WO2017113381A1

WO2017113381A1 - Method for determining calibration parameter and mobile device

Info

Publication number: WO2017113381A1
Application number: PCT/CN2015/100298
Authority: WO
Inventors: 王宇; 卢恒惠; 王雷
Original assignee: 华为技术有限公司
Priority date: 2015-12-31
Filing date: 2015-12-31
Publication date: 2017-07-06
Also published as: CN107532900A

Abstract

A method for determining a calibration parameter and a mobile device. The method is applied to a mobile device comprising a sensor to be calibrated, is used for increasing a correlation between the calibration parameter and the temperature and reducing errors of the sensor caused by temperature drift. The method comprises: obtaining at least three different groups of output data of a sensor to be calibrated collected in a temperature range, wherein the at least three different groups of output data are collected when the mobile device is in a static or quasi-static state, and the quasi-static state indicates a motion state in which the motion amplitude is less than a preset value; and determining, according to the at least three different groups of output data, the calibration parameter used by the sensor to be calibrated in the temperature range.

Description

Method for determining calibration parameters and mobile device

Technical field

The present invention relates to the field of mobile device technologies, and in particular, to a method for determining calibration parameters and a mobile device.

Background technique

The techniques related to user motion, such as dead reckoning and motion state recognition, are widely used in mobile devices. The implementation effects of these technologies depend on the accuracy of the sensor output signals. For sensors on mobile devices, the main factors affecting the accuracy of the output signal include: the zero point of each axis drifts with time, the zero point of each axis drifts with temperature and the sensitivity coefficient of each axis drifts with temperature.

Due to the zero drift and temperature drift of each axis of the sensor, the output signal of the sensor will have a large error, which will seriously affect the user experience. In order to reduce the error and enhance the reliability of the sensor output signal, there are two ways:

First, the use of sensors with higher precision and stability. However, the choice of such a device often leads to other costs such as increased cost and increased size.

Second, the sensor is real-time calibrated and temperature compensated without changing the existing sensors in the mobile device.

There is currently a Z-axis calibration method for three-axis accelerometers. This method is based on the sensitivity coefficient and zero offset of the X-axis and Y-axis, by substituting the sensor data in the three stationary poses of the mobile device into a specific The equation can be solved to obtain the sensitivity coefficient and zero offset of the Z-axis, so as to achieve the purpose of calibrating the sensitivity coefficient and zero-bias of the Z-axis of the acceleration sensor.

However, the calibration parameters obtained by this method still have obvious temperature drift in the actual application process, which is not accurate.

Summary of the invention

The application provides a method for determining calibration parameters and a mobile device for improving calibration parameters and temperature The degree of correlation reduces the adverse effects of temperature changes on sensor calibration parameters.

In a first aspect, a method for determining a calibration parameter is provided for use in a mobile device having a sensor to be calibrated, the method comprising:

The mobile device acquires at least three different sets of output data of the sensors to be calibrated collected in a temperature range; wherein the acquired at least three sets of different output data are all when the mobile device is in a static or quasi-static state Calibrate the output data of the sensor; quasi-statically indicates a motion state that is close to static and whose motion amplitude is controlled within a small range;

Then, the mobile device determines calibration parameters used by the sensor to be calibrated in the temperature range according to the obtained at least three different sets of output data.

For example, the mobile device calculates a calibration parameter based on a plurality of sets of output data of the acceleration sensor collected in a temperature range of 20 ° C to 22 ° C, and moves when the ambient temperature is between 20 ° C and 22 ° C, such as 21.2 ° C. The device uses this calibration parameter to calibrate the acceleration sensor.

In this way, the correlation between calibration parameters and temperature can be improved by using specific calibration parameters for each specific temperature range.

In one possible design, the method further includes:

If it is determined that the preset application is invoked, collecting a set of output data of the sensor to be calibrated, and recording an ambient temperature when the set of output data is collected and an attitude angle of the mobile device; wherein When the preset application is invoked, the posture of the mobile device may remain unchanged for a set duration; for example, the preset application may be a receiving a phone program, reading a short message program, or the like;

Determining a temperature range to which the ambient temperature belongs, and determining a range of attitude angles to which the attitude angle belongs;

And storing the set of output data if the mobile device is always static or quasi-static within a set duration after the application is invoked; the set of output data and the determined temperature range and the There is a correspondence between the attitude angle ranges.

In one possible design, at least three different sets of output data acquired by the mobile device have the same temperature range, and the corresponding attitude angle ranges are different.

Since the calibration parameters of the calculated sensors are generally similar when the ambient temperature is similar, a plurality of similar ambient temperatures are classified into a temperature range, and subsequent calculations are based on a plurality of sets of output data in a temperature range. The calibration parameters used internally can reduce unnecessary calculations on the one hand, and can reduce the number of sensor output data collected at individual ambient temperatures without calculating the calibration parameters. In addition, since the output data of the sensor may be the same or similar when the attitude angles are close, the output data of the same or similar can be regarded as a group of data substantially, so that a plurality of similar attitude angles are returned. Entering an attitude angle range, the subsequent one temperature range and one attitude angle range only map and store a set of output data, which can avoid the output of the sensor output data collected in a certain temperature range is larger than three groups but substantially different. The number of data is less than three groups and the calibration parameters cannot be calculated.

