CN108627151B - Rotation angle measurement device, method and electronic device based on inertial measurement unit - Google Patents

Abstract

The embodiment of the invention provides a corner measuring device and method based on an inertia measuring unit and electronic equipment, wherein the weight of three X, Y and Z axes of an object to be measured at the current moment is determined according to the measurement data of the three X, Y and Z axes of an accelerometer in the inertia measuring unit at the inertia measuring unit, and the corner of the object to be measured at the current moment is calculated according to the determined weight of the three X, Y and Z axes and the measurement data of the three X, Y and Z axes of a gyroscope in the inertia measuring unit at the current moment.

Description

Rotation angle measurement device, method and electronic device based on inertial measurement unit

technical field

The present invention relates to the field of communication technologies, and in particular, to an inertial measurement unit-based rotational angle measurement device, method and electronic device.

Background technique

In recent years, the demand for location-based services has been increasing day by day, and thus the application of location technology has become more and more widespread. Among them, the measurement of the rotation angle of an object is one of the important subjects.

At present, Inertial Measurement Unit (IMU, Inertial Measurement Unit) is often integrated on aircraft, robots, wearable devices and smartphones to detect the attitude and trajectory information of objects. The existing IMU-based rotation angle measurement methods require Based on an important premise, that is, during the measurement process, the inertial measurement unit needs to maintain a specific attitude relative to the object to be measured, for example, the inertial measurement unit and the object to be measured maintain a specific angle of 30 degrees.

It should be noted that the above description of the technical background is only for the convenience of clearly and completely describing the technical solutions of the present invention and facilitating the understanding of those skilled in the art. It should not be assumed that the above-mentioned technical solutions are well known to those skilled in the art simply because these solutions are described in the background section of the present invention.

SUMMARY OF THE INVENTION

In practical applications, the application scenarios of any fixed posture or even variable posture are also very wide. It may not maintain a specific angle, and its angle with the human body may not always maintain the above-mentioned specific angle of 30 degrees. When using the above-mentioned existing inertial measurement unit-based rotation angle measurement method, the measurement result cannot reflect the real motion state of the human body when the attitude of the inertial measurement unit is not specific, resulting in inaccurate measurement results.

Embodiments of the present invention provide a rotation angle measurement device, method, and electronic device for an inertial measurement unit. The weights of the XYZ three axes of the object to be measured at the current moment are determined according to the measurement data of the XYZ three axes of the accelerometer in the inertial measurement unit, and According to the determined weights of the XYZ three axes and the measurement data of the XYZ three axes of the gyroscope in the inertial measurement unit at the current moment, the rotation angle of the object to be measured at the current moment can be calculated, and the rotation angle of the object to be measured can be calculated without a specific attitude. Accurate measurements with low computational complexity, enabling real-time measurements.

According to a first aspect of the embodiments of the present invention, there is provided a rotation angle measurement device based on an inertial measurement unit, the inertial measurement unit is carried by an object to be measured, the inertial measurement unit includes an accelerometer and a gyroscope, and the device includes: The first determination unit is used to determine the weights of the XYZ three axes of the object to be measured at the current moment according to the measurement data of the XYZ three axes of the accelerometer; the first calculation unit is used to determine The XYZ three-axis weight of the object to be measured at the current moment and the XYZ three-axis measurement data of the gyroscope at the current moment are used to calculate the rotation angle of the object to be measured at the current moment.

According to a second aspect of the embodiments of the present invention, an electronic device is provided, including the apparatus according to the first aspect of the embodiments of the present invention.

According to a third aspect of the embodiments of the present invention, there is provided a rotation angle measurement method based on an inertial measurement unit, the inertial measurement unit is carried by an object to be measured, the inertial measurement unit includes an accelerometer and a gyroscope, and the method includes: According to the measurement data of the XYZ three axes of the accelerometer, determine the weights of the XYZ three axes of the object to be measured at the current moment; The XYZ three-axis measurement data of the gyroscope at the current moment is used to calculate the rotation angle of the object to be measured at the current moment.

The beneficial effect of the present invention is that: according to the measurement data of the XYZ three axes of the accelerometer in the inertial measurement unit, the weights of the XYZ three axes of the object to be measured at the current moment are determined, and according to the determined weights of the XYZ three axes and the inertia at the current moment The measurement data of the XYZ three-axis of the gyroscope in the measurement unit can calculate the rotation angle of the object to be measured at the current moment, which can accurately measure the rotation angle of the object to be measured without a specific attitude, and the calculation complexity is low. real-time measurement.

With reference to the following description and drawings, specific embodiments of the invention are disclosed in detail, indicating the manner in which the principles of the invention may be employed. It should be understood that embodiments of the present invention are not thereby limited in scope. Embodiments of the invention include many changes, modifications and equivalents within the spirit and scope of the appended claims.

Features described and/or illustrated for one embodiment may be used in the same or similar manner in one or more other embodiments, in combination with, or instead of features in other embodiments .

It should be emphasized that the term "comprising/comprising" when used herein refers to the presence of a feature, integer, step or component, but does not exclude the presence or addition of one or more other features, integers, steps or components.

Description of drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention, constitute a part of the specification, are used to illustrate embodiments of the invention, and together with the written description, serve to explain the principles of the invention. Obviously, the drawings in the following description are only some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort. In the attached image:

1 is a schematic diagram of an inertial measurement unit-based rotational angle measurement device according to Embodiment 1 of the present invention;

FIG. 2 is a schematic diagram of the first determining unit 101 in Embodiment 1 of the present invention;

FIG. 3 is a schematic diagram of the first detection unit 103 according to Embodiment 1 of the present invention;

FIG. 4 is a schematic diagram of the second determining unit 201 in Embodiment 1 of the present invention;

FIG. 5 is a schematic diagram of the first computing unit 102 according to Embodiment 1 of the present invention;

6 is a schematic diagram of detecting the attitude change of the inertial measurement unit according to the change of the XYZ three-axis weight determined by the motion main axis according to Embodiment 1 of the present invention;

FIG. 7 is a schematic diagram of the eighth determination unit 106 in Embodiment 1 of the present invention;

8 is a schematic diagram of an electronic device according to Embodiment 2 of the present invention;

9 is a schematic block diagram of a system configuration of an electronic device according to Embodiment 2 of the present invention;

10 is a schematic diagram of a rotational angle measurement method based on an inertial measurement unit according to Embodiment 3 of the present invention;

FIG. 11 is another schematic diagram of the method for measuring a rotation angle based on an inertial measurement unit according to Embodiment 3 of the present invention.

