CN103808349B - The error calibration method of vector sensor and device - Google Patents
The error calibration method of vector sensor and device Download PDFInfo
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Abstract
The invention discloses the error calibration method of a kind of vector sensor and device。The error calibration method of described vector sensor includes: obtain the measured value of the vector induced signal of vector sensor in the reference frame under multiple different attitude；According to described error model, the equation that actual value is constant of the relation of the actual value of the measured value of vector induced signal and vector induced signal and described vector induced signal, sets up the equation group being unknown number with described error parameter；The described error parameter of the measured value of described vector induced signal is calculated according to described equation group；The described error parameter of the measured value according to described vector induced signal corrects described vector sensor。Method and apparatus provided by the invention achieves the correction of the sensed data when not increasing any additional hardware unit to described vector sensor so that the sensed data of the multiple vector sensor of mobile terminal is more accurate。
Description
Technical field
The present invention relates to communication terminal technical field, particularly relate to error calibration method and the device of a kind of vector sensor。
Background technology
Current intelligent communications terminal is provided with multiple sensors, such as acceleration transducer, magnetometric sensor。Due to the restriction of the inner space of intelligent communications terminal, the performance of these sensors is not as, and the data precision provided is not as high。If the sensed data utilizing these sensors does accurate mathematical operation, the error of its operation result can be very big。
Therefore before the sensed data doing mathematics computing using these sensors, it is necessary to sensed data is carried out error correction。But existing error correction techniques is both for specific sensor and develops, the additionally mounted hardware unit for error correction of some needs。This makes intelligent communications terminal be difficult to adopt existing error correction techniques that the sensed data of multiple sensors is corrected。
Summary of the invention
In view of this, the present invention proposes error calibration method and the device of a kind of vector sensor, it is possible to when not increasing any additional firmware device, the sensed data of the multiple sensors in mobile terminal is corrected, and improves the degree of accuracy of described sensed data。
First aspect, embodiments provides the error calibration method of a kind of vector sensor, and described method includes:
Obtain the measured value of the vector induced signal of vector sensor in the reference frame under at least 3N different attitudes, wherein, N is the quantity of the error parameter in error model, and under described at least 3N different attitudes, the actual value of described vector induced signal is constant；
The equation that actual value is constant of the relation of the actual value of the measured value of vector induced signal and vector induced signal and described vector induced signal according to described error model, set up the equation group being unknown number with described error parameter, wherein, described equation group includes at least 3N equation；
The described error parameter of the measured value of described vector induced signal is calculated according to described equation group；
The described error parameter of the measured value according to described vector induced signal corrects described vector sensor。
Second aspect, embodiments provides the error correction device of a kind of vector sensor, and described device includes:
Vector induced signal acquisition module, for obtaining the measured value of the vector induced signal of the vector sensor in the reference frame under at least 3N different attitudes, wherein, N is the quantity of the error parameter in error model, and under described at least 3N different attitudes, the actual value of described vector induced signal is constant；
Equation group sets up module, the equation that actual value is constant for the relation of the measured value of vector induced signal according to described error model and the actual value of vector induced signal and described vector induced signal, set up the equation group being unknown number with described error parameter, wherein, described equation group includes at least 3N equation；
Error parameter computing module, for calculating the described error parameter of the measured value of described vector induced signal according to described equation group；
Vector sensor correction module, the described error parameter for the measured value according to described vector induced signal corrects described vector sensor。
The influence error of the vector sensor of mobile terminal is modeled by the present invention, the sensed data that different sampling time points receives is utilized to calculate the error parameter of described vector sensor, utilizing calculated error parameter, the sensed data of described vector sensor is corrected, achieve when not increasing any additional hardware unit the correction of sensed data to described vector sensor so that the sensed data of the multiple vector sensor of mobile terminal is more accurate。
Accompanying drawing explanation
Fig. 1 is the flow chart of the error calibration method of the vector sensor that first embodiment of the invention provides。
Fig. 2 is the schematic diagram of the measured value of vector sensor that provides of first embodiment of the invention and actual value。
Fig. 3 is the flow chart of the error calibration method of the vector sensor that second embodiment of the invention provides。