In a possible design, it is determined that the mobile device is always static or quasi-static within a set duration after the application is invoked, and can be implemented as follows:

Determining, if the maximum value and the variance value of the output signal of the acceleration sensor on the mobile device are not greater than a preset maximum threshold value and a variance value threshold, respectively, within a set duration after the application is invoked The mobile device is always static or quasi-static; or

If the maximum value and the variance value of the output signal of the acceleration sensor on the mobile device are not greater than a preset first maximum threshold value and a first variance value, respectively, within a set duration after the application is invoked Determining that the maximum value and the variance value of the output signal of the gyroscope on the mobile device are not greater than a preset second maximum threshold and a second variance threshold, respectively, determining that the mobile device is always in a static state or Quasi-static.

In one possible design, determining the calibration parameters based on the output data can be implemented as follows:

If the number of the output data is not less than N1, the output data is substituted into a calibration formula to obtain a zero point and a sensitivity coefficient of the sensor to be calibrated;

If the number of the output data is less than N1 but not less than N2, the output data and the factory value of the sensitivity coefficient of the sensor to be calibrated are substituted into the calibration formula to obtain the to-be-calibrated transmission. a zero point of the sensor; or, the output data and the factory value of the zero point of the sensor to be calibrated are substituted into the calibration formula to obtain a sensitivity coefficient of the sensor to be calibrated;

Wherein the calibration formula is

V represents the theoretical value of the physical quantity outputted by the sensor to be calibrated under static conditions, V=[V _X V _Y V _Z ] ^T ;

Representing the output data of the sensor to be calibrated,

Representing the sensitivity coefficient of the sensor to be calibrated,

B represents the zero point of the sensor to be calibrated, B = [b _X b _Y b _Z ] ^T ;

n represents the order of the calibration formula;

N1 and N2 are positively correlated with n, and N1>N2, N1 and N2 are integers greater than zero.

In a possible design, when n=1 in the above calibration formula, the calibration formula can be simplified as:

N1=12, N2=3; that is, when the number of acquired output data is not less than 12 groups, the calibration parameters can be obtained by substituting the first-order calibration formula according to the output data of not less than 12 groups and the known V. K _i ⁱ and B; when the number of acquired output data is less than 12 groups but not less than 3 groups, the calibration parameters can be

The factory values of one of B and B are taken as known quantities, and the known V and the output data of less than 12 sets are substituted into the first-order calibration formula to obtain another unknown calibration parameter.

In one possible design, after storing the set of output data, it can be implemented as follows:

Configuring an effective duration for the set of output data;

From configuring the effective duration for the set of output data, after the valid duration Delete the set of output data.

In this way, the timeliness of the output data can be guaranteed, and the error caused by the drift of the zero point of each axis of the sensor to be calibrated with time can be reduced.

In one possible design, the sensor to be calibrated is any of the following types of sensors: an acceleration sensor, a gyroscope, a magnetic field sensor, an electric field sensor, and a pressure sensor.

In a second aspect, a mobile device is provided having a sensor to be calibrated, the mobile device having the functionality to implement the above method. The functions may be implemented by hardware or by corresponding software implemented by hardware. The hardware or software includes one or more modules or units corresponding to the functions described above.

In a possible implementation manner, the mobile device includes:

An acquiring unit, configured to acquire at least three different sets of output data of the to-be-calibrated sensor collected in a temperature range; the at least three sets of different output data are collected when the mobile device is in a static or quasi-static state The quasi-static state indicates a motion state in which the motion amplitude is less than a preset value;

And a determining unit, configured to determine, according to the at least three sets of different output data, calibration parameters used by the to-be-calibrated sensor in the temperature range.

In another possible implementation, the mobile device includes a memory, a bus system, and at least one processor, and the memory and the at least one processor are connected to each other by a bus system;

The at least one processor is configured to acquire at least three different sets of output data of the to-be-calibrated sensor collected in a temperature range; the at least three sets of different output data are in a static state of the mobile device or Collected in quasi-static state; the quasi-static indicates a motion state whose motion amplitude is less than a preset value; and determines calibration parameters used by the sensor to be calibrated in the temperature range according to the at least three sets of different output data .

Storing a program in the memory, and collecting output data of the sensor to be calibrated and calibration parameters obtained by the processor when the mobile device is static or quasi-static, the at least one processor executing the program, A method of any of the above first aspects is implemented.

In another possible design, the mobile device includes a memory, a bus system, and at least one processor, and the memory and the at least one processor are connected to each other by a bus, where the memory stores one or more programs, The one or more programs include instructions that, when executed by the mobile device, cause the mobile device to perform the method of any of the first aspects.

In a third aspect, the present application provides a computer readable storage medium storing one or more programs, the one or more programs including instructions that, when executed by an electronic device, cause the electronic device to perform a first Any of the implementations of the aspects.

By using the solution provided by the present application, the correlation between the calibration parameters and the temperature is improved, the error caused by the temperature drift of the sensor is reduced, and the measurement accuracy of the sensor is improved.

DRAWINGS

1 is a flow chart of a method for determining calibration parameters provided by the present application;

2 is a schematic structural diagram of a mobile device provided by the present application;

FIG. 3 is a schematic structural diagram of a mobile phone provided by the present application.

detailed description

The present application provides a method for determining calibration parameters and a mobile device, based on at least three different sets of output data of a sensor to be calibrated collected by a mobile device in a temperature range, and calculating calibration parameters, which are used only in this The calibration of the sensor in the temperature range improves the correlation between the calibration parameters and the temperature, reduces the error caused by the temperature drift of the sensor, and improves the measurement accuracy of the sensor.

