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CN109813336B - Calibration method for inertia measurement unit - Google Patents

Calibration method for inertia measurement unit Download PDF

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CN109813336B
CN109813336B CN201711175800.7A CN201711175800A CN109813336B CN 109813336 B CN109813336 B CN 109813336B CN 201711175800 A CN201711175800 A CN 201711175800A CN 109813336 B CN109813336 B CN 109813336B
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measurement unit
inertial measurement
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黄嗣彬
戴景文
贺杰
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Guangdong Virtual Reality Technology Co Ltd
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Abstract

本发明涉及一种惯性测量单元的标定方法,应用于九轴惯性测量单元,所述九轴惯性测量单元包括三轴陀螺仪、三轴加速度计以及三轴磁力计。所述惯性测量单元的标定方法包括:提供三轴旋转台以及装夹件;将所述九轴惯性测量单元装设于所述装夹件内;将所述装夹件装设于所述三轴旋转台;控制所述三轴旋转台旋转,并记录所九轴惯性测量单元的检测数据,同时对所述陀螺仪、所述加速度计以及所述磁力计进行校准。上述的惯性测量单元的标定方法,标定的成本较低且精度较高。本发明实施例还提供一种控制器的标定方法,应用于包括九轴惯性测量单元的控制器。

Figure 201711175800

The invention relates to a calibration method of an inertial measurement unit, which is applied to a nine-axis inertial measurement unit, and the nine-axis inertial measurement unit includes a three-axis gyroscope, a three-axis accelerometer and a three-axis magnetometer. The calibration method of the inertial measurement unit includes: providing a three-axis rotating table and a clamp; installing the nine-axis inertial measurement unit in the clamp; installing the clamp in the three-axis Axis rotation table; control the rotation of the three-axis rotation table, record the detection data of the nine-axis inertial measurement unit, and calibrate the gyroscope, the accelerometer and the magnetometer at the same time. The above-mentioned calibration method for the inertial measurement unit has low calibration cost and high precision. An embodiment of the present invention also provides a controller calibration method, which is applied to a controller including a nine-axis inertial measurement unit.

Figure 201711175800

Description

惯性测量单元标定方法Inertial Measurement Unit Calibration Method

技术领域technical field

本发明涉及传感器技术领域,尤其涉及一种惯性测量单元标定方法。The invention relates to the technical field of sensors, in particular to an inertial measurement unit calibration method.

背景技术Background technique

无人机、机器人、机械云台、车辆船舶、虚拟现实/增强现实、人体运动分析等在近年都取得了迅猛的发展。而在这些应用中,三维姿态与方位的自主测量显得极为重要。惯性测量单元(Inertialmeasurementunit,IMU)作为测量物体三轴姿态角的传感器,是实现上述技术及设备的重要零部件。尤其在虚拟现实/增强现实行业的发展中,虚拟现实/增强现实设备不仅仅要满足用户对内容的观看,还需要通过姿态传感器,沟能虚拟世界与现实世界,从而通过现实的器件对虚拟世界的操作及控制。UAVs, robots, mechanical gimbals, vehicles and ships, virtual reality/augmented reality, and human motion analysis have all achieved rapid development in recent years. In these applications, the autonomous measurement of three-dimensional attitude and orientation is extremely important. As a sensor for measuring the three-axis attitude angle of an object, the inertial measurement unit (IMU) is an important component to realize the above-mentioned technologies and equipment. Especially in the development of the virtual reality/augmented reality industry, the virtual reality/augmented reality equipment not only needs to satisfy the user to watch the content, but also needs to communicate the virtual world and the real world through the attitude sensor, so that the virtual world can be controlled by the real device. operation and control.

