CN113324562B - Calibration method and system for tilt sensor - Google Patents
Calibration method and system for tilt sensor Download PDFInfo
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- CN113324562B CN113324562B CN202110637659.8A CN202110637659A CN113324562B CN 113324562 B CN113324562 B CN 113324562B CN 202110637659 A CN202110637659 A CN 202110637659A CN 113324562 B CN113324562 B CN 113324562B
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Abstract
The invention discloses a calibration method and a calibration system for a tilt sensor, and relates to the field of sensor calibration. The method comprises the following steps: respectively placing the tilt angle sensor on each reference surface for measurement to obtain an output value of each reference surface meeting a data selection rule, and calculating according to the output value of each reference surface to obtain two groups of scale factors and angle zero positions; judging whether the scale factor and the angle zero position are effective or not through a preset first legality judging formula; if the two are effective, whether the calibration process is effective is judged through a preset second legality judgment formula, and if the calibration process is effective, the tilt angle sensor is calibrated. The method is suitable for calibrating the tilt sensor, can realize high-precision calibration of the tilt sensor, further solves the problem of distortion of the output measurement value of the tilt sensor caused by equipment aging and the like, and avoids the performance reduction of a radar system caused by the problem.
Description
Technical Field
The invention relates to the field of sensor calibration, in particular to a calibration method and a calibration system for a tilt angle sensor.
Background
The inclination angle sensor is widely applied, is used for measuring the inclination degree of the current array surface in real time after the array surface of the radar antenna is fixed when being arranged on the radar array surface, and is one of important sensors of a radar system. The inclination degree of the antenna array surface can be measured through the inclination angle sensor, and then detection data are corrected on the radar detection result.
However, after the tilt sensor leaves factory and is used for a period of time, the problem that the tilt measurement value output by the tilt sensor is inaccurate in distortion can occur, so that the error of the inclination degree of the antenna array surface measured by the tilt sensor is increased, the accuracy of a radar detection result is reduced, the performance of the whole radar system is finally reduced, and the radar system can not work normally seriously.
Disclosure of Invention
The present invention provides a calibration method and system for a tilt sensor, which is directed to overcome the disadvantages of the prior art.
The technical scheme for solving the technical problems is as follows:
a calibration method for a tilt sensor, comprising:
setting at least two reference surfaces and setting a data selection rule;
respectively placing an inclination angle sensor on each datum plane for measurement to obtain an output value of each datum plane meeting the data selection rule, and calculating according to the output value of each datum plane to obtain a first scale factor and a first angle zero position for calibrating the sensor;
repeatedly measuring and acquiring the output value of each datum plane meeting the data selection rule again, and calculating to obtain a second scale factor and a second angle zero position for calibrating the sensor;
judging whether the first scale factor and the first angle zero position are effective or not through a preset first validity judgment formula, and judging whether the second scale factor and the second angle zero position are effective or not;
if the first angle zero position and the second angle zero position are valid, judging whether the calibration process is valid through a preset second validity judgment formula, and if the calibration process is valid, calibrating the tilt angle sensor according to the first scale factor, the first angle zero position, the second scale factor and the second angle zero position.
Another technical solution of the present invention for solving the above technical problems is as follows:
a calibration system for a tilt sensor, comprising:
the processing device is used for setting at least two reference surfaces and setting a data selection rule;
the acquisition device is used for respectively placing the tilt angle sensor on each reference surface for measurement to obtain an output value of each reference surface meeting the data selection rule, and calculating a first scale factor and a first angle zero position for calibrating the sensor according to the output value of each reference surface;
the acquisition device is further used for repeatedly measuring and acquiring the output value of each reference surface meeting the data selection rule again, and calculating to obtain a second scale factor and a second angle zero position for calibrating the sensor;
the processing device is further used for judging whether the first scaling factor and the first angle zero position are effective or not through a preset first validity judgment formula, and judging whether the second scaling factor and the second angle zero position are effective or not; if the first angle zero position and the second angle zero position are valid, judging whether the calibration process is valid through a preset second validity judgment formula, and if the calibration process is valid, calibrating the tilt angle sensor according to the first scale factor, the first angle zero position, the second scale factor and the second angle zero position.