The technical solution provided by the present application may be used to determine calibration parameters for sensors on a mobile device, where the mobile device may be a mobile phone, a tablet computer, or some wearable device such as a smart watch, a sports bracelet, or the like. The sensor to be calibrated may be any type of triaxial vector sensor, for example, the following types of sensors: acceleration sensors, gyroscopes, magnetic field sensors, electric field sensors, and pressure sensors.

The technical solutions of the present invention will be described below in conjunction with the drawings and the embodiments.

FIG. 1 is a flow chart of a method for determining calibration parameters of a mobile device sensor provided by the present application, the method comprising the following steps:

Step 101: The mobile device acquires at least three different sets of output data of the sensors to be calibrated collected in a temperature range; the at least three sets of different output data are collected when the mobile device is static or quasi-static The quasi-static state indicates a motion state in which the motion amplitude is less than a preset value.

Step 102: The mobile device determines, according to the at least three sets of different output data, calibration parameters used by the to-be-calibrated sensor in the temperature range.

Calculating the calibration parameters of the sensor requires obtaining the output data of the sensor of the mobile device in different postures. The manual calibration mode is a way for the user to manually provide different postures in the calibration process to obtain the output data of the sensor in different postures of the mobile device, for example, when calibrating the magnetic field sensor, prompting the user to slowly Rotate the terminal screen or hold the terminal to draw an "8" shape in the air.

In order to reduce user operations and improve user experience, the present application provides a trigger mechanism for automatically collecting sensor output data in different postures. The mobile device can trigger the collection of sensor output data according to a set period, or trigger the collection of sensor output data when it detects that a preset application is called. The gesture of the mobile device may remain unchanged for a set duration when the preset application is invoked. For example, the user's gesture of the mobile device may remain fixed for a certain period of time in a scene of answering a call, reading a text message, taking a photo focus, opening a web browser, searching for a wireless signal, etc., therefore, the call program can be answered, the short message program can be opened, and the photo can be taken. Applications such as the focus program, open web browser program, search for wireless signal programs, etc. are pre-configured as applications that can trigger sensor output data collection. When the mobile device is called, it is possible to maintain a fixed number of applications for a certain period of time. This application is only described by taking the above application as an example, and does not constitute a limitation on the present application.

In the present application, the process of collecting the sensor data and the calculation process of the calibration parameters are not strictly sequential, and the two can be performed simultaneously.

After triggering the collection of sensor data, the mobile device reads a set of outputs of the sensor to be calibrated Data, and recording the ambient temperature at which the set of output data is read and the attitude angle of the mobile device. Among them, the ambient temperature can be obtained by a temperature sensor; the attitude angle can be obtained by an acceleration sensor, a gyroscope and a magnetic field sensor. The so-called attitude angle refers to the Euler angle of the local coordinate system of the mobile device (ie, the local coordinate system) relative to the reference coordinate system (ie, the inertial coordinate system). The Euler angle is a set of independent angular parameters, which are by the nutation angle and rotation. The angle of advance and the angle of rotation.

Then, the mobile device may determine, according to a preset division rule, a temperature range to which the recorded ambient temperature belongs, and determine a range of posture angles to which the recorded posture angle belongs. For example, it can be specified that all ambient temperatures within 20 degrees Celsius (unit: °C) to 22 °C belong to a temperature range [20-22]. For another example, it is possible to specify that all the attitude angles of the nutation angle, the precession angle, and the rotation angle between 0 degrees (unit: °) and 15 degrees belong to one attitude angle range [0 to 15_0 to 15_0 to 15]. Since the calibration parameters of the calculated sensors are generally similar when the ambient temperature is similar, a plurality of similar ambient temperatures are classified into a temperature range, and subsequent calculations are based on a plurality of sets of output data in a temperature range. The calibration parameters used internally can reduce unnecessary calculations on the one hand, and can reduce the number of sensor output data collected at individual ambient temperatures without calculating the calibration parameters. In addition, since the output data of the sensor may be the same or similar when the attitude angles are close, the output data of the same or similar can be regarded as a group of data substantially, so that a plurality of similar attitude angles are returned. Entering a range of attitude angles, the subsequent one temperature range and one attitude angle range only correspond to a set of output data, which can avoid the occurrence of output data of the sensor that is collected in a certain temperature range is larger than three groups but substantially different. The number of measurements is less than three groups and the calibration parameters cannot be calculated.

After collecting the set of output data, the mobile device needs to determine the set duration after the collection of the sensor output data is triggered according to the set period, or the collection of the sensor output data is triggered when the application is called. Whether the mobile device is always static or quasi-static during the set duration. If so, the set of output data is stored; otherwise, the set of output data is discarded.

The stored set of output data has a corresponding relationship with the determined temperature range and attitude angle range. In practical applications, the temperature range and attitude angle range can be used as sensor outputs. The identification of the data is stored together, for example, by means of a structure.

If the temperature range and the attitude angle range corresponding to the saved set of output data are the same, the mobile device saves the latest output data and discards the saved output data.

Optionally, after storing the set of output data, the application may configure an effective duration for the set of output data to indicate validity of the set of output data, from configuring the set of output data. After the effective duration, after the valid duration, the set of output data is deleted, thereby reducing the error caused by the zero drift of each axis of the sensor to be calibrated and improving the accuracy of the calibration parameters.

Correspondingly, at least three sets of different output data acquired by the mobile device have the same temperature range, and the corresponding attitude angle ranges are different.

In the present application, the static judgment or the quasi-static judgment can be realized by an acceleration sensor or by an acceleration sensor together with the gyroscope. The so-called static refers to a state of complete static; the so-called quasi-static refers to a state of motion that is close but not completely static, and the amplitude of motion is controlled within a small range.

