CN111879971A - Method for calibrating accelerometer in IMU and related device - Google Patents

Method for calibrating accelerometer in IMU and related device Download PDF

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Publication number
CN111879971A
CN111879971A CN202011037268.4A CN202011037268A CN111879971A CN 111879971 A CN111879971 A CN 111879971A CN 202011037268 A CN202011037268 A CN 202011037268A CN 111879971 A CN111879971 A CN 111879971A
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area
accelerometer
acceleration
region
deceleration
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Inventor
费再慧
贾双成
朱磊
李倩
李成军
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Mushroom Car Union Information Technology Co Ltd
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Mushroom Car Union Information Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups

Abstract

The embodiment of the application discloses a calibration method and a related device of an accelerometer in an IMU (inertial measurement Unit), wherein the method comprises the following steps: setting a datum line of the accelerometer; taking the datum line as a reference, and acquiring the area of an acceleration region above the datum line in the process that the accelerometer completes one-time acceleration and deceleration
Figure 961193DEST_PATH_IMAGE001
And the area of the deceleration zone below the datum line
Figure 347175DEST_PATH_IMAGE002
(ii) a According to the area of the acceleration region
Figure 985967DEST_PATH_IMAGE001
And area of deceleration region
Figure 850018DEST_PATH_IMAGE003
The relationship between the accelerometer and the reference point, and the calibration of the accelerometerThe calibration parameters comprise scale coefficients corresponding to the acceleration region
Figure 398811DEST_PATH_IMAGE004
And scale factor corresponding to deceleration region
Figure 831060DEST_PATH_IMAGE005
. According to the technical scheme, the accelerometer can be calibrated by utilizing the size relation of the acceleration area and the deceleration area, the precision of the accelerometer is improved, and therefore the accuracy of the measurement result of the accelerometer is improved.

Description

Method for calibrating accelerometer in IMU and related device
Technical Field
The application relates to the technical field of inertial measurement, in particular to a calibration method of an accelerometer in an IMU and a related device.
Background
An IMU (Inertial Measurement Unit) is a device consisting of a gyroscope and an accelerometer, and is used to measure the attitude angle (or angular rate) and acceleration of an object. Because of its advantages of small volume, light weight and low cost, it is widely used in the equipments which need to control the movement, such as cars and robots, and also in the occasions which need to use the attitude to calculate the precise displacement, such as the inertial navigation equipments of submarines, airplanes, missiles and spacecrafts.
The accelerometer is one of the core elements of the IMU, and because the accelerometer is easily interfered by various factors, the accuracy of the accelerometer is not high, so that the calibration of the accelerometer is particularly important. At present, the accelerometer is calibrated and corrected by a multi-axis turntable in most cases, but the operation is complex, and the cost is increased due to the introduction of professional equipment. Therefore, it is necessary to find a simple calibration method.
Disclosure of Invention
The embodiment of the application provides a calibration method and a related device for an accelerometer in an IMU (inertial measurement Unit), which can calibrate the accelerometer by using the size relation of acceleration and deceleration areas, so that the precision of the accelerometer is improved, and the accuracy of the measurement result of the accelerometer is improved.
A first aspect of an embodiment of the present application provides a method for calibrating an accelerometer in an IMU, including:
setting a datum line of the accelerometer;
taking the datum line as a reference, and acquiring the area of an acceleration region above the datum line in the process that the accelerometer completes one-time acceleration and deceleration
Figure 49204DEST_PATH_IMAGE001
And a deceleration zone area located below the datum line
Figure 920208DEST_PATH_IMAGE002
；
According to the area of the acceleration region
Figure 995612DEST_PATH_IMAGE003
And the area of the deceleration region
Figure 926659DEST_PATH_IMAGE002
The calibration parameters of the accelerometer are adjusted, and the calibration parameters comprise scale coefficients corresponding to the acceleration region
Figure 477726DEST_PATH_IMAGE004
And the scale factor corresponding to the deceleration area
Figure 293366DEST_PATH_IMAGE005
。
As an optional implementation manner, in the first aspect of the embodiments of the present application, the setting the reference line of the accelerometer includes:
when the accelerometer stops working, the position indicated when the accelerometer is at rest is set
Figure 347910DEST_PATH_IMAGE006
Mapping to a two-dimensional coordinate system to obtain the sumReference line of a speedometer, wherein the abscissa of the two-dimensional coordinate system represents time
Figure 184279DEST_PATH_IMAGE007
The ordinate of the two-dimensional coordinate system represents acceleration
Figure 957063DEST_PATH_IMAGE008
And the base line obtained after mapping is represented as
Figure 435449DEST_PATH_IMAGE009
。
As an alternative implementation manner, in the first aspect of the embodiment of the present application, the acquiring of the acceleration region area located above the reference line is performed
Figure 16603DEST_PATH_IMAGE003
And a deceleration zone area located below the datum line
Figure 23873DEST_PATH_IMAGE002
The method comprises the following steps:
acquiring various acceleration values in an acceleration region above the datum line and various acceleration values in a deceleration region below the datum line;
calculating the average value of the acceleration in the acceleration area according to each acceleration value in the acceleration area, and calculating the average value of the acceleration in the deceleration area according to each acceleration value in the deceleration area;
calculating to obtain the area of the acceleration region according to the average value of the acceleration in the acceleration region and the time length of the acceleration region on the abscissa axis
Figure 424898DEST_PATH_IMAGE003
(ii) a And calculating to obtain the area of the deceleration area according to the average value of the acceleration in the deceleration area and the time length of the deceleration area on the abscissa axis
Figure 441396DEST_PATH_IMAGE002
。
As an alternative implementation manner, in the first aspect of the embodiments of the present application, the area according to the acceleration region is
Figure 142636DEST_PATH_IMAGE003
And the area of the deceleration region
Figure 320807DEST_PATH_IMAGE002
The calibration parameters of the accelerometer are adjusted according to the relationship between the accelerometer and the reference parameter, and the method comprises the following steps:
according to the area of the acceleration region
Figure 802604DEST_PATH_IMAGE003
And the area of the deceleration region
Figure 91634DEST_PATH_IMAGE002
Determining a reference area
Figure 975277DEST_PATH_IMAGE010
；
According to the area of the acceleration region
Figure 121087DEST_PATH_IMAGE003
Area of the deceleration region
Figure 496705DEST_PATH_IMAGE002
And the reference area
Figure 323847DEST_PATH_IMAGE010
Adjusting calibration parameters of the accelerometer, wherein,
Figure 468520DEST_PATH_IMAGE011
。
as an alternative implementation manner, in the first aspect of the embodiments of the present application, the area according to the acceleration region is
Figure 519653DEST_PATH_IMAGE003
And the area of the deceleration region
Figure 382567DEST_PATH_IMAGE002
Determining a reference area
Figure 138033DEST_PATH_IMAGE010
The method comprises the following steps:
when the area of the acceleration region
Figure 871634DEST_PATH_IMAGE003
Is larger than the area of the deceleration area
Figure 687143DEST_PATH_IMAGE002
Determining the reference area
Figure 506194DEST_PATH_IMAGE010
Is the area of the deceleration zone
Figure 206297DEST_PATH_IMAGE012
；
Or, when the area of the acceleration region is
Figure DEST_PATH_IMAGE013
Less than or equal to the area of the deceleration region
Figure 856721DEST_PATH_IMAGE014
Determining the reference area
Figure 452919DEST_PATH_IMAGE015
Is the area of the acceleration region
Figure 883900DEST_PATH_IMAGE013
；
Alternatively, the reference area is determined
Figure 856535DEST_PATH_IMAGE015
Is the area of the acceleration region
Figure 423783DEST_PATH_IMAGE013
And the area of the deceleration region
Figure 315516DEST_PATH_IMAGE014
Average value of (d);
alternatively, the reference area is determined
Figure 109159DEST_PATH_IMAGE015
Is the area of the acceleration region
Figure 10119DEST_PATH_IMAGE013
And the area of the deceleration region
Figure 307239DEST_PATH_IMAGE014
One or any value within the interval.