传统的惯性测量单元包括两个传感器:陀螺仪(Gyroscope)及加速度计(Accelerometer),陀螺仪可以估计设备的姿态欧拉角(Yaw,Pitch,Roll),通过加速度计对陀螺仪的漂移进行补偿。为得到更加精准的姿态数据,目前人们研发一种九轴惯性测量单元,九轴惯性测量单元在传统的惯性测量单元的基础上,增加了另一传感器:磁力计(Magnetometer)对姿态的Yaw方向进行补偿。由于九轴惯性测量单元的三个传感器本身的硬件制作工艺的偏差,其传感器在感知外界时,其数据会有一定的偏差,因而需要对惯性测量单元进行标定,来达到传感器感知数据一致性的要求。因为三个传感器的测量属性并不一样,需要分别对不同的传感器采用不同方式的标定,目前人们主要采用以下几种方法对九轴惯性测量单元进行标定:The traditional inertial measurement unit includes two sensors: gyroscope (Gyroscope) and accelerometer (Accelerometer), the gyroscope can estimate the attitude Euler angle (Yaw, Pitch, Roll) of the device, and the drift of the gyroscope is compensated by the accelerometer . In order to obtain more accurate attitude data, people are currently developing a nine-axis inertial measurement unit. On the basis of the traditional inertial measurement unit, the nine-axis inertial measurement unit adds another sensor: the magnetometer (Magnetometer) to the Yaw direction of the attitude Make compensation. Due to the deviation of the hardware manufacturing process of the three sensors of the nine-axis inertial measurement unit, the data of the sensor will have a certain deviation when sensing the outside world. Therefore, the inertial measurement unit needs to be calibrated to achieve the consistency of the sensor perception data. Require. Because the measurement properties of the three sensors are not the same, it is necessary to calibrate different sensors in different ways. At present, people mainly use the following methods to calibrate the nine-axis inertial measurement unit:

1)手工标定方法:简单,上手快,但是需要使用专门的夹具、治具对九轴惯性测量单元的传感器进行部置装夹,。手工标定方法对人工操作依赖性比较大,容易出差错,而且精度不高,容易出现误操作,无法进行量产及控制,标定成本高、效率低。1) Manual calibration method: simple and quick to use, but it is necessary to use special fixtures and fixtures to install and clamp the sensor of the nine-axis inertial measurement unit. The manual calibration method is relatively dependent on manual operation, prone to errors, and the accuracy is not high, prone to misoperations, mass production and control cannot be carried out, and the calibration cost is high and the efficiency is low.

2)机器标定法:采用传统三轴轴转台对惯性测量单元进行标定,三轴轴转台能够提高标定速度和精度。但是该方法仅能标定九轴惯性测量单元的陀螺仪以及加速度计,并不能用于磁力计的标定。2) Machine calibration method: the inertial measurement unit is calibrated using a traditional three-axis turntable, which can improve the calibration speed and accuracy. However, this method can only calibrate the gyroscope and accelerometer of the nine-axis inertial measurement unit, and cannot be used for the calibration of the magnetometer.

3)转8字法:通过手动对磁力计进行标定,但只能实现单个磁力计的标定工作,而且标定效果不一致,标定好坏无法定义测试。3) Turn-to-eight method: Calibrate the magnetometer manually, but only a single magnetometer can be calibrated, and the calibration results are inconsistent, and the calibration cannot be defined for testing.

总而言之,目前对九轴惯性测量单元的标定方法存在操作繁琐、精度不足且效率低下的问题。All in all, the current calibration method for the nine-axis inertial measurement unit has the problems of cumbersome operation, insufficient precision and low efficiency.

发明内容Contents of the invention

本发明实施例的目的在于提供一种成本较低、精度较高的九轴惯性测量单元,用于解决上述技术问题。The purpose of the embodiments of the present invention is to provide a nine-axis inertial measurement unit with low cost and high precision, which is used to solve the above technical problems.

一种惯性测量单元的标定方法,应用于九轴惯性测量单元,所述九轴惯性测量单元包括三轴陀螺仪、三轴加速度计以及三轴磁力计。所述惯性测量单元的标定方法包括:提供三轴旋转台以及装夹件;将所述九轴惯性测量单元装设于所述装夹件内;将所述装夹件装设于所述三轴旋转台;以及控制所述三轴旋转台旋转,并记录所述九轴惯性测量单元的检测数据,同时对所述陀螺仪、所述加速度计以及所述磁力计进行校准。A calibration method for an inertial measurement unit is applied to a nine-axis inertial measurement unit, and the nine-axis inertial measurement unit includes a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer. The calibration method of the inertial measurement unit includes: providing a three-axis rotating table and a clamp; installing the nine-axis inertial measurement unit in the clamp; installing the clamp in the three-axis and controlling the rotation of the three-axis rotary table, recording the detection data of the nine-axis inertial measurement unit, and simultaneously calibrating the gyroscope, the accelerometer, and the magnetometer.

