CN113984088B - Multi-position automatic calibration method, device and system for MEMS inertial sensor - Google Patents

Multi-position automatic calibration method, device and system for MEMS inertial sensor Download PDF

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CN113984088B
CN113984088B CN202111181227.7A CN202111181227A CN113984088B CN 113984088 B CN113984088 B CN 113984088B CN 202111181227 A CN202111181227 A CN 202111181227A CN 113984088 B CN113984088 B CN 113984088B
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turntable
accelerometer
gyroscope
inertial sensor
mems
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CN113984088A (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 inertial sensor. Wherein the method comprises the following steps: controlling a turntable mounted with the MEMS inertial sensor to rotate from a current position where 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; an average output of an accelerometer of the MEMS inertial sensor during the current position to the next position is acquired and the accelerometer is calibrated based on the average output and an error model of the accelerometer. The invention solves the technical problem of error in calibrating the MEMS inertial sensor caused by inaccurate timing.

Description

Multi-position automatic calibration method, device and system for MEMS 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 inertial sensor.
Background
Before the MEMS inertial sensor is put into use, the MEMS inertial sensor is generally required to be tested and calibrated. The traditional method is that a tester manually controls a turntable computer to operate the turntable, so that error parameters related to the MEMS inertial sensor are obtained. However, since this method consumes unnecessary manpower and is inefficient, there is a need for an operating method that can be implemented to automate the turntable to test and calibrate the MEMS inertial sensor.
In view of the above problems, no effective solution has been proposed at present.
Disclosure of Invention
The embodiment of the invention provides a multi-position automatic calibration method, device and system for an MEMS inertial sensor, which at least solve the technical problem of error in calibrating the MEMS inertial sensor caused by inaccurate timing.
According to an aspect of the embodiment of the invention, there is provided a multi-position automatic calibration method for an MEMS inertial sensor, including: controlling a turntable mounted with the MEMS inertial sensor to rotate from a current position where 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; an average output of an accelerometer of the MEMS inertial sensor during the current position to the next position is acquired and the accelerometer is calibrated based on the average output and an error model of the accelerometer.
According to another aspect of the embodiment of the present invention, there is also provided a multi-position automatic calibration device for an MEMS inertial sensor, including: a control module configured to control a turntable mounted with the MEMS inertial sensor to rotate from a current position where 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 to 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 acquire 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 the average output and an error model of the accelerometer.
According to still another aspect of the embodiment 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 where the turntable is located to a next position based on the timing after the board correction; a host 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 acquiring 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 the 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 perform 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 that errors exist in the calibration of the MEMS inertial sensor due to 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 embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
FIG. 1 is a flow chart of a MEMS inertial sensor multi-position auto-calibration method according to a first embodiment of the present invention;
FIG. 2A is a flow chart of a MEMS inertial sensor multi-position auto-calibration method according to a second embodiment of the present 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 MEMS inertial sensor multi-position auto-calibration method according to a third embodiment of the present invention;
FIG. 4 is a schematic diagram of a six-position calibration of a MEMS gyroscope and MEMS accelerometer in accordance with an embodiment of the invention;
FIG. 5 is a flow chart of a MEMS inertial sensor multi-position auto-calibration method according to a fourth embodiment of the present invention;
FIG. 6 is a schematic structural view of a MEMS inertial sensor multi-position automatic calibration device according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a MEMS inertial sensor multi-position automatic calibration system according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise 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 of an MEMS inertial sensor, as shown in fig. 1, the method including:
step S102, controlling the turntable with the MEMS inertial sensor to rotate from the current position of the turntable to the next position based on the corrected timing.
Firstly, the board card receives data which are sent by an upper computer and control the movement of the turntable in a first preset time period; the board card transcodes the received data and sends the transcoded data to a turntable driver in 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 within a first predetermined period of time.
Then, the board starts system timing; and the board card informs the upper computer to start timing. When the upper computer counts to a preset time point, the board card receives data for controlling the turntable to move in a second preset time period, wherein the preset time point is in the first preset time period.
