
It is understood that the north indicator is a north indicator outside the calibration system, and besides being a high-precision north indicator, the north indicator may also be other north measuring equipment with north indicating capability, which can be determined according to the calibration requirements and precision of the electronic compass. It should be understood that the whole navigation-out calibration of the calibration system is completed through the high-precision north indicator, and the calibration precision of the electronic compass realized by the calibration system is improved while the north-pointing precision is ensured.
And S43, obtaining the calibration parameters of the electronic compass according to the plurality of angle code values and the north-seeking measurement difference value corresponding to each angle code value.
The calibration parameters are used for indicating the electronic compass to carry out pointing correction. By using the angle encoder and the rotary platform, only one north measurement operation is needed, and then the calibration parameters of the electronic compass can be accurately determined according to the north-seeking measurement difference corresponding to each angle measurement value of the angle encoder, so that the measurement accuracy of the electronic compass is improved.
It should be understood that the angle encoder may obtain a rotation angle, i.e., an angle encoding value, corresponding to each first measurement value of the electronic compass, and the electronic compass may obtain measurement data when approaching the north direction, because the electronic compass is very sensitive to the magnetic field, and the electronic compass obtains the first measurement value when approaching the north direction, and the first measurement value is influenced by the magnetic field less, and the error of the first measurement value is smaller; the first measurement value of the electronic compass is combined with the north-seeking value determined by the north-seeking instrument, the angle coding value and the north-seeking measurement difference value corresponding to each first measurement value are determined, and then the calibration parameter of the electronic compass is obtained, so that the influence caused by a strong magnetic field when the electronic compass is used independently can be effectively avoided, and the accuracy of the electronic compass is improved. It is foreseeable that the electronic compass calibration method provided by the embodiment of the present invention may be used on the basis of soft and hard magnetic corrections, may also be used alone, and may also be used in cooperation with other electronic compass calibration manners, and the present invention does not limit the specific use manner thereof.
To facilitate understanding of the calibration system, a possible specific implementation manner is provided in the embodiment of the present invention on the basis of fig. 1, please refer to fig. 3, and fig. 3 is a schematic diagram of another calibration system provided in the embodiment of the present invention. Wherein the fixed base 33 is connected to a rotating platform, the rotating platform comprises a rotating platform 311, a main frame 312 and a motor 313, it should be understood that the main frame 312 and the motor 313 may not be integrated on the rotating platform 311; the angle encoder comprises an angle code disc 321 and an angle reading head 322, and other angle encoders can be used, and the size or standard of the angle encoder can be determined according to the correction requirement of the actual electronic compass. The electronic compass 20 is mounted on a main frame 312, which is connected with an angle encoder. It should be understood that fig. 3 is only one possible implementation manner of the calibration system provided by the embodiment of the present invention, and should not be construed as limiting the present invention.
The electronic compass is a north-pointing tool, can measure and calculate the position of the north at any angle, but has certain error, is very sensitive to a magnetic field and is easily influenced by a magnetic component and the surrounding magnetic field environment; with continued reference to fig. 3, one possible implementation is given for the above S41-S43: because the electronic compass can face any direction in actual use, the fixed base is rotated to simulate various conditions of the whole machine (calibration system) in actual use; can be after complete machine (calibration system) is rotatory, adjust the direction that is close north with the electron compass through the revolving stage, and then obtain first measured value, the influence that first measured value received magnetic field environment this moment is littleer, and the confidence coefficient of first measured value can be higher. The positions of the electronic compass and the angle encoder are relatively fixed so as to establish the corresponding relation between the rotation angle of the angle encoder and the first measurement value of the electronic compass, and the angle encoder is not influenced by the magnetic field environment, so that the angle encoder can reduce the measurement error of the electronic compass in different directions due to the change of the magnetic field environment. The influence of a magnetic field on the electronic compass is reduced and the calibration accuracy of the electronic compass is improved through the angle coding value and the north-seeking measurement difference value corresponding to each first measurement value; and the angle encoder is not influenced by the magnetic field environment, so the electronic compass calibration method provided by the application can be used in a strong magnetic environment so as to realize the calibration of the electronic compass.
In an optional embodiment, when obtaining the calibration parameter of the electronic compass, the calibration parameter cannot be obtained according to the measured data, and a possible implementation manner is provided on the basis of fig. 2, please refer to fig. 4, and fig. 4 is a schematic flow chart of another calibration method provided by the embodiment of the present invention. The above S43 may include:
and S431, taking the plurality of angle code values as an abscissa, and taking the north-pointing measurement difference value corresponding to each angle code value as an ordinate to obtain an error curve.