Static or quasi-static judgments mainly include the following processes:

First, the signal conditioning process.

The high-pass filtering of the original signal output by the acceleration sensor is performed within a set time period after the collection of the sensor output data is triggered according to the set period, or within the set time period after the application is called, and the gravity acceleration is An acceleration static component is filtered from the original signal to obtain an acceleration component of the acceleration sensor's original signal due to motion. Similarly, if the gyroscope is also included, the original signal output from the gyroscope is also high-pass filtered to obtain the angular velocity dynamic component of the original gyroscope signal due to motion.

Optionally, the high-pass filtered signal of the acceleration sensor and the gyroscope can be smoothed, and the available techniques include low-pass filtering, median filtering, and mean filtering.

Optionally, the smoothed signal of the acceleration sensor and the gyroscope may be rectified to invert the negative half-axis portion of the signal waveform output by the acceleration sensor and the gyroscope to the positive half-axis.

Second, the statistical signal extraction process.

Extracting the maximum value and the variance value of the acceleration sensor output signal after the above signal conditioning process. Similarly, if the gyroscope is also included, the maximum value and the variance value of the gyroscope output signal after the above signal conditioning process are also extracted.

Third, the signal decision process.

Comparing the maximum value and the variance value of the output signal of the extracted acceleration sensor to a preset maximum threshold value and a variance value threshold respectively, if the maximum value of the output signal of the acceleration sensor is not greater than a preset maximum threshold value And the variance value of the output signal of the acceleration sensor is not greater than the preset variance value threshold, then it is determined that the mobile device is always static or quasi-static.

Similarly, if the gyroscope is further included, in addition to comparing the maximum value and the variance value of the output signal of the extracted acceleration sensor to the preset first maximum threshold and the first variance threshold respectively, And comparing the maximum value and the variance value of the output signal of the extracted gyroscope to the preset second maximum threshold and the second variance threshold respectively, if the output of the acceleration sensor on the mobile device The maximum value and the variance value of the signal are not greater than the preset first maximum threshold and the first variance threshold, respectively, and the maximum and variance values of the output signals of the gyroscope on the mobile device are not greater than The second maximum threshold and the second variance threshold are set to determine that the mobile device is always static or quasi-static.

After obtaining the output data, the mobile device substitutes the output data into the following three-axis sensor calibration formula, and the numerically iterative method can be used to obtain the calibration parameters K _i ⁱ and/or B of the sensor to be calibrated.

Formula 1)

Wherein, V represents the theoretical value of the physical quantity outputted by the sensor to be calibrated under static state, V=[V _X V _Y V _Z ] ^T .

For example, under static conditions, the triaxial component vector sum of the theoretical values of the physical quantities of the acceleration sensor output is the gravitational acceleration, ie:

The triaxial component vector of the theoretical value of the physical quantity of the magnetic field sensor output is the typical value of the magnetic induction of the earth's surface; the triaxial component vector sum of the theoretical value of the physical quantity of the gyroscope output is zero; the triaxial component vector of the theoretical value of the physical quantity output by the electric field sensor And the typical value of the electric field strength for the earth's surface; the sum of the three-axis component vectors of the theoretical values of the physical quantities of the pressure sensor output is a standard atmospheric pressure. The physical quantity outputted by each sensor under quasi-static state also approximates the numerical relationship of the theoretical values of the physical quantities output by the respective sensors under the above static conditions.

Representing the output data of the sensor to be calibrated,

Representing the sensitivity coefficient of the sensor to be calibrated,

Where k _{i_XY} , k _{i_XZ} , k _{i_YX} , k _{i_YZ} , k _{i_ZX} , k _{i_ZY} are the cross-axis coupling sensitivity coefficients of the sensor to be calibrated when the order of the calibration formula is i, k _{i_XX} , k _{i_YY} , k _{i_ZZ} are calibration formulas respectively The sensitivity coefficient of the X-axis, Y-axis, and Z-axis of the sensor to be calibrated when the order is i.

B represents the zero point of the sensor to be calibrated, B = [b _X b _Y b _Z ] ^T .

n represents the order of the calibration formula.

It can be seen from the above calibration formula that V=[V _X V _Y V _Z ] ^T and

Under the premise of solving the calibration parameters at the same time

And B. Need at least N1 group

Value; known as V=[V _X V _Y V _Z ] ^T and

as well as

In the case of one of the calibration parameters of B and B, at least another N2 group is required to solve another calibration parameter.

value. Wherein N1 and N2 are positively correlated with n, and N1>N2, and N1 and N2 are integers greater than zero.

Taking the first-order calibration formula as an example, when n=1, the above calibration formula (1) can be simplified as:

Formula (2)

Knowing that V = [V _X V _Y V _Z ] ^T and

Under the premise, at least 12 groups are required.

Value can be solved at the same time

And B. It is known that V=[V _X V _Y V _Z ] ^T and

as well as

In the case of one of the calibration parameters of B and B, at least 3 sets are needed to solve another calibration parameter.

value.

If the number of valid output data in a certain temperature range is not less than N1, the first calibration parameter calculation program may be performed, and the output data is substituted into the calibration formula (1) to obtain the zero point of the sensor to be calibrated. Sensitivity factor. In practical applications, the more the output data is substituted, the more accurate the calibration parameters are.