Thereafter, based on the motion data, controlling one frame of the turntable to rotate from the current position to the next position at least three different rates; acquiring the speed of rotating from the current position to a plurality of speed points at the next position, and calculating the average value of each speed point; determining a position reached by another frame of the turntable based on the average; 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 turntable.
Step S104, collecting an average angular velocity of the MEMS inertial sensor during the present position to the next position, and calibrating a gyroscope of the MEMS inertial sensor based on the collected average angular velocity and an input angular velocity of the turntable.
For example, zero offset and scaling coefficients of a 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 an average output of the accelerometer of the MEMS inertial sensor during the period 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, zero offset and scaling coefficients 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 rotation speeds are not required to be set manually, the accurate automatic control of the turntable is realized, and the influence of the timer error on turntable simulation caused by the fact that the Windows system of the upper computer is not a real-time system is solved.
Example 2
According to an embodiment of the present invention, there is provided another method for automatically calibrating multiple positions of an MEMS inertial sensor, as shown in fig. 2A, the method including:
step S201, the PC transmits turntable motion data.
The upper computer (PC) transmits the motion data of the turntable of 0-100 ms.
In step S202, the board card transmits the motion data to the turntable driver.
The STM32F405 board receives the motion data, decodes the motion data and sends it to the turntable drive at a period of 1ms.
In step S203, the system counts time.
The STM32F405 board timer starts to count from 0ms and returns a frame of data to the host computer (PC) informing it to start counting.
In step S204, the upper computer starts timing.
The host computer (PC) receives the data returned by the STM32F405 board and prepares to time in 50ms.
Step S205, driving the turntable to operate.
The turntable driver receives 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 drive.
Step S207, PC system timing.
A host computer (PC) system timer starts counting from 0ms.
Step S208, acquiring the state of the turntable in real time.
The turntable driver acquires real-time status information of the turntable.
Step S209, transmitting the turntable status information to the board.
The turntable driver sends turntable status information to the STM32F405 board through a serial port (RS-422).
Step S210, transmitting the turntable status information to the PC.
The STM32F405 board sends the turntable status information to a host computer (PC).
Step S211, PC reaches 50ms.
Step S212, transmitting the motion data of the 100-200ms turntable.
When the system timer of the upper computer (PC) reaches 50ms, the motion data of the 100-200ms turntable is sent.
In step S213, the frame is acknowledged back.
After the STM32F405 board receives the data, it returns a frame of data to the host computer (PC) to determine whether the received data is available, where the specific determination is shown in fig. 2B, and includes: step S2131, the upper computer sends a packet of data; step S2132, the board card judges whether the received data is available, if not, resends the data, and if available, performs step S2133, decodes the data and sends to the turntable driver; in step S2134, the turntable is rotated based on the received data.
In step S214, the board card reaches 100ms.
STM32F405 the card timer reaches 100ms, resumes timing, and returns a frame of data to the host computer (PC) informing it to begin timing.
In step S215, the PC recime.
The host computer (PC) receives the data returned by the STM32F405 board, and the timer is allowed to count again at 50ms.
Steps S205 to S215 are looped, wherein steps S202, S203, S205 to S209 are information interaction of the turntable with STM32F405, and the execution period is 1ms.
In this embodiment, a large packet (100 ms) sent by the STM32F405 board registers motion data for controlling the rotation of the turntable, and periodically resends the motion data to the turntable driver in an execution period of 1ms. The upper computer sends a big packet (100 ms) turntable motion data to the board card after the board card receives the data confirmation at the system timing of 50ms, and the data loss caused by the error of the Windows system timer is compensated. Thereby realizing real-time and accurate control of the motion state of the turntable by the upper computer (PC).
Example 3
FIG. 3 is a flow chart of a method for multi-position automatic calibration of MEMS inertial sensors 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 the turntable.
The MEMS inertial device was mounted on the inner frame of the three-axis turntable at the position shown in fig. 4 (1).
And step S302, three-axis zeroing of the turntable.