Fig. 4 is the flow chart of the error calibration method of the acceleration transducer that third embodiment of the invention provides。
Fig. 5 is the relative error comparison diagram before the acceleration transducer correction that third embodiment of the invention provides and after correction。
Fig. 6 is the flow chart of the error calibration method of the magnetometric sensor that fourth embodiment of the invention provides。
Fig. 7 is the relative error comparison diagram before the magnetometric sensor correction that fourth embodiment of the invention provides and after correction。
Fig. 8 is the structure chart of the error correction device of the acceleration transducer that fifth embodiment of the invention provides。
Fig. 9 is the structure chart of the error correction device of the magnetometric sensor that sixth embodiment of the invention provides。
Detailed description of the invention
Technical scheme is further illustrated below in conjunction with accompanying drawing and by specific embodiment。
Fig. 1 and Fig. 2 illustrates the first embodiment of the present invention。
Fig. 1 is the flow chart of the error calibration method of the vector sensor that first embodiment of the invention provides。Referring to Fig. 1, the error calibration method of described vector sensor includes: step S110, obtains the measured value of the vector induced signal of vector sensor in the reference frame under at least 3N different attitudes；Step S120, according to described error model, the measured value of vector induced signal is the equation of constant with relation and the described vector induced signal actual value of the actual value of vector induced signal, sets up the equation group being unknown number with described error parameter；Step S130, calculates the described error parameter of the measured value of described vector induced signal according to described equation group；And step S140, correct described vector sensor according to the described error parameter of the measured value of described vector induced signal。
In step s 110, the measured value of the vector induced signal of the vector sensor obtained under at least 3N different attitudes in reference frame。
In the present embodiment, described vector sensor includes the acceleration transducer in mobile terminal and magnetometric sensor。Due to the restriction of the inner space of described mobile terminal, the volume of described vector sensor is little。The precision causing the vector induced signal that described vector sensor obtains is not high。Fig. 2 illustrates the error between the vector that actual vector and described vector sensor measurement are arrived。In fig. 2, x-axis, y-axis and z-axis are mutually perpendicular to, and have collectively constituted described reference frame。Vector j is actual vector, and vector j ' is the vector obtained by described vector sensor measurement。It can clearly be seen that there is error between the vector that obtains of the vector of reality and described vector sensor measurement from Fig. 2。Accordingly, it would be desirable to the described vector induced signal of described vector sensor is carried out error correction。
Described vector induced signal is carried out error correction, it is necessary to first obtaining the measured value of described vector sensor vector induced signal under 3N different attitudes, wherein, N is the quantity of the error parameter of described vector sensor。Further, in the present embodiment, under described at least 3N different attitudes, the actual value of described vector induced signal is constant。
In the step s 120, according to described error model, the measured value of vector induced signal is the equation of constant with relation and the described vector induced signal actual value of the actual value of vector induced signal, sets up the equation group being unknown number with described error parameter。
The described error model of described vector sensor is the measured value linear model about the actual value of described vector induced signal of described vector induced signal。Described error model can be given by:
j’=(1+s)j+b(1)。
In formula (1), j ' represents the measured value of described vector induced signal, j represents the actual value of described vector induced signal, s represents the scale factor deviations between described measured value and described actual value, and b represents the null offset between the described measured value of described vector sensor and described actual value。
Owing under described at least 3N different attitudes, the actual value of described vector induced signal is constant, the equation group being unknown number with error parameter can be set up according to the equation that the actual value of described vector induced signal is constant, wherein, described error parameter includes the scale factor deviations between described measured value and described actual value and the null offset between described measured value and described actual value。
In step s 130, the described error parameter of the measured value of described vector induced signal is calculated according to described equation group。
Setting up with described error parameter for the equation group of unknown number, the measured value of described vector induced signal under described at least 3N different attitudes is being substituted into described equation group, and utilizes numerical computation method to solve described equation group, obtain described error parameter。In the present embodiment, the value of N is 2。
In step S140, correct described vector sensor according to the described error parameter of the measured value of described vector induced signal。
Solve after described equation group obtains described error parameter, utilize and solve the described error parameter obtained the measured value of vector induced signal is corrected。Concrete, according to formula (1), the measured value of described vector induced signal is corrected by the relation between measured value and the actual value of described vector induced signal of vector induced signal。