If the number of valid output data in a certain temperature range is less than N1 but not less than N2, a second calibration parameter calculation program may be performed, and the output data and the factory value of the sensitivity coefficient of the sensor to be calibrated are substituted into the above Calibration formula (1) obtains the zero point of the sensor to be calibrated. Alternatively, the output data and the factory value of the zero point of the sensor to be calibrated are substituted into the calibration formula (1) to obtain the sensitivity coefficient of the sensor to be calibrated.

If the number of valid output data in a stored temperature range is less than N2, the calibration parameter calculated last time in history may be used, or the sensor factory calibration parameter may be used, or the user may be prompted to manually calibrate the sensor.

After the mobile device calculates the calibration parameters, the calibration parameters can be stored in a fixed storage medium and the temperature range to which the calibration parameters are applied is marked. The specific storage medium may be hardware, such as a memory, an electrically erasable programmable read-only memory (EEPROM), a magnetic disk, or a flash memory. For ease of explanation, the present application refers to a storage medium area in which calibration parameters are stored as a parameter pool.

Optionally, after the application called to the sensor is started, each sensor calibration parameter marked by the corresponding temperature range in the parameter pool may be read as an initial calibration parameter of each sensor according to the current ambient temperature. During the running of the application, the mobile device can trigger the collection of the sensor output data through the above trigger mechanism, and update the output data satisfying the static or quasi-static judgment to the memory. When new sensor output data is updated to the memory, the mobile device can trigger the execution of steps 101-102, based on the new output data and the other temperature stored in the memory that is the same as the temperature range marked by the new output data. Data, get new calibration parameters, and update the new calibration parameters to the parameter pool. The application called to the sensor detects whether the parameter pool is updated periodically or in real time during the running process. If the parameter pool has an update of the calibration parameter, the latest one is extracted from the parameter pool. The updated calibration parameters are used as new calibration parameters for the sensor; if the parameter pool is not updated, the current calibration parameters continue to be used.

Based on the method for determining a calibration parameter provided by the present application, the present application provides a mobile device 200 for implementing the function of the mobile device in the method for determining a calibration parameter, for determining a calibration parameter of a sensor to be calibrated located on the mobile device 200. As shown in FIG. 2, the mobile device includes:

The acquiring unit 201 is configured to acquire at least three different sets of output data of the to-be-calibrated sensor collected in a temperature range; the at least three sets of different output data are static or quasi-static at the mobile device 200 Collected; the quasi-static indicates a motion state in which the motion amplitude is less than a preset value.

The determining unit 202 is configured to determine, according to the at least three sets of different output data, calibration parameters used by the to-be-calibrated sensor in the temperature range.

Optionally, the mobile device 200 may further include:

The collecting unit 203 is configured to collect a set of output data of the sensor to be calibrated when determining that the preset application is invoked, and record an ambient temperature and a posture of the mobile device when collecting the set of output data And determining a temperature range to which the ambient temperature belongs, and determining a range of attitude angles to which the attitude angle belongs. When the preset application is called, the posture of the mobile device 200 may remain unchanged for a set period of time.

The determining unit 204 is configured to determine whether the mobile device 200 is always static or quasi-static within a set duration after the application is invoked.

The storage unit 205 is configured to store the set of output data when the mobile device 200 is always in a static or quasi-static state within the set duration after the determining unit 204 determines that the application is invoked.

Correspondingly, the temperature ranges corresponding to the at least three sets of different output data acquired by the acquiring unit 201 are the same, and the corresponding attitude angle ranges are different.

Optionally, the determining unit 204, when determining that the mobile device is always in a static or quasi-static state within a set duration after the application is invoked, specifically includes: setting after the application is invoked Within the duration, if the output signal of the acceleration sensor on the mobile device 200 is the largest If the value and the variance value are not greater than the preset maximum threshold and the variance threshold, respectively, determining that the mobile device 200 is always static or quasi-static; or, within a set duration after the application is invoked, If the maximum value and the variance value of the output signal of the acceleration sensor on the mobile device 200 are not greater than a preset first maximum threshold and a first variance threshold, respectively, and the gyroscope on the mobile device 200 The maximum value and the variance value of the output signal are not greater than the preset second maximum threshold and the second variance threshold, respectively, and it is determined that the mobile device 200 is always static or quasi-static.

Optionally, the determining unit 202, when determining the calibration parameter according to the output data, specifically includes:

If the number of the output data is less than N1 but not less than N2, substitute the output data and the factory value of the sensitivity coefficient of the sensor to be calibrated into the calibration formula to obtain a zero point of the sensor to be calibrated; or, The output data and the factory value of the zero point of the sensor to be calibrated are substituted into the calibration formula to obtain a sensitivity coefficient of the sensor to be calibrated.

Wherein the calibration formula is

Representing the output data of the sensor to be calibrated,

Representing the sensitivity coefficient of the sensor to be calibrated,

n represents the order of the calibration formula;

Alternatively, when n=1, the calibration formula can be simplified as:

At this time, N1=12 and N2=3.

Optionally, the mobile device 200 may further include:

a deleting unit 206, configured to configure, after the storing unit 205 stores the set of output data, an effective duration for the set of output data; from configuring the effective duration for the set of output data, after passing After the valid duration, the set of output data is deleted.

Optionally, the sensor to be calibrated may be any one of the following types of sensors: an acceleration sensor, a gyroscope, a magnetic field sensor, an electric field sensor, and a pressure sensor.

It should be noted that the division of the unit in the embodiment of the present invention is schematic, and is only a logical function division, and the actual implementation may have another division manner. The functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

The application also provides a mobile device comprising a memory, a bus system and at least one processor, the memory and the at least one processor being connected by the bus system.

