WO2022206127A1

WO2022206127A1 - Attitude calibration method and apparatus, storage medium, and electronic device

Info

Publication number: WO2022206127A1
Application number: PCT/CN2022/072342
Authority: WO
Inventors: 陈明; 曾理; 张晓帆; 钟卫东
Original assignee: Oppo广东移动通信有限公司
Priority date: 2021-03-30
Filing date: 2022-01-17
Publication date: 2022-10-06
Also published as: CN113091769A

Abstract

An attitude calibration method and apparatus, a storage medium, and an electronic device. The method comprises: determining first gravitational acceleration data in a first coordinate system corresponding to the current attitude, and determining reference attitude data of the current attitude in the first coordinate system (S101); determining, on the basis of the first gravitational acceleration data, a coordinate system conversion formula for converting from the first coordinate system to a second coordinate system, the second coordinate system being a carrier coordinate system constructed when a terminal is in a fixed attitude (S102); and calibrating the reference attitude data according to the coordinate system conversion formula, and determining target attitude data in the second coordinate system (S103).

Description

Attitude calibration method, device, storage medium and electronic device

This application claims the priority of the Chinese patent application filed on March 30, 2021 with the application number of 2021103441400 and the invention titled "Attitude Calibration Method, Device, Storage Medium and Electronic Equipment", the entire contents of which are incorporated herein by reference Applying.

technical field

The present application relates to the field of computer technology, and in particular, to an attitude calibration method, device, storage medium and electronic device.

Background technique

With the development of communication technology, the application scenarios of terminals such as mobile phones and tablet computers are becoming more and more extensive. In the daily use process, the user's operation of the terminal often involves the change of the terminal's posture. Usually, different movements, directions and changes in the external environment can be sensed based on the terminal's sensors, so as to feed back the current terminal's posture to the application scenarios involving the terminal. , such as terminal-based behavior recognition, terminal-based gesture interaction and other scenarios.

SUMMARY OF THE INVENTION

Embodiments of the present application provide an attitude calibration method, apparatus, storage medium, and electronic device. The technical solutions of the embodiments of the present application are as follows:

In a first aspect, an embodiment of the present application provides an attitude calibration method, the method comprising:

determining the first gravitational acceleration data under the first coordinate system corresponding to the current attitude, and determining the reference attitude data under the first coordinate system corresponding to the current attitude;

Determine a coordinate system conversion formula for converting from the first coordinate system to a second coordinate system based on the first gravitational acceleration data, where the second coordinate system is a carrier coordinate system constructed when the terminal is in a fixed attitude;

The reference attitude data is calibrated according to the coordinate system conversion formula, and the target attitude data in the second coordinate system is determined.

In a second aspect, an embodiment of the present application provides an attitude calibration device, the device comprising:

a data determination module, configured to determine the first gravitational acceleration data under the first coordinate system corresponding to the current attitude, and determine the reference attitude data of the current attitude under the first coordinate system;

A data conversion module, configured to determine a coordinate system conversion formula for converting from the first coordinate system to a second coordinate system based on the first gravitational acceleration data, where the second coordinate system is constructed when the terminal is in a fixed posture carrier coordinate system;

A data calibration module, configured to perform calibration processing on the reference attitude data according to the coordinate system conversion formula, and determine the target attitude data in the second coordinate system.

In a third aspect, an embodiment of the present application provides a computer storage medium, where the computer storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing the above method steps.

In a fourth aspect, an embodiment of the present application provides an electronic device, which may include: a processor and a memory; wherein, the memory stores a computer program, and the computer program is adapted to be loaded by the processor and execute the above method steps .

The beneficial effects brought by the technical solutions provided by some embodiments of the present application include at least:

In one or more embodiments of the present application, the terminal determines the first gravitational acceleration data in the first coordinate system corresponding to the current attitude, and determines the reference attitude data in the first coordinate system corresponding to the current attitude, based on the The first gravitational acceleration data determines the coordinate system conversion formula from the first coordinate system to the second coordinate system, and the second coordinate system is usually the carrier coordinate system constructed when the terminal is in a fixed posture; according to the determined The coordinate system conversion formula performs calibration processing on the reference attitude data, and can determine the target attitude data in the second coordinate system. Therefore, in the process of using the terminal, the attitude of the terminal is adaptively corrected, so as to eliminate the influence of the low accuracy of the attitude data caused by the change of the terminal attitude, and reduce the error of the acquired attitude data; The constructed carrier coordinate system combines the change of gravitational acceleration to perform attitude calibration. Compared with the geodetic coordinate system, geographic coordinate system, multi-carrier coordinate system and other schemes involved in related technologies, the calculation amount in the attitude calibration process can be greatly reduced, and the increase of The processing efficiency of attitude calibration can effectively describe the attitude change process of the terminal due to gesture changes such as gesture interaction, and the final attitude data is not limited by the equipment attitude change, device location, geographic location and other environments; and the use of gravity Acceleration is used to convert the coordinate system, the gravitational acceleration is easy to obtain, and the sampling rate of gravitational acceleration is usually high, which is suitable for real-time processing in practical application scenarios; the rotation matrix is calculated by the change of the gravitational acceleration vector, which is simple and fast to calculate.

Description of drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

1 is a schematic flowchart of an attitude calibration method provided by an embodiment of the present application;

2 is a schematic diagram of a coordinate system involved in an attitude calibration method provided by an embodiment of the present application;

3 is a schematic diagram of a scenario of a terminal attitude change involved in the attitude calibration method provided by the embodiment of the present application;

4 is a schematic diagram of a scene during a terminal attitude change process of a first coordinate system involved in an attitude calibration method provided by an embodiment of the present application;

5 is a schematic diagram of a scene of constructing a coordinate system involved in the attitude calibration method provided by the embodiment of the present application;

Fig. 6 is a scene schematic diagram of a coordinate system conversion involved in the attitude calibration method provided by the embodiment of the present application;

7 is a schematic flowchart of an attitude calibration method provided by an embodiment of the present application;

8 is a schematic diagram of a scene of a coordinate system datum plane involved in an attitude calibration method provided by an embodiment of the present application;

9 is a schematic flowchart of another attitude calibration method provided by an embodiment of the present application;

10 is a schematic structural diagram of an attitude calibration device provided by an embodiment of the present application;

11 is a schematic structural diagram of a data conversion module provided by an embodiment of the present application;

12 is a schematic structural diagram of another attitude calibration device provided by an embodiment of the present application;

13 is a schematic structural diagram of an electronic device provided by an embodiment of the present application;

14 is a schematic structural diagram of an operating system and a user space provided by an embodiment of the present application;

Figure 15 is an architecture diagram of the Android operating system in Figure 13;

FIG. 16 is an architectural diagram of the IOS operating system in FIG. 13 .

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

In the description of the present application, it should be understood that the terms "first", "second" and the like are used for descriptive purposes only, and should not be construed as indicating or implying relative importance. In the description of the present application, it should be noted that, unless otherwise expressly specified and defined, "including" and "having" and any modifications thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes unlisted steps or units, or optionally also includes For other steps or units inherent to these processes, methods, products or devices. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood in specific situations. Also, in the description of the present application, unless otherwise specified, "a plurality" means two or more. "And/or", which describes the association relationship of the associated objects, means that there can be three kinds of relationships, for example, A and/or B, which can mean that A exists alone, A and B exist at the same time, and B exists alone. The character "/" generally indicates that the associated objects are an "or" relationship.

This specification provides a network state synchronization method, which is applied to a first device, and the method includes:

When the first device goes offline and restores the network, acquiring the current tracking area identifier of the network;

If the tracking area identifier exists in the tracking area identifier list before disconnection, perform network state synchronization to the network end.

In an implementation manner, the performing network state synchronization to the network includes:

Obtain synchronization decision information, and perform network state synchronization to the network based on the synchronization decision information.

In an implementation manner, the performing network state synchronization to the network based on the synchronization decision information includes:

The synchronization judgment information is the off-network duration, and if the off-network duration is greater than the preset duration threshold, network state synchronization is performed to the network; or,

The synchronization judgment information is the network interaction information before the first device is disconnected from the network. If the network interaction information matches the reference interaction information, the network state synchronization is performed to the network terminal; the network interaction information includes the network interaction frequency. , at least one of network interaction data volume, and network interaction scenarios.

sending a network synchronization request to the network end, so that the network end performs network recovery verification on the network synchronization request;

The verification result sent by the network terminal is received, and it is determined based on the verification result that the network state synchronization is successful.

In an implementation manner, the sending a network synchronization request to the network includes:

obtaining a data transmission state, and generating a network synchronization request based on the data transmission state;

Send a network synchronization request to the network end.

In an implementation manner, the acquiring a data transmission state and generating a network synchronization request based on the data transmission state includes:

If the data transmission state is the calling service state, generating a service service request;

If the data transmission state is the called service state or the idle service state, a tracking area update request is generated.

In an implementation manner, the sending a network synchronization request to the network so that the network performs network recovery verification on the network synchronization request includes:

A network synchronization request carrying a temporary identity identifier is sent to the network terminal, so that the network terminal performs network recovery verification on the network synchronization request based on the temporary identity identifier.

In an embodiment, the receiving the verification result sent by the network terminal, and determining that the network state synchronization is successful based on the verification result, includes:

Receive the verification failure information sent by the network, and determine that the first temporary identity of the network is lost;

A network identity registration process is initiated to the network end, and after the network identity registration process is successful, it is determined that the network state synchronization is successful.