在其中一种实施方式中,将所述装夹件装设于所述三轴旋转台后,提供控制器,将所述控制器与所述装夹件内的所述九轴惯性测量单元无线连接;所述控制器用于控制所述三轴旋转台旋转,并用于校准所述陀螺仪、所述加速度计以及所述磁力计。In one of the embodiments, after the clamping part is installed on the three-axis rotating table, a controller is provided, and the controller is wirelessly connected to the nine-axis inertial measurement unit in the clamping part. connected; the controller is used to control the rotation of the three-axis turntable, and to calibrate the gyroscope, the accelerometer and the magnetometer.

在其中一种实施方式中,校准所述陀螺仪时,校准所述陀螺仪在其三轴上的静态偏差。In one of the implementation manners, when calibrating the gyroscope, the static deviation of the gyroscope on its three axes is calibrated.

在其中一种实施方式中,校准所述陀螺仪在其三轴上的静态偏差时,将所述陀螺仪分别以不同的预定姿态放置于所述三轴旋转台中并静置预定时间;分别获取所述陀螺仪在不同姿态下的所检测的数据,并分别计算所述陀螺仪在不同姿态下的静态偏差,且保存所述陀螺仪的静态偏差后,校准所述陀螺仪。In one of the implementations, when calibrating the static deviation of the gyroscope on its three axes, the gyroscopes are respectively placed in the three-axis rotating table with different predetermined postures and left for a predetermined time; The detected data of the gyroscope at different attitudes, and the static deviations of the gyroscope at different attitudes are calculated respectively, and after the static deviations of the gyroscope are saved, the gyroscope is calibrated.

在其中一种实施方式中,校准所述陀螺仪时,同时校准所述陀螺仪的静态偏差以及旋转扭曲偏差。In one of the implementation manners, when calibrating the gyroscope, the static bias and the rotational distortion bias of the gyroscope are calibrated at the same time.

在其中一种实施方式中,校准所述加速度计时,校准所述加速度计的各轴的偏移。In one of the implementation manners, the accelerometer is calibrated, and the offset of each axis of the accelerometer is calibrated.

在其中一种实施方式中,校准所述加速度计的各轴的偏移,包括:In one of the implementation manners, calibrating the offset of each axis of the accelerometer includes:

将所述装夹件分别以不同的预定姿态放置于所述三轴旋转台中并静置预定时间;placing the clamping parts in the three-axis rotary table in different predetermined postures and standing still for a predetermined time;

分别获取每个姿态下所述加速度计所检测的数据;进一步地,为了提高检测及校准的稳定性及准确性,可以采集多组数据,并分别计算每个姿态下所检测的所有数据的平均值,作为该姿态下所述加速度计所检测的数据;Acquire the data detected by the accelerometer under each attitude; further, in order to improve the stability and accuracy of detection and calibration, multiple sets of data can be collected, and the average of all the data detected under each attitude can be calculated separately. Value, as the data detected by the accelerometer under this posture;

分别计算所述加速度计三个轴的正负向数据的中心点,从而获取测量范围的中心,即为每个轴的偏移;Calculate the center points of the positive and negative data of the three axes of the accelerometer respectively, so as to obtain the center of the measurement range, which is the offset of each axis;

保存所述陀螺仪的每个轴的偏移后,校准所述陀螺仪。After saving the offsets for each axis of the gyroscope, the gyroscope is calibrated.

在其中一种实施方式中,校准所述磁力计时,校准所述磁力计的偏差及尺度。In one of the implementation manners, the magnetometer is calibrated, and the deviation and scale of the magnetometer are calibrated.

在其中一种实施方式中,校准所述磁力计的偏差及尺度,包括:旋转所述磁力计,使所述磁力计在空间中形成球状,根据旋转所得的磁力计的三轴在三维坐标中的磁力强度的最大最小值,计算出磁力计的偏差,并根据所述偏差校准所述磁力计。In one of the implementation manners, calibrating the deviation and scale of the magnetometer includes: rotating the magnetometer so that the magnetometer forms a spherical shape in space, and according to the three axes of the magnetometer obtained by the rotation in the three-dimensional coordinates The maximum and minimum values of the magnetic force intensity are calculated, the deviation of the magnetometer is calculated, and the magnetometer is calibrated according to the deviation.

