CN117330102A

CN117330102A - Control method, upper computer, inertial Measurement Unit (IMU) equipment and storage medium

Info

Publication number: CN117330102A
Application number: CN202311188987.XA
Authority: CN
Inventors: 王琪
Original assignee: Beijing Xiaomi Robot Technology Co ltd
Current assignee: Beijing Xiaomi Robot Technology Co ltd
Priority date: 2023-09-14
Filing date: 2023-09-14
Publication date: 2024-01-02

Abstract

The upper computer is used for sending an acquisition instruction to the inertial measurement unit IMU equipment so as to control the IMU equipment to acquire inertial data; and sending a correction instruction to the IMU equipment, wherein the correction instruction is used for controlling the IMU equipment to correct an accelerometer and a gyroscope IMU equipment fixing seat in the IMU equipment according to the inertial data. According to the embodiment, the upper computer controls the IMU equipment to automatically complete correction work, so that the number of manual intervention times can be reduced, the scene of the IMU equipment is detected in batches, and the correction efficiency of the IMU equipment is improved.

Description

Control method, upper computer, inertial Measurement Unit (IMU) equipment and storage medium

Technical Field

The disclosure relates to the technical field of testing, in particular to a control method, an upper computer, an Inertial Measurement Unit (IMU) device and a storage medium.

Background

The IMU (Intertial Measurement Unit, inertial measurement unit) is a sensor for detecting and measuring acceleration and rotational motion, and is an indispensable sensor in electronic devices.

Existing IMU devices are typically integrated on a control board that requires calibration of the IMU device after integration of the control board into the electronic device. However, the existing correction scheme needs to manually control inertial data of the IMU device, correct the inertial data, and the like, so that manual intervention flows are too many to reduce correction efficiency.

Disclosure of Invention

The disclosure provides a control method, an upper computer, an Inertial Measurement Unit (IMU) device and a storage medium, so as to solve the technical problems.

According to a first aspect of the present disclosure, there is provided a host computer, comprising a processor configured to:

sending an acquisition instruction to an Inertial Measurement Unit (IMU) device to control the IMU device to acquire inertial data;

and sending a correction instruction to the IMU equipment, wherein the correction instruction is used for controlling the IMU equipment to correct the accelerometer and the gyroscope in the IMU equipment according to the inertial data.

Optionally, the processor sends an acquisition instruction to the inertial measurement unit IMU device to control the IMU device to acquire inertial data, including:

outputting a mode entering instruction to the IMU equipment so as to control the IMU equipment to enter a correction mode;

generating prompt information for adjusting the orientation of the appointed side face of the IMU equipment according to a preset sequence in response to receiving the successful entering response information returned by the IMU equipment;

In response to detecting that the designated side face of the IMU equipment is successfully adjusted, controlling the IMU equipment to acquire first inertial data in a static state, and generating first completion information after the IMU equipment acquires the first inertial data;

in response to the detection of the first completion information, controlling the turntable to rotate and controlling the IMU equipment to acquire second inertial data in a rotating state, wherein the IMU equipment generates second completion information after the acquisition of the second inertial data is completed;

and responding to the first inertial data and the second inertial data which are acquired by the IMU equipment in six directions respectively, and determining that the inertial data acquisition of the IMU equipment is completed.

Optionally, the processor is further configured to:

responding to receiving the entry failure response information returned by the IMU equipment, and judging whether the number of the output mode entry instructions is smaller than a preset number threshold value;

retransmitting the mode instruction in response to the number of mode entry instructions being less than a preset number threshold;

and determining that the IMU equipment fails to correct according to the number of the mode entering instructions being equal to the preset number threshold.

Optionally, the processor generates the prompt information for adjusting the orientation of the designated side of the IMU device according to a preset sequence, including:

Detecting the current side detected by the IMU equipment;

acquiring the lower side surface of the current side surface according to a preset sequence to serve as a designated side surface;

and generating prompt information for adjusting the direction of the appointed side face and displaying the prompt information in a display interface, wherein the prompt information is used for prompting a user to adjust the appointed side face of the IMU equipment to a target direction.

Optionally, the processor is configured to, in response to detecting that the IMU device-specified lateral orientation adjustment is successful, control the IMU device to collect first inertial data in a stationary state, including:

and in response to detecting a triggering operation indicating that the designated side face of the IMU equipment is adjusted to be in the target orientation, sending a first acquisition instruction to the IMU equipment, wherein the first acquisition instruction is used for indicating the IMU equipment to acquire first inertial data in a static state.