The verification success information sent by the network terminal is received, and it is determined that the synchronization of the network state is successful.

If the synchronization judgment information satisfies the network synchronization condition, wait for network synchronization, and monitor the network service instruction for the network calling service;

It is determined that the network service instruction is monitored, and the network state is synchronized to the network end.

In an implementation manner, the monitoring of network request instructions for network services includes:

A monitoring timer for the network calling service is started, and a network service instruction for the network calling service is monitored based on the monitoring timer.

Judging the first storage state of the first temporary identity for the first device on the network;

The network state is synchronized to the network terminal based on the first storage state.

In one embodiment, the judging the storage state of the first temporary identity of the first device on the network includes:

Acquire the second storage state of at least one second device; the second storage state is the storage state of the second temporary identity corresponding to the second device on the network end; the second device and the first The devices are under the same local area network;

If the second storage state is a storage loss state, the first storage state on the network for the first temporary identity of the first device is the storage loss state;

If the second storage state is the storage normal state, it is determined that the storage state of the first temporary identity identifier for the first device on the network end is the storage normal state.

In one embodiment, the method further includes:

Synchronize the first storage state of the first temporary identity with at least one third device, so that the third device judges the third device on the network for the third temporary identity of the third device. storing the state, and synchronizing the network state to the network terminal based on the third storage state;

Wherein, the third device and the first device are under the same local area network.

In an implementation manner, the performing network state synchronization to the network terminal based on the first storage state includes:

If the first storage state is the storage loss state, then the network identity registration process is initiated to the network terminal, and after the network identity registration process is successful, it is determined that the network state synchronization is successful;

If the first storage state is a normal storage state, a network synchronization request is sent to the network end, so that the network end performs network recovery verification on the first device; it is determined that the network state synchronization is successful.

The present application will be described in detail below with reference to specific embodiments.

In one embodiment, as shown in FIG. 1 , an attitude calibration method is proposed, which can be implemented by means of a computer program and can be run on an attitude calibration device based on the von Neumann system. The computer program can be integrated into an application or run as a stand-alone utility application.

The attitude calibration apparatus may be a terminal, including but not limited to: wearable device, handheld device, personal computer, tablet computer, vehicle-mounted device, smart phone, computing device, or other processing device connected to a wireless modem, etc. . Terminal equipment can be called by different names in different networks, for example: user equipment, access terminal, subscriber unit, subscriber station, mobile station, mobile station, remote station, remote terminal, mobile equipment, user terminal, wireless communication equipment, User agent or user equipment, cellular phone, cordless phone, personal digital assistant (PDA), terminal equipment in 5G network or future evolution network, etc.

Specifically, the attitude calibration method includes:

Step S101: Determine first gravitational acceleration data in a first coordinate system corresponding to the current posture, and determine reference posture data in a first coordinate system corresponding to the current posture.

The terminal can usually have a variety of built-in sensors, such as gyro sensor, magnetic sensor, acceleration sensor, direction sensor, etc., which can sense the different movements, directions and external environment corresponding to the terminal when the terminal attitude changes. In practical applications , when monitoring the movement and position changes of the terminal, the terminal can obtain more accurate original three-dimensional data based on the included sensors, but these data are all based on the attitude data in the first coordinate system corresponding to the current attitude of the terminal, that is Referring to the attitude data, when the position or direction of the terminal changes, its current attitude is usually different from the attitude at the last data collection moment. At this time, the first coordinate system corresponding to the current attitude is different from the last data collection moment. In other words, when the first coordinate system changes, the reference attitude data at the current moment (relative to the attitude data at the last data collection moment) determined by the terminal based on at least one built-in sensor of the terminal will naturally change accordingly.

Further, in practical applications, the above changes are often due to the personalization of the user's usage habits or the user's personalization when performing specific gesture interaction function scenarios, such as the placement of terminals (such as mobile phones, smart watches, smart bracelets) In the hand, or in the trouser pocket or handbag, and the terminal posture change caused by the user making a specific gesture interaction operation using the terminal. Different users may tend to use different holding methods or holding gesture preferences when using the terminal.

Further, the change of the terminal posture will cause the relative relationship between the first coordinate system corresponding to the current posture of the terminal and the physical world reference coordinate system where the current user of the terminal is located to change. Based on this, the present application can execute the posture calibration method, In the process of using the terminal, the attitude of the terminal is adaptively corrected to eliminate the influence caused by the change of the terminal attitude, and the coordinate system conversion formula during attitude calibration is determined based on the reference quantity of gravitational acceleration, so as to convert the measured value of the terminal The "reference attitude data in the first coordinate system corresponding to the current attitude" is converted into the "second coordinate system".

Among them, during the use of the terminal, if the current posture of the terminal changes relative to the time when the last posture data was collected, the first coordinate system corresponding to the current posture of the terminal will change. At this time, "the first coordinate system corresponding to the current posture of the terminal will also change accordingly" during measurement.

Optionally, the first coordinate system in the "first coordinate system corresponding to the current attitude" is strongly related to the current attitude, which may be a carrier coordinate system corresponding to the current attitude of the device. In practical applications, the carrier coordinate system may be. Taking the sensor installation or carrying equipment carrier (terminal) center of mass as the origin, when the terminal is placed horizontally, the direction of the terminal head/forward/forward is the positive direction of the Y-axis, and the direction that is perpendicular to the Y-axis to the right on the horizontal plane is X The positive axis, the upward direction perpendicular to the horizontal plane is the positive Z axis, as shown in FIG. 2 , which is a schematic diagram of a coordinate system involved in the present application. The carrier coordinate system (that is, the first coordinate system) is fixed relative to the terminal itself, that is, when the current posture of the terminal changes, as shown in Figure 3, Figure 3 is a schematic diagram of a scene where the terminal posture changes, and the user can hold the terminal Rotate based on any space rotation angle under the world geographic coordinate system, that is, the terminal attitude changes. During this attitude change process, as shown in FIG. 4 , FIG. 4 is the first coordinate system involved in the application in the terminal attitude. A schematic diagram of the scene during the change process. As shown in Figure 4, the relative relationship between the last moment of the terminal and the first coordinate system at the current moment (corresponding to the current posture of the terminal) will change, which can be based on the first coordinate shown in Figure 4. The change of the three base coordinate axes (X-axis, Y-axis, Z-axis) in the system is used to quantify the attitude change. The base coordinate rotation angle α is used to characterize the change of the base coordinate X-axis of the first coordinate system. The base coordinate rotation The angle β is used to characterize the change of the base coordinate Z axis of the first coordinate system, and the base coordinate rotation angle γ is used to characterize the change of the base coordinate Y axis of the first coordinate system. The relative relationship between a moment and the first coordinate system at the current moment (corresponding to the current posture of the terminal). Therefore, the change of the attitude of the terminal device will cause the current attitude reference data collected by the sensor in the first coordinate system to change. The conversion of the collected reference attitude data in the first coordinate system from the first coordinate system to the unified reference coordinate system (that is, the second coordinate system constructed when the terminal is in a fixed attitude) has universal applicability, and the converted attitude data has more The clear physical meaning reduces the influence of the terminal's position and attitude on the collected data, and has a wide range of application values in terminal-based situational awareness. It will significantly improve the accuracy of behavior recognition and have a broad application prospect.

The reference attitude data refers to the simulation of one or more data such as attitude, angular velocity data, acceleration data, etc., of a movable or rotating object (such as a terminal) based on the sensing device (current sampling time point) sensed by the included sensing device. Combined, where the reference attitude data is data represented based on the first coordinate system, in this application, it can be understood as the position of the terminal in space and/or its attitude at the position when the user manipulates the terminal. In this embodiment, the reference attitude data can be used to characterize or quantify the current attitude of the terminal in the first coordinate system. For example, the angular velocity of the terminal changes (the rotation angle between two adjacent sampling moments), the movement speed changes, the movement direction changes, and so on.

Further, the terminal has a variety of sensing devices for real-time detection of current pose information, the sensing devices include but are not limited to acceleration sensors, magnetic sensors, gyroscopes, physical quantity sensors, etc., and the terminal can obtain the information through the sensing devices. To the first gravitational acceleration data under the first coordinate system corresponding to the current attitude, and the reference attitude data of the current attitude under the first coordinate system, the reference attitude data can be a gravitational acceleration parameter, a magnetic force parameter, an angular velocity parameter, etc. Wait.

In a specific implementation scenario, a gravitational acceleration sensor is usually provided in the terminal, which may be realized by a software sensor. For a terminal without a gravitational acceleration sensor, it can be obtained by filtering the data of the acceleration sensor. That is, the terminal can obtain the acceleration data in the first coordinate system corresponding to the current posture, perform data filtering processing on the acceleration data, and obtain the first gravitational acceleration data. The first gravitational acceleration data can be understood as the sense of the current posture of the device. The gravitational acceleration data produced by the measured gravity.

Further, usually the acceleration sensor data (Acceleration) includes the acceleration data of the terminal itself during the movement process and the first gravitational acceleration data generated due to gravity. In some embodiments, the former "acceleration data of the terminal's own motion process" is usually called Linear Acceleration, and the latter "first gravitational acceleration data generated due to gravity" is called Gravity, that is, Have:

Acceleration=Linear Accelerarion+Gravity

Since gravitational acceleration can be understood as a low-frequency component relative to linear acceleration, in this application, a low-pass filter can be used to set filtering parameters to filter acceleration data to obtain gravitational acceleration. For example, a high-pass filter can be used to obtain linear acceleration. acceleration, so as to achieve the separation of linear acceleration and gravitational acceleration. In addition, this method is relatively simple to implement, and the calculation amount is relatively small, which is suitable for real-time calculation in the attitude calibration process.

