CN113984088A - Multi-position automatic calibration method, device and system for MEMS (micro electro mechanical System) inertial sensor - Google Patents

Multi-position automatic calibration method, device and system for MEMS (micro electro mechanical System) inertial sensor Download PDF

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CN113984088A
CN113984088A CN202111181227.7A CN202111181227A CN113984088A CN 113984088 A CN113984088 A CN 113984088A CN 202111181227 A CN202111181227 A CN 202111181227A CN 113984088 A CN113984088 A CN 113984088A
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turntable
inertial sensor
mems inertial
accelerometer
angular velocity
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CN113984088B (en
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刘宁
王靖骁
韦任
苏中
冯群倬
刘福朝
袁超杰
赵旭
赵辉
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Beijing Information Science and Technology University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices

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Abstract

The invention discloses a multi-position automatic calibration method, device and system for an MEMS (micro-electromechanical system) inertial sensor. Wherein, the method comprises the following steps: controlling a turntable, on which the MEMS inertial sensor is mounted, to rotate from a current position at which the turntable is located to a next position based on the corrected timing; acquiring an average angular velocity of the MEMS inertial sensor during the current position to the next position, and calibrating a gyroscope of the MEMS inertial sensor based on the acquired average angular velocity and an input angular velocity of the turntable; average outputs of an accelerometer of the MEMS inertial sensor during the current position to the next position are collected, and the accelerometer is calibrated based on an error model of the average outputs and the accelerometer. The invention solves the technical problem of error in calibration of the MEMS inertial sensor caused by inaccurate timing.

Description

Multi-position automatic calibration method, device and system for MEMS (micro electro mechanical System) inertial sensor
Technical Field
The invention relates to the field of measurement, in particular to a multi-position automatic calibration method, device and system for an MEMS (micro-electromechanical system) inertial sensor.
Background
Before the MEMS inertial sensor is put into use, it is generally required to test and calibrate the MEMS inertial sensor. The traditional method is that a tester controls a turntable computer to operate the turntable manually so as to obtain error parameters related to the MEMS inertial sensor. However, since this method is labor intensive and inefficient, there is a need for an automated method of operating a turntable to test and calibrate MEMS inertial sensors.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a multi-position automatic calibration method, a device and a system of an MEMS (micro-electromechanical system) inertial sensor, which are used for at least solving the technical problem that errors exist in calibration of the MEMS inertial sensor due to inaccurate timing.
According to an aspect of the embodiments of the present invention, there is provided a multi-position automatic calibration method for a MEMS inertial sensor, including: controlling a turntable, on which the MEMS inertial sensor is mounted, to rotate from a current position at which the turntable is located to a next position based on the corrected timing; acquiring an average angular velocity of the MEMS inertial sensor during the current position to the next position, and calibrating a gyroscope of the MEMS inertial sensor based on the acquired average angular velocity and an input angular velocity of the turntable; average outputs of an accelerometer of the MEMS inertial sensor during the current position to the next position are collected, and the accelerometer is calibrated based on an error model of the average outputs and the accelerometer.
According to another aspect of the embodiments of the present invention, there is also provided a multi-position automatic calibration apparatus for a MEMS inertial sensor, including: a control module configured to control a rotation of a turntable on which the MEMS inertial sensor is mounted from a current position at which the turntable is located to a next position; a gyroscope calibration module configured to acquire an average angular velocity of the MEMS inertial sensor during the current position to the next position and calibrate a gyroscope of the MEMS inertial sensor based on the acquired average angular velocity and an input angular velocity of the turntable; an accelerometer calibration module configured to collect an average output of an accelerometer of the MEMS inertial sensor during the current position to the next position and calibrate the accelerometer based on an error model of the average output and the accelerometer.