Optionally, the processor is further configured to:

sending an acquisition progress instruction to the IMU equipment, wherein the acquisition progress instruction is used for indicating whether the IMU equipment returns acquisition progress response information for acquiring inertial data, and the acquisition progress response information comprises first progress response information which is not acquired;

responding to the first progress response information, and judging whether the time length for the IMU equipment to acquire inertial data exceeds a first set time length or not according to the first progress response information;

And responding to the time length being smaller than the first set time length, and continuing to execute the step of sending an acquisition progress instruction to the IMU equipment.

Optionally, the collecting progress response information includes second progress response information of completion of collecting the inertial data, and the processor is further configured to:

in response to detecting the second progress response information and that the inertial data of all sides of the IMU device are not collected, continuing to execute the step of generating prompt information for adjusting the orientation of the designated side of the IMU device according to a preset sequence;

and determining that the inertial data acquisition of the IMU device is completed in response to detecting the second progress response information and the inertial data acquisition of all sides of the IMU device is completed.

Optionally, the processor is further configured to:

and determining that the IMU equipment fails to correct in response to the time period being greater than or equal to the first set time period.

Optionally, the processor controls the turntable to rotate and controls the IMU device to collect the second inertial data in the rotating state, including:

sending a rotation instruction to the turntable, wherein the rotation instruction is used for indicating the turntable to rotate according to a preset rotating speed;

acquiring the rotating speed of a turntable of the turntable;

Judging whether the turntable is in a stable rotation state or not; the stable rotation state refers to a state that the variation of the rotation speed in each acquisition period is smaller than or equal to a preset variation threshold;

and responding to the rotary table in a stable rotation state, and sending a second acquisition instruction, wherein the second acquisition instruction is used for controlling the IMU equipment to acquire second inertial data in the rotation state.

Optionally, the processor is further configured to:

judging whether the rotating duration of the turntable exceeds a second set duration or not in response to the turntable being in an unstable rotating state;

responding to the rotation duration being smaller than the second set duration, continuing to execute the step of acquiring the rotating speed of the turntable;

and determining that the IMU equipment fails to correct in response to the rotation time period being greater than or equal to the second set time period.

Optionally, the processor sends a correction instruction to the IMU device, including:

transmitting a first correction instruction to the IMU equipment, wherein the first correction instruction is used for instructing the IMU equipment to correct an accelerometer in the IMU equipment;

in response to detecting the accelerometer correction success response information, sending a second correction instruction to the IMU equipment, wherein the second correction instruction is used for indicating the IMU equipment to correct a gyroscope in the IMU equipment;

And in response to detecting the gyroscope correction success response information, sending a storage instruction to the IMU equipment so that the IMU equipment stores the correction data of the accelerometer and the gyroscope.

Optionally, the processor is further configured to:

determining that the IMU device has failed to correct in response to the accelerometer failing to correct;

or,

in response to a failure to correct the gyroscope, determining that the IMU device has failed to correct.

According to a second aspect of the present disclosure, there is provided an inertial measurement unit, IMU, device comprising a processor; the processor is configured to:

acquiring inertial data in a static state and a rotating state when each side face of the IMU equipment faces a target in response to receiving an acquisition instruction sent by an upper computer, and acquiring first inertial data and second inertial data;

and responding to receiving a correction instruction sent by the upper computer, and correcting the accelerometer and the gyroscope of the IMU device according to the first inertial data and the second inertial data.

Optionally, the processor, in response to receiving an acquisition instruction sent by the upper computer, acquires inertial data in a stationary state and a rotating state when each side of the IMU device faces a target, and obtains first inertial data and second inertial data, including:

In response to receiving a first acquisition instruction sent by the upper computer, acquiring first inertial data of the IMU equipment in a static state;

generating first completion information and sending the first completion information to the upper computer in response to detecting that the first inertial data acquisition is completed;

in response to receiving a second acquisition instruction sent by the upper computer, acquiring second inertial data of the IMU equipment in a rotating state;

and generating second completion information and sending the second completion information to the upper computer in response to the detection of completion of the second inertial data acquisition.

Optionally, the processor, in response to receiving a correction instruction sent by the upper computer, corrects an accelerometer and a gyroscope of the IMU device according to the first inertial data and the second inertial data, including:

responding to a first correction instruction sent by the upper computer, correcting an accelerometer in the IMU equipment, generating a first correction result and sending the first correction result to the upper computer;

responding to the received second correction instruction sent by the upper computer, correcting a gyroscope in the IMU equipment, generating a second correction result and sending the second correction result to the upper computer;

and storing the first correction result and the second correction result in response to receiving a storage instruction sent by the upper computer.

Optionally, the processor is further configured to:

acquiring actual values of inertial data corresponding to each side face of the IMU equipment and measured values formed by first inertial data and second inertial data of each side face of the IMU equipment;

inputting an actual value and a measured value of the inertial data of the IMU equipment into a preset model to obtain a rotation matrix and a deviation matrix of the IMU equipment output by the preset model;

and correcting an accelerometer or a gyroscope of the IMU device according to the rotation matrix and the deviation matrix.