And (3) zeroing the outer, middle and inner frames of the turntable on the turntable control computer, namely the upper computer, and setting a triaxial mode as serial port rate simulation.
Step S303, establishing communication.
And the upper computer (PC) transmits one frame of data to establish communication with the turntable.
Step S304, the upper computer sends the motion data of the turntable to the board card,
the upper computer sends the motion data of the turntable to the board card, the motion data is decoded by the board card and then sent to the turntable driver at 1ms, and finally the turntable driver controls the turntable, wherein the motion data is used for controlling the turntable to rotate.
Step S305, controlling the turntable to rotate.
At this time, the MEMS inertial sensor position is shown in (1) of FIG. 4, the Z axis is the reference axis, and the gravitational acceleration is 9.8m/s 2 . The upper computer (PC) controls the inner frame of the turntable to rotate at the speed of +/-100 DEG/s, +/-50 DEG/s and 0 DEG/s.
Step S306, record 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, control position.
The upper computer (PC) controls the rotation of the turntable through the average speed, so that the position of the middle frame is 90 degrees from 0 degrees.
First based on the formulaThe time t is solved, wherein the acceleration a of the middle box 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 velocity value by the time t.
In step S308, the MEMS inertial sensor position is in a second position.
At this time, the MEMS inertial sensor position is shown in (2) of FIG. 4, the X-axis is the reference axis, and the gravitational acceleration is 9.8m/s 2 . The upper computer (PC) controls the outer frame of the turntable to rotate at the rates of +/-100 DEG/S, +/-50 DEG/S and 0 DEG/S.
Step S309, record data.
Each rate point is kept for 2s, the average rate value is stored after the average is taken, and the average rate value is recorded.
Step S310, control the position.
The upper computer (PC) controls the turntable through the speed so that the position of the inner frame is from 0 degree to 90 degrees. From the formulaThe time t is determined, 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 from the time t and the average velocity value.
In step S311, the MEMS inertial sensor position is in a third position.
At this time, the MEMS inertial sensor is positioned as shown in (3) of FIG. 4, and the gravity acceleration is 9.8m/s with the Y-axis as the reference axis 2 . The upper computer (PC) controls the outer frame of the turntable to rotate at the rates of +/-100 DEG/s, +/-50 DEG/s and 0 DEG/s.
In step S312, data is recorded.
Each rate point is kept for 2s, the average rate value is stored after the average is taken, and the average rate value is recorded.
Step S313, control position.
The upper computer (PC) controls the turntable through the speed so that the position of the middle frame is up to 180 degrees from 90 degrees.
In step S314, the MEMS inertial sensor position is in the fourth position.
At this time, the MEMS inertial sensor position is shown in (4) of FIG. 4, the Z axis is the reference axis, and the gravitational acceleration is-9.8 m/s 2 . The upper computer (PC) controls the inner frame of the turntable to rotate at the speed of +/-100 DEG/s, +/-50 DEG/s and 0 DEG/s.
Step S315, record data.
Each rate point is kept for 2s, the average rate value is stored after the average is taken, and the average rate value is recorded.
Step S316, control the position.
The upper computer (PC) controls the turntable through an average speed value, so that the position of the middle frame reaches 270 degrees from 180 degrees.
In step S317, the MEMS inertial sensor position is in the fifth position.
At this time, the MEMS inertial sensor position is shown in (5) of FIG. 4, the Y-axis is the reference axis, and the gravitational acceleration is-9.8 m/s 2 . The upper computer (PC) controls the outer frame of the turntable to rotate at the rates of +/-100 DEG/s, +/-50 DEG/s and 0 DEG/s.
In step S318, data is recorded.
Each rate point is kept for 2s, the average rate value is stored after the average is taken, and the average rate value is recorded.
Step S319, control the position.
The upper computer (PC) controls the turntable through the speed so that the position of the inner frame is 0 degree from 90 degrees.
In step S320, the MEMS inertial sensor position is in a sixth position.