According to another aspect of the embodiments of the present invention, there is also provided a MEMS inertial sensor multi-position automatic calibration system, including: a turntable provided with an MEMS inertial sensor; the board card is used for correcting the timing of the upper computer; a turntable driver configured to control the turntable to rotate from a current position at which the turntable is located to a next position based on the board card corrected timing; an upper computer configured to acquire an average angular velocity of the MEMS inertial sensor during the current position to the next position and calibrate a gyroscope of the MEMS inertial sensor based on the acquired average angular velocity and an input angular velocity of the turntable; and collecting an average output of an accelerometer of the MEMS inertial sensor during the current position to the next position, and calibrating the accelerometer based on the average output and an error model of the accelerometer.
According to still another aspect of embodiments of the present invention, there is also provided a computer-readable storage medium having stored thereon a program which, when executed, causes a computer to execute the method as described above.
In the embodiment of the invention, the MEMS inertial sensor is calibrated by using the corrected timing, so that the technical problem of error in calibration of the MEMS inertial sensor caused by inaccurate timing is solved, and the technical effect of accurately calibrating the MEMS inertial sensor is realized.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a flow chart of a method for multi-position automatic calibration of a MEMS inertial sensor according to a first embodiment of the invention;
FIG. 2A is a flow chart of a multi-position automatic calibration method for a MEMS inertial sensor according to a second embodiment of the invention;
FIG. 2B is a flow chart of a method of determining whether data is available according to an embodiment of the invention;
FIG. 3 is a flow chart of a method for multi-position automatic calibration of a MEMS inertial sensor according to a third embodiment of the invention;
FIG. 4 is a schematic illustration of a six position calibration of a MEMS gyroscope and MEMS accelerometer according to an embodiment of the invention;
FIG. 5 is a flow chart of a method for multi-position automatic calibration of a MEMS inertial sensor according to a fourth embodiment of the invention;
FIG. 6 is a schematic structural diagram of a multi-position automatic calibration device for a MEMS inertial sensor according to an embodiment of the invention;
fig. 7 is a schematic structural diagram of a multi-position automatic calibration system for a MEMS inertial sensor according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, 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.
Example 1
According to an embodiment of the present invention, there is provided a multi-position automatic calibration method for a MEMS inertial sensor, as shown in fig. 1, the method includes:
and S102, controlling the rotary table provided with the MEMS inertial sensor to rotate from the current position of the rotary table to the next position based on the corrected timing.
Firstly, a board card receives data which is sent by an upper computer and used for controlling the movement of the rotary table within a first preset time period; the board card transcodes the received data and sends the transcoded data to a turntable driver at a preset period so as to control the rotation of the turntable through the turntable driver; wherein the predetermined period of time is an integer multiple of the predetermined period. Wherein the data of the movement is used to control the rotation of the turntable for a first predetermined period of time.
Then, the board card starts system timing; and the board card informs the upper computer to start timing. When the upper computer times to a preset time point, the board card receives data which are sent by the upper computer and control the movement of the rotary table within a second preset time period, wherein the preset time point is within the first preset time period.
Thereafter, controlling a frame of said turret to rotate from said current position to said next position at least three different rates based on said motion data; collecting the speed of a plurality of speed points rotating from the current position to the next position, and averaging the speed points; determining a position reached by another frame of the turntable based on the average value; wherein the one frame and the other frame are different two frames among an inner frame, a middle frame, and an outer frame of the turn table.
Step S104, collecting an average angular velocity of the MEMS inertial sensor from the current position to the next position, and calibrating a gyroscope of the MEMS inertial sensor based on the collected average angular velocity and the input angular velocity of the turntable.
For example, the zero offset and the scaling factor of the gyroscope of the MEMS inertial sensor are calibrated based on the acquired average angular velocity and the input angular velocity of the turntable.
Step S106, collecting average output of the accelerometer of the MEMS inertial sensor from the current position to the next position, and calibrating the accelerometer based on the average output and an error model of the accelerometer.
For example, the zero offset and scaling factor of the accelerometer are calibrated based on the average output and an error model of the accelerometer.
