CN111551258A - Multi-infrared-sensor temperature measurement correction method based on self-adaptive weighting - Google Patents

Multi-infrared-sensor temperature measurement correction method based on self-adaptive weighting Download PDF

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CN111551258A
CN111551258A CN202010382155.1A CN202010382155A CN111551258A CN 111551258 A CN111551258 A CN 111551258A CN 202010382155 A CN202010382155 A CN 202010382155A CN 111551258 A CN111551258 A CN 111551258A
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infrared sensor
temperature
initial
infrared
fitting model
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CN111551258B (en
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候少麒
殷光强
刘学婷
殷雪朦
李慧萍
李超
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University of Electronic Science and Technology of China
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01JMEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J5/00Radiation pyrometry, e.g. infrared or optical thermometry
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01JMEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J5/00Radiation pyrometry, e.g. infrared or optical thermometry
    • G01J5/80Calibration
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01KMEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
    • G01K15/00Testing or calibrating of thermometers
    • G01K15/005Calibration
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves

Abstract

The invention relates to the technical field of temperature correction, in particular to a multi-infrared-sensor temperature measurement correction method based on self-adaptive weighting. And self-adaptive weighting is carried out on the measurement data of the multiple sensors by adopting a polynomial fitting method, so that the aim of accurately measuring the temperature is fulfilled. The invention gives consideration to both hardware compensation and software compensation methods, and can effectively solve the problem of precision correction of the infrared temperature measurement sensor.

Description

Multi-infrared-sensor temperature measurement correction method based on self-adaptive weighting
Technical Field
The invention relates to the technical field of temperature correction, in particular to a multi-infrared-sensor temperature measurement correction method based on self-adaptive weighting.
Background
The method for obtaining temperature measurement data adopts a single infrared sensor, and because the system variance of the infrared sensor is fixed and unchanged, the only method for reducing the mean square error of estimation is to increase the observation data, and the increase of the observation data increases the operation amount and reduces the convergence speed. Data fusion can be performed with the multi-sensor data at this time.
However, when a plurality of sensors are used for observation, the data fusion is performed under the condition of high noise or divergent estimation values, so that the performance of a fusion system is unstable and serious estimation deviation is caused. Therefore, before the multi-sensor data fusion is carried out, the state estimation values of the single sensors are weighted, and the purpose of rapidly converging the estimation values is to input stable fusion data into the fusion system and enable the fused estimation values to reach the optimal state.
The multi-sensor needs to consider the influence of factors such as spatial distance, measurement height and angle when being deployed. After the deployment structure of the multiple infrared sensors is determined, weighted averaging of the data of the multiple sensors is the simplest and intuitive method, namely, redundant information provided by the multiple infrared sensors is weighted averaged to be used as a fusion value. The method can process dynamic original data in real time, but the determination of the weight has certain subjectivity, and the effect is not optimal in practical application.
Ideally, the input and output of the infrared sensor are linear, but due to factors such as the environment and the sensor itself, a nonlinear relationship occurs between the output and the input of most infrared sensors. In order to solve the above problems, two methods, namely hardware compensation and software compensation, are usually adopted, the hardware compensation cost is high but the accuracy is high, and the software compensation design is simple and convenient but the accuracy is low.
Disclosure of Invention
The invention provides a multi-infrared-sensor temperature measurement correction method based on self-adaptive weighting, wherein infrared sensors are arranged in a triangular pyramid structure, and the precision influence caused by unbalanced measurement distance and angle among the sensors in a three-dimensional space can be eliminated. And self-adaptive weighting is carried out on the measurement data of the multiple sensors by adopting a polynomial fitting method, so that the aim of accurately measuring the temperature is fulfilled. The invention gives consideration to both hardware compensation and software compensation methods, and can effectively solve the problem of precision correction of the infrared temperature measurement sensor.
