CN114487484A - Acceleration sensor self-calibration method, device, equipment and storage medium - Google Patents
Acceleration sensor self-calibration method, device, equipment and storage medium Download PDFInfo
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Abstract
The invention provides a self-calibration method, a self-calibration device, acceleration sensor equipment and a storage medium of an acceleration sensor, wherein the method comprises the following steps: generating a calibration operation prompt message according to the obtained self-calibration execution instruction and displaying the calibration operation prompt message, prompting a user to perform calibration operation on the terminal device according to a plurality of placing directions contained in the calibration operation prompt message, and determining a three-axis calibration parameter according to the obtained acceleration mean value parameters of all the placing directions and the acceleration reference parameters corresponding to all the placing directions by collecting acceleration data generated by the acceleration sensor in each placing direction, so that the method for automatically calibrating the acceleration sensor is realized, the accuracy of the acceleration sensor is improved, and the use effect of the terminal device is guaranteed.
Description
Technical Field
The invention relates to the technical field of acceleration sensors, in particular to a self-calibration method, a self-calibration device, self-calibration equipment and a storage medium of an acceleration sensor.
Background
The acceleration sensor is an important measuring element in mechanical environment monitoring, and is widely applied to monitoring systems and equipment in various fields. With the continuous development of the acceleration sensor technology, the acceleration sensor is installed on the terminal equipment, and the application function of the terminal equipment is expanded by utilizing the gravity sensing technology of the acceleration.
In the prior art, in order to ensure the accuracy of the acceleration sensor, in the production process of the terminal device, the terminal device including the acceleration sensor is fixed on the monitoring device in the horizontal direction, the background device sends a calibration instruction to the monitoring device, so that the monitoring device operates according to the calibration instruction, the acceleration data of the acceleration sensor is sent to the background device by the acceleration sensor fixed on the monitoring device, the background device calculates calibration parameters by acquiring the acceleration parameters of the acceleration sensor, and the acceleration sensor of the terminal device is calibrated by using the calibration parameters.
However, after the acceleration sensor device leaves the factory, the accuracy of the acceleration sensor is affected by the environmental temperature, the humidity and the micro deformation of the device structure, and the use effect of the terminal device is affected.
Disclosure of Invention
The invention provides a self-calibration method, a self-calibration device, acceleration sensor equipment and a storage medium of an acceleration sensor, and provides a method for automatically realizing the self-calibration of the acceleration sensor, so that the accuracy of the acceleration sensor is improved, and the use effect of terminal equipment is guaranteed.
In a first aspect, the present invention provides a self-calibration method for an acceleration sensor, applied to a controller of a terminal device, where the terminal device includes the acceleration sensor, the method including:
responding to the obtained self-calibration execution instruction, generating and displaying a calibration operation prompt message, so that a user can perform calibration operation on the terminal equipment according to a plurality of placing directions contained in the calibration operation prompt message;
respectively acquiring acceleration data generated by the acceleration sensor in each placing direction according to preset duration, wherein the acceleration data corresponding to each placing direction comprises a preset number of acceleration parameters;
determining the average value of the acceleration parameters of the placing directions according to all the acceleration parameters of each placing direction, determining three-axis calibration parameters according to the obtained average values of the acceleration parameters of all the placing directions and three-axis reference parameters, and determining three-axis adjustment parameters of the acceleration sensor according to the three-axis calibration parameters, preset coefficients and original three-axis calibration parameters.
In one possible design, the plurality of placement directions include horizontal up, horizontal down, vertical up, vertical down, lateral up, and lateral down, all the acceleration mean parameters of the placement directions include horizontal up acceleration mean parameter, horizontal down acceleration mean parameter, vertical up acceleration mean parameter, vertical down acceleration mean parameter, lateral up acceleration mean parameter, lateral down acceleration mean parameter, lateral up acceleration mean parameter, and lateral down acceleration mean parameter, the three-axis calibration parameters include X-axis calibration parameter, Y-axis calibration parameter, and Z-axis calibration parameter, the three-axis reference parameters include X-axis reference parameter, Y-axis reference parameter, and Z-axis reference parameter:
correspondingly, the determining the three-axis calibration parameters according to the obtained acceleration mean parameters of all the placing directions and the three-axis reference parameters includes:
determining a Z-axis calibration parameter according to the Z-axis reference parameter, the acceleration mean parameter with the horizontal upward direction and the acceleration mean parameter with the horizontal downward direction;
determining Y-axis calibration parameters according to the Y-axis reference parameters, the acceleration mean parameter which faces vertically upwards and the acceleration mean parameter which faces vertically downwards;
and determining an X-axis calibration parameter according to the X-axis reference parameter, the upward-side-placing acceleration mean parameter and the downward-side-placing acceleration mean parameter.