Detailed ways

The foregoing and other features of the present invention will become apparent from the following description with reference to the accompanying drawings. In the specification and drawings, specific embodiments of the invention are disclosed in detail, which are indicative of some of the embodiments in which the principles of the invention may be employed, it being understood that the invention is not limited to the described embodiments, but rather The invention includes all modifications, variations and equivalents falling within the scope of the appended claims.

Example 1

This embodiment provides a rotation angle measurement device based on an inertial measurement unit, the inertial measurement unit is carried by the object to be measured, and the inertial measurement unit includes an accelerometer and a gyroscope. FIG. 1 is a schematic diagram of an inertial measurement unit-based rotation angle measurement device according to Embodiment 1 of the present invention. As shown in FIG. 1 , the rotation angle measurement device 100 includes:

The first determination unit 101 is used for determining the weights of the XYZ three axes of the object to be measured at the current moment according to the measurement data of the XYZ three axes of the accelerometer;

The first calculation unit 102 is used to calculate the object to be measured at the current moment according to the determined weights of the XYZ three axes of the object to be measured at the current moment and the measurement data of the XYZ three axes of the gyroscope at the current moment corner.

In this embodiment, the rotation angle measurement device 100 measures the rotation angle based on the measurement data of the inertial measurement unit. The inertial measurement unit may not be included in the rotation angle measurement device 100, but only provides the measurement data to the rotation angle measurement device 100 for use. , which may also be included in the rotational angle measuring device 100 .

In this embodiment, the object to be measured carries the inertial measurement unit. For example, the inertial measurement unit is integrated into electronic devices such as aircraft, robots, wearable devices, and smart phones. The user of the smartphone can be used as the object to be measured.

In this embodiment, the inertial measurement unit includes an accelerometer and a gyroscope, which can use existing structures.

It can be seen from the above embodiment that the weights of the XYZ three axes of the object to be measured at the current moment are determined according to the measurement data of the XYZ three axes of the accelerometer in the inertial measurement unit, and the inertial measurement is performed according to the determined weights of the XYZ three axes and the current moment. The measurement data of the XYZ three-axis of the gyroscope in the unit can calculate the rotation angle of the object to be measured at the current moment, which can accurately measure the rotation angle of the object to be measured without a specific attitude, and the calculation complexity is low. Real-time Measurement.

In this embodiment, the first determining unit 101 is configured to determine the weights of the XYZ three axes of the object to be measured at the current moment according to the measurement data of the XYZ three axes of the accelerometer.

In this embodiment, the weights of the XYZ three axes of the object to be measured at the current moment refer to the measurement data of the XYZ three axes of the gyroscope when the measurement data of the XYZ three axes of the gyroscope is used to calculate the rotation angle at the current moment, the measurement of the XYZ three axes of the gyroscope weight of the data.

The structure of the first determining unit 101 and the method for determining the weight are exemplarily described below.

In this embodiment, the rotation angle measurement device 100 may further include:

The first detection unit 103 is used for detecting whether the object to be tested is in a quasi-static state.

FIG. 2 is a schematic diagram of the first determination unit 101 in Embodiment 1 of the present invention. As shown in FIG. 2, the first determining unit 101 includes:

The second determination unit 201 is configured to determine the motion of the object to be measured at the current moment according to the XYZ three-axis measurement data of the accelerometer in a predetermined time period before the current moment when the object to be measured is not in quasi-static state main axis, and determine the weights of the XYZ three axes of the object to be measured at the current moment according to the motion main axis;

The third determination unit 202 is configured to obtain the gravity components of the XYZ axes at the current moment according to the measurement data of the accelerometer at the current moment of the XYZ axes when the object to be measured is in a quasi-static state, and according to the gravity components Determine the weights of the XYZ three axes of the object to be measured at the current moment.

In this embodiment, the quasi-static detection of the object to be measured runs through the entire rotation angle detection process. Once the object to be measured is detected to be quasi-static, the original determination of the weight based on the main axis of motion is switched to the determination of the weight based on the gravity component. value, and continues until the process of measuring the angle of rotation ends.

In this way, the method of obtaining the weight value is determined by the quasi-static detection result. The weight value is determined according to the main axis of motion when the quasi-static state is not used, and the calculation is simple. The weights can improve the measurement accuracy. Therefore, different weight determination methods can be flexibly used to measure the rotation angle according to the motion of the object to be measured, which can further improve the flexibility of the measurement method and the accuracy of the measurement result.

In this embodiment, for example, the measurement data of the accelerometer of the inertial measurement unit can be used to detect whether the object to be measured is quasi-static. FIG. 3 is a schematic diagram of the first detection unit 103 according to Embodiment 1 of the present invention. As shown in FIG. 3, the first detection unit 103 includes:

The second calculation unit 301 is used to calculate the difference between the modulus value of the XYZ three-axis measurement data of the accelerometer at the current moment and the gravitational acceleration;

a fourth determining unit 302, configured to determine that the object to be measured is quasi-static at the current moment when the difference is less than or equal to a predetermined threshold;

The fifth determining unit 303 is configured to determine that the object to be measured is not quasi-static at the current moment when the difference is greater than the predetermined threshold.

In this embodiment, the predetermined threshold may be set according to actual needs, for example, the predetermined threshold is 0.01.

For example, the first detection unit 103 can determine whether the object to be detected is in a quasi-static state according to the following formulas (1) and (2):

表示该加速度计在时刻k的XYZ三轴的测量数据的模值，G表示重力加速度。in,

Represents the modulo value of the XYZ three-axis measurement data of the accelerometer at time k, and G represents the gravitational acceleration.

In this embodiment, the second determining unit 201 is configured to, when the object to be measured is not in a quasi-static state, determine that the object to be measured is in the XYZ three-axis measurement data of the accelerometer in a predetermined time period before the current moment. The main axis of motion at the current moment, and the weights of the three axes of XYZ of the object to be measured at the current moment are determined according to the main axis of motion.

The structure and determination method of the second determination unit 201 are exemplarily described below.

