CN106382946B - Parameter calibrating method and device - Google Patents
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- CN106382946B CN106382946B CN201610825208.6A CN201610825208A CN106382946B CN 106382946 B CN106382946 B CN 106382946B CN 201610825208 A CN201610825208 A CN 201610825208A CN 106382946 B CN106382946 B CN 106382946B
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Abstract
The application is about parameter calibrating method and device, the described method includes: obtaining component of acceleration of the acceleration of gravity in each reference axis of 3-axis acceleration sensor, the component of acceleration is the gravitational acceleration component that the 3-axis acceleration sensor acquires in a static condition；According to the component of acceleration, deflection angle of the detection axis of 3-axis acceleration sensor relative to detection axis in the traveling coordinate system of object is calculated；The kinematic parameter in the detection axis of the sensor of interest of sensor of interest acquisition is calibrated according to the deflection angle, the sensor of interest is arranged on object, the sensor of interest includes the detection axis other sensors disposed in parallel of the 3-axis acceleration sensor and/or detection axis and the 3-axis acceleration sensor.After the application, it is horizontally mounted sensor of interest without requiring, the set-up time is saved, improves installation effectiveness, while avoiding the defect of measurement data inaccuracy caused by installation horizontal departure.
Description
Technical field
This application involves collimation technique field more particularly to parameter calibrating methods and device.
Background technique
Car-mounted terminal is fixedly mounted at a kind of intelligent hardware devices of vehicle interior, can integrate acceleration in equipment
The sensors such as sensor, angular-rate sensor, direction sensor, can acquire acceleration in vehicle travel process, angular speed,
The kinematic parameters such as direction.Vehicle in the process of moving, due to the state on road surface, driver-operated behavior etc., can have dynamic
The kinematic parameter of variation.Kinematic parameter can be collected in real time by the sensor being integrated in car-mounted terminal, and by default
Algorithm analyzes the motion state of vehicle, to give supervision and alarm etc. to unsafe driving behavior.
However, due to the limitation of installation site, terminal can not be completely level after car-mounted terminal is installed on vehicle
Setting, can not be horizontally disposed with so as to cause sensor.In order to detect the motion state of vehicle, vehicle has corresponding reference axis.When
When sensor can not be horizontally disposed with, the reference axis of sensor may have angle relative to the reference axis of vehicle, and there are angles
When to will lead to the kinematic parameter measured not be actual motion parameter of the vehicle in the reference axis, eventually lead to false alarm or
Fail to report alert situation.
Summary of the invention
The application provides parameter calibrating method and device, to solve the problems, such as kinematic parameter inaccuracy in the prior art.
According to the embodiment of the present application in a first aspect, providing a kind of parameter calibrating method, which comprises
Obtain component of acceleration of the acceleration of gravity in each reference axis of 3-axis acceleration sensor, the acceleration point
Amount is the gravitational acceleration component that the 3-axis acceleration sensor acquires in a static condition；
According to the component of acceleration, traveling coordinate system of the detection axis relative to object of 3-axis acceleration sensor is calculated
The deflection angle of middle detection axis, wherein when deflection angle is zero, ginseng that the 3-axis acceleration sensor detects in detection axis
Number, for indicating parameter of the object in traveling coordinate system in detection axis；
The kinematic parameter in the detection axis of the sensor of interest of sensor of interest acquisition is calibrated according to the deflection angle,
The sensor of interest is arranged on the object, and the sensor of interest includes the 3-axis acceleration sensor, and/or inspection
Survey the detection axis other sensors disposed in parallel of axis and the 3-axis acceleration sensor.
According to the second aspect of the embodiment of the present application, a kind of parametric calibration device is provided, described device includes:
Component obtains module, for obtaining acceleration of the acceleration of gravity in each reference axis of 3-axis acceleration sensor
Component, the component of acceleration are the gravitational acceleration components that the 3-axis acceleration sensor acquires in a static condition；
Deflection angle determining module, for calculating the detection axis phase of 3-axis acceleration sensor according to the component of acceleration
For the deflection angle of detection axis in the traveling coordinate system of object, wherein when deflection angle is zero, the 3-axis acceleration sensor
The parameter detected in detection axis, for indicating parameter of the object in traveling coordinate system in detection axis；
Parametric calibration module, the inspection of the sensor of interest for calibrating sensor of interest acquisition according to the deflection angle
The kinematic parameter on axis is surveyed, the sensor of interest is arranged on the object, and the sensor of interest includes that three axis adds
The detection axis other sensors disposed in parallel of velocity sensor and/or detection axis and the 3-axis acceleration sensor.
When using the embodiment of the present application, accelerated by obtaining the gravity that 3-axis acceleration sensor acquires in a static condition
The component of acceleration in each reference axis of 3-axis acceleration sensor is spent, and calculates three axis using gravitational acceleration component and accelerates
Deflection angle of the detection axis of sensor relative to detection axis in traveling coordinate system is spent, sensor of interest can be calibrated according to deflection angle
Kinematic parameter in the detection axis of the sensor of interest of acquisition does not need horizontal peace in installation targets sensor to realize
Dress, it is a large amount of to save the set-up time, installation effectiveness is improved, while avoiding lacking for measurement data inaccuracy caused by installation horizontal departure
It falls into.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The application can be limited.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the application
Example, and together with specification it is used to explain the principle of the application.
Figure 1A is a kind of the application traveling coordinate system schematic diagram shown according to an exemplary embodiment.
Figure 1B is a kind of the application car-mounted terminal shown according to an exemplary embodiment and vehicle relative position schematic diagram.