In one possible design, the horizontal upward acceleration mean parameter is (a 1, B1, C1), the horizontal downward acceleration mean parameter is (a 2, B2, C2), the vertical upward acceleration mean parameter is (A3, B3, C3), the vertical downward acceleration mean parameter is (a 4, B4, C4), the side upward acceleration mean parameter is (a 5, B5, C5), and the side downward acceleration mean parameter is (a 6, B6, C6);
wherein the X-axis calibration parameters are (X1, Y1, Z1), the Y-axis calibration parameters are (X2, Y2, Z2), the Z-axis calibration parameters are (X3, Y3, Z3), the X-axis reference parameters are (G, 0, 0), the Y-axis reference parameters are (0, G, 0), and the Z-axis reference parameters are (0, 0, G);
correspondingly, the formula for determining the Z-axis calibration parameter according to the Z-axis reference parameter, the horizontal upward acceleration mean parameter, and the horizontal downward acceleration mean parameter is as follows:
（X3，Y3，Z3）={[(0-A1)+(0+A2)]/2,[(0-B1)+(0+B2)]/2,[(G-C1)+(G+C2)]/2}；
correspondingly, the formula for determining the Y-axis calibration parameter according to the Y-axis reference parameter, the vertical upward acceleration mean parameter, and the vertical downward acceleration mean parameter is as follows:
（X2，Y2，Z2）={[(0-A3)+(0+A4)]/2,[(G-B3)+(G+B4)]/2,[(0-C3)+(0+C4)]/2}；
correspondingly, the formula for determining the X-axis calibration parameter according to the X-axis reference parameter, the side-placed upward acceleration mean parameter, and the side-placed downward acceleration mean parameter is as follows:
（X1，Y1，Z1）={[(G-A5)+(G+A6)]/2,[(0-B5)+(0+B6)]/2,[(0-C5)+(0+C6)]/2}。
in one possible design, the preset coefficients include a first coefficient m and a second coefficient n, where the first coefficient is greater than 2 times the second coefficient, the sum of the first coefficient and the 2 times the second coefficient is 1, and the original three-axis calibration parameters are (X0, Y0, Z0);
accordingly, the formula of the three-axis calibration parameters (Xa, Yb, Zc) is as follows:
（Xa，Yb，Zc）=(m*X1+n*X2+n*X3，n*Y1+m*Y2+n*Y3，n*Z1+n*Z2+m*Z3)；
correspondingly, the formula for determining the three-axis adjustment parameters (X, Y, Z) of the acceleration sensor according to the three-axis calibration parameters, the preset coefficients and the original three-axis calibration parameters is as follows:
（X，Y，Z）=（Xa+X0，Yb+Y0，Zc+Z0）。
in one possible design, the first coefficient is 0.7 and the second coefficient is 0.15.
In one possible design, before the executing the instruction in response to the obtained self-calibration, the method further includes:
obtaining the service life of the acceleration sensor, and if the service life is judged to be equal to the preset service life, generating a self-calibration request instruction and displaying the self-calibration request instruction so that a user can determine whether to perform self-calibration according to the self-calibration request instruction;
and generating a self-calibration execution instruction in response to the self-calibration execution message determined by the user, and continuing to execute the step of generating a self-calibration operation message and displaying the self-calibration operation message in response to the obtained self-calibration execution instruction.
In a possible design, after the separately acquiring, according to a preset time period, acceleration data generated by the acceleration sensor in each placing direction, the method further includes:
screening the collected acceleration data in all placing directions according to the pre-stored threshold percentage and the three-axis reference parameters to obtain the screened acceleration data in all placing directions;
and if the number of the screened acceleration parameters of the placing directions is smaller than the preset number, generating and displaying a repeated self-calibration operation message so that a user can perform calibration operation on the terminal equipment according to a plurality of placing directions contained in the repeated self-calibration operation message.
In a second aspect, the present invention provides an acceleration sensor self-calibration apparatus, applied to a controller of a terminal device, the apparatus including:
the generating module is used for responding to the obtained self-calibration execution instruction, generating and displaying a calibration operation prompt message, so that a user can perform calibration operation on the terminal equipment according to a plurality of placing directions contained in the calibration operation prompt message;
the acquisition module is used for respectively acquiring acceleration data generated by the acceleration sensor in each placing direction according to preset duration, wherein the acceleration data corresponding to each placing direction comprises a preset number of acceleration parameters;
the determining module is used for determining the acceleration parameter mean value of each placing direction according to all the acceleration parameters of each placing direction, determining the three-axis calibration parameters according to the obtained acceleration mean value parameters of all the placing directions and the three-axis reference parameters, and determining the three-axis adjustment parameters of the acceleration sensor according to the three-axis calibration parameters, the preset coefficients and the original three-axis calibration parameters.
In a third aspect, the present invention provides a terminal device, including: an acceleration sensor and a controller;
the acceleration sensor is used for generating acceleration data;
the controller is configured to perform the first aspect and various possible methods of self-calibration of the acceleration sensor of the first aspect.
In a fourth aspect, the present invention provides a computer storage medium, which stores computer executable instructions, and when a processor executes the computer executable instructions, the acceleration sensor self-calibration method according to the first aspect and various possible designs of the first aspect is implemented.
According to the acceleration sensor self-calibration method, the acceleration sensor self-calibration device, the acceleration sensor self-calibration equipment and the storage medium, the calibration operation prompt message is generated according to the obtained self-calibration execution instruction and displayed, a user is prompted to perform calibration operation on the terminal equipment according to the plurality of placing directions contained in the calibration operation prompt message, the three-axis calibration parameters are determined according to the obtained acceleration mean value parameters of all the placing directions and the acceleration reference parameters corresponding to all the placing directions by collecting the acceleration data generated by the acceleration sensor in each placing direction, and therefore the method for performing self-calibration on the acceleration sensor is achieved, the accuracy of the acceleration sensor is improved, and the using effect of the terminal equipment is guaranteed.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic diagram of an acceleration sensor provided in an embodiment of the present invention;
fig. 2 is a first schematic flow chart of a self-calibration method of an acceleration sensor according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of a self-calibration method of an acceleration sensor according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a self-calibration apparatus of an acceleration sensor according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a hardware structure of a controller according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the technical scheme of the disclosure, the collection, storage, use, processing, transmission, provision, disclosure and other processing of the personal information of the related user are all in accordance with the regulations of related laws and regulations and do not violate the good customs of the public order.