As an optional implementation manner, in the first aspect of this embodiment of the present application, the method further includes:
and adjusting the actual output of the accelerometer according to the adjusted calibration parameters of the accelerometer.
As an optional implementation manner, in the first aspect of the embodiment of the present application, the adjusting the actual output of the accelerometer according to the adjusted calibration parameter of the accelerometer includes:
according to the scale coefficient corresponding to the acceleration region
Figure 369873DEST_PATH_IMAGE016
And a zero axis deviation of the accelerometer adjusts an actual output of the accelerometer at the acceleration region, wherein,
Figure 385234DEST_PATH_IMAGE017
said
Figure 89885DEST_PATH_IMAGE018
The acceleration values actually output by the accelerometer at different times in the acceleration region range are
Figure 507091DEST_PATH_IMAGE019
Is the accelerationZero axis deviation of the meter, said
Figure 740626DEST_PATH_IMAGE020
Outputting the adjusted acceleration value of the accelerometer in the acceleration region range at different time;
according to the scale coefficient corresponding to the deceleration area
Figure 367916DEST_PATH_IMAGE021
And a zero axis deviation of the accelerometer adjusts an actual output of the accelerometer in the deceleration region, wherein,
Figure 486045DEST_PATH_IMAGE022
Figure 882391DEST_PATH_IMAGE023
said
Figure 705071DEST_PATH_IMAGE024
The acceleration value actually output by the accelerometer at different time within the range of the deceleration area is obtained, and the acceleration value is calculated according to the acceleration value
Figure 695024DEST_PATH_IMAGE025
And outputting the adjusted acceleration value of the accelerometer in the range of the deceleration area at different time.
As an alternative implementation, in the first aspect of the embodiments of the present application, the accelerometer has zero axis offset
Figure 210319DEST_PATH_IMAGE026
Is the reference line
Figure 461172DEST_PATH_IMAGE027
To the zero axis of the two-dimensional coordinate system
Figure 177455DEST_PATH_IMAGE028
Distance between, said zero axis deviation
Figure 513758DEST_PATH_IMAGE026
Is equal to
Figure 98324DEST_PATH_IMAGE029
。
A second aspect of the embodiments of the present application provides a calibration apparatus for an accelerometer in an IMU, including a unit module configured to perform the method disclosed in the first aspect of the embodiments of the present application and any possible implementation manner thereof.
A third aspect of the embodiment of the present application provides a calibration apparatus for an accelerometer in an IMU, including a processor, a memory, and a communication bus; the memory is used for storing an execution instruction, the processor is connected with the memory through the communication bus, and the processor calls the execution instruction stored in the memory to execute the method disclosed by the first aspect of the embodiment of the present application and any possible implementation manner thereof.
A fourth aspect of embodiments of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program for electronic data exchange, and the computer program specifically includes instructions for executing some or all of the steps described in the method disclosed in the first aspect of embodiments of the present application.
A fifth aspect of embodiments of the present application provides a computer program product, wherein the computer program product comprises a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps as described in the method disclosed in the first aspect of embodiments of the present application. The computer program product may be, for example, a software installation package.
In the embodiment of the application, in order to calibrate the accelerometer in the IMU, a datum line of the accelerometer can be set first, the datum line can be acquired when the accelerometer stops operating, the area of an acceleration region above the datum line and the area of a deceleration region below the datum line can be acquired when the accelerometer completes the acceleration and deceleration processes each time, and then the scale coefficient corresponding to the accelerometer in the acceleration region and the scale coefficient corresponding to the deceleration region are adjusted according to the size relationship between the area of the acceleration region and the area of the deceleration region. The method and the device have the advantages that the reference line is used as the basis, different sensitive parameters of the accelerometer for acceleration and deceleration are dynamically adjusted by utilizing different acceleration and deceleration areas, the operation is simple, and third-party equipment is not needed; the accelerometer is calibrated in a calibration mode, so that the precision of the accelerometer can be improved, and the accuracy of the measurement result of the accelerometer is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic flow chart illustrating a method for calibrating an accelerometer in an IMU according to an embodiment of the present disclosure;
FIG. 2 is a waveform diagram of acceleration versus time of an accelerometer output according to an embodiment of the present disclosure;
FIG. 3 is a schematic flow chart illustrating another method for calibrating an accelerometer in an IMU according to an embodiment of the present application;
FIG. 4 is a schematic structural diagram of a calibration apparatus of an accelerometer in an IMU according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of another calibration apparatus for an accelerometer in an IMU according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "comprises" and "comprising," and any variations thereof, in the embodiments of the present application, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. The following detailed description is made with reference to the accompanying drawings.
The inertial measurement unit IMU typically includes three-axis accelerometers, which are commonly referred to as mutually orthogonal X-axis accelerometers, Y-axis accelerometers, and Z-axis accelerometers. Because the IMU can measure the attitude angle and the acceleration of an object, the IMU is generally applied to devices requiring motion control, such as common automobiles and robots, and high-precision navigation devices such as submarines, airplanes, spacecrafts, missiles and the like. Here, taking an automobile as an example, the IMU may be disposed in an automobile installed in the automobile, or may be disposed outside the automobile, but may perform communication interaction with the automobile.
The embodiment of the application provides a calibration method of an accelerometer in an IMU, and the method can be applied to a vehicle machine. As shown in fig. 1, the method may comprise at least the following steps:
110. and setting a datum line of the accelerometer.
In the embodiment of the application, when the accelerometer is calibrated, the reference line of the accelerometer can be determined firstly. The accelerometer calibrated in the embodiment of the application can be an accelerometer used for measuring acceleration of the automobile in running, namely a Y-axis accelerometer in the same direction as the running direction of the automobile.
In an alternative embodiment, the specific implementation of the step 110 of setting the reference line of the accelerometer may include the following steps:
11) when the accelerometer stops working, the position indicated when the accelerometer is at rest is set
Figure 344628DEST_PATH_IMAGE030
Mapping to two-dimensional coordinate system to obtain sumReference line of speedometer, wherein the abscissa of a two-dimensional coordinate system represents time
Figure 356447DEST_PATH_IMAGE031
The ordinate of the two-dimensional coordinate system represents the acceleration
Figure 55412DEST_PATH_IMAGE032
And the base line obtained after mapping is represented as
Figure 178089DEST_PATH_IMAGE033
。
The accelerometer stops working, and the automobile can be considered to stop running or be in constant speed motion. However, since the absolute uniform motion of the vehicle is not well known, it is preferable to consider the stop of the accelerometer as the state when the vehicle stops running. When the automobile stops running, the speed of the automobile is 0, theoretically, the acceleration output by the accelerometer should also be 0 at this time, but the accelerometer generates an error due to the influence of various factors (such as uneven installation position of the IMU or mechanical characteristics of the IMU itself), and when the accelerometer is at rest, the acceleration is not 0, but a certain deviation occurs. Therefore, the acceleration value output by the accelerometer when the automobile runs is not the real acceleration of the automobile, so the parameter of the accelerometer needs to be calibrated and corrected, so that the corrected acceleration is the accurate acceleration.