According to the embodiment of the invention, the rotation of the MEMS inertial sensor is controlled by correcting the timing of the upper computer, different rotating speeds do not need to be set manually, the accurate and automatic control of the turntable is realized, and the influence of timer errors on the simulation of the turntable, which is caused by the fact that a Windows system of the upper computer is not a real-time system, is solved.
Example 2
According to an embodiment of the present invention, another MEMS inertial sensor multi-position automatic calibration method is provided, as shown in fig. 2A, the method includes:
in step S201, the PC transmits the turntable movement data.
And the upper computer (PC) sends the motion data of the 0-100ms rotary table.
And step S202, the board card sends the motion data to the turntable driver.
The STM32F405 board card receives the motion data, decodes the motion data and sends the motion data to the turntable driver with the period of 1 ms.
Step S203, the system counts time.
The STM32F405 board timer starts timing from 0ms and returns a frame of data to the upper computer (PC) to inform the start of timing.
And step S204, the upper computer starts to time.
And the upper computer (PC) receives the data returned by the STM32F405 board card and prepares to time in 50 ms.
And step S205, driving the rotary table to operate.
And the turntable driver receives the 1ms data decoded from the STM32F405 board card and drives the turntable to operate.
In step S206, the turntable starts to operate.
The turntable operates under the control of a turntable driver.
In step S207, the PC system times.
The upper computer (PC) system timer starts to time from 0 ms.
And step S208, acquiring the state of the rotary table in real time.
The turntable driver obtains real-time turntable status information.
And step S209, transmitting the turntable state information to the board card.
And the turntable driver sends the turntable state information to the STM32F405 board card through a serial port (RS-422).
Step S210, the turntable status information is sent to the PC.
The STM32F405 board card sends the turntable state information to an upper computer (PC).
In step S211, the PC reaches 50 ms.
In step S212, the motion data of the 100-200ms turntable is transmitted.
And when the system timer of the upper computer (PC) reaches 50ms, sending the motion data of the turntable of 100 and 200 ms.
Step S213, confirms the frame.
After the STM32F405 board card receives the data, it returns a frame of data to the upper computer (PC) to determine whether the received data is usable, and the specific judgment is as shown in fig. 2B, including: step S2131, the upper computer sends a packet of data; step S2132, the board card judges whether the received data are available, if not, the data are retransmitted, if so, step S2133 is executed, the data are decoded and transmitted to the turntable driver; in step S2134, the turntable rotates based on the received data.
In step S214, the board reaches 100 ms.
The STM32F405 board timer reaches 100ms, restarts timing, and returns a frame of data to the upper computer (PC) to inform the start of timing.
In step S215, the PC counts again.
And the upper computer (PC) receives the data returned by the STM32F405 board card, and the timer is enabled to count again in 50 ms.
And looping steps S205 to S215, wherein the steps S202, S203 and S205 to S209 are information interaction of the turntable and the STM32F405, and the execution period is 1 ms.
In this embodiment, a large packet (100ms) sent by an upper computer (PC) is registered by an STM32F405 board card to control the rotating motion data of the turntable, and the motion data is sent to the turntable driver at regular time and with 1ms as an execution period. The upper computer sends a large packet (100ms) of turntable motion data to the board card after the board card receives the data confirmation, and the upper computer sends a large packet (100ms) of turntable motion data to the board card after 50ms so as to compensate data loss caused by errors of a Windows system timer. Therefore, the real-time and accurate control of the motion state of the rotary table by the upper computer (PC) is realized.
Example 3
Fig. 3 is a flow chart of a multi-position automatic calibration method for a MEMS inertial sensor according to a third embodiment of the invention. As shown in fig. 3, the method comprises the steps of:
step S301, mounting the MEMS inertial device on a turntable.
And (3) arranging the MEMS inertial device on an inner frame of the three-axis turntable in the position shown in (i) of FIG. 4.
And step S302, three-axis zeroing of the rotary table.
And (3) zeroing the outer frame, the middle frame and the inner frame of the rotary table on a rotary table control computer, namely an upper computer, and setting a three-axis mode as serial port rate simulation.
Step S303, communication is established.