FIG. 4 is a schematic diagram of the second determination unit 201 in Embodiment 1 of the present invention. As shown in FIG. 4 , the second determining unit 201 includes:

A third calculation unit 401, which is used to calculate the absolute value of the difference between the mean value of the XYZ three-axis measurement data of the accelerometer in a predetermined time period before the current moment and the absolute value of the difference between the gravitational acceleration;

The sixth determination unit 402, which is used to use the axis with the smallest absolute value of the difference between the absolute value of the mean value of the measured data and the acceleration of gravity as the main axis of motion of the object to be measured at the current moment;

The seventh determination unit 403 is configured to determine the weights of the three axes of XYZ of the object to be measured at the current moment according to the main axis of motion.

For example, the measurement data of the XYZ three axes in a predetermined time period before the current moment can be expressed as:

表示在当前时刻之前预定时间段内加速度计的XYZ三轴的测量数据的均值，

和

分别表示X轴、Y轴、Z轴的测量数据的均值。in,

represents the mean value of the measurement data of the XYZ three axes of the accelerometer in the predetermined time period before the current moment,

and

The mean values of the measurement data of the X-axis, Y-axis, and Z-axis are represented, respectively.

In this embodiment, the predetermined time period (or the number of sampling samples) T _Acc can be obtained according to the following formula (4):

where f _s represents the sampling rate of the inertial measurement unit. For example, the sampling rate is several hundred times per second.

In this embodiment, the third calculation unit 401 and the sixth determination unit 402 can determine the main axis of motion according to the following formula (5):

表示XYZ轴的某一轴的测量数据的均值，G表示重力加速度。in,

Indicates the mean value of the measurement data of a certain axis of the XYZ axis, and G represents the gravitational acceleration.

In this embodiment, the seventh determination unit 403 determines the weights of the XYZ axes of the object to be measured at the current moment according to the main axis of motion, for example, according to the following formulas (6) and (7) to determine the object to be measured at the current moment The weights of the XYZ axes:

表示运动主轴所在的轴，

表示运动主轴所在轴的测量数据的均值，

表示i轴的权值。Among them, L _Acc represents the weight of the XYZ axis,

Indicates the axis on which the main axis of motion is located,

represents the mean value of the measurement data of the axis where the motion spindle is located,

Indicates the weight of the i-axis.

In this embodiment, the third determining unit 202 is configured to obtain the gravity components of the XYZ three axes at the current moment according to the measurement data of the XYZ three axes of the accelerometer at the current moment when the object to be measured is quasi-static, and The weights of the XYZ three axes of the object to be measured at the current moment are determined according to the gravity component.

For example, the third determining unit 202 may calculate the gravity components of the three axes of XYZ at the current moment according to the following formula (8):

分别表示X,Y,Z三轴的重力分量，

分别表示该加速度计在时刻k的X,Y,Z三轴的测量数据。in,

respectively represent the gravitational components of the X, Y, and Z axes,

respectively represent the measurement data of the accelerometer in the X, Y, and Z axes at time k.

In this embodiment, when a new gravitational component is obtained, the gravitational component is updated to calculate the weights of the XYZ three axes, and if no new gravitational component is obtained, the original gravitational component is always used to calculate XYZ The weights of the three axes.

For example, the weights of the XYZ axes of the object to be measured at the current moment can also be determined according to the following formula (9):

分别表示待测物体在当前时刻的X轴、Y轴和Z轴的权值，

分别表示X轴、Y轴和Z轴的重力分量。in,

respectively represent the weights of the X-axis, Y-axis and Z-axis of the object to be measured at the current moment,

represent the gravitational components of the X-axis, Y-axis, and Z-axis, respectively.

In this embodiment, after the first determining unit 101 determines the weights of the XYZ three axes of the object to be measured at the current moment, the first calculation unit 102 determines the weights of the three XYZ axes of the object to be measured at the current moment according to the weights and the XYZ three-axis measurement data of the gyroscope at the current moment to calculate the rotation angle of the object to be measured at the current moment.

The structure of the first calculation unit 102 and the method for calculating the rotation angle are exemplarily described below.

FIG. 5 is a schematic diagram of the first computing unit 102 according to Embodiment 1 of the present invention. As shown in FIG. 5, the first computing unit 102 includes:

The fourth calculation unit 501 is used to calculate the object to be measured at the current moment according to the determined weights of the XYZ three axes of the object to be measured at the current moment and the measurement data of the XYZ three axes of the gyroscope at the current moment The angle increment of ;

The fifth calculation unit 502 is configured to calculate the rotation angle of the object to be measured at the current moment according to the rotation angle of the object to be measured at the previous moment and the compensation function about the increment of the rotation angle of the object to be detected at the current moment.

For example, the fourth calculation unit 501 can calculate the rotation angle increment of the object to be measured at the current moment according to the following formula (10):

表示时刻k的陀螺仪的XYZ三轴输出值，W_Acc＝[w_x,w_y,w_z]，其表示时刻k的XYZ三轴的权值。Among them, Δθ _k represents the corner increment at time k (current time),

It represents the XYZ three-axis output value of the gyroscope at time k, W _Acc =[w _x , w _y , w _z ], which represents the weight of the XYZ three-axis at time k.

In this embodiment, when the weight is determined according to the main axis of motion, W=L _Acc ; when the weight is determined according to the gravity component, W _Acc =α _Acc . That is, when the weight is determined according to the main axis of motion, the weight can be obtained according to the above formulas (6) and (7), and when the weight is determined according to the gravity component, the weight can be obtained according to the above formula (9). value.

For example, the fifth calculation unit 502 can calculate the rotation angle of the object to be measured at the current moment according to the following formula (11):

θ _k = (θ _k-1 +f(Δθ _k )+360)% 360 (11)

Among them, θ _k represents the rotation angle at time k (current moment), θ _k-1 represents the rotation angle at time k-1 (previous moment), and f(Δθ _k ) represents the compensation function of the rotation angle increment at time k, which can be is a linear function or a second-order function.

In this embodiment, when f(Δθ _k ) is a linear function, it can be expressed as:

f(Δθ _k )=k ₁ ×Δθ _k +ε (12)

Wherein, k ₁ is a weight value, for example, it is a value in the range of 0.5 to 1.5, for example, 1.128; ε represents zero-mean Gaussian noise, which is a random number.

When f(Δθ _k ) is a second-order function, it can be expressed as:

f(Δθ _k )=k ₁ ×(Δθ _k ) ² +k ₂ ×Δθ _k +ε (13)

Wherein, k ₁ and k ₂ are weights, for example, k ₁ is 0.001, and k ₂ is a value between 0.5 and 1.5, such as 1.128; ε represents zero-mean Gaussian noise, which is a random number.