Specifically, the acceleration output by the accelerometer may be mapped onto a two-dimensional coordinate system, where the abscissa of the two-dimensional coordinate system is expressed as time (or timestamp) and the ordinate is expressed as acceleration. Position indicated when accelerometer is stationary
Figure 278900DEST_PATH_IMAGE030
Is mapped to a two-dimensional coordinate system and expressed as
Figure 461620DEST_PATH_IMAGE033
Then, then
Figure 913461DEST_PATH_IMAGE033
I.e. the reference line of the accelerometer, as shown in figure 2. Wherein the content of the first and second substances,
Figure 839829DEST_PATH_IMAGE030
either positive or negative. When in use
Figure 795146DEST_PATH_IMAGE030
When the value is positive, the baseline
Figure 148767DEST_PATH_IMAGE034
Zero axis in two-dimensional coordinate system
Figure 681380DEST_PATH_IMAGE035
Above (1); when in use
Figure 286805DEST_PATH_IMAGE030
When the value is negative, the baseline
Figure 221263DEST_PATH_IMAGE036
Zero axis in two-dimensional coordinate system
Figure 745785DEST_PATH_IMAGE035
Below (c).
120. Taking a datum line as a reference, and acquiring the area of an acceleration region above the datum line in the process of completing one-time acceleration and deceleration of the accelerometer
Figure 906639DEST_PATH_IMAGE037
And the area of the deceleration zone below the datum line
Figure 909230DEST_PATH_IMAGE038
。
In the embodiment of the application, the vehicle can accelerate from the speed 0 in the process of starting to stopping every time, and the speed returns to 0 through deceleration after a period of time. As shown in fig. 2, the accelerations output by the accelerometers are all mapped onto a two-dimensional coordinate system based on a reference line. An acceleration above the reference line may then indicate that the vehicle is in an acceleration process to form an acceleration zone; the acceleration below the reference line may then indicate that the vehicle is in a deceleration process to form a deceleration zone. Theoretically, when the precision of the accelerometer is accurate and has no zero axis deviation (i.e. the datum line coincides with the zero axis), the part above the zero axis is an acceleration region, the part below the zero axis is a deceleration region, and the area of the acceleration region and the area of the deceleration region should be equal. However, since the accelerometer has a deviation, the areas of the acceleration region and the deceleration region are calculated first because the areas of the acceleration region and the deceleration region are not equal to each other due to the actually measured values. Specifically, the area of the acceleration region may be obtained by integrating the acceleration in the acceleration region over a time interval, and the area of the deceleration region may be obtained by integrating the acceleration in the deceleration region over a time interval; alternatively, the product of the average acceleration value within the acceleration region and the time interval length may be regarded as the acceleration region area, and the product of the average acceleration value within the deceleration region and the time interval length may be regarded as the deceleration region area.
In an alternative embodiment, step 120 obtains the area of the acceleration region above the reference line
Figure 839140DEST_PATH_IMAGE037
And the area of the deceleration zone below the datum line
Figure 800143DEST_PATH_IMAGE039
May comprise the following steps:
12) acquiring various acceleration values in an acceleration region above the datum line and various acceleration values in a deceleration region below the datum line;
13) calculating the average value of the acceleration in the acceleration area according to each acceleration value in the acceleration area, and calculating the average value of the acceleration in the deceleration area according to each acceleration value in the deceleration area;
14) calculating to obtain the area of the acceleration region according to the average value of the acceleration in the acceleration region and the time length of the acceleration region on the abscissa axis
Figure 182714DEST_PATH_IMAGE037
(ii) a And calculating to obtain the area of the deceleration region according to the average value of the acceleration in the deceleration region and the time length of the deceleration region on the abscissa axis
Figure 988996DEST_PATH_IMAGE039
。
Specifically, the average value of the acceleration in the acceleration region is calculated through each acceleration value output by the accelerometer in the acceleration region
Figure 163625DEST_PATH_IMAGE040
And calculating the average value of the acceleration in the deceleration area through each acceleration value output by the accelerometer in the deceleration area
Figure 905316DEST_PATH_IMAGE041
. Assume that the time interval of the acceleration region on the abscissa axis is (t 1, t 2), and the time interval of the deceleration region on the abscissa axis is (t 3, t 4), where t2 is less than or equal to t 3. Area of acceleration region
Figure 899817DEST_PATH_IMAGE042
Area of deceleration region
Figure 385156DEST_PATH_IMAGE043
Figure 148713DEST_PATH_IMAGE044
。
130. According to the area of the acceleration region
Figure 185939DEST_PATH_IMAGE037
And area of deceleration region
Figure 543102DEST_PATH_IMAGE039
The calibration parameters of the accelerometer are adjusted, and the calibration parameters comprise scale coefficients corresponding to the acceleration region
Figure 956766DEST_PATH_IMAGE045
Andscale factor corresponding to deceleration zone
Figure 715774DEST_PATH_IMAGE046
。
In the embodiment of the application, after the area sizes of the acceleration region and the deceleration region are determined based on the reference line, calibration parameters corresponding to the acceleration and deceleration of the accelerometer can be adjusted according to the size relationship between the two areas. By using
Figure 923902DEST_PATH_IMAGE045
Correcting acceleration output by an accelerometer in an acceleration region, and use of
Figure 892995DEST_PATH_IMAGE047
The acceleration output by the accelerometer in the deceleration region is corrected so that the area of the acceleration region and the area of the deceleration region can be equal.
In an alternative embodiment, step 130 is based on the acceleration region area
Figure 454557DEST_PATH_IMAGE037
And area of deceleration region
Figure 458285DEST_PATH_IMAGE048
The specific implementation of adjusting the calibration parameters of the accelerometer may include the following steps:
15) according to the area of the acceleration region
Figure 571735DEST_PATH_IMAGE037
And area of deceleration region
Figure 903490DEST_PATH_IMAGE039
Determining a reference area
Figure 393377DEST_PATH_IMAGE049
；
16) According to the area of the acceleration region
Figure 986033DEST_PATH_IMAGE037
Area of deceleration region
Figure 676908DEST_PATH_IMAGE039
And reference area
Figure 355014DEST_PATH_IMAGE049
Adjusting calibration parameters of the accelerometer, wherein,
Figure 523958DEST_PATH_IMAGE050
。
wherein step 15) is based on the area of the acceleration region
Figure 971120DEST_PATH_IMAGE037
And area of deceleration region
Figure 957531DEST_PATH_IMAGE051
Determining a reference area
Figure 998299DEST_PATH_IMAGE052
May comprise the following steps:
area of acceleration region
Figure 829989DEST_PATH_IMAGE037
Greater than the area of the deceleration region
Figure 397237DEST_PATH_IMAGE039
While determining the reference area
Figure 164335DEST_PATH_IMAGE049
Is the area of the deceleration region
Figure 82613DEST_PATH_IMAGE039
；
Or, when the area of the acceleration region is
Figure 452414DEST_PATH_IMAGE037
Less than or equal to the area of the deceleration zone
Figure 15114DEST_PATH_IMAGE039
While determining the reference area
Figure 77748DEST_PATH_IMAGE049
Is the area of the acceleration region
Figure 93108DEST_PATH_IMAGE037
；
Alternatively, the reference area is determined
Figure 532180DEST_PATH_IMAGE049
Is the area of the acceleration region
Figure 808440DEST_PATH_IMAGE037
And area of deceleration region
Figure 182921DEST_PATH_IMAGE039
Average value of (d);
alternatively, the reference area is determined
Figure 544632DEST_PATH_IMAGE049
Is the area of the acceleration region
Figure 521816DEST_PATH_IMAGE037
And area of deceleration region
Figure 793528DEST_PATH_IMAGE039
One or any value within the interval.
