WO2018006521A1 - 加速度传感器校准方法及装置 - Google Patents

加速度传感器校准方法及装置 Download PDF

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WO2018006521A1
WO2018006521A1 PCT/CN2016/105543 CN2016105543W WO2018006521A1 WO 2018006521 A1 WO2018006521 A1 WO 2018006521A1 CN 2016105543 W CN2016105543 W CN 2016105543W WO 2018006521 A1 WO2018006521 A1 WO 2018006521A1
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terminal
vehicle
data
time
acceleration sensor
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PCT/CN2016/105543
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English (en)
French (fr)
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刘均
李磊
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深圳市元征科技股份有限公司
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups

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  • the present invention relates to the field of vehicle data acquisition technologies, and in particular, to an acceleration sensor calibration method and apparatus.
  • the On Board Diagnostics (OBD) of the vehicle includes an acceleration sensor.
  • the acceleration sensor of the vehicle is a three-dimensional acceleration chip designed according to the inertial pressure model.
  • the acceleration sensor is used to determine the mounting direction of the chip of the acceleration sensor. That is, the plane direction xy of the chip.
  • the acceleration sensor coordinate system x-y-z coincides with the vehicle coordinate system x'-y'-z', and the data collected by the acceleration sensor is corrected.
  • the data coordinates of the acceleration sensor output need to undergo a series of spatial transformations to be converted to the vehicle coordinate system.
  • the backward centripetal acceleration also called the lateral acceleration, that is, the vertical direction of the vehicle's forward direction
  • the backward centripetal acceleration also called the lateral acceleration, that is, the vertical direction of the vehicle's forward direction
  • the backward centripetal acceleration also called the lateral acceleration, that is, the vertical direction of the vehicle's forward direction
  • the reliability of the sensor calibration is not high.
  • (2) The vehicle keeps the acceleration sensor chip and the vehicle coordinate system at the factory; however, this method is only applicable to the front-loading market. Since the OBD installation posture of the after-loading market is different, the direction of the acceleration sensor's own coordinate system cannot be directly given. Therefore, this method cannot be used for the aftermarket application, that is, the method cannot be calibrated for an acceleration sensor
  • the main object of the present invention is to provide an acceleration sensor calibration method and device, which aims to improve the accuracy and convenience of calibration of the acceleration sensor.
  • an acceleration sensor calibration method including:
  • the data collected by the acceleration sensor of the vehicle is calibrated according to the target rotation matrix.
  • the terminal data acquired by the terminal local acceleration sensor and the first time stamp corresponding to the terminal data sent by the receiving terminal include:
  • the terminal data acquired by the terminal local acceleration sensor and the first time stamp corresponding to the terminal data sent by the receiving terminal include:
  • the invention also provides an acceleration sensor calibration method, comprising:
  • the data collected by the acceleration sensor of the vehicle is calibrated according to the target rotation matrix.
  • the matching the terminal data and the vehicle data according to the first timestamp and the second timestamp, and acquiring a target rotation matrix according to the matched data includes:
  • the matrix is set to the target rotation matrix.
  • the obtaining the vehicle data by the acceleration sensor local to the vehicle comprises:
  • the raw data of the acceleration sensor is calibrated according to the calibration matrix to obtain vehicle data.
  • the terminal data acquired by the terminal local acceleration sensor and the first time stamp corresponding to the terminal data sent by the receiving terminal include:
  • the terminal data acquired by the terminal local acceleration sensor and the first time stamp corresponding to the terminal data sent by the receiving terminal include:
  • an acceleration sensor calibration apparatus including:
  • a first acquiring module configured to receive a terminal in which a coordinate system and a vehicle coordinate system are coincident, send terminal data acquired by the terminal local acceleration sensor, and acquire a first timestamp corresponding to the terminal data, and pass the vehicle local Acquire an acceleration sensor to acquire vehicle data and obtain a second time stamp corresponding to the vehicle data;
  • a second acquiring module configured to match the terminal data and the vehicle data according to the first timestamp and the second timestamp, and acquire a target rotation matrix according to the matched data
  • a calibration module configured to calibrate data collected by the acceleration sensor of the vehicle according to the target rotation matrix.
  • the second obtaining module is further configured to: according to the first timestamp and the second time Comparing the terminal data and the vehicle data, and calculating a corresponding rotation matrix according to the matched data;
  • the matrix is set to the target rotation matrix.
  • the first obtaining module is further configured to: acquire a calibration matrix, and acquire original data by using an acceleration sensor local to the vehicle; and calibrate the original data of the acceleration sensor according to the calibration matrix to obtain vehicle data.
  • the acceleration sensor calibration device further comprises:
  • a receiving module configured to establish a connection relationship with the terminal, receive a data packet of the acceleration sensor to collect data sent by the terminal, and send a time of the terminal that sends the data packet, and record a vehicle receiving time;
  • a calibration module configured to send the data packet, the vehicle receiving time, and a current vehicle sending time to the terminal, for the terminal to record the terminal receiving time, and according to the terminal sending time, the vehicle receiving time, and the vehicle
  • the transmission time and the terminal reception time, the time and the reception time are calibrated with time and synchronized with the vehicle time.
  • the acceleration sensor calibration device further comprises:
  • a processing module configured to receive an adjusted placement position of the terminal on the vehicle, so that the terminal coordinate system coincides with the vehicle coordinate system.
  • the acceleration sensor calibration method and device provided by the embodiment of the present invention, the terminal data acquired by the terminal local acceleration sensor and the first time stamp corresponding to acquiring the terminal data, and the acceleration sensor of the vehicle locality acquire the vehicle data and obtain the second corresponding to the vehicle data.
  • Time stamp matching the terminal data and the vehicle data according to the first time stamp and the second time stamp to obtain the target rotation matrix, and then calibrating the data collected by the acceleration sensor of the vehicle according to the target rotation matrix, thereby improving the calibration of the acceleration sensor Accuracy and convenience.
  • FIG. 1 is a schematic flow chart of a first embodiment of an acceleration sensor calibration method according to the present invention
  • FIG. 2 is a schematic diagram showing the relationship between a deceleration sensor coordinate system, an OBD coordinate system, and a vehicle coordinate system according to the present invention
  • 3 is a schematic diagram of the two spatial rectangular coordinate systems of the present invention performing origin translation and coordinate axis rotation to coincide;
  • FIG. 4 is a schematic diagram of converting two spatial Cartesian coordinate systems into a planar two-dimensional Cartesian coordinate system according to the present invention
  • FIG. 5 is a schematic diagram of synchronization of a fish vehicle at a terminal time according to the present invention.
  • FIG. 6 is a schematic diagram of functional modules of a first embodiment of an acceleration sensor calibration apparatus according to the present invention.
  • the acceleration sensor calibration method of this embodiment includes:
  • Step S10 Receive terminal data acquired by the terminal local acceleration sensor sent by the terminal, and acquire a first timestamp corresponding to the terminal data, and acquire vehicle data by using an acceleration sensor local to the vehicle and acquire corresponding to the vehicle data. Second timestamp;
  • the acceleration sensor calibration method is applied to a vehicle to calibrate an acceleration sensor included in the OBD, and the OBD includes a Bluetooth, a wifi, an acceleration sensor, and the like.
  • the acceleration sensor of the vehicle is a three-dimensional acceleration chip designed according to the inertial pressure model. It has such characteristics: 1. The instantaneous error is large (noise), and the accumulated error is small, that is, the measured value of the acceleration sensor from a long time. It is relatively stable, which is exactly the opposite of the gyroscope. 2.
  • the three-axis direction of the acceleration sensor is that the plane where the chip is located is the x-y plane, and the z-axis plane is perpendicular to the x-y plane, that is, the data collected by the acceleration sensor is measured according to such a coordinate system.
  • the data collected by the accelerometer varies according to the direction of the chip's chip, or it is highly correlated according to the placement position in the OBD. 3. When the vehicle is on the slope, the data output by the acceleration sensor has a gravity component that affects the actual acceleration judgment.
  • the acceleration sensor coordinate system is (x1-y1-z1)
  • the acceleration sensor mounting coordinate system ie OBD coordinate system
  • the vehicle coordinate system is (x3-y3-z3).
  • the embodiment proposes to calibrate the acceleration sensor of the vehicle by using the acceleration sensor of the terminal to eliminate the acceleration sensor noise of the vehicle, and the terminal includes a mobile phone, a tablet computer and the like. Since the OBD installation posture of the aftermarket is not the same, the direction of the acceleration sensor's own coordinate system cannot be directly determined. Therefore, it is necessary to coordinate the acceleration sensor installed in any posture to calibrate the data collected by the acceleration sensor.
  • Coordinate system calibration involves two reference systems: the vehicle coordinate system and the acceleration sensor coordinate system (the relationship between the OBD coordinate system and the acceleration sensor coordinate system is a simple matrix relationship), and thus needs to be from the OBD coordinate system to the vehicle coordinate system. Conversion.
  • the acceleration sensor can be set to obtain x, y, and z-axis data every predetermined time (for example, every 10 milliseconds), and the coordinate system of the x, y, and z data is unknown.
  • the third party terminal is used to determine the conversion relationship between the vehicle coordinate system and the acceleration sensor coordinate system according to the relative relationship between the vehicle coordinate system and the acceleration sensor coordinate system.
  • the rotation matrix between the acceleration sensor of the vehicle and the terminal is calculated by using the acceleration sensor and the acceleration sensor related data of the vehicle, and the rotation matrix is a calibration rotation matrix.
  • the terminal Before performing the above step S10, the terminal establishes a connection relationship with the vehicle via Bluetooth or wifi, and the vehicle receives the adjusted placement position of the terminal on the vehicle such that the terminal coordinate system coincides with the vehicle coordinate system. Specifically, the terminal is horizontally placed on the vehicle, and the x-axis direction of the terminal coordinate system coincides with the x-axis direction of the vehicle coordinate system such that the terminal coordinate system coincides with the vehicle coordinate system.
  • the terminal sends the terminal data acquired by the local acceleration sensor and the first time stamp corresponding to the acquisition of the terminal data to the vehicle. At the same time, the acceleration sensor local to the vehicle acquires the vehicle data and records a second time stamp corresponding to the acquisition of the vehicle data.