And sending a frame of data by an upper computer (PC) to establish communication with the rotary table.
Step S304, the upper computer sends the motion data of the turntable to the board card,
and the upper computer sends the motion data of the rotary table to the board card, the motion data is sent to a rotary table driver at a fixed time of 1ms after the board card is decoded, and finally the rotary table is controlled by the rotary table driver, wherein the motion data is used for controlling the rotary table to rotate.
Step S305, the turntable is controlled to rotate.
At this time, the position of the MEMS inertial sensor is shown in (r) in FIG. 4, the Z axis is the reference axis, and the gravity acceleration is 9.8m/s2. The upper computer (PC) controls the inner frame of the rotary table to rotate at the speed of +/-100 DEG/s, +/-50 DEG/s and 0 DEG/s.
Step S306, recording data.
And collecting the speed, keeping each speed point for 2s, averaging to obtain an average speed value, then storing, and recording the average speed value.
Step S307, position control.
The upper computer (PC) controls the rotation of the rotary table through the average speed, so that the position of the middle frame reaches 90 degrees from 0 degree.
First based on the formula
Figure BDA0003297280670000081
The time t is solved, wherein the acceleration a of the middle frame and the angle rad to be reached are known. After the time t is obtained, the position to be reached can be obtained by multiplying the average speed value by the time t.
Step S308, the MEMS inertial sensor position is at a second position.
At this time, the position of the MEMS inertial sensor is shown in the graph of FIG. 4, the X-axis is the reference axis, and the gravity acceleration is 9.8m/s2. The upper computer (PC) controls the outer frame of the turntable to rotate at the speed of +/-100 DEG/S, +/-50 DEG/S and 0 DEG/S.
In step S309, data is recorded.
And keeping each speed point for 2s, averaging, storing the average speed value, and recording the average speed value.
Step S310, position control.
The upper computer (PC) controls the rotary table through the speed rate to enable the position of the inner frame to reach 90 degrees from 0 degree. By the formula
Figure BDA0003297280670000082
The time t is solved, wherein the acceleration a of the inner frame and the angle rad to be reached are known, so that the position to be reached can be determined by the time t and the average velocity value.
In step S311, the MEMS inertial sensor is at a third position.
At this time, the position of the MEMS inertial sensor is shown in the third graph in FIG. 4, the Y axis is taken as a reference axis, and the gravity acceleration is 9.8m/s2. The upper computer (PC) controls the outer frame of the turntable to rotate at the speed of +/-100 DEG/s, +/-50 DEG/s and 0 DEG/s.
In step S312, data is recorded.
And keeping each speed point for 2s, averaging, storing the average speed value, and recording the average speed value.
Step S313, position control.
The upper computer (PC) controls the rotary table through the speed rate to enable the position of the middle frame to reach 180 degrees from 90 degrees.
In step S314, the MEMS inertial sensor position is at a fourth position.
At this time, the position of the MEMS inertial sensor is shown in the fourth chart in FIG. 4, the Z axis is the reference axis, and the gravity acceleration is-9.8 m/s2. The upper computer (PC) controls the inner frame of the rotary table to rotate at the speed of +/-100 DEG/s, +/-50 DEG/s and 0 DEG/s.
In step S315, data is recorded.
And keeping each speed point for 2s, averaging, storing the average speed value, and recording the average speed value.
And step S316, controlling the position.
The upper computer (PC) controls the rotary table through the average speed value to enable the position of the middle frame to reach 270 degrees from 180 degrees.
In step S317, the MEMS inertial sensor is at the fifth position.
At this time, the position of the MEMS inertial sensor is shown as fifth in FIG. 4, the Y axis is the reference axis, and the gravity acceleration is-9.8 m/s2. The upper computer (PC) controls the outer frame of the turntable to rotate at the speed of +/-100 DEG/s, +/-50 DEG/s and 0 DEG/s.
In step S318, data is recorded.
And keeping each speed point for 2s, averaging, storing the average speed value, and recording the average speed value.
Step S319, position control.