Storing one or more programs in the memory, the one or more programs including instructions that, when executed by the mobile device, cause the mobile device to perform a method of determining a calibration parameter in any of the above-described cases .

Taking a mobile device as a mobile phone as an example, FIG. 3 is a block diagram showing a part of the structure of the mobile phone 300 related to the present application. Referring to FIG. 3, the mobile phone 300 includes an RF (Radio Frequency) circuit 310, a memory 320, an input unit 330, a display unit 340, a sensor 350, an audio circuit 360, and a WiFi (wireless fidelity) module. 370, processor 380, and power supply 390 and the like. It will be understood by those skilled in the art that the structure of the handset shown in FIG. 3 does not constitute a limitation to the handset, and may include more or less components than those illustrated, or some components may be combined, or different component arrangements.

The components of the mobile phone 300 will be specifically described below with reference to FIG. 3:

The RF circuit 310 can be used for transmitting and receiving information or during a call, and receiving and transmitting the signal. Specifically, after receiving the downlink information of the base station, the processor 380 processes the data. In addition, the uplink data is designed to be sent to the base station. Generally, the RF circuit includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, an LNA (Low Noise Amplifier, a low noise amplifier), a duplexer, and the like. In addition, RF circuitry 310 can also communicate with the network and other devices via wireless communication. The wireless communication may use any communication standard or protocol, including but not limited to GSM (Global System of Mobile communication), GPRS (General Packet Radio Service), CDMA (Code Division). Multiple Access (code division multiple access), WCDMA (Wideband Code Division Multiple Access), LTE (Long Term Evolution), e-mail, SMS (Short Messaging Service) : Short message service) and so on.

The memory 320 can be used to store software programs and modules, and the processor 380 executes various functional applications and data processing of the mobile phone 300 by running software programs and modules stored in the memory 320. The memory 320 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application required for at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may be stored. Data created according to the use of the mobile phone 300 (such as audio data, phone book, etc.). Moreover, memory 320 can include high speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.

The input unit 330 can be configured to receive input numeric or character information and to generate key signal inputs related to user settings and function control of the handset 300. Specifically, the input unit 330 may include a touch panel 331 and other input devices 332. The touch panel 331 , also referred to as a touch screen, can collect touch operations on or near the user (such as a user using a finger, a stylus, or the like on the touch panel 331 or near the touch panel 331 Operation), and drive the corresponding connecting device according to a preset program. Optionally, the touch panel 331 can include two parts: a touch detection device and a touch controller. Wherein the touch detection device detects the touch orientation of the user and detects the touch The signal brought by the operation transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into contact coordinates, sends it to the processor 380, and can receive the signal from the processor 380. Command and execute it. In addition, the touch panel 331 can be implemented in various types such as resistive, capacitive, infrared, and surface acoustic waves. In addition to the touch panel 331, the input unit 330 may also include other input devices 332. In particular, other input devices 332 may include, but are not limited to, one or more of a physical keyboard, function keys (such as volume control buttons, switch buttons, etc.), trackballs, mice, joysticks, and the like.

The display unit 340 can be used to display information input by the user or information provided to the user and various menus of the mobile phone 300. The display unit 340 may include a display panel 341. Alternatively, the display panel 341 may be configured in the form of an LCD (Liquid Crystal Display) or an OLED (Organic Light-Emitting Diode). Further, the touch panel 331 can cover the display panel 341. When the touch panel 331 detects a touch operation on or near it, the touch panel 331 transmits to the processor 380 to determine the type of the touch event, and then the processor 380 according to the touch event. The type provides a corresponding visual output on display panel 341. Although the touch panel 331 and the display panel 341 are used as two independent components to implement the input and input functions of the mobile phone 300 in FIG. 3, in some cases, the touch panel 331 may be integrated with the display panel 341. The input and output functions of the mobile phone 300 are implemented.

The handset 300 can also include at least one type of sensor 350, such as a light sensor, motion sensor, and other sensors. Specifically, the light sensor may include an ambient light sensor and a proximity sensor, wherein the ambient light sensor may adjust the brightness of the display panel 341 according to the brightness of the ambient light, and the proximity sensor may close the display panel 341 when the mobile phone 300 moves to the ear. / or backlight. As a kind of motion sensor, the accelerometer sensor can detect the magnitude of acceleration in all directions (usually three axes). When it is stationary, it can detect the magnitude and direction of gravity. It can be used to identify the gesture of the mobile phone (such as horizontal and vertical screen switching, related Game, magnetometer attitude calibration), vibration recognition related functions (such as pedometer, tapping), etc.; as for the mobile phone 300 can also be configured with gyroscopes, barometers, hygrometers, thermometers, infrared sensors and other sensors, here Let me repeat.

The audio circuit 360, the speaker 361, and the microphone 362 can provide a sound between the user and the mobile phone 300. Frequency interface. The audio circuit 360 can transmit the converted electrical data of the received audio data to the speaker 361 for conversion to the sound signal output by the speaker 361; on the other hand, the microphone 362 converts the collected sound signal into an electrical signal, by the audio circuit 360. After receiving, it is converted to audio data, and the audio data is output to the RF circuit 308 for transmission to, for example, another mobile phone, or the audio data is output to the memory 320 for further processing.

WiFi is a short-range wireless transmission technology, and the mobile phone 300 can help users to send and receive emails, browse web pages, and access streaming media through the WiFi module 370, which provides wireless broadband Internet access for users. Although FIG. 3 shows the WiFi module 370, it can be understood that it does not belong to the essential configuration of the mobile phone 300, and may be omitted as needed within the scope of not changing the essence of the invention.