  • the accelerometer of the terminal and the accelerometer of the vehicle during the data acquisition process, the coordinate system of the terminal should be kept substantially combined with the vehicle coordinate system for a specified time, and the specified time can be set to 2 to 10 seconds, or according to the specific situation. Flexible settings.
  • the vehicle performs triangular filtering or median filtering on the terminal data and the vehicle data, that is, three-axis smoothing filtering on the acceleration sensor data (filtering the three-axis sensor data separately) to filter the data.
  • triangular filtering or median filtering on the terminal data and the vehicle data, that is, three-axis smoothing filtering on the acceleration sensor data (filtering the three-axis sensor data separately) to filter the data.
  • Step S20 Matching the terminal data and the vehicle data according to the first timestamp and the second timestamp, and acquiring a target rotation matrix according to the matched data;
  • the vehicle matches the stored terminal data and its corresponding first time stamp, the vehicle data and the corresponding second time stamp to the terminal data and the vehicle data according to the first time stamp and the second time stamp. For example, the terminal data collected at the same time and the vehicle data are matched, or the terminal data and the vehicle data satisfying the preset time difference between the vehicle time and the terminal time are matched.
  • the matrix equation is calculated based on the matched data. If there are many matrix equations obtained at this time, the rotation matrix can be calculated separately from the three-three combinations of these matrix equations. When multiple rotation matrices are obtained, Taking the optimal rotation matrix as the target rotation matrix, the following embodiments will be described in detail.
  • the acceleration sensor Before the coordinate transformation, the acceleration sensor can complete the calibration process of the original data before leaving the factory, and can directly use the parameters determined by the equipment factory trademark.
  • the data can be standardized. Or, the raw data collected by the acceleration sensor is calibrated according to a specific environment in advance. After the original data calibration process is completed, the difference between the coordinates (x 1 y 1 z 1 ) and the coordinates (x 2 y 2 z 2 ) in Figure 2 is no longer considered, but the acceleration sensor chip and OBD are regarded as one. overall. At this time, the data acquired by the acceleration sensor acts on the projected component of the OBD's combined acceleration on each axis of the OBD.
  • the purpose of the coordinate transformation is to convert the acceleration values of the axes in the OBD coordinate system into the acceleration values of the axes in the vehicle coordinate system. This process involves two steps: first, to find the angle between the axes of the two coordinate systems; second, the correspondence between the acceleration values.
  • the two spatial rectangular coordinate systems of the OBD coordinate system and the vehicle coordinate system are O 1 X 1 Y 1 Z 1 and O 2 X 2 Y 2 Z 2 , respectively, and the origins of the two coordinate systems do not coincide.
  • the axes do not coincide.
  • To achieve the transformation from the coordinates O 1 X 1 Y 1 Z 1 to the coordinates O 2 X 2 Y 2 Z 2 it can be carried out in two steps: First, through the coordinate origin translation, the three translation parameters are ⁇ X, ⁇ Y, ⁇ Z, coincides with the coordinate origin O 1 O 2.
  • the three rotation parameters are ⁇ x , ⁇ y , ⁇ z , which can realize O 1 X 1 Y 1 Z 1 to O 2 Conversion of X 2 Y 2 Z 2 .
  • ⁇ is the scale factor of the two coordinate systems
  • R is the rotation matrix
  • [ ⁇ x, ⁇ y, ⁇ z] T is the translation matrix
  • Step S30 calibrating data collected by the acceleration sensor of the vehicle according to the target rotation matrix.
  • the data collected by the acceleration sensor of the vehicle can be calibrated according to the target rotation matrix, so that the acceleration sensor of the vehicle is calibrated by the acceleration sensor of the terminal, and the acceleration sensor coordinate system and the vehicle are adopted.
  • the rotation matrix between the coordinate systems is obtained, so that the sensor data on the OBD can be converted to the vehicle through the rotation matrix.
  • the data of each axis in the coordinate system It is convenient to use the transformed data to analyze the vertical speed of the vehicle's forward, lateral and vehicle travel planes.
  • the rear-mounted product OBD has different postures on the vehicle, which makes the acceleration sensor of the OBD after the product cannot accurately reach the real-time data of each axis; and on the slope, the gravity cannot be accurately determined.
  • the vehicle may acquire the vehicle data from the local acceleration sensor, and acquire the second time stamp corresponding to the vehicle data and send it to the terminal.
  • the terminal obtains the terminal data obtained by the local acceleration sensor and obtains the first timestamp corresponding to the terminal data
  • the terminal matches the terminal data and the vehicle data according to the first timestamp and the second timestamp, and acquires the target rotation matrix according to the matched data. And send the target rotation matrix to the vehicle.
  • the vehicle receives the target rotation matrix, the data collected by the acceleration sensor of the vehicle is calibrated according to the target rotation matrix.
  • the terminal time data acquired by the terminal local acceleration sensor and the first time stamp corresponding to the acquired terminal data, and the acceleration sensor of the vehicle locality acquire the vehicle data and obtain the second time stamp corresponding to the vehicle data, according to the first time stamp and
  • the second timestamp matches the terminal data and the vehicle data to obtain the target rotation matrix, and then calibrates the data collected by the acceleration sensor of the vehicle according to the target rotation matrix, thereby improving the accuracy and convenience of the calibration of the acceleration sensor.
  • the step S20 includes: according to the first time stamp and the second time stamp. Matching the terminal data and the vehicle data, and respectively calculating corresponding rotation matrices according to the matched data;
  • the matrix is set to the target rotation matrix.
  • the vehicle in the process of acquiring the target rotation matrix by the vehicle, the vehicle pairs the stored terminal data and the corresponding first time stamp, the vehicle data and the corresponding second time stamp according to the first time stamp and the second time.
  • the stamp matches the terminal data and the vehicle data. For example, the terminal data collected at the same time and the vehicle data are matched, or the terminal data and the vehicle data satisfying the preset time difference between the vehicle time and the terminal time are matched.
  • the sum of the squares of each column vector of the rotation matrix is within a preset threshold, which may be infinitely close to 1, and the actual output error is minimal, and finally the target rotation matrix may be acquired.
  • the actual output error is an error between the value obtained by multiplying the rotation matrix by the vehicle data and the corresponding terminal data, and the rotation matrix having the smallest error is set as the target rotation matrix.
  • the optimal target rotation matrix is selected from the rotation matrix according to the specified condition, thereby improving the reliability of the calibration of the acceleration sensor.
  • the step of acquiring vehicle data by the vehicle local acceleration sensor includes: acquiring a calibration matrix. And acquiring the original data by the acceleration sensor local to the vehicle; and calibrating the original data of the acceleration sensor according to the calibration matrix to obtain vehicle data.
  • the original data of the acceleration sensor of the vehicle needs to be calibrated when acquiring the vehicle data, so that the acceleration sensor chip and the OBD can be regarded as a whole.
  • the original data of the acceleration sensor needs to be calibrated according to the specific environment. The principle of the original data calibration is described in detail below.
  • Equation 1 Equation 1:
  • [A_m] 3 ⁇ 3 represents an error matrix between the acceleration sensor coordinate axis and the OBD coordinate axis
  • the purpose of "calibrating" the accelerometer is to determine the 12 parameters of ACC 10 to ACC 33 , as shown in Table 1 below:
  • Table 1 Accurate Acceleration Values of OBD for Each Position in Fixed Position
  • Equation 1 Acceleration of each axis of the acceleration sensor from 5 s to 10 s can be acquired at the six fixed positions (A x2 , A y2 , A z2 ) of Table 1 at an output data rate of 100 Hz, using the following least squares pair The above 12 parameters are estimated. Equation 1 above can be rewritten as Equation 2:
  • the matrix X represents 12 parameters that need to be estimated in the calibration process, that is, X represents a calibration matrix
  • the matrix w represents the raw data of the acceleration sensor collected at six fixed positions
  • the matrix Y represents the standard value of the device acceleration known at 6 fixed positions.
  • the matrix has n1 rows [0 0 -1], the raw data of the n1 group acceleration sensors collected by the matrix. Similarly, the original data of the n2, n3, n4, n5, and n6 acceleration sensors are collected at the other five positions in Table 1, respectively.
  • Equation 5 Equation 6:
  • Equation 7 Equation 8:
  • Equation 11 [w T ⁇ w] -1 w T ⁇ Y
  • w T represents the transpose of the matrix
  • [w T ⁇ w ] -1 represents the inverse of the matrix.
  • the above process can be used as the original data calibration of the acceleration sensor.
  • the conversion matrix of the sensor data coordinate system provided by the acceleration sensor manufacturer to the chip coordinate system can also be used.
  • the calibration data is obtained by calibrating the original data collected by the calibration matrix and the acceleration sensor, and the accuracy of the calibration of the acceleration sensor is improved.
  • the step S10 includes: establishing a connection relationship with the terminal, and receiving the acceleration sent by the terminal.
  • the data packet of the sensor collecting data and Sending time of the terminal transmitting the data packet, recording the vehicle receiving time;
  • the terminal and the vehicle collect data through the acceleration sensor, it is necessary to synchronize the time of the terminal with the vehicle.
  • the terminal and the vehicle establish a connection through Bluetooth or wifi. Once the connection is established, the time difference between the terminal and the vehicle is first determined, the time correction is performed, and the time difference average is obtained, thereby determining the time difference between the terminal and the vehicle.
  • the terminal sends a data packet to the vehicle from the time T0 (terminal transmission time), and the data packet is an acquisition event of the acceleration sensor collecting data at a certain moment. time.
  • T0 terminal transmission time
  • the data packet is an acquisition event of the acceleration sensor collecting data at a certain moment. time.
  • the time of the vehicle is T0+offset
  • the time required for Bluetooth or wifi to be sent to the reception is Delay.
  • the time interval from the terminal to the vehicle reception and the time interval from the vehicle to the terminal. All are Delay.
  • the time when the vehicle receives the data packet is T0+offset+Delay, and then the vehicle receives the received data packet, the vehicle receiving time T0+offset+Delay (vehicle receiving time) and the time T1-Delay+ of the vehicle transmitting the data packet.