According to a third aspect of the present disclosure, there is provided a control method, applicable to an upper computer, the method including:

Optionally, sending an acquisition instruction to the inertial measurement unit IMU device to control the IMU device to acquire inertial data, including:

Optionally, the method further comprises:

Optionally, generating, according to a preset sequence, a prompt message for adjusting an orientation of a designated side of the IMU device, including:

Detecting the current side detected by the IMU equipment;

Optionally, in response to detecting that the IMU device-specified lateral orientation adjustment is successful, controlling the IMU device to collect first inertial data in a stationary state, including:

Optionally, the method further comprises:

Optionally, the collecting progress response information includes second progress response information of completion of collecting inertial data, and the method further includes:

Optionally, the processor is further configured to:

Optionally, controlling the turntable to rotate and controlling the IMU device to collect the second inertial data in the rotating state includes:

acquiring the rotating speed of a turntable of the turntable;

Optionally, the method further comprises:

Optionally, sending a correction instruction to the IMU device includes:

Optionally, the method further comprises:

or,

According to a fourth aspect of the present disclosure, there is provided a control method adapted for use with an inertial measurement unit, IMU, device, the method comprising:

Optionally, in response to receiving an acquisition instruction sent by the upper computer, acquiring inertial data in a stationary state and a rotating state when each side face of the IMU device faces a target, and obtaining first inertial data and second inertial data, including:

Optionally, in response to receiving a correction instruction sent by the upper computer, correcting an accelerometer and a gyroscope of the IMU device according to the first inertial data and the second inertial data, including:

Optionally, the method further comprises:

According to a fifth aspect of the present disclosure, there is provided a host computer comprising:

a processor and a memory;

the memory is used for storing a computer program executable by the processor;

wherein the processor is configured to execute the computer program in the memory to implement the method according to any of the third aspects.

According to a sixth aspect of the present disclosure, there is provided an IMU device comprising:

a processor and a memory;

the memory is used for storing a computer program executable by the processor;

wherein the processor is configured to execute the computer program in the memory to implement the method of any of the fourth claims.

According to a seventh aspect of the present disclosure, there is provided a non-transitory computer readable storage medium, when executable computer programs in the storage medium are executed by a processor, capable of implementing the method according to any of the third or fourth aspects.

The technical scheme provided by the embodiment of the disclosure can comprise the following beneficial effects:

in the scheme of the embodiment, the upper computer can send an acquisition instruction to the inertial measurement unit IMU equipment so as to control the IMU equipment to acquire inertial data; and sending a correction instruction to the IMU equipment, wherein the correction instruction is used for controlling the IMU equipment to correct an accelerometer and gyroscope IMU equipment fixing seat in the IMU equipment according to the inertial data. Therefore, the upper computer controls the IMU equipment to automatically complete correction work, so that the number of manual intervention times can be reduced, the method is suitable for detecting scenes of the IMU equipment in batches, and the correction efficiency of the IMU equipment is improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

Fig. 1 is a schematic diagram of an IMU device calibration system according to an embodiment of the disclosure.

Fig. 2 is a schematic diagram of another IMU device calibration system according to an embodiment of the disclosure.

Fig. 3 is an interactive schematic diagram of a correction method according to an embodiment of the disclosure.

Fig. 4 is a flowchart of a correction method according to an embodiment of the disclosure.

Fig. 5 is a flowchart of a control method according to an embodiment of the present disclosure.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus consistent with some aspects of the disclosure as detailed in the accompanying claims.

The embodiment of the disclosure provides a control method, an upper computer, an Inertial Measurement Unit (IMU) device and a storage medium, which are suitable for a scene of batch correction of the IMU device. In order to achieve the above control method, the embodiment of the present disclosure further provides an IMU device correction system, which includes an upper computer, a turntable, and an IMU device fixing base. And the upper computer, the turntable and the IMU equipment cooperate to complete the correction of the IMU equipment. For convenience of description, in the following embodiments, the IMU device correction system is taken as an example to describe a technical scheme, and the working process of each device is embodied in a cooperation process.

Fig. 1 is a schematic diagram of an IMU device calibration system according to an embodiment of the disclosure. Referring to fig. 1, the IMU device correction system includes: the device comprises a turntable 10, an IMU device fixing seat 20 and an upper computer 30; the IMU equipment fixing seat 20 is fixed on the turntable 11 of the turntable 10; the IMU device fixing base 20 is used for fixing an IMU device 40 to be corrected; the upper computer 30 is electrically connected with the turntable 10 and the IMU equipment 40 to be corrected respectively; the upper computer 30 is used for controlling the IMU device 40 to respectively collect inertial data in a stationary state and a rotating state, obtaining a correction matrix of the IMU device 40 according to the inertial data, and correcting the IMU device 40 according to the correction matrix.