In particular, it can be based on the area of the acceleration region
Figure 463544DEST_PATH_IMAGE037
And area of deceleration region
Figure 312551DEST_PATH_IMAGE053
The size relationship between the reference area and the reference area
Figure 968791DEST_PATH_IMAGE049
. Optionally, the reference area
Figure 219644DEST_PATH_IMAGE049
Can be set to the area of the acceleration region
Figure 935928DEST_PATH_IMAGE037
And area of deceleration region
Figure 272231DEST_PATH_IMAGE053
The smaller one among them. For example, when the area of the acceleration region is large
Figure 856796DEST_PATH_IMAGE037
Greater than the area of the deceleration region
Figure 103101DEST_PATH_IMAGE054
Time, reference area
Figure DEST_PATH_IMAGE055
At this time, the scale factor corresponding to the acceleration region
Figure 255865DEST_PATH_IMAGE056
Scale factor corresponding to deceleration region
Figure 813885DEST_PATH_IMAGE057
. By using
Figure 202141DEST_PATH_IMAGE045
And correcting the acceleration output by the accelerometer in the acceleration region so as to enable the area of the acceleration region to be equal to the area of the deceleration region. As another example, when the acceleration region area
Figure 37373DEST_PATH_IMAGE037
Less than or equal to the area of the deceleration zone
Figure 954513DEST_PATH_IMAGE053
Time, reference area
Figure 530988DEST_PATH_IMAGE058
At this time, the scale factor corresponding to the acceleration region
Figure 67143DEST_PATH_IMAGE059
Scale factor corresponding to deceleration region
Figure 147094DEST_PATH_IMAGE060
. By using
Figure 500715DEST_PATH_IMAGE061
And correcting the acceleration output by the accelerometer in the deceleration region so as to enable the area of the acceleration region to be equal to that of the deceleration region. Optionally, the reference area
Figure 162554DEST_PATH_IMAGE049
Can be set to the area of the acceleration region
Figure 361454DEST_PATH_IMAGE037
And area of deceleration region
Figure 436858DEST_PATH_IMAGE053
The average of both. At this time, the reference area
Figure 961380DEST_PATH_IMAGE062
Scale factor corresponding to acceleration region
Figure 981289DEST_PATH_IMAGE063
Figure 124825DEST_PATH_IMAGE064
Scale factor corresponding to deceleration region
Figure 913790DEST_PATH_IMAGE065
. By using
Figure 609213DEST_PATH_IMAGE045
Correcting acceleration output by an accelerometer in an acceleration region, and use of
Figure 257363DEST_PATH_IMAGE066
Acceleration of accelerometer output in deceleration regionAnd correcting to make the area of the acceleration region equal to that of the deceleration region. Optionally, the reference area
Figure 63645DEST_PATH_IMAGE052
Can be set to the area of the acceleration region
Figure 848062DEST_PATH_IMAGE037
And area of deceleration region
Figure 714387DEST_PATH_IMAGE051
One or any value within the interval. For example, the area of the acceleration region
Figure 443308DEST_PATH_IMAGE037
15, area of deceleration region
Figure 194227DEST_PATH_IMAGE051
12, the reference area
Figure 957783DEST_PATH_IMAGE052
And may be 12, 12.5, 12.8, 13, 13.5, 13.6, 14, 14.5, 14.8, 15, or other values, etc.
To sum up, in order to calibrate the accelerometer in the IMU, the reference line of the accelerometer may be set first, and the reference line may be obtained when the accelerometer stops operating, and when the accelerometer completes each acceleration and deceleration process, the area of the acceleration region located above the reference line and the area of the deceleration region located below the reference line may be obtained, and then the scale coefficient corresponding to the acceleration region and the scale coefficient corresponding to the deceleration region of the accelerometer are adjusted according to the size relationship between the area of the acceleration region and the area of the deceleration region. The method and the device have the advantages that the reference line is used as the basis, different sensitive parameters of the accelerometer for acceleration and deceleration are dynamically adjusted by utilizing different acceleration and deceleration areas, the operation is simple, and third-party equipment is not needed; the accelerometer is calibrated in a calibration mode, so that the precision of the accelerometer can be improved, and the accuracy of the measurement result of the accelerometer is improved.
The embodiment of the application also provides another calibration method of the accelerometer in the IMU, and the method can be applied to a vehicle machine. As shown in fig. 3, the method may comprise at least the following steps:
310. when the accelerometer stops working, the position indicated when the accelerometer is at rest is set
Figure 995009DEST_PATH_IMAGE067
And mapping the reference line of the accelerometer to a two-dimensional coordinate system to obtain the reference line of the accelerometer.
Specifically, the detailed implementation of step 310 may refer to all or part of the content described in step 11) in the foregoing embodiment, and will not be described herein again.
320. Taking a datum line as a reference, and acquiring the area of an acceleration region above the datum line in the process of completing one-time acceleration and deceleration of the accelerometer
Figure 352172DEST_PATH_IMAGE037
And the area of the deceleration zone below the datum line
Figure 765836DEST_PATH_IMAGE039
。
330. According to the area of the acceleration region
Figure 524845DEST_PATH_IMAGE037
And area of deceleration region
Figure 467393DEST_PATH_IMAGE039
The calibration parameters of the accelerometer are adjusted, and the calibration parameters comprise scale coefficients corresponding to the acceleration region
Figure 436486DEST_PATH_IMAGE045
And scale factor corresponding to deceleration region
Figure 529207DEST_PATH_IMAGE068
。
The detailed implementation of step 320 and step 330 may refer to all or part of the content described in step 120 and step 130 in the foregoing embodiments, and will not be described herein again.
340. And adjusting the actual output of the accelerometer according to the adjusted calibration parameters of the accelerometer.
In an alternative embodiment, the specific implementation of the step 340 of adjusting the actual output of the accelerometer according to the adjusted calibration parameter of the accelerometer may include the following steps:
31) according to the scale factor corresponding to the acceleration region
Figure 1777DEST_PATH_IMAGE069
And the zero axis deviation of the accelerometer adjusts the actual output of the accelerometer in the acceleration region, wherein,
Figure 380805DEST_PATH_IMAGE070
the acceleration values actually output by the accelerometer at different times in the acceleration region range,
Figure 712561DEST_PATH_IMAGE071
for zero axis deviation of the accelerometer,
Figure 202448DEST_PATH_IMAGE072
outputting the adjusted acceleration value of the accelerometer in the acceleration area range at different time;
32) according to the scale coefficient corresponding to the deceleration area
Figure 936049DEST_PATH_IMAGE073
And the zero axis deviation of the accelerometer adjusts the actual output of the accelerometer in the deceleration region, wherein,
Figure 485979DEST_PATH_IMAGE074
，
Figure 164085DEST_PATH_IMAGE075
the acceleration values actually output by the accelerometer at different times in the deceleration region range,
Figure 333029DEST_PATH_IMAGE076
and outputting the acceleration value of the adjusted accelerometer in different time within the range of the deceleration area.