在其中一种实施方式中,提供所述三轴旋转台时,令所述三轴旋转台内部的磁场强度小于或等于0.6Guass。In one of the implementation manners, when the three-axis turntable is provided, the magnetic field strength inside the three-axis turntable is made to be less than or equal to 0.6 Guass.

在其中一种实施方式中,所述三轴转台由非导磁材料制成。In one of the implementation manners, the three-axis turntable is made of non-magnetic material.

在其中一种实施方式中,所述装夹件内设有多个收容腔,所述收容腔用于收容所述九轴惯性测量单元;将所述九轴惯性测量单元装设于所述装夹件内时,将多个所述九轴惯性测量单元同时装设于所述装夹件的所述收容腔内。In one of the implementation manners, a plurality of accommodation cavities are provided in the clamping part, and the accommodation cavities are used to accommodate the nine-axis inertial measurement unit; the nine-axis inertial measurement unit is mounted on the device When inside the clip, a plurality of the nine-axis inertial measurement units are installed in the accommodation cavity of the clip at the same time.

在其中一种实施方式中,测试所述九轴惯性测量单元的检测参数,若测试满足要求,则结束,若检测未满足要求,则继续校准所述九轴惯性测量单元,直至测试结果满足要求。In one of the implementations, test the detection parameters of the nine-axis inertial measurement unit, if the test meets the requirements, then end, if the detection does not meet the requirements, then continue to calibrate the nine-axis inertial measurement unit until the test results meet the requirements .

在其中一种实施方式中,测试所述九轴惯性测量单元的检测参数时,分别测试所述九轴惯性测量单元的静态抖动精度、旋转定位精度、收敛速度、静态漂移、动态漂移以及转动轴偏。In one of the implementations, when testing the detection parameters of the nine-axis inertial measurement unit, the static jitter accuracy, rotational positioning accuracy, convergence speed, static drift, dynamic drift, and rotation axis of the nine-axis inertial measurement unit are respectively tested. Partial.

在其中一种实施方式中,测试所述九轴惯性测量单元的检测参数,包括:同时测试所述九轴惯性测量单元的静态抖动精度、旋转定位精度、静态漂移。In one of the implementation manners, testing the detection parameters of the nine-axis inertial measurement unit includes: simultaneously testing the static jitter accuracy, rotational positioning accuracy, and static drift of the nine-axis inertial measurement unit.

在其中一种实施方式中,测试所述九轴惯性测量单元的检测参数,还包括同时测试所述九轴惯性测量单元的动态漂移及转动轴偏。In one of the implementation manners, testing the detection parameters of the nine-axis inertial measurement unit further includes simultaneously testing the dynamic drift and rotation axis deviation of the nine-axis inertial measurement unit.

本发明实施例还提供一种控制设备的标定方法,应用于包括九轴惯性测量单元的控制设备,所述九轴惯性测量单元包括三轴陀螺仪、三轴加速度计以及三轴磁力。所述惯性测量单元的标定方法包括:提供三轴旋转台以及装夹件;将所述控制设备装设于所述装夹件内;将所述装夹件装设于所述三轴旋转台;以及控制所述三轴旋转台旋转,并记录所述控制设备的检测数据,同时对所述陀螺仪、所述加速度计以及所述磁力计进行校准An embodiment of the present invention also provides a calibration method for a control device, which is applied to a control device including a nine-axis inertial measurement unit, and the nine-axis inertial measurement unit includes a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetic force. The calibration method of the inertial measurement unit includes: providing a three-axis rotating table and a clamping piece; installing the control device in the clamping piece; installing the clamping piece on the three-axis rotating table and controlling the rotation of the three-axis turntable, recording the detection data of the control device, and simultaneously calibrating the gyroscope, the accelerometer and the magnetometer

相对于现有技术,本发明实施例提供的惯性测量单元的标定方法,突破了惯常惯性测量单元标定的局限,能够采用所述三轴旋转台以及所述装夹件将多个惯性测量单元同时装设并标定,且在标定时同时标定陀螺仪、加速度计以及磁力计,较为有效地提高了九轴惯性测量单元标定的效率以及精度。Compared with the prior art, the calibration method of the inertial measurement unit provided by the embodiment of the present invention breaks through the limitations of conventional inertial measurement unit calibration, and can use the three-axis rotating table and the clamping parts to simultaneously integrate multiple inertial measurement units Installing and calibrating, and calibrating the gyroscope, accelerometer and magnetometer at the same time during calibration, effectively improves the efficiency and accuracy of the calibration of the nine-axis inertial measurement unit.