  • the offset (vehicle transmission time) is packaged and sent back to the terminal, and the receiving time T1 (terminal receiving time) of the terminal is recorded, so that the following relationship is established:
  • Offset (Golo_send_time+Golo_receive_time-Phone_send_time-Phone_receive_time)/2;
  • Delay (Golo_receive_time-Golo_send_time+Phone_receive_time-Phone_send_time)/2; where Offset represents the time difference between the terminal and the vehicle; Delay represents the Bluetooth transmission and reception of a process time; Phone_send_time represents the terminal transmission time; Phone_receive_time represents the terminal reception time; Golo_send_time represents the vehicle Send time; Golo_receive_time indicates the vehicle reception time.
  • the offset and delay of sending and receiving data packets are counted N times, and the average values of offset and delay are obtained.
  • N the more accurate the offset and the delay are, and the maximum value and minimum value of the offset of the N transmission and reception processes are counted.
  • Know the mean, maximum, and minimum of the offset, then between the terminal and the vehicle The time relationship is: the moment of the terminal the time of the vehicle - offset, so that the time difference between the terminal and the vehicle can be accurate to 10 ms, which basically satisfies the synchronization needs.
  • the reason for keeping the time synchronization is to collect the three-axis data of the acceleration sensor of the terminal and the acceleration sensor of the vehicle at the same time to calculate the conversion matrix and the rotation matrix, and the sensor data collected from the acceleration sensor of the terminal and the acceleration sensor of the vehicle are collected.
  • the time stamp of the sensor data is to be matched.
  • the terminal local time can be calibrated according to the terminal sending time, the vehicle receiving time, the vehicle sending time, and the terminal receiving time, and synchronized with the vehicle time, so as to obtain the target rotation matrix by matching the terminal data and the vehicle data according to the time stamp.
  • the acceleration sensor calibration device of this embodiment includes:
  • a first acquiring module 100 configured to receive a terminal in which a coordinate system is coincident with a vehicle coordinate system, send terminal data acquired by the terminal local acceleration sensor, and acquire a first timestamp corresponding to the terminal data, and pass the vehicle local
  • the acceleration sensor acquires vehicle data and acquires a second time stamp corresponding to the vehicle data
  • the acceleration sensor calibration device is applied to the vehicle to calibrate the acceleration sensor included in the OBD, and the OBD includes Bluetooth, wifi, and an acceleration sensor.
  • the acceleration sensor coordinate system is (x1-y1-z1)
  • the acceleration sensor mounting coordinate system ie OBD coordinate system
  • the vehicle coordinate system is (x3-y3-z3). From the relationship between the three in Figure 2, the data coordinates of the acceleration sensor output need to undergo a series of spatial transformations to be converted to the vehicle coordinate system.
  • the embodiment proposes to calibrate the acceleration sensor of the vehicle by using the acceleration sensor of the terminal to eliminate the acceleration sensor noise of the vehicle, and the terminal includes a mobile phone, a tablet computer and the like. Since the OBD installation posture of the aftermarket is not the same, the direction of the acceleration sensor's own coordinate system cannot be directly determined. Therefore, it is necessary to coordinate the acceleration sensor installed in any posture to calibrate the data collected by the acceleration sensor.
  • Coordinate system calibration involves two reference systems: the vehicle coordinate system and the acceleration sensor coordinate system, thus requiring conversion from the OBD coordinate system to the vehicle coordinate system.
  • the acceleration sensor can be set to obtain x, y, and z-axis data every predetermined time (for example, every 10 milliseconds), and the coordinate system of the x, y, and z data is unknown.
  • the relative relationship between the vehicle coordinate system and the acceleration sensor coordinate system is used to determine the conversion relationship between the vehicle coordinate system and the acceleration sensor coordinate system.
  • the rotation matrix between the acceleration sensor of the vehicle and the terminal is calculated by using the acceleration sensor and the acceleration sensor related data of the vehicle, and the rotation matrix is a calibration rotation matrix.
  • the acceleration sensor calibration apparatus further includes a processing module for receiving an adjusted placement position of the terminal on the vehicle such that the terminal coordinate system coincides with the vehicle coordinate system.
  • the terminal establishes a connection relationship with the vehicle via Bluetooth or wifi, and the terminal is horizontally placed on the vehicle, and the x-axis direction of the terminal coordinate system coincides with the x-axis direction of the vehicle coordinate system, so that the terminal coordinate system and the vehicle coordinate system coincide.
  • the terminal sends the terminal data acquired by the local acceleration sensor and the first time stamp corresponding to the acquisition of the terminal data to the vehicle.
  • the first obtaining module 100 receives the terminal data and the corresponding first time stamp, and at the same time, acquires vehicle data by using an acceleration sensor local to the vehicle, and records a second time stamp corresponding to the vehicle data.
  • the acceleration sensor of the terminal and the acceleration sensor of the vehicle perform the data acquisition process, and the coordinate system of the terminal is kept substantially combined with the vehicle coordinate system for a specified time, and the specified time can be flexibly set according to the specific situation.
  • the vehicle performs triangular filtering or median filtering on the terminal data and the vehicle data, and stores the filtered data.
  • the second obtaining module 200 is configured to match the terminal data and the vehicle data according to the first timestamp and the second timestamp, and acquire a target rotation matrix according to the matched data;
  • the second pair obtaining module 200 matches the terminal data and the vehicle data according to the first time stamp and the second time stamp by the second pair of time stamps, the corresponding first time stamp, the vehicle data and the corresponding second time stamp. .
  • the terminal data collected at the same time and the vehicle data are matched, or the terminal data and the vehicle data satisfying the preset time difference between the vehicle time and the terminal time are matched.
  • the second obtaining module 200 calculates the matrix equation according to the matched data. If the matrix equations obtained at this time are relatively large, the rotation matrix can be separately calculated from the three or three combinations of the matrix equations. When a plurality of rotation matrices are obtained, an optimal rotation matrix can be selected as the target rotation matrix, which will be described in detail in the following embodiments. The process of calculating the rotation matrix by using the least square method will be described in detail. Referring to the specific scheme corresponding to the first embodiment of the acceleration sensor calibration method, the corresponding formula in the first embodiment of the acceleration sensor calibration method can be finally obtained. A mathematical model of the transformation of coordinates.
  • the calibration module 300 is configured to calibrate data collected by the acceleration sensor of the vehicle according to the target rotation matrix.
  • the calibration module 300 can calibrate the data collected by the acceleration sensor of the vehicle according to the target rotation matrix, so that the acceleration sensor of the terminal is used to calibrate the acceleration sensor of the vehicle with different installation postures, by adjusting the acceleration sensor coordinates.
  • the rotation matrix between the system and the vehicle coordinate system is obtained, so that the sensor data on the OBD can be converted to the respective axis data in the vehicle coordinate system through the rotation matrix. It is convenient to use the transformed data to analyze the vertical speed of the vehicle's forward, lateral and vehicle travel planes.
  • the embodiment of the invention calibrates the data collected by the acceleration sensor of the vehicle by acquiring the target rotation matrix, thereby improving the accuracy and convenience of the calibration of the acceleration sensor.
  • the second acquisition module 200 is further configured to: according to the first time stamp and the The second timestamp matches the terminal data and the vehicle data, and respectively calculates a corresponding rotation matrix according to the matched data;
  • the matrix is set to the target rotation matrix.
  • the second acquiring module 200 compares the stored terminal data and the corresponding first time stamp, the vehicle data and the corresponding second time stamp according to the first time stamp. And the second timestamp matches the terminal data and the vehicle data. For example, the terminal data collected at the same time and the vehicle data are matched, or the terminal data and the vehicle data satisfying the preset time difference between the vehicle time and the terminal time are matched.
  • the second obtaining module 200 respectively calculates a corresponding rotation matrix according to the matched data, and the timestamp matching is matched with the combined acceleration, and the difference between the time stamps corresponding to the two sets of sensor data satisfies the fluctuation range within a certain specified range. And the difference between the two corresponding combined acceleration data satisfies a certain threshold, and the candidate matrix equation is selected according to the condition. At this time, the selected matrix equations are relatively large, and the rotation matrix can be separately calculated from the three-three combinations of the matrix equations. When multiple rotation matrices are obtained, the optimal rotation matrix can be selected as the target rotation matrix.
  • the block 200 selects the sum of the squares of each column vector of the rotation matrix and the difference between 1 and the preset threshold, may be infinitely close to 1, and the actual output error is the smallest, and finally the target rotation matrix may be acquired.
  • the actual output error is an error between the value obtained by multiplying the rotation matrix by the vehicle data and the corresponding terminal data, and the rotation matrix having the smallest error is set as the target rotation matrix.
  • the optimal target rotation matrix is selected from the rotation matrix according to the specified condition, thereby improving the reliability of the calibration of the acceleration sensor.
  • the upper first acquisition module 100 is further configured to acquire a calibration matrix and pass the vehicle.
  • the local acceleration sensor acquires the original data; the original data of the acceleration sensor is calibrated according to the calibration matrix to obtain the vehicle data.
  • the original data of the acceleration sensor of the vehicle needs to be calibrated when acquiring the vehicle data, so that the acceleration sensor chip and the OBD can be regarded as a whole.
  • the first obtaining module 100 needs to calibrate the original data of the acceleration sensor according to a specific environment.
  • the principle of the original data calibration is described in detail below.
  • Set the normalized acceleration to (A x2 , A y2 , A z2 ), and the raw data collected by the vehicle's local acceleration sensor is (A x1 , A y1 , A z1 ).
  • Equation 1 Indicates that the corresponding Equation 1 in the third embodiment of the acceleration sensor calibration method is specifically referred to.
  • the purpose of "calibrating" the accelerometer is to determine the 12 parameters of ACC 10 to ACC 33 , as shown in Table 1 above, which can be found in the six fixed positions of Table 1 (A x2 , A y2 , A z2 )
  • the output data rate of 100 Hz is used to acquire the acceleration of each axis of the acceleration sensor from 5 s to 10 s, and the above 12 parameters are estimated by the following least squares method. Equation 1 above can be rewritten as Equation 2 above, with specific reference to Equation 2 corresponding to the third embodiment of the acceleration sensor calibration method.
  • Equation 4 refers specifically to the corresponding Equation 4 in the third embodiment of the acceleration sensor calibration method.
  • the matrix has n1 rows [0 0 -1], and the original number of n1 sets of acceleration sensors collected by the matrix according to.
  • the original data of the n2, n3, n4, n5, and n6 acceleration sensors are respectively collected, and then Equation 5, Equation 6, Equation 7, Equation 8, and Equation 9 are obtained, with reference to the acceleration.