The upper computer (PC) controls the rotary table through the speed rate to enable the position of the inner frame to reach 0 degree from 90 degrees.
In step S320, the MEMS inertial sensor position is at a sixth position.
At this time, the position of the MEMS inertial sensor is shown in sixth in figure 4, the X axis is the reference axis, and the gravity acceleration is-9.8 m/s2. The upper computer (PC) controls the outer frame of the turntable to rotate at the speed of +/-100 DEG/s, +/-50 DEG/s and 0 DEG/s.
In step S321, data is recorded.
And keeping each speed point for 2s, averaging, storing the average speed value, and recording the average speed value.
Step S322, position control.
The upper computer (PC) controls the rotary table through the average speed value to enable the position of the middle frame to reach 360 degrees from 270 degrees.
And the upper computer (PC) calibrates according to the speed value after acquiring the state information of the turntable, such as the speed value.
And calibrating the MEMS gyroscope.
Taking the position of the first in FIG. 4 as an example, the data averaged over five rate points is
Figure BDA0003297280670000101
Using actual angular velocity of three-axis turntable as input
Figure BDA0003297280670000102
Output power of MEMS gyroscopeAnd (3) taking the voltage as output, and establishing a corresponding error model by considering the scale factor error and the zero offset error:
Figure BDA0003297280670000103
wherein the content of the first and second substances,
Figure BDA0003297280670000104
Figure BDA0003297280670000105
ω0zero bias for the gyroscope; kgIs the scale factor of the gyroscope.
Sampling data
Figure BDA0003297280670000106
Relative to actual angular velocity
Figure BDA0003297280670000107
Fitting a straight line by using a least square method, wherein the slope K of the fitted straight line is the proportionality coefficient K of the MEMS gyroscopegAnd the intercept b of the fitting straight line with the zero offset of the MEMS gyroscope being negative is compared with the upper slope K, namely-b/K.
And calibrating the MEMS accelerometer.
The calibration of the MEMS accelerometer is carried out by taking (r) and (r) in FIG. 4 as an example, wherein (r) the Z axis is upward and is subjected to 9.8m/s as a reference axis2The gravity acceleration of (4) is received by-9.8 m/s with the Z axis as a reference axis downwards2The acceleration of gravity of (1). Recording the average output of the MEMS accelerometer at these two positions and times as
Figure BDA0003297280670000108
The error model of the MEMS accelerometer is f ═ f1 f2]：
Figure BDA0003297280670000109
Wherein f ═ f1 f2]，f1＝9.8m/s2，f2＝-9.8m/s2，a0Is the zero offset of the accelerometer, KaIs the proportionality coefficient of the accelerometer, f1Indicating the local positive gravitational acceleration, f2Which is indicative of the acceleration of the local weight forces,
Figure BDA0003297280670000111
the mean of the first sample point is shown,
Figure BDA0003297280670000112
the mean of the second sample point is shown.
Sampling data
Figure BDA0003297280670000113
Fitting a straight line by using a least square method relative to the actual gravity acceleration f, wherein the slope K of the fitted straight line is the proportionality coefficient K of the MEMS accelerometeraAnd the intercept b of the fitting straight line with the zero offset of the MEMS accelerometer being negative is compared with the upper slope K, namely-b/K.
Example 4
The main content of the multi-position automatic calibration of the MEMS inertial sensor is that data interaction is realized through an upper computer and an STM32F405 board card, and the board card processes data frames received from the upper computer and sends the data frames to a turntable driver, so that the operation of a turntable at different speeds and positions is realized, and the multi-position calibration of the MEMS inertial sensor is finally realized.
Fig. 5 is a flow chart of a multi-position automatic calibration method for a MEMS inertial sensor according to a third embodiment of the invention. As shown in fig. 5, the information interaction between the upper computer (PC), the STM32F405 board card, and the turntable driver includes the following steps:
step S501, the upper computer sends a data frame.
And sending a frame of data for establishing communication with the turntable by an upper computer (PC), wherein the communication protocol between the upper computer and the board card is IEEE 754.