The present embodiment is by gathering vector sensor vector induced signal under multiple attitudes, utilize the error parameter of the vector induced signal that the vector sensor that relation between the measured value of described vector induced signal and the actual value of described vector induced signal calculates mobile terminal senses, and utilize described error parameter that the vector induced signal of described vector sensor is corrected, it is effectively increased the induced signal precision of described vector sensor。
Fig. 3 illustrates the second embodiment of the present invention。
Fig. 3 is the flow chart of the error calibration method of the vector sensor that second embodiment of the invention provides。Referring to Fig. 3, the error calibration method of described vector sensor includes: step S301, obtains the measured value of the vector induced signal of vector sensor in the reference frame under at least 3N different attitudes；Step S320, according to described error model, the equation that actual value is constant of the relation of the actual value of the measured value of vector induced signal and vector induced signal and described vector induced signal, sets up the equation group being unknown number with described error parameter；Step S330, calculates the described error parameter of the measured value of described vector induced signal according to described equation group；And step S340, correct described vector sensor according to the described error parameter of the measured value of described vector induced signal。
In the present embodiment, described error model is given by:
j’=j+b(2)。
In formula (2), j ' represents the measured value of described vector induced signal, and j represents the actual value of described vector induced signal, and b represents the null offset between the described measured value of described vector sensor and described actual value。Comparing with first embodiment of the invention, described error parameter does not include the scale factor deviations between the described measured value of described vector sensor and described actual value。Therefore, in the present embodiment, the value of N is 1。The execution process of each step of the present embodiment is identical with first embodiment, does not repeat them here。
The present embodiment solves described error parameter by the relation between measured value and the actual value of described vector induced signal of described vector induced signal, and utilize described error parameter that described vector induced signal is corrected, improve the precision of the induced signal of described vector sensor。
Fig. 4 and Fig. 5 illustrates the third embodiment of the present invention。
Fig. 4 is the flow chart of the error calibration method of the acceleration transducer that third embodiment of the invention provides。Referring to Fig. 4, the error calibration method of described acceleration transducer includes: step S410, obtains the measured value of the acceleration induction signal of acceleration transducer in the reference frame under at least 3N different attitudes；Step S420, according to described error model, the equation that actual value is constant of the relation of the actual value of the measured value of acceleration induction signal and acceleration induction signal and described acceleration induction signal, sets up the equation group being unknown number with described error parameter；Step S430, calculates the described error parameter of the measured value of described acceleration induction signal according to described equation group；And step S440, correct described acceleration transducer according to the described error parameter of the measured value of described acceleration induction signal。
In step S410, obtain the measured value of the acceleration induction signal of acceleration transducer in the reference frame under at least 3N different attitudes。
Acceleration transducer in mobile terminal is the sensor for measuring the acceleration corresponding to the acceleration force that described mobile terminal bears。Current most mobile terminal is fitted with acceleration transducer。But, because the trend of mobile terminal miniaturization, the inner space of mobile terminal is extremely limited, so bulky acceleration transducer can not be equipped with。And it is not it is all smaller to be currently installed in the acceleration transducer volume within mobile terminal, accordingly that the certainty of measurement of acceleration is also high。Accordingly, it would be desirable to the acceleration measurement that described acceleration transducer is sensed carries out error correction。
Under static state, acceleration transducer measurement to acceleration be acceleration of gravity。The value of acceleration of gravity is a constant。In the present embodiment, acceleration transducer is under static state utilized to gather the measured value of acceleration induction signal, and the value of the utilization under static state actual value of described acceleration induction signal is the error parameter that constant calculates described acceleration induction signal, the error parameter of described acceleration induction signal is finally utilized to correct described acceleration transducer。Therefore, first described acceleration transducer receives the mobile terminal being equipped with described acceleration transducer acceleration induction signal under different attitudes。Concrete, under static state, obtain the measured value of described acceleration transducer acceleration induction signal under at least 3N different attitudes。In the present embodiment, the value of N is 2。