In this embodiment, with continued reference to fig. 1, the turntable 10 includes a housing 12, a first communication interface 13, and a second communication interface 14. The first communication interface 13 is arranged at a position of the housing 12 close to the turntable 11 for communicating with the communication interface 41 of the IMU device 40; the second communication interface 14 is fixed on the housing 12 for electrically connecting with the upper computer via the first communication cable L1 and electrically connecting with the first communication interface 13 via the second communication cable L2. In this way, the upper computer 30, the first communication cable L1, the second communication interface 14, the second communication cable L2, the first communication interface 13 and the communication interface of the IMU device may form a communication connection between the upper computer 30 and the IMU device 40, so as to achieve interaction between the two parties, and achieve the purpose of correcting the IMU device 40. The IMU device calibration process may refer to the following embodiments, which are not described herein.

In this embodiment, the IMU device calibration system includes an IMU jig 51 and a jig base 52. The IMU device may be placed within the IMU fixture 51 and secure the IMU fixture 51 to the fixture base 52. Wherein the jig base 52 is fixed to the turntable 11.

In this embodiment, with continued reference to fig. 1, the turntable 10 further includes a base 15 and a motor 16; the motor 16 is fixed on the base 15; the rotating shaft 17 of the motor 16 is fixed with the turntable 11 and is used for controlling the turntable 11 to rotate, and the turntable 11 drives the IMU device to rotate when rotating. The motor 16 is electrically connected to the second communication interface 14 and further electrically connected to the host computer 30 via the first communication cable L1. In this way, the upper computer 30 can control the motor 16 to rotate, so as to drive the IMU device 40 to rotate, thereby achieving the purpose of measuring the inertial data of the IMU device 40 in a rotating state.

In this embodiment, the first communication cable L1 is disposed inside the housing, so as to reduce the influence caused by the rotation of the turntable.

In an embodiment, referring to fig. 2, the IMU device correction system described above further includes an image acquisition device 50, such as a camera or webcam. The image acquisition device 50 is electrically connected with the upper computer 30 through a fourth communication cable L4, and is used for acquiring images within a preset range FOV, namely acquiring a side image of a certain side of the IMU device, and transmitting the acquired side image to the upper computer 30. The host computer 30 may recognize the side image according to a preset recognition model, so as to determine what side of the IMU device is the side facing the target direction.

The target direction may be one of upper, lower, front, rear, left, or right. In one example, the target direction is above.

In another embodiment, the IMU device calibration system further includes a direction adjustment device (not shown). The direction adjustment device includes at least one mechanical arm electrically connected to the host computer 30. The upper computer 30 may control the movement of at least one mechanical arm to adjust the orientation of a designated side of the IMU device, or to adjust the orientation of each side to a target direction.

Therefore, the IMU device correction system is arranged to correct the IMU device, so that the number of manual intervention times can be reduced, the method is suitable for detecting scenes of the IMU device in batches, and the correction efficiency of the IMU device is improved.

The operation of the IMU device calibration system is described in connection with the IMU device calibration system of fig. 1, the control interaction diagram of fig. 3, and the IMU calibration flow diagram of fig. 4, with reference to fig. 1, 3, and 4, in which the calibration IMU device includes a turntable, an upper computer, an IMU device, and an operator. The operator can adopt a direction adjusting device and image acquisition substitution, so that the number of manual intervention is reduced, and the operator can select according to specific scenes, and the method is not limited in this way.

When the need of detecting the IMU equipment exists, an operator performs power-on operation on the IMU equipment correction system, the IMU equipment is transferred into the IMU equipment jig, the IMU equipment jig is fixed on the IMU equipment fixing seat, and at the moment, the upper computer, the IMU equipment and the turntable are powered on and then start up to work. After the upper computer is started, corresponding test software can be started.

The upper computer may display a preset interface, where the preset interface may include prompt information for prompting an operator whether to start correcting the IMU device, a first operation control indicating that correction of the IMU device is to be started, and a second operation control not to be started.

When the upper computer detects that the second operation control is triggered, the test software can be exited and switched to a standby state to wait for power-off.

When the upper computer detects that the first operation control is triggered, the turntable can be initialized, for example, the target rotation speed of the turntable is set, the time consumption from rest to uniform rotation (for example, 0.1-0.5 s, adjustable) is consumed, and the like, which is not limited herein.