In this embodiment, the rotation angle measurement device 100 may further include:

a second detection unit 104, which is used to detect whether the attitude of the inertial measurement unit changes;

The invalidation unit 105 is configured to invalidate the measurement result of the rotation angle of the object to be measured at the current moment and within a predetermined time period before and after it is detected that the attitude of the inertial measurement unit changes.

In this embodiment, the detection of the attitude change of the inertial measurement unit by the second detection unit 104 runs through the entire rotation angle detection process. In this way, when the attitude of the inertial measurement unit changes, the rotation angle measurement results of the current moment and the previous predetermined time period and the next predetermined time period are invalidated, so that the output of unreliable measurement results can be avoided, and the user can be avoided. misleading.

In this embodiment, the predetermined time period may be set according to actual needs, for example, the predetermined time period may be determined according to the above formula (4).

In this embodiment, the second detection unit 104 can detect whether the attitude of the inertial measurement unit has changed according to the change of the XYZ three-axis weight determined by the main axis of motion. For example, the inertial measurement unit can be determined according to the following formula (14). Measure whether the attitude of the unit changes:

表示时刻k的根据运动主轴确定的X轴权值，

表示时刻k-1的根据运动主轴确定的X轴权值，

表示时刻k的根据运动主轴确定的Y轴权值，

表示时刻k-1的根据运动主轴确定的Y轴权值，

表示时刻k的根据运动主轴确定的Z轴权值，

表示时刻k-1的根据运动主轴确定的Z轴权值。Among them, d _k represents the attitude judgment result at time k, when d _k =1, it means that the attitude has changed, and when d _k =0, it means that the attitude has not changed;

Represents the X-axis weight determined according to the main axis of motion at time k,

Represents the X-axis weight determined according to the main axis of motion at time k-1,

Represents the Y-axis weight determined according to the main axis of motion at time k,

Represents the Y-axis weight determined according to the main axis of motion at time k-1,

Represents the Z-axis weight determined according to the main axis of motion at time k,

Indicates the Z-axis weight determined according to the main axis of motion at time k-1.

6 is a schematic diagram of detecting the attitude change of the inertial measurement unit according to the change of the XYZ three-axis weight determined by the motion main axis according to Embodiment 1 of the present invention. As shown in FIG. 6 , at the moment of d _k =1, it is detected that the attitude of the inertial measurement unit changes.

In this embodiment, the invalidation unit 105 is configured to invalidate the measurement result of the rotation angle of the object to be measured at the current moment and within a predetermined time period before and after it is detected that the attitude of the inertial measurement unit changes.

In this embodiment, the rotation angle measurement device may further include:

The eighth determination unit 106 is configured to determine the steering of the object to be measured at the current moment according to the change of the rotation angle of the object to be detected at the current moment relative to the rotation angle of the previous moment.

The structure of the eighth determining unit 106 and the method for determining the steering are exemplarily described below.

FIG. 7 is a schematic diagram of the eighth determination unit 106 in Embodiment 1 of the present invention. As shown in FIG. 7 , the eighth determining unit 106 includes:

The ninth determination unit 701 is used to determine the object to be measured when the rotation angle of the object to be measured at the current moment increases relative to the rotation angle of the previous moment when the XYZ three-axis output is a positive value when the gyroscope rotates counterclockwise. The object to be measured turns to the left at the current moment, and when the rotation angle of the object to be measured at the current moment is smaller than the rotation angle of the previous moment, it is determined that the object to be measured turns to the right at the current moment;

The tenth determination unit 702 is used to determine the object to be measured when the rotation angle of the object to be measured at the current moment increases relative to the rotation angle of the previous moment when the XYZ three-axis output is a positive value when the gyroscope rotates clockwise. The object to be measured turns to the right at the current moment, and when the rotation angle of the object to be detected at the current moment decreases relative to the rotation angle of the previous moment, it is determined that the object to be detected turns to the left at the current moment.

It can be seen from the above embodiment that the weights of the XYZ three axes of the object to be measured at the current moment are determined according to the measurement data of the XYZ three axes of the accelerometer in the inertial measurement unit, and the inertial measurement is performed according to the determined weights of the XYZ three axes and the current moment. The measurement data of the XYZ three-axis of the gyroscope in the unit can calculate the rotation angle of the object to be measured at the current moment, which can accurately measure the rotation angle of the object to be measured without a specific attitude, and the calculation complexity is low. Real-time Measurement.

Example 2

An embodiment of the present invention further provides an electronic device, and FIG. 8 is a schematic diagram of the electronic device according to Embodiment 2 of the present invention. As shown in FIG. 8 , the electronic device 800 includes a rotation angle measurement device 801 , wherein the structure and function of the rotation angle measurement device 801 are the same as those described in Embodiment 1, and are not repeated here.

FIG. 9 is a schematic block diagram of a system configuration of an electronic device according to Embodiment 2 of the present invention. As shown in FIG. 9 , the electronic device 900 may include a central processing unit 901 and a memory 902 ; the memory 902 is coupled to the central processing unit 901 . The figure is exemplary; other types of structures may be used in addition to or in place of this structure to implement telecommunication functions or other functions.

As shown in FIG. 9 , the electronic device 900 may further include: an input unit 903 , a display 904 , and a power supply 905 .

In one embodiment, the functions of the rotation angle measurement device described in Embodiment 1 may be integrated into the central processing unit 901 . Wherein, the central processing unit 901 may be configured to: determine the weights of the XYZ three axes of the object to be measured at the current moment according to the measurement data of the XYZ three axes of the accelerometer of the inertial measurement unit; The weight of the XYZ three axes of the object at the current moment and the measurement data of the XYZ three axes of the gyroscope of the inertial measurement unit at the current moment are used to calculate the rotation angle of the object to be measured at the current moment.

The central processing unit 901 may also be configured to: detect whether the object to be measured is quasi-static; determine the XYZ three-axis of the object to be measured at the current moment according to the measurement data of the XYZ three axes of the accelerometer The weights of the axes include: when the object to be measured is not in a quasi-static state, according to the measurement data of the XYZ three axes of the accelerometer in a predetermined time period before the current time, determine the measurement data of the object to be measured at the current time. moving the main axis, and determine the weights of the XYZ three axes of the object to be measured at the current moment according to the main axis of motion; The measurement data of the axis is obtained, the gravity components of the XYZ three axes at the current moment are obtained, and the weights of the XYZ three axes of the object to be measured at the current moment are determined according to the gravity components.