Processor 380 is the control center of handset 300, which connects various portions of the entire handset using various interfaces and lines, by running or executing software programs and/or modules stored in memory 320, and recalling data stored in memory 320, The various functions and processing data of the mobile phone 300 are performed to perform overall monitoring of the mobile phone. Optionally, the processor 380 may include one or more processing units; preferably, the processor 380 may integrate an application processor and a modem processor, where the application processor mainly processes an operating system, a user interface, an application, and the like. The modem processor primarily handles wireless communications. It will be appreciated that the above described modem processor may also not be integrated into the processor 380.

The handset 300 also includes a power source 390 (such as a battery) that powers the various components. Preferably, the power source can be logically coupled to the processor 380 via a power management system to manage functions such as charging, discharging, and power consumption through the power management system.

Although not shown, the mobile phone 300 may further include a camera, a Bluetooth module, and the like, and details are not described herein.

In the present application, in order to complete the above-described method of determining calibration parameters, the processor 380 executes a program stored in the memory 320, triggering the mobile phone 300 to perform the following operations:

Obtaining at least three different sets of output data of the to-be-calibrated sensor 350 collected over a temperature range; the at least three sets of different output data are collected when the mobile phone 300 is in a static or quasi-static state; Defining a static state of motion indicating that the motion amplitude is less than a preset value; determining, according to the at least three sets of different output data, that the sensor to be calibrated 350 is within the temperature range The calibration parameters used.

The memory 320 is further configured to store output data of the sensor 350 to be calibrated, and calibration parameters obtained by the processor 380.

As a possible design, the processor 380 can also perform other operations performed by the obtaining unit 201, the determining unit 202, the collecting unit 203, the determining unit 204, and the deleting unit 206 shown in FIG. 2, and the memory 320 can also execute the map. Other operations performed by the storage unit 205 shown in 2. For the sake of brevity, it will not be repeated here.

For details of the details in the above, refer to the description of the mobile device in the method for determining the calibration parameters shown in FIG. 1 , and details are not described herein again.

Moreover, the present application also provides a computer readable storage medium storing one or more programs, the one or more programs including instructions that, when executed by an electronic device, cause the electronic device to perform any of the above The method of determining the calibration parameters in a case.

In summary, in the technical solution provided by the present application, the mobile device may trigger the collection process of the sensor output data when the mobile device may keep the static or quasi-static application opened for a certain period of time when the call is detected. Updating the sensor output data reduces the number of manual calibrations by the user and improves the user experience; and based on at least three different sets of sensor output data collected over a temperature range, the calibration parameters are obtained, and the obtained calibration parameters are dedicated to The calibration of the sensor in this temperature range improves the correlation between calibration parameters and temperature, reduces the error caused by the zero drift and temperature drift of the sensor, and improves the measurement accuracy of the sensor.

Those skilled in the art will appreciate that embodiments of the present invention can be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. Moreover, the invention can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.

The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (system), and computer program products according to embodiments of the invention. It will be understood that each of the processes and/or blocks in the flowcharts and/or block diagrams, and the flows in the flowcharts and/or block diagrams can be implemented by computer program instructions. And/or a combination of boxes. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine for the execution of instructions for execution by a processor of a computer or other programmable data processing device. Means for implementing the functions specified in one or more of the flow or in a block or blocks of the flow chart.

The computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device. The apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.

These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device. The instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

While the preferred embodiment of the invention has been described, it will be understood that Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and the modifications and

It is apparent that those skilled in the art can make various modifications and variations to the embodiments of the invention without departing from the spirit and scope of the embodiments of the invention. Thus, it is intended that the present invention cover the modifications and modifications of the embodiments of the invention.

Claims

A method for determining a calibration parameter, applied to a mobile device having a sensor to be calibrated, comprising:

Obtaining at least three different sets of output data of the sensor to be calibrated collected over a temperature range; the at least three sets of different output data being collected when the mobile device is static or quasi-static; Quasi-static means a motion state whose motion amplitude is less than a preset value;

Determining calibration parameters used by the sensor to be calibrated within the temperature range based on the at least three different sets of output data.
The method of claim 1 wherein the method further comprises:

If it is determined that the preset application is invoked, collecting a set of output data of the sensor to be calibrated, and recording an ambient temperature when the set of output data is collected and an attitude angle of the mobile device;

Determining a temperature range to which the ambient temperature belongs, and determining a range of attitude angles to which the attitude angle belongs;

And storing the set of output data if the mobile device is always static or quasi-static within a set duration after the application is invoked; the set of output data and the determined temperature range and the There is a correspondence between the attitude angle ranges.
The method according to claim 1 or 2, wherein the at least three sets of different output data have the same temperature range and the corresponding attitude angle ranges are different.
The method according to claim 2 or 3, wherein the mobile device is always in a static or quasi-static state within a set duration after the application is called, including:

Determining, if the maximum value and the variance value of the output signal of the acceleration sensor on the mobile device are not greater than a preset maximum threshold value and a variance value threshold, respectively, within a set duration after the application is invoked The mobile device is always static or quasi-static; or

If the maximum value and the variance value of the output signal of the acceleration sensor on the mobile device are not greater than a preset first maximum threshold value and a first variance value, respectively, within a set duration after the application is invoked a threshold, and a maximum value and a variance value of the output signal of the gyroscope on the mobile device If it is not greater than the preset second maximum threshold and the second variance threshold, it is determined that the mobile device is always static or quasi-static.
The method according to any one of claims 1 to 4, wherein determining calibration parameters based on the output data comprises:

