CN115372659A - Method for calculating battery motion track and speed through three-axis gyroscope - Google Patents
Method for calculating battery motion track and speed through three-axis gyroscope Download PDFInfo
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- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
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- G—PHYSICS
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- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
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Abstract
The invention discloses a method for calculating battery motion trail and speed through a three-axis gyroscope, which comprises the following steps: step one, establishing an initial operation library; step two, updating the database of the operation library; step three, establishing an initial track; step four, optimizing a track path; step five, establishing a speed model; step six, model node refinement; step seven, calculating the speed of the time point; according to the invention, the running angular velocity of the battery is acquired through the three-axis gyroscope, then the running track of the battery is restored through calculating the attitude angle, the precision of the motion track after establishment is ensured, the battery velocity direction under the corresponding time node is obtained through curvature optimization of the established running track, the practicability of the calculation method is improved, the nodes on the running track of the battery are subjected to thinning processing and a track database is established, then the instantaneous velocity under the specific time is calculated by using the velocity point data adjacent to the specific time point, and the complex actual detection requirement is met.
Description
Technical Field
The invention relates to the technical field of battery track and speed analysis, in particular to a method for calculating a battery motion track and speed through a three-axis gyroscope.
Background
With the maturity of the single chip microcomputer technology, the intelligent instrument technology is gradually developed, the intelligent instrument is a detection device formed by organically combining a microcomputer as a main body and the computer technology and the detection technology, and is widely used in the electronic detection field due to simple parameter setting and high programming reliability, but the current battery operation track calculation mode has a single data source, which affects the accuracy of the calculated operation track, and the current battery operation track calculation mode does not perform curvature optimization on the operation track according to the acceleration on the time node and is difficult to obtain the battery speed direction under the corresponding time node, so that the practicability of the calculation method is affected.
Disclosure of Invention
The present invention is directed to a method for calculating a battery motion trajectory and speed by using a three-axis gyroscope, so as to solve the problems in the background art.
In order to achieve the purpose, the invention provides the following technical scheme: a method for calculating the motion track and speed of a battery through a three-axis gyroscope comprises the following steps: step one, establishing an initial operation library; step two, updating the database; step three, establishing an initial track; step four, optimizing a track path; step five, establishing a speed model; step six, model node refinement; step seven, calculating the speed of the time point;
firstly, respectively acquiring initial acceleration and initial angular velocity of a battery by an accelerometer and a triaxial gyroscope, then calculating an initial attitude angle of the battery according to the initial acceleration and the initial angular velocity of the battery, then calculating an initial quaternion of the battery according to a quaternion method, and then recording and marking the initial quaternion in a quaternion operation library;
in the second step, the angular velocity of the battery in the whole process is collected by the three-axis gyroscope, the data in the quaternion operation library is updated, and then the node attitude angle corresponding to each node is calculated through quaternion of all nodes in the quaternion operation library;
in the third step, the advancing direction of the battery under each time node is analyzed according to data in the quaternion operation library, the operation distance under the advancing direction is calculated by combining the angular speed, then the track point under the next time node is marked by combining the attitude angle and the operation distance of the node, and then an initial operation track model of the battery is established according to the track point;
in the fourth step, a motion camera acquires a visual image in the battery motion process, then the visual image is processed to calculate characteristic points in the image, then the characteristic points are marked in a motion database, then a track error equation is established by combining the characteristic points in the motion database, the angular velocity acquired by a three-axis gyroscope and the node acceleration acquired by an accelerometer, then the position corresponding to each node in a running track model is adjusted through nonlinear optimization calculation, and the adjusted track model is the running track model of the battery;
in the fifth step, nodes on the battery running track are subjected to thinning treatment, and each thinned point is taken as an extraction point of the speed to obtain a battery speed extraction model;
in the sixth step, the speed points are independently processed in the battery speed extraction model, and the running direction and the running speed of each speed point are recorded in the track database after the processing;
and step seven, inputting a speed time point to be inquired, then calling the running speeds of two adjacent time points corresponding to the speed time point in the track database established in step six, and then calculating the running speed average value of the two adjacent time points, namely the running speed of the battery at the inquired speed time point.