For example, the detecting whether the object to be measured is quasi-static includes: calculating the difference between the modulus value of the XYZ three-axis measurement data of the accelerometer at the current moment and the gravitational acceleration; when the difference is less than or equal to When the predetermined threshold is set, it is determined that the object to be measured is quasi-static at the current moment; when the difference is greater than the predetermined threshold, it is determined that the object to be tested is not quasi-static at the current moment.

For example, determining the main axis of motion of the object to be measured at the current moment according to the XYZ three-axis measurement data of the accelerometer in a predetermined period of time before the current moment, and determining the main axis of motion of the object to be measured at the current moment according to the main axis of motion The weights of the XYZ three axes at the moment include: calculating the absolute value of the difference between the absolute value of the mean value of the measured data of the XYZ three axes of the accelerometer in the predetermined time period before the current moment and the difference between the gravitational acceleration; The axis with the smallest absolute value of the difference between the absolute value of the mean value of the measured data and the acceleration of gravity is used as the main axis of movement of the object to be measured at the current moment; The weights of the three axes of XYZ.

For example, calculating the rotation angle of the object to be measured at the current moment according to the determined weights of the XYZ three axes of the object to be measured at the current moment and the measurement data of the XYZ three axes of the gyroscope at the current moment, Including: calculating the rotation angle increment of the object to be measured at the current moment according to the determined weights of the XYZ three axes of the object to be measured at the current moment and the measurement data of the XYZ three axes of the gyroscope at the current moment; The rotation angle of the object to be measured at the current moment is calculated according to the rotation angle of the object to be measured at the previous moment and the compensation function for the increment of the rotation angle of the object to be detected at the current moment.

For example, the central processing unit 901 may also be configured to: detect whether the attitude of the inertial measurement unit changes; when detecting that the attitude of the inertial measurement unit changes, schedule the object to be measured at the current moment and before and after Rotation angle measurements within the time period are invalidated.

For example, the central processing unit 901 may also be configured to: determine the rotation of the object to be measured at the current moment according to the change of the rotation angle of the object to be detected at the current moment relative to the rotation angle of the object to be detected at the previous moment.

For example, determining the rotation of the object to be measured at the current moment according to the change of the rotation angle of the object to be measured at the current moment relative to the rotation angle of the previous moment includes: XYZ when the gyroscope rotates counterclockwise When the three-axis output is a positive value, when the rotation angle of the object to be measured at the current moment increases relative to the rotation angle of the previous moment, it is determined that the object to be measured turns to the left at the current moment. When the rotation angle of the object at the current moment decreases relative to the rotation angle at the previous moment, it is determined that the object to be measured turns to the right at the current moment; when the XYZ three-axis output is positive when the gyroscope rotates clockwise, when When the rotation angle of the object to be measured at the current moment increases relative to the rotation angle of the previous moment, it is determined that the object to be detected turns to the right at the current moment, and when the rotation angle of the object to be detected at the current moment is relative to the previous moment When the angle of rotation decreases, it is determined that the object to be measured turns to the left at the current moment.

In another implementation manner, the rotation angle measurement device described in Embodiment 1 may be configured separately from the central processing unit 901 , for example, the rotation angle measurement device may be configured as a chip connected to the central processing unit 901 , and controlled by the central processing unit 901 to Realize the function of the angle measuring device.

In this embodiment, the electronic device 900 does not necessarily include all the components shown in FIG. 9 .

As shown in FIG. 9 , a central processing unit 901 , also sometimes referred to as a controller or operational control, may include a microprocessor or other processor device and/or logic device, and the central processing unit 901 receives input and controls various components of the electronic device 900 operation.

The memory 902, for example, may be one or more of a cache, flash memory, hard drive, removable media, volatile memory, non-volatile memory, or other suitable devices. And the central processing unit 901 can execute the program stored in the memory 902 to realize information storage or processing. The functions of other components are similar to the existing ones, and are not repeated here. The various components of electronic device 900 may be implemented by dedicated hardware, firmware, software, or a combination thereof without departing from the scope of the present invention.

It can be seen from the above embodiment that the weights of the XYZ three axes of the object to be measured at the current moment are determined according to the measurement data of the XYZ three axes of the accelerometer in the inertial measurement unit, and the inertial measurement is performed according to the determined weights of the XYZ three axes and the current moment. The measurement data of the XYZ three-axis of the gyroscope in the unit can calculate the rotation angle of the object to be measured at the current moment, which can accurately measure the rotation angle of the object to be measured without a specific attitude, and the calculation complexity is low. Real-time Measurement.

Example 3

The embodiment of the present invention also provides a method for measuring a rotation angle based on an inertial measurement unit, which corresponds to the rotation angle measurement device of Embodiment 1, the inertial measurement unit is carried by the object to be measured, and the inertial measurement unit includes an accelerometer and a gyroscope. FIG. 10 is a schematic diagram of a rotation angle measurement method based on an inertial measurement unit according to Embodiment 3 of the present invention. As shown in Figure 10, the method includes:

Step 1001: According to the measurement data of the XYZ three axes of the accelerometer, determine the weights of the XYZ three axes of the object to be measured at the current moment;

Step 1002: Calculate the rotation angle of the object to be measured at the current moment according to the determined weights of the XYZ three axes of the object to be measured at the current moment and the measurement data of the XYZ three axes of the gyroscope at the current moment.

FIG. 11 is another schematic diagram of the method for measuring a rotation angle based on an inertial measurement unit according to Embodiment 3 of the present invention. As shown in Figure 11, the method includes:

Step 1101: initialize the flag flag, and set flag=0;

Step 1102: According to the measurement data of the XYZ three axes of the accelerometer in a predetermined time period before time k, determine the main axis of motion of the object to be measured at time k;

Step 1103: Detect whether the attitude of the inertial measurement unit has changed, when the detection result is "Yes", go to Step 1104, and when the detection result is "No", go to Step 1105;

Step 1104: invalidate the measurement results of the rotation angle of the object to be measured at time k and within a predetermined time period before and after;

Step 1105: Detect whether the object to be tested is quasi-static, when the judgment result is "Yes", go to Step 1106, and when the judgment result is "No", go to Step 1107;

Step 1106: set flag=1, and update the gravity component;

Step 1107: judge whether the flag is 1, when the judgment result is "no", go to step 1108, when the judgment result is "yes", go to step 1109;

Step 1108: Determine the weights of the XYZ three axes of the object to be measured at time k according to the main axis of motion;

Step 1109: Determine the weights of the XYZ three axes of the object to be measured at time k according to the gravity component;

Step 1110: Calculate the rotation angle of the object to be measured at time k according to the determined weights of the XYZ three axes of the object to be measured at time k and the measurement data of the XYZ three axes of the gyroscope at time k;

Step 1111: k=k+1.