With the continuous development of the acceleration sensor technology, the acceleration sensor is integrated on the terminal equipment, the gravity sensing technology of the acceleration is applied, the automatic rotation and turnover function of the terminal display image can be realized, and more expansion applications are provided by utilizing the gravity sensing parameter of the acceleration. In the existing production process of terminal equipment, before the terminal equipment leaves a factory, in order to guarantee the accuracy of an acceleration sensor, the terminal equipment comprising the acceleration sensor can be fixed on monitoring equipment in the horizontal direction, background equipment sends a calibration instruction to the monitoring equipment, so that the monitoring equipment operates according to the calibration instruction, the acceleration data of the acceleration sensor is sent to the background equipment by the acceleration sensor fixed on the monitoring equipment, the background equipment calculates calibration parameters by acquiring the acceleration parameters of the acceleration sensor, and the acceleration sensor of the terminal equipment is calibrated by utilizing the calibration parameters. However, after the acceleration sensor device leaves the factory, the precision of the acceleration sensor is affected by the environmental temperature, the humidity and the micro deformation of the device structure, and the use effect of the terminal device is affected.
In order to solve the above technical problem, the embodiment of the present invention proposes the following technical solutions: after the terminal device leaves a factory, a calibration operation prompt message is generated and displayed according to the obtained self-calibration execution instruction, so that a user can calibrate the terminal device according to a plurality of placing directions contained in the calibration operation prompt message, and a three-axis calibration parameter is determined by collecting acceleration data generated by the acceleration sensor in each placing direction and according to the obtained acceleration mean value parameters of all placing directions and acceleration reference parameters corresponding to all placing directions, so that the method for autonomously calibrating the acceleration sensor is realized, the accuracy of the acceleration sensor is improved, and the use effect of the terminal device is guaranteed. The following examples are given for illustrative purposes.
At present, most acceleration sensors on mobile phones are capacitive. The working principle is as follows: usually, a mass M is movable on an axis in a certain direction, one end of a micro spring K is fixed, and the other end of the micro spring K is connected with the mass M, and when the mass M is fixedly connected with one plate of the capacitor C, the other plate of the capacitor C is fixed. When the mobile phone has acceleration in the direction, the mass block M compresses or stretches the spring, so that the distance between the two electrode plates of the capacitor C changes, which causes the capacitance of the capacitor C to change. If the charge amount of the capacitor C is not changed, the voltage between the two electrodes can be changed according to the change of the distance. Therefore, the acceleration signal of the mobile phone in a certain direction is converted into a voltage signal.
Fig. 1 is a schematic diagram of an acceleration sensor according to an embodiment of the present invention. As shown in fig. 1, the acceleration sensor provided in the embodiment of the present invention is a capacitive acceleration sensor. The working principle of the capacitive acceleration sensor is as follows: taking the X-axis direction as an example, the mass block M can move in the X-axis direction, one end of a micro spring K is fixed, and the other end of the micro spring K is connected with the mass block M, and when the mass block M is fixedly connected with one pole plate of the capacitor C, the other pole plate of the capacitor C is fixed. When the mobile phone has acceleration in the X-axis direction, the mass block M compresses or stretches the spring, so that the distance between the two plates of the capacitor C changes, which causes the change of the capacitance of the capacitor C. If the charge quantity of the capacitor C is not changed, the voltage between the two polar plates can change along with the change of the distance, the acceleration signal in the X-axis direction is converted into a voltage signal, and the changed voltage signal is processed and converted into the acceleration parameter in the X-axis direction. By integrating X, Y, Z three capacitive sensors in the direction perpendicular to each other into one acceleration sensor, the acceleration sensor can be built in the terminal device to sense the motion of the terminal device in three-dimensional space.
Fig. 2 is a schematic flow chart of a method for self-calibration of an acceleration sensor according to an embodiment of the present invention, where an execution main body of the embodiment may be a controller of a terminal device, or may be any other type of controller, and the embodiment is not limited in particular here. As shown in fig. 2, the method includes:
s201: and responding to the obtained self-calibration execution instruction, generating and displaying a calibration operation prompt message, so that the user can perform calibration operation on the terminal equipment according to a plurality of placing directions contained in the calibration operation prompt message.
In the embodiment of the invention, an application program for executing self-calibration of the acceleration sensor is installed on the terminal equipment. For example, in the process of using the terminal device, if the use experience is not good, the acceleration sensor self-calibration process may be started by controlling the acceleration sensor self-calibration application program. Specifically, a self-calibration execution instruction is generated after the acceleration sensor self-calibration application program is started. The controller responds to the self-calibration execution instruction to generate a calibration operation prompt message, wherein the calibration operation prompt message is used for prompting a user to carry out calibration operation on the terminal equipment according to a plurality of placing directions contained in the calibration operation prompt message. Illustratively, the plurality of placement directions included in the hint message are 6 placement directions, which are horizontally upward, horizontally downward, vertically upward, vertically downward, laterally upward, and laterally downward, respectively. In the embodiment of the present invention, the user does not limit the sequence of the 6 placing directions when the terminal device performs the calibration operation.