Another technical solution of the present invention for solving the above technical problems is as follows:
a radar front is used for calibrating an inclination angle sensor arranged on the radar front by using the calibration method for the inclination angle sensor in the technical scheme.
The beneficial effects of the invention are: the calibration method provided by the invention is suitable for calibration of the tilt sensor, and can be used for realizing high-precision calibration of the tilt sensor by acquiring the calibration parameters twice, verifying whether the first calibration parameters are effective by using the second calibration parameters, and correcting the output value of the tilt sensor by using the two calibration parameters, thereby solving the problem of distortion of the output measurement value of the tilt sensor caused by equipment aging and the like and avoiding the performance reduction of a radar system caused by the problem.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a schematic flow chart of a calibration method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a reference plane provided by another embodiment of the calibration method of the present invention;
FIG. 3 is a schematic diagram of a structural framework provided by an embodiment of the calibration system of the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth to illustrate, but are not to be construed to limit the scope of the invention.
The tilt sensor is widely applied, and for convenience of description, the tilt sensor mounted on the radar antenna array surface is taken as an example for description, which does not mean that the calibration method provided by the invention is only applicable to the calibration of the tilt sensor on the radar antenna array surface.
As shown in fig. 1, a schematic flowchart is provided for an embodiment of a calibration method of the present invention, the calibration method is used for calibrating a tilt sensor, and includes:
s1, setting at least two reference surfaces and setting a data selection rule.
In the operating state, the tilt sensor is mounted on the antenna array of the radar, and when calibration is required, the tilt sensor is detached from the antenna array of the radar and placed on a reference surface for calibration. The reference surface is prepared in advance, the known mould of inclination, can be a horizontal mould and a right angled triangle mould usually, through placing tilt sensor forward respectively and place on horizontal mould with the reversal, just can obtain 0 and 180 inclination, horizontal mould can provide 2 calibration faces promptly, place tilt sensor at the hypotenuse of right angled triangle mould again, then place two right-angle sides of right angled triangle mould respectively on horizontal mould, just can obtain the inclination of 2 different angles again, right angled triangle mould also can provide 2 calibration faces promptly. The reference surface may be set by other means by those skilled in the art, and will not be described herein.
It should be understood that, during the calibration process of the tilt sensor, external disturbance may be applied to cause deviation of individual measurement results, and therefore, a certain data selection rule may be set to select data acquired during the calibration process, thereby ensuring the calibration accuracy. For example, a plurality of measurement data in succession may be selected and averaged to offset the error of the individual data. For another example, when data having an excessively large or excessively small value is present in a plurality of consecutive measurement data, the group of data may be discarded and re-measured.
Preferably, as shown in fig. 2, one planar die and one right triangle die can be used to provide 4 reference planes, 0 °, 180 °, α and β, respectively, which are custom angles other than 0 ° and 180 °. The inclination angle sensor is reversely arranged, namely a reference plane of 180 degrees, and the reference planes corresponding to alpha and beta are provided by two right-angle sides of the right-angle triangular mould.
And S2, respectively placing the tilt angle sensor on each reference surface for measurement to obtain an output value of each reference surface meeting the data selection rule, and calculating according to the output value of each reference surface to obtain a first scale factor and a first angle zero position for calibrating the sensor.
And S3, repeatedly measuring and obtaining the output value of each datum plane meeting the data selection rule again, and calculating to obtain a second scale factor and a second angle zero position for calibrating the sensor.
It should be noted that the scaling factor and the angle null are used to correct the tilt value output by the tilt sensor.
It should be understood that if all the data does not satisfy the data selection rule, the tilt sensor posture needs to be adjusted and then the data needs to be measured again.
And S4, judging whether the first scale factor and the first angle zero position are effective or not through a preset first validity judgment formula, and judging whether the second scale factor and the second angle zero position are effective or not.
It should be noted that, it may be determined whether the first scale factor and the first angle zero position obtained for the first time are valid, and then it may be determined whether the second scale factor and the second angle zero position obtained for the second time are valid, and the obtaining of the calibration parameters of the tilt sensor for a single time is completed first, so as to avoid the calibration parameter error caused by the reason of misoperation, and the like, and the calibration parameters of the tilt sensor of the second group are obtained as the verification calibration parameters by repeating the data acquisition steps, thereby improving the calibration accuracy.