The error curve is a deviation curve of the plurality of first measurement values from a theoretical orientation of the electronic compass. It can be understood that the error curve may be performed by curve fitting, and the plurality of angle code values and the north-seeking measurement difference value corresponding to each angle code value are taken as the abscissa and the ordinate, so as to obtain the error curve; in another possible case, regression analysis or the like may be used to obtain the error curve.
And S432, fitting an error curve to obtain a calibration parameter.
It can be understood that the error curve is fitted or analyzed in a more complex or concise way so as to obtain the calibration parameters of the electronic compass, thereby effectively improving the calibration precision of the electronic compass and the measurement accuracy of the electronic compass. It should be noted that, in order to improve the measurement accuracy of the electronic compass, the calibration parameters obtained by the present invention need to be recorded in the electronic compass or a data processing device connected to the electronic compass, so as to improve the accuracy of the electronic compass.
In an alternative embodiment, in order to obtain the first measurement value and the angle code value, a possible implementation manner is provided on the basis of fig. 2, please refer to fig. 5, and fig. 5 is a schematic flow chart of another calibration method provided in an embodiment of the present invention. The above S41 may include:
s411, the fixed base is rotated to a first position by a preset angle according to a first direction.
The first direction is a clockwise direction or a counterclockwise direction, and a rotation manner of cyclically using the clockwise direction or the counterclockwise direction in a plurality of rotations may be used. The preset angle may be set according to actual conditions, for example, 15 °, 20 °, and the like.
S412, a first measurement value and a first angle encoding value of the electronic compass at a first position are obtained.
The first angle code value is the angle value measured by the angle encoder when the calibration system is at the first position.
To facilitate understanding of the above calibration method, on the basis of fig. 3, one possible implementation is given for the above S411 to S412: the fixed base 33 is kept still, and the rotating platform 311 is adjusted to make the measurement value of the electronic compass 20 approach 0 ° (for example, the measurement value of the electronic compass 20 is in the interval greater than or equal to-1 ° and less than or equal to 0 °), and record the initial measurement value of the electronic compass 20, the initial angle code value of the angle encoder, and the north-seeking value of the north-seeking instrument 10. Rotating the fixed base 33 to enable the whole calibration system 30 and the electronic compass thereon to rotate by 15 degrees, collecting a first measured value of the electronic compass corresponding to each rotation, an angle code value of the angle encoder and determining a current north-seeking measurement difference value; it will be appreciated that in order to reduce the influence of the magnetic field environment on the electronic compass, the electronic compass 20 may be adjusted to a position close to 0 ° after each rotation, and then the angle code value and the north-seeking measurement difference value corresponding to the first measurement value may be obtained. And when the electronic compass rotates at least one circle, acquiring an error curve and determining calibration parameters so as to realize calibration of the electronic compass.
In an optional implementation manner, in order to obtain calibration parameters of an electronic compass, a possible implementation manner is given on the basis of fig. 4, please refer to fig. 6, and fig. 6 is a schematic flow chart of another calibration method provided in an embodiment of the present invention. The above S432 may include:
and S432a, obtaining at least a sixth-order fitting polynomial according to the error curve.
It should be noted that the calibration parameters of the electronic compass can be greatly improved by curve fitting of at least a sixth-order fitting polynomial; a fit of a higher order polynomial or a fit of more higher order polynomials may also be used in order to improve the accuracy and precision of the electronic compass calibration parameters.
And S432b, obtaining calibration parameters according to the at least sixth-order fitting polynomial.
It should be understood that for the fitting of the error curve, other higher-order curve fitting manners may also be adopted, and the specific requirements thereof may be determined according to the actual precision requirements.
It can be understood that, through the acquisition of the calibration parameters, the navigation limit of the whole machine (the calibration system and the electronic compass thereon) can be indirectly determined according to the angle measurement value of the angle encoder in the subsequent use of the electronic compass. The external calibration of the whole machine (the calibration system and the electronic compass thereon) is completed through the north indicator, so that the north-pointing precision of the calibration system and the electronic compass thereon can be improved; and the electronic compass basically points to the north direction when reading the measured value, and the geomagnetic field induced by the electronic compass is strongest in the measuring mode, so that the measure effectively ensures the minimum fluctuation of the measured value of the electronic compass.