Step S102: Determine a coordinate system conversion formula from the first coordinate system to a second coordinate system based on the first gravitational acceleration data, where the second coordinate system is a carrier coordinate system constructed when the terminal is in a fixed posture .

The second coordinate system is a carrier coordinate system constructed by the terminal when the terminal is in a fixed posture. In this application, the second coordinate system is a carrier coordinate system constructed by the terminal in a fixed posture. The carrier coordinate system may be The center of mass of the sensor installation or carrying equipment carrier (terminal) is the origin. When the terminal is placed horizontally, the direction pointed to by the terminal head/forward/forward is the positive direction of the Y-axis, and the direction that is perpendicular to the Y-axis on the horizontal plane is the positive direction of the X-axis. The upward direction perpendicular to the horizontal plane is the positive direction of the Z-axis. The fixed posture may be that the terminal has been adjusted in the factory configuration stage, or that the terminal provides a human-computer interaction interface during the later use of the terminal. The carrier coordinate system constructed under a certain pose that is reset by subsequent changes on the corresponding interactive interface. In some embodiments, the coordinate system conversion formula may be a coordinate system conversion matrix or a coordinate system conversion formula.

In a specific embodiment, taking the terminal as a mobile phone as an example, the fixed posture can be that the carrier coordinate system corresponding to the mobile phone when the mobile phone is placed horizontally in the actual application space environment is the second coordinate system, as shown in Figure 5. At this time, the pointing direction of the device is the Y axis, and the gravity direction coincides with the Z axis (the terminal sensor gravity data is a positive value, and the real gravity direction is the negative direction of the Z axis).

Optionally, in this application, the user may construct the second carrier coordinate system when the terminal is in a fixed posture during the machine initialization stage when the terminal is used for the first time. It can be understood that, in this application, it can be understood that, at the initial moment corresponding to the construction of the “second coordinate system”, the “second coordinate system” usually coincides with the “first coordinate system”. The fixed posture is not limited in this application. It can be the carrier coordinate system corresponding to the horizontal placement of the terminal (such as a mobile phone) in the actual application space environment as the second coordinate system, or it can be the corresponding coordinate system in any state in the three-dimensional space. The current posture of the terminal.

Optionally, when the terminal constructs a "second coordinate system" in a fixed attitude, it can measure the gravitational acceleration data when it is in a fixed attitude and under the "second coordinate system", that is, the second coordinate system in this application. Gravitational acceleration data. A coordinate system conversion formula for converting from the first coordinate system to the second coordinate system is determined based on the second gravitational acceleration data of the "gravitational acceleration" index in the second coordinate system.

In a specific implementation, the terminal can acquire the second gravitational acceleration data of the gravitational acceleration in the second coordinate system when it is in a fixed attitude; in practical applications, the second gravitational acceleration data is used to construct the second gravitational acceleration data The coordinate system can be measured accordingly, and quantitative characterization is performed based on the second coordinate system.

Specifically, the terminal may determine the rotation angle of the coordinate system based on the first gravitational acceleration data and the second gravitational acceleration data.

The rotation angle of the coordinate system is the relative rotation angle of the first coordinate system with respect to the second coordinate system. In some embodiments, the rotation angle of the coordinate system may be represented by the variation of the base coordinate axis, as shown in FIG. 6 . 6 is a schematic diagram of a coordinate system transformation involved in the present application. The second coordinate system may be based on the sensor installation or the center of mass of the carrying device carrier (terminal) of the terminal in a certain fixed attitude. When the terminal is placed horizontally , the direction pointed to by the terminal head/forward/forward is the positive direction of the Y-axis, the direction that is perpendicular to the Y-axis on the horizontal plane is the positive direction of the X-axis, and the upward direction perpendicular to the horizontal plane is the positive direction of the Z-axis. The second coordinate system, the first coordinate system can be the current posture of the terminal: with the sensor installation or the center of mass of the device carrier (terminal) as the origin, when the terminal is placed horizontally, the direction pointed to by the terminal head/forward/forward is the positive Y0 axis The direction pointing to the right perpendicular to the Y0 axis on the horizontal plane is the positive direction of the X0 axis, and the upward direction perpendicular to the horizontal plane is the positive direction of the Z0 axis;

In a feasible implementation manner, the change of the first coordinate system relative to the second coordinate system can be characterized based on the rotation axis of the coordinate system and the rotation angle of the coordinate system, while the attitude calibration method described in this application is actually The "attitude data under the first coordinate system" is restored to the target attitude data under the second coordinate system "taking the second coordinate system as a reference", which is mainly to determine how the "attitude data" is rotated from the first coordinate system to The second coordinate system, this process can be regarded as, the reference attitude data in the first coordinate system is rotated by the angle corresponding to the "coordinate system rotation angle" based on a "coordinate system rotation axis", and then the second coordinate system can be obtained. Target pose data. In short, attitude calibration can be seen as, for the three-dimensional attitude vector corresponding to any attitude data under the first coordinate in the three-dimensional space, rotate along the "rotation axis of the coordinate system" (assumed to be u) corresponding to the "rotation angle of the coordinate system". The "rotated three-dimensional attitude vector" after the angle, at this time: "rotated three-dimensional attitude vector" is the target attitude data in the second coordinate system "with the second coordinate system as a reference". For example, as shown in FIG. 6 , which is a schematic diagram of an attitude calibration scenario involved in the present application, in FIG. 6 , the three-dimensional vector V can be understood as: for any attitude data corresponding to the first coordinate in the three-dimensional space Three-dimensional attitude vector; the attitude calibration process is: the rotated three-dimensional attitude vector V' obtained after the three-dimensional vector V rotates along the "coordinate system rotation axis u" by an angle corresponding to the "coordinate system rotation angle θ".

Further, based on the fact that the gravitational acceleration of the present application is relatively constant and will not change, because the attitude change of the terminal will cause relative changes in the first coordinate system and the second coordinate system, it will lead to the actual first coordinate system in the two coordinate systems. When the gravitational acceleration data is different, a coordinate system conversion formula for converting from the first coordinate system to the second coordinate system can be determined based on the change. In a specific implementation, based on the first gravitational acceleration data measured in the first coordinate system and the second gravitational acceleration data measured in the second coordinate system, determine the coordinate system rotation angle θ and the coordinate system rotation axis u;

Schematically, the terminal acquires the second gravitational acceleration data of the gravitational acceleration in the second coordinate system, and the second gravitational acceleration data is represented by a space vector V1; the first gravitational acceleration in the first coordinate system corresponding to the current posture of the terminal is data, the first gravitational acceleration data is represented by the space vector V2, then the rotation angle θ of the coordinate system can be obtained by the following formula:

Among them, "||V1||" is the vector modulus of the space vector V1, "||V2||" is the vector modulus of the space vector V2, and "arccos" represents the arc cosine calculation in the inverse trigonometric function.

Schematically, the rotation axis u of the coordinate system can be obtained by calculating the result of the cross product of the gravitational acceleration V1 and the reference gravitational acceleration V2, that is, the rotation axis u of the coordinate system can be obtained by the following formula:

u=V1×V2

Among them, "×" represents the vector cross product calculation.

In practical applications, the second gravitational acceleration data and the first gravitational acceleration data are respectively input into the above formula, and the coordinate system rotation angle θ and the coordinate system rotation axis u can be output.

Further, an initial conversion formula for converting from the first coordinate system to the second coordinate system is constructed. The initial coordinate system conversion formula can obtain a universal expression for the three-dimensional rotation in the three-dimensional space through mathematical analysis. The initial coordinate For the system conversion formula, please refer to the following initial coordinate system conversion formula:

V′=Vcosθ+(u·V)u(1-cosθ)+(u×V)sinθ

Among them, "×" represents the vector cross product calculation, and "·" represents the vector dot product calculation.

Then, the above output "the coordinate system rotation angle θ and the coordinate system rotation axis u" are input into the initial conversion formula, and the final output coordinate system conversion formula can be obtained.

Optionally, based on the first gravitational acceleration data measured in the first coordinate system and the second gravitational acceleration data measured in the second coordinate system, after determining the coordinate system rotation angle θ and the coordinate system rotation axis u, you can also use Methods such as the rotation matrix of the three-dimensional space, Euler angles, and quaternions can be used to obtain the coordinate system transformation. It is only necessary to transform the coordinate system rotation angle θ and the coordinate system rotation axis u accordingly. There is no specific expansion here. Refer to the corresponding definitions in the related art.

Step S103: Perform calibration processing on the reference attitude data according to the coordinate system conversion formula, and determine the target attitude data in the second coordinate system.

Specifically, the reference attitude data is calibrated according to the coordinate system conversion formula: the terminal can calculate the product of the reference attitude data and the coordinate system conversion formula, and then can obtain the reference attitude data in the first The target pose data in the two-coordinate system.

Taking the reference attitude data as the acceleration data as an example, the acceleration data collected by the device is acc _xyz , and the target attitude data is:

acc=f(acc _xyz )

Taking the reference attitude data as the angular velocity sensor data as an example, the angular velocity sensor data gyro _xyz collected by the device, the target attitude data is:

gyro=f(gyro _xyz )

Among them, "f" is the coordinate system conversion formula.