At this time, the MEMS inertial sensor position is shown in (6) of FIG. 4, the X-axis is the reference axis, and the gravitational acceleration is-9.8 m/s 2 . The upper computer (PC) controls the outer frame of the turntable to rotate at the rates of +/-100 DEG/s, +/-50 DEG/s and 0 DEG/s.
Step S321, recording data.
Each rate point is kept for 2s, the average rate value is stored after the average is taken, and the average rate value is recorded.
Step S322, control the position.
The upper computer (PC) controls the turntable through an average speed value, so that the position of the middle frame reaches 360 degrees from 270 degrees.
After acquiring the state information, such as the speed value, of the turntable, the upper computer (PC) performs calibration according to the speed value.
And calibrating the MEMS gyroscope.
Taking the position of (1) in FIG. 4 as an example, the data averaged over five rate points isTakes the actual angular rate of the three-axis turntable as input +.>The output voltage of the MEMS gyroscope is taken as output, and a corresponding error model is established by taking scale factor error and zero offset error into consideration:
wherein, ω 0 zero bias of the gyroscope; k (K) g Is the proportionality coefficient of the gyroscope.
Sampling dataRelative to the actual angular velocity->The least square method is used for straight line fitting, and the slope K of the fitted straight line is the proportionality coefficient K of the MEMS gyroscope g The intercept b of the fitting straight line with the zero offset of the MEMS gyroscope being negative is compared with the slope K, namely-b/K.
And calibrating the MEMS accelerometer.
Calibration of MEMS accelerometerFor example, (1) and (4) in (1) the Z axis is the reference axis and is exposed to 9.8m/s upwards 2 In (4), the Z axis is the reference axis and is downwards subjected to-9.8 m/s 2 Is a gravity acceleration of the vehicle. Recording the average output of the MEMS accelerometer at these two locations asThe error model of the MEMS accelerometer is f= [ f 1 f 2 ]：
Wherein f= [ f 1 f 2 ]，f 1 ＝9.8m/s 2 ，f 2 ＝-9.8m/s 2 ，a 0 Zero offset, K of accelerometer a Is the proportionality coefficient of the accelerometer, f 1 Representing local positive gravitational acceleration, f 2 Indicating the acceleration of the local load force,represents the first sample point average, +.>Representing the second sample point average.
Sampling dataThe slope K of the fitted straight line is the proportionality coefficient K of the MEMS accelerometer, which is obtained by using a least square method to make straight line fitting relative to the actual gravitational acceleration f a The intercept b of the fitting straight line with the zero offset of the MEMS accelerometer being negative is compared with the slope K, namely-b/K.
Example 4
The main content of the multi-position automatic calibration of the MEMS inertial sensor is that the data interaction is realized through the upper computer and the STM32F405 board card, the board card processes the data frame received from the upper computer and sends the data frame to the turntable driver, so that the operation of the turntable at different speeds and positions is realized, and finally the multi-position calibration of the MEMS inertial sensor is realized.
FIG. 5 is a flow chart of a method for multi-position automatic calibration of MEMS inertial sensors according to a third embodiment of the invention. As shown in fig. 5, the information interaction of the upper computer (PC), the STM32F405 board card, and the turntable driver includes the following steps:
in step S501, the upper computer transmits a data frame.
And the upper computer (PC) sends a frame of data for establishing communication with the turntable, and the communication protocol between the upper computer and the board card is IEEE754.
Step S502, decoding and transmitting.
And decoding the data of the upper computer through the STM32F405 board card and then sending the decoded data to the turntable driver.
Step S503, establishing communication.
The turntable drive establishes communication upon receipt of the decoded data.
Step S504, the current turntable state is returned.
In theory, the host computer (PC) needs to send the motion data of the turntable in a period of 1ms, but since the Windows system is a time-sharing system, the timer error of the user is relatively large, and in other embodiments, the above steps can also interact information by correcting the timing of the host computer by using the board card of embodiment 2. In other words, the above steps S501 to S504 may be replaced with the states of S201 to S215 in the embodiment.