附图说明Description of drawings

为了更清楚地说明本发明的技术方案,下面将对实施方式中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本发明的一些实施方式,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。In order to illustrate the technical solution of the present invention more clearly, the accompanying drawings used in the implementation will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some implementations of the present invention. As far as the skilled person is concerned, other drawings can also be obtained based on these drawings on the premise of not paying creative work.

图1是本发明实施例提供的惯性测量单元的标定方法的流程示意图;FIG. 1 is a schematic flowchart of a calibration method for an inertial measurement unit provided by an embodiment of the present invention;

图2是本发明实施例提供的九轴惯性测量单元的功能模块示意图。Fig. 2 is a schematic diagram of functional modules of a nine-axis inertial measurement unit provided by an embodiment of the present invention.

图3是图1所示惯性测量单元的标定方法中三轴旋转台的示意图;Fig. 3 is a schematic diagram of a three-axis rotary table in the calibration method of the inertial measurement unit shown in Fig. 1;

图4是图1所示惯性测量单元的标定方法中装夹件的示意图;Fig. 4 is a schematic diagram of the clamping part in the calibration method of the inertial measurement unit shown in Fig. 1;

图5是图1所示惯性测量单元的标定方法中装夹件其中一组姿态的示意图;Fig. 5 is a schematic diagram of a set of attitudes of the clamping parts in the calibration method of the inertial measurement unit shown in Fig. 1;

图6是图1所示惯性测量单元的标定方法中装夹件另一组姿态的示意图;Fig. 6 is a schematic diagram of another set of postures of the clamping part in the calibration method of the inertial measurement unit shown in Fig. 1;

图7是图1所示惯性测量单元的磁力计在标定过程中的读数示意图。FIG. 7 is a schematic diagram of the readings of the magnetometer of the inertial measurement unit shown in FIG. 1 during the calibration process.

具体实施方式Detailed ways

下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

请参阅图1,本发明实施方式提供一种惯性测量单元的标定方法,应用于图2所示的九轴惯性测量单元100的标定。Referring to FIG. 1 , an embodiment of the present invention provides a calibration method for an inertial measurement unit, which is applied to the calibration of the nine-axis inertial measurement unit 100 shown in FIG. 2 .

所述九轴惯性测量单元100包括陀螺仪10、加速度计30以及磁力计50。所述陀螺仪10为三轴陀螺仪,其用于检测三轴角速度。所述加速度计30为三轴加速度计,其用于检测三轴加速度。所述磁力计50为三轴磁力计,其用于检测三轴磁场强度。The nine-axis inertial measurement unit 100 includes a gyroscope 10 , an accelerometer 30 and a magnetometer 50 . The gyroscope 10 is a three-axis gyroscope, which is used to detect three-axis angular velocity. The accelerometer 30 is a three-axis accelerometer, which is used to detect three-axis acceleration. The magnetometer 50 is a three-axis magnetometer, which is used to detect three-axis magnetic field strength.

所述九轴惯性测量单元100可以应用于需要检测运动或静止姿态的装置,如智能移动终端(如手机、平板电脑、智能手表等)、遥控手柄、游戏手柄、体感装置、无人飞行器等等。由于制造工艺的原因,所述九轴惯性测量单元100在出厂时或在装配于上述的装置中时,会存在测量偏差的问题,为了提高所述九轴惯性测量单元100的输出数据的稳定性和准确性,以及验证所述九轴惯性测量单元100的性能是否达到应用的标准,需要对所述九轴惯性测量单元100或配备有所述九轴惯性测量单元100的装置进行标定及校准。The nine-axis inertial measurement unit 100 can be applied to devices that need to detect motion or static attitude, such as smart mobile terminals (such as mobile phones, tablet computers, smart watches, etc.), remote control handles, game handles, somatosensory devices, unmanned aerial vehicles, etc. . Due to the manufacturing process, when the nine-axis inertial measurement unit 100 leaves the factory or when it is assembled in the above-mentioned device, there will be a problem of measurement deviation. In order to improve the stability of the output data of the nine-axis inertial measurement unit 100 and accuracy, and to verify whether the performance of the nine-axis inertial measurement unit 100 meets the application standard, it is necessary to calibrate and calibrate the nine-axis inertial measurement unit 100 or the device equipped with the nine-axis inertial measurement unit 100 .

