CN109764868A - One kind being based on six axle sensor equipment Installation posture calibration methods - Google Patents
One kind being based on six axle sensor equipment Installation posture calibration methods Download PDFInfo
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Abstract
The present invention relates to automobile technical fields, are related to a kind of based on six axle sensor equipment Installation posture calibration methods comprising following steps: one, open sensor readings；Two, static check, vehicle are parked in the upper of level road, acquire the conversion method that current accelerometer data obtains equipment Installation posture Yu automobile XYZ axis, and the XYZ number of axle evidence of equipment is converted on vehicle level coordinate, gravity axis is found out；Three, dynamic check judges vehicle traveling direction and XYZ axis direction relationship；The movement of reversing automobile is filtered, the data of gyroscope and accelerometer are acquired, while guaranteeing the certain speed of automobile, obtains vehicle traveling direction and XYZ axis direction relationship；Four, after verification, show that automobile emergency accelerates, anxious to slow down, the travelings movement such as zig zag.Running car behavior can easily be installed the invention enables the automobile of different automobile types and judge system.
Description
Technical field
The present invention relates to automobile technical fields, specifically, being related to a kind of based on six axle sensor equipment Installation posture schools
Quasi- method.
Background technique
With the development of science and technology, one of the vehicles that automobile is gone on a journey as people, popularization degree is higher and higher.Automobile
Various configurations it is also more and more abundant, existing many car owners like the pleasure for installing various automobile auxiliary systems additional to improve driving
Interest and safety, for example, installing running car behavior additional now judges that system, this system are generally based on six axis of LSM6DS33
Sensor, using high pass mdm9x07 as the system of main control chip, it is vehicle-mounted by automobile OBD mouthfuls, but different brands
Vehicle, OBD mouthfuls of position and orientation are different, install it is cumbersome, so Installation posture is needed to be calibrated automatically to solve above-mentioned ask
Topic.
Summary of the invention
The contents of the present invention are to provide one kind based on six axle sensor equipment Installation posture calibration methods, can overcome
Certain or certain defects of the prior art.
It is according to the present invention a kind of based on six axle sensor equipment Installation posture calibration methods comprising following steps:
One, sensor readings are opened；
Two, static check, calibrator (-ter) unit are mounted on position on automobile；Automobile is parked on horizontal road surface, and acquisition is current to be added
Speed counts the conversion method for obtaining equipment Installation posture Yu automobile XYZ axis, and the XYZ number of axle evidence of equipment is converted to automobile water
On flat coordinate, gravity axis is found out；
Three, dynamic check judges vehicle traveling direction and XYZ axis direction relationship；The movement for filtering reversing automobile, is adopted
Collect the data of gyroscope and accelerometer, while guaranteeing the certain speed of automobile, obtains vehicle traveling direction and XYZ axis direction relationship；
Four, after verification, show that automobile emergency accelerates, anxious to slow down, the travelings movement such as zig zag.
Preferably, finding out the judgment method of gravity axis in step 2 are as follows: if which axis reading in tri- axis of XYZ
Data close to 1G, this axis be exactly gravity axis, other two axis just in the horizontal plane, other two axis and automobile reference coordinate
It is obtained by automobile positive traveling.
Preferably, if can not find gravity axis, equipment is installed after rotation in step 2, pass through reading
Data find out rotary shaft, and rotary shaft data are converted close to 0 by coordinate, obtain device coordinate and automobile coordinate relationship.
Preferably, coordinate conversion, which is column matrix, is projected through profound matrix conversion more than direction in a certain reference frame
Process on to another coordinate system.
Preferably, in step 3, the speed for reading automobile RPM or GPS is first passed through, when running car is greater than 20Km/h,
The data of continuous acquisition 100 groups of accelerometers and gyroscope, gyro data guarantee automobile straight-line travelling, pass through accelerometer X and Y
For the number of axle according to judging, which is vehicle traveling direction axis, the direction of axis and garage positive relationship.
The present invention provides one kind to be based on six axle sensor equipment Installation posture calibration methods, being capable of preferably posture school
Standard, so that the automobile of different automobile types, which can easily install running car behavior, judges system.
Specific embodiment
To further appreciate that the contents of the present invention, the present invention is described in detail in conjunction with the embodiments.It should be understood that
Embodiment be only to the present invention explain and and it is non-limiting.
Embodiment 1
It present embodiments provides a kind of based on six axle sensor equipment Installation posture calibration methods comprising following steps:
One, sensor readings are opened；
Two, static check, calibrator (-ter) unit are mounted on position on automobile；Automobile is parked on horizontal road surface, and acquisition is current to be added
Speed counts the conversion method for obtaining equipment Installation posture Yu automobile XYZ axis, and the XYZ number of axle evidence of equipment is converted to automobile water
On flat coordinate, gravity axis is found out；
Three, dynamic check judges vehicle traveling direction and XYZ axis direction relationship；The movement for filtering reversing automobile, is adopted
Collect the data of gyroscope and accelerometer, while guaranteeing the certain speed of automobile, obtains vehicle traveling direction and XYZ axis direction relationship；
Four, after verification, show that automobile emergency accelerates, anxious to slow down, the travelings movement such as zig zag.