Wherein the zero axis deviation of the accelerometer
Figure 45770DEST_PATH_IMAGE077
Is a reference line
Figure 766601DEST_PATH_IMAGE078
To the zero axis of a two-dimensional coordinate system
Figure 72949DEST_PATH_IMAGE079
Distance between, zero axis deviation
Figure 170218DEST_PATH_IMAGE077
Is equal to
Figure 347253DEST_PATH_IMAGE080
。
In particular, zero axis offset of the accelerometer
Figure 504564DEST_PATH_IMAGE077
As reference lines for accelerometers
Figure 891683DEST_PATH_IMAGE081
And the actual zero axis
Figure 668010DEST_PATH_IMAGE082
Error therebetween, i.e. zero axis deviation
Figure 89764DEST_PATH_IMAGE083
. Due to the fact that
Figure 293343DEST_PATH_IMAGE084
Can be positive or negative, so zero axis deviation
Figure 167758DEST_PATH_IMAGE077
Either positive or negative. When the scale coefficient corresponding to the acceleration region is calculated
Figure 606830DEST_PATH_IMAGE045
Scale factor corresponding to deceleration region
Figure 24036DEST_PATH_IMAGE073
Then, can utilize
Figure 257571DEST_PATH_IMAGE045
To correct the acceleration output by the accelerometer in the acceleration region and then subtract the zero axis deviation
Figure 619282DEST_PATH_IMAGE077
To obtain the compensated and calibrated acceleration; and use of
Figure 737411DEST_PATH_IMAGE073
To correct the acceleration output by the accelerometer in the deceleration area and then subtract the zero axis deviation
Figure 399336DEST_PATH_IMAGE077
To obtain the compensated calibrated acceleration. Therefore, under the condition that the accuracy of the accelerometer is not high, the output accuracy of the accelerometer can be improved through compensation calibration.
Therefore, in order to calibrate the accelerometer in the IMU, the reference line of the accelerometer may be set first, and the reference line may be obtained when the accelerometer stops operating, and when the accelerometer completes each acceleration and deceleration process, the area of the acceleration region located above the reference line and the area of the deceleration region located below the reference line may be obtained, and then the scale coefficient corresponding to the acceleration region and the scale coefficient corresponding to the deceleration region of the accelerometer are adjusted according to the size relationship between the area of the acceleration region and the area of the deceleration region, and the actual output of the accelerometer may be adjusted according to the adjusted calibration parameters of the accelerometer. The method and the device have the advantages that the reference line is used as the basis, different sensitive parameters of the accelerometer for acceleration and deceleration are dynamically adjusted by utilizing different acceleration and deceleration areas, the operation is simple, and third-party equipment is not needed; in addition, under the condition that the precision of the accelerometer is not high, the output precision of the accelerometer can be improved by correcting and compensating the output of the accelerometer, so that the accuracy of the measurement result of the accelerometer is improved.
The embodiment of the application provides a calibration device of an accelerometer in an IMU, which can be used for executing the calibration method of the accelerometer in the IMU provided by the embodiment. When the IMU is mounted on a vehicle, the device may be a vehicle mounted unit. As shown in fig. 4, the apparatus may include:
and a setting unit 41 for setting a reference line of the accelerometer.
An acquiring unit 42, configured to acquire an acceleration region area located above the reference line during one acceleration and deceleration of the accelerometer with the reference line as a reference
Figure 679139DEST_PATH_IMAGE085
And the area of the deceleration zone below the datum line
Figure 528146DEST_PATH_IMAGE086
。
An adjusting unit 43 for adjusting the area of the acceleration region
Figure 309021DEST_PATH_IMAGE085
And area of deceleration region
Figure 700819DEST_PATH_IMAGE086
The calibration parameters of the accelerometer are adjusted, and the calibration parameters can comprise scale coefficients corresponding to the acceleration region
Figure 276157DEST_PATH_IMAGE087
And scale factor corresponding to deceleration region
Figure 487826DEST_PATH_IMAGE088
。
Optionally, the setting unit 41 may be specifically configured to set the position indicated when the accelerometer is stationary when the accelerometer stops working
Figure 806812DEST_PATH_IMAGE089
Mapping the reference line of the accelerometer to a two-dimensional coordinate system, and obtaining the reference line of the accelerometer after mapping, wherein the abscissa of the two-dimensional coordinate system represents time
Figure 912171DEST_PATH_IMAGE090
The ordinate of the two-dimensional coordinate system represents the acceleration
Figure 799356DEST_PATH_IMAGE091
And the base line obtained after mapping is represented as
Figure 622955DEST_PATH_IMAGE092
。
Optionally, the obtaining unit 42 may be specifically configured to obtain each acceleration value in an acceleration region located above the reference line, and each acceleration value in a deceleration region located below the reference line; calculating the average value of the acceleration in the acceleration area according to each acceleration value in the acceleration area, and calculating the average value of the acceleration in the deceleration area according to each acceleration value in the deceleration area; calculating to obtain the area of the acceleration region according to the average value of the acceleration in the acceleration region and the time length of the acceleration region on the abscissa axis
Figure 745632DEST_PATH_IMAGE085
(ii) a And calculating to obtain the area of the deceleration region according to the average value of the acceleration in the deceleration region and the time length of the deceleration region on the abscissa axis
Figure 846443DEST_PATH_IMAGE093
。
Optionally, the adjusting unit 43 may be specifically configured to adjust the acceleration region area according to the acceleration region area
Figure 763584DEST_PATH_IMAGE085
And area of deceleration region
Figure 74479DEST_PATH_IMAGE094
Determining a reference area
Figure 876213DEST_PATH_IMAGE095
And according to the area of the acceleration region
Figure 956165DEST_PATH_IMAGE085
Area of deceleration region
Figure 185152DEST_PATH_IMAGE096
And reference area
Figure 983344DEST_PATH_IMAGE095
Adjusting calibration parameters of the accelerometer, wherein,
Figure 447823DEST_PATH_IMAGE097
，
Figure 257647DEST_PATH_IMAGE098
。
alternatively, the adjusting unit 43 is based on the area of the acceleration region
Figure 782169DEST_PATH_IMAGE085
And area of deceleration region
Figure 802078DEST_PATH_IMAGE094
Determining a reference area
Figure 211194DEST_PATH_IMAGE095
The specific implementation manner of (2) can be as follows:
area of acceleration region
Figure 158DEST_PATH_IMAGE085
Greater than the area of the deceleration region
Figure 570948DEST_PATH_IMAGE096
The adjusting unit 43 determines the reference area
Figure 343732DEST_PATH_IMAGE095
Is the area of the deceleration region
Figure 150014DEST_PATH_IMAGE099
；
Or, when the area of the acceleration region is
Figure 668851DEST_PATH_IMAGE085
Less than or equal to the area of the deceleration zone
Figure 800755DEST_PATH_IMAGE094
The adjusting unit 43 determines the reference area
Figure 670622DEST_PATH_IMAGE095
Is the area of the acceleration region
Figure 280595DEST_PATH_IMAGE085
；
Alternatively, the adjustment unit 43 determines the reference area
Figure 44152DEST_PATH_IMAGE095
Is the area of the acceleration region
Figure 956744DEST_PATH_IMAGE085
And area of deceleration region
Figure 438541DEST_PATH_IMAGE094
Average value of (d);
alternatively, the adjustment unit 43 determines the reference area
Figure 586626DEST_PATH_IMAGE095
Is the area of the acceleration region
Figure 80055DEST_PATH_IMAGE085
And area of deceleration region
Figure 553762DEST_PATH_IMAGE094
One or any value within the interval.