Preferably, in the first step, the signal acquisition rate of the accelerometer and the three-axis gyroscope is 20 ms/time, the update rate in the quaternion operation library is 20 ms/time, and the initial quaternion is initial data in the quaternion operation library.
Preferably, in the second step, the process of updating the quaternion operation library according to the acquired angular velocity is as follows: and calculating a node quaternion corresponding to each acquisition node by a quaternion method, and then sequentially recording and marking the node quaternion in a quaternion operation library to complete data updating of the quaternion operation library.
Preferably, in the third step, the process of establishing the running rail model of the battery is as follows: firstly, establishing a space rectangular coordinate system, then taking the original point of the space rectangular coordinate system as the starting point of the battery running track, then extracting track points under each time node, sequentially marking the track points in the established space support leg coordinate system, sequentially connecting each track point to form an original track, and then eliminating inflection points on the original track by using curvature calculation, namely forming a running track model of the battery.
Preferably, in the fourth step, the acquisition rate of the motion camera acquiring the visual patterns is 20 ms/time, and the initial acquisition time of the motion camera is consistent with the initial acquisition time of the three-axis gyroscope.
Preferably, in the fifth step, the refining process includes: firstly extracting the nth node position, then extracting the (n + 1) th node position, then calculating the track curve distance between the nth node and the (n + 1) th node, simultaneously extracting the node acceleration of the corresponding nth node and the (n + 1) th node detected by the accelerometer, and then refining the extraction point in the corresponding unit time on the track between the nth node and the (n + 1) th node according to the change rate of the acceleration.
Preferably, in the sixth step, the individual processing procedure for the speed point is as follows: firstly marking an mth single speed point, then generating a unit vector of the mth speed point in a battery speed extraction curve, wherein the unit vector is the running direction of the speed point, then extracting node positions of an (m + 1) th node and an (m-1) th node, then calculating a track curve distance between the (m + 1) th node and the (m-1) th node, and then calculating the instantaneous speed of the mth speed point according to the track curve distance between the nodes and the node time difference.
Compared with the prior art, the invention has the beneficial effects that: the method for calculating the battery motion track and speed through the three-axis gyroscope comprises the steps of collecting the running angular speed of a battery in the process through the three-axis gyroscope, calculating the attitude angle reduction battery running track under each time node through the established quaternion running library, improving the established track accuracy, establishing a track error equation through measured characteristic points, angular speeds and accelerated speeds, carrying out curvature optimization on the established running track, facilitating acquisition of the battery speed direction under the corresponding time node, improving the practicability of the calculation method, establishing a battery speed extraction model through thinning the nodes on the battery running track, recording the running direction and the running speed of each speed point into a track database, calculating the instantaneous speed at a specific time through the data of adjacent speed points, and meeting the complex actual detection requirements.
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FIG. 1 is a flow chart of the method of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a technical solution provided by the present invention: a method for calculating the motion track and speed of a battery through a three-axis gyroscope comprises the following steps: step one, establishing an initial operation library; step two, updating the database of the operation library; step three, establishing an initial track; step four, optimizing a track path; step five, establishing a speed model; step six, model node refinement; step seven, calculating the speed of a time point;
firstly, respectively acquiring initial acceleration and initial angular velocity of a battery by an accelerometer and a three-axis gyroscope, then calculating an initial attitude angle of the battery according to the initial acceleration and the initial angular velocity of the battery, then calculating an initial quaternion of the battery according to a quaternion method, and then recording and marking the initial quaternion in a quaternion operation library, wherein the signal acquisition rates of the accelerometer and the three-axis gyroscope are 20 ms/time, the updating rate in the quaternion operation library is 20 ms/time, and the initial quaternion is initial data in the quaternion operation library;
in the second step, the three-axis gyroscope acquires the angular velocity of the battery in the whole process, updates the data in the quaternion operation library, and the process of updating the quaternion operation library according to the acquired angular velocity is as follows: calculating a node quaternion corresponding to each acquisition node by a quaternion method, sequentially recording and marking the node quaternion in a quaternion operation library to complete data updating of the quaternion operation library, and calculating a node attitude angle corresponding to each node by all node quaternions in the quaternion operation library;