In this embodiment, the detection of the attitude change of the inertial measurement unit in step 1103 and the detection of quasi-static state in step 1105 may run through the whole process of the angle measurement.

In this embodiment, the specific implementation methods in each of the above steps are the same as those described in Embodiment 1, and are not repeated here.

It can be seen from the above embodiment that the weights of the XYZ three axes of the object to be measured at the current moment are determined according to the measurement data of the XYZ three axes of the accelerometer in the inertial measurement unit, and the inertial measurement is performed according to the determined weights of the XYZ three axes and the current moment. The measurement data of the XYZ three-axis of the gyroscope in the unit can calculate the rotation angle of the object to be measured at the current moment, which can accurately measure the rotation angle of the object to be measured without a specific attitude, and the calculation complexity is low. Real-time Measurement.

The embodiment of the present invention also provides a computer-readable program, wherein when the program is executed in the rotation angle measurement device or the electronic device, the program causes the computer to execute the description in Embodiment 3 in the rotation angle measurement device or the electronic device angle measurement method.

An embodiment of the present invention further provides a storage medium storing a computer-readable program, wherein the computer-readable program enables a computer to execute the rotation angle measurement method described in Embodiment 3 in a rotation angle measurement apparatus or electronic device.

The method for performing a rotation angle measurement in a rotation angle measurement device or an electronic device described in conjunction with the embodiments of the present invention may be directly embodied as hardware, a software module executed by a processor, or a combination of the two. For example, one or more of the functional block diagrams shown in FIG. 1 and/or one or more combinations of the functional block diagrams may correspond to either each software module of the computer program flow, or each hardware module. These software modules may correspond to the various steps shown in FIG. 10 and FIG. 11 respectively. These hardware modules can be implemented by, for example, solidifying these software modules using a Field Programmable Gate Array (FPGA).

A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art. A storage medium can be coupled to the processor, such that the processor can read information from, and write information to, the storage medium; or the storage medium can be an integral part of the processor. The processor and storage medium may reside in an ASIC. The software module can be stored in the memory of the mobile terminal, or can be stored in a memory card that can be inserted into the mobile terminal. For example, if a device (eg, a mobile terminal) adopts a larger-capacity MEGA-SIM card or a large-capacity flash memory device, the software module may be stored in the MEGA-SIM card or a large-capacity flash memory device.

One or more of the functional block diagrams described with respect to FIG. 1 and/or one or more combinations of the functional block diagrams can be implemented as a general purpose processor, a digital signal processor (DSP), a special purpose processor for performing the functions described herein Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or any suitable combination thereof. One or more of the functional block diagrams and/or one or more combinations of the functional block diagrams described with respect to FIG. 1 can also be implemented as a combination of computing devices, for example, a combination of a DSP and a microprocessor, multiple microprocessors, One or more microprocessors or any other such arrangement in communication with the DSP.

The present invention has been described above with reference to the specific embodiments, but those skilled in the art should understand that these descriptions are all exemplary and do not limit the protection scope of the present invention. Various variations and modifications of the present invention can be made by those skilled in the art in accordance with the spirit and principles of the present invention, and these variations and modifications are also within the scope of the present invention.

Regarding the implementations including the above embodiments, the following additional notes are also disclosed:

Supplement 1. A rotational angle measurement device based on an inertial measurement unit, the inertial measurement unit is carried by the object to be measured, the inertial measurement unit includes an accelerometer and a gyroscope, and the device includes:

a first determining unit, configured to determine the weights of the three-axis XYZ of the object to be measured at the current moment according to the measurement data of the three-axis XYZ of the accelerometer;

The first calculation unit, which is used to calculate the current time of the object to be measured according to the determined weights of the XYZ three axes of the object to be measured at the current moment and the measurement data of the XYZ three axes of the gyroscope at the current moment. corner of time.

Supplement 2. The device according to Supplement 1, wherein the device further comprises:

a first detection unit, which is used to detect whether the object to be measured is in a quasi-static state;

The first determining unit includes:

The second determining unit is configured to, when the object to be measured is not in a quasi-static state, determine the object to be measured at the current moment according to the XYZ three-axis measurement data of the accelerometer in a predetermined time period before the current moment the main axis of motion, and determine the weights of the three-axis XYZ of the object to be measured at the current moment according to the main axis of motion;

The third determination unit is configured to obtain the gravity components of the XYZ three axes at the current moment according to the measurement data of the XYZ three axes of the accelerometer at the current moment when the object to be measured is quasi-static, and according to the The gravity component determines the weight of the XYZ three axes of the object to be measured at the current moment.

Supplement 3. The device according to Supplement 2, wherein the first detection unit comprises:

a second calculation unit, which is used to calculate the difference between the modulus value of the XYZ three-axis measurement data of the accelerometer at the current moment and the gravitational acceleration;

a fourth determination unit, configured to determine that the object to be measured is quasi-static at the current moment when the difference is less than or equal to a predetermined threshold;

A fifth determination unit, configured to determine that the object to be measured is not quasi-static at the current moment when the difference is greater than the predetermined threshold.

Supplement 4. The device according to Supplement 2, wherein the second determining unit comprises:

a third calculation unit, configured to calculate the absolute value of the difference between the absolute value of the mean value of the XYZ three-axis measurement data of the accelerometer in a predetermined time period before the current moment and the gravitational acceleration;

The sixth determination unit, which is used to use the axis with the smallest absolute value of the difference between the absolute value of the mean value of the measured data and the acceleration of gravity as the main axis of motion of the object to be measured at the current moment;

A seventh determination unit, configured to determine the weights of the three axes of XYZ of the object to be measured at the current moment according to the main axis of motion.