After receiving the initialization control instruction, the turntable may perform an initialization operation. After the initialization is completed, the turntable can send initialization success information or initialization failure information to the upper computer. When the initialization fails, the upper computer can display the initialization failure information to an operator and perform initialization operation on the turntable again, and if the initialization still fails after the initialization operation is performed for a first preset number of times (for example, 3 times), the abnormal state of the turntable is determined and the correction work is stopped.

When the upper computer receives response information of successful initialization of the turntable, a mode entering instruction can be output to the IMU equipment to be detected so as to instruct the IMU equipment to enter a correction mode. The IMU device switches to a correction mode after receiving the mode entering instruction, generates entering success response information or entering failure response information, and sends the entering success response information or the entering failure response information to the upper computer.

When the upper computer detects the entering failure response information, the IMU equipment can be controlled to be switched to the correction mode again. If the number of the sending mode entering instructions is smaller than the second preset times, continuing to send the mode entering instructions to the IMU equipment; if the number of the transmission mode entering instructions is equal to a second preset number of times (for example, 3 times), the entering of the correction mode fails, and the correction of the IMU equipment is stopped. At this time, the upper computer can determine that the IMU device fails to correct, and can correct the next IMU device.

When the upper computer detects the successful response information, prompt information for adjusting the orientation of the appointed side face of the IMU equipment can be generated according to a preset sequence. Wherein the designated sides of the IMU device may include a first face through a sixth face. Continuing to refer to FIG. 1, assume that the IMU device is disposed within an IMU device fixture that is a regular hexahedron with serial numbers (1) (2) (3) (4) (5) (6) marked on each side in sequence; each axis of the IMU device is perpendicular to the side surface of the regular hexahedron, for example, the x axis of the IMU device is perpendicular to the (1) plane, and the positive direction points to the (1) plane; the y-axis is perpendicular to the (2) plane, the positive direction is directed to the (2) plane, the z-axis is perpendicular to the (3) plane, the positive direction is directed to the (3) plane, and so on. That is, after the orientation of the designated side of the IMU device jig is adjusted, the designated side of the IMU device is adjusted, and for convenience of description, embodiments of the present disclosure will be described by taking the orientation of the designated side of the IMU device as an example.

Assuming that the preset sequence is from the first surface to the sixth surface, the upper computer can generate prompt information for adjusting the direction of the appointed side surface of the IMU equipment to be the target direction. Taking the third side as an example, please face up the third side of the IMU device. At this time, the operator may face the third face up, with the effect shown in fig. 1.

Meanwhile, the upper computer can display a first control which indicates that the appointed side faces towards the target direction successfully or a second control which indicates that the appointed side faces towards the target direction fail in a preset interface. When the second control is detected to be triggered, continuing waiting; when the first control is detected to be triggered, the upper computer can send a first acquisition instruction to the IMU equipment, wherein the first acquisition instruction is used for indicating the IMU equipment to acquire inertial data in a static state and is called as first inertial data.

It will be appreciated that the accelerometer within the IMU device may employ inertial data, which may be provided by gravitational acceleration, when the turntable is in a stationary state; in other words, in the stationary state, the theoretical value of the inertial data collected by the accelerometer is the gravitational acceleration, and if the theoretical value is not the gravitational acceleration, the error of the IMU device is described, which is the object to be corrected in the scheme of the present disclosure, and the correction process will be described later, which is not described herein.

In the process of collecting the IMU equipment, the upper computer can send a collection progress instruction to the IMU equipment, wherein the collection progress instruction is used for indicating whether the IMU equipment returns collection progress response information for completing collection of inertial data, and the collection progress response information comprises first progress response information which is not completed after collection and second progress response information which is completed after collection. After the IMU equipment receives the acquisition progress command, the current acquisition progress can be acquired, and first progress response information or second progress response information can be generated. Then, the IMU device may send the first progress response information or the second progress response information to the upper computer.

When the upper computer detects the first progress response information, the upper computer can judge whether the inertial data collected by the IMU device exceeds a first set duration according to the first progress response information, wherein the value range of the first set duration can be 0.5-2s. In one example, the first set duration takes a value of 0.5s. If the first set duration is exceeded, the upper computer determines that the IMU equipment fails to correct. If the first set duration is not exceeded, the upper computer can wait for the IMU equipment to continuously acquire the first inertial data, and acquire the acquisition progress in the acquisition process.

When the upper computer detects the second progress response information, the upper computer can send a rotation instruction to the turntable, and the rotation instruction is used for indicating the turntable to rotate according to a preset rotating speed. And the IMU equipment starts rotating after receiving the rotating instruction and performs stable rotating state after a second set time length. Wherein the value range of the second set time length can be 0.1-1s. In one example, the second set period of time has a value of 0.5s.