The invention provides a multi-infrared sensor temperature measurement correction method based on self-adaptive weighting, which comprises the following steps:
acquiring position information of an initial infrared sensor, wherein a UWB positioning device is arranged at the initial infrared sensor;
setting a first infrared sensor, a second infrared sensor and a third infrared sensor according to the position information of the initial infrared sensor;
setting a UWB positioning label for a sample target, and measuring the spatial position of the sample target according to the UWB positioning label;
measuring the initial actual temperature of the sample target by using a temperature measuring instrument according to the initial temperature of the sample target measured by the initial infrared sensor, the first infrared sensor, the second infrared sensor and the third infrared sensor;
changing the spatial position of the sample target for multiple times, and measuring the current spatial position of the sample target changed once according to the UWB positioning tag;
measuring the current temperature of the sample target once per change according to the initial infrared sensor, the first infrared sensor, the second infrared sensor and the third infrared sensor, and measuring the current actual temperature of the sample target once per change by using the temperature measuring instrument;
inputting the initial temperature, the initial actual temperature, the current temperature and the current actual temperature into a preset fitting model, and determining a plurality of fitting coefficients in the preset fitting model under a set constraint condition; obtaining a target fitting model corresponding to the preset fitting model according to the fitting coefficient;
and inputting the detection temperature into the target fitting model to obtain the final temperature of the target to be detected according to the detection temperatures of the sample target measured by the initial infrared sensor, the first infrared sensor, the second infrared sensor and the third infrared sensor.
In an alternative embodiment, the preset fitting model is:
k0+k1T01+k2T02+k3T03+k4T04=t0
k0+k1T11+k2T12+k3T13+k4T14=t1
k0+k1T21+k2T22+k3T23+k4T24=t2
……
k0+k1Tn1+k2Tn2+k3Tn3+k4Tn4=tn
wherein k is0As a temperature compensation coefficient, k1~k4Weighting coefficients, T, for the first infrared sensor, the second infrared sensor, the third infrared sensor and the initial infrared sensor, respectively01~T04Is the initial temperature, t0Is the initial actual temperature, Tn1~Tn4Is the current temperature, tnIs the current actual temperature.
In an alternative embodiment, the constraint is:
Figure BDA0002482405660000031
in an alternative embodiment, the step of inputting the initial temperature, the initial actual temperature, the current temperature, and the current actual temperature into a preset fitting model, and determining a plurality of fitting coefficients in the preset fitting model under a set constraint condition includes:
inputting the initial temperature, the initial actual temperature, the current temperature and the current actual temperature into a preset fitting model and based on a least square method
Figure BDA0002482405660000032
Under the condition of (1), determining the coefficient k0~k4A value of (d);
the target fitting model is as follows: t is tpre=k0+k1TS1+k2TS2+k3TS3+k4TO
Wherein, tpreIndicating the temperature correction value, T, of a plurality of infrared sensorsOAnd TS1~TS3Respectively represent temperature values of the initial infrared sensor, the first infrared sensor, the second infrared sensor, and the third infrared sensor.
In an alternative embodiment, the first, second and third infrared sensors form a regular triangular pyramid structure with the initial infrared sensor such that the initial, first, second and third infrared sensors are at the same distance and angle from each other.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a multi-infrared-sensor temperature measurement correction method based on self-adaptive weighting, wherein infrared sensors are arranged in a triangular pyramid structure, and the precision influence caused by unbalanced measurement distance and angle among the sensors in a three-dimensional space can be eliminated. And self-adaptive weighting is carried out on the measurement data of the multiple sensors by adopting a polynomial fitting method, so that the aim of accurately measuring the temperature is fulfilled. The invention gives consideration to both hardware compensation and software compensation methods, and can effectively solve the problem of precision correction of the infrared temperature measurement sensor.
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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 flowchart illustrating an implementation principle of a multi-infrared-sensor temperature measurement correction method based on adaptive weighting according to an embodiment of the present invention.
Fig. 2 is a schematic view of a temperature measurement layout according to an embodiment of the present invention.