In this embodiment of the present application, the terminal determines the first gravitational acceleration data in the first coordinate system corresponding to the current attitude and determines the reference attitude data in the first coordinate system corresponding to the current attitude, based on the first gravity The acceleration data determines the coordinate system conversion formula from the first coordinate system to the second coordinate system, and the second coordinate system is usually the carrier coordinate system constructed when the terminal is in a fixed posture; according to the determined coordinate system conversion formula By performing calibration processing on the reference attitude data, the target attitude data in the second coordinate system can be determined. Therefore, in the process of using the terminal, the attitude of the terminal is adaptively corrected, so as to eliminate the influence of the low accuracy of the attitude data caused by the change of the terminal attitude, and reduce the error of the acquired attitude data; The constructed carrier coordinate system combines the change of gravitational acceleration to perform attitude calibration. Compared with the geodetic coordinate system, geographic coordinate system, multi-carrier coordinate system and other schemes involved in related technologies, the calculation amount in the attitude calibration process can be greatly reduced, and the increase of The processing efficiency of attitude calibration can effectively describe the attitude change process of the terminal due to gesture changes such as gesture interaction, and the final attitude data is not limited by the equipment attitude change, device location, geographic location and other environments; and the use of gravity Acceleration is used to convert the coordinate system, the gravitational acceleration is easy to obtain, and the sampling rate of gravitational acceleration is usually high, which is suitable for real-time processing in practical application scenarios; the rotation matrix is calculated by the change of the gravitational acceleration vector, which is simple and fast to calculate.

Please refer to FIG. 7 , which is a schematic flowchart of another embodiment of an attitude calibration method proposed in the present application. specific:

Step S201: Determine first gravitational acceleration data in a first coordinate system corresponding to the current posture, and determine reference posture data of the current posture in the first coordinate system.

For details, refer to step S101, which will not be repeated here.

Step S202: mapping the first gravitational acceleration data to the first reference plane under the first coordinate system to obtain a first gravitational component;

In some embodiments, in some application scenarios, the terminal attitude calibration can be combined with the actual application situation, only considering the attitude change or actual demand of the terminal in the corresponding plane, and the three-dimensional attitude change can be simplified, that is, usually the terminal is in the In the corresponding application scenario, only the change amplitude in the fixed plane under the first coordinate system can be included in the reference, and the change of the attitude in other planes under the first coordinate system other than the fixed plane can be filtered out, That is, the influence of attitude changes in other planes on attitude data is not considered.

In some embodiments, the process of terminal posture calibration can be pre-combined with each posture calibration scenario to each reference plane (a plane composed of at least two base coordinate lines, such as the xoz plane (consisting of the x-axis base coordinate line and the z-axis base coordinate line). composition), xoy plane (consisting of x-axis base coordinate line and y-axis base coordinate line), zoy plane (consisting of z-axis base coordinate line and y-axis base coordinate line)...) Under the terminal attitude change, the attitude data is accurate The influence rate of the property is evaluated, and at least one reference plane in the first coordinate system with high reference property in the reference calibration scenario is determined, that is, the first reference plane. It can be understood that in this reference calibration scenario, the terminal may only consider the influence of the attitude change of the terminal in the first plane on the acquired attitude data corresponding to the current attitude, and ignore or not consider other things except the first reference plane. The effect of changes in attitude in the outer plane on the attitude data. Therefore, the changes of postures in other planes under the first coordinate system other than the fixed plane can be filtered out. In specific implementation, only the first gravitational acceleration data can be mapped to the first coordinate system. The first reference plane, for example, mapping the first gravitational acceleration data measured in the three-dimensional space to the first reference plane under the first coordinate system, such as the xoz plane (consisting of an x-axis base coordinate line and a z-axis base coordinate line).

Optionally, a mapping relationship between at least one posture calibration scene and the reference datum plane may be established in advance, and the terminal may first determine the current target posture calibration scene. Then, based on the mapping relationship, the first reference plane to which the current target posture calibration scene corresponds is determined; in specific implementation, the posture calibration scene may be determined based on the terminal function mode triggered or enabled by the current user. Further, the posture calibration scene may be a spatial gesture input scene, such as the user holding the terminal to perform specific gesture action input (such as writing Chinese characters, drawing, etc.), it can be understood that when the user triggers the spatial gesture input function and the terminal is in the When corresponding spatial gesture input scenarios, the first datum plane can be determined based on the mapping relationship. For example, the first datum plane can be the xoz plane (consisting of the x-axis base coordinate line and the z-axis base coordinate line). Usually, the user uses the spatial gesture based on the terminal. When using a plane gesture (such as drawing a circle, etc.), that is, when using spatial gesture-related functions, the main movements of the device are all on one plane; the posture calibration scene can be a somatosensory entertainment scene, the benchmark corresponding to the somatosensory entertainment scene The plane can be the xoz plane (consisting of the x-axis base coordinate line and the z-axis base coordinate line) or the zoy plane (consisting of the z-axis base coordinate line and the y-axis base coordinate line), etc. It should be noted that the above examples are The scenarios described above are only to better explain the application of this embodiment, and those skilled in the art should know that the above examples do not limit the scope of the invention of the present application.

The first gravitational component can be understood as the gravitational component of the first gravitational acceleration data in the first reference plane under the first coordinate system. Illustratively, it is assumed that the first gravitational acceleration data can be expressed as: g _xyz = [g _x , g _y , g _z ], where

G is the standard gravity parameter value. Assuming that the first reference plane is the XZ plane, for example, in a spatial gesture input scenario, plane gestures (such as drawing a circle, etc.) are mainly used in this scenario, that is, when using spatial gesture-related functions, the main movement of the terminal device can be regarded as all On a two-dimensional plane, the influence of the attitude changes of the other two-dimensional planes on the accuracy of the attitude data (in practical applications, the three-dimensional spatial data corresponding to the spatial gesture can usually be mapped to a two-dimensional plane, only based on the two-dimensional plane data identification) can be ignored. Then map the first gravitational acceleration data to the first reference plane (such as the XZ plane) under the first coordinate system to obtain the first gravitational component, which can be expressed as g _xz =[g _x ,g _z ] . Further, when the first reference plane is a reference plane ab formed by any two coordinate axes (indicated by coordinate axis a and coordinate axis b), the first gravity component can be expressed as g _ab =[g _a , g _b ], a , b is any two of x, y, and z. For example, if the first reference plane is the yz plane, the first gravity component can be expressed as g _yz =[g _y , g _z ].

Step S203: constructing an initial conversion formula from the first coordinate system to the second coordinate system, and obtaining the second gravity component of the gravitational acceleration in the second reference plane under the second coordinate system;

Specifically, to construct the initial transformation formula f for converting from the first coordinate system to the second coordinate system, the transformation of the two-dimensional coordinate system can directly use the rotation matrix to realize the coordinate transformation. For example, the rotation matrix is represented by M, there are:

x'=f(x)=xM

Where f represents the coordinate system conversion formula, x represents the attitude data in the first coordinate system, and x` represents the attitude data in the second coordinate system. M can be expressed as

a and b are any two of the base coordinate axis characters x, y, and z of the first coordinate system.

Specifically, the second gravitational component of the gravitational acceleration in the second reference plane under the second coordinate system is obtained. Since the second coordinate system is a carrier coordinate system constructed when the terminal is in a fixed posture, the first reference plane and the first reference plane are The two datum planes are related. When the terminal is in a fixed posture corresponding to the construction of the second coordinate system, such as the above-mentioned fixed posture when the terminal (such as a mobile phone) is placed horizontally in the actual application space environment, the first datum plane is at this time. Coinciding with the second datum plane, assuming that the first datum plane is represented by plane ab, the second datum plane can be expressed as plane a0b0, and the second gravitational component of the gravitational acceleration in the second datum plane under the second coordinate system can be expressed as g _a0b0 . The second gravity component is now a fixed value.

For example, the first reference plane: the XZ plane, the second reference plane can be represented as the X0Z0 plane. Then when the terminal is in a fixed attitude when the second coordinate system is constructed, the second gravity component of the gravitational acceleration in the second reference plane under the second coordinate system can be expressed as: g _X0Z0 , g _X0Z0 =[0,g _z0 ]. The vector modulus of the second gravitational component g _X0Z0 is usually a fixed value, such as the gravitational component value of the gravitational acceleration on the XZ plane ||g _xz ||=|g _z0 | _.

For example, the first reference plane: the YZ plane, the second reference plane can be represented as the Y0Z0 plane. Then when the terminal is in a fixed posture when the second coordinate system is constructed, the second gravity component of the gravitational acceleration in the second reference plane under the second coordinate system can be expressed as: g _Y0Z0 , g _Y0Z0 =[0, g _z0 ]. The vector modulus of the second gravitational component g _X0Z0 is usually a fixed value, such as the gravitational component value of the gravitational acceleration on the YZ plane ||g _yz ||=|g _z0 |.

Step S204: Calculate the initial conversion formula based on the first gravity component, the second gravity component and the reference coordinate base data relationship corresponding to the first coordinate system to obtain a coordinate system conversion formula.

In a specific implementation manner, the terminal may be based on the data conversion relationship between the first gravity component and the second gravity component, the vector modulus corresponding to the reference coordinate base being a preset fixed value, and the reference coordinate base corresponding to The vector angle is a preset angle value, the initial conversion formula is calculated, and then the coordinate system conversion formula is obtained, wherein the reference coordinate base is the corresponding base vector in the first coordinate system

The data conversion relationship between the first gravitational component and the second gravitational component can be understood as that the first gravitational component undergoes an initial conversion data conversion process, and the second gravitational component after the data conversion process can be obtained. In some implementations In the method, the data conversion relationship between the first gravity component and the second gravity component may be that the product of the first gravity component and the initial conversion formula is equal to the second gravity component.