And S5, if the two are effective, judging whether the calibration process is effective or not through a preset second validity judgment formula, and if the calibration process is effective, calibrating the tilt angle sensor according to the first scale factor, the first angle zero position, the second scale factor and the second angle zero position.
It will be appreciated that since there are two sets of scale factors and angular nulls, they can be averaged as the final scale factor and angular null.
For example:
a＝(a 1 +a 2 )/2
b＝(b 1 +b 2 )/2
where a is the final scaling factor, b is the final angular null, a 1 Is a first scaling factor, b 1 Is a first angle zero position, a 2 Is a second scaling factor, b 2 Is a second angular null.
Suppose the output measurement value of the current tilt sensor is X m Then the corrected true inclination angle value Y m Comprises the following steps:
Y m ＝aX m +b
the calibration method provided by the embodiment is suitable for calibration of the tilt sensor, the calibration parameters are obtained twice, the calibration parameters for the second time are used for verifying whether the calibration parameters for the first time are effective or not, the calibration parameters for the second time are used for correcting the output value of the tilt sensor, high-precision calibration of the tilt sensor can be realized, the problem of distortion of the output measurement value of the tilt sensor caused by aging of equipment and the like is solved, and the performance reduction of a radar system caused by the problem is avoided.
Optionally, in some possible embodiments, calculating a first scale factor and a first angular null for calibrating the sensor according to the output value of each reference plane specifically includes:
calculating to obtain a reference value corresponding to each reference surface according to the output value of each reference surface, and calculating to obtain a preliminary calibration parameter according to the output value and the reference value;
calibrating the output value of each reference surface according to the initial calibration parameters, and calculating to obtain the calibrated reference value of each reference surface according to the calibrated output value of each reference surface;
and calculating a first scale factor and a first angle zero position for calibrating the sensor according to the calibrated output value and the calibrated reference value.
As shown in table 1, taking 4 reference planes as an example, which are 0 °, 180 °, α, and β, respectively, α and β are customized angles other than 0 ° and 180 °, an exemplary reference value calculation method is given below.
TABLE 1
| Posture | X is the output value | Y is a reference value |
| First posture (0 degree) | X 0 | Y 0 ＝(X 1- X 0 )/2 |
| Second posture (180 degree) | X 1 | Y 1 ＝(X 1- X 0 )/2 |
| Third posture (alpha) | X 2 | Y 2 ＝(X 1- X 0 )/2+α |
| Fourth posture (beta) | X 3 | Y 3 ＝(X 1- X 0 )/2+β |
After the output value and the reference value are obtained, the preliminary calibration parameters c and d can be obtained by substituting the obtained values into a preset formula, and an exemplary calculation method of the preliminary calibration parameters c and d is given below.
Optionally, in some possible embodiments, the preliminary calibration parameters are calculated according to the following formula:
wherein c and d are preliminary calibration parameters, X i Is the output value of the i +1 th reference plane, Y i Is the reference value of the i +1 th reference surface, k is the number of reference surfaces, i =1,2, …, n.
It should be noted that, taking 4 reference planes including 0 ° and 180 ° as an example, the calculation process of the preliminary calibration parameters c and d does not directly use the output value and the reference value of the first reference plane, that is, the 0 ° tilt angle reference plane, but the calculation of the reference values of the remaining reference planes needs to use the output value of the first reference plane. Therefore, the values of n in the calculation of the preliminary calibration parameters c and d are 1,2 and 3.
Optionally, in some possible embodiments, the output value of each reference plane is calibrated according to the following formula:
M j ＝cX j +d
wherein X j Is the output value of the j +1 th reference plane, M j For the output value of the j +1 th reference plane after calibration, j =0,1,2, …, n.
An exemplary output value preliminary calibrated reference value is given as shown in table 2.
TABLE 2
Optionally, in some possible embodiments, the scaling factor and the angular null are calculated according to the following formulas:
a＝cA
b＝dA+B
wherein:
where a is the scaling factor, b is the angle null, N i For the output value of the i +1 th reference plane after calibration, M i The standard value of the i +1 th standard surface after calibration.