If the number of the output data is not less than N1, the output data is substituted into a calibration formula to obtain a zero point and a sensitivity coefficient of the sensor to be calibrated;

If the number of the output data is less than N1 but not less than N2, substitute the output data and the factory value of the sensitivity coefficient of the sensor to be calibrated into the calibration formula to obtain a zero point of the sensor to be calibrated; or, And outputting the output data and the factory value of the zero point of the sensor to be calibrated into the calibration formula to obtain a sensitivity coefficient of the sensor to be calibrated;

Wherein the calibration formula is

V represents the theoretical value of the physical quantity outputted by the sensor to be calibrated under static conditions, V=[V X V Y V Z ] T ;

Representing the output data of the sensor to be calibrated,

Representing the sensitivity coefficient of the sensor to be calibrated,

B represents the zero point of the sensor to be calibrated, B = [b X b Y b Z ] T ;

n represents the order of the calibration formula;

N1 and N2 are positively correlated with n, and N1>N2, N1 and N2 are integers greater than zero.
The method of claim 5 wherein when n = 1, the calibration formula is:

N1=12, N2=3.
A method according to any one of claims 2 to 4, wherein said set of said After outputting the data, the method further includes:

Configuring an effective duration for the set of output data;

From the configuration of the valid duration for the set of output data, the set of output data is deleted after the valid duration has elapsed.
A mobile device, characterized in that the mobile device has a sensor to be calibrated, and the mobile device comprises:

An acquiring unit, configured to acquire at least three different sets of output data of the to-be-calibrated sensor collected in a temperature range; the at least three sets of different output data are collected when the mobile device is in a static or quasi-static state The quasi-static state indicates a motion state in which the motion amplitude is less than a preset value;

And a determining unit, configured to determine, according to the at least three sets of different output data, calibration parameters used by the to-be-calibrated sensor in the temperature range.
The mobile device of claim 8, wherein the mobile device further comprises:

a collecting unit, configured to collect a set of output data of the sensor to be calibrated when determining that the preset application is invoked, and record an ambient temperature when the set of output data is collected and an attitude angle of the mobile device Determining a temperature range to which the ambient temperature belongs, and determining a range of attitude angles to which the attitude angle belongs;

a determining unit, configured to determine whether the mobile device is always static or quasi-static within a set duration after the application is invoked;

a storage unit, configured to store the set of output data when the mobile device is always in a static or quasi-static state within a set duration after the determining unit is determined to be invoked; the set of output data and There is a corresponding relationship between the determined temperature range and the attitude angle range.
The mobile device according to claim 8 or 9, wherein the at least three sets of different output data acquired by the acquiring unit have the same temperature range, and the corresponding posture angle ranges are different.
The mobile device according to claim 9 or 10, wherein the judging unit is always in a static or quasi-regular state within a set duration after determining that the application is called. When static, it specifically includes:

Determining, if the maximum value and the variance value of the output signal of the acceleration sensor on the mobile device are not greater than a preset maximum threshold value and a variance value threshold, respectively, within a set duration after the application is invoked The mobile device is always static or quasi-static; or

If the maximum value and the variance value of the output signal of the acceleration sensor on the mobile device are not greater than a preset first maximum threshold value and a first variance value, respectively, within a set duration after the application is invoked Determining that the maximum value and the variance value of the output signal of the gyroscope on the mobile device are not greater than a preset second maximum threshold and a second variance threshold, respectively, determining that the mobile device is always in a static state or Quasi-static.
The mobile device according to any one of claims 8 to 11, wherein the determining unit, when determining the calibration parameter according to the output data, specifically includes:

If the number of the output data is not less than N1, the output data is substituted into a calibration formula to obtain a zero point and a sensitivity coefficient of the sensor to be calibrated;

If the number of the output data is less than N1 but not less than N2, substitute the output data and the factory value of the sensitivity coefficient of the sensor to be calibrated into the calibration formula to obtain a zero point of the sensor to be calibrated; or, And outputting the output data and the factory value of the zero point of the sensor to be calibrated into the calibration formula to obtain a sensitivity coefficient of the sensor to be calibrated;

Wherein the calibration formula is

V represents the theoretical value of the physical quantity outputted by the sensor to be calibrated under static state, V=[V X V Y V Z ] T ;

Representing the output data of the sensor to be calibrated,

Representing the sensitivity coefficient of the sensor to be calibrated,

B represents the zero point of the sensor to be calibrated, B = [b X b Y b Z ] T ;

n represents the order of the calibration formula;

N1 and N2 are positively correlated with n, and N1>N2, N1 and N2 are integers greater than zero.
The mobile device of claim 12 wherein when n = 1, the calibration formula is:

N1=12, N2=3.
The mobile device of any of claims 9-11, wherein the mobile device further comprises:

a deleting unit, configured to configure, after the storing unit stores the set of output data, an effective duration for the set of output data; from configuring the valid duration for the set of output data, after After a valid period of time, the set of output data is deleted.
A mobile device, comprising: a memory, a bus system, and at least one processor, wherein the memory and the at least one processor are connected by the bus system;

One or more programs are stored in the memory, the one or more programs including instructions that, when executed by the mobile device, cause the mobile device to perform the method of any one of claims 1 to method.
A computer readable storage medium storing one or more programs, the one or more programs comprising instructions that, when executed by an electronic device, cause the electronic device to perform according to any one of claims 1 to Method.