The reference coordinate base data relationship corresponding to the first coordinate system specifically includes the mapping relationship of the vector modulus corresponding to the reference coordinate base and the mapping relationship of the vector angle corresponding to the reference coordinate base. The vector modulus corresponding to the reference coordinate base is a preset fixed value; and the vector angle corresponding to the reference coordinate base is a preset angle value, wherein the reference coordinate base can be understood as the base vector corresponding to the first coordinate system.

In this embodiment, the coordinate conversion formula may be a coordinate system conversion matrix, and during interpretation, the initial conversion formula may also be an initial rotation matrix.

In this application, "first datum plane" and "second datum plane" are datum planes determined by the same datum division basis under different coordinate systems. In actual implementation, "first datum plane" and "second datum plane" may be It is determined according to the same base vectors (such as base vector x and base vector y) in two different coordinate systems, and further, the same vector names in two different coordinate systems (such as the vector name x of base vector x and base vector y The basis vector of the vector name y) can be considered to belong to the same basis vector;

For example, taking the basis vectors with the same vector names (such as basis vector x and basis vector y) as an example, the first reference plane is the x-y coordinate reference plane composed of basis vector x and basis vector y in the first coordinate system, then the second reference plane The datum plane is the x-y coordinate datum plane composed of the base vector x and the base vector y under the second coordinate system;

Schematically, as shown in FIG. 8, FIG. 8 is a schematic diagram of the coordinate system datum plane involved in the application. In some device holding scenarios, such as the terminal aerial gesture input scenario, the attitude change brings about the accuracy of the attitude data. The main influence can be understood as causing the X-Z coordinate datum in the first coordinate system (that is, the first datum) to rotate relative to the X0-Z0 coordinate datum (that is, the second datum) in the second coordinate system, such as shown in Figure 8. Due to the change of the terminal's own attitude, the current attitude has changed compared with the first coordinate system at the last attitude data sampling time. It can be mainly considered that "the X-Z coordinate datum plane (ie the first datum plane) in the first coordinate system is relative to the second coordinate system. Changes in the X0-Z0 coordinate datum (that is, the second datum) in the system":

For example, the first reference plane: the XZ plane under the first coordinate system, the second reference plane can be represented as the X0Z0 plane under the second reference plane. Then, when the terminal is in a fixed posture when the second coordinate system is constructed, the second gravity component of the gravitational acceleration in the second reference plane under the second coordinate system can be expressed as: g _X0Z0 . g _X0Z0 is a fixed value g _x0z0 =[0,g _z0 ];

The rotation matrix is represented by M, then the initial rotation matrix M can be represented as

1. The product of the first gravity component and the initial rotation matrix is equal to the second gravity component, which can be expressed as reference formula 1.1:

It can be inferred:

2. The data relationship of the reference coordinate base corresponding to the first coordinate system is: the vector modulus corresponding to the reference coordinate base is a preset fixed value and the vector angle corresponding to the reference coordinate base is a preset angle value. Illustratively, the preset fixed value and the preset angle value are determined based on the actual application environment, that is, the relationship between the coordinate base of the first coordinate system and the vector modulus in the actual application environment is determined. For example, the preset fixed value may be 1 , the preset angle value can be 90 degrees.

Further, the vector modulus corresponding to the reference coordinate base is a preset fixed value of 1, and the vector angle corresponding to the reference coordinate base is a preset angle value of 90 degrees. Reference formula 1.2 can be obtained:

Based on the five formulas in the above reference formula, four unknowns a ₁ , b ₁ , a ₂ , and b ₂ in the initial rotation matrix M can be determined.

In some embodiments, when the current posture of the terminal is a fixed posture corresponding to the construction of the second coordinate system, that is, the first datum plane (xz datum plane) in the first coordinate system and the When the second datum plane (x0z0 datum plane) coincides, the reference formula 1.3 can be obtained:

g _xz =[0,g _z ]=g _x0z0 =g _xz M (refer to Equation 1.3)

Available

Based on the above conditions, the initial rotation matrix can be calculated to obtain the final coordinate system conversion matrix, which can also be understood as the coordinate system conversion formula in the foregoing.

For example, in terms of the first datum plane (xz datum plane) and the second datum plane (x0z0 datum plane), the coordinate system transformation matrix is:

For example, in terms of the first datum plane (yz datum plane) and the second datum plane (y0z0 datum plane), the coordinate system transformation matrix is:

Step S205: Perform calibration processing on the reference attitude data according to the coordinate system conversion formula, and determine the target attitude data in the second coordinate system.

For details, refer to step S103, which will not be repeated here.

Please refer to FIG. 9 , which is a schematic flowchart of another embodiment of an attitude calibration method proposed in the present application. specific:

Step S301: determine the first gravitational acceleration data under the first coordinate system corresponding to the current attitude, and determine the reference attitude data of the current attitude under the first coordinate system;

For details, reference may be made to step S101, which will not be repeated here.

Step S302: Determine the reference vector modulus of the first gravitational acceleration data in the preset reference plane corresponding to the first coordinate system.

In the embodiment of the present application, due to the change of the terminal posture, in some special scenarios, in order to simplify the calculation, the process of determining the coordinate system conversion formula may not be performed, and it is only necessary to perform the coordinate numerical transformation based on the posture change rule in the special scenario, which can speed up the process. Efficiency of pose calibration in special scenarios. Further, with the terminal attitude change, when the base coordinate axis of the first coordinate system of the terminal coincides with the base coordinate axis related to the direction of gravitational acceleration under the second coordinate system, any attitude data measured under the first coordinate can be directly measured. You can change the corresponding base coordinate value. In some embodiments, the "basic coordinate axis related to the direction of the gravitational acceleration in the second coordinate system" can be understood as the gravitational acceleration and a certain basic coordinate axis are located on the same straight line, schematically, the gravitational acceleration and the basic coordinate axis - The y-axis coincides.

The preset reference plane can be understood as a plane composed of at least two base coordinate lines (such as one of the x-axis, y-axis, and z-axis) under the first coordinate system, such as the xoz plane (consisting of the x-axis base coordinate line). and the z-axis base coordinate line), the xoy plane (composed of the x-axis base coordinate line and the y-axis base coordinate line), and the zoy plane (composed of the z-axis base coordinate line and the y-axis base coordinate line).

The reference vector modulus is the component of the first gravitational acceleration data on the preset reference plane. Wherein, for the calculation of the vector modulus, reference may be made to the manner of the modulus operation in the related art, which will not be repeated here.

Step S303: When the reference vector modulus is inconsistent with the target value, determine the coordinate system conversion formula from the first coordinate system to the second coordinate system based on the first gravitational acceleration data, and the second coordinate system is: The carrier coordinate system constructed when the terminal is in a fixed posture.

Further, when the reference vector modulus is inconsistent with the target value (such as 0), usually the terminal attitude change does not involve some special scenarios exemplified above, the determination based on the first gravitational acceleration data can be performed. The step of converting the first coordinate system to the coordinate system conversion formula of the second coordinate system, where the second coordinate system is the carrier coordinate system constructed when the terminal is in a fixed posture, for details, please refer to steps s101-s103 and s201-s205.

Wherein, the target value may be determined based on the actual application environment, for example, the preset target value based on the actual application environment is 0, considering that the error target value in the actual application environment may be a plurality of reference values determined based on the actual application situation, or, A numerical range is set in consideration of the error in the actual application environment, which is not limited here.

Step S304: Perform calibration processing on the reference attitude data according to the coordinate system conversion formula, and determine the target attitude data in the second coordinate system.

For details, refer to step S103, which will not be repeated here.

Step S305: when the reference vector modulus is consistent with the target value, perform coordinate value exchange processing on the first coordinate value and the second coordinate value corresponding to the reference attitude data, and obtain the coordinate value in the second coordinate system. Target pose data.

The reference vector modulus is the component of the first gravitational acceleration data on the preset reference plane, and generally the value of the reference vector modulus may be 0.

For example, taking the preset reference plane as the xoz plane in the first coordinate system (consisting of the x-axis base coordinate line and the z-axis base coordinate line) as an example, the reference vector modulus can be expressed as ||g _xz ||=0, It is assumed that the gravity sensor data collected by the terminal is g _xyz =[g _x , g _y , g _z ], usually |g _y |=G. G is the standard gravity parameter value.

Schematically, taking the base coordinate axes of the first coordinate system as the a-axis, the b-axis, and the c-axis, as an example, it is assumed that the gravity sensor data collected by the terminal is g _abc =[g _a , g _b , g _c ]. It is assumed that the reference plane can be represented as the AoB plane, and A and B are any two characters in the characters corresponding to the a-axis, b-axis, and c-axis. The reference vector norm can be expressed as ||g _AB ||=0, usually the gravitational acceleration is mapped to the gravitational component of the C axis |gC|=G. G is the standard gravity parameter value, C is a character different from "A, B" in the corresponding characters of the a-axis, b-axis, and c-axis, if A is the character a corresponding to the a-axis, and B is the character b corresponding to the b-axis, then C is The c axis corresponds to the character c.

In a specific implementation scenario, the reference attitude data includes a first coordinate value, a second coordinate value, and a third coordinate value in the first coordinate system;

The second target value is determined based on the numerical value of the first coordinate value and the first target value is determined based on the second coordinate value, so as to obtain target attitude data in the second coordinate system, where the target attitude data includes the the first target value, the second target value and the third coordinate value.