Fig. 1 C is a kind of the application coordinate system contrast schematic diagram shown according to an exemplary embodiment.
Fig. 2 is a kind of the application flow chart of parameter calibrating method shown according to an exemplary embodiment.
Fig. 3 is a kind of the application structural schematic diagram of parametric calibration device shown according to an exemplary embodiment.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the application.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the application.
It is only to be not intended to be limiting the application merely for for the purpose of describing particular embodiments in term used in this application.
It is also intended in the application and the "an" of singular used in the attached claims, " described " and "the" including majority
Form, unless the context clearly indicates other meaning.It is also understood that term "and/or" used herein refers to and wraps
It may be combined containing one or more associated any or all of project listed.
It will be appreciated that though various information, but this may be described using term first, second, third, etc. in the application
A little information should not necessarily be limited by these terms.These terms are only used to for same type of information being distinguished from each other out.For example, not departing from
In the case where the application range, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as
One information.Depending on context, word as used in this " if " can be construed to " ... when " or " when ...
When " or " in response to determination ".
In the application, object can be the Moving Objects for being equipped with detection terminal, such as object can be vehicle, scooter etc.
Moving Objects.It detects and is often equipped with the devices such as sensor in terminal, can be used for movement of the test object in different reference axis
Parameter.For example, detection terminal can be car-mounted terminal.Kinematic parameter can be acceleration, angular speed, direction etc..
In general, passing through the kinematic parameter in each reference axis of detection terminal test object being arranged in object, and pass through fortune
The motion state of dynamic parameter and preset algorithm analysis vehicle, and driving behavior is supervised and reminded according to motion state.
Object in the process of moving, can virtually there is the traveling coordinate system of object according to driving direction.For example, object is in horizontal plane
When, the X-axis of traveling coordinate system can be set according to object ridden in left or right direction direction, sat according to driving direction setting traveling before and after object
The Y-axis for marking system sets the Z axis of traveling coordinate system according to the vertical direction of object.It is understood that the setting of traveling coordinate system
Mode can be set according to demand.As shown in Figure 1A, Figure 1A is a kind of the application traveling shown according to an exemplary embodiment
Coordinate system schematic diagram.In the schematic diagram, object is vehicle, sets Y-axis in traveling coordinate system for the direction of advance of vehicle
Positive direction the positive direction of X-axis in traveling coordinate system is arranged according to the right travel direction of vehicle, according to the upward driving direction of vehicle
The positive direction of Z axis in traveling coordinate system is set.
Ideally, in order to detect kinematic parameter of the object on each axis, each axis of sensor can be set as
Consistent to corresponding axis in the traveling coordinate system of object, i.e. traveling coordinate system and sensor coordinate system is overlapped.The X-axis of sensor must be with
Traveling coordinate system X-axis is parallel, and the parameter in X-axis that sensor detects at this time is ginseng of the object in traveling coordinate system in X-axis
Number；The Y-axis of sensor must be parallel with traveling coordinate system Y-axis, and the parameter in Y-axis that sensor detects at this time is that object is travelling
Parameter in coordinate system in Y-axis；The Z axis of sensor must be parallel with traveling coordinate system Z axis, on the Z axis that sensor detects at this time
Parameter be object in traveling coordinate system on Z axis parameter.
Sensor can be fixed on the chip of car-mounted terminal, in order to guarantee that the traveling of each axis of sensor and object is sat
Corresponding axis is consistent in mark system, needs to install car-mounted terminal by very strict requirements.However, being difficult to accomplish in actual installation
Each axis of sensor is consistent to corresponding axis in the traveling coordinate system of object, is especially difficult to be completely level installation car-mounted terminal.
As shown in Figure 1B, Figure 1B is that a kind of the application car-mounted terminal shown according to an exemplary embodiment is opposite with vehicle
Position view.As shown in Figure 1 C, Fig. 1 C is a kind of the application coordinate system comparison signal shown according to an exemplary embodiment
Figure.Figure 1B indicates vehicle in order to illustrate conveniently, using one big hexahedron, another small hexahedron indicates car-mounted terminal.This shows
Intention lists the situation that one of car-mounted terminal is not horizontally arranged on vehicle.Fig. 1 C is to install vehicle shown in Figure 1B
Under the scene of mounted terminal, the contrast schematic diagram of the traveling coordinate system of vehicle and the coordinate system that car-mounted terminal inner sensor is set.
In fig. 1 c, the coordinate system of depicted as solid lines is traveling coordinate system, and the coordinate system that dotted line is drawn is sensor coordinate system.In order to pass
X-axis (transverse coordinate axis), Y-axis (longitudinal coordinate axle), Z axis (vertical coordinate axle) and X-axis (the laterally seat for travelling coordinate system of sensor
Parameter), Y-axis (longitudinal coordinate axle), Z axis (vertical coordinate axle) distinguish, in fig. 1 c, respectively indicate sensing with X ', Y ', Z '
Transverse coordinate axis, longitudinal coordinate axle, the vertical coordinate axle of device respectively indicate the transverse coordinate axis of traveling coordinate system with X, Y, Z, indulge
To reference axis, vertical coordinate axle.Under the scene, the X ' reference axis and traveling that the three-axis sensor in car-mounted terminal is arranged in are sat
There are angles for X-coordinate axle in mark system, and there are angles for Z ' reference axis and the Z coordinate axis in traveling coordinate system of three-axis sensor.
As it can be seen that the kinematic parameter that sensor detects is not object reality if not being installed horizontally car-mounted terminal
The kinematic parameter on border.