Optionally, in some possible embodiments, the first validity judgment formula is:
wherein, X i Is the output value of the i +1 th reference plane, N i Is the output value of the (i + 1) th reference surface after calibration, a is a scaling factor, b is an angle zero position, r 1 For preset values, i =1,2, …, n, n = k-1,k are the number of reference planes.
In addition, r is 1 Can be set according to actual requirements, and preferably can be 0.0002.
Optionally, in some possible embodiments, the second legality determining formula is:
|a 1 -a 2 |＜r 2
|b 1 -b 2 |＜r 3
wherein, a 1 Is a first scaling factor, b 1 Is a first angle zero position, a 2 Is a second scaling factor, b 2 At a second angle zero position, r 2 And r 3 Is a preset value.
In addition, r is 2 And r 3 Can be set according to actual requirements, and preferably r 2 May be 0.00015,r 3 May be 0.008.
Optionally, in some possible embodiments, at least two reference planes are set, and a data selection rule is set, which specifically includes:
setting 4 reference surfaces, wherein the inclination angles of each reference surface are respectively 0 degrees, 180 degrees, alpha and beta;
the method comprises the steps that a preset number of continuous data are respectively collected on each datum plane, and when all data are within a preset error angle range based on the angle of the corresponding datum plane and the difference between the maximum value and the minimum value of all data is smaller than a preset difference value, the data collected on the corresponding datum plane are determined to be valid;
where 0 is the first reference plane and alpha and beta are any angles other than 0 and 180.
For example, 50 consecutive data may be selected, and if the 50 data are within ± 1 ° of the reference plane and the difference between the maximum value and the minimum value of the 50 data is not more than 0.005 °, the acquired data may be considered valid.
For example, when the tilt sensor is placed on a 30 ° reference surface for data acquisition, 50 data are all required to be in the [29,31] ° interval, and the difference between the maximum value and the minimum value is not greater than 0.005 °, it is determined that the above requirements are satisfied.
It should be understood that the average value of all the selected data can be taken as the output value by taking the average.
It is to be understood that some or all of the various embodiments described above may be included in some embodiments.
As shown in fig. 3, a schematic structural framework diagram is provided for an embodiment of the calibration system of the present invention, the calibration system is used for calibrating a tilt sensor, and includes:
a processing device 20, configured to set at least two reference planes and set a data selection rule;
the acquisition device 10 is used for placing the tilt angle sensor on each reference surface for measurement to obtain an output value of each reference surface meeting a data selection rule, and calculating a first scale factor and a first angle zero position for calibrating the sensor according to the output value of each reference surface;
the acquisition device 10 is further configured to repeatedly measure and obtain an output value of each reference surface meeting the data selection rule again, and calculate to obtain a second scale factor and a second angle zero for calibrating the sensor;
the processing device 20 is further configured to determine whether the first scaling factor and the first angle zero position are valid according to a preset first validity determination formula, and determine whether the second scaling factor and the second angle zero position are valid; and if the first angle zero position and the second angle zero position are valid, calibrating the tilt angle sensor according to the first scale factor, the first angle zero position, the second scale factor and the second angle zero position.
The calibration system that this embodiment provided is applicable to inclination sensor's calibration, through twice acquisition calibration parameter, use the calibration parameter of second time to verify whether first calibration parameter is effective, reuse twice calibration parameter revises inclination sensor's output value, can realize inclination sensor's high accuracy calibration, and then solved the problem of inclination sensor output measurement value distortion that leads to because reasons such as equipment ageing, avoid leading to radar system performance reduction because this problem.
Optionally, in some possible embodiments, the acquisition device 10 is specifically configured to calculate a reference value corresponding to each reference surface according to the output value of each reference surface, and calculate a preliminary calibration parameter according to the output value and the reference value; calibrating the output value of each reference surface according to the initial calibration parameters, and calculating to obtain a calibrated reference value of each reference surface according to the calibrated output value of each reference surface; and calculating a first scale factor and a first angle zero position for calibrating the sensor according to the calibrated output value and the calibrated reference value.
Optionally, in some possible embodiments, the acquisition device 10 is specifically configured to calculate the preliminary calibration parameters according to the following formula:
wherein c and d are preliminary calibration parameters, X i Of the (i + 1) th reference planeOutput value, Y i Is the reference value of the i +1 th reference surface, k is the number of reference surfaces, i =1,2, …, n.