in the third step, the advancing direction of the battery under each time node is analyzed according to data in the quaternion operation library, the operation distance under the advancing direction is calculated by combining the angular speed, track points under the next time node are marked by combining the attitude angle and the operation distance of the node, then an initial operation track model of the battery is established according to the track points, and the establishing process of the initial operation track model of the battery is as follows: firstly, establishing a space rectangular coordinate system, then taking the original point of the space rectangular coordinate system as the initial point of the battery running track, then extracting track points under each time node, sequentially marking the track points in the established space support leg coordinate system, sequentially connecting each track point to form an original track, and then eliminating inflection points on the original track by using curvature calculation, namely forming an initial running track model of the battery;
in the fourth step, a motion camera acquires a visual image in the battery motion process, the acquisition rate of the visual image acquired by the motion camera is 20 ms/time, the initial acquisition time of the motion camera is consistent with the initial acquisition time of a three-axis gyroscope, then the visual image is processed to calculate characteristic points in the image, then the characteristic points are marked in a motion database, then a track error equation is established by combining the characteristic points in the motion database, the angular velocity acquired by the three-axis gyroscope and the node acceleration acquired by the accelerometer, then the position corresponding to each node in a running track model is adjusted through nonlinear optimization calculation, and the adjusted track model is the running track model of the battery;
in the fifth step, nodes on the running track of the battery are subjected to thinning treatment, and the thinning treatment process comprises the following steps: firstly, extracting the nth node position, then extracting the (n + 1) th node position, then calculating the track curve distance between the nth node and the (n + 1) th node, simultaneously extracting the node acceleration of the corresponding nth node and the (n + 1) th node detected by an accelerometer, then refining extraction points in corresponding unit time on the track between the nth node and the (n + 1) th node according to the accelerated change rate, and taking each refined point as an extraction point of speed to obtain a battery speed extraction model;
in the sixth step, the speed point is processed in the battery speed extraction model, and the process of processing the speed point independently is as follows: firstly marking an mth single speed point, then generating a unit vector of the mth speed point in a battery speed extraction curve, wherein the unit vector is the running direction of the speed point, then extracting node positions of the (m + 1) th and (m-1) th nodes, then calculating the track curve distance between the (m + 1) th and (m-1) th nodes, then calculating the instantaneous speed of the mth speed point according to the track curve distance between the nodes and the node time difference, and recording the running direction and the running speed of each speed point into a track database after processing;
and step seven, inputting a speed time point to be inquired, calling the running speeds of two adjacent time points corresponding to the speed time point in the track database established in step six, and calculating the running speed average value of the two adjacent time points, namely the running speed of the battery at the inquired speed time point.
Based on the above, the method has the advantages that when the method is used, the operation angular velocity of the battery in the whole process is acquired through the three-axis gyroscope, then the attitude angle of each time node is calculated through the established and updated quaternion operation library, the operation track of the battery is restored according to the attitude angle, the accuracy of the established track is improved, the curvature optimization is carried out on the operation track through establishing a track error equation by combining measured characteristic points, angular velocities and accelerated speeds, the battery velocity direction under the corresponding time node is convenient to obtain, the practicability of the calculation method is improved, a battery velocity extraction model is established by carrying out thinning processing on the nodes on the operation track of the battery, then the operation direction and the operation velocity of each velocity point are recorded into a track database, then the instantaneous velocity under the specific time is calculated by utilizing the velocity point data adjacent to the specific time point, and the complex actual detection requirement is met.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (7)
1. A method for calculating the motion track and speed of a battery through a three-axis gyroscope comprises the following steps: step one, establishing an initial operation library; step two, updating the database; step three, establishing an initial track; step four, optimizing a track path; step five, establishing a speed model; step six, model node refinement; step seven, calculating the speed of the time point; the method is characterized in that:
firstly, respectively acquiring initial acceleration and initial angular velocity of a battery by an accelerometer and a triaxial gyroscope, then calculating an initial attitude angle of the battery according to the initial acceleration and the initial angular velocity of the battery, then calculating an initial quaternion of the battery according to a quaternion method, and then recording and marking the initial quaternion in a quaternion operation library;