It is the actual kinematic parameter of object in order to avoid leading to the kinematic parameter detected not due to that can not be horizontally mounted,
The application discloses a kind of parameter calibrating method and device, is added by utilizing gravitational acceleration component to calculate three axis in a static condition
Deflection angle of the detection axis of velocity sensor relative to detection axis in traveling coordinate system, leads it is hereby achieved that not being horizontally mounted
The deflection angle of cause can calibrate the kinematic parameter in the detection axis of the sensor of interest of sensor of interest acquisition according to deflection angle,
To which the kinematic parameter after calibration is determined as kinematic parameter of the object in the detection axis, the accuracy of kinematic parameter is improved,
And then it avoids the false alarm as caused by kinematic parameter inaccuracy or fails to report police.As it can be seen that the application calibrates target according to deflection angle
The kinematic parameter of sensor acquisition, being equivalent to will include that the detection terminal of sensor of interest is calibrated relative to object.
As shown in Fig. 2, Fig. 2 is a kind of the application process of parameter calibrating method shown according to an exemplary embodiment
Figure includes the following steps 201 to step 203:
In step 201, component of acceleration of the acceleration of gravity in each reference axis of 3-axis acceleration sensor is obtained,
The component of acceleration is the gravitational acceleration component that the 3-axis acceleration sensor acquires in a static condition.
In step 202, according to the component of acceleration, the detection axis of 3-axis acceleration sensor is calculated relative to object
Traveling coordinate system in detection axis deflection angle, wherein when deflection angle is zero, the 3-axis acceleration sensor is in detection axis
On the parameter that detects, for indicating parameter of the object in traveling coordinate system in detection axis.
In step 203, the detection axis of the sensor of interest of sensor of interest acquisition is calibrated according to the deflection angle
On kinematic parameter, the sensor of interest is arranged on the object, and the sensor of interest includes the 3-axis acceleration
The detection axis other sensors disposed in parallel of sensor and/or detection axis and the 3-axis acceleration sensor.
In this application, it can solve that lead to measurement parameter not be the actual kinematic parameter of object due to not being horizontally mounted
Defect.In one example, the parameter calibrating method is applied to detection terminal, and detection terminal is arranged on object, and examines
Survey the kinematic parameter that terminal is used for test object.In another example, can also by other equipment execute step 201 and
202, to obtain deflection angle, step 203 is being executed according to determining deflection angle using the detection terminal being arranged on object.
In one example, due to specifying the coordinate on horizontal plane in certain application scenarios, in 3-axis acceleration sensor
The angle of vertical plane is not much different where reference axis where axis in vertical plane, with the traveling coordinate system of object on horizontal plane, then
The angle can be ignored, directly kinematic parameter is calibrated using application scheme.
In another example, in order to improve calibration accuracy, increase a precondition, i.e., the described 3-axis acceleration passes
The reference axis on horizontal plane is specified to be parallel to or be present in vertical plane where respective coordinates axis in sensor, the respective coordinates axis is
Reference axis corresponding with the reference axis on horizontal plane is specified in the 3-axis acceleration sensor in the traveling coordinate system of object.
3-axis acceleration sensor may include three mutually perpendicular reference axis in order to detect 3-axis acceleration, when
When 3-axis acceleration sensor is horizontally mounted, specify horizontal plane parallel with real standard face in 3-axis acceleration sensor；Three axis
When acceleration transducer can not be horizontally mounted, specify horizontal plane and real standard face not parallel in 3-axis acceleration sensor.?
When specifying horizontal plane and real standard face not parallel in 3-axis acceleration sensor, need to limit 3-axis acceleration biography in the present embodiment
The reference axis on horizontal plane is specified to be parallel to or be present in vertical plane where respective coordinates axis in sensor, i.e., on specified level face
Reference axis is parallel with vertical plane where respective coordinates axis or specified level face on reference axis in vertical plane where respective coordinates axis
On.The purpose of this restriction is to guarantee that reference axis and respective coordinates axis on horizontal plane is specified to exist in 3-axis acceleration sensor
Angle is not present on horizontal plane, i.e. angle is zero.Wherein, respective coordinates axis be in the traveling coordinate system of object with the reference axis
Corresponding reference axis.Vertical plane where reference axis be include reference axis and the face with horizontal plane.
For example, three-dimensional system of coordinate virtual in 3-axis acceleration sensor may include X, Y, Z axis, it is assumed that X, Y-axis
The plane constituted is specified level face.Virtual traveling coordinate system also may include X, Y, Z axis in object, travel in coordinate system
X, the plane that Y-axis is constituted is real standard face.Therefore, X-axis is parallel to or is present in traveling seat in 3-axis acceleration sensor
Vertical plane where X-axis in system is marked, Y-axis is parallel to or is present in vertical where Y-axis in traveling coordinate system in 3-axis acceleration sensor
It faces directly.
It is understood that by the plane that Z axis is constituted perpendicular to X, Y-axis in traveling coordinate system in traveling coordinate system,
So vertical plane where X-axis is to travel the plane that X-axis and Z axis are constituted in coordinate system in traveling coordinate system, Y-axis in coordinate system is travelled
Place vertical plane is to travel the plane that Y-axis and Z axis are constituted in coordinate system.
Wherein, 3-axis acceleration sensor is one of acceleration transducer, can detecte adding in three reference axis
Speed.When 3-axis acceleration sensor in a static condition, 3-axis acceleration sensor be only capable of induction acceleration of gravity.Due to three
Axle acceleration sensor can not be completely level installation during installation, therefore acceleration of gravity is in 3-axis acceleration sensor
There are component of acceleration on each axis, which can be acquired by 3-axis acceleration sensor, therefore can be from three axis
Component of acceleration is obtained in acceleration transducer.