  • the sensor calibration method corresponds to Equation 5, Equation 6, Equation 7, Equation 8, and Equation 9, respectively, in the third embodiment.
  • Equation 3 w n ⁇ 4 ⁇ X 4 ⁇ 3 , wherein the expressions of Y and w refer specifically to the expression corresponding to the third embodiment of the acceleration sensor calibration method.
  • the calibration data is obtained by calibrating the original data collected by the calibration matrix and the acceleration sensor, and the accuracy of the calibration of the acceleration sensor is improved.
  • the acceleration sensor calibration apparatus further includes: a receiving module, configured to establish a connection relationship with the terminal, Receiving a data packet of the acceleration sensor data collected by the terminal and a terminal sending time of transmitting the data packet, and recording a vehicle receiving time;
  • a calibration module configured to send the data packet, the vehicle receiving time, and a current vehicle sending time to the terminal, for the terminal to record the terminal receiving time, and according to the terminal sending time, the vehicle receiving time, and the vehicle
  • the transmission time and the terminal reception time, the time and the reception time are calibrated with time and synchronized with the vehicle time.
  • the terminal and the vehicle collect data through the acceleration sensor, it is necessary to synchronize the time of the terminal with the vehicle.
  • the terminal and the vehicle establish a connection through Bluetooth or wifi. Once the connection is established, the time difference between the terminal and the vehicle is first determined, the time correction is performed, and the time difference average is obtained, thereby determining the time difference between the terminal and the vehicle.
  • the detailed description of the principle of the correction time refers to the solution corresponding to the fourth embodiment of the acceleration sensor calibration apparatus described above, so that the corresponding relationship in the fourth embodiment of the acceleration sensor calibration method can be obtained.
  • the terminal local time can be calibrated according to the terminal sending time, the vehicle receiving time, the vehicle sending time, and the terminal receiving time, and synchronized with the vehicle time, so as to obtain the target rotation matrix by matching the terminal data and the vehicle data according to the time stamp.

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Abstract

一种加速度传感器校准方法，包括：接收终端发送的终端本地加速度传感器获取的终端数据及获取终端数据对应的第一时间戳，并通过车辆本地的加速度传感器获取车辆数据及获取车辆数据对应的第二时间戳（S10）；根据第一时间戳及第二时间戳对终端数据及车辆数据进行匹配，根据匹配后的数据获取目标旋转矩阵（S20）；根据目标旋转矩阵对车辆的加速度传感器采集到的数据进行校准（S30）。以及一种加速度传感器校准装置。提高了对加速度传感器校准的准确性及便捷性。

Description

加速度传感器校准方法及装置 技术领域
本发明涉及车辆数据采集技术领域，尤其涉及一种加速度传感器校准方法及装置。
背景技术
目前，车辆的车载诊断系统(On Board Diagnostics，OBD)包含加速度传感器，车辆的加速度传感器是一款根据惯性压力模型设计的检测三维加速度芯片，一般使用加速度传感器都是确定加速度传感器的芯片的安装方向，即其芯片所在平面方向x-y。在车辆中一般是保证加速度传感器坐标系x-y-z与车辆坐标系x'-y'-z'重合，再对加速度传感器采集的数据进行校正。
加速度传感器输出的数据坐标需要经过一系列的空间转换从而转换到车辆坐标系上，通常有以下方式：(1)采用直接坐标系空间转换法：把加速度传感器的数据向车辆坐标系转换，根据转换后向心加速度(也叫侧向加速度，即车辆前进方向的垂直方向)来检测急转弯，该方法中加速度传感器固有缺陷，即瞬时加速度值不准确造成计算出来的误差太大，使用来对加速度传感器进行标定的可靠性不高。(2)车辆在出厂时保持加速度传感器芯片与车辆坐标系重合；但是该方法仅适用于前装市场，由于后装市场OBD安装姿态不一样，加速度传感器自身坐标系方向是无法直接给出的，因此针对后装市场应用无法使用该方法，即该方法并不能针对任意姿态安装的加速度传感器进行校准。
发明内容
本发明的主要目的在于提供一种加速度传感器校准方法及装置，旨在提高对加速度传感器校准的准确性及便捷性。
为实现上述目的，本发明提供了一种加速度传感器校准方法，包括：
接收终端发送的所述终端本地加速度传感器获取的终端数据及获取所述终端数据对应的第一时间戳；
获取标定矩阵，及通过所述车辆本地的加速度传感器获取原始数据；
根据所述标定矩阵对加速度传感器的原始数据进行标定得到车辆数据；
获取所述车辆数据对应的第二时间戳；
根据所述第一时间戳及所述第二时间戳对所述终端数据及所述车辆数据进行匹配，根据匹配后的数据分别计算相应的旋转矩阵；
从所述旋转矩阵中获取满足的每列列向量的平方和与1之间相差在预设阈值内，且与所述车辆数据相乘得到的数值与对应的终端数据之间误差最小的指定旋转矩阵，设定为目标旋转矩阵；
根据所述目标旋转矩阵对所述车辆的加速度传感器采集到的数据进行校准。
优选地，所述接收终端发送的所述终端本地加速度传感器获取的终端数据及获取所述终端数据对应的第一时间戳之前包括：
与终端建立连接关系，接收所述终端发送的加速度传感器采集数据的数据包及发送所述数据包的终端发送时间，记录车辆接收时间；
将所述数据包、所述车辆接收时间及当前的车辆发送时间发送至终端，供终端记录终端接收时间，并根据所述终端发送时间、所述车辆接收时间、所述车辆发送时间及所述终端接收时间，对时间进行校准，与车辆时间进行同步。
优选地，所述接收终端发送的所述终端本地加速度传感器获取的终端数据及获取所述终端数据对应的第一时间戳之前包括：
接收所述终端在所述车辆上的调整放置位置，以使终端坐标系与车辆坐标系重合。
本发明还提供了一种加速度传感器校准方法，包括：
接收终端发送的所述终端本地加速度传感器获取的终端数据及获取所述终端数据对应的第一时间戳，并通过所述车辆本地的加速度传感器获取车辆数据及获取所述车辆数据对应的第二时间戳；
根据所述第一时间戳及所述第二时间戳对所述终端数据及所述车辆数据进行匹配，根据匹配后的数据获取目标旋转矩阵；
根据所述目标旋转矩阵对所述车辆的加速度传感器采集到的数据进行校准。
优选地，所述根据所述第一时间戳及所述第二时间戳对所述终端数据及所述车辆数据进行匹配，根据匹配后的数据获取目标旋转矩阵包括：
根据所述第一时间戳及所述第二时间戳对所述终端数据及所述车辆数据 进行匹配，根据匹配后的数据分别计算相应的旋转矩阵；
从所述旋转矩阵中获取满足的每列列向量的平方和与1之间相差在预设阈值内，且与所述车辆数据相乘得到的数值与对应的终端数据之间误差最小的指定旋转矩阵，设定为目标旋转矩阵。