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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Example (b):
referring to fig. 1, a flow chart of an implementation principle of a method for calibrating temperature measurement of a multiple infrared sensor based on adaptive weighting according to an embodiment of the present invention may include the following steps.
And step S1, acquiring the position information of an initial infrared sensor, wherein the initial infrared sensor is provided with a UWB positioning device.
Wherein the UWB positioning device may be a high precision UWB positioning device.
And step S2, setting a first infrared sensor, a second infrared sensor and a third infrared sensor according to the position information of the initial infrared sensor.
And step S3, setting a UWB positioning label for the sample target, and measuring the space position of the sample target according to the UWB positioning label.
And step S4, measuring the initial actual temperature of the sample target by using the temperature measuring instrument according to the initial temperature of the sample target measured by the initial infrared sensor, the first infrared sensor, the second infrared sensor and the third infrared sensor.
Wherein, the temperature measuring instrument can be a high-precision temperature measuring instrument.
And step S5, changing the spatial position of the sample object for multiple times, and measuring the current spatial position of the sample object changed once according to the UWB positioning label.
And step S6, measuring the current actual temperature of the sample target changing once by using the temperature measuring instrument according to the current temperature of the sample target changing once measured by the initial infrared sensor, the first infrared sensor, the second infrared sensor and the third infrared sensor.
Step S7, inputting the initial temperature, the initial actual temperature, the current temperature and the current actual temperature into a preset fitting model, and determining a plurality of fitting coefficients in the preset fitting model under the set constraint condition; and obtaining a target fitting model corresponding to the preset fitting model according to the fitting coefficient.
And step S8, inputting the detection temperature into the target fitting model according to the detection temperatures of the sample target measured by the initial infrared sensor, the first infrared sensor, the second infrared sensor and the third infrared sensor to obtain the final temperature of the target to be detected.
Through the steps of S1 to S8, the infrared sensors are arranged in a triangular pyramid structure, so that the influence of the accuracy caused by the imbalance of the measurement distance and the measurement angle between the sensors in the three-dimensional space can be eliminated. And self-adaptive weighting is carried out on the measurement data of the multiple sensors by adopting a polynomial fitting method, so that the aim of accurately measuring the temperature is fulfilled. The invention gives consideration to both hardware compensation and software compensation methods, and can effectively solve the problem of precision correction of the infrared temperature measurement sensor.
In an alternative embodiment, in step S2, the initial infrared sensor, the first infrared sensor, the second infrared sensor, and the third infrared sensor form a regular triangular pyramid structure such that the initial infrared sensor, the first infrared sensor, the second infrared sensor, and the third infrared sensor are at the same distance and angle from each other.
In step S5, the sample object is randomly moved to the points P1, P2, … … Pn, and the spatial positions of the points P1, P2, … … Pn are located by the UWB positioning tags as (x1, y1, z1), (x2, y2, z2), … …, (xn, yn, zn) in order, and satisfy
Figure BDA0002482405660000071
Thus, the validity of the measurement data can be ensured.
In an alternative embodiment, in step S7, the fitting model is preset as:
k0+k1T01+k2T02+k3T03+k4T04=t0
k0+k1T11+k2T12+k3T13+k4T14=t1
k0+k1T21+k2T22+k3T23+k4T24=t2
……
k0+k1Tn1+k2Tn2+k3Tn3+k4Tn4=tn
wherein k is0As a temperature compensation coefficient, k1~k4Respectively a first infrared sensor and a second infrared sensorWeighting factors, T, of the external sensor and the third and initial infrared sensors01~T04Is the initial temperature, t0Is the initial actual temperature, Tn1~Tn4Is the current temperature, tnIs the current actual temperature.
In this embodiment, the preset fitting model may be a polynomial formula to be fitted.
In an alternative embodiment, the constraints are:
Figure BDA0002482405660000072
in an alternative embodiment, to obtain the coefficient k0~k4The value of (b) may specifically include the following.