S202: and respectively acquiring acceleration data generated by the acceleration sensor in each placing direction according to preset duration, wherein the acceleration data corresponding to each placing direction comprises a preset number of acceleration parameters.
In the embodiment of the present invention, the exemplary preset time period is set to 10 seconds. In the process that the user calibrates the terminal equipment according to the plurality of placing directions contained in the calibration operation prompt message, the user places the terminal equipment for 10 seconds respectively according to horizontal upward, horizontal downward, vertical upward, vertical downward, side-on-side and side-on-side. The acceleration sensor senses the motion condition of the terminal device and generates acceleration data within 10 seconds of each placing direction of the terminal device. Wherein, the acquisition frequency is set to be 4 times/second, so that the acceleration data of each placing direction comprises 400 acceleration parameters. Illustratively, the preset number is set to 300, and the 300 acceleration parameters of the placing direction are obtained by deleting 50 maximum values and 50 minimum values from 400 acceleration parameters of the placing direction. Illustratively, each acceleration parameter in the horizontal direction comprises a set of three-dimensional parameters (X _1_ n, Y _1_ n, Z _1_ n), wherein X _1_ n corresponds to X-axis data, Y _1_ n corresponds to Y-axis data, and Z _1_ n corresponds to Z-axis data. Each acceleration parameter facing downwards horizontally comprises a group of three-dimensional parameters (X _2_ n, Y _2_ n, Z _2_ n), wherein X _2_ n corresponds to X-axis data, Y _2_ n corresponds to Y-axis data, and Z _2_ n corresponds to Z-axis data; each acceleration parameter vertically upwards comprises a set of three-dimensional parameters (x _3_ n, y _3_ n, z _3_ n); each acceleration parameter facing vertically downwards comprises a set of three-dimensional parameters (x _4_ n, y _4_ n, z _4_ n); each acceleration parameter which is placed on the side and faces upwards respectively comprises a group of three-dimensional parameters (x _5_ n, y _5_ n, z _5_ n); each acceleration parameter in the lateral downward direction comprises a set of three-dimensional parameters (x _6_ n, y _6_ n, z _6_ n). Wherein n is the serial number of all the acceleration parameters of the current set of three-dimensional parameters in the horizontal direction, and n is a positive integer less than or equal to 300.
Exemplarily, screening the acquired acceleration data in all the placing directions according to the pre-stored threshold percentage and the three-axis reference parameters to obtain the screened acceleration data in all the placing directions; and if the number of the screened acceleration parameters in the placing directions is less than the preset number, generating and displaying a repeated self-calibration operation message so that a user can perform calibration operation on the terminal equipment according to a plurality of placing directions contained in the repeated self-calibration operation message. Specifically, the pre-stored threshold percentage is 11%. The three-axis reference parameters comprise X-axis reference parameters, Y-axis reference parameters and Z-axis reference parameters. The X-axis reference parameter is (G, 0, 0), the Y-axis reference parameter is (0, G, 0), and the Z-axis reference parameter is (0, 0, G). Wherein G is the acceleration of gravity of 9.80665m/s 2. Exemplarily, 3 deviation percentages of a set of acceleration parameters (X _3_10, y _3_10, z _3_10) which are vertically upward from (G, 0, 0) of the X-axis reference parameter are determined, namely the deviation percentage between X _3_10 and G, the deviation percentage between y _3_10 and 0, and the deviation percentage between z _3_10 and 0; calculating 3 deviation percentages of the set of acceleration parameters (x _3_10, Y _3_10, Z _3_10) from the Y axis and 3 deviation percentages from the Z axis according to the above-described process, thereby obtaining 9 percentages of the set of acceleration parameters, determining 2700 percentages corresponding to 300 acceleration parameters facing vertically upwards according to the above-described exemplary method, screening 2700 percentages according to a pre-stored threshold percentage, screening acceleration parameters corresponding to percentages exceeding the pre-stored threshold percentage, wherein the percentages of all the screened acceleration parameters are within the pre-stored threshold percentage range. And if the acceleration parameters in any one of the screened placing directions are smaller than the preset number, generating and displaying a repeated self-calibration operation message to enable a user to perform calibration operation on the terminal equipment according to the multiple placing directions contained in the repeated self-calibration operation message, re-collecting acceleration data corresponding to the 6 placing directions, and screening again until the number of the screened data is larger than the preset number.
S203: determining an acceleration parameter mean value of the placing direction according to all acceleration parameters of each placing direction, determining a three-axis calibration parameter according to the obtained acceleration mean value parameters of all placing directions and a three-axis reference parameter, and determining a three-axis adjustment parameter of the acceleration sensor according to the three-axis calibration parameter, a preset coefficient and the original three-axis calibration parameter.
In the embodiment of the present invention, the acceleration mean parameters of all the placing directions include a horizontal upward acceleration mean parameter, a horizontal downward acceleration mean parameter, a vertical upward acceleration mean parameter, a vertical downward acceleration mean parameter, a side-up acceleration mean parameter, and a side-down acceleration mean parameter. The specific step of determining the mean value of the acceleration parameters of the placing direction according to all the acceleration parameters of each placing direction is as follows: the average of 300 sets of acceleration parameters for each placement direction was calculated. Specifically, 300 sets of acceleration parameters corresponding to the horizontal upward placement direction are (x _1_1, y _1_1, z _1_1),
(x _1_2, y _1_2, z _1_2) … … (x _1_ n, y _1_ n, z _1_ n), where n equals 300. Calculating the average of x _1_1, x _1_2, and x _1_ n yields A1, the average of y _1_1, y _1_2, and y _1_ n yields B1, and the average of z _1_1, z _1_2, and z _1_ n yields C1. The acceleration mean parameter thus obtained is (a 1, B1, C1) horizontally upward. The average parameters of the acceleration obtained according to the calculation process are (A2, B2, C2) in the horizontal downward direction, (A3, B3, C3) in the vertical upward direction, (A4, B4, C4) in the vertical downward direction, (A5, B5, C5) in the side upward direction, and (A6, B6, C6) in the side downward direction.