优选地，所述通过所述车辆本地的加速度传感器获取车辆数据包括：
获取标定矩阵，及通过所述车辆本地的加速度传感器获取原始数据；
根据所述标定矩阵对加速度传感器的原始数据进行标定得到车辆数据。
优选地，所述接收终端发送的所述终端本地加速度传感器获取的终端数据及获取所述终端数据对应的第一时间戳之前包括：
与终端建立连接关系，接收所述终端发送的加速度传感器采集数据的数据包及发送所述数据包的终端发送时间，记录车辆接收时间；
将所述数据包、所述车辆接收时间及当前的车辆发送时间发送至终端，供终端记录终端接收时间，并根据所述终端发送时间、所述车辆接收时间、所述车辆发送时间及所述终端接收时间，对时间进行校准，与车辆时间进行同步。
优选地，所述接收终端发送的所述终端本地加速度传感器获取的终端数据及获取所述终端数据对应的第一时间戳之前包括：
接收所述终端在所述车辆上的调整放置位置，以使终端坐标系与车辆坐标系重合。
此外，为实现上述目的，本发明还提供了一种加速度传感器校准装置，包括：
第一获取模块，用于接收坐标系与车辆坐标系重合的终端，发送的所述终端本地加速度传感器获取的终端数据及获取所述终端数据对应的第一时间戳，并通过所述车辆本地的加速度传感器获取车辆数据及获取所述车辆数据对应的第二时间戳；
第二获取模块，用于根据所述第一时间戳及所述第二时间戳对所述终端数据及所述车辆数据进行匹配，根据匹配后的数据获取目标旋转矩阵；
校准模块，用于根据所述目标旋转矩阵对所述车辆的加速度传感器采集到的数据进行校准。
优选地，所述第二获取模块还用于，根据所述第一时间戳及所述第二时 间戳对所述终端数据及所述车辆数据进行匹配，根据匹配后的数据分别计算相应的旋转矩阵；
从所述旋转矩阵中获取满足的每列列向量的平方和与1之间相差在预设阈值内，且与所述车辆数据相乘得到的数值与对应的终端数据之间误差最小的指定旋转矩阵，设定为目标旋转矩阵。
优选地，所述第一获取模块还用于，获取标定矩阵，及通过所述车辆本地的加速度传感器获取原始数据；根据所述标定矩阵对加速度传感器的原始数据进行标定得到车辆数据。
优选地，所述加速度传感器校准装置还包括：
接收模块，用于与终端建立连接关系，接收所述终端发送的加速度传感器采集数据的数据包及发送所述数据包的终端发送时间，记录车辆接收时间；
校准模块，用于将所述数据包、所述车辆接收时间及当前的车辆发送时间发送至终端，供终端记录终端接收时间，并根据所述终端发送时间、所述车辆接收时间、所述车辆发送时间及所述终端接收时间，所述时间及所述接收时间对时间进行校准，与所述车辆时间进行同步。
优选地，所述加速度传感器校准装置还包括：
处理模块，用于接收所述终端在所述车辆上的调整放置位置，以使终端坐标系与车辆坐标系重合。
本发明实施例提供的加速度传感器校准方法及装置，通过终端本地加速度传感器获取的终端数据及获取终端数据对应的第一时间戳，以及车辆本地的加速度传感器获取车辆数据及获取车辆数据对应的第二时间戳，根据第一时间戳及第二时间戳对终端数据及车辆数据进行匹配来获取目标旋转矩阵，然后根据目标旋转矩阵对车辆的加速度传感器采集到的数据进行校准，提高了对加速度传感器校准的准确性及便捷性。
附图说明
图1为本发明加速度传感器校准方法第一实施例的流程示意图；
图2为本发明减速度传感器坐标系、OBD坐标系及车辆坐标系之间关系的示意图；
图3为本发明两个空间直角坐标系进行原点平移及坐标轴旋转以重合的示意图；
图4为本发明两个空间直角坐标系转换到平面二维直角坐标系的示意图；
图5为本发明终端时刻鱼车辆时刻进行同步的示意图；
图6为本发明加速度传感器校准装置第一实施例的功能模块示意图。
具体实施方式
应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
如图1所示，示出了本发明一种加速度传感器校准方法第一实施例。该实施例的加速度传感器校准方法包括：
步骤S10、接收终端发送的所述终端本地加速度传感器获取的终端数据及获取所述终端数据对应的第一时间戳，并通过所述车辆本地的加速度传感器获取车辆数据及获取所述车辆数据对应的第二时间戳；
本实施例中，加速度传感器校准方法应用于车辆对OBD包括的加速度传感器进行标定，该OBD包含蓝牙、wifi以及加速度传感器等。
车辆的加速度传感器是一款根据惯性压力模型设计的检测三维加速度芯片，它具有这样的特点：1.瞬时误差大(噪声大)，积累误差较小，即从长时间来看加速度传感器的测量值比较稳定，这一点正好和陀螺仪相反。2.加速度传感器的三轴方向为，其芯片所在的平面为x-y平面，z轴平面垂直于x-y平面，即加速度传感器采集的数据是根据这样的坐标系计量的。使得加速度传感器采集的数据根据其芯片贴片方向的不同而不同，或者是根据其所在OBD中的摆放位置有很大关联。3.车辆在斜坡上时，加速度传感器输出的数据存在重力分量影响实际的加速度判断。
如图2所示，加速度传感器坐标系为(x1-y1-z1)，加速度传感器安装坐标系(即OBD坐标系)为(x2-y2-z2)，车辆坐标系为(x3-y3-z3)，从图2中三者之间关系可知加速度传感器输出的数据坐标需要经过一系列的空间转换才能转换到车辆坐标系上。
本实施例提出了利用终端的加速度传感器校准车辆的加速度传感器，以消除车辆的加速度传感器噪声，该终端包括手机、平板电脑等。由于后装市场OBD安装姿态不一样，加速度传感器自身坐标系方向是无法直接确定的，所以需要对任意姿态安装的加速度传感器进行坐标标定，以对加速度传感器采集的数据进行校准。
进行坐标系标定，涉及到两个参考系：车辆坐标系和加速度传感器坐标系(OBD坐标系和加速度传感器坐标系之间关系是一个简单的矩阵关系)，因而需要从OBD坐标系到车辆坐标系的转换。
本实施例中，可以设置加速度传感器每隔预设时间(例如，每隔10毫秒)进行数据采集得到x、y、z轴数据，而x、y、z数据的坐标系方向未知，此时可依靠第三方终端，按照车辆坐标系和加速度传感器坐标系的相对关系，求出车辆坐标系和加速度传感器坐标系的之间转换关系。具体地，用终端自带的加速度传感器和车辆的加速度传感器相关数据来计算车辆和终端的加速度传感器的之间旋转矩阵，该旋转矩阵为标定旋转矩阵。
首先，在执行上述步骤S10之前，终端与车辆通过蓝牙或wifi建立连接关系，车辆接收所述终端在所述车辆上的调整放置位置，以使终端坐标系与车辆坐标系重合。具体地，终端水平放置在车辆上，且终端坐标系的x轴方向与车辆坐标系的x轴方向一致，使得终端坐标系与车辆坐标系重合。其次，终端将本地加速度传感器获取的终端数据，以及记录获取该终端数据对应的第一时间戳，发送至车辆。同时，车辆本地的加速度传感器获取车辆数据，以及记录获取该车辆数据对应的第二时间戳。终端的加速度传感器和车辆的加速度传感器在进行数据采集的过程中，终端的坐标系要保持和车辆坐标系大致重合并持续指定时间，该指定时间可设置为2～10秒，也可根据具体情况而灵活设置。
为了提高数据的可靠性，优选地，车辆对终端数据及车辆数据进行三角滤波或者中值滤波，即对加速度传感器数据进行三轴平滑滤波(对三轴传感器数据分别进行滤波)将滤波后的数据进行存储。
步骤S20、根据所述第一时间戳及所述第二时间戳对所述终端数据及所述车辆数据进行匹配，根据匹配后的数据获取目标旋转矩阵；
车辆对存储的终端数据及其对应的第一时间戳、车辆数据及其对应的第二时间戳，根据第一时间戳及第二时间戳对终端数据及车辆数据进行匹配。例如，将同一时刻采集到的终端数据及车辆数据进行匹配，或者是将车辆时刻与终端时刻之间满足预设时差的终端数据及车辆数据进行匹配。
根据匹配后的数据计算矩阵方程，若此时得到的矩阵方程比较多，可以从这些矩阵方程中三三组合分别计算旋转矩阵。当得到多个旋转矩阵时，可 以选取最优的旋转矩阵作为目标旋转矩阵，以下实施例将进行详细说明。
以下将对利用最小二乘法计算旋转矩阵过程进行详细说明，在进行坐标变换前，加速度传感器可以是在出厂前就已经完成了原始数据的标定过程，可直接使用设备厂商标定好的参数，对原始数据进行标准化即可。或者是预先根据具体环境对加速度传感器采集的原始数据进行标定。在原始数据标定过程完成后，即不再考虑图2中坐标(x1y1z1)和坐标(x2y2z2)之间的区别，而是把加速度传感器芯片和OBD看做一个整体。此时加速度传感器采集得到的数据，作用于OBD的合成加速度在OBD各轴上的投影分量。
坐标变换的目的就是将OBD坐标系下各轴的加速度值转化成为车辆坐标系下各轴的加速度值。这个过程涉及两个步骤：第一，求这两个坐标系各轴间的夹角；第二，加速度值之间的对应关系。
如图3所示，OBD坐标系与车辆坐标系这两个空间直角坐标系分别为O1X1Y1Z1和O2X2Y2Z2，这两个坐标系的原点不重合，坐标轴也不重合。要想实现从坐标O1X1Y1Z1到坐标O2X2Y2Z2变换，可以分两步进行：首先，通过坐标原点平移，三个平移参数为ΔX、ΔY、ΔZ，使坐标原点O1与O2重合。其次，对于同原点的两个三维空间直角坐标系，通过绕各坐标轴进行旋转，三个旋转参数为θx、θy、θz，即可实现O1X1Y1Z1到O2X2Y2Z2的变换。
设同一定点A在两个坐标系下的坐标分别为(x1,y1,z1)和(x2,y2,z2)，坐标转换算法的目的是找出(x2,y2,z2)与(x1,y1,z1)之间的关系。由前面的平移和旋转可知，OBD坐标系与车辆坐标系这两个坐标的关系可表示如下：
Figure PCTCN2016105543-appb-000001
其中，λ为两个坐标系的比例尺因子，R为旋转矩阵，[Δx,Δy,Δz]T为平移矩阵。
设坐标系O1X1Y1Z1绕Z轴旋转角度θz，则易知z2＝z1，对于Y轴和Z轴上的关系，可将它们转化到平面上计算，如图4所示。在原坐标系XOY中，绕原点沿逆时针方向旋转θ度，变成坐标系SOT。设有某点p，在原坐标系中的坐标为(x，y)，旋转后的新坐标为(s，t)，则：
Figure PCTCN2016105543-appb-000002
由平面矢量关系可知：
Figure PCTCN2016105543-appb-000003
用行列式表达如下：
Figure PCTCN2016105543-appb-000004
因而，(1)坐标系O1X1Y1Z1绕Z轴旋转角度θz后，(x2,y2,z2)与(x1,y1,z1)之间的关系为：
Figure PCTCN2016105543-appb-000005