Schematically, taking the base coordinate axes of the first coordinate system as the a-axis, b-axis, and c-axis respectively, it is assumed that the reference attitude data X collected by the terminal can be expressed as X _abc =[X in the first coordinate system. _a , X _b , X _c ]; Xa is the first coordinate value, Xb is the second coordinate value, and Xc is the third coordinate value.

If the reference vector modulo ||g _AB ||=0, -gC=G, the first coordinate value Xb is taken as the second target value, and the negative value of the second coordinate value Xc is taken as the first target value, then The target attitude data can be expressed as X=[X _a , X _c , -X _b ];

If the reference vector modulo ||g _AB ||=0, g _C =G, the first coordinate value Xb is taken as the second target value, and the second coordinate value Xc is taken as the first target value, then the target attitude data It can be expressed as X=[X _a , X _c , X _b ];

In a specific implementation scenario, as shown in steps S201-S202 in the foregoing embodiment, in some application scenarios, the terminal attitude calibration may be combined with the actual application situation and only consider the attitude change of the terminal in the corresponding plane or For actual needs, the three-dimensional attitude change can be simplified, that is, in the corresponding application scenario, the terminal only involves the change in the fixed plane in the first coordinate system. Changes of attitudes in other planes under one coordinate system can be filtered out, that is, the influence of attitude changes in other planes on attitude data is not considered. Then the above steps can be further simplified, only considering the plane coordinate change, schematic:

In particular, when the reference vector modulus is the target value and only the change in the preset datum plane needs to be considered, then only the first coordinate value and the second coordinate value corresponding to the reference attitude data need to be considered to perform the coordinate value interactive exchange It can be processed, and the third coordinate value corresponding to the reference attitude data can be ignored. For example, when the reference vector modulus is the target value, it can be that the Y axis in the first coordinate system of the device coincides with the gravitational acceleration, that is, Y The axis and Z axis data have flipped. At this time, it is only necessary to exchange the Y axis and Z axis data and consider the positive and negative values of g _C to obtain the attitude calibration data. Further, taking the acceleration and angular velocity sensor data as an example, the device The collected acceleration data is acc _xz , and the angular velocity data is gyro _xz , as follows

The following are apparatus embodiments of the present application, which can be used to execute the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

Please refer to FIG. 10 , which shows a schematic structural diagram of an attitude calibration apparatus provided by an exemplary embodiment of the present application. The attitude calibration device can be implemented as a whole or a part of the device through software, hardware or a combination of the two. The device 1 includes a data determination module 11 , a data conversion module 12 and a data calibration module 13 .

The data determination module 11 is used to determine the first gravitational acceleration data under the first coordinate system corresponding to the current attitude, and determine the reference attitude data of the current attitude under the first coordinate system;

A data conversion module 12, configured to determine a coordinate system conversion formula for converting from the first coordinate system to a second coordinate system based on the first gravitational acceleration data, where the second coordinate system is constructed when the terminal is in a fixed posture The carrier coordinate system of ;

The data calibration module 13 is configured to perform calibration processing on the reference attitude data according to the coordinate system conversion formula, and determine the target attitude data in the second coordinate system.

Optionally, as shown in Figure 11, the data conversion module 12 includes:

a data acquisition unit 121, configured to acquire the second gravitational acceleration data of the gravitational acceleration in the second coordinate system;

a rotation data determination unit 122, configured to determine a coordinate system rotation angle and a coordinate system rotation axis based on the first gravitational acceleration data and the second gravitational acceleration data;

The transformation matrix determination unit 123 is configured to construct an initial transformation formula for converting from the first coordinate system to the second coordinate system, and calculate the initial transformation formula according to the rotation angle of the coordinate system and the rotation axis of the coordinate system, Get the coordinate system conversion.

Optionally, as shown in Figure 11, the data conversion module 12 includes:

The data acquisition unit 121 is further configured to map the first gravitational acceleration data to the first reference plane under the first coordinate system to obtain a first gravitational component;

The data acquisition unit 121 is further configured to construct an initial conversion formula from the first coordinate system to the second coordinate system, and acquire the second gravity component of the gravitational acceleration in the second reference plane under the second coordinate system ;

The conversion matrix determining unit 123 is further configured to be a preset fixed value based on the data conversion relationship between the first gravity component and the second gravity component, the vector modulus corresponding to the reference coordinate base, and the reference coordinate base. The vector included angle is a preset angle value, and the initial conversion formula is calculated to obtain a coordinate system conversion formula, wherein the reference coordinate base is the corresponding base vector in the first coordinate system.

Optionally, as shown in FIG. 12 , the device 1 further includes:

a vector modulus calculation module 14, configured to determine the reference vector modulus of the first gravitational acceleration data in the preset reference plane corresponding to the first coordinate system;

When the reference vector modulus is inconsistent with the target value, the data conversion module 12 performs the step of determining a coordinate system conversion formula for converting from the first coordinate system to the second coordinate system based on the first gravitational acceleration data .

Optionally, the device 1 further includes:

The data conversion module 12 is further configured to perform coordinate value exchange processing on the first coordinate value and the second coordinate value corresponding to the reference attitude data when the reference vector modulus is a target value, to obtain the first coordinate value and the second coordinate value corresponding to the reference attitude data. The target pose data in the two-coordinate system.

Optionally, the data conversion module 12 is also used for

The reference attitude data includes a first coordinate value, a second coordinate value and a third coordinate value in the first coordinate system;

Optionally, the device 1 is also used for:

The data conversion module 12 is further configured to acquire acceleration data in the first coordinate system corresponding to the current posture, and perform data filtering processing on the acceleration data to obtain first gravitational acceleration data.

Optionally, the device 1 is also used for:

Calculate the product of the reference attitude data and the coordinate system conversion formula to obtain target attitude data of the reference attitude data in the second coordinate system.

It should be noted that, when the attitude calibration apparatus provided in the above embodiment executes the attitude calibration method, only the division of the above functional modules is used as an example for illustration. In practical applications, the above functions may be allocated to different functional modules as required. , that is, dividing the internal structure of the device into different functional modules to complete all or part of the functions described above. In addition, the attitude calibration device and the attitude calibration method embodiments provided by the above embodiments belong to the same concept, and the embodiment and implementation process thereof are detailed in the method embodiments, which will not be repeated here.

The above-mentioned serial numbers of the embodiments of the present application are only for description, and do not represent the advantages or disadvantages of the embodiments.

In this embodiment of the present application, the terminal determines the first gravitational acceleration data in the first coordinate system corresponding to the current attitude and determines the reference attitude data in the first coordinate system corresponding to the current attitude, based on the first gravity The acceleration data determines the coordinate system conversion formula from the first coordinate system to the second coordinate system, and the second coordinate system is usually the carrier coordinate system constructed when the terminal is in a fixed attitude; according to the determined coordinate system conversion formula By performing calibration processing on the reference attitude data, the target attitude data in the second coordinate system can be determined. Therefore, in the process of using the terminal, the attitude of the terminal is adaptively corrected, so as to eliminate the influence of the low accuracy of the attitude data caused by the change of the terminal attitude, and reduce the error of the acquired attitude data; The constructed carrier coordinate system combines the change of gravitational acceleration to perform attitude calibration. Compared with the geodetic coordinate system, geographic coordinate system, multi-carrier coordinate system and other schemes involved in related technologies, the calculation amount in the attitude calibration process can be greatly reduced, and the increase of The processing efficiency of attitude calibration can effectively describe the attitude change process of the terminal due to gesture changes such as gesture interaction, and the final attitude data is not limited by the equipment attitude change, device location, geographic location and other environments; and the use of gravity Acceleration is used to convert the coordinate system, the gravitational acceleration is easy to obtain, and the sampling rate of gravitational acceleration is usually high, which is suitable for real-time processing in practical application scenarios; the rotation matrix is calculated by the change of the gravitational acceleration vector, which is simple and fast to calculate.

An embodiment of the present application further provides a computer storage medium, where the computer storage medium can store a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing the above-described embodiments shown in FIG. 1 to FIG. 9 . For the attitude calibration method, for the specific execution process, reference may be made to the specific description of the embodiments shown in FIG. 1 to FIG. 9 , which will not be repeated here.

The present application also provides a computer program product, the computer program product stores at least one instruction, and the at least one instruction is loaded by the processor and executes the attitude calibration in the embodiment shown in the above-mentioned FIG. 1 to FIG. 9 . For the specific execution process, reference may be made to the specific descriptions of the embodiments shown in FIG. 1 to FIG. 9 , which will not be repeated here.

Please refer to FIG. 13 , which shows a structural block diagram of an electronic device provided by an exemplary embodiment of the present application. An electronic device in this application may include one or more of the following components: a processor 110 , a memory 120 , an input device 130 , an output device 140 and a bus 150 . The processor 110 , the memory 120 , the input device 130 and the output device 140 may be connected through a bus 150 .

The processor 110 may include one or more processing cores. The processor 110 uses various interfaces and lines to connect various parts in the entire electronic device, and executes the electronic device by running or executing the instructions, programs, code sets or instruction sets stored in the memory 120, and calling the data stored in the memory 120. Various functions of the device 100 and processing data. Optionally, the processor 110 may adopt at least one of digital signal processing (digital signal processing, DSP), field-programmable gate array (field-programmable gate array, FPGA), and programmable logic array (programmable logic Array, PLA). A hardware form is implemented. The processor 110 may integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), a modem, and the like. Among them, the CPU mainly handles the operating system, user interface and application programs, etc.; the GPU is used for rendering and drawing of the display content; the modem is used to handle wireless communication. It can be understood that, the above-mentioned modem may also not be integrated into the processor 110, and is implemented by a communication chip alone.