The upper computer can acquire the rotating speed of the turntable in the turntable and judge whether the turntable is in a stable rotating state. The steady rotation state refers to a state in which the amount of change in rotation speed in each acquisition cycle (e.g., 0.1 to 0.5s, adjustable) is less than or equal to a preset amount of change threshold.

When the turntable processes the unstable rotation state, the upper computer can judge whether the rotation duration of the turntable exceeds a second set duration. When the rotation duration is smaller than the second set duration, continuing to execute the step of acquiring the rotating speed of the turntable; and when the rotation time length is greater than or equal to the second set time length, the upper computer can determine that the IMU equipment fails to correct.

When the turntable is in a stable rotation state, the upper computer can send a second acquisition instruction to the IMU equipment, and the second acquisition instruction is used for controlling the IMU equipment to acquire second inertial data in the rotation state, for example, the gyroscope acquires the inertial data as the second inertial data. The IMU device may collect inertial data, i.e., second inertial data, according to the gyroscope after receiving the second collection instruction.

The above procedure describes that after acquiring inertial data of one side of the IMU device towards the target direction, and acquiring inertial data of each side of the IMU device according to the above scheme, 6n sets of data can be obtained, where n represents the number of inertial data of each side.

After the upper computer determines that the inertial data acquisition is completed, the IMU equipment can be controlled to enter a correction state, including Accelerometer (ACC) correction and Gyroscope (GRYO) correction.

In one example, the host computer sends a first correction instruction to the IMU device, the first correction instruction for instructing the IMU device to correct an accelerometer within the IMU device. After the IMU equipment acquires the first correction instruction, the accelerometer can be corrected to obtain a first correction result.

The IMU device corrects for an accelerometer, comprising:

the IMU device may obtain actual values (or true values) and first inertial data (as measured values) of the inertial data corresponding to each side. Where the actual value is the (local) gravitational acceleration.

And (3) storing a preset model in the IMU equipment, wherein the preset model is shown in a formula (1).

X＝(K ^T K) ^-1 K ^T Y； (1)

(1),r represents a rotation matrix, and B represents a deviation matrix; />L ^T Transpose matrix representing the actual value matrix, +.>A measurement representing inertial data of the IMU device.

The deduction process of the preset model comprises the following steps:

in the measurement, the relation between the actual value of the IMU device and the test quantity is shown in the formula (2).

In the formula (2), L represents an actual value,the measurement value (first inertial data or first inertial data) is represented by M, the rotation matrix of the coordinate system is represented by M, the non-orthogonal error of the sensor itself and the axis misalignment error relative to the mounting plane of the PCB board can be calibrated by the rotation matrix, S represents the scale factor matrix, B represents the zero offset matrix, and each matrix is expanded as shown in formulas (3) to (7).

L＝[l _x l _y l _z ] ^T ； (3)

B＝[b _x b _y b _z ] ^T ； (7)

And (3) making:

the formula (9) can be obtained by combining the formula (2) and the formula (8).

The equation (9) is converted into a form of a linear least square method as shown in the equation (10).

In this example, the IMU device may use data of 6 sides (i.e. 6 directions) in a static state, where n data are collected by each side, and then 6 total 6n data are collected by 6 sides, and an actual value is a local gravitational acceleration, and the actual value is substituted into formula (10) to obtain formula (11).

In the formula (11), the amino acid sequence of the compound,

the expression (10) is abbreviated as expression (12).

Y＝KX； (12)

The preset model is obtained according to the formula (1) by the least square method.

The IMU device inputs the actual value and the measured value into a preset model, and a rotation matrix R and a bias matrix B of the accelerometer, namely first correction data, can be obtained.

When the accelerometer fails to correct, the upper computer can determine that the IMU device fails to correct.

And after the accelerometer is successfully corrected, the upper computer can send a second correction instruction to the IMU equipment, wherein the second correction instruction is used for indicating the IMU equipment to correct the gyroscope in the IMU equipment. After the IMU device obtains the second correction instruction, the gyroscope may be corrected, that is, the actual value of the gyroscope (provided by the turntable) and the second inertial data are input into the preset model, so as to obtain a rotation matrix R and a bias matrix B of the gyroscope, and obtain a second correction result.

When the gyroscope fails to correct, the upper computer can determine that the IMU device fails to correct.

After the gyroscope is successfully calibrated, the IMU device can store the calibration data of the accelerometer and the gyroscope.

The upper computer can display a preset interface, and a prompt message of successful correction of the IMU equipment is displayed in the preset interface; and, whether the prompt information and the corresponding control of the next IMU equipment are corrected can be displayed.

When the control for correcting the next IMU device is triggered, correcting the next IMU device by combining the correction process.