同理可推算出，(2)坐标系O1X1Y1Z1绕轴旋转角度θy后，(x2,y2,z2)与(x1,y1,z1)之间的关系为：
Figure PCTCN2016105543-appb-000006
(3)坐标系O1X1Y1Z1绕X轴旋转角度θx后，(x2,y2,z2)与(x1,y1,z1)之间的关系为：
Figure PCTCN2016105543-appb-000007
最终，两个坐标的变换的数学模型即为：
Figure PCTCN2016105543-appb-000008
由此可知，只需确定三个平移参数ΔX、ΔY、ΔZ，三个旋转参数为θx、θy、θz以及比例尺因子λ，即可实现两个空间坐标之间的变换，上述计算过程可以通过最小二乘法原理得到。
步骤S30、根据所述目标旋转矩阵对所述车辆的加速度传感器采集到的数据进行校准。
在上述得到目标旋转矩阵后，可根据目标旋转矩阵对车辆的加速度传感器采集到的数据进行校准，使得利用终端的加速度传感器去校准不同安装姿态的车辆的加速度传感器，通过把加速度传感器坐标系和车辆坐标系之间的旋转矩阵求出来，从而可以把OBD上的传感器数据经过旋转矩阵转换到车辆 坐标系下的各轴数据。便于利用转化后的数据分析车辆前行、侧向和车辆行驶平面的垂直速度。解决了针对传统的后装市场，后装产品OBD在车辆上安装姿态各不一样，造成后装产品OBD的加速度传感器无法精确达到实时各轴数据；且在斜坡上情况下，由于重力影响无法精确的利用加速度实时三轴数据的问题。
需要说明的是，也可以是车辆将本地的加速度传感器获取车辆数据，以及获取该车辆数据对应的第二时间戳发送至终端。终端根据本地加速度传感器获取的终端数据，以及获取终端数据对应的第一时间戳后，根据第一时间戳及第二时间戳对终端数据及车辆数据进行匹配，根据匹配后的数据获取目标旋转矩阵，并将目标旋转矩阵发送至车辆。车辆接收到目标旋转矩阵后，根据目标旋转矩阵对车辆的加速度传感器采集到的数据进行校准。
本发明实施例通过终端本地加速度传感器获取的终端数据及获取终端数据对应的第一时间戳，以及车辆本地的加速度传感器获取车辆数据及获取车辆数据对应的第二时间戳，根据第一时间戳及第二时间戳对终端数据及车辆数据进行匹配来获取目标旋转矩阵，然后根据目标旋转矩阵对车辆的加速度传感器采集到的数据进行校准，提高了对加速度传感器校准的准确性及便捷性。
进一步地，基于上述加速度传感器校准方法第一实施例，提出了本发明加速度传感器校准方法第二实施例，该实施例中上述步骤S20包括：根据所述第一时间戳及所述第二时间戳对所述终端数据及所述车辆数据进行匹配，根据匹配后的数据分别计算相应的旋转矩阵；
从所述旋转矩阵中获取满足的每列列向量的平方和与1之间相差在预设阈值内，且与所述车辆数据相乘得到的数值与对应的终端数据之间误差最小的指定旋转矩阵，设定为目标旋转矩阵。
本实施例中，在车辆获取目标旋转矩阵的过程中，车辆对存储的终端数据及其对应的第一时间戳、车辆数据及其对应的第二时间戳，根据第一时间戳及第二时间戳对终端数据及车辆数据进行匹配。例如，将同一时刻采集到的终端数据及车辆数据进行匹配，或者是将车辆时刻与终端时刻之间满足预设时差的终端数据及车辆数据进行匹配。
根据匹配后的数据分别计算相应的旋转矩阵，时间戳匹配是和合加速度 匹配在一起使用，两组传感器数据对应的时间戳之间的差值满足波动范围在一定的指定范围内，而且满足两个对应合加速度数据的差满足一定的阈值，根据该条件筛选出备选矩阵方程，此时选出的矩阵方程比较多，可以从这些矩阵方程中三三组合分别计算旋转矩阵。当得到多个旋转矩阵时，可以选取最优的旋转矩阵作为目标旋转矩阵。具体地，选取旋转矩阵每一列向量的平方和与1之间相差在预设阈值内，可以是无限接近于1，以及实际输出误差最小，最终可以获取目标旋转矩阵。该实际输出误差为将且旋转矩阵与车辆数据相乘得到的数值与对应的终端数据之间误差，误差最小的旋转矩阵设定为目标旋转矩阵。
需要说明的是，为了提高目标旋转矩阵的可靠性，还可以设置终端数据与车辆数据中每一个配对的误差满足一定阈值，且完成配对的数目达到总配对数的一半以上。在上述两个坐标的变换的数学模型中，可取λ＝1，偏移为0。
本实施例根据匹配后的终端数据及所述车辆数据计算得到旋转矩阵后，根据指定的条件从旋转矩阵选取出最优的目标旋转矩阵，提高了对加速度传感器校准的可靠性。
进一步地，基于上述加速度传感器校准方法第一实施例，提出了本发明加速度传感器校准方法第三实施例，该实施例中上述通过所述车辆本地的加速度传感器获取车辆数据的步骤包括：获取标定矩阵，及通过所述车辆本地的加速度传感器获取原始数据；根据所述标定矩阵对加速度传感器的原始数据进行标定得到车辆数据。
本实施例中，在获取车辆数据时需要对车辆的加速度传感器的原始数据进行标定，从而可以把加速度传感器芯片和OBD看做一个整体。具体地，需要根据具体环境对加速度传感器的原始数据标定，以下对原始数据标定的原理进行详细说明。
设定标准化加速度为(Ax2,Ay2,Az2)，车辆本地的加速度传感器采集的原始数据为(Ax1,Ay1,Az1)，标准化加速度和原始数据之间的关系可由下面方程1表示。方程1：
Figure PCTCN2016105543-appb-000009
其中，[A_m]3×3表示加速度传感器坐标轴与OBD坐标轴间的误差矩阵；
A_SCi(i＝1,2,3)表示加速度传感器各轴的灵敏度；
A_OSi(i＝1,2,3)表示加速度传感器的零重力偏移(zero-g level offset)；
对加速度传感器进行“标定”的目的是确定ACC10至ACC33这12个参数，如下表1所示：
表1：固定位置下OBD各轴加速度准确值
Figure PCTCN2016105543-appb-000010
可以在表1的六个固定位置(Ax2,Ay2,Az2已知)以100Hz的输出数据率(Output Data Rate)采集5s到10s的加速度传感器各轴的加速度，使用如下最小二乘法对上述12个参数进行估算。上述方程1可以改写成方程2：
Figure PCTCN2016105543-appb-000011
或者简写成方程3：Y＝w·X
其中，矩阵X表示标定过程需要估计的12个参数，即X表示标定矩阵；
矩阵w表示在6个固定位置下采集的加速度传感器原始数据；
矩阵Y表示在6个固定位置下已知的设备加速度标准值。
例如，在向上的位置时，[Ax2,Ay2,Az2]＝[0 0 -1]，假设在此位置采集了 n1组加速度传感器的原始数据Ax1,Ay1,Az1，则得到方程4：
Y1＝[0 0 -1]n1×3
w1＝[AxP1 AyP1 AzP1 1]n1×4
其中，矩阵有n1行[0 0 -1]，矩阵采集的n1组加速度传感器的原始数据。同理，在表1中其他5个位置分别采集n2、n3、n4、n5、n6组加速度传感器的原始数据，则得到
方程5：
Figure PCTCN2016105543-appb-000012
方程6：
Figure PCTCN2016105543-appb-000013
方程7：
Figure PCTCN2016105543-appb-000014
方程8：
Figure PCTCN2016105543-appb-000015
方程9：
Figure PCTCN2016105543-appb-000016
组合方程4至方程9，并令n＝n1+n2+n3+n4+n5+n6，则上述方程3可改写成方程10：Yn×3＝wn×4·X4×3，其中，
Figure PCTCN2016105543-appb-000017
由此标定过程中需要估计的12个参数即可由如下方程11得到，方程11：X＝[wT·w]-1wT·Y其中，wT表示矩阵的转置；[wT·w]-1表示矩阵的逆。
上述过程是可以作为加速度传感器的原始数据标定，这里只是一个参考标定方法。当然，也可以使用加速度传感器厂商提供的传感器数据坐标系到芯片坐标系的转换矩阵。
本实施例通过标定矩阵及加速度传感器采集的原始数据，进行标定得到车辆数据，提高了对加速度传感器校准的准确性。
进一步地，基于上述加速度传感器校准方法任一实施例，提出了本发明加速度传感器校准方法第四实施例，该实施例中上述步骤S10之前包括：与终端建立连接关系，接收所述终端发送的加速度传感器采集数据的数据包及 发送所述数据包的终端发送时间，记录车辆接收时间；
将所述数据包、所述车辆接收时间及当前的车辆发送时间发送至终端，供终端记录终端接收时间，并根据所述终端发送时间、所述车辆接收时间、所述车辆发送时间及所述终端接收时间，对时间进行校准，与车辆时间进行同步。
本实施例中，在终端与车辆通过加速度传感器采集数据之前，需要对终端与车辆的时间进行同步。终端和车辆通过蓝牙或wifi建立连接，一旦建立连接，首先确定终端和车辆之间的时间差，进行时间矫正，并获取时间差平均值，从而确定终端和车辆之间的时间差值。
具体地，以下对矫正时间的原理进行详细说明，如图5所示，终端从T0时刻(终端发送时间)将数据包发送至车辆，该数据包是某一时刻加速度传感器采集数据的采集事件发生时间。假设当终端时间是T0时，车辆的时间是T0+offset，蓝牙或wifi发送到接收需要时间是Delay，为了方便计算，从终端发送到车辆接收的时间间隔和从车辆发送到终端接收的时间间隔都是Delay。因此车辆接收到数据包的时间是T0+offset+Delay，然后车辆再把接收到的数据包、车辆接收数时间T0+offset+Delay(车辆接收时间)和车辆发送数据包的时间T1-Delay+offset(车辆发送时间)打包再发回终端，同时记录终端的接收时间T1(终端接收时间)，从而有以下关系式成立：
Phone_send_time＝T0；Phone_receive_time＝T1；
Golo_send_time＝T1-Delay+offset；Golo_receive_time＝T0+offset+Delay；
Offset＝(Golo_send_time+Golo_receive_time-Phone_send_time-Phone_receive_time)/2；
Delay＝(Golo_receive_time-Golo_send_time+Phone_receive_time-Phone_send_time)/2；其中，Offset表示终端与车辆之间的时间差；Delay表示蓝牙发送接收一个过程时间；Phone_send_time表示终端发送时间；Phone_receive_time表示终端接收时间；Golo_send_time表示车辆发送时间；Golo_receive_time表示车辆接收时间。