Supplement 5. The device according to Supplement 1, wherein the first computing unit comprises:

The fourth calculation unit is used to calculate the current time of the object to be measured according to the determined weights of the three axes of XYZ at the current moment and the measurement data of the three axes of XYZ at the current time of the gyroscope. Corner increment at time;

The fifth calculation unit, which is used to calculate the rotation angle of the object to be measured at the current moment according to the rotation angle of the object to be measured at the previous moment and the compensation function about the increment of the rotation angle of the object to be measured at the current moment. corner.

Supplement 6. The device according to Supplement 1, wherein the device further comprises:

a second detection unit, configured to detect whether the attitude of the inertial measurement unit changes;

An invalidation unit, which is configured to invalidate the measurement result of the rotation angle of the object to be measured at the current moment and within a predetermined time period before and after it is detected that the attitude of the inertial measurement unit changes.

Supplement 7. The device according to Supplement 1, wherein the device further comprises:

The eighth determination unit is configured to determine the turning of the object to be measured at the current moment according to the change of the rotation angle of the object to be detected at the current moment relative to the rotation angle of the object to be detected at the previous moment.

Supplement 8. The device according to Supplement 7, wherein the eighth determining unit comprises:

The ninth determination unit, which is used for when the XYZ three-axis output is a positive value when the gyroscope rotates counterclockwise, when the rotation angle of the object to be measured at the current moment increases relative to the rotation angle at the previous moment, It is determined that the object to be measured turns to the left at the current moment, and when the rotation angle of the object to be measured at the current moment is reduced relative to the rotation angle of the previous moment, it is determined that the object to be detected turns to the right at the current moment;

The tenth determination unit is used for when the XYZ three-axis output is a positive value when the gyroscope rotates clockwise, when the rotation angle of the object to be measured at the current moment increases relative to the rotation angle at the previous moment, It is determined that the object to be detected turns to the right at the current moment, and when the rotation angle of the object to be detected at the current moment decreases relative to the rotation angle of the previous moment, it is determined that the object to be detected turns to the left at the current moment.

Supplement 9. An electronic device comprising the apparatus according to Supplement 1.

Supplementary Note 10. A rotation angle measurement method based on an inertial measurement unit, the inertial measurement unit comprising an accelerometer and a gyroscope, the method comprising:

According to the measurement data of the XYZ three axes of the accelerometer, determine the weights of the XYZ three axes of the object to be measured at the current moment;

According to the determined weights of the XYZ three axes of the object to be measured at the current moment and the measurement data of the XYZ three axes of the gyroscope at the current moment, the rotation angle of the object to be measured at the current moment is calculated.

Supplement 11. The method according to Supplement 10, wherein the method further comprises:

Detecting whether the object to be tested is quasi-static;

The determination of the weights of the XYZ three axes of the object to be measured at the current moment according to the measurement data of the XYZ three axes of the accelerometer includes:

When the object to be measured is not in a quasi-static state, the main axis of motion of the object to be measured at the current moment is determined according to the XYZ three-axis measurement data of the accelerometer in a predetermined time period before the current moment, and according to the The main axis of motion determines the weights of the XYZ three axes of the object to be measured at the current moment;

When the object to be measured is in a quasi-static state, the gravity components of the three axes of XYZ at the current moment are obtained according to the measurement data of the three axes of XYZ at the current moment, and the object to be measured is determined according to the gravity components The weights of the three axes of XYZ at the current moment.

Supplement 12. The method according to Supplement 11, wherein the detecting whether the object to be measured is quasi-static comprises:

Calculate the difference between the modulus value of the XYZ three-axis measurement data of the accelerometer at the current moment and the acceleration of gravity;

When the difference is less than or equal to a predetermined threshold, it is determined that the object to be measured is quasi-static at the current moment;

When the difference is greater than the predetermined threshold, it is determined that the object to be measured is not quasi-static at the current moment.

Supplement 13. The method according to Supplement 11, wherein the main axis of motion of the object to be measured at the current moment is determined according to the XYZ three-axis measurement data of the accelerometer in a predetermined time period before the current moment , and determine the weights of the three-axis XYZ of the object to be measured at the current moment according to the main axis of motion, including:

Calculate the absolute value of the difference between the absolute value of the mean value of the XYZ three-axis measurement data of the accelerometer in a predetermined time period before the current moment and the gravitational acceleration;

Taking the axis with the smallest absolute value of the difference between the absolute value of the mean value of the measured data and the acceleration of gravity as the main axis of motion of the object to be measured at the current moment;

The weights of the three axes of XYZ of the object to be measured at the current moment are determined according to the main axis of motion.

Supplementary Note 14. The method according to Supplementary Note 10, wherein the determined weights of the XYZ three-axis of the object to be measured at the current moment and the measurement data of the gyroscope at the current moment of the XYZ three-axis , calculate the rotation angle of the object to be measured at the current moment, including:

Calculate the rotation angle increment of the object to be measured at the current moment according to the determined weights of the XYZ three axes of the object to be measured at the current moment and the measurement data of the XYZ three axes of the gyroscope at the current moment;

The rotation angle of the object to be measured at the current moment is calculated according to the rotation angle of the object to be measured at the previous moment and the compensation function for the increment of the rotation angle of the object to be detected at the current moment.

Supplement 15. The method according to Supplement 10, wherein the method further comprises:

detecting whether the attitude of the inertial measurement unit changes;

When it is detected that the attitude of the inertial measurement unit changes, the measurement results of the rotation angle of the object to be measured at the current moment and within a predetermined time period before and after are invalid.

Supplement 16. The method according to Supplement 10, wherein the method further comprises:

According to the change of the rotation angle of the object to be detected at the current moment relative to the rotation angle of the previous moment, the steering of the object to be detected at the current moment is determined.

Supplement 17. The method according to Supplement 16, wherein the steering of the object to be measured at the current moment is determined according to the change of the rotation angle of the object to be measured at the current moment relative to the rotation angle of the previous moment ,include:

When the XYZ three-axis output is positive when the gyroscope rotates counterclockwise, when the rotation angle of the object to be measured at the current moment increases relative to the rotation angle of the previous moment, it is determined that the object to be measured is at the current moment. Turn to the left at the moment, when the turning angle of the object to be measured at the current moment is smaller than the turning angle of the previous moment, it is determined that the object to be measured turns to the right at the current moment;

When the XYZ three-axis output is positive when the gyroscope rotates clockwise, when the rotation angle of the object to be measured at the current moment increases relative to the rotation angle of the previous moment, it is determined that the object to be measured is at the current moment. Turn right at time, and when the turning angle of the object to be measured at the current time is smaller than the turning angle of the previous time, it is determined that the object to be measured turns to the left at the current time.