Step S502, decoding and sending.
And the STM32F405 board card is used for decoding the data of the upper computer and then sending the decoded data to the turntable driver.
Step S503, communication is established.
The turntable driver establishes communication after receiving the decoded data.
And step S504, returning to the current turntable state.
Theoretically, an upper computer (PC) is required to send motion data of the turntable at a period of 1ms, but because a Windows system is a time-sharing system and a timer of a user has a large error, in other embodiments, the above steps may also exchange information in a manner that the board card of embodiment 2 corrects the timing of the upper computer. In other words, the above steps S501 to S504 may be replaced with the states of S201 to S215 in the embodiment.
Therefore, a large packet (100ms) of turntable motion data sent by an upper computer (PC) is registered through the STM32F405 board card and is sent to the turntable driver by taking 1ms as an execution period at regular time. The upper computer sends a large packet (100ms) of turntable motion data to the board card after the board card receives the data confirmation, and the upper computer sends a large packet (100ms) of turntable motion data to the board card after 50ms so as to compensate data loss caused by errors of a Windows system timer. Therefore, the real-time control of the upper computer (PC) on the motion state of the rotary table is realized.
And step S505, calibrating.
And after the upper computer receives the returned state information, calibrating the gyroscope and the accelerometer.
1) MEMS gyroscope calibration
The calibration of the MEMS gyroscope is illustrated with the X-axis. The data averaged over the five rate points is
Figure BDA0003297280670000121
Using actual angular velocity of three-axis turntable as input
Figure BDA0003297280670000122
The output voltage of the MEMS gyroscope is output, and a corresponding error model is established by considering scale factor errors and zero offset errors:
Figure BDA0003297280670000123
wherein the content of the first and second substances,
Figure 1
Figure BDA0003297280670000125
ω0zero bias for the gyroscope; kgIs the scale factor of the gyroscope.
And (4) taking three axes of the gyroscope into consideration, and unfolding the above formula into a matrix form to obtain a mathematical model calibrated by the MEMS gyroscope.
Figure BDA0003297280670000126
Figure BDA0003297280670000127
Wherein k isgx，kgy，kgzScale factors, ω, for three axes of a MEMS gyroscope0x、ω0y、ω0zRespectively are the zero offset of three axes of XYZ,
Figure BDA0003297280670000128
Figure BDA0003297280670000129
respectively are the original output voltage values of the gyroscope XYZ axes,
Figure BDA00032972806700001210
actual input values to XYZ axes are given by the turntable, respectively, where i represents x, y, z;
expanding the formula (1) and KgThe number of the marks is a,
Figure BDA00032972806700001214
recording as b, namely:
Figure BDA00032972806700001211
sampling data
Figure BDA00032972806700001212
Relative to actual angular velocity
Figure BDA00032972806700001213
Fitting a straight line by using a least square method, wherein the slope a of the fitted straight line is the proportionality coefficient K of the MEMS gyroscopegThe zero bias of the MEMS gyroscope is-b/a, where b is the intercept of the fitted line.
2) MEMS accelerometer calibration
The calibration of the MEMS accelerometer takes Z axes of (i) and (iv) in FIG. 4 as an example, wherein the Z axis is upward and receives a gravitational acceleration of 9.8m/s2 as a reference axis, and the Z axis is downward and receives a gravitational acceleration of-9.8 m/s2 as a reference axis. Recording the average output of the MEMS accelerometer at these two positions and times as
Figure BDA0003297280670000131
The output voltage of the MEMS accelerometer is output, and a corresponding error model is established by considering the scale factor error and the zero offset error: :
Figure BDA0003297280670000132
wherein f ═ f1 f2]，f1＝9.8m/s2，f2＝-9.8m/s2，a0Is the zero offset of the accelerometer, KaIs the proportionality coefficient of the accelerometer, f1Indicating the local positive gravitational acceleration, f2Which is indicative of the acceleration of the local weight forces,
Figure BDA0003297280670000133
the mean of the first sample point is shown,
Figure BDA0003297280670000134
the mean of the second sample point is shown.