优选地，可统计N次发送接收数据包的offset和delay，求取offset和delay的平均值，N越大offset和Delay越精确，并统计N次发送接收过程的offset的最大值最小值。已知offset的均值、最大值、最小值，则终端和车辆之间的 时间关系就是：终端的时刻＝车辆的时刻-offset，这样终端和车辆之间的时间差可以精确到10ms下，基本满足同步需要。保持时间同步的原因在于，要采集同一时刻下终端的加速度传感器和车辆的加速度传感器的三轴数据进行计算转换矩阵和旋转矩阵，从终端的加速度传感器采集到的传感器数据和车辆的加速度传感器采集到的传感器数据的时间戳要进行匹配。
本实施例可根据终端发送时间、车辆接收时间、车辆发送时间及终端接收时间对终端本地时间进行校准，与车辆时间进行同步，以便根据时间戳对终端数据及车辆数据进行匹配来获取目标旋转矩阵，提高了对加速度传感器校准的准确性及便捷性。
对应地，如图6所示，提出本发明一种加速度传感器校准装置第一实施例。该实施例的加速度传感器校准装置包括：
第一获取模块100，用于接收坐标系与车辆坐标系重合的终端，发送的所述终端本地加速度传感器获取的终端数据及获取所述终端数据对应的第一时间戳，并通过所述车辆本地的加速度传感器获取车辆数据及获取所述车辆数据对应的第二时间戳；
本实施例中加速度传感器校准装置应用于车辆对OBD包括的加速度传感器进行标定，该OBD包含蓝牙、wifi以及加速度传感器等。如图2所示，加速度传感器坐标系为(x1-y1-z1)，加速度传感器安装坐标系(即OBD坐标系)为(x2-y2-z2)，车辆坐标系为(x3-y3-z3)，从图2中三者之间关系可知加速度传感器输出的数据坐标需要经过一系列的空间转换才能转换到车辆坐标系上。
本实施例提出了利用终端的加速度传感器校准车辆的加速度传感器，以消除车辆的加速度传感器噪声，该终端包括手机、平板电脑等。由于后装市场OBD安装姿态不一样，加速度传感器自身坐标系方向是无法直接确定的，所以需要对任意姿态安装的加速度传感器进行坐标标定，以对加速度传感器采集的数据进行校准。
进行坐标系标定，涉及到两个参考系：车辆坐标系和加速度传感器坐标系，因而需要从OBD坐标系到车辆坐标系的转换。本实施例中，可以设置加速度传感器每隔预设时间(例如，每隔10毫秒)进行数据采集得到x、y、z轴数据，而x、y、z数据的坐标系方向未知，此时可依靠第三方终端，按照 车辆坐标系和加速度传感器坐标系的相对关系，求出车辆坐标系和加速度传感器坐标系的之间转换关系。具体地，用终端自带的加速度传感器和车辆的加速度传感器相关数据来计算车辆和终端的加速度传感器的之间旋转矩阵，该旋转矩阵为标定旋转矩阵。
加速度传感器校准装置还包括：处理模块，用于接收所述终端在所述车辆上的调整放置位置，以使终端坐标系与车辆坐标系重合。首先，终端与车辆通过蓝牙或wifi建立连接关系，终端水平放置在车辆上，且终端坐标系的x轴方向与车辆坐标系的x轴方向一致，使得终端坐标系与车辆坐标系重合。其次，终端将本地加速度传感器获取的终端数据，以及记录获取该终端数据对应的第一时间戳，发送至车辆。第一获取模块100接收该终端数据及对应的第一时间戳，同时，通过车辆本地的加速度传感器获取车辆数据，以及记录获取该车辆数据对应的第二时间戳。终端的加速度传感器和车辆的加速度传感器在进行数据采集的过程中，终端的坐标系要保持和车辆坐标系大致重合并持续指定时间，该指定时间可根据具体情况而灵活设置。
为了提高数据的可靠性，优选地，车辆对终端数据及车辆数据进行三角滤波或者中值滤波，将滤波后的数据进行存储。
第二获取模块200，用于根据所述第一时间戳及所述第二时间戳对所述终端数据及所述车辆数据进行匹配，根据匹配后的数据获取目标旋转矩阵；
车辆对存储的终端数据及其对应的第一时间戳、车辆数据及其对应的第二时间戳，由第二获取模块200根据第一时间戳及第二时间戳对终端数据及车辆数据进行匹配。例如，将同一时刻采集到的终端数据及车辆数据进行匹配，或者是将车辆时刻与终端时刻之间满足预设时差的终端数据及车辆数据进行匹配。
第二获取模块200根据匹配后的数据计算矩阵方程，若此时得到的矩阵方程比较多，可以从这些矩阵方程中三三组合分别计算旋转矩阵。当得到多个旋转矩阵时，可以选取最优的旋转矩阵作为目标旋转矩阵，以下实施例将进行详细说明。将对利用最小二乘法计算旋转矩阵过程进行详细说明，参照上述加速度传感器校准方法第一实施例对应的具体方案描述，则可根据上述加速度传感器校准方法第一实施例中对应的公式，最终得到两个坐标的变换的数学模型。根据上述数学模型可知，只需确定三个平移参数ΔX、ΔY、ΔZ， 三个旋转参数为θx、θy、θz以及比例尺因子λ，即可实现两个空间坐标之间的变换，上述计算过程可以通过最小二乘法原理得到。
校准模块300，用于根据所述目标旋转矩阵对所述车辆的加速度传感器采集到的数据进行校准。
在上述得到目标旋转矩阵后，校准模块300可根据目标旋转矩阵对车辆的加速度传感器采集到的数据进行校准，使得利用终端的加速度传感器去校准不同安装姿态的车辆的加速度传感器，通过把加速度传感器坐标系和车辆坐标系之间的旋转矩阵求出来，从而可以把OBD上的传感器数据经过旋转矩阵转换到车辆坐标系下的各轴数据。便于利用转化后的数据分析车辆前行、侧向和车辆行驶平面的垂直速度。
本发明实施例通过获取目标旋转矩阵对车辆的加速度传感器采集到的数据进行校准，提高了对加速度传感器校准的准确性及便捷性。
进一步地，基于上述加速度传感器校准装置第一实施例，提出了本发明加速度传感器校准装置第二实施例，该实施例中上述第二获取模块200还用于，根据所述第一时间戳及所述第二时间戳对所述终端数据及所述车辆数据进行匹配，根据匹配后的数据分别计算相应的旋转矩阵；
从所述旋转矩阵中获取满足的每列列向量的平方和与1之间相差在预设阈值内，且与所述车辆数据相乘得到的数值与对应的终端数据之间误差最小的指定旋转矩阵，设定为目标旋转矩阵。
本实施例中，在车辆获取目标旋转矩阵的过程中，第二获取模块200对存储的终端数据及其对应的第一时间戳、车辆数据及其对应的第二时间戳，根据第一时间戳及第二时间戳对终端数据及车辆数据进行匹配。例如，将同一时刻采集到的终端数据及车辆数据进行匹配，或者是将车辆时刻与终端时刻之间满足预设时差的终端数据及车辆数据进行匹配。
第二获取模块200根据匹配后的数据分别计算相应的旋转矩阵，时间戳匹配是和合加速度匹配在一起使用，两组传感器数据对应的时间戳之间的差值满足波动范围在一定的指定范围内，而且满足两个对应合加速度数据的差满足一定的阈值，根据该条件筛选出备选矩阵方程，此时选出的矩阵方程比较多，可以从这些矩阵方程中三三组合分别计算旋转矩阵。当得到多个旋转矩阵时，可以选取最优的旋转矩阵作为目标旋转矩阵。具体地，第二获取模 块200选取旋转矩阵每一列向量的平方和与1之间相差在预设阈值内，可以是无限接近于1，以及实际输出误差最小，最终可以获取目标旋转矩阵。该实际输出误差为将且旋转矩阵与车辆数据相乘得到的数值与对应的终端数据之间误差，误差最小的旋转矩阵设定为目标旋转矩阵。
需要说明的是，为了提高目标旋转矩阵的可靠性，还可以设置终端数据与车辆数据中每一个配对的误差满足一定阈值，且完成配对的数目达到总配对数的一半以上。在上述两个坐标的变换的数学模型中，可取λ＝1，偏移为0。
本实施例根据匹配后的终端数据及所述车辆数据计算得到旋转矩阵后，根据指定的条件从旋转矩阵选取出最优的目标旋转矩阵，提高了对加速度传感器校准的可靠性。
进一步地，基于上述加速度传感器校准装置第一实施例，提出了本发明加速度传感器校准装置第三实施例，该实施例中上第一获取模块100还用于，获取标定矩阵，及通过所述车辆本地的加速度传感器获取原始数据；根据所述标定矩阵对加速度传感器的原始数据进行标定得到车辆数据。
本实施例中，在获取车辆数据时需要对车辆的加速度传感器的原始数据进行标定，从而可以把加速度传感器芯片和OBD看做一个整体。具体地，第一获取模块100需要根据具体环境对加速度传感器的原始数据标定，以下对原始数据标定的原理进行详细说明。设定标准化加速度为(Ax2,Ay2,Az2)，车辆本地的加速度传感器采集的原始数据为(Ax1,Ay1,Az1)，标准化加速度和原始数据之间的关系可由上述方程1表示，具体参照加速度传感器校准方法第三实施例中对应的方程1。
对加速度传感器进行“标定”的目的是确定ACC10至ACC33这12个参数，如上述表1所示，可以在表1的六个固定位置(Ax2,Ay2,Az2已知)以100Hz的输出数据率(Output Data Rate)采集5s到10s的加速度传感器各轴的加速度，使用如下最小二乘法对上述12个参数进行估算。上述方程1可以改写成上述方程2，具体参照加速度传感器校准方法第三实施例中对应的方程2。
例如，在向上的位置时，[Ax2,Ay2,Az2]＝[0 0 -1]，假设在此位置采集了n1组加速度传感器的原始数据Ax1,Ay1,Az1，则得到上述方程4，具体参照加速度传感器校准方法第三实施例中对应的方程4。
其中，矩阵有n1行[0 0 -1]，矩阵采集的n1组加速度传感器的原始数 据。同理，在表1中其他5个位置分别采集n2、n3、n4、n5、n6组加速度传感器的原始数据，则得到上述方程5、方程6、方程7、方程8和方程9，具体参照加速度传感器校准方法第三实施例中分别对应的方程5、方程6、方程7、方程8和方程9。
组合方程4至方程9，并令n＝n1+n2+n3+n4+n5+n6，则上述方程3可改写成方程10：Yn×3＝wn×4·X4×3，其中，Y、w的表达式具体参照加速度传感器校准方法第三实施例对应的表达式。由此标定过程中需要估计的12个参数即可由如下方程11得到，方程11：X＝[wT·w]-1wT·Y
其中，wT表示矩阵的转置；[wT·w]-1表示矩阵的逆。
本实施例通过标定矩阵及加速度传感器采集的原始数据，进行标定得到车辆数据，提高了对加速度传感器校准的准确性。
进一步地，基于上述加速度传感器校准装置任一实施例，提出了本发明加速度传感器校准装置第四实施例，该实施例中上述加速度传感器校准装置还包括：接收模块，用于与终端建立连接关系，接收所述终端发送的加速度传感器采集数据的数据包及发送所述数据包的终端发送时间，记录车辆接收时间；