Described acceleration induction signal is a vector signal, and described acceleration induction signal be reference with reference frame vector signal。The reference frame that described reference frame is based on being equipped with the position of the mobile terminal of described acceleration transducer and determines。Described reference frame is made up of orthogonal x-axis, y-axis and z-axis。In a preferred implementation of the present embodiment, the z-axis of described reference frame is parallel to the display screen of described mobile terminal, and extends to the top of described mobile terminal along the short transverse of described mobile terminal from the bottom of described mobile terminal；The x-axis of described reference frame is perpendicular to the display screen of described mobile terminal, and is stretched out by the inside of described mobile terminal；The y-axis of described reference frame is parallel with the display screen of described mobile terminal, and is extended to the right side of described mobile terminal by the left side of described mobile terminal。
In the step s 420, according to described error model, the equation that actual value is constant of the relation of the actual value of the measured value of acceleration induction signal and acceleration induction signal and described acceleration induction signal, sets up the equation group being unknown number with described error parameter。
The error model of described acceleration induction signal is the linear model of the relation between the actual value about described acceleration and measured value。The error model of described acceleration induction signal can be expressed from the next:
k’=(1+s)k+b(3)。
In above formula, k ' represents the measured value of described acceleration induction signal, k represents the actual value of described acceleration induction signal, s represents the scale factor deviations between described measured value and described actual value, and b represents the null offset between the described measured value of described acceleration transducer and described actual value。
Owing to the measured value of described acceleration induction signal and the actual value of described acceleration induction signal are the vectors in three dimensions, namely the measured value k ' of described acceleration induction signal has projection with the actual value k of described acceleration induction signal on three coordinate axess of described reference frame, the therefore measured value k ' of described acceleration induction signal projection value k ' on three coordinate axessx、k’yWith k 'zWith the actual value k of described acceleration induction signal projection value k on three coordinate axessx、kyWith kzBetween relation can so represent:
In formula (4), sxRepresent described measured value component k in x-axisx' and described actual value component k in x-axisxBetween scale factor deviations；SyRepresent described measured value component k on the y axisy' and described actual value component k on the y axisyBetween scale factor deviations；SzRepresent described measured value component k in z-axisz' and described actual value component k in z-axiszBetween scale factor deviations；BxRepresent described measured value component k in x-axisx' and described actual value component k in x-axisxBetween null offset；ByRepresent described measured value component k on the y axisy' and described actual value component k on the y axisyBetween null offset；BzRepresent described measured value component k in z-axisz' and described actual value component k in z-axiszBetween null offset。
By mathematic(al) manipulation, acceleration of gravity component k in x-axis, y-axis and z-axisx、kyAnd kzCan be given by:
Owing to acceleration of gravity is constant, its value is fixed, and is 9.80755, and kx、kyAnd kzIt is this constant component in x-axis, y-axis and z-axis respectively, therefore kx、kyAnd kzQuadratic sum be definite value, namely:
In formula (6), kx’、ky' and kz' it is measure the numerical value obtained, it is known quantity；G is acceleration of gravity constant, is also known quantity。By k under at least six statex’、ky' and kz' numerical value substitute into above formula, above formula is exactly about error parameter bx、by、bz、sx、syAnd szEquation。By equations simultaneousness corresponding for six of which state, just constitute about error parameter bx、by、bz、sx、syAnd szPolynary quadratic equation group。
In step S430, calculate the described error parameter of the measured value of described acceleration induction signal according to described equation group。
Set up described about after the polynary quadratic equation group of error parameter, the measured value of acceleration induction signal under six states and acceleration of gravity are substituted into described equation group, and utilizes numerical computation method that described polynary quadratic equation group is solved。
In step S440, correct described acceleration transducer according to the described error parameter of the measured value of described acceleration induction signal。
After trying to achieve the error parameter of described acceleration induction signal, it is possible to according to the error parameter of described acceleration induction signal, the acceleration induction signal of described acceleration transducer is corrected。Trimming process to described acceleration induction signal is that measured value and the error parameter of acceleration of gravity are substituted into formula (5), solves the acceleration induction signal after being corrected。
In order to prove the effectiveness of the error calibration method of described acceleration transducer, the error calibration method of described acceleration transducer is carried out checking test。In checking test, we adopt acceleration transducer that mobile terminal is conventional as carrying out the data source tested, acquire 16 groups of acceleration of gravity data, respectively these 16 groups of acceleration of gravity data acquisition error calibration methods of described acceleration transducer are being corrected, the relative error of described acceleration transducer after finally calculating before correction and correcting。Fig. 5 illustrates the result of the test of this test。From fig. 5, it can be seen that the relative error of the acceleration of gravity after correction is significantly lower than the relative error of acceleration of gravity before correction。