Optionally, the adjusting unit 43 may be further configured to adjust the actual output of the accelerometer according to the adjusted calibration parameter of the accelerometer.
Optionally, the specific implementation manner of the adjusting unit 43 adjusting the actual output of the accelerometer according to the adjusted calibration parameter of the accelerometer may be:
the adjusting unit 43 adjusts the scale factor according to the corresponding acceleration region
Figure 257275DEST_PATH_IMAGE100
And the zero axis deviation of the accelerometer adjusts the actual output of the accelerometer in the acceleration region, wherein,
Figure 361715DEST_PATH_IMAGE101
the acceleration values actually output by the accelerometer at different times in the acceleration region range,
Figure 834285DEST_PATH_IMAGE102
for zero axis deviation of the accelerometer,
Figure 354259DEST_PATH_IMAGE103
outputting the adjusted acceleration value of the accelerometer in the acceleration area range at different time; and the scale factor corresponding to the deceleration area
Figure 545069DEST_PATH_IMAGE104
And the zero axis deviation of the accelerometer adjusts the actual output of the accelerometer in the deceleration region, wherein,
Figure 34956DEST_PATH_IMAGE105
，
Figure 768557DEST_PATH_IMAGE106
the acceleration values actually output by the accelerometer at different times in the deceleration region range,
Figure 318487DEST_PATH_IMAGE107
and outputting the acceleration value of the adjusted accelerometer in different time within the range of the deceleration area.
Optionally, zero axis offset of accelerometer
Figure 137538DEST_PATH_IMAGE108
Is a reference line
Figure 431116DEST_PATH_IMAGE109
To the zero axis of a two-dimensional coordinate system
Figure 878278DEST_PATH_IMAGE110
Distance between, zero axis deviation
Figure 740055DEST_PATH_IMAGE108
Is equal to
Figure 639878DEST_PATH_IMAGE111
。
It can be seen that, in the apparatus shown in fig. 4, a reference line of the accelerometer may be set first, and the reference line may be obtained when the accelerometer stops operating, and when the accelerometer completes each acceleration and deceleration process, an acceleration region area located above the reference line and a deceleration region area located below the reference line may be obtained, and then a scale coefficient corresponding to the accelerometer in the acceleration region and a scale coefficient corresponding to the deceleration region may be adjusted according to a size relationship between the acceleration region area and the deceleration region area. The method has the advantages that different sensitive parameters of the accelerometer for acceleration and deceleration are dynamically adjusted by using different acceleration and deceleration areas according to a reference line, the operation is simple, and third-party equipment is not needed; the accelerometer is calibrated in a calibration mode, so that the precision of the accelerometer can be improved, and the accuracy of the measurement result of the accelerometer is improved.
The embodiment of the present application further provides a calibration apparatus for an accelerometer in an IMU, where the apparatus 500 may be used to execute the calibration method for an accelerometer in an IMU provided in the embodiment of the present application. When the IMU is mounted on a vehicle, the apparatus 500 may be a vehicle. As shown in fig. 5, the apparatus 500 may include: at least one processor 501, such as a Central Processing Unit (CPU), a memory 502, at least one communication interface 503, and the like. Wherein the components are communicatively coupled via one or more communication buses 504. Those skilled in the art will appreciate that the configuration of the apparatus 500 shown in fig. 5 is not intended to limit embodiments of the present application, and may be a bus or star configuration, and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components. Wherein:
in the embodiment of the present application, the memory 502 may be a high-speed RAM memory, or may be a non-volatile memory (non-volatile memory), such as at least one disk memory. The memory 502 may optionally be at least one storage device located remotely from the processor 501. As shown in fig. 5, the memory 502 may include one or more execution instructions (programs), data, and the like, and the embodiments of the present application are not limited thereto.
In this embodiment, the communication interface 503 may include a wired communication interface, a wireless communication interface, and the like, and may be used for performing communication interaction with other devices, such as receiving signals sent by other devices, and/or sending signals to other devices, and the like.
In the apparatus 500 shown in fig. 5, the processor 501 may be configured to invoke one or more execution instructions stored in the memory 502 to perform the following operations:
setting a datum line of the accelerometer;
taking a datum line as a reference, and acquiring the area of an acceleration region above the datum line in the process of completing one-time acceleration and deceleration of the accelerometer
Figure 878092DEST_PATH_IMAGE085
And the area of the deceleration zone below the datum line
Figure 710919DEST_PATH_IMAGE096
；
According to the area of the acceleration region
Figure 743597DEST_PATH_IMAGE085
And area of deceleration region
Figure 130716DEST_PATH_IMAGE096
The calibration parameters of the accelerometer are adjusted, and the calibration parameters can comprise scale coefficients corresponding to the acceleration region
Figure 31676DEST_PATH_IMAGE087
And scale factor corresponding to deceleration region
Figure 859955DEST_PATH_IMAGE112
。
Optionally, the specific implementation of the processor 501 setting the reference line of the accelerometer may be:
when the accelerometer stops working, the position indicated when the accelerometer is at rest is set
Figure 63534DEST_PATH_IMAGE067
Mapping the reference line of the accelerometer to a two-dimensional coordinate system, and obtaining the reference line of the accelerometer after mapping, wherein the abscissa of the two-dimensional coordinate system represents time
Figure 203528DEST_PATH_IMAGE113
The ordinate of the two-dimensional coordinate system represents the acceleration
Figure 517966DEST_PATH_IMAGE091
And the base line obtained after mapping is represented as
Figure 59806DEST_PATH_IMAGE114
。
Optionally, the processor 501 obtains the area of the acceleration region above the reference line
Figure 434287DEST_PATH_IMAGE085
And the area of the deceleration zone below the datum line
Figure 327156DEST_PATH_IMAGE096
The specific implementation manner of (2) can be as follows:
acquiring various acceleration values in an acceleration region above the datum line and various acceleration values in a deceleration region below the datum line;
calculating the average value of the acceleration in the acceleration area according to each acceleration value in the acceleration area, and calculating the average value of the acceleration in the deceleration area according to each acceleration value in the deceleration area;