When the control which does not correct the next IMU device is triggered, the upper computer is switched to a standby state.

Finally, the operator can process the upper computer, the turntable and the like in a power-down mode.

In the scheme provided by the embodiment, the single-axis rotating table can be adopted to measure the IMU equipment, so that the cost of the IMU equipment correction system is reduced; in addition, the IMU equipment is arranged in the jig, the appearance change of a control board where the IMU equipment is positioned is not required to be concerned, and the IMU equipment can be measured by only adjusting the orientation of the jig, so that the detection efficiency and accuracy are improved; finally, the frequency of manual intervention is less, even manual intervention is not needed, the detection efficiency is further improved, and the method is suitable for batch correction scenes of IMU equipment.

As known in the IMU device calibration system and the calibration process thereof, the upper computer includes a processor, and the processor may be configured to perform the following steps:

In an embodiment, the processor sends an acquisition instruction to the inertial measurement unit IMU device to control the IMU device to acquire inertial data, including:

In an embodiment, the processor is further configured to:

In an embodiment, the processor generates the prompt information for adjusting the orientation of the designated side of the IMU device according to a preset sequence, including:

detecting the current side detected by the IMU equipment;

In an embodiment, the processor is configured to control the IMU device to collect first inertial data in a stationary state in response to detecting that the IMU device-specified lateral orientation adjustment is successful, including:

In an embodiment, the processor is further configured to:

In an embodiment, the acquisition progress response information includes second progress response information of completion of acquisition of the inertial data, the processor further configured to:

Optionally, the processor is further configured to:

In an embodiment, the processor controls the turntable to rotate and controls the IMU device to collect the second inertial data in the rotating state, including:

acquiring the rotating speed of a turntable of the turntable;

In an embodiment, the processor is further configured to:

In an embodiment, the processor sends correction instructions to the IMU device, comprising:

In an embodiment, the processor is further configured to:

or,

It should be noted that, in the embodiment, the upper computer embodiment is matched with the content of the system embodiment, and reference may be made to the content of the system embodiment, which is not described herein.

The IMU device calibration system and the calibration process thereof can be understood that the IMU device includes a processor, and the processor can be used to execute the following steps:

In an embodiment, the processor, in response to receiving an acquisition instruction sent by the upper computer, acquires inertial data in a stationary state and a rotating state when each side of the IMU device faces a target, and obtains first inertial data and second inertial data, including:

In an embodiment, the processor, in response to receiving a correction instruction sent by the upper computer, corrects an accelerometer and a gyroscope of the IMU device according to the first inertial data and the second inertial data, including:

In an embodiment, the processor is further configured to:

It should be noted that, in the embodiment of the IMU device shown in the present embodiment, the content of the system embodiment may be referred to for matching the content of the system embodiment, which is not described herein.

Based on the above IMU device correction system and the correction process thereof, the embodiment of the disclosure further provides a control method, which is suitable for an upper computer in the IMU device correction system, see fig. 5, and includes steps 51 to 52.

In step 51, an acquisition instruction is sent to an inertial measurement unit IMU device to control the IMU device to acquire inertial data;

in step 52, a correction instruction is sent to the IMU device, where the correction instruction is used to control the IMU device to correct the accelerometer and gyroscope in the IMU device according to inertial data.

In an embodiment, sending an acquisition instruction to an inertial measurement unit IMU device to control the IMU device to acquire inertial data includes:

In an embodiment, the method further comprises:

In an embodiment, generating, according to a preset sequence, a prompt message for adjusting an orientation of a designated side of the IMU device includes:

Detecting the current side detected by the IMU equipment;

In an embodiment, in response to detecting that the IMU device-specified lateral orientation adjustment is successful, controlling the IMU device to collect first inertial data in a stationary state includes:

In an embodiment, the method further comprises:

In an embodiment, the acquisition progress response information includes second progress response information of completion of acquiring the inertial data, the method further comprising:

In an embodiment, the processor is further configured to:

In an embodiment, controlling the turntable to rotate and controlling the IMU device to collect the second inertial data in the rotating state includes:

Acquiring the rotating speed of a turntable of the turntable;

In an embodiment, the method further comprises:

In an embodiment, sending a correction instruction to the IMU device includes:

In an embodiment, the method further comprises:

or,

It should be noted that, the method embodiment shown in the present embodiment is matched with the content of the system embodiment, and reference may be made to the content of the system embodiment, which is not described herein.