In the embodiment of the invention, the three-axis calibration parameters are determined according to the obtained acceleration mean values of all the placing directions and the three-axis reference parameters. Illustratively, the three-axis calibration parameters include an X-axis calibration parameter, a Y-axis calibration parameter, and a Z-axis calibration parameter, and the three-axis reference parameters include an X-axis reference parameter, a Y-axis reference parameter, and a Z-axis reference parameter. Specifically, the X-axis reference parameter is (G, 0, 0), the Y-axis reference parameter is (0, G, 0), and the Z-axis reference parameter is (0, 0, G), where G is the gravitational acceleration 9.80665m/s 2.
In the embodiment of the invention, Z-axis calibration parameters (X3, Y3, Z3) are determined according to the Z-axis reference parameters, the horizontal upward acceleration average parameters and the horizontal downward acceleration average parameters; determining Y-axis calibration parameters according to the Y-axis reference parameters, the vertical-up acceleration mean parameters and the vertical-down acceleration mean parameters (X2, Y2, Z2); and determining X-axis calibration parameters according to the X-axis reference parameters, the side-placed-up acceleration average parameters and the side-placed-down acceleration average parameters (X1, Y1, Z1).
Specifically, the formula for determining the Z-axis calibration parameter according to the Z-axis reference parameter, the horizontal upward acceleration mean parameter, and the horizontal downward acceleration mean parameter is shown in (1):
（X3，Y3，Z3）=
{[(0-A1)+(0+A2)]/2,[(0-B1)+(0+B2)]/2,[(G-C1)+(G+C2)]/2} （1）
specifically, the formula for determining the Y-axis calibration parameter according to the Y-axis reference parameter, the vertical upward acceleration mean parameter, and the vertical downward acceleration mean parameter is shown in (2):
（X2，Y2，Z2）=
{[(0-A3)+(0+A4)]/2,[(G-B3)+(G+B4)]/2,[(0-C3)+(0+C4)]/2} （2）
specifically, a formula for determining the X-axis calibration parameter according to the X-axis reference parameter, the side-placed upward acceleration mean parameter, and the side-placed downward acceleration mean parameter is shown in (3):
（X1，Y1，Z1）=
{[(G-A5)+(G+A6)]/2,[(0-B5)+(0+B6)]/2,[(0-C5)+(0+C6)]/2} （3）
in the embodiment of the invention, the three-axis adjustment parameters (X, Y, Z) of the acceleration sensor are determined according to the three-axis calibration parameters, the preset coefficients and the original three-axis calibration parameters (X0, Y0, Z0). Specifically, the formula for calculating the three-axis calibration parameters (Xa, Yb, Zc) is shown in (4):
（Xa，Yb，Zc）=
(m*X1+n*X2+n*X3，n*Y1+m*Y2+n*Y3，n*Z1+n*Z2+m*Z3) （4）
specifically, the preset coefficient includes a first coefficient m and a second coefficient n, where the first coefficient m is greater than 2 times the second coefficient n, and the sum of the first coefficient m and the 2 times the second coefficient n is 1; illustratively, the first coefficient is set to 0.7 and the second coefficient is set to 0.15 based on calibration experience.
In the embodiment of the present invention, a formula for determining the three-axis adjustment parameters (X, Y, Z) of the acceleration sensor according to the preset coefficients and the original three-axis calibration parameters is shown in (5):
（X，Y，Z）=（Xa+X0，Yb+Y0，Zc+Z0） （5）
in the embodiment of the invention, after the three-axis adjustment parameters of the acceleration sensor are determined, the three-axis adjustment parameters are stored in the non-erasable area of the acceleration sensor. And after the terminal equipment is restarted, the acceleration sensor carries out calibration adjustment according to the stored three-axis adjustment parameters.
According to the acceleration sensor self-calibration method provided by the embodiment, the user is prompted to perform calibration operation on the terminal device according to the plurality of placing directions contained in the calibration operation prompting message, acceleration data generated by the acceleration sensor in each placing direction is collected, and the three-axis calibration parameters are determined according to the obtained acceleration mean values of all the placing directions and the acceleration reference parameters corresponding to all the placing directions, so that the method for autonomously calibrating the acceleration sensor is realized, the accuracy of the acceleration sensor is improved, and the use effect of the terminal device is guaranteed.
Fig. 3 is a schematic flow chart of a self-calibration method of an acceleration sensor according to an embodiment of the present invention. On the basis of the embodiment provided in fig. 2, as shown in fig. 3, before S203 responds to the obtained self-calibration execution instruction, the embodiment of the present invention provides a method for triggering an acceleration sensor to perform self-calibration, which includes the following specific processes:
s301: and obtaining the service life of the acceleration sensor, and if the service life is judged to be equal to the preset service life, generating a self-calibration request instruction and displaying the self-calibration request instruction so that a user can determine whether to perform self-calibration according to the self-calibration request instruction.