The present embodiment is by gathering acceleration transducer acceleration induction signal under multiple attitudes, the error parameter of the acceleration induction signal that the acceleration transducer of mobile terminal senses is calculated according to the relation that described acceleration transducer acceleration induction signal under static state should be constant, and utilize described error parameter that the acceleration induction signal of described acceleration transducer is corrected, it is effectively increased the induced signal precision of described acceleration transducer。
Fig. 6 and Fig. 7 illustrates the fourth embodiment of the present invention。
Fig. 6 is the flow chart of the error calibration method of the magnetometric sensor that fourth embodiment of the invention provides。The error calibration method of described magnetometric sensor includes: step S610, obtains the measured value of the magnetic force induction signal of magnetometric sensor in the reference frame under at least 3N different attitudes；Step S620, according to described error model, the equation that actual value is constant of the relation of the actual value of the measured value of magnetic force induction signal and magnetic force induction signal and described acceleration induction signal, sets up the equation group being unknown number with described error parameter；Step S630, calculates the described error parameter of the measured value of described magnetic force induction signal according to described equation group；And step S640, correct described magnetometric sensor according to the described error parameter of the measured value of described magnetic force induction signal。
In step S610, obtain the measured value of the magnetic force induction signal of magnetometric sensor in the reference frame under at least 3N different attitudes。
Described magnetometric sensor is for sensing the magnetic field of the earth around mobile terminal, in order to indicate the direction, magnetic field of the earth of present position for mobile phone users。But due to the miniature requirement of mobile terminal, the general volume of magnetometric sensor in mobile terminal is little, and the precision of the magnetic force induction signal of corresponding described magnetometric sensor is not high, it is necessary to the magnetic force induction signal of described magnetometric sensor is corrected。
The value of the magnetic field of the earth length signals of described magnetometric sensor sensing is constant, and the error calibration method of the vector sensor that therefore can apply the present invention is corrected。
Described reference frame is also determine according to the position of the mobile terminal being equipped with described magnetometric sensor。The defining method of concrete reference frame is identical with first embodiment, does not repeat them here。
In step S620, according to described error model, the equation that actual value is constant of the relation of the actual value of the measured value of acceleration induction signal and acceleration induction signal and described acceleration induction signal, sets up the equation group being unknown number with described error parameter。
The error model of described magnetic force induction signal is the linear model of the relation between actual value and measured value about described magnetic force induction signal。The error model of described magnetic force induction signal can be expressed from the next:
m’=(1+s)m+b(7)。
In formula (7), m ' represents the measured value of described magnetic force induction signal, m represents the actual value of described magnetic force induction signal, and s represents the scale factor deviations between described measured value and described actual value, and b represents the null offset between described measured value and described actual value。
Owing to the measured value of described magnetic force induction signal and the actual value of described magnetic force induction signal are also the vectors in three dimensions, namely the measured value m ' of described magnetic force induction signal has projection with the actual value m of described magnetic force induction signal on three coordinate axess of described reference frame, the therefore measured value m ' of described magnetic force induction signal projection value m ' on three coordinate axessx、m’yWith m 'zWith the actual value m of described magnetic force induction signal projection value m on three coordinate axessx、myWith mzBetween relation can so represent:
In formula (8), sxRepresent described measured value component m in x-axisx' and described actual value component m in x-axisxBetween scale factor deviations；SyRepresent described measured value component m on the y axisy' and described actual value component m on the y axisyBetween scale factor deviations；SzRepresent described measured value component m in z-axisz' and described actual value component m in z-axiszBetween scale factor deviations；BxRepresent described measured value component m in x-axisx' and described actual value component m in x-axisxBetween null offset；ByRepresent described measured value component m on the y axisy' and described actual value component m on the y axisyBetween null offset；BzRepresent described measured value component m in z-axisz' and described actual value component m in z-axiszBetween null offset。
Described actual value component m in x-axis, y-axis and z-axisx、myAnd mzCan be given by:
Owing to earth magnetic field intensity is constant, its value is fixed, and mx、myAnd mzIt is this constant component in x-axis, y-axis and z-axis respectively, therefore mx、myAnd mzQuadratic sum be definite value, namely:
In formula (10), mx’、my' and mz' it is measure the numerical value obtained, it is known quantity；L is magnetic field of the earth constant, is also known quantity。By m under six statesx’、my' and mz' numerical value substitute into above formula, above formula is exactly about error parameter bx、by、bz、sx、syAnd szEquation。By equations simultaneousness corresponding for six states, just constitute about error parameter bx、by、bz、sx、syAnd szEquation group。
In step S630, calculate the described error parameter of the measured value of described magnetic force induction signal according to described equation group。
Set up described about after the polynary quadratic equation group of error parameter, the measured value of magnetic force induction signal under six states and earth magnetic field intensity are substituted into described equation group, utilizes numerical computation method that described polynary quadratic equation group is solved。
In step S640, correct the magnetic force induction signal of described magnetometric sensor according to the error parameter of described magnetic force induction signal。
Calculate the error parameter obtaining described magnetic force induction signal, it is possible to according to described error parameter, the magnetic force induction signal of described magnetometric sensor is corrected。The process of correction is identical with step S440 in the 3rd embodiment, does not repeat them here。
In order to prove the effectiveness of the error calibration method of described magnetometric sensor, the error calibration method of described magnetometric sensor is carried out checking test。In checking test, we adopt magnetometric sensor that mobile terminal is conventional as carrying out the data source tested, acquire 16 groups of magnetic force induction signal datas, respectively the error calibration method of these 16 groups of magnetic force induction signal datas described magnetometric sensors of employing is being corrected, the relative error of described magnetometric sensor after finally calculating before correction and correcting。Fig. 7 illustrates the result of the test of this test。From figure 7 it can be seen that the relative error of the magnetic force induction signal after correction is significantly lower than the relative error of magnetic force induction signal before correction。
The present embodiment is by gathering magnetometric sensor magnetic force induction signal under multiple attitudes, the error parameter of the magnetic force induction signal that the magnetometric sensor according to earth magnetic field intensity constant calculating mobile terminal senses, and utilize described error parameter that the magnetic force induction signal of described magnetometric sensor is corrected, it is effectively increased the induced signal precision of described magnetometric sensor。
Fig. 8 illustrates the fifth embodiment of the present invention。
Fig. 8 is the structure chart of the error correction device of the acceleration transducer that fifth embodiment of the invention provides。Referring to Fig. 8, the error correction device of described acceleration transducer includes acceleration induction signal acquisition module 810, equation group sets up module 820, error parameter computing module 830 and acceleration transducer correction module 840。
Described acceleration induction signal acquisition module 810 is for obtaining the measured value of the acceleration induction signal of the acceleration transducer in the reference frame under at least 3N difference attitudes, wherein, N is the quantity of the error parameter in error model, and under described at least 3N different attitudes, the actual value of described acceleration induction signal is constant。
The error correction device of described acceleration transducer needs to gather described acceleration transducer acceleration induction signal under different attitudes and calculates the error parameter of described acceleration transducer as sample。Described acceleration induction signal acquisition module 810 is for obtaining the acceleration induction signal in the reference frame under the different attitudes of resting state, as the sample calculating described error parameter。
Under static state, the acceleration that described acceleration transducer obtains is acceleration of gravity, and the value of acceleration of gravity is constant。
In the present embodiment, described acceleration induction signal acquisition module 810 obtains under static state the measured value of the acceleration induction signal in the reference frame of at least 3N attitude, wherein, N represents the quantity of the error parameter in the error model of described acceleration induction signal。In a preferred implementation of the present embodiment, the value of N is 2。
In the present embodiment, described reference frame is determined according to the locus of the mobile terminal equipped with described acceleration transducer。When relative position between described acceleration transducer and described mobile terminal is fixed, the position of the coordinate axes of described reference frame is uniquely determined about the locus of described acceleration transducer。
Described equation group sets up the equation that actual value is constant of the module 820 relation for the measured value of acceleration induction signal according to described error model and the actual value of acceleration induction signal and described acceleration induction signal, sets up the equation group being unknown number with described error parameter。
In the present embodiment, the error model of the described acceleration induction signal of foundation is the linear model of the relation between measured value and actual value about described acceleration induction signal。The error model of described acceleration induction signal is given by:
In formula (11), kx' it is the measured value component in the direction of the x axis of described acceleration induction signal, ky' it is the measured value component in the y-axis direction of described acceleration induction signal, kz' it is the measured value component in the z-axis direction of described acceleration induction signal, kxIt is the actual value component in the direction of the x axis of described acceleration induction signal, kyIt is the actual value component in the y-axis direction of described acceleration induction signal, kzIt it is the actual value component in the z-axis direction of described acceleration induction signal。
sxRepresent described measured value component k in x-axisx' and described actual value component k in x-axisxBetween scale factor deviations；SyRepresent described measured value component k on the y axisy' and described actual value component k on the y axisyBetween scale factor deviations；SzRepresent described measured value component k in z-axisz' and described actual value component k in z-axiszBetween scale factor deviations；BxRepresent described measured value component k in x-axisx' and described actual value component k in x-axisxBetween null offset；ByRepresent described measured value component k on the y axisy' and described actual value component k on the y axisyBetween null offset；BzRepresent described measured value component k in z-axisz' and described actual value component k in z-axiszBetween null offset。
It is constant according to the value at acceleration of gravity, through mathematical derivation, it is possible to obtain:
In formula (12), g represents acceleration of gravity。The measured value measuring the acceleration induction signal obtained under at least 3N attitude is substituted into formula (12), obtains at least 3N equation。The equation composition equation group that will obtain, the equation group that described equation group is exactly is unknown number with error parameter。
Described error parameter computing module 830, for the error model according to described acceleration induction signal, utilizes described acceleration induction signal to calculate the error parameter of described acceleration induction signal。
Described error parameter computing module 830 for calculating the error parameter of described acceleration induction signal according to numerical computation method。
Described acceleration transducer correction module 840 corrects described acceleration transducer for the described error parameter of the measured value according to described acceleration induction signal。
Solving after obtaining described error parameter, the described acceleration transducer correction module 840 error model according to described acceleration induction signal, utilization solves the described error parameter obtained and described acceleration induction signal is corrected。
The acceleration induction signal to described acceleration transducer that processes that the present embodiment sets up module, error parameter computing module and acceleration induction signal-corecting module by acceleration induction signal acquisition module, equation group is corrected, and is effectively increased the precision of the acceleration induction signal of described acceleration transducer。
Fig. 9 illustrates the sixth embodiment of the present invention。
Fig. 9 is the structure chart of the error correction device of the magnetometric sensor that sixth embodiment of the invention provides。Referring to Fig. 9, the error correction device of described magnetometric sensor includes magnetic force induction signal acquisition module 910, equation group sets up module 920, error parameter computing module 930 and magnetometric sensor correction module 940。
In the present embodiment, the module one_to_one corresponding of the error correction device of the acceleration transducer that the function of the modules of the error correction device of described magnetometric sensor and structure and the fifth embodiment of the present invention provide。Therebetween difference is in that the signal that described acceleration transducer obtains is acceleration induction signal, and the signal that described magnetometric sensor obtains is magnetic force induction signal。In addition, the 26S Proteasome Structure and Function of the modules of the error correction device of described magnetometric sensor is identical with the 26S Proteasome Structure and Function of the modules of the error correction device of acceleration transducer in fifth embodiment of the invention, does not repeat them here。
The magnetic force induction signal to described magnetometric sensor that processes that the present embodiment sets up module, error parameter computing module and magnetic force induction signal-corecting module by magnetic force induction signal acquisition module, equation group is corrected, and is effectively increased the precision of the magnetic force induction signal of described magnetometric sensor。
Obviously, those skilled in the art should be understood that, each module of the above-mentioned present invention or each step can be implemented by communication terminal as above, and transmission and receive capabilities for voice messaging can be integrated on same communication terminal so that communication terminal both can send can also receive voice messaging。Alternatively, the embodiment of the present invention can realize by the executable program of computer installation, perform such that it is able to be stored in storage device by processor, described program can be stored in a kind of computer-readable recording medium, storage medium mentioned above can be read only memory, disk or CD etc.；Or they are fabricated to respectively each integrated circuit modules, or the multiple modules in them or step are fabricated to single integrated circuit module realize。So, the present invention is not restricted to the combination of any specific hardware and software。
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, to those skilled in the art, the present invention can have various change and change。Any amendment of making within all spirit in the present invention and principle, equivalent replacement, improvement etc., should be included within protection scope of the present invention。