Claims (8)

1. A rotation angle measuring device based on an inertial measurement unit carried by an object to be measured, the inertial measurement unit including an accelerometer and a gyroscope, the device comprising:

the first determination unit is used for determining the weight of the object to be measured in the three XYZ axes at the current moment according to the measurement data of the three XYZ axes of the accelerometer;

a first calculating unit, configured to calculate a rotation angle of the object to be measured at the current time according to the determined weights of the three XYZ axes of the object to be measured at the current time and the measurement data of the three XYZ axes of the gyroscope at the current time;

the first detection unit is used for detecting whether the object to be detected is in a quasi-static state;

wherein the first determination unit includes:

a second determining unit, configured to determine, when the object to be measured is not in a quasi-static state, a motion principal axis of the object to be measured at a current time according to measurement data of XYZ three axes of the accelerometer within a predetermined time period before the current time, and determine the weight of the object to be measured at the XYZ three axes of the current time according to the motion principal axis;

a third determining unit, configured to, when the object to be measured is in a quasi-static state, obtain, according to measurement data of the accelerometer on three XYZ axes at the current time, a gravity component of the three XYZ axes at the current time, and determine, according to the gravity component, the weight of the object to be measured on the three XYZ axes at the current time;

wherein the first calculation unit includes:

a fourth calculating unit, configured to calculate a rotation angle increment of the object to be measured at the current time according to the determined weights of the three XYZ axes of the object to be measured at the current time and the measurement data of the three XYZ axes of the gyroscope at the current time;

and the fifth calculation unit is used for calculating the rotation angle of the object to be measured at the current moment according to the rotation angle of the object to be measured at the previous moment and a compensation function related to the rotation angle increment of the object to be measured at the current moment.

2. The apparatus of claim 1, wherein the first detection unit comprises:

a second calculation unit, configured to calculate a difference between a modulus of measurement data of the accelerometer in the three XYZ axes at the current time and a gravitational acceleration;

a fourth determination unit, configured to determine that the object to be measured is in a quasi-static state at the current time when the difference is smaller than or equal to a predetermined threshold;

a fifth determining unit, configured to determine that the object to be measured is not in a quasi-static state at the current time when the difference is greater than the predetermined threshold.

3. The apparatus of claim 1, wherein the second determining unit comprises:

a third calculation unit for calculating an absolute value of a difference between an absolute value of a mean value of measurement data of XYZ three axes of the accelerometer in a predetermined period of time before a current time and a gravitational acceleration;

a sixth determining unit, configured to use an axis with a smallest absolute value of a difference between an absolute value of a mean value of the measurement data and the gravitational acceleration as a motion main axis of the object to be measured at the current time;

a seventh determining unit, configured to determine the weights of the XYZ triaxial of the object to be measured at the current time according to the motion principal axis.

4. The apparatus of claim 1, wherein the apparatus further comprises:

a second detection unit for detecting whether the attitude of the inertial measurement unit changes;

and the invalid unit is used for setting the rotation angle measurement result of the object to be measured at the current moment and in a preset time period before and after the current moment as invalid when the change of the attitude of the inertial measurement unit is detected.

5. The apparatus of claim 1, wherein the apparatus further comprises:

and the eighth determining unit is used for determining the steering of the object to be measured at the current moment according to the change condition of the rotating angle of the object to be measured at the current moment relative to the rotating angle at the previous moment.

6. The apparatus of claim 5, wherein the eighth determining unit comprises:

a ninth determining unit, configured to determine that the object to be measured turns left at the current time when the rotation angle of the object to be measured at the current time increases relative to the rotation angle at the previous time, and determine that the object to be measured turns right at the current time when the rotation angle of the object to be measured at the current time decreases relative to the rotation angle at the previous time, in a case where the XYZ triaxial output is a positive value when the gyroscope rotates counterclockwise;

a tenth determining unit, configured to determine that the object to be measured turns right at the current time when the rotation angle of the object to be measured at the current time increases relative to the rotation angle at the previous time, and determine that the object to be measured turns left at the current time when the rotation angle of the object to be measured at the current time decreases relative to the rotation angle at the previous time, in a case where the XYZ triaxial output is a positive value when the gyroscope rotates clockwise.

7. An electronic device comprising the apparatus of claim 1.

8. A rotation angle measurement method based on an inertial measurement unit carried by an object to be measured, the inertial measurement unit including an accelerometer and a gyroscope, the method comprising:

determining the weight of the object to be measured in the three-axis XYZ at the current moment according to the measurement data of the three-axis XYZ of the accelerometer;

calculating the rotation angle of the object to be measured at the current moment according to the determined weight of the three-axis XYZ of the object to be measured at the current moment and the measurement data of the three-axis XYZ of the gyroscope at the current moment;

detecting whether the object to be detected is in a quasi-static state;

wherein, the determining the weight of the object to be measured in the three XYZ axes at the current moment according to the measurement data of the three XYZ axes of the accelerometer includes:

when the object to be measured is not in a quasi-static state, determining a motion main shaft of the object to be measured at the current moment according to measurement data of three-axis XYZ of the accelerometer in a preset time period before the current moment, and determining the weight of the three-axis XYZ of the object to be measured at the current moment according to the motion main shaft;

when the object to be measured is in a quasi-static state, obtaining the gravity component of the current XYZ three axes according to the measurement data of the accelerometer at the current XYZ three axes, and determining the weight of the object to be measured at the current XYZ three axes according to the gravity component;

wherein, the calculating the rotation angle of the object to be measured at the current time according to the determined weight values of the three XYZ axes of the object to be measured at the current time and the measurement data of the three XYZ axes of the gyroscope at the current time includes:

calculating the rotation angle increment of the object to be measured at the current moment according to the determined weight of the three-axis XYZ of the object to be measured at the current moment and the measurement data of the three-axis XYZ of the gyroscope at the current moment;

and calculating the rotation angle of the object to be measured at the current moment according to the rotation angle of the object to be measured at the previous moment and a compensation function related to the rotation angle increment of the object to be measured at the current moment.

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