在本发明创造的研究过程中,发明人发现,采用传统的手工标定法、六轴惯性测量单元标定法或转8字法对所述九轴惯性测量单元100标定时,普遍存在操作繁琐、精度不足且效率低下的问题,因此发明人致力于提高九轴惯性测量单元100的标定精度以及标定效率。在上述研究的过程中,发明人的研究包括了:During the research process of the present invention, the inventor found that when the traditional manual calibration method, the six-axis IMU calibration method or the turn-of-eight method is used to calibrate the nine-axis IMU 100, there are generally cumbersome operations and poor accuracy. Insufficient and inefficient problems, so the inventors strive to improve the calibration accuracy and calibration efficiency of the nine-axis inertial measurement unit 100 . In the process of the above research, the inventor's research included:

1)所述陀螺仪10用于测量角速度,在未标定前,其零点读数及读数线性尺度关系不一致,因而需要对陀螺仪的零点中心及读数尺度进行标定。1) The gyroscope 10 is used to measure angular velocity. Before calibration, the zero point reading and the reading linear scale relationship are inconsistent, so the zero point center and the reading scale of the gyroscope need to be calibrated.

2)所述加速度计30用于测量物体的加速度,主要以力的方式进行测量。在未标定前,其测量中心点可能出现不一致的偏移,而且其轴与轴之前会出现一定角度的偏差,需要对加速度计的中心及尺度进行标定。2) The accelerometer 30 is used to measure the acceleration of an object, mainly in the form of force. Before it is calibrated, the measurement center point may be inconsistently offset, and there will be a certain angle of deviation between the axis and the axis, so the center and scale of the accelerometer need to be calibrated.

3)所述磁力计50用于测量磁场的强度,通过测量地磁场的强度,计算地磁的北方向。发明人发现,由于所述磁力计50在布板和贴片时,会受到电子器件本身及电磁场的影响,在电子产品内部形成固定的磁力影响,另外在电子产品外部,也可能会出现其它的磁场影响,比如变压器,电动机,磁化铁质用品等,都可能产生磁场的影响。因而需要对内外部磁场进行标定,剔除各种磁场对磁力计测量的影响,磁力计的中心点及尺度会受到这些内外磁场的影响,需要对其进行标定。3) The magnetometer 50 is used to measure the strength of the magnetic field, and calculate the north direction of the geomagnetic field by measuring the strength of the geomagnetic field. The inventors found that since the magnetometer 50 will be affected by the electronic device itself and the electromagnetic field when laying out the board and patching, a fixed magnetic force will be formed inside the electronic product. In addition, other magnetic forces may also appear outside the electronic product. Magnetic field effects, such as transformers, motors, magnetized iron products, etc., may all have the effect of magnetic fields. Therefore, it is necessary to calibrate the internal and external magnetic fields to eliminate the influence of various magnetic fields on the measurement of the magnetometer. The center point and scale of the magnetometer will be affected by these internal and external magnetic fields, so it needs to be calibrated.

针对上述的问题,本发明实施例提供了上述的惯性测量单元标定方法,用于提高九轴惯性测量单元100的标定精度以及标定效率。In view of the above problems, the embodiment of the present invention provides the above inertial measurement unit calibration method, which is used to improve the calibration accuracy and calibration efficiency of the nine-axis inertial measurement unit 100 .

请再次参阅图1,具体在图1所示的实施例中,所述惯性测量单元标定方法包括步骤:Please refer to Fig. 1 again, specifically in the embodiment shown in Fig. 1, the inertial measurement unit calibration method includes steps:

步骤S101:提供三轴旋转台。Step S101: providing a three-axis rotating table.