Thus, a large packet (100 ms) of turntable motion data sent by the host computer (PC) is registered by the STM32F405 board and periodically re-sent to the turntable driver in an execution cycle of 1ms. The upper computer sends a big packet (100 ms) turntable motion data to the board card after the board card receives the data confirmation at the system timing of 50ms, and the data loss caused by the error of the Windows system timer is compensated. Thereby realizing the real-time control of the upper computer (PC) to the motion state of the turntable.
Step S505, calibration is performed.
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 exemplified by the X-axis. The data averaged over five rate points isTakes the actual angular rate of the three-axis turntable as input +.>The output voltage of the MEMS gyroscope is taken as output, and a corresponding error model is established by taking scale factor error and zero offset error into consideration:
wherein, ω 0 zero bias of the gyroscope; k (K) g Is the proportionality coefficient of the gyroscope.
And considering three axes of the gyroscope, and expanding the axes into a matrix form to obtain a mathematical model for calibrating the MEMS gyroscope.
Wherein k is gx ，k gy ，k gz Scale factors, ω, for three axes of MEMS gyroscopes 0x 、ω 0y 、ω 0z Zero offset of XYZ three axes respectively +.> The original output voltage values of the XYZ axes of the gyroscope are respectively,the actual input values of the turntable to the XYZ axes are respectively shown, wherein i represents x, y and z;
expanding equation (1), K g The number "a" is denoted as "a",and b, obtaining:
sampling dataRelative to the actual angular velocity->Using least square method to make straight line fitting, the slope a of the fitted straight line is the proportionality coefficient K of MEMS gyroscope g The zero bias of the MEMS gyroscope is-b/a, where b is the intercept of the fitted line.
2) MEMS accelerometer calibration
Calibration of the MEMS accelerometer takes the Z axis in (1) and (4) in FIG. 4 as an example, the Z axis in (1) is used as a reference axis and receives the gravitational acceleration of 9.8m/s2 upwards, and the Z axis in (4) is used as a reference axis and receives the gravitational acceleration of-9.8 m/s2 downwards. Recording the average output of the MEMS accelerometer at these two locations asThe output voltage of the MEMS accelerometer is taken as output, and a corresponding error model is established by taking the scale factor error and the zero offset error into consideration: :
wherein f= [ f 1 f 2 ]，f 1 ＝9.8m/s2，f 2 ＝-9.8m/s2，a 0 Zero offset, K of accelerometer a Is the proportionality coefficient of the accelerometer, f 1 Representing local positive gravitational acceleration, f 2 Indicating the acceleration of the local load force,represents the first sample point average, +.>Representing the second sample point average.
Consider the three axes of the sum and develop the above into a matrix form to obtain a mathematical model of the MEMS accelerometer calibration.
Wherein f i ＝[f x f y f z ] T ，k ax ，k ay ，k az Respectively represent MEMS acceleration
Scale factors of three axes, a 0x 、a 0y 、a 0z Representing the zero-bias of the three axes of the MEMS accelerometer,mean value of step values of three axes of MEMS accelerometer, f x 、f y 、f z The local gravitational accelerations of the three axes of the MEMS accelerometer are shown, respectively.
Expanding equation (4), and K a The number "a" is denoted as "a",and b, obtaining:
sampling dataThe slope a of the fitted straight line is the proportionality coefficient K of the MEMS accelerometer a The zero bias of the MEMS accelerometer is-b/a, where b is the intercept of the fitted line.
It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present invention is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present invention. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required for the present invention.
From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
Example 5
There is also provided, according to an embodiment of the present invention, a MEMS inertial sensor multi-position automatic calibration device for implementing the methods of embodiments 1 to 4, as shown in fig. 6, the device including:
a control module 62 configured to control rotation of the turntable mounted with the MEMS inertial sensor from a current position where 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 to 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 acquire 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 the average output and an error model of the accelerometer.
The MEMS inertial sensor multi-position automatic calibration device provided in the embodiment of the present application can implement the examples described in the foregoing embodiments 1 to 4, and this embodiment is not described herein again.