Inputting the initial temperature, the initial actual temperature, the current temperature and the current actual temperature into a preset fitting model, utilizing Matlab software, and performing least square method on the initial temperature, the initial actual temperature, the current temperature and the current actual temperature
Figure BDA0002482405660000073
Under the condition of (1), determining the coefficient k0~k4The value of (c).
The target fitting model is: t is tpre=k0+k1TS1+k2TS2+k3TS3+k4TO
Wherein, tpreIndicating the temperature correction value, T, of a plurality of infrared sensorsOAnd TS1~TS3Respectively representing the temperature values of the initial infrared sensor, the first infrared sensor, the second infrared sensor and the third infrared sensor.
In the present embodiment, the coefficient k is set0~k4Substituting the value of the positive triangular pyramid type multi-infrared ray sensor into a polynomial fitting formula to obtain a final temperature correction value of the positive triangular pyramid type multi-infrared ray sensor.
Referring to fig. 2, the initial ir sensor may be represented by point O in fig. 2. The first infrared sensor may be represented by point S1 in fig. 2, the second infrared sensor may be represented by point S2, and the third infrared sensor may be represented by point S3. The sample object may be represented by point P0 in fig. 2. The sample targets may be represented by points P1, P2, … …, Pn for each change.
A specific application method of a multi-infrared-sensor temperature measurement correction method based on self-adaptive weighting is as follows:
(1) according to steps S1-S3, an infrared sensor and a UWB positioning device are arranged.
(2) And taking a constant-temperature object with the temperature of 37.0 ℃ as a target to be detected, placing the object to be detected at the initial infrared sensor, and measuring the readings of the first infrared sensor, the second infrared sensor, the third infrared sensor and the initial infrared sensor at the moment to be 36.3 ℃, 35.8 ℃, 36.1 ℃ and 36.9 ℃ respectively.
(3) The method comprises the steps of utilizing a UWB positioning device to randomly change a target to be measured to different spatial positions, recording readings of a first infrared sensor, a second infrared sensor, a third infrared sensor and an initial infrared sensor at corresponding positions in sequence, and simultaneously measuring actual temperatures of the target to be measured at different spatial positions in sequence by using a temperature measuring instrument. The data are shown in Table 1.
(4) Substituting actual temperature values of different space positions of the target to be measured, which are measured by the temperature measuring instrument in sequence, into the preset fitting model
k0+k1T01+k2T02+k3T03+k4T04=t0
k0+k1T11+k2T12+k3T13+k4T14=t1
k0+k1T21+k2T22+k3T23+k4T24=t2
……
k0+k1Tn1+k2Tn2+k3Tn3+k4Tn4=tn
Obtaining:
37.0=k0+36.3k1+35.8k2+37.8k3+36.9k4
36.9=k0+35.5k1+36.6k2+37.9k3+36.8k4
37.0=k0+36.4k1+37.3k2+37.0k3+37.1k4
……
37.0=k0+37.1k1+37.1k2+36.5k3+37.5k4
(5) using the principle of least squares, i.e. when
Figure BDA0002482405660000091
Then, the coefficient k of a preset fitting model is obtained by utilizing Matlab software0~k4The values of (a) are 0.50 (temperature compensation coefficient), 0.19 (first sensor coefficient), 0.26 (second sensor coefficient), 0.27 (third sensor coefficient), and 0.30 (initial sensor coefficient), respectively.
(6) Substituting the value of the fitting coefficient into the target fitting model tpre=k0+k1TS1+k2TS2+k3TS3+k4TOAnd obtaining a final temperature correction formula of the infrared sensor as follows:
tpre=0.50+0.19TS1+0.26TS2+0.27TS3+0.30TO
(7) setting a sample target, placing the sample target at a random spatial position, measuring a spatial coordinate of the sample target by using a UWB positioning device, and substituting indication numbers of a first infrared sensor, a second infrared sensor, a third infrared sensor and an initial infrared sensor into a correction formula under the assumption that the indication numbers are 36.5 ℃, 37.0 ℃, 35.9 ℃ and 36.6 ℃ respectively to obtain the predicted temperature of the target which is 37.6 ℃.