Claims (10)
1. the error calibration method of a vector sensor, it is characterised in that including:
Obtain the measured value of the vector induced signal of vector sensor in the reference frame under at least 3N different attitudes, wherein, N is the quantity of the error parameter in error model, and under described at least 3N different attitudes, the actual value of described vector induced signal is constant；
The equation that actual value is constant of the relation of the actual value of the measured value of vector induced signal and vector induced signal and described vector induced signal according to described error model, set up the equation group being unknown number with described error parameter, wherein, described equation group includes at least 3N equation；
The described error parameter of the measured value of described vector induced signal is calculated according to described equation group；
The described error parameter of the measured value according to described vector induced signal corrects described vector sensor。
2. the error calibration method of vector sensor according to claim 1, it is characterised in that described vector sensor includes acceleration transducer and magnetometric sensor。
3. the error calibration method of vector sensor according to claim 1, it is characterised in that described reference frame is the 3 d space coordinate system determined with the locus of described vector sensor。
4. the error calibration method of vector sensor according to claim 1, it is characterized in that, the error model of described vector induced signal is j '=(1+s) j+b, wherein, j ' represents the measured value of described vector induced signal, j represents the actual value of described vector induced signal, s represents the scale factor deviations between the measured value of described vector induced signal and the actual value of described vector induced signal, and b represents the null offset between the measured value of described vector induced signal and the actual value of described vector induced signal。
5. the error calibration method of vector sensor according to claim 1, it is characterized in that, described error parameter includes the scale factor deviations between the measured value of described vector induced signal and the actual value of described vector induced signal and the null offset between the actual value of the measured value of described vector induced signal and described vector induced signal。
6. the error correction device of a vector sensor, it is characterised in that including:
Vector induced signal acquisition module, for obtaining the measured value of the vector induced signal of the vector sensor in the reference frame under at least 3N different attitudes, wherein, N is the quantity of the error parameter in error model, and under described at least 3N different attitudes, the actual value of described vector induced signal is constant；
Equation group sets up module, the equation that actual value is constant for the relation of the measured value of vector induced signal according to described error model and the actual value of vector induced signal and described vector induced signal, set up the equation group being unknown number with described error parameter, wherein, described equation group includes at least 3N equation；
Error parameter computing module, for calculating the described error parameter of the measured value of described vector induced signal according to described equation group；
Vector sensor correction module, the described error parameter for the measured value according to described vector induced signal corrects described vector sensor。
7. the error correction device of vector sensor according to claim 6, it is characterised in that described vector sensor includes acceleration transducer and magnetometric sensor。
8. the error correction device of vector sensor according to claim 6, it is characterised in that described reference frame is the 3 d space coordinate system determined with the locus of described vector sensor。
9. the error correction device of vector sensor according to claim 6, it is characterized in that, the error model of described vector induced signal is j '=(1+s) j+b, wherein, j ' represents the measured value of described vector sensor, j represents the actual value of described vector sensor, and s represents the scale factor deviations between described measured value and described actual value, and b represents the null offset between the described measured value of described vector sensor and described actual value。
10. the error correction device of vector sensor according to claim 6, it is characterized in that, described error parameter includes the scale factor deviations between the measured value of described vector induced signal and the actual value of described vector induced signal and the null offset between the actual value of the measured value of described vector induced signal and described vector induced signal。
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| CN104198973B (en) * | 2014-09-05 | 2017-01-11 | 中国船舶重工集团公司第七一五研究所 | Calibration device of vector magnetometer |
| CN107560639B (en) * | 2016-07-01 | 2020-01-17 | 中电科海洋信息技术研究院有限公司 | Error correction method and device for large sensor array |
| EP3531151B1 (en) * | 2018-02-27 | 2020-04-22 | Melexis Technologies SA | Redundant sensor error reduction |
| CN110319851B (en) * | 2018-03-30 | 2022-03-01 | 北京百度网讯科技有限公司 | Sensor correction method, device, equipment and storage medium |
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| UA106614C2 (en) * | 2009-10-26 | 2014-09-25 | Лейка Геосистемз Аг | METHOD OF CALIBRATION OF INERTIAL SENSORS |
| CN101887068B (en) * | 2010-06-01 | 2011-11-16 | 中北大学 | Calibration compensation method for triaxial vector sensor and biaxial vector sensor |
| CN103033786B (en) * | 2011-10-08 | 2015-07-08 | 中国科学院空间科学与应用研究中心 | Quadrature calibration method and device of triaxial vector magnetometer |
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