Wherein, static conditions is that 3-axis acceleration sensor is in preassigned stationary state.It is preassigned static
State may include totally stationary, also may include close to static.Acceleration of gravity is obtained in each of 3-axis acceleration sensor
Before component of acceleration in reference axis, it may be determined that 3-axis acceleration sensor meets static conditions.Determine that 3-axis acceleration passes
The method that sensor meets static conditions is that have very much, and the application enumerates wherein several be illustrated:
First way: the acceleration value of preset group number is obtained from the 3-axis acceleration sensor；Determine that every axis adds
The difference of maxima and minima is less than or equal to the axis preset threshold in velocity amplitude.
In this implementation, available 3-axis acceleration sensor adding in the collected preset group number of different time
Velocity amplitude.Preset group number is preassigned quantity, can be set according to demand, to judge the period according to acceleration value
Whether interior 3-axis acceleration sensor is in preassigned stationary state.For example, preset group number can be 10 groups, 15 groups etc..
Every axis is all preset with corresponding preset threshold, for example, there may be X-axis preset threshold, Y-axis preset threshold, Z axis are pre-
If threshold value, each axis preset threshold can be identical, can not also be identical.
After obtaining acceleration value, determine that the difference of maxima and minima in every axle acceleration value is less than or equal to the axis
When preset threshold, step 201 is executed.
Such as, it can be determined that whether the difference of maximum value and minimum value it is default be less than or equal to the axis in every axle acceleration value
Threshold value, if the difference of maximum value and minimum value is default less than or equal to X-axis in the X-axis acceleration value of 3-axis acceleration sensor
Threshold value, and the difference of maximum value and minimum value is less than or equal to the default threshold of Y-axis in the Y-axis acceleration value of 3-axis acceleration sensor
Value, and the difference of maximum value and minimum value is less than or equal to the default threshold of Z axis in the Z axis acceleration value of 3-axis acceleration sensor
Value, then determine that 3-axis acceleration sensor meets static conditions, can execute step 201, otherwise, it is determined that 3-axis acceleration senses
Device is unsatisfactory for static conditions.
As it can be seen that the acceleration value that the embodiment without outside resources, is directly acquired according to 3-axis acceleration sensor
Judge whether 3-axis acceleration sensor meets static conditions, save the cost.
The second way: when the 3-axis acceleration sensor is arranged on object, if object meets static conditions,
3-axis acceleration sensor meets static conditions.
As it can be seen that relatively easily determining since whether object meets static conditions, pass through the state of test object
It is easy to accomplish to judge the state of 3-axis acceleration sensor.
The third mode: static instruction is received, then 3-axis acceleration sensor meets static conditions.
In this embodiment it is possible to trigger static instruction by way of keys or buttons, the static instruction is for referring to
Show that 3-axis acceleration sensor meets static conditions, then when receiving static instruction, it is possible to determine that 3-axis acceleration sensor
Meet static conditions.
As it can be seen that judging whether 3-axis acceleration sensor meets static conditions, the standard of judgement by way of static instruction
True property is high.
It is understood that the application only lists several judgment modes, it can also be other judgment modes, it is not another herein
One repeats.
After obtaining component of acceleration, the detection axis that can calculate 3-axis acceleration sensor according to component of acceleration is opposite
The deflection angle of detection axis in traveling coordinate system.Detection axis exists in the detection axis and traveling coordinate system of 3-axis acceleration sensor
Corresponding relationship.Under the premise of 3-axis acceleration sensor is correctly installed, each axis of 3-axis acceleration sensor and the row of object
Angle is not present in the corresponding axis for sailing coordinate system, i.e. deflection angle is zero, and the parameter of each axis acquisition of 3-axis acceleration sensor is pair
As the parameter in each axis.
Due to that can not be horizontally mounted, so the corresponding axis of each axis of 3-axis acceleration sensor and the traveling coordinate system of object
There may be angles.Detection axis can be one or more of X-axis, Y-axis, Z axis, then can calculate three according to component of acceleration
Deflection angle of the X-axis of axle acceleration sensor relative to X-axis in traveling coordinate system, can calculate three axis according to component of acceleration and add
Deflection angle of the Y-axis of velocity sensor relative to Y-axis in traveling coordinate system, can also calculate three axis according to component of acceleration and accelerate
Spend deflection angle of the Z axis of sensor relative to Z axis in traveling coordinate system.
In an optional implementation, 3-axis acceleration can be determined according to the component of acceleration and trigonometric function
Deflection angle of the detection axis of sensor relative to detection axis in traveling coordinate system.
As it can be seen that the present embodiment calculates deflection angle by way of trigonometric function, without outside resources, it is easier reality
It is existing.
Further, one of specific calculation method is also disclosed in the application, as follows:
If the detection axis includes X-axis, 3-axis acceleration is calculated using following formula according to the component of acceleration and is passed
Deflection angle of the X-axis of sensor relative to X-axis in traveling coordinate system:
If the detection axis includes Y-axis, 3-axis acceleration is calculated using following formula according to the component of acceleration and is passed
Deflection angle of the Y-axis of sensor relative to Y-axis in traveling coordinate system:
If the detection axis includes Z axis, 3-axis acceleration is calculated using following formula according to the component of acceleration and is passed
Deflection angle of the Z axis of sensor relative to Z axis in traveling coordinate system:
Wherein, α indicates deflection angle of the X-axis of 3-axis acceleration sensor relative to X-axis in traveling coordinate system, and β indicates three
Deflection angle of the Y-axis of axle acceleration sensor relative to Y-axis in traveling coordinate system, γ indicate the Z axis of 3-axis acceleration sensor
Relative to the deflection angle of Z axis in traveling coordinate system, Jx、Jy、JzAcceleration of gravity is respectively indicated in the 3-axis acceleration sensor
X-axis, Y-axis, the different components of acceleration generated on Z axis.