In the embodiment of the invention, when monitoring that the application program using the acceleration sensor is used, the use time of the application program is accumulated, when the accumulated use time is equal to the preset use time, in order to avoid the deviation of the sensor caused by long-time use of the acceleration sensor, a self-calibration request instruction can be generated, the self-calibration request instruction is displayed on the terminal equipment, and a user judges whether to execute calibration operation on the acceleration sensor according to the current use condition.
S302: and generating a self-calibration execution instruction in response to the self-calibration execution message determined by the user, and continuously executing the steps of generating a self-calibration operation message and displaying in response to the obtained self-calibration execution instruction.
In the implementation of the invention, if the user determines to execute the calibration operation, a self-calibration execution instruction is generated according to the confirmation information input by the user. After obtaining the self-calibration execution instruction, the acceleration sensor self-calibration method described in the embodiment of fig. 2 is continuously executed, and details are not repeated here.
According to the acceleration sensor self-calibration method provided by the embodiment, through the use duration of the acceleration sensor, if the use duration is judged to be equal to the preset use duration, in order to avoid deviation of the sensor caused by long-time use of the acceleration sensor, a self-calibration request instruction can be generated, the acceleration sensor self-calibration method is executed in response to the calibration operation confirmed by a user, the accuracy of the acceleration sensor is improved, and the use effect of the terminal device is guaranteed.
Fig. 4 is a schematic structural diagram of a self-calibration apparatus of an acceleration sensor according to an embodiment of the present invention. As shown in fig. 4, the acceleration sensor self-calibration apparatus includes: a generation module 401, an acquisition module 402, and a determination module 403.
A generating module 401, configured to generate and display a calibration operation prompt message in response to the obtained self-calibration execution instruction, so that a user performs a calibration operation on the terminal device according to a plurality of placement directions included in the calibration operation prompt message;
an acquisition module 402, configured to acquire acceleration data generated by the acceleration sensor in each placement direction according to a preset duration, where the acceleration data corresponding to each placement direction includes a preset number of acceleration parameters;
the determining module 403 is configured to determine an acceleration parameter mean value of each placing direction according to all acceleration parameters of each placing direction, determine a three-axis calibration parameter according to the obtained acceleration mean value parameters of all placing directions and a three-axis reference parameter, and determine a three-axis adjustment parameter of the acceleration sensor according to the three-axis calibration parameter, a preset coefficient, and an original three-axis calibration parameter.
In one possible implementation, the 6 placement directions include horizontally upward, horizontally downward, vertically upward, vertically downward, laterally upward, and laterally downward, the acceleration mean parameters of all the placing directions comprise an acceleration mean parameter of horizontal upward, an acceleration mean parameter of horizontal downward, an acceleration mean parameter of vertical upward, an acceleration mean parameter of vertical downward, an acceleration mean parameter of side-placing upward and an acceleration mean parameter of side-placing downward, the three-axis calibration parameters comprise an X-axis calibration parameter, a Y-axis calibration parameter and a Z-axis calibration parameter, the three-axis reference parameters include an X-axis reference parameter, a Y-axis reference parameter, and a Z-axis reference parameter, and the determining module 403 is specifically configured to determine a Z-axis calibration parameter according to the Z-axis reference parameter, the horizontal upward acceleration mean parameter, and the horizontal downward acceleration mean parameter; determining Y-axis calibration parameters according to the Y-axis reference parameters, the vertical upward acceleration mean value parameters and the vertical downward acceleration mean value parameters; and determining an X-axis calibration parameter according to the X-axis reference parameter, the upward-side-placing acceleration mean parameter and the downward-side-placing acceleration mean parameter.
In one possible implementation, the horizontal upward acceleration mean parameter is (a 1, B1, C1), the horizontal downward acceleration mean parameter is (a 2, B2, C2), the vertical upward acceleration mean parameter is (A3, B3, C3), the vertical downward acceleration mean parameter is (a 4, B4, C4), the side upward acceleration mean parameter is (a 5, B5, C5), and the side downward acceleration mean parameter is (a 6, B6, C6); the X-axis calibration parameter is (X1, Y1, Z1), the Y-axis calibration parameter is (X2, Y2, Z2), the Z-axis calibration parameter is (X3, Y3, Z3), the X-axis reference parameter is (G, 0, 0), the Y-axis reference parameter is (0, G, 0), the Z-axis reference parameter is (0, 0, G), and the determination module 404 is configured to determine the formula of the Z-axis calibration parameter according to the Z-axis reference parameter, the horizontal upward acceleration mean parameter, and the horizontal downward acceleration mean parameter as follows: (X3, Y3, Z3) = { [ (0-a1) + (0+ a2) ]/2, [ (0-B1) + (0+ B2) ]/2, [ (G-C1) + (G + C2) ]/2 }; the determining module 404 is configured to determine a formula of the Y-axis calibration parameter according to the Y-axis reference parameter, the vertical upward acceleration mean parameter, and the vertical downward acceleration mean parameter as follows: (X2, Y2, Z2) = { [ (0-A3) + (0+ a4) ]/2, [ (G-B3) + (G + B4) ]/2, [ (0-C3) + (0+ C4) ]/2}, and the formula for the decision module 404 to determine the X-axis calibration parameter according to the X-axis reference parameter, the side-facing upward acceleration mean parameter, and the side-facing downward acceleration mean parameter is as follows: (X1, Y1, Z1) = { [ (G-A5) + (G + A6) ]/2, [ (0-B5) + (0+ B6) ]/2, [ (0-C5) + (0+ C6) ]/2 }.