In the present embodiment, in step 2, equipment is installed to car, is not necessarily Z axis and horizontal plane, it is also possible to
Be X-axis or Y-axis, find out the judgment method of gravity axis are as follows: if the data which axis is read in tri- axis of XYZ close to 1G, this
Axis is exactly gravity axis, and just in the horizontal plane, other two axis and automobile reference coordinate are travelled other two axis by automobile positive
It obtains.
In the present embodiment, in step 2, if can not find gravity axis, equipment is installed after rotation, passes through reading
Access evidence, finds out rotary shaft, rotary shaft data are converted close to 0 by coordinate, obtain device coordinate and automobile coordinate relationship.
In the present embodiment, coordinate conversion is column matrix to be turned in the profound matrix more than direction that is projected through of a certain reference frame
Change to the process on another coordinate system.Such as:
R1=Cr2；
Wherein, C be a column matrix is transformed into vehicle level coordinate system 1 from carrier coordinate system 2 direction more than profound square
Battle array.
If remaining profound direction matrix C is available around Z rotational angle β:
Then obtain:
R1={ x2cos β-y2sin β, x2sin β+y2cos β, z2 }；
Because automobile is off in the horizontal plane, then { 0,0, g } r1=at this time, r2 is read by sensing data, can be solved
Cos β and sin β out, while obtaining remaining profound direction matrix C；
If around other axis rotation also similar calculating.
In the present embodiment, in step 3, device coordinate system and vehicle axis system relationship have been known by two step of front,
But also one is exactly that coordinate conversion rear direction is not necessarily the same with driving direction, so to come in automobile normal running
Judgement.First pass through read automobile RPM or GPS speed, when running car be greater than 20Km/h, 100 groups of accelerometers of continuous acquisition and
The data of gyroscope, gyro data guarantee automobile straight-line travelling, are judged by accelerometer X and Y-axis data, which is vapour
Vehicle travels axis of orientation, the direction of axis and garage's positive relationship.
Equipment Installation posture can be obtained by static check and dynamic check, remaining profound direction matrix is found out, sensing
On device data transmission vehicle axis system, so that it may calculate vehicle driving state.Above schematically to the present invention and its embodiment party
Formula is described, and description is not limiting.So not departed from if those of ordinary skill in the art are inspired by it
In the case where the invention objective, frame mode similar with the technical solution and implementation are not inventively designed
Example, is within the scope of protection of the invention.
Claims (5)
1. one kind is based on six axle sensor equipment Installation posture calibration methods, it is characterised in that: the following steps are included:
One, sensor readings are opened；
Two, static check, calibrator (-ter) unit are mounted on position on automobile；Automobile is parked on horizontal road surface, acquires current accelerometer
Data obtain the conversion method of equipment Installation posture Yu automobile XYZ axis, and the XYZ number of axle evidence of equipment is converted to vehicle level coordinate
On, find out gravity axis；
Three, dynamic check judges vehicle traveling direction and XYZ axis direction relationship；The movement of reversing automobile is filtered, gyro is acquired
The data of instrument and accelerometer, while guaranteeing the certain speed of automobile, obtain vehicle traveling direction and XYZ axis direction relationship；
Four, after verification, show that automobile emergency accelerates, anxious to slow down, the travelings movement such as zig zag.
2. according to claim 1 a kind of based on six axle sensor equipment Installation posture calibration methods, it is characterised in that: step
In rapid two, the judgment method of gravity axis is found out are as follows: if the data which axis is read in tri- axis of XYZ are close to 1G, this axis is just
It is gravity axis, just in the horizontal plane, other two axis is obtained with automobile reference coordinate by automobile positive traveling other two axis.
3. according to claim 2 a kind of based on six axle sensor equipment Installation posture calibration methods, it is characterised in that: step
In rapid two, if can not find gravity axis, equipment is installed after rotation, by reading data, is found out rotary shaft, is rotated
The number of axle is converted by coordinate according to close to 0, obtains device coordinate and automobile coordinate relationship.
4. according to claim 3 a kind of based on six axle sensor equipment Installation posture calibration methods, it is characterised in that: sit
Mark conversion, which is column matrix, is projected through more than direction process in profound matrix conversion to another coordinate system in a certain reference frame.
5. according to claim 4 a kind of based on six axle sensor equipment Installation posture calibration methods, it is characterised in that: step
In rapid three, the speed for reading automobile RPM or GPS is first passed through, when running car is greater than 20Km/h, 100 groups of accelerometers of continuous acquisition
With the data of gyroscope, gyro data guarantees automobile straight-line travelling, is judged by accelerometer X and Y-axis data, which is vapour
Vehicle travels axis of orientation, the direction of axis and garage's positive relationship.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910152810.1A CN109764868A (en) | 2019-02-28 | 2019-02-28 | One kind being based on six axle sensor equipment Installation posture calibration methods |
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| CN201910152810.1A CN109764868A (en) | 2019-02-28 | 2019-02-28 | One kind being based on six axle sensor equipment Installation posture calibration methods |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115384663A (en) * | 2022-09-20 | 2022-11-25 | 台铃科技股份有限公司 | Riding posture monitoring and reminding method |
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Application publication date: 20190517 |