Optionally, in some possible embodiments, the acquisition device 10 is specifically configured to calibrate the output value of each reference plane according to the following formula:
M j ＝cX j +d
wherein, X j Is the output value of the j +1 th reference plane, M j For the output value of the j +1 th reference plane after calibration, j =0,1,2, …, n.
Optionally, in some possible embodiments, the acquisition device 10 is particularly adapted to calculate the scaling factor and the angular null according to the following formulae:
a＝cA
b＝dA+B
wherein:
where a is the scaling factor, b is the angle null, N i For the output value of the i +1 th reference plane after calibration, M i The standard value of the i +1 th standard surface after calibration.
Optionally, in some possible embodiments, the first validity judgment formula is:
wherein, X i Is the output value of the i +1 th reference plane, N i Is the output value of the (i + 1) th reference surface after calibration, a is a scaling factor, b is an angle zero position, r 1 For preset values, i =1,2, …, n, n = k-1,k are the number of reference planes.
Optionally, in some possible embodiments, the second validity determination formula is:
|a 1 -a 2 |＜r 2
|b 1 -b 2 |＜r 3
wherein, a 1 Is a first scaling factor, b 1 Is a first angle zero position, a 2 Is a second scaling factor, b 2 At a second angle zero position, r 2 And r 3 Is a preset value.
Optionally, in some possible embodiments, the processing device 20 is specifically configured to set 4 reference planes, each having an inclination angle of 0 °, 180 °, α, and β, respectively; the method comprises the steps that a preset number of continuous data are respectively collected on each datum plane, and when all data are within a preset error angle range based on the angle of the corresponding datum plane and the difference between the maximum value and the minimum value of all data is smaller than a preset difference value, the data collected on the corresponding datum plane are determined to be valid;
where 0 is the first reference plane and alpha and beta are any angles other than 0 and 180.
It is to be understood that some or all of the various embodiments described above may be included in some embodiments.
It should be noted that the above embodiments are product embodiments corresponding to previous method embodiments, and for the description of the product embodiments, reference may be made to corresponding descriptions in the above method embodiments, and details are not repeated here.
The present invention also provides a radar front for calibrating a tilt sensor mounted on the radar front using the calibration method for a tilt sensor as disclosed in any of the above embodiments.
The reader should understand that in the description of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described method embodiments are merely illustrative, and for example, the division of steps into only one logical functional division may be implemented in practice in another way, for example, multiple steps may be combined or integrated into another step, or some features may be omitted, or not implemented.
The above method, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention essentially or partially contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, an optical disk, or other various media capable of storing program codes.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. A calibration method for a tilt sensor, comprising:
setting at least two reference surfaces and setting a data selection rule;
respectively placing an inclination angle sensor on each datum plane for measurement to obtain an output value of each datum plane meeting the data selection rule, and calculating according to the output value of each datum plane to obtain a first scale factor and a first angle zero position for calibrating the sensor;
repeatedly measuring and acquiring the output value of each datum plane meeting the data selection rule again, and calculating to obtain a second scale factor and a second angle zero position for calibrating the sensor;
judging whether the first scale factor and the first angle zero position are effective or not through a preset first legality judging formula, and judging whether the second scale factor and the second angle zero position are effective or not;
if the first angle zero position and the second angle zero position are valid, judging whether the calibration process is valid through a preset second validity judgment formula, and if the calibration process is valid, calibrating the tilt angle sensor according to the first scale factor, the first angle zero position, the second scale factor and the second angle zero position;
the calculating a first scale factor and a first angle zero for calibrating the sensor according to the output value of each reference surface specifically includes:
calculating to obtain a reference value corresponding to each reference surface according to the output value of each reference surface, and calculating to obtain a preliminary calibration parameter according to the output value and the reference value;
calibrating the output value of each reference surface according to the preliminary calibration parameters, and calculating to obtain a calibrated reference value of each reference surface according to the calibrated output value of each reference surface;
calculating a first scale factor and a first angle zero position for calibrating the sensor according to the calibrated output value and the calibrated reference value;
wherein the preliminary calibration parameters are calculated according to the following formula:
wherein c and d are preliminary calibration parameters, X i Is the output value of the i +1 th reference plane, Y i Is the reference value of the i +1 th reference surface, k is the number of the reference surfaces, i =1,2, …, n.