In a possible implementation manner, the system further comprises a determination module, which is specifically configured to obtain a use duration of the acceleration sensor, and if it is determined that the use duration is equal to a preset use duration, generate a self-calibration request instruction and display the self-calibration request instruction, so that a user determines whether to perform self-calibration according to the self-calibration request instruction; and generating a self-calibration execution instruction in response to the self-calibration execution message determined by the user, continuously executing the self-calibration execution instruction obtained in response to the self-calibration execution instruction, generating a self-calibration operation message and displaying the self-calibration operation message.
In a possible implementation manner, the device further comprises a screening module, which is specifically configured to screen the acquired acceleration data in all the placing directions according to a pre-stored threshold percentage and the three-axis reference parameter, and obtain the screened acceleration data in all the placing directions; and if the number of the screened acceleration parameters of the placing directions is smaller than the preset number, generating and displaying a repeated self-calibration operation message so that a user can perform calibration operation on the terminal equipment according to a plurality of placing directions contained in the repeated self-calibration operation message.
The apparatus provided in this embodiment may be used to implement the technical solutions of the above method embodiments, and the implementation principles and technical effects are similar, which are not described herein again.
Fig. 5 is a schematic diagram of a hardware structure of a controller according to an embodiment of the present invention. As shown in fig. 5, the controller of the present embodiment includes: a processor 501 and a memory 502; wherein
A memory 502 for storing computer-executable instructions;
a processor 501 for executing computer-executable instructions stored in a memory to implement the acceleration sensor self-calibration method as described above. Reference may be made in particular to the description relating to the method embodiments described above.
Alternatively, the memory 502 may be separate or integrated with the processor 501.
When the memory 502 is provided separately, the controller further comprises a bus 503 for connecting said memory 502 and the processor 501.
The embodiment of the invention also provides a computer storage medium, wherein a computer execution instruction is stored in the computer storage medium, and when a processor executes the computer execution instruction, the acceleration sensor self-calibration method is realized.
An embodiment of the present invention further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the method for self-calibration of an acceleration sensor as described above is implemented. An embodiment of the present invention further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the method for self-calibration of an acceleration sensor as described above is implemented.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the modules is only one logical division, and other divisions may be realized in practice, for example, a plurality of modules may be combined or 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, devices or modules, and may be in an electrical, mechanical or other form.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules 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 modules may be selected according to actual needs to implement the solution of the present embodiment.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing unit, or each module may exist alone physically, or two or more modules are integrated into one unit. The unit formed by the modules can be realized in a hardware mode, and can also be realized in a mode of hardware and a software functional unit.
The integrated module implemented in the form of a software functional module may be stored in a computer-readable storage medium. The software functional module is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) or a processor to execute some steps of the methods described in the embodiments of the present application.
It should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor.
The memory may comprise a high-speed RAM memory, and may further comprise a non-volatile storage NVM, such as at least one disk memory, and may also be a usb disk, a removable hard disk, a read-only memory, a magnetic or optical disk, etc.
The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present application are not limited to only one bus or one type of bus.
The storage medium may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.
An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the storage medium may reside as discrete components in a controller or master device.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. An acceleration sensor self-calibration method is applied to a controller of a terminal device, wherein the terminal device contains an acceleration sensor, and the method comprises the following steps:
responding to the obtained self-calibration execution instruction, generating and displaying a calibration operation prompt message, so that a user can perform calibration operation on the terminal equipment according to a plurality of placing directions contained in the calibration operation prompt message;
respectively acquiring acceleration data generated by the acceleration sensor in each placing direction according to preset duration, wherein the acceleration data corresponding to each placing direction comprises a preset number of acceleration parameters;
determining the average value of the acceleration parameters of the placing directions according to all the acceleration parameters of each placing direction, determining three-axis calibration parameters according to the obtained average values of the acceleration parameters of all the placing directions and three-axis reference parameters, and determining three-axis adjustment parameters of the acceleration sensor according to the three-axis calibration parameters, preset coefficients and original three-axis calibration parameters.
2. The method of claim 1, wherein the plurality of placement directions comprise horizontal up, horizontal down, vertical up, vertical down, side up, and side down, the acceleration mean parameters for all placement directions comprise horizontal up acceleration mean parameter, horizontal down acceleration mean parameter, vertical up acceleration mean parameter, vertical down acceleration mean parameter, side up acceleration mean parameter, and side down acceleration mean parameter, the three-axis calibration parameters comprise X-axis calibration parameter, Y-axis calibration parameter, and Z-axis calibration parameter, the three-axis calibration parameters comprise X-axis reference parameter, Y-axis reference parameter, and Z-axis reference parameter;
correspondingly, the determining the three-axis calibration parameters according to the obtained acceleration mean parameters of all the placing directions and the three-axis reference parameters includes:
determining a Z-axis calibration parameter according to the Z-axis reference parameter, the acceleration mean parameter with the horizontal upward direction and the acceleration mean parameter with the horizontal downward direction;
determining Y-axis calibration parameters according to the Y-axis reference parameters, the acceleration mean parameter which faces vertically upwards and the acceleration mean parameter which faces vertically downwards;
and determining an X-axis calibration parameter according to the X-axis reference parameter, the upward-side-placing acceleration mean parameter and the downward-side-placing acceleration mean parameter.