校准模块，用于将所述数据包、所述车辆接收时间及当前的车辆发送时间发送至终端，供终端记录终端接收时间，并根据所述终端发送时间、所述车辆接收时间、所述车辆发送时间及所述终端接收时间，所述时间及所述接收时间对时间进行校准，与所述车辆时间进行同步。
本实施例中，在终端与车辆通过加速度传感器采集数据之前，需要对终端与车辆的时间进行同步。终端和车辆通过蓝牙或wifi建立连接，一旦建立连接，首先确定终端和车辆之间的时间差，进行时间矫正，并获取时间差平均值，从而确定终端和车辆之间的时间差值。
具体地，对矫正时间的原理的详细说明参照上述加速度传感器校准装置第四实施例对应的方案，从而可以得到如上述加速度传感器校准方法第四实施例中对应的关系式成立。
本实施例可根据终端发送时间、车辆接收时间、车辆发送时间及终端接收时间对终端本地时间进行校准，与车辆时间进行同步，以便根据时间戳对终端数据及车辆数据进行匹配来获取目标旋转矩阵，提高了对加速度传感器校准的准确性及便捷性。

Claims (20)

  1. 一种加速度传感器校准方法，其特征在于，，所述加速度传感器校准方法包括以下步骤：
    接收终端发送的所述终端本地加速度传感器获取的终端数据及获取所述终端数据对应的第一时间戳；
    获取标定矩阵，及通过所述车辆本地的加速度传感器获取原始数据；
    根据所述标定矩阵对加速度传感器的原始数据进行标定得到车辆数据；
    获取所述车辆数据对应的第二时间戳；
    根据所述第一时间戳及所述第二时间戳对所述终端数据及所述车辆数据进行匹配，根据匹配后的数据分别计算相应的旋转矩阵；
    从所述旋转矩阵中获取满足的每列列向量的平方和与1之间相差在预设阈值内，且与所述车辆数据相乘得到的数值与对应的终端数据之间误差最小的指定旋转矩阵，设定为目标旋转矩阵；
    根据所述目标旋转矩阵对所述车辆的加速度传感器采集到的数据进行校准。
  2. 如权利要求1所述的加速度传感器校准方法，其特征在于，所述接收终端发送的所述终端本地加速度传感器获取的终端数据及获取所述终端数据对应的第一时间戳之前包括：
    与终端建立连接关系，接收所述终端发送的加速度传感器采集数据的数据包及发送所述数据包的终端发送时间，记录车辆接收时间；
    将所述数据包、所述车辆接收时间及当前的车辆发送时间发送至终端，供终端记录终端接收时间，并根据所述终端发送时间、所述车辆接收时间、所述车辆发送时间及所述终端接收时间，对时间进行校准，与车辆时间进行同步。
  3. 如权利要求1所述的加速度传感器校准方法，其特征在于，所述接收终端发送的所述终端本地加速度传感器获取的终端数据及获取所述终端数据对应的第一时间戳之前包括：
    接收所述终端在所述车辆上的调整放置位置，以使终端坐标系与车辆坐标系重合。
  4. 一种加速度传感器校准方法，其特征在于，所述加速度传感器校准方 法包括以下步骤：
    接收终端发送的所述终端本地加速度传感器获取的终端数据及获取所述终端数据对应的第一时间戳，并通过所述车辆本地的加速度传感器获取车辆数据及获取所述车辆数据对应的第二时间戳；
    根据所述第一时间戳及所述第二时间戳对所述终端数据及所述车辆数据进行匹配，根据匹配后的数据获取目标旋转矩阵；
    根据所述目标旋转矩阵对所述车辆的加速度传感器采集到的数据进行校准。
  5. 如权利要求4所述的加速度传感器校准方法，其特征在于，所述根据所述第一时间戳及所述第二时间戳对所述终端数据及所述车辆数据进行匹配，根据匹配后的数据获取目标旋转矩阵包括：
    根据所述第一时间戳及所述第二时间戳对所述终端数据及所述车辆数据进行匹配，根据匹配后的数据分别计算相应的旋转矩阵；
    从所述旋转矩阵中获取满足的每列列向量的平方和与1之间相差在预设阈值内，且与所述车辆数据相乘得到的数值与对应的终端数据之间误差最小的指定旋转矩阵，设定为目标旋转矩阵。
  6. 如权利要求4所述的加速度传感器校准方法，其特征在于，所述通过所述车辆本地的加速度传感器获取车辆数据包括：
    获取标定矩阵，及通过所述车辆本地的加速度传感器获取原始数据；
    根据所述标定矩阵对加速度传感器的原始数据进行标定得到车辆数据。
  7. 如权利要求4所述的加速度传感器校准方法，其特征在于，所述接收终端发送的所述终端本地加速度传感器获取的终端数据及获取所述终端数据对应的第一时间戳之前包括：
    与终端建立连接关系，接收所述终端发送的加速度传感器采集数据的数据包及发送所述数据包的终端发送时间，记录车辆接收时间；
    将所述数据包、所述车辆接收时间及当前的车辆发送时间发送至终端，供终端记录终端接收时间，并根据所述终端发送时间、所述车辆接收时间、所述车辆发送时间及所述终端接收时间，对时间进行校准，与车辆时间进行同步。
  8. 如权利要求5所述的加速度传感器校准方法，其特征在于，所述接收 终端发送的所述终端本地加速度传感器获取的终端数据及获取所述终端数据对应的第一时间戳之前包括：
    与终端建立连接关系，接收所述终端发送的加速度传感器采集数据的数据包及发送所述数据包的终端发送时间，记录车辆接收时间；
    将所述数据包、所述车辆接收时间及当前的车辆发送时间发送至终端，供终端记录终端接收时间，并根据所述终端发送时间、所述车辆接收时间、所述车辆发送时间及所述终端接收时间，对时间进行校准，与车辆时间进行同步。
  9. 如权利要求6所述的加速度传感器校准方法，其特征在于，所述接收终端发送的所述终端本地加速度传感器获取的终端数据及获取所述终端数据对应的第一时间戳之前包括：
    与终端建立连接关系，接收所述终端发送的加速度传感器采集数据的数据包及发送所述数据包的终端发送时间，记录车辆接收时间；
    将所述数据包、所述车辆接收时间及当前的车辆发送时间发送至终端，供终端记录终端接收时间，并根据所述终端发送时间、所述车辆接收时间、所述车辆发送时间及所述终端接收时间，对时间进行校准，与车辆时间进行同步。
  10. 如权利要求4所述的加速度传感器校准方法，其特征在于，所述接收终端发送的所述终端本地加速度传感器获取的终端数据及获取所述终端数据对应的第一时间戳之前包括：
    接收所述终端在所述车辆上的调整放置位置，以使终端坐标系与车辆坐标系重合。
  11. 如权利要求5所述的加速度传感器校准方法，其特征在于，所述接收终端发送的所述终端本地加速度传感器获取的终端数据及获取所述终端数据对应的第一时间戳之前包括：
    接收所述终端在所述车辆上的调整放置位置，以使终端坐标系与车辆坐标系重合。
  12. 如权利要求6所述的加速度传感器校准方法，其特征在于，所述接收终端发送的所述终端本地加速度传感器获取的终端数据及获取所述终端数据对应的第一时间戳之前包括：
    接收所述终端在所述车辆上的调整放置位置，以使终端坐标系与车辆坐标系重合。
  13. 一种加速度传感器校准装置，其特征在于，所述加速度传感器校准装置包括：
    第一获取模块，用于接收坐标系与车辆坐标系重合的终端，发送的所述终端本地加速度传感器获取的终端数据及获取所述终端数据对应的第一时间戳，并通过所述车辆本地的加速度传感器获取车辆数据及获取所述车辆数据对应的第二时间戳；
    第二获取模块，用于根据所述第一时间戳及所述第二时间戳对所述终端数据及所述车辆数据进行匹配，根据匹配后的数据获取目标旋转矩阵；
    校准模块，用于根据所述目标旋转矩阵对所述车辆的加速度传感器采集到的数据进行校准。
  14. 如权利要求13所述的加速度传感器校准装置，其特征在于，所述第二获取模块还用于，根据所述第一时间戳及所述第二时间戳对所述终端数据及所述车辆数据进行匹配，根据匹配后的数据分别计算相应的旋转矩阵；
    从所述旋转矩阵中获取满足的每列列向量的平方和与1之间相差在预设阈值内，且与所述车辆数据相乘得到的数值与对应的终端数据之间误差最小的指定旋转矩阵，设定为目标旋转矩阵。
  15. 如权利要求13所述的加速度传感器校准装置，其特征在于，所述第一获取模块还用于，获取标定矩阵，及通过所述车辆本地的加速度传感器获取原始数据；根据所述标定矩阵对加速度传感器的原始数据进行标定得到车辆数据。
  16. 如权利要求13所述的加速度传感器校准装置，其特征在于，所述加速度传感器校准装置还包括：
    接收模块，用于与终端建立连接关系，接收所述终端发送的加速度传感器采集数据的数据包及发送所述数据包的终端发送时间，记录车辆接收时间；
    校准模块，用于将所述数据包、所述车辆接收时间及当前的车辆发送时间发送至终端，供终端记录终端接收时间，并根据所述终端发送时间、所述车辆接收时间、所述车辆发送时间及所述终端接收时间，所述时间及所述接收时间对时间进行校准，与所述车辆时间进行同步。
  17. 如权利要求14所述的加速度传感器校准装置，其特征在于，所述加速度传感器校准装置还包括：
    接收模块，用于与终端建立连接关系，接收所述终端发送的加速度传感器采集数据的数据包及发送所述数据包的终端发送时间，记录车辆接收时间；
    校准模块，用于将所述数据包、所述车辆接收时间及当前的车辆发送时间发送至终端，供终端记录终端接收时间，并根据所述终端发送时间、所述车辆接收时间、所述车辆发送时间及所述终端接收时间，所述时间及所述接收时间对时间进行校准，与所述车辆时间进行同步。
  18. 如权利要求15所述的加速度传感器校准装置，其特征在于，所述加速度传感器校准装置还包括：
    接收模块，用于与终端建立连接关系，接收所述终端发送的加速度传感器采集数据的数据包及发送所述数据包的终端发送时间，记录车辆接收时间；
    校准模块，用于将所述数据包、所述车辆接收时间及当前的车辆发送时间发送至终端，供终端记录终端接收时间，并根据所述终端发送时间、所述车辆接收时间、所述车辆发送时间及所述终端接收时间，所述时间及所述接收时间对时间进行校准，与所述车辆时间进行同步。
  19. 如权利要求13所述的加速度传感器校准装置，其特征在于，所述加速度传感器校准装置还包括：
    处理模块，用于接收所述终端在所述车辆上的调整放置位置，以使终端坐标系与车辆坐标系重合。
  20. 如权利要求14所述的加速度传感器校准装置，其特征在于，所述加速度传感器校准装置还包括：
    处理模块，用于接收所述终端在所述车辆上的调整放置位置，以使终端坐标系与车辆坐标系重合。
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