As it can be seen that the present embodiment directly can calculate 3-axis acceleration sensing according to component of acceleration by trigonometric function relationship
Deflection angle of the detection axis of device relative to detection axis in traveling coordinate system, without other outside resources, save the cost, and is counted
It is high-efficient.
Movement ginseng after determining deflection angle, in the detection axis of the sensor of interest of available sensor of interest acquisition
Number, and the kinematic parameter is calibrated according to deflection angle, the kinematic parameter after being calibrated.Wherein, sensor of interest is to set
Set the sensor on object and for being detected to the object.
In an optional implementation, sensor of interest can be three axis referred in step 201 and step 202 and add
Velocity sensor, kinematic parameter are acceleration.
In this embodiment it is possible to which 3-axis acceleration sensor is mounted on object, pass through 3-axis acceleration sensor
The component of acceleration of detection calculates deflection angle, and using deflection angle calculated calibration 3-axis acceleration sensor in motion process
The acceleration of middle acquisition, thus make the actual acceleration of the acceleration object after calibration, it can be to avoid due to that horizontal can not pacify
It is the defect of object actual acceleration that dress, which leads to the acceleration detected not, and then the acceleration due to inaccuracy is avoided to cause to supervise
Alert or false alarm is failed to report during control.
In another optional implementation, sensor of interest can be detection axis and the 3-axis acceleration sensor
Detection axis other sensors disposed in parallel.
Wherein, other sensors can be the sensor of the kinematic parameter of energy test object, such as can be angular speed biography
Sensor, direction sensor etc..The purpose that 3-axis acceleration sensor is arranged is detection in order to determine 3-axis acceleration sensor
Deflection angle of the axis relative to detection axis in traveling coordinate system, therefore, 3-axis acceleration sensor can be set on object, can also
To be not arranged on object, it is as long as guaranteeing that the detection axis of other sensors is parallel with the detection axis of 3-axis acceleration sensor
It can.
Citing, other sensors and 3-axis acceleration sensor may be located on car-mounted terminal, and by car-mounted terminal
It is installed on vehicle.Since other sensors and 3-axis acceleration sensor are provided to the parameter of detection vehicle, inciting somebody to action
Other sensors and 3-axis acceleration sensor phase when on car-mounted terminal is arranged in other sensors and 3-axis acceleration sensor
It answers reference axis consistent, i.e., angle is not present between corresponding axis.When car-mounted terminal can not be horizontally mounted, other sensors
Deflection angle of the detection axis relative to detection axis in traveling coordinate system, sits with the detection axis of 3-axis acceleration sensor relative to traveling
The deflection angle of detection axis is identical in mark system.
In this embodiment, since the detection axis of other sensors is parallel with the detection axis of 3-axis acceleration sensor, because
Deflection angle of the detection axis of this other sensors relative to detection axis in traveling coordinate system, the detection with 3-axis acceleration sensor
Axis is identical relative to the deflection angle of detection axis in traveling coordinate system, therefore can use calculated deflection angle and calibrate other
The kinematic parameter of sensor acquisition, makes calibration parameter be not limited to 3-axis acceleration, to increase the diversity of calibration parameter.
It, can be with when calibrating the kinematic parameter in the detection axis of sensor of interest of sensor of interest acquisition according to deflection angle
According to the movement ginseng in the deflection angle and the detection axis of the sensor of interest of trigonometric function calibration sensor of interest acquisition
Number.
As it can be seen that the present embodiment is calibrated by way of trigonometric function, without outside resources, it is easier reality
It is existing.
Further, one of specific calculation method is also disclosed in the application, as follows:
If the detection axis includes X-axis, according to the deflection angle using the calibration sensor of interest acquisition of following formula
Kinematic parameter in the X-axis of the sensor of interest:
If the detection axis includes Y-axis, according to the deflection angle using the calibration sensor of interest acquisition of following formula
Kinematic parameter in the Y-axis of the sensor of interest:
If the detection axis includes Z axis, according to the deflection angle using the calibration sensor of interest acquisition of following formula
Kinematic parameter on the Z axis of the sensor of interest:
Wherein, Rx、Ry、RzRespectively indicate sensor of interest actual acquisition X-axis, Y-axis, Z axis kinematic parameter, Rx'、R'y、
Rz' the kinematic parameter after X-axis, Y-axis, Z axis calibration is respectively indicated, α indicates that the X-axis of 3-axis acceleration sensor is sat relative to traveling
The deflection angle of X-axis in mark system, β indicate deflection angle of the Y-axis of 3-axis acceleration sensor relative to Y-axis in traveling coordinate system, γ
Indicate deflection angle of the Z axis of 3-axis acceleration sensor relative to Z axis in traveling coordinate system.
As it can be seen that the present embodiment can directly calibrate the mesh of sensor of interest acquisition by trigonometric function relationship according to deflection angle
The kinematic parameter in the detection axis of sensor is marked, without other outside resources, save the cost, and computational efficiency are high.
After calibrating kinematic parameter, the kinematic parameter after calibration can be determined as to movement ginseng of the object in detection axis
Number, to improve the accuracy of kinematic parameter.
Corresponding with the embodiment of the application parameter calibrating method, present invention also provides the implementations of parametric calibration device
Example.