The memory 120 may include random access memory (RAM), or may include read-only memory (ROM). Optionally, the memory 120 includes a non-transitory computer-readable storage medium. Memory 120 may be used to store instructions, programs, codes, sets of codes, or sets of instructions. The memory 120 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.) , instructions for implementing the following method embodiments, etc., the operating system can be an Android (Android) system, including a system based on the deep development of the Android system, an IOS system developed by Apple, including a system based on the deep development of the IOS system or other systems. The storage data area can also store data created by the electronic device in use, such as a phone book, audio and video data, chat record data, and the like.

Referring to FIG. 14 , the memory 120 can be divided into an operating system space and a user space, the operating system runs in the operating system space, and the native and third-party applications run in the user space. In order to ensure that different third-party applications can achieve better running effects, the operating system allocates corresponding system resources to different third-party applications. However, different application scenarios in the same third-party application also have different requirements for system resources. For example, in the local resource loading scenario, the third-party application has higher requirements on the disk read speed; in the animation rendering scenario, the first Third-party applications have higher requirements on GPU performance. The operating system and the third-party application are independent of each other, and the operating system often cannot perceive the current application scenario of the third-party application in time, so that the operating system cannot perform targeted system resource adaptation according to the specific application scenario of the third-party application.

In order to enable the operating system to distinguish the specific application scenarios of third-party applications, it is necessary to open up the data communication between the third-party application and the operating system, so that the operating system can obtain the current scene information of the third-party application at any time, and then perform the operation based on the current scene. Targeted system resource adaptation.

Taking the Android system as the operating system as an example, the programs and data stored in the memory 120 are shown in FIG. 15 . The memory 120 may store the Linux kernel layer 320, the system runtime library layer 340, the application framework layer 360 and the application layer 380, Among them, the Linux kernel layer 320, the system runtime layer 340 and the application framework layer 360 belong to the operating system space, and the application layer 380 belongs to the user space. The Linux kernel layer 320 provides underlying drivers for various hardwares of electronic devices, such as display drivers, audio drivers, camera drivers, Bluetooth drivers, Wi-Fi drivers, power management and the like. The system runtime layer 340 provides main feature support for the Android system through some C/C++ libraries. For example, the SQLite library provides database support, the OpenGL/ES library provides 3D drawing support, and the Webkit library provides browser kernel support. An Android runtime library (Android runtime) is also provided in the system runtime library layer 340, which mainly provides some core libraries, which can allow developers to use the Java language to write Android applications. The application framework layer 360 provides various APIs that may be used when building applications. Developers can also build their own applications by using these APIs, such as activity management, window management, view management, notification management, content provider, Package management, call management, resource management, location management. There is at least one application running in the application layer 380, and these applications may be native applications that come with the operating system, such as contact programs, SMS programs, clock programs, camera applications, etc.; they may also be developed by third-party developers Third-party applications, such as game applications, instant messaging programs, photo enhancement programs, posture calibration programs, etc.

Taking the operating system as the IOS system as an example, the programs and data stored in the memory 120 are shown in FIG. 16 . The IOS system includes: a core operating system layer 420 (Core OS layer), a core service layer 440 (Core Services layer), a media layer 460 (Media layer), touchable layer 480 (CocoaTouch Layer). The core operating system layer 420 includes the operating system kernel, drivers, and low-level program frameworks, which provide functions closer to hardware for use by the program frameworks located in the core service layer 440 . The core service layer 440 provides system services and/or program frameworks required by application programs, such as a foundation framework, an account framework, an advertisement framework, a data storage framework, a network connection framework, a geographic location framework, a motion framework, and the like. The media layer 460 provides audiovisual interfaces for applications, such as graphics and image related interfaces, audio technology related interfaces, video technology related interfaces, and audio and video transmission technology wireless playback (AirPlay) interfaces. The touchable layer 480 provides various common interface-related frameworks for application development, and the touchable layer 480 is responsible for the user's touch interaction operation on the electronic device. Such as local notification service, remote push service, advertising framework, game tool framework, message user interface interface (User Interface, UI) framework, user interface UIKit framework, map framework and so on.

Among the frameworks shown in FIG. 16 , the frameworks related to most applications include but are not limited to: the basic framework in the core service layer 440 and the UIKit framework in the touchable layer 480 . The basic framework provides many basic object classes and data types, and provides the most basic system services for all applications, regardless of UI. The classes provided by the UIKit framework are the basic UI class libraries for creating touch-based user interfaces. iOS applications can provide UI based on the UIKit framework, so it provides the application's infrastructure for building user interfaces, drawing , handling and user interaction events, responding to gestures, and more.

The method and principle of implementing data communication between a third-party application and an operating system in the IOS system may refer to the Android system, which will not be repeated in this application.

The input device 130 is used for receiving input instructions or data, and the input device 130 includes but is not limited to a keyboard, a mouse, a camera, a microphone or a touch device. The output device 140 is used for outputting instructions or data, and the output device 140 includes, but is not limited to, a display device, a speaker, and the like. In one example, the input device 130 and the output device 140 may be co-located, and the input device 130 and the output device 140 are a touch display screen, the touch display screen is used to receive any suitable objects such as a user's finger, a touch pen, etc. Nearby touch actions, as well as displaying the user interface of each application. The touch display is usually provided on the front panel of the electronic device. The touch screen can be designed as a full screen, a curved screen or a special-shaped screen. The touch display screen can also be designed to be a combination of a full screen and a curved screen, or a combination of a special-shaped screen and a curved screen, which is not limited in the embodiments of the present application.

In addition, those skilled in the art can understand that the structure of the electronic device shown in the above drawings does not constitute a limitation to the electronic device, and the electronic device may include more or less components than those shown in the drawings, or a combination of certain components may be included. some components, or a different arrangement of components. For example, the electronic device also includes components such as a radio frequency circuit, an input unit, a sensor, an audio circuit, a wireless fidelity (WiFi) module, a power supply, and a Bluetooth module, which will not be repeated here.

In this embodiment of the present application, the execution body of each step may be the electronic device described above. Optionally, the execution subject of each step is an operating system of the electronic device. The operating system may be an Android system, an IOS system, or other operating systems, which are not limited in this embodiment of the present application.

The electronic device according to the embodiment of the present application may also have a display device installed thereon, and the display device may be various devices that can realize a display function, such as a cathode ray tube display (Cathode ray tube display, CR for short), a light emitting diode display (light emitting diode display). - emitting diode display, referred to as LED), electronic ink screen, liquid crystal display (liquid crystal display, referred to as LCD), plasma display panel (plasma display panel, referred to as PDP) and so on. The user can use the display device on the electronic device 101 to view the displayed text, image, video and other information. The electronic device may be a smart phone, a tablet computer, a gaming device, an AR (Augmented Reality) device, a car, a data storage device, an audio playback device, a video playback device, a notebook, a desktop computing device, a wearable device such as an electronic device. Watches, electronic glasses, electronic helmets, electronic bracelets, electronic necklaces, electronic clothing and other equipment.

In the electronic device shown in FIG. 13 , where the electronic device may be a terminal, the processor 110 may be used to invoke the attitude calibration application program stored in the memory 120, and specifically perform the following operations:

determining the first gravitational acceleration data under the first coordinate system corresponding to the current attitude, and determining the reference attitude data of the current attitude under the first coordinate system;

In one embodiment, when the processor 110 executes the determining, based on the first gravitational acceleration data, a coordinate system conversion formula for converting from the first coordinate system to the second coordinate system, the processor 110 specifically performs the following operations:

acquiring the second gravitational acceleration data of the gravitational acceleration in the second coordinate system;

determining a coordinate system rotation angle and a coordinate system rotation axis based on the first gravitational acceleration data and the second gravitational acceleration data;

An initial conversion formula for converting from the first coordinate system to the second coordinate system is constructed, and the initial conversion formula is calculated according to the rotation angle of the coordinate system and the rotation axis of the coordinate system to obtain the coordinate system conversion formula.

mapping the first gravitational acceleration data to the first reference plane under the first coordinate system to obtain a first gravitational component;

constructing an initial conversion formula from the first coordinate system to the second coordinate system, and obtaining the second gravity component of the gravitational acceleration in the second reference plane under the second coordinate system;

Based on the data conversion relationship between the first gravity component and the second gravity component, the vector modulus corresponding to the reference coordinate base is a preset fixed value, and the vector angle corresponding to the reference coordinate base is a preset angle value, The initial conversion formula is calculated to obtain the coordinate system conversion formula, wherein the reference coordinate base is the corresponding base vector in the first coordinate system.

In one embodiment, the processor 110 further includes:

determining the reference vector modulus of the first gravitational acceleration data in the preset reference plane corresponding to the first coordinate system;

When the reference vector modulus is inconsistent with the target value, the step of determining a coordinate system conversion formula for converting from the first coordinate system to the second coordinate system based on the first gravitational acceleration data is performed.

In one embodiment, when the processor 110 executes the attitude calibration method, the method further includes:

When the reference vector modulus is the target value, coordinate value exchange processing is performed on the first coordinate value and the second coordinate value corresponding to the reference attitude data to obtain the target attitude data in the second coordinate system.