In order to implement the electronic compass calibration method, an embodiment of the invention provides an electronic compass calibration device, which is applied to the calibration system 30 described above, please refer to fig. 7, and fig. 7 is a block diagram of the calibration device provided in the embodiment of the invention. The calibration device 50 includes a control module 51, an acquisition module 52 and a processing module 53.
The control module 51 is configured to rotate the fixed base at least one turn, and obtain a plurality of first measurement values of the electronic compass on the rotating platform and an angle encoding value corresponding to each first measurement value. The angle code value is the angle value measured by the angle encoder at the first position consistent with the pointing direction of the electronic compass when the first measurement value is obtained.
The obtaining module 52 is configured to obtain a north-seeking difference corresponding to each first position. The north-seeking measurement difference value is a difference value between the first measurement value and the current north-seeking value, and the current north-seeking value is a north-seeking value measured by a north-seeking instrument which is located at the same position as the calibration system when the calibration system obtains the first measurement value.
The processing module 53 is configured to obtain calibration parameters of the electronic compass according to the plurality of angle code values and the north-seeking measurement difference value corresponding to each angle code value. The calibration parameters are used for indicating the electronic compass to carry out pointing correction.
It should be understood that the control module 51, the obtaining module 52 and the processing module 53 described above may implement the above-mentioned S41-S43 and possible sub-steps thereof in cooperation.
In an optional embodiment, the processing module 53 is further configured to use the plurality of angle code values as an abscissa, and use the north-seeking measurement difference value corresponding to each angle code value as an ordinate, so as to obtain an error curve. The error curve is a deviation curve of the plurality of first measurement values from a theoretical orientation of the electronic compass. The processing module 53 is also configured to fit the error curve to obtain calibration parameters.
It should be understood that the processing module 53 described above may implement S431 to S432 described above and possible sub-steps thereof.
In an alternative embodiment, the control module 51 is further configured to rotate the fixed base to a first position by a preset angle in a first direction. The first direction is clockwise or counterclockwise. The control module 51 is further configured to obtain a first measurement value of the electronic compass at a first position and a first angle encoding value. The first angle code value is the angle value measured by the angle encoder when the calibration system is at the first position.
It should be understood that the control module 51 described above may implement S411 to S412 described above and possible sub-steps thereof.
In an alternative embodiment, the processing module 53 is further configured to obtain at least a sixth-order fitting polynomial from the error curve. The processing module 53 is further configured to obtain the calibration parameters according to at least a sixth-order fitting polynomial.
It should be understood that the processing module 53 described above may implement the above-described S432 a-S432 b and possible sub-steps thereof.
It can be understood that the electronic compass calibration system provided in the embodiment of the present invention may include the electronic compass calibration device provided in any one of the above embodiments, so as to implement the electronic compass calibration method provided in the embodiment of the present invention.
An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a calibration method for an electronic compass according to any one of the foregoing embodiments. The computer-readable storage medium may be, but is not limited to, various media that can store program codes, such as a usb disk, a removable hard disk, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), a magnetic disk, or an optical disk.
In summary, the present invention provides a method, an apparatus, a system and a computer readable storage medium for calibrating an electronic compass, and relates to the technical field of electronic compass calibration. The calibration method is applied to a calibration system, the calibration system comprises a fixed base, a rotary platform and an angle encoder, the rotary platform is connected with the fixed base, the angle encoder is arranged on the rotary platform, and the calibration method comprises the following steps: rotating the fixed base for at least one circle to obtain a plurality of first measurement values of the electronic compass on the rotating platform and an angle coding value corresponding to each first measurement value; the angle coding value is an angle value measured by the angle coder at a first position consistent with the direction of the electronic compass when the first measurement value is obtained; acquiring a north-seeking measurement difference value corresponding to each first position; the north-seeking measurement difference value is a difference value between a first measurement value and a current north-seeking value, and the current north-seeking value is a north-seeking value measured by a north-seeking instrument which is located at the same position as the calibration system when the calibration system obtains the first measurement value; acquiring calibration parameters of the electronic compass according to the angle code values and the north-seeking measurement difference value corresponding to each angle code value; the calibration parameters are used for indicating the electronic compass to carry out pointing correction. By using the angle encoder and the rotary platform, only one north measurement operation is needed, and then the calibration parameters of the electronic compass can be accurately determined according to the north-seeking measurement difference corresponding to each angle measurement value of the angle encoder, so that the measurement accuracy of the electronic compass is improved.