It is a kind of the application structural representation of parametric calibration device shown according to an exemplary embodiment referring to Fig. 3, Fig. 3
Figure.Described device includes: that component obtains module 310, deflection angle determining module 320 and parametric calibration module 330.
Wherein, component obtains module 310, for obtaining acceleration of gravity in each reference axis of 3-axis acceleration sensor
Component of acceleration, the component of acceleration is the acceleration of gravity that the 3-axis acceleration sensor acquires in a static condition
Component.
Deflection angle determining module 320, for calculating the detection axis of 3-axis acceleration sensor according to the component of acceleration
Deflection angle relative to detection axis in the traveling coordinate system of object, wherein when deflection angle is zero, the 3-axis acceleration sensing
The parameter that device detects in detection axis, for indicating parameter of the object in traveling coordinate system in detection axis.
Parametric calibration module 330, for calibrating the sensor of interest of sensor of interest acquisition according to the deflection angle
Detection axis on kinematic parameter, the sensor of interest is arranged on the object, and the sensor of interest includes described three
The detection axis other sensors disposed in parallel of axle acceleration sensor and/or detection axis and the 3-axis acceleration sensor.
As seen from the above-described embodiment, the acceleration of gravity acquired in a static condition by obtaining 3-axis acceleration sensor
Component of acceleration in each reference axis of 3-axis acceleration sensor, and 3-axis acceleration is calculated using gravitational acceleration component
Deflection angle of the detection axis of sensor relative to detection axis in traveling coordinate system, can calibrate sensor of interest according to deflection angle and adopt
Kinematic parameter in the detection axis of the sensor of interest of collection does not need to be horizontally mounted to realize in installation targets sensor,
It is a large amount of to save the set-up time, installation effectiveness is improved, while avoiding the defect of measurement data inaccuracy caused by installation horizontal departure.
In an optional implementation, specify the reference axis on horizontal plane parallel in the 3-axis acceleration sensor
In or vertical plane where being present in respective coordinates axis, the respective coordinates axis is to add in the traveling coordinate system of object with three axis
The corresponding reference axis of reference axis on horizontal plane is specified in velocity sensor.
In an optional implementation, described device further includes condition determining module (Fig. 3 is not shown).
Condition determining module, for obtaining the acceleration value of preset group number from the 3-axis acceleration sensor；It determines
The difference of maxima and minima is less than or equal to the axis preset threshold in every axle acceleration value.
It is connect it is understood that condition determining module obtains module with component, the case where condition determining module meets
The lower component that just executes obtains module.
As seen from the above-described embodiment, without outside resources, directly according to the acceleration of 3-axis acceleration sensor acquisition
Angle value judges whether 3-axis acceleration sensor meets static conditions, save the cost.
In an optional implementation, the deflection angle determining module includes that deflection angle determines that (Fig. 3 does not show submodule
Out).
Wherein, deflection angle determines submodule, for determining 3-axis acceleration according to the component of acceleration and trigonometric function
Deflection angle of the detection axis of sensor relative to detection axis in traveling coordinate system.
As seen from the above-described embodiment, the present embodiment calculates deflection angle by way of trigonometric function, provides without the external world
Source is easier to realize.
In an optional implementation, the parametric calibration module includes parametric calibration submodule (Fig. 3 is not shown).
Wherein, parametric calibration submodule, for what is acquired according to the deflection angle and trigonometric function calibration sensor of interest
Kinematic parameter in the detection axis of the sensor of interest.
As seen from the above-described embodiment, the present embodiment is calibrated by way of trigonometric function, without outside resources,
It is easier to realize.
In an optional implementation, the deflection angle determines submodule, is used for:
If the detection axis includes X-axis, 3-axis acceleration is calculated using following formula according to the component of acceleration and is passed
Deflection angle of the X-axis of sensor relative to X-axis in traveling coordinate system:
If the detection axis includes Y-axis, 3-axis acceleration is calculated using following formula according to the component of acceleration and is passed
Deflection angle of the Y-axis of sensor relative to Y-axis in traveling coordinate system:
If the detection axis includes Z axis, 3-axis acceleration is calculated using following formula according to the component of acceleration and is passed
Deflection angle of the Z axis of sensor relative to Z axis in traveling coordinate system:
Wherein, α indicates deflection angle of the X-axis of 3-axis acceleration sensor relative to X-axis in traveling coordinate system, and β indicates three
Deflection angle of the Y-axis of axle acceleration sensor relative to Y-axis in traveling coordinate system, γ indicate the Z axis of 3-axis acceleration sensor
Relative to the deflection angle of Z axis in traveling coordinate system, Jx, Jy, Jz respectively indicate acceleration of gravity and sense in the 3-axis acceleration
The X-axis of device, Y-axis, the different components of acceleration generated on Z axis.
In an optional implementation, the parametric calibration submodule is used for:
If the detection axis includes X-axis, according to the deflection angle using the calibration sensor of interest acquisition of following formula
Kinematic parameter in the X-axis of the sensor of interest:
If the detection axis includes Y-axis, according to the deflection angle using the calibration sensor of interest acquisition of following formula
Kinematic parameter in the Y-axis of the sensor of interest:
If the detection axis includes Z axis, according to the deflection angle using the calibration sensor of interest acquisition of following formula
Kinematic parameter on the Z axis of the sensor of interest:
Wherein, Rx'、R'y、Rz' respectively indicate the kinematic parameter after X-axis, Y-axis, Z axis calibration, Rx、Ry、RzRespectively indicate mesh
Mark sensor actual acquisition X-axis, Y-axis, Z axis kinematic parameter, α indicate 3-axis acceleration sensor X-axis relative to traveling sit
The deflection angle of X-axis in mark system, β indicate deflection angle of the Y-axis of 3-axis acceleration sensor relative to Y-axis in traveling coordinate system, γ
Indicate deflection angle of the Z axis of 3-axis acceleration sensor relative to Z axis in traveling coordinate system.