Example 6
According to an embodiment of the present invention, there is also provided a system for automatically calibrating multiple positions of an MEMS inertial sensor, including:
a turntable 62 mounted with the MEMS inertial sensor 60;
a board 64 for correcting timing of the upper computer 66;
a turntable driver 68 configured to control the turntable 62 to rotate from a current position where the turntable 62 is located to a next position based on the timing corrected by the board 64;
a host 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 acquiring 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 MEMS inertial sensor multi-position automatic calibration system provided in the embodiment of the present application can implement the examples described in the foregoing embodiments 1 to 4, and this embodiment is not described herein again.
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 caused to execute the methods in embodiments 1 to 4, which are not described herein. .
Alternatively, in the present embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
The integrated units in the above embodiments may be stored in the above-described computer-readable storage medium if implemented in the form of software functional units and sold or used as separate products. Based on such understanding, the technical solution of the present invention may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing one or more computer devices (which may be personal computers, servers or network devices, etc.) to perform all or part of the steps of the method described in the embodiments of the present invention.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In 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 exemplary, and the division of the units, such as the division of the units, is merely a logical function division, and may be implemented in another manner, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate units may or may not be physically separate, and units shown 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 may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.

Claims (7)

1. The multi-position automatic calibration method of the MEMS inertial sensor is characterized by comprising the following steps of:
controlling a turntable mounted with the MEMS inertial sensor to rotate from a current position where 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;
acquiring 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;
wherein calibrating the gyroscope of the MEMS inertial sensor comprises: the data averaged over five rate points isTakes the actual angular rate of the three-axis turntable as input +.>The output voltage of the gyroscope is taken as output, and a corresponding error model is established by taking scale factor errors and zero offset errors into consideration:
wherein, ω 0 zero bias of the gyroscope; k (K) g Is the proportionality coefficient of the gyroscope;
taking three axes of the gyroscope into consideration to obtain a mathematical model of gyroscope calibration:
wherein k is gx ，k gy ，k gz Scale factors, omega, for three axes of the gyroscope 0x 、ω 0y 、ω 0z Zero offset of XYZ three axes respectively +.>The original output voltage values of the XYZ axes of the gyroscope are respectively,the actual input values of the turntable to the XYZ axes are respectively shown, wherein i represents x, y and z;
will K g Is denoted as a, (-K) g ω 0 ) And b, obtaining:
sampling dataRelative to the actual angular velocity->Using least square method to make straight line fitting, the slope a of the fitted straight line is the proportionality coefficient K of MEMS gyroscope g Zero bias of the MEMS gyroscope is-b/a, wherein b is the intercept of a fitting straight line;
wherein calibrating the accelerometer comprises: taking the output voltage of the accelerometer as output, and establishing a corresponding error model by taking scale factor error and zero offset error into consideration:
wherein f= [ f 1 f 2 ]，f 1 ＝9.8m/s2，f 2 ＝-9.8m/s2，a 0 Zero offset, K of accelerometer a Is the proportionality coefficient of the accelerometer, f 1 Representing local positive gravitational acceleration, f 2 Indicating the acceleration of the local load force,represents the first sample point average, +.>Representing a second sample point average;
taking three axes of the accelerometer into consideration, obtaining a mathematical model of accelerometer calibration:
wherein f i ＝[f x f y f z ] T ，k ax ，k ay ，k az Scale factors, a, representing the three axes of the accelerometer, respectively 0x 、a 0y 、a 0z Zero bias of three axes of MEMS accelerometer are respectively represented,/->Mean value f of each step value of three axes of MEMS accelerometer x 、f y 、f z The local gravity accelerations of the three axes of the MEMS accelerometer are respectively represented;
will K a Denoted as a1, (-K) a a 0 ) Denoted b1, yields:
sampling dataThe slope a1 of the fitted straight line is the proportionality coefficient K of the MEMS accelerometer, which is obtained by using a least square method to make straight line fitting relative to the actual gravitational acceleration f1 a Accelerometer (accelerometer)Zero bias is-b 1/a1, where b1 is the intercept of the fitting line.