请同时参阅图3,具体在一些实施方式中,提供如图3所示的三轴旋转台200。所述三轴旋转台200包括底座框架210、第一转动机构230、第二转动机构250以及第三转动机构270。Please refer to FIG. 3 at the same time. Specifically, in some embodiments, a three-axis rotating table 200 as shown in FIG. 3 is provided. The three-axis rotating table 200 includes a base frame 210 , a first rotating mechanism 230 , a second rotating mechanism 250 and a third rotating mechanism 270 .

所述第一转动机构230包括连接于所述底座框架210的第一驱动件(图中未标出)、连接于所述第一驱动件的第一转盘231以及连接于所述第一转盘231的支撑架233,所述第一驱动件用于驱动所述第一转盘231及所述支撑架233相对所述底座框架210绕第一轴线Z旋转。在本实施方式中,所述第一轴线Z为竖直轴。在一些具体的实施方式中,所述第一驱动件可以为电机。The first rotating mechanism 230 includes a first drive member (not shown in the figure) connected to the base frame 210, a first turntable 231 connected to the first drive member, and a first turntable 231 connected to the first turntable 231. The support frame 233, the first driving member is used to drive the first turntable 231 and the support frame 233 to rotate around the first axis Z relative to the base frame 210. In this embodiment, the first axis Z is a vertical axis. In some specific implementation manners, the first driving member may be a motor.

所述第二转动机构250包括连接于所述支撑架233上的第二驱动件(图中未标出)以及连接于所述第二驱动件的第二转盘251,所述第二驱动件用于驱动所述第二转盘251相对所述支撑架233绕第二轴线Y旋转,其中,所述第二轴线Y垂直于所述第一轴线Z。在本实施方式中,所述第二轴线Y为水平轴。在一些具体的实施方式中,所述第二驱动件可以为电机。The second rotating mechanism 250 includes a second driving member (not shown in the figure) connected to the support frame 233 and a second turntable 251 connected to the second driving member, and the second driving member is used for The second turntable 251 is driven to rotate relative to the supporting frame 233 around a second axis Y, wherein the second axis Y is perpendicular to the first axis Z. In this embodiment, the second axis Y is a horizontal axis. In some specific implementation manners, the second driving member may be a motor.

所述第三转动机构270包括连接于所述第二转盘251的第三驱动件271,所述第三驱动件271用于驱动待检测的九轴惯性测量单元100相对所述第二转盘251绕第三轴线X转动,所述第三轴线X同时垂直于所述第一轴线Z及所述第二轴线Y,也即,所述第一轴线Z、所述第二轴线Y及所述第三轴线X呈两两正交状态。在本实施例中,所述第三轴线X为水平轴。在一些具体的实施方式中,所述第三驱动件271可以为旋转气缸。The third rotating mechanism 270 includes a third drive member 271 connected to the second turntable 251, and the third drive member 271 is used to drive the nine-axis inertial measurement unit 100 to be tested to rotate around the second turntable 251. The third axis X rotates, and the third axis X is perpendicular to the first axis Z and the second axis Y at the same time, that is, the first axis Z, the second axis Y and the third axis The axes X are in a state of being perpendicular to each other. In this embodiment, the third axis X is a horizontal axis. In some specific implementations, the third driving member 271 may be a rotary cylinder.

为了避免对所述九轴惯性测量单元100造成磁干扰,所述三轴旋转台200由非导磁材料制成,如铝材、合金材料等。进一步地,当所述第一驱动件及所述第二驱动件均为电机时,所述第一驱动件应当距所述第二驱动件第一预设距离,换言之,所述第一驱动件与所述第二驱动件之间相距第一预设距离,所述第一预设距离大于或等于50cm。In order to avoid magnetic interference to the nine-axis inertial measurement unit 100 , the three-axis rotating table 200 is made of non-magnetic materials, such as aluminum and alloy materials. Further, when both the first driving part and the second driving part are motors, the first driving part should be a first preset distance away from the second driving part, in other words, the first driving part There is a first preset distance from the second driving member, and the first preset distance is greater than or equal to 50 cm.

在一些实施方式中,为了避免对所述九轴惯性测量单元100造成磁干扰,提供所述三轴旋转台200时,令所述三轴旋转台200内部的磁场强度小于或等于0.6Guass。In some implementations, in order to avoid magnetic interference to the nine-axis inertial measurement unit 100 , when the three-axis turntable 200 is provided, the magnetic field strength inside the three-axis turntable 200 is made to be less than or equal to 0.6 Guass.