And (4) considering three axes of the addition and expanding the above formula into a matrix form to obtain a mathematical model for calibrating the MEMS accelerometer.
Figure BDA0003297280670000135
Wherein f isi＝[fx fy fz]T，
Figure BDA0003297280670000136
kax，kay，kazRespectively representing MEMS acceleration
Scale factors in three axes, a0x、a0y、a0zRespectively representing zero offset for three axes of the MEMS accelerometer,
Figure 2
representing the mean value, f, of the respective step values of the three axes of the MEMS accelerometerx、fy、fzRepresenting local gravitational acceleration of the MEMS accelerometer in three axes, respectively.
Expanding the formula (4) to obtain KaThe number of the marks is a,
Figure BDA0003297280670000138
recording as b, namely:
Figure BDA0003297280670000141
sampling data
Figure BDA0003297280670000142
Fitting a straight line by using a least square method relative to the actual gravity acceleration f, wherein the slope a of the fitted straight line is the proportionality coefficient K of the MEMS accelerometeraThe MEMS accelerometer has a zero offset of-b/a, where b is the intercept of the fitted line.
It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. 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 by the invention.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
Example 5
According to an embodiment of the present invention, there is also provided a MEMS inertial sensor multi-position automatic calibration apparatus for implementing the methods of embodiments 1 to 4, as shown in fig. 6, the apparatus includes:
a control module 62 configured to control rotation of the turntable on which the MEMS inertial sensor is mounted from a current position at which the turntable is located to a next position based on the corrected timing;
a gyroscope calibration module 64 configured to acquire an average angular velocity of the MEMS inertial sensor during the current position to the next position and calibrate a gyroscope of the MEMS inertial sensor based on the acquired average angular velocity and an input angular velocity of the turntable;
an accelerometer calibration module 66 configured to collect an average output of an accelerometer of the MEMS inertial sensor during the current position to the next position and calibrate the accelerometer based on an error model of the average output and the accelerometer.
The multi-position automatic calibration device for the MEMS inertial sensor according to the embodiment of the present application can implement the examples described in embodiments 1 to 4, and the description of the embodiment is omitted here.
Example 6
According to an embodiment of the present invention, there is also provided a multi-position automatic calibration system for an MEMS inertial sensor, including:
a turntable 62 on which the MEMS inertial sensor 60 is mounted;
the board card 64 is used for correcting the timing of the upper computer 66;
a turntable driver 68 configured to control the turntable 62 to rotate from a current position at which the turntable 62 is located to a next position based on the corrected timing of the board card 64;
an upper computer 66 configured to acquire an average angular velocity of the MEMS inertial sensor during the current position to the next position and calibrate a gyroscope of the MEMS inertial sensor based on the acquired average angular velocity and an input angular velocity of the turntable; and collecting an average output of an accelerometer of the MEMS inertial sensor during the current position to the next position, and calibrating the accelerometer based on the average output and an error model of the accelerometer.
The multi-position automatic calibration system for the MEMS inertial sensor according to the embodiment of the present application can implement the examples described in embodiments 1 to 4, and the description of the embodiment is omitted here.
Example 7
The embodiment of the invention also provides a storage medium. Optionally, in this embodiment, the storage medium stores a program thereon, and when the program is executed, the processor is enabled to execute the methods in embodiments 1 to 4, which is not described herein again. .
Optionally, in this embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
The integrated unit in the above embodiments, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in the above computer-readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing one or more computer devices (which may be personal computers, servers, network devices, etc.) to execute all or part of the steps of the method according to the embodiments of the present invention.
In the above embodiments of the present invention, 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.