TABLE 1
Figure BDA0002482405660000092
Figure BDA0002482405660000101
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (5)

1. A multi-infrared sensor temperature measurement correction method based on adaptive weighting is characterized by comprising the following steps:
acquiring position information of an initial infrared sensor, wherein a UWB positioning device is arranged at the initial infrared sensor;
setting a first infrared sensor, a second infrared sensor and a third infrared sensor according to the position information of the initial infrared sensor;
setting a UWB positioning label for a sample target, and measuring the spatial position of the sample target according to the UWB positioning label;
measuring the initial actual temperature of the sample target by using a temperature measuring instrument according to the initial temperature of the sample target measured by the initial infrared sensor, the first infrared sensor, the second infrared sensor and the third infrared sensor;
changing the spatial position of the sample target for multiple times, and measuring the current spatial position of the sample target changed once according to the UWB positioning tag;
measuring the current temperature of the sample target once per change according to the initial infrared sensor, the first infrared sensor, the second infrared sensor and the third infrared sensor, and measuring the current actual temperature of the sample target once per change by using the temperature measuring instrument;
inputting the initial temperature, the initial actual temperature, the current temperature and the current actual temperature into a preset fitting model, and determining a plurality of fitting coefficients in the preset fitting model under a set constraint condition; obtaining a target fitting model corresponding to the preset fitting model according to the fitting coefficient;
and inputting the detection temperature into the target fitting model to obtain the final temperature of the target to be detected according to the detection temperatures of the sample target measured by the initial infrared sensor, the first infrared sensor, the second infrared sensor and the third infrared sensor.
2. The method of claim 1, wherein the preset fitting model is:
k0+k1T01+k2T02+k3T03+k4T04=t0
k0+k1T11+k2T12+k3T13+k4T14=t1
k0+k1T21+k2T22+k3T23+k4T24=t2
……
k0+k1Tn1+k2Tn2+k3Tn3+k4Tn4=tn
wherein k is0As a temperature compensation coefficient, k1~k4Weighting coefficients, T, for the first infrared sensor, the second infrared sensor, the third infrared sensor and the initial infrared sensor, respectively01~T04Is the initial temperature, t0Is the initial actual temperature, Tn1~Tn4Is the current temperature, tnIs the current actual temperature.
3. The method for correcting the temperature measurement of the multiple infrared sensors based on the adaptive weighting as recited in claim 1 or 2, wherein the constraint conditions are as follows:
Figure FDA0002482405650000021
4. the method according to claim 3, wherein the step of inputting the initial temperature, the initial actual temperature, the current temperature and the current actual temperature into a preset fitting model, and determining a plurality of fitting coefficients in the preset fitting model under a set constraint condition comprises:
inputting the initial temperature, the initial actual temperature, the current temperature and the current actual temperature into a preset fitting model and based on a least square method
Figure FDA0002482405650000022
Under the condition of (1), determining the coefficient k0~k4A value of (d);
the target fitting model is as follows: t is tpre=k0+k1TS1+k2TS2+k3TS3+k4TO
Wherein, tpreIndicating the temperature correction value, T, of a plurality of infrared sensorsOAnd TS1~TS3Respectively represent temperature values of the initial infrared sensor, the first infrared sensor, the second infrared sensor, and the third infrared sensor.
5. The adaptive weighting-based multi-infrared-sensor temperature measurement correction method according to claim 1, wherein the first infrared sensor, the second infrared sensor and the third infrared sensor form a regular triangular pyramid structure with the initial infrared sensor, so that the initial infrared sensor, the first infrared sensor, the second infrared sensor and the third infrared sensor have the same distance and angle with each other.
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