2. The calibration method for a tilt sensor according to claim 1, wherein the output value of each of the reference surfaces is calibrated according to the following formula:
N i ＝cX i +d
wherein X i Is the output value of the i +1 th reference plane, N i For the output value of the i +1 th calibrated reference plane, i =0,1,2, …, n.
3. Calibration method for a tilt sensor according to claim 1, characterized in that the scaling factor and the angular null are calculated according to the following formulae:
a＝cA
b＝dA+B
wherein:
where a is the scaling factor, b is the angle null, N i For the output value of the i +1 th reference plane after calibration, M i For the i +1 th reference after calibrationThe reference value of the surface.
4. The calibration method for a tilt sensor according to claim 1, wherein the first legality determining formula is:
wherein, X i Is the output value of the i +1 th reference plane, N i Is the output value of the i +1 th reference surface after calibration, a is a scale factor, b is an angle zero position, r 1 For preset values, i =1,2, …, n, n = k-1,k are the number of reference planes.
5. The calibration method for a tilt sensor according to claim 4, wherein the second legality determining formula is:
|a 1 -a 2 |＜r 2
|b 1 -b 2 |＜r 3
wherein, a 1 Is a first scaling factor, b 1 Is a first angular null, a 2 Is a second scaling factor, b 2 At a second angle zero position, r 2 And r 3 Is a preset value.
6. The calibration method for the tilt sensor according to any one of claims 1 to 5, wherein at least two reference planes are set, and a data selection rule is set, specifically comprising:
setting 4 reference surfaces, wherein the inclination angle of each reference surface is 0 degrees, 180 degrees, alpha and beta respectively;
the method comprises the steps that a preset number of continuous data are respectively collected on each datum plane, and when all data are within a preset error angle range based on the angle of the corresponding datum plane and the difference between the maximum value and the minimum value of all data is smaller than a preset difference value, the data collected on the corresponding datum plane are determined to be valid;
where 0 is the first reference plane and alpha and beta are any angles other than 0 and 180.
7. A calibration system for a tilt sensor, comprising:
the processing device is used for setting at least two reference surfaces and setting a data selection rule;
the acquisition device is used for respectively placing the tilt angle sensor on each reference surface for measurement to obtain an output value of each reference surface meeting the data selection rule, and calculating a first scale factor and a first angle zero position for calibrating the sensor according to the output value of each reference surface;
the acquisition device is further used for repeatedly measuring and acquiring the output value of each reference surface meeting the data selection rule again, and calculating to obtain a second scale factor and a second angle zero position for calibrating the sensor;
the processing device is further used for judging whether the first scale factor and the first angle zero position are effective or not through a preset first validity judgment formula, and judging whether the second scale factor and the second angle zero position are effective or not; if the first angle zero position and the second angle zero position are valid, judging whether the calibration process is valid through a preset second validity judgment formula, and if the calibration process is valid, calibrating the tilt angle sensor according to the first scale factor, the first angle zero position, the second scale factor and the second angle zero position;
when the acquisition device calculates a first scale factor and a first angle zero for calibrating the sensor according to the output value of each reference surface, the acquisition device is specifically configured to:
calculating to obtain a reference value corresponding to each reference surface according to the output value of each reference surface, and calculating to obtain a preliminary calibration parameter according to the output value and the reference value;
calibrating the output value of each reference surface according to the preliminary calibration parameters, and calculating to obtain a calibrated reference value of each reference surface according to the calibrated output value of each reference surface;
calculating a first scale factor and a first angle zero for calibrating the sensor according to the calibrated output value and the calibrated reference value;
wherein the preliminary calibration parameters are calculated according to the following formula:
wherein c and d are preliminary calibration parameters, X i Is the output value of the i +1 th reference plane, Y i Is the reference value of the i +1 th reference surface, k is the number of reference surfaces, i =1,2, …, n.
8. A radar front, characterized in that the tilt sensor mounted on the radar front is calibrated using the calibration method for a tilt sensor according to any one of claims 1 to 6.
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