Based on the above IMU device correction system and the correction process thereof, the embodiment of the present disclosure further provides a control method, which is suitable for an IMU device in the IMU device correction system, and includes:

In an embodiment, in response to receiving an acquisition instruction sent by the upper computer, acquiring inertial data in a stationary state and a rotating state when each side of the IMU device faces a target, and obtaining first inertial data and second inertial data includes:

In an embodiment, in response to receiving a correction instruction sent by the upper computer, correcting an accelerometer and a gyroscope of the IMU device according to the first inertial data and the second inertial data, including:

In an embodiment, the method further comprises:

In an exemplary embodiment, the disclosed embodiments also provide a non-transitory computer readable storage medium, which when executed by a processor, enables the implementation of a method as described above.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. The utility model provides a host computer, characterized by includes the processor, the processor is used for:

2. The host computer of claim 1, wherein the processor sends an acquisition instruction to the inertial measurement unit IMU device to control the IMU device to acquire inertial data, comprising:

3. The host computer of claim 2, wherein the processor is further configured to:

4. The host computer of claim 2, wherein the processor generates the prompt message for adjusting the orientation of the designated side of the IMU device according to a preset sequence, including:

detecting the current side detected by the IMU equipment;

5. The host computer of claim 2, wherein the processor is configured to control the IMU device to collect first inertial data in a stationary state in response to detecting that the IMU device-specified side orientation adjustment is successful, comprising:

6. The host computer of claim 5, wherein the processor is further configured to:

7. The host computer of claim 6, wherein the acquisition progress response information comprises second progress response information for completion of acquisition of inertial data, the processor further configured to:

8. The host computer of claim 6, wherein the processor is further configured to:

9. The host computer of claim 2, wherein the processor controlling the turntable to rotate and controlling the IMU device to collect the second inertial data in the rotated state comprises:

acquiring the rotating speed of a turntable of the turntable;

10. The host computer of claim 9, wherein the processor is further configured to:

11. The host computer of claim 1, wherein the processor sends a correction instruction to the IMU device, comprising:

12. The host computer of claim 11, wherein the processor is further configured to:

Or,

13. An inertial measurement unit, IMU, apparatus comprising a processor; the processor is configured to:

14. The apparatus of claim 13, wherein the processor, in response to receiving the acquisition command sent by the host computer, obtains inertial data in a stationary state and a rotating state when each side of the IMU device faces a target, and obtains first inertial data and second inertial data, including:

15. The device of claim 13, wherein the processor, in response to receiving a correction instruction sent by a host computer, corrects an accelerometer and a gyroscope of the IMU device according to the first inertial data and the second inertial data, comprising:

16. The apparatus of claim 15, wherein the processor is further configured to:

17. A control method, which is suitable for an upper computer, the method comprising:

18. The method of claim 17, wherein sending an acquisition instruction to the inertial measurement unit IMU device to control the IMU device to acquire inertial data comprises:

19. The method of claim 18, wherein the method further comprises:

20. The method of claim 18, wherein generating the alert message to adjust the orientation of the designated side of the IMU device in a predetermined order comprises:

detecting the current side detected by the IMU equipment;

21. The method of claim 18, wherein controlling the IMU device to collect first inertial data in a stationary state in response to detecting success of the IMU device-specified sideways adjustment comprises:

22. The method of claim 21, wherein the method further comprises:

23. The method of claim 22, wherein the acquisition progress response information includes second progress response information for completion of acquisition of inertial data, the method further comprising:

24. The method of claim 22, wherein the method further comprises:

25. The method of claim 18, wherein controlling turntable rotation and controlling the IMU device to collect second inertial data in a rotated state comprises:

Acquiring the rotating speed of a turntable of the turntable;

26. The method of claim 25, wherein the method further comprises:

27. The method of claim 17, wherein sending a correction instruction to the IMU device comprises:

28. The method of claim 27, wherein the method further comprises:

or,

29. A control method, adapted for use with an inertial measurement unit, IMU, device, the method comprising:

30. The method of claim 29, wherein in response to receiving the acquisition command sent by the host computer, acquiring inertial data in a stationary state and a rotating state when each side of the IMU device faces a target orientation, and obtaining first inertial data and second inertial data includes:

31. The method of claim 29, wherein in response to receiving a correction instruction sent by a host computer, correcting an accelerometer and a gyroscope of the IMU device from the first inertial data and the second inertial data, comprises:

32. The method of claim 31, further comprising:

33. An upper computer, characterized by comprising:

a processor and a memory;

the memory is used for storing a computer program executable by the processor;

wherein the processor is configured to execute the computer program in the memory to implement the method of any of claims 17-28.

34. An IMU device, comprising:

a processor and a memory;

the memory is used for storing a computer program executable by the processor;

wherein the processor is configured to execute a computer program in the memory to implement the method of any of claims 29-32.

35. A non-transitory computer readable storage medium, characterized in that the method of any one of claims 17-28 or 29-32 can be implemented when an executable computer program in the storage medium is executed by a processor.