2. The method of claim 1, wherein before controlling the turntable mounted with the MEMS inertial sensor to rotate from a current position where the turntable is to a next position based on the corrected timing, the method further comprises:
the board card receives motion data which is sent by the upper computer and controls the turntable in a first preset time period;
the board card transcodes the received data and sends the transcoded data to a turntable driver in 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.
3. The method of claim 2, wherein after the card transcodes the received data and transmits it 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.
4. The method of claim 2, wherein after the board card notifies the host computer to start timing, the method further comprises: when the upper computer counts to a preset time point, the board card receives the movement data of the upper computer, which controls the turntable to be in a second preset time period, wherein the preset time point is in the first preset time period.
5. The method of claim 2, wherein controlling rotation of the turret mounted MEMS inertial sensor from a current position at which the turret is to a next position comprises:
controlling a frame of the turntable to rotate from the current position to the next position at a plurality of different rates based on the motion data;
acquiring the speed of rotating from the current position to a plurality of speed points at the next position, and calculating the average value of each speed point;
determining a position reached by another frame of the turntable based on the average;
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 turntable.
6. 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 where the turntable is located to a next position based on the timing after the board correction;
the host computer is configured to:
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; and acquiring 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;
wherein calibrating the gyroscope of the MEMS inertial sensor comprises: the data averaged over five rate points isTakes the actual angular rate of the three-axis turntable as input +.>The output voltage of the gyroscope is taken as output, and the scale factor is consideredError, zero offset error establish corresponding error model:
wherein, ω 0 zero bias of the gyroscope; k (K) g Is the proportionality coefficient of the gyroscope;
taking three axes of the gyroscope into consideration to obtain a mathematical model of gyroscope calibration:
wherein k is gx ，k gy ，k gz Scale factors, omega, for three axes of the gyroscope 0x 、ω 0y 、ω 0z Zero offset of XYZ three axes respectively +.>The original output voltage values of the XYZ axes of the gyroscope are respectively,the actual input values of the turntable to the XYZ axes are respectively shown, wherein i represents x, y and z;
will K g Is denoted as a, (-K) g ω 0 ) And b, obtaining:
sampling dataRelative to the actual angular velocity->Using least square method to make straight line fitting, the slope a of the fitted straight line is the proportionality coefficient K of MEMS gyroscope g Zero bias of the MEMS gyroscope is-b/a, wherein b is the intercept of a fitting straight line;
wherein calibrating the accelerometer comprises: taking the output voltage of the accelerometer as output, and establishing a corresponding error model by taking scale factor error and zero offset error into consideration:
wherein f= [ f 1 f 2 ]，f 1 ＝9.8m/s2，f 2 ＝-9.8m/S2，a 0 Zero offset, K of accelerometer a Is the proportionality coefficient of the accelerometer, f 1 Representing local positive gravitational acceleration, f 2 Indicating the acceleration of the local load force,represents the first sample point average, +.>Representing a second sample point average;
taking three axes of the accelerometer into consideration, obtaining a mathematical model of accelerometer calibration:
wherein f i ＝[f x f y f z ] T ，k ax ，k ay ，k az Scale factors, a, representing the three axes of the accelerometer, respectively 0x 、a 0y 、a 0z Zero bias of three axes of MEMS accelerometer are respectively represented,/->Mean value f of each step value of three axes of MEMS accelerometer x 、f y 、f z The local gravity accelerations of the three axes of the MEMS accelerometer are respectively represented;
will K a Denoted as a1, (-K) a a 0 ) Denoted b1, yields:
sampling dataThe slope a1 of the fitted straight line is the proportionality coefficient K of the MEMS accelerometer, which is obtained by using a least square method to make straight line fitting relative to the actual gravitational acceleration f1 a The zero bias of the accelerometer is-b 1/a1, where b1 is the intercept of the fitted line.
7. A computer readable storage medium having stored thereon a program which, when executed, causes a computer to perform the method of any of claims 1 to 5.
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