In one embodiment, the processor 110 executes the coordinate value exchange process on the first coordinate value and the second coordinate value corresponding to the reference attitude data to obtain the target in the second coordinate system Attitude data, specifically perform the following operations:

In one embodiment, when the processor 110 performs the determining of the first gravitational acceleration data in the first coordinate system corresponding to the current posture, the processor 110 specifically performs the following operations:

Acquire acceleration data in the first coordinate system corresponding to the current posture, and perform data filtering processing on the acceleration data to obtain first gravitational acceleration data.

In one embodiment, when the processor 110 performs the calibration process on the reference attitude data according to the coordinate system conversion formula and determines the target attitude data in the second coordinate system, the processor 110 specifically performs the following steps: step:

Those skilled in the art can clearly understand that the technical solutions of the present application can be implemented by means of software and/or hardware. The "unit" and "module" in this specification refer to software and/or hardware that can perform a specific function independently or in cooperation with other components, wherein the hardware can be, for example, a Field-Programmable Gate Array (FPGA) , Integrated Circuit (IC), etc.

It should be noted that, for the sake of simple description, the foregoing method embodiments are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the described action sequence. Because in accordance with the present application, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

In the above-mentioned embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the apparatus embodiments described above are only illustrative, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation, for example, multiple units or components may be combined or Integration into another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some service interfaces, indirect coupling or communication connection of devices or units, and may be in electrical or other forms.

The units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.

The integrated unit, if implemented as a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable memory. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art, or all or part of the technical solution, and the computer software product is stored in a memory, Several instructions are included to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned memory includes: U disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable memory, and the memory can include: flash memory disk, read-only memory (Read-Only Memory, ROM), random access device (Random Access Memory, RAM), magnetic disk or optical disk, etc.

The above descriptions are merely exemplary embodiments of the present disclosure, which cannot limit the scope of the present disclosure. That is, all equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. Other embodiments of the present disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or conventional techniques in the art not described in this disclosure . The specification and examples are to be regarded as exemplary only, and the scope and spirit of the present disclosure are defined by the claims.

Claims

An attitude calibration method, the method includes:

determining the first gravitational acceleration data under the first coordinate system corresponding to the current attitude, and determining the reference attitude data of the current attitude under the first coordinate system;

Determine a coordinate system conversion formula for converting from the first coordinate system to a second coordinate system based on the first gravitational acceleration data, where the second coordinate system is a carrier coordinate system constructed when the terminal is in a fixed attitude;

The reference attitude data is calibrated according to the coordinate system conversion formula, and the target attitude data in the second coordinate system is determined.
The method according to claim 1, wherein determining a coordinate system conversion formula for converting from the first coordinate system to the second coordinate system based on the first gravitational acceleration data, comprising:

acquiring the second gravitational acceleration data of the gravitational acceleration in the second coordinate system;

determining a coordinate system rotation angle and a coordinate system rotation axis based on the first gravitational acceleration data and the second gravitational acceleration data;

An initial conversion formula for converting from the first coordinate system to the second coordinate system is constructed, and the initial conversion formula is calculated according to the rotation angle of the coordinate system and the rotation axis of the coordinate system to obtain the coordinate system conversion formula.
The method according to claim 1, wherein determining a coordinate system conversion formula for converting from the first coordinate system to the second coordinate system based on the first gravitational acceleration data, comprising:

mapping the first gravitational acceleration data to the first reference plane under the first coordinate system to obtain a first gravitational component;

constructing an initial conversion formula from the first coordinate system to the second coordinate system, and obtaining the second gravity component of the gravitational acceleration in the second reference plane under the second coordinate system;

Based on the data conversion relationship between the first gravity component and the second gravity component, the vector modulus corresponding to the reference coordinate base is a preset fixed value, and the vector angle corresponding to the reference coordinate base is a preset angle value, The initial conversion formula is calculated to obtain the coordinate system conversion formula, wherein the reference coordinate base is the corresponding base vector in the first coordinate system.
The method according to claim 3, before the mapping the first gravitational acceleration data to the first reference plane under the first coordinate system, further comprising:

A current target posture calibration scene is determined, and a first reference plane corresponding to the target posture calibration scene is acquired based on a mapping relationship between at least one posture calibration scene and a reference datum plane.
The method according to claim 4, said determining the current target attitude calibration scene, comprising:

The currently triggered or enabled functional mode is acquired, and the target attitude calibration scene is determined based on the functional mode.
The method of claim 1, further comprising:

determining the reference vector modulus of the first gravitational acceleration data in the preset reference plane corresponding to the first coordinate system;

When the reference vector modulus is inconsistent with the target value, the step of determining a coordinate system conversion formula for converting from the first coordinate system to the second coordinate system based on the first gravitational acceleration data is performed.
The method of claim 6, further comprising:

When the reference vector modulus is consistent with the target value, a coordinate value exchange process is performed on the first coordinate value and the second coordinate value corresponding to the reference attitude data to obtain the target attitude data in the second coordinate system.
The method according to claim 7, wherein the coordinate value exchange processing is performed on the first coordinate value and the second coordinate value corresponding to the reference attitude data to obtain the target attitude data in the second coordinate system, comprising: :

The reference attitude data includes a first coordinate value, a second coordinate value and a third coordinate value in the first coordinate system;

The second target value is determined based on the numerical value of the first coordinate value and the first target value is determined based on the second coordinate value, so as to obtain target attitude data in the second coordinate system, where the target attitude data includes the the first target value, the second target value and the third coordinate value.
The method according to claim 1, said determining the first gravitational acceleration data in the first coordinate system corresponding to the current attitude, comprising:

Acquire acceleration data in the first coordinate system corresponding to the current posture, and perform data filtering processing on the acceleration data to obtain first gravitational acceleration data.
The method according to claim 1, wherein the calibration process is performed on the reference attitude data according to the coordinate system conversion formula, and the target attitude data in the second coordinate system is determined, comprising:

Calculate the product of the reference attitude data and the coordinate system conversion formula to obtain target attitude data of the reference attitude data in the second coordinate system.
An attitude calibration device, the device includes:

a data determination module, configured to determine the first gravitational acceleration data under the first coordinate system corresponding to the current attitude, and determine the reference attitude data of the current attitude under the first coordinate system;

A data conversion module, configured to determine a coordinate system conversion formula for converting from the first coordinate system to a second coordinate system based on the first gravitational acceleration data, where the second coordinate system is constructed when the terminal is in a fixed posture carrier coordinate system;

A data calibration module, configured to perform calibration processing on the reference attitude data according to the coordinate system conversion formula, and determine the target attitude data in the second coordinate system.
The device according to claim 11, wherein the data conversion module comprises: a data acquisition unit for acquiring second gravitational acceleration data of the gravitational acceleration in the second coordinate system; a rotation data determination unit for The first gravitational acceleration data and the second gravitational acceleration data are used to determine the rotation angle of the coordinate system and the rotation axis of the coordinate system; the conversion matrix determination unit is used to construct the initial conversion from the first coordinate system to the second coordinate system. formula, the initial conversion formula is calculated according to the coordinate system rotation angle and the coordinate system rotation axis to obtain the coordinate system conversion formula.
The device according to claim 11, wherein the data conversion module comprises: the data acquisition unit, further configured to map the first gravitational acceleration data to a first reference plane under the first coordinate system, to obtain the first gravity component; the data acquisition unit is further configured to construct an initial conversion formula from the first coordinate system to the second coordinate system, and obtain the gravitational acceleration in the second reference plane under the second coordinate system the second gravity component;

The conversion matrix determining unit is further configured to be based on the data conversion relationship between the first gravity component and the second gravity component, the vector modulus corresponding to the reference coordinate base being a preset fixed value, and the vector corresponding to the reference coordinate base The included angle is a preset angle value, and the initial conversion formula is calculated to obtain a coordinate system conversion formula, wherein the reference coordinate base is a corresponding base vector in the first coordinate system.
The device according to claim 11, further comprising: a vector modulus calculation module, configured to determine a reference vector modulus of the first gravitational acceleration data in a preset reference plane corresponding to the first coordinate system; when When the reference vector modulus is inconsistent with the target value, the data conversion module executes the step of determining a coordinate system conversion formula for converting from the first coordinate system to the second coordinate system based on the first gravitational acceleration data.
The apparatus according to claim 14, further comprising: the data conversion module, further configured to perform a conversion between the first coordinate value and the first coordinate value corresponding to the reference attitude data when the reference vector modulus is a target value The two coordinate values are subjected to coordinate value exchange processing to obtain the target attitude data in the second coordinate system.
The device according to claim 15, wherein the data conversion module is further configured to: the reference attitude data includes a first coordinate value, a second coordinate value and a third coordinate value in the first coordinate system; The numerical value of the first coordinate value determines the second target value and the first target value is determined based on the second coordinate value, and the target attitude data under the second coordinate system is obtained, and the target attitude data includes the first target value. target value, the second target value and the third coordinate value.
The device according to claim 11, wherein the data conversion module is further configured to acquire acceleration data in the first coordinate system corresponding to the current posture, and perform data filtering processing on the acceleration data to obtain the first gravitational acceleration data.
The apparatus according to claim 11, further configured to: calculate the product of the reference attitude data and the coordinate system conversion formula to obtain the target attitude of the reference attitude data in the second coordinate system data.
A computer storage medium storing a plurality of instructions adapted to be loaded by a processor and perform the method steps of any one of claims 1-10.
An electronic device, comprising: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and perform the method steps of any one of claims 1-10.