The above description is only for various embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present invention, and all such changes or substitutions are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. An electronic compass calibration method is applied to a calibration system, the calibration system includes a fixed base, a rotary platform and an angle encoder, the rotary platform is connected with the fixed base, the angle encoder is arranged on the rotary platform, and the method includes:
rotating the fixed base at least one turn to obtain a plurality of first measurement values of the electronic compass on the rotating platform and an angle coding value corresponding to each first measurement value; the angle coding value is an angle value measured by the angle coder at a first position consistent with the pointing direction of the electronic compass when the first measurement value is obtained;
acquiring a north-seeking measurement difference value corresponding to each first position; the north-seeking measurement difference value is a difference value between the first measurement value and a current north-seeking value, and the current north-seeking value is a north-seeking value measured by a north-seeking instrument which is located at the same position as the calibration system when the calibration system obtains the first measurement value;
taking the plurality of angle coding values as an abscissa, taking the north-pointing measurement difference value corresponding to each angle coding value as an ordinate, and obtaining an error curve, wherein the error curve is a deviation curve of the plurality of first measurement values and the theoretical direction of the electronic compass;
and fitting the error curve to obtain calibration parameters, wherein the calibration parameters are used for indicating the electronic compass to carry out pointing correction.
2. The method of claim 1, wherein rotating the stationary base at least one revolution to obtain a plurality of first measurements of an electronic compass on the rotating platform and an angle encoded value corresponding to each of the first measurements comprises:
rotating the fixed base to the first position by a preset angle according to a first direction; the first direction is a clockwise direction or a counterclockwise direction;
acquiring the first measurement value and a first angle coding value of the electronic compass at the first position; the first angle code value is an angle value measured by the angle encoder when the calibration system is at the first position.
3. The method of claim 1, wherein said fitting said error curve to obtain said calibration parameters comprises:
obtaining at least a sixth-order fitting polynomial according to the error curve;
and acquiring the calibration parameters according to the at least six-order fitting polynomial.
4. An electronic compass calibration device is characterized by being applied to a calibration system, wherein the calibration system comprises a fixed base, a rotary platform and an angle encoder, the rotary platform is connected with the fixed base, and the angle encoder is arranged on the rotary platform; the calibration device comprises a control module, an acquisition module and a processing module;
the control module is used for rotating the fixed base at least one turn to obtain a plurality of first measurement values of the electronic compass on the rotating platform and an angle coding value corresponding to each first measurement value; the angle coding value is an angle value measured by the angle coder at a first position consistent with the pointing direction of the electronic compass when the first measurement value is obtained;
the obtaining module is used for obtaining a north-seeking measurement difference value corresponding to each first position; the north-seeking measurement difference value is a difference value between the first measurement value and a current north-seeking value, and the current north-seeking value is a north-seeking value measured by a north-seeking instrument which is located at the same position as the calibration system when the calibration system obtains the first measurement value;
the processing module is configured to use the plurality of angle code values as an abscissa, use the north-seeking measurement difference value corresponding to each angle code value as an ordinate, and obtain an error curve, where the error curve is a deviation curve of the plurality of first measurement values and a theoretical direction of the electronic compass;
the processing module is further configured to fit the error curve to obtain a calibration parameter, where the calibration parameter is used to instruct the electronic compass to perform pointing correction.
5. The calibration device according to claim 4, wherein the control module is further configured to rotate the fixed base by a preset angle to the first position according to a first direction; the first direction is a clockwise direction or a counterclockwise direction;
the control module is further used for acquiring the first measurement value and a first angle coding value of the electronic compass at the first position; the first angle code value is an angle value measured by the angle encoder when the calibration system is at the first position.
6. The calibration device according to claim 4, wherein the processing module is further configured to obtain at least a sixth-order fitting polynomial from the error curve;
the processing module is further configured to obtain the calibration parameter according to the at least sixth-order fitting polynomial.
7. An electronic compass calibration system, characterized in that, the calibration system includes a fixed base, a rotating platform, an angle encoder and the calibration apparatus of any one of claims 4-6, the rotating platform is connected with the fixed base, and the angle encoder is disposed on the rotating platform.
8. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method of any one of claims 1-3.
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