In the several embodiments provided in the present application, it should be understood that the disclosed client may be implemented in other manners. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one type of division of logical functions, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (10)

1. A multi-position automatic calibration method for an MEMS inertial sensor is characterized by comprising the following steps:
controlling a turntable, on which the MEMS inertial sensor is mounted, to rotate from a current position at which the turntable is located to a next position based on the corrected timing;
acquiring an average angular velocity of the MEMS inertial sensor during the current position to the next position, and calibrating a gyroscope of the MEMS inertial sensor based on the acquired average angular velocity and an input angular velocity of the turntable;
average outputs of an accelerometer of the MEMS inertial sensor during the current position to the next position are collected, and the accelerometer is calibrated based on an error model of the average outputs and the accelerometer.
2. The method of claim 1, wherein calibrating the gyroscope of the MEMS inertial sensor based on the acquired average angular velocity and the input angular velocity of the turntable comprises: calibrating a zero offset and a scaling factor of a gyroscope of the MEMS inertial sensor based on the acquired average angular velocity and the input angular velocity of the turntable.
3. The method of claim 1, wherein calibrating the accelerometer based on the average output and an error model of the accelerometer comprises: calibrating a zero bias and a scaling factor of the accelerometer based on the average output and an error model of the accelerometer.
4. The method according to claim 1, wherein before controlling, based on the corrected timing, rotation of the turntable on which the MEMS inertial sensor is mounted from a current position at which the turntable is located to a next position, the method further comprises:
the board card receives movement data sent by an upper computer and used for controlling the rotary table within a first preset time period;
the board card transcodes the received data and sends the transcoded data to a turntable driver at a preset period so as to control the rotation of the turntable through the turntable driver;
wherein the predetermined period of time is an integer multiple of the predetermined period.
5. The method of claim 4, wherein after the board transcodes the received data and sends the transcoded data to a turntable driver at a predetermined period to control rotation of the turntable by the turntable driver, the method further comprises:
the board card starts system timing;
and the board card informs the upper computer to start timing.
6. The method of claim 4, wherein after the board notifies the host computer to start timing, the method further comprises: when the upper computer times to a preset time point, the board card receives the motion data which are sent by the upper computer and control the rotary table within a second preset time period, wherein the preset time point is within the first preset time period.
7. The method of claim 4, wherein controlling rotation of a turntable with the MEMS inertial sensor mounted thereto from a current position at which the turntable is located to a next position comprises:
controlling a frame of said turret to rotate from said current position to said next position at a plurality of different rates based on said motion data;
collecting the speed of a plurality of speed points rotating from the current position to the next position, and averaging the speed points;
determining a position reached by another frame of the turntable based on the average value;
wherein the one frame and the other frame are different two frames among an inner frame, a middle frame, and an outer frame of the turn table.
8. A multi-position automatic calibration device for MEMS inertial sensors is characterized by comprising:
a control module configured to control rotation of the turntable, on which the MEMS inertial sensor is mounted, from a current position at which the turntable is located to a next position based on the corrected timing;
a gyroscope calibration module configured to acquire an average angular velocity of the MEMS inertial sensor during the current position to the next position and calibrate a gyroscope of the MEMS inertial sensor based on the acquired average angular velocity and an input angular velocity of the turntable;
an accelerometer calibration module configured to collect an average output of an accelerometer of the MEMS inertial sensor during the current position to the next position and calibrate the accelerometer based on an error model of the average output and the accelerometer.
9. A MEMS inertial sensor multi-position automatic calibration system, comprising:
a turntable provided with an MEMS inertial sensor;
the board card is used for correcting the timing of the upper computer;
a turntable driver configured to control the turntable to rotate from a current position at which the turntable is located to a next position based on the board card corrected timing;
an upper computer configured to acquire an average angular velocity of the MEMS inertial sensor during the current position to the next position and calibrate a gyroscope of the MEMS inertial sensor based on the acquired average angular velocity and an input angular velocity of the turntable; and collecting an average output of an accelerometer of the MEMS inertial sensor during the current position to the next position, and calibrating the accelerometer based on the average output and an error model of the accelerometer.
10. A computer-readable storage medium having stored thereon a program which, when executed, causes a computer to perform the method of any one of claims 1 to 7.
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