calculating to obtain the area of the acceleration region according to the average value of the acceleration in the acceleration region and the time length of the acceleration region on the abscissa axis
Figure 445285DEST_PATH_IMAGE085
(ii) a And calculating to obtain the area of the deceleration region according to the average value of the acceleration in the deceleration region and the time length of the deceleration region on the abscissa axis
Figure 576052DEST_PATH_IMAGE094
。
Alternatively, processor 501 may be based on acceleration region area
Figure 121434DEST_PATH_IMAGE085
And area of deceleration region
Figure 236021DEST_PATH_IMAGE094
The specific implementation of adjusting the calibration parameters of the accelerometer may be as follows:
according to the area of the acceleration region
Figure 157840DEST_PATH_IMAGE085
And area of deceleration region
Figure 408693DEST_PATH_IMAGE096
Determining a reference area
Figure 984031DEST_PATH_IMAGE095
；
According to the area of the acceleration region
Figure 461280DEST_PATH_IMAGE085
Area of deceleration region
Figure 780266DEST_PATH_IMAGE096
And reference area
Figure 292149DEST_PATH_IMAGE095
Adjusting calibration parameters of the accelerometer, wherein,
Figure 38389DEST_PATH_IMAGE115
。
alternatively, processor 501 may be based on acceleration region area
Figure 2934DEST_PATH_IMAGE085
And area of deceleration region
Figure 125610DEST_PATH_IMAGE094
Determining a reference area
Figure 226422DEST_PATH_IMAGE095
The specific implementation manner of (2) can be as follows:
area of acceleration region
Figure 409141DEST_PATH_IMAGE085
Greater than the area of the deceleration region
Figure 720037DEST_PATH_IMAGE096
While determining the reference area
Figure 521771DEST_PATH_IMAGE095
Is the area of the deceleration region
Figure 8247DEST_PATH_IMAGE116
；
Or, when the area of the acceleration region is
Figure 96289DEST_PATH_IMAGE117
Less than or equal to the area of the deceleration zone
Figure 628901DEST_PATH_IMAGE094
While determining the reference area
Figure 234326DEST_PATH_IMAGE095
Is the area of the acceleration region
Figure 434363DEST_PATH_IMAGE085
；
Alternatively, the reference area is determined
Figure 693306DEST_PATH_IMAGE095
Is the area of the acceleration region
Figure 854160DEST_PATH_IMAGE085
And area of deceleration region
Figure 122330DEST_PATH_IMAGE094
Average value of (d);
alternatively, the reference area is determined
Figure 52240DEST_PATH_IMAGE095
Is the area of the acceleration region
Figure 747664DEST_PATH_IMAGE085
And area of deceleration region
Figure 395814DEST_PATH_IMAGE094
One or any value within the interval.
Optionally, the processor 501 may be further configured to call one or more execution instructions stored in the memory 502 to perform the following operations:
and adjusting the actual output of the accelerometer according to the adjusted calibration parameters of the accelerometer.
Optionally, the specific implementation of the processor 501 adjusting the actual output of the accelerometer according to the adjusted calibration parameter of the accelerometer may be:
according to the scale factor corresponding to the acceleration region
Figure 202096DEST_PATH_IMAGE087
And the zero axis deviation of the accelerometer adjusts the actual output of the accelerometer in the acceleration region, wherein,
Figure 252092DEST_PATH_IMAGE118
the acceleration values actually output by the accelerometer at different times in the acceleration region range,
Figure 118416DEST_PATH_IMAGE119
for zero axis deviation of the accelerometer,
Figure 253863DEST_PATH_IMAGE120
outputting the adjusted acceleration value of the accelerometer in the acceleration area range at different time;
according to the scale coefficient corresponding to the deceleration area
Figure 598256DEST_PATH_IMAGE104
And the zero axis deviation of the accelerometer adjusts the actual output of the accelerometer in the deceleration region, wherein,
Figure 627392DEST_PATH_IMAGE121
the acceleration values actually output by the accelerometer at different times in the deceleration region range,
Figure 805564DEST_PATH_IMAGE122
and outputting the acceleration value of the adjusted accelerometer in different time within the range of the deceleration area.
Optionally, zero axis offset of accelerometer
Figure 21782DEST_PATH_IMAGE123
Is a reference line
Figure 576391DEST_PATH_IMAGE124
To the zero axis of a two-dimensional coordinate system
Figure 866558DEST_PATH_IMAGE125
Distance between, zero axis deviation
Figure 74685DEST_PATH_IMAGE123
Is equal to
Figure 919144DEST_PATH_IMAGE126
。
Specifically, the apparatus described in this embodiment of the present application may implement part or all of the processes in the embodiment of the method for calibrating an accelerometer in an IMU described in this application in conjunction with fig. 1 or fig. 3.
The modules or sub-modules in all embodiments of the present Application may be implemented by a general-purpose Integrated Circuit, such as a CPU, or by an ASIC (Application Specific Integrated Circuit).
Embodiments of the present application also provide a computer-readable storage medium, where the computer-readable storage medium stores a computer program for electronic data exchange, and the computer program specifically includes instructions that may be used to perform some or all of the steps described in the calibration method of an accelerometer in an IMU according to the embodiments of the present application. The computer readable storage medium may be located in the calibration arrangement for the accelerometer in the IMU provided in the previous embodiments.
Embodiments of the present application also provide a computer program product, where the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform some or all of the steps of the method for calibrating an accelerometer in an IMU as provided by the embodiments of the present application. For example, the computer program product may be a software installation package, and the computer may be the calibration apparatus of the accelerometer in the IMU provided in the foregoing embodiments.
It should be noted that, for simplicity of description, the above-mentioned embodiments of the method are described as a series of acts or combinations, but those skilled in the art should understand that the present application is not limited by the order of acts described, as some steps may be performed in other orders or simultaneously according to the present application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
The steps in the method of the embodiment of the application can be sequentially adjusted, combined and deleted according to actual needs.
The unit modules in the device of the embodiment of the application can be combined, divided and deleted according to actual needs.
It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by instructions associated with a program, which may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), compact disc-Read-Only Memory (CD-ROM), or other Memory, magnetic disk, magnetic tape, or magnetic tape, Or any other medium which can be used to carry or store data and which can be read by a computer.