The function of modules and the realization process of effect are specifically detailed in the above method and correspond to step in above-mentioned apparatus
Realization process, details are not described herein.
For device embodiment, since it corresponds essentially to embodiment of the method, so related place is referring to method reality
Apply the part explanation of example.The apparatus embodiments described above are merely exemplary, wherein described be used as separation unit
The module of explanation may or may not be physically separated, and the component shown as module can be or can also be with
It is not physical module, it can it is in one place, or may be distributed on multiple network modules.It can be according to actual
The purpose for needing to select some or all of the modules therein to realize application scheme.Those of ordinary skill in the art are not paying
Out in the case where creative work, it can understand and implement.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to its of the application
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the application, these modifications, purposes or
Person's adaptive change follows the general principle of the application and including the undocumented common knowledge in the art of the application
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the application are by following
Claim is pointed out.
It should be understood that the application is not limited to the precise structure that has been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.Scope of the present application is only limited by the accompanying claims.
Claims (9)
1. a kind of parameter calibrating method, which is characterized in that the described method includes:
Component of acceleration of the acceleration of gravity in each reference axis of 3-axis acceleration sensor is obtained, the component of acceleration is
The gravitational acceleration component that the 3-axis acceleration sensor acquires in a static condition；
According to the component of acceleration, the detection axis of 3-axis acceleration sensor is calculated relative to examining in the traveling coordinate system of object
Survey the deflection angle of axis, wherein when deflection angle is zero, the parameter that the 3-axis acceleration sensor detects in detection axis,
For indicating parameter of the object in traveling coordinate system in detection axis；
The kinematic parameter in the detection axis of the sensor of interest of sensor of interest acquisition, packet are calibrated according to the deflection angle
It includes:
If the detection axis includes X-axis, according to the deflection angle using described in the calibration sensor of interest acquisition of following formula
Kinematic parameter in the X-axis of sensor of interest:
If the detection axis includes Y-axis, according to the deflection angle using described in the calibration sensor of interest acquisition of following formula
Kinematic parameter in the Y-axis of sensor of interest:
If the detection axis includes Z axis, according to the deflection angle using described in the calibration sensor of interest acquisition of following formula
Kinematic parameter on the Z axis of sensor of interest:
Wherein, R'x、R'y、R'zKinematic parameter after respectively indicating X-axis, Y-axis, Z axis calibration, Rx、Ry、RzRespectively indicate target biography
Sensor actual acquisition X-axis, Y-axis, Z axis kinematic parameter, α indicate 3-axis acceleration sensor X-axis relative to traveling coordinate system
The deflection angle of middle X-axis, β indicate deflection angle of the Y-axis of 3-axis acceleration sensor relative to Y-axis in traveling coordinate system, and γ is indicated
Deflection angle of the Z axis of 3-axis acceleration sensor relative to Z axis in traveling coordinate system；
The sensor of interest is arranged on the object, and the sensor of interest includes the 3-axis acceleration sensor, and/
Or the detection axis other sensors disposed in parallel of detection axis and the 3-axis acceleration sensor.
2. the method according to claim 1, wherein being specified on horizontal plane in the 3-axis acceleration sensor
Reference axis is parallel to or is present in vertical plane where respective coordinates axis, the respective coordinates axis be in the traveling coordinate system of object with
The corresponding reference axis of reference axis on horizontal plane is specified in the 3-axis acceleration sensor.
3. method according to claim 1 or 2, which is characterized in that the acquisition acceleration of gravity is passed in 3-axis acceleration
Before component of acceleration in each reference axis of sensor, further includes:
The acceleration value of preset group number is obtained from the 3-axis acceleration sensor；
Determine that the difference of maxima and minima in every axle acceleration value is less than or equal to the axis preset threshold.
4. method according to claim 1 or 2, which is characterized in that it is described according to the component of acceleration, it calculates three axis and adds
Deflection angle of the detection axis of velocity sensor relative to detection axis in the traveling coordinate system of object, comprising: according to the acceleration
Component and trigonometric function determine deflection angle of the detection axis of 3-axis acceleration sensor relative to detection axis in traveling coordinate system.
5. according to the method described in claim 4, it is characterized in that, described determine according to the component of acceleration and trigonometric function
Deflection angle of the detection axis of 3-axis acceleration sensor relative to detection axis in traveling coordinate system, comprising:
If the detection axis includes X-axis, 3-axis acceleration sensor is calculated using following formula according to the component of acceleration
X-axis relative to traveling coordinate system in X-axis deflection angle:
If the detection axis includes Y-axis, 3-axis acceleration sensor is calculated using following formula according to the component of acceleration
Y-axis relative to traveling coordinate system in Y-axis deflection angle:
If the detection axis includes Z axis, 3-axis acceleration sensor is calculated using following formula according to the component of acceleration
Z axis relative to traveling coordinate system in Z axis deflection angle:
Wherein, α indicates deflection angle of the X-axis of 3-axis acceleration sensor relative to X-axis in traveling coordinate system, and β indicates that three axis add
Deflection angle of the Y-axis of velocity sensor relative to Y-axis in traveling coordinate system, γ indicate that the Z axis of 3-axis acceleration sensor is opposite
The deflection angle of Z axis, J in traveling coordinate systemx、Jy、JzAcceleration of gravity is respectively indicated in the X of the 3-axis acceleration sensor
Axis, Y-axis, the different components of acceleration generated on Z axis.