in the second step, the angular velocity of the battery in the whole process is collected by the three-axis gyroscope, the data in the quaternion operation library is updated, and then the node attitude angle corresponding to each node is calculated through quaternion of all nodes in the quaternion operation library;
in the third step, the advancing direction of the battery under each time node is analyzed according to data in the quaternion operation library, the operation distance under the advancing direction is calculated by combining the angular speed, then the track point under the next time node is marked by combining the attitude angle and the operation distance of the node, and then an initial operation track model of the battery is established according to the track point;
in the fourth step, a motion camera acquires a visual image in the battery motion process, then the visual image is processed to calculate characteristic points in the image, then the characteristic points are marked in a motion database, then a track error equation is established by combining the characteristic points in the motion database, the angular velocity acquired by a three-axis gyroscope and the node acceleration acquired by an accelerometer, then the position corresponding to each node in a running track model is adjusted through nonlinear optimization calculation, and the adjusted track model is the running track model of the battery;
in the fifth step, nodes on the battery running track are subjected to thinning treatment, and each thinned point is taken as an extraction point of the speed to obtain a battery speed extraction model;
in the sixth step, the speed points are independently processed in the battery speed extraction model, and the running direction and the running speed of each speed point are recorded in the track database after the processing;
and step seven, inputting a speed time point to be inquired, then calling the running speeds of two adjacent time points corresponding to the speed time point in the track database established in step six, and then calculating the running speed average value of the two adjacent time points, namely the running speed of the battery at the inquired speed time point.
2. The method of claim 1 for battery motion trajectory and velocity calculation with a tri-axial gyroscope, wherein: in the first step, the signal acquisition rate of the accelerometer and the three-axis gyroscope is 20 ms/time, the update rate in the quaternion operation library is 20 ms/time, and the initial quaternion is initial data in the quaternion operation library.
3. The method of claim 1 for battery motion trajectory and velocity calculation with a tri-axial gyroscope, wherein: in the second step, the process of updating the quaternion operation library according to the acquired angular velocity is as follows: and calculating a node quaternion corresponding to each acquisition node by a quaternion method, and then sequentially recording and marking the node quaternion in a quaternion operation library to complete data updating of the quaternion operation library.
4. The method of claim 1 for battery motion trajectory and velocity calculation with a tri-axial gyroscope, wherein: in the third step, the process of establishing the running rail model of the battery is as follows: firstly, establishing a space rectangular coordinate system, then taking the original point of the space rectangular coordinate system as the starting point of the battery running track, then extracting track points under each time node, sequentially marking the track points in the established space support leg coordinate system, sequentially connecting each track point to form an original track, and then eliminating inflection points on the original track by using curvature calculation, namely forming a running track model of the battery.
5. The method of claim 1 for battery motion trajectory and velocity calculation with a tri-axial gyroscope, wherein: in the fourth step, the acquisition rate of the motion camera for acquiring the visual images is 20 ms/time, and the initial acquisition time of the motion camera is consistent with the initial acquisition time of the three-axis gyroscope.
6. The method of claim 1 for battery motion trajectory and velocity calculation with a three-axis gyroscope, wherein: in the fifth step, the refining process comprises the following steps: firstly extracting the nth node position, then extracting the (n + 1) th node position, then calculating the track curve distance between the nth node and the (n + 1) th node, simultaneously extracting the node acceleration of the corresponding nth node and the (n + 1) th node detected by the accelerometer, and then refining the extraction point in the corresponding unit time on the track between the nth node and the (n + 1) th node according to the change rate of the acceleration.
7. The method of claim 1 for battery motion trajectory and velocity calculation with a tri-axial gyroscope, wherein: in the sixth step, the individual processing process of the speed point is as follows: firstly marking an mth single speed point, then generating a unit vector of the mth speed point in a battery speed extraction curve, wherein the unit vector is the running direction of the speed point, then extracting node positions of an (m + 1) th node and an (m-1) th node, then calculating a track curve distance between the (m + 1) th node and the (m-1) th node, and then calculating the instantaneous speed of the mth speed point according to the track curve distance between the nodes and the node time difference.
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