3. The method according to claim 2, wherein the acceleration mean parameter of the horizontal up-facing is (a 1, B1, C1), the acceleration mean parameter of the horizontal down-facing is (a 2, B2, C2), the acceleration mean parameter of the vertical up-facing is (A3, B3, C3), the acceleration mean parameter of the vertical down-facing is (a 4, B4, C4), the acceleration mean parameter of the side-lying up-facing is (a 5, B5, C5), the acceleration mean parameter of the side-lying down-facing is (a 6, B6, C6);
wherein the X-axis calibration parameters are (X1, Y1, Z1), the Y-axis calibration parameters are (X2, Y2, Z2), the Z-axis calibration parameters are (X3, Y3, Z3), the X-axis reference parameters are (G, 0, 0), the Y-axis reference parameters are (0, G, 0), and the Z-axis reference parameters are (0, 0, G);
correspondingly, the formula for determining the Z-axis calibration parameter according to the Z-axis reference parameter, the horizontal upward acceleration mean parameter, and the horizontal downward acceleration mean parameter is as follows:
（X3，Y3，Z3）={[(0-A1)+(0+A2)]/2,[(0-B1)+(0+B2)]/2,[(G-C1)+(G+C2)]/2}；
correspondingly, the formula for determining the Y-axis calibration parameter according to the Y-axis reference parameter, the vertical upward acceleration mean parameter, and the vertical downward acceleration mean parameter is as follows:
（X2，Y2，Z2）={[(0-A3)+(0+A4)]/2,[(G-B3)+(G+B4)]/2,[(0-C3)+(0+C4)]/2}；
correspondingly, the formula for determining the X-axis calibration parameter according to the X-axis reference parameter, the side-placed upward acceleration mean parameter, and the side-placed downward acceleration mean parameter is as follows:
（X1，Y1，Z1）={[(G-A5)+(G+A6)]/2,[(0-B5)+(0+B6)]/2,[(0-C5)+(0+C6)]/2}。
4. the method of claim 3, wherein the preset coefficients comprise a first coefficient m and a second coefficient n, wherein the first coefficient is greater than 2 times the second coefficient, the sum of the 2 times the first coefficient and the second coefficient is 1, and the original three-axis calibration parameters are (X0, Y0, Z0);
accordingly, the formula of the three-axis calibration parameters (Xa, Yb, Zc) is as follows:
（Xa，Yb，Zc）=(m*X1+n*X2+n*X3，n*Y1+m*Y2+n*Y3，n*Z1+n*Z2+m*Z3)；
correspondingly, the formula for determining the three-axis adjustment parameters (X, Y, Z) of the acceleration sensor according to the three-axis calibration parameters, the preset coefficients and the original three-axis calibration parameters is as follows:
（X，Y，Z）=（Xa+X0，Yb+Y0，Zc+Z0）。
5. the method of claim 4, wherein the first factor is 0.7 and the second factor is 0.15.
6. The method according to claim 1, further comprising, before the executing the instruction in response to the obtained self-calibration, the steps of:
obtaining the service life of the acceleration sensor, and if the service life is judged to be equal to the preset service life, generating a self-calibration request instruction and displaying the self-calibration request instruction so that a user can determine whether to perform self-calibration according to the self-calibration request instruction;
and generating a self-calibration execution instruction in response to the self-calibration execution message determined by the user, and continuing to execute the step of generating a self-calibration operation message and displaying the self-calibration operation message in response to the obtained self-calibration execution instruction.
7. The method according to any one of claims 1 to 6, wherein after the separately collecting the acceleration data generated by the acceleration sensor in each placing direction according to the preset time period, the method further comprises:
screening the collected acceleration data in all placing directions according to the pre-stored threshold percentage and the three-axis reference parameters to obtain the screened acceleration data in all placing directions;
and if the number of the screened acceleration parameters of the placing directions is smaller than the preset number, generating and displaying a repeated self-calibration operation message so that a user can perform calibration operation on the terminal equipment according to a plurality of placing directions contained in the repeated self-calibration operation message.
8. An acceleration sensor self-calibration device, which is applied to a controller of a terminal device, wherein the terminal device contains an acceleration sensor, the device comprises:
the generating module is used for responding to the obtained self-calibration execution instruction, generating and displaying a calibration operation prompt message, so that a user can perform calibration operation on the terminal equipment according to a plurality of placing directions contained in the calibration operation prompt message;
the acquisition module is used for respectively acquiring acceleration data generated by the acceleration sensor in each placing direction according to preset duration, wherein the acceleration data corresponding to each placing direction comprises a preset number of acceleration parameters;
the determining module is used for determining the acceleration parameter mean value of each placing direction according to all the acceleration parameters of each placing direction, determining the three-axis calibration parameters according to the obtained acceleration mean value parameters of all the placing directions and the three-axis reference parameters, and determining the three-axis adjustment parameters of the acceleration sensor according to the three-axis calibration parameters, the preset coefficients and the original three-axis calibration parameters.
9. A terminal device, comprising: an acceleration sensor and a controller;
the acceleration sensor is used for generating acceleration data;
the controller for executing the acceleration sensor self-calibration method of any one of claims 1 to 7.
10. A computer-readable storage medium, wherein computer-executable instructions are stored in the computer-readable storage medium, and when executed by a processor, the acceleration sensor self-calibration method according to any one of claims 1 to 7 is implemented.
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