6. a kind of parametric calibration device, which is characterized in that described device includes:
Component obtains module, for obtaining acceleration of the acceleration of gravity in each reference axis of 3-axis acceleration sensor point
Amount, the component of acceleration is the gravitational acceleration component that the 3-axis acceleration sensor acquires in a static condition；
Deflection angle determining module, for according to the component of acceleration, calculate the detection axis of 3-axis acceleration sensor relative to
The deflection angle of detection axis in the traveling coordinate system of object, wherein when deflection angle is zero, the 3-axis acceleration sensor is being examined
The parameter detected on axis is surveyed, for indicating parameter of the object in traveling coordinate system in detection axis；
Parametric calibration module, the detection axis of the sensor of interest for calibrating sensor of interest acquisition according to the deflection angle
On kinematic parameter, the sensor of interest is arranged on the object, and the sensor of interest includes the 3-axis acceleration
The detection axis other sensors disposed in parallel of sensor and/or detection axis and the 3-axis acceleration sensor；
The parametric calibration module includes parametric calibration submodule, and the parametric calibration submodule is used for:
If the detection axis includes X-axis, according to the deflection angle using described in the calibration sensor of interest acquisition of following formula
Kinematic parameter in the X-axis of sensor of interest:
If the detection axis includes Y-axis, according to the deflection angle using described in the calibration sensor of interest acquisition of following formula
Kinematic parameter in the Y-axis of sensor of interest:
If the detection axis includes Z axis, according to the deflection angle using described in the calibration sensor of interest acquisition of following formula
Kinematic parameter on the Z axis of sensor of interest:
Wherein, R'x、R'y、R'zKinematic parameter after respectively indicating X-axis, Y-axis, Z axis calibration, Rx、Ry、RzRespectively indicate target biography
Sensor actual acquisition X-axis, Y-axis, Z axis kinematic parameter, α indicate 3-axis acceleration sensor X-axis relative to traveling coordinate system
The deflection angle of middle X-axis, β indicate deflection angle of the Y-axis of 3-axis acceleration sensor relative to Y-axis in traveling coordinate system, and γ is indicated
Deflection angle of the Z axis of 3-axis acceleration sensor relative to Z axis in traveling coordinate system.
7. device according to claim 6, which is characterized in that specified on horizontal plane in the 3-axis acceleration sensor
Reference axis is parallel to or is present in vertical plane where respective coordinates axis, the respective coordinates axis be in the traveling coordinate system of object with
The corresponding reference axis of reference axis on horizontal plane is specified in the 3-axis acceleration sensor.
8. device according to claim 6 or 7, which is characterized in that described device further include:
Condition determining module determines every axis for obtaining the acceleration value of preset group number from the 3-axis acceleration sensor
The difference of maxima and minima is less than or equal to the axis preset threshold in acceleration value.
9. device according to claim 6 or 7, which is characterized in that the deflection angle determining module includes that deflection angle determines
Submodule, the deflection angle determine submodule, are used for:
If the detection axis includes X-axis, 3-axis acceleration sensor is calculated using following formula according to the component of acceleration
X-axis relative to traveling coordinate system in X-axis deflection angle:
If the detection axis includes Y-axis, 3-axis acceleration sensor is calculated using following formula according to the component of acceleration
Y-axis relative to traveling coordinate system in Y-axis deflection angle:
If the detection axis includes Z axis, 3-axis acceleration sensor is calculated using following formula according to the component of acceleration
Z axis relative to traveling coordinate system in Z axis deflection angle:
Wherein, α indicates deflection angle of the X-axis of 3-axis acceleration sensor relative to X-axis in traveling coordinate system, and β indicates that three axis add
Deflection angle of the Y-axis of velocity sensor relative to Y-axis in traveling coordinate system, γ indicate that the Z axis of 3-axis acceleration sensor is opposite
The deflection angle of Z axis, J in traveling coordinate systemx、Jy、JzAcceleration of gravity is respectively indicated in the X of the 3-axis acceleration sensor
Axis, Y-axis, the different components of acceleration generated on Z axis.
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| CN106931960B (en) * | 2017-03-13 | 2020-05-05 | 武汉准我飞科技有限公司 | Attitude data acquisition method and device |
| CN106934876B (en) * | 2017-03-16 | 2019-08-20 | 广东翼卡车联网服务有限公司 | A kind of recognition methods and system of vehicle abnormality driving event |
| CN108303568B (en) * | 2017-12-22 | 2020-11-24 | 歌尔股份有限公司 | Test method of accelerometer |
| CN110967523A (en) * | 2018-09-30 | 2020-04-07 | 北京奇虎科技有限公司 | Vehicle acceleration detection method and device |
| CN111366171B (en) * | 2018-12-26 | 2022-12-20 | 宇通客车股份有限公司 | Automatic gyroscope attitude identification method and system |
| CN113311191A (en) * | 2020-02-26 | 2021-08-27 | 株洲中车时代电气股份有限公司 | On-line calibration method and device for vehicle-mounted accelerometer |
| CN114910666A (en) * | 2022-03-23 | 2022-08-16 | 西安法士特汽车传动有限公司 | A static compensation and correction method of acceleration sensor for vehicle slope estimation |
| CN117110649B (en) * | 2023-08-02 | 2024-10-11 | 中国科学院自动化研究所 | Quality enhancement method, device and system for motion data |
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