The foregoing describes in detail a calibration method and related apparatus for an accelerometer in an IMU according to an embodiment of the present application, and a specific example is applied to explain the principle and implementation of the present application, and the description of the foregoing embodiment is only used to help understand the method and core ideas of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims (10)

1. A method for calibrating an accelerometer in an IMU (inertial measurement Unit) is characterized by comprising the following steps:
setting a datum line of the accelerometer;
taking the datum line as a reference, and acquiring the datum line in the process that the accelerometer completes one acceleration and decelerationArea of acceleration region above line
Figure 584177DEST_PATH_IMAGE001
And a deceleration zone area located below the datum line
Figure 474990DEST_PATH_IMAGE002
；
According to the area of the acceleration region
Figure 854019DEST_PATH_IMAGE003
And the area of the deceleration region
Figure 310408DEST_PATH_IMAGE004
The calibration parameters of the accelerometer are adjusted, and the calibration parameters comprise scale coefficients corresponding to the acceleration region
Figure 675661DEST_PATH_IMAGE005
And the scale factor corresponding to the deceleration area
Figure 2737DEST_PATH_IMAGE006
。
2. The method of claim 1, wherein the setting the reference line of the accelerometer comprises:
when the accelerometer stops working, the position indicated when the accelerometer is at rest is set
Figure 552667DEST_PATH_IMAGE007
Mapping the reference line of the accelerometer to a two-dimensional coordinate system, and obtaining the reference line of the accelerometer after mapping, wherein the abscissa of the two-dimensional coordinate system represents time
Figure 230773DEST_PATH_IMAGE008
The ordinate of the two-dimensional coordinate system represents acceleration
Figure 665297DEST_PATH_IMAGE009
And the base line obtained after mapping is represented as
Figure 112459DEST_PATH_IMAGE010
。
3. The method of claim 2, wherein said obtaining an acceleration region area above said reference line is performed by a method comprising the step of obtaining an acceleration region area above said reference line
Figure 567711DEST_PATH_IMAGE001
And a deceleration zone area located below the datum line
Figure 874058DEST_PATH_IMAGE011
The method comprises the following steps:
acquiring various acceleration values in an acceleration region above the datum line and various acceleration values in a deceleration region below the datum line;
calculating the average value of the acceleration in the acceleration area according to each acceleration value in the acceleration area, and calculating the average value of the acceleration in the deceleration area according to each acceleration value in the deceleration area;
calculating to obtain the area of the acceleration region according to the average value of the acceleration in the acceleration region and the time length of the acceleration region on the abscissa axis
Figure 705748DEST_PATH_IMAGE001
(ii) a And calculating to obtain the area of the deceleration area according to the average value of the acceleration in the deceleration area and the time length of the deceleration area on the abscissa axis
Figure 272996DEST_PATH_IMAGE004
。
4. The IMU of any of claims 1-3, whereinThe calibration method of the accelerometer is characterized in that the calibration method is based on the area of the acceleration region
Figure 40094DEST_PATH_IMAGE001
And the area of the deceleration region
Figure 692793DEST_PATH_IMAGE004
The calibration parameters of the accelerometer are adjusted according to the relationship between the accelerometer and the reference parameter, and the method comprises the following steps:
according to the area of the acceleration region
Figure 328173DEST_PATH_IMAGE001
And the area of the deceleration region
Figure 625294DEST_PATH_IMAGE004
Determining a reference area
Figure 687928DEST_PATH_IMAGE012
；
According to the area of the acceleration region
Figure 703288DEST_PATH_IMAGE003
Area of the deceleration region
Figure 142360DEST_PATH_IMAGE004
And the reference area
Figure 684200DEST_PATH_IMAGE012
Adjusting calibration parameters of the accelerometer, wherein,
Figure 793101DEST_PATH_IMAGE013
，
Figure 154812DEST_PATH_IMAGE014
。
5. the IMU accelerometer of claim 4According to the area of the acceleration region, wherein
Figure 131995DEST_PATH_IMAGE001
And the area of the deceleration region
Figure 403708DEST_PATH_IMAGE004
Determining a reference area
Figure 808144DEST_PATH_IMAGE012
The method comprises the following steps:
when the area of the acceleration region
Figure 657152DEST_PATH_IMAGE001
Is larger than the area of the deceleration area
Figure 172447DEST_PATH_IMAGE004
Determining the reference area
Figure 564245DEST_PATH_IMAGE012
Is the area of the deceleration zone
Figure 139583DEST_PATH_IMAGE002
；
Or, when the area of the acceleration region is
Figure 475886DEST_PATH_IMAGE001
Less than or equal to the area of the deceleration region
Figure 935817DEST_PATH_IMAGE002
Determining the reference area
Figure 41177DEST_PATH_IMAGE015
Is the area of the acceleration region
Figure 787416DEST_PATH_IMAGE001
；
Alternatively, the reference area is determined
Figure 486382DEST_PATH_IMAGE012
Is the area of the acceleration region
Figure 609058DEST_PATH_IMAGE001
And the area of the deceleration region
Figure 568924DEST_PATH_IMAGE002
Average value of (d);
alternatively, the reference area is determined
Figure 361431DEST_PATH_IMAGE012
Is the area of the acceleration region
Figure 937906DEST_PATH_IMAGE001
And the area of the deceleration region
Figure 598694DEST_PATH_IMAGE002
One or any value within the interval.
6. A method for calibration of an accelerometer in an IMU according to claim 2 or 3, further comprising:
and adjusting the actual output of the accelerometer according to the adjusted calibration parameters of the accelerometer.
7. The method of claim 6, wherein the adjusting the actual output of the accelerometer according to the adjusted calibration parameter of the accelerometer comprises:
according to the scale coefficient corresponding to the acceleration region
Figure 288433DEST_PATH_IMAGE016
And zero axis offset tuning of the accelerometerIntegrating the actual output of the accelerometer in the acceleration region, wherein,
Figure 907633DEST_PATH_IMAGE017
said
Figure 440245DEST_PATH_IMAGE018
The acceleration values actually output by the accelerometer at different times in the acceleration region range are
Figure 780091DEST_PATH_IMAGE019
Is zero axis deviation of the accelerometer, the
Figure 448970DEST_PATH_IMAGE020
Outputting the adjusted acceleration value of the accelerometer in the acceleration region range at different time;
according to the scale coefficient corresponding to the deceleration area
Figure 973492DEST_PATH_IMAGE006
And a zero axis deviation of the accelerometer adjusts an actual output of the accelerometer in the deceleration region, wherein,
Figure 134346DEST_PATH_IMAGE021
Figure 136937DEST_PATH_IMAGE022
said
Figure 925901DEST_PATH_IMAGE023
The acceleration value actually output by the accelerometer at different time within the range of the deceleration area is obtained, and the acceleration value is calculated according to the acceleration value
Figure 621325DEST_PATH_IMAGE024
And outputting the adjusted acceleration value of the accelerometer in the range of the deceleration area at different time.
8. The method of claim 7, wherein the accelerometer has zero axis offset
Figure 3896DEST_PATH_IMAGE025
Is the reference line
Figure 810178DEST_PATH_IMAGE026
To the zero axis of the two-dimensional coordinate system
Figure 860173DEST_PATH_IMAGE027
Distance between, said zero axis deviation
Figure 460919DEST_PATH_IMAGE028
Is equal to
Figure 455420DEST_PATH_IMAGE029
。
9. A calibration device for an accelerometer in an IMU (inertial measurement Unit), comprising:
the setting unit is used for setting a datum line of the accelerometer;
the acquisition unit is used for acquiring the area of an acceleration region above the datum line by taking the datum line as a reference in the process of finishing one-time acceleration and deceleration of the accelerometer
Figure 940759DEST_PATH_IMAGE001
And a deceleration zone area located below the datum line
Figure 704316DEST_PATH_IMAGE030
；
An adjusting unit for adjusting the acceleration region area
Figure 475963DEST_PATH_IMAGE001
And the area of the deceleration region
Figure 364284DEST_PATH_IMAGE031
The calibration parameters of the accelerometer are adjusted, and the calibration parameters comprise scale coefficients corresponding to the acceleration region
Figure 512369DEST_PATH_IMAGE005
And the scale factor corresponding to the deceleration area
Figure 130432DEST_PATH_IMAGE006
。
10. The device for calibrating the accelerometer in the IMU is characterized by comprising a processor, a memory and a communication bus; wherein the memory is used for storing execution instructions, the processor is connected with the memory through the communication bus, and the processor calls the execution instructions stored by the memory for executing the method according to any one of claims 1-8.
CN202011037268.4A 2020-09-28 2020-09-28 Method for calibrating accelerometer in IMU and related device Pending CN111879971A (en)

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