步骤S103:提供装夹件,将具有所述九轴惯性测量单元的装置装设于所述装夹件内。Step S103: providing a clamping part, and installing the device with the nine-axis inertial measurement unit in the clamping part.

在本实施方式中,提供如图4所示的装夹件400。所述装夹件400内设有多个收容腔410,其可以同时收容多个具有所述九轴惯性测量单元的装置。可以理解,在其他的一些实施例中,当对配置有所述九轴惯性测量单元的装置进行标定时,所述装夹件可以包括一个或多个适配于所述装置的收容腔。In this embodiment, a clamping part 400 as shown in FIG. 4 is provided. The clamping part 400 is provided with a plurality of receiving cavities 410, which can accommodate a plurality of devices having the nine-axis inertial measurement unit at the same time. It can be understood that, in some other embodiments, when calibrating a device configured with the nine-axis inertial measurement unit, the clamping member may include one or more accommodation chambers adapted to the device.

在一些实施方式中,所述装夹件为多面体盒,优选地,所述装夹件为如图4所示的六面体盒(如长方体、正方体),以使具有所述九轴惯性测量单元的装置在标定时装设于所述装夹件内也能具有明确的安装方向。进一步地,为了使所述装夹件在后续的标定过程中能够方便地记录其姿态,可以针对所述装夹件建立三维笛卡尔坐标系,如图4所示,所述装夹件上的坐标系包括两两相互正交的x轴、y轴及z轴。In some embodiments, the clamping part is a polyhedral box, preferably, the clamping part is a hexahedral box (such as a cuboid, a cube) as shown in Figure 4, so that the nine-axis inertial measurement unit The device installed in the clamping part during calibration can also have a clear installation direction. Further, in order to enable the clamping part to conveniently record its posture in the subsequent calibration process, a three-dimensional Cartesian coordinate system can be established for the clamping part, as shown in Figure 4, the The coordinate system includes two x-axes, y-axes and z-axes that are orthogonal to each other.

步骤S105:将所述装夹件装设在所述三轴旋转台。具体而言,将所述装夹件连接于所述三轴旋转台的第三驱动件,使所述第三驱动件能够驱动所述装夹件绕所述第三轴线X转动。Step S105: Install the clamping part on the three-axis rotating table. Specifically, the clamping part is connected to the third driving part of the three-axis rotating table, so that the third driving part can drive the clamping part to rotate around the third axis X.

步骤S107:提供控制器,将所述控制器与所述装夹件内的所述九轴惯性测量单元无线连接。其中所述控制器与所述九轴惯性测量单元无线连接并进行通信,所述控制器能够实时地获取所述九轴惯性测量单元的检测数据。Step S107: providing a controller, and wirelessly connecting the controller with the nine-axis inertial measurement unit in the clamping part. Wherein the controller is wirelessly connected to and communicates with the nine-axis inertial measurement unit, and the controller can obtain detection data of the nine-axis inertial measurement unit in real time.

步骤S109:控制所述三轴旋转台旋转,并记录所述九轴惯性测量单元的检测数据,以对所述九轴惯性测量单元进行校准。Step S109: controlling the rotation of the three-axis rotary table, and recording the detection data of the nine-axis inertial measurement unit, so as to calibrate the nine-axis inertial measurement unit.

具体在一些实施例中,在对所述九轴惯性测量单元进行校准时,同时对所述陀螺仪、所述加速度计以及所述磁力计进行校准。步骤S109包括:Specifically, in some embodiments, when the nine-axis inertial measurement unit is calibrated, the gyroscope, the accelerometer, and the magnetometer are calibrated simultaneously. Step S109 includes:

步骤S1091:校准所述陀螺仪。具体在本实施方式中,校准所述陀螺仪时,校准所述陀螺仪在其三轴上的静态偏差:将所述陀螺仪分别以不同的预定姿态静置预定时间;分别获取所述陀螺仪在不同姿态下所检测的数据,并分别计算所述陀螺仪在不同姿态下的静态偏差,且保存所述陀螺仪的静态偏差后,校准所述陀螺仪。在本实施方式中,当所述陀螺仪静置时,所述陀螺仪的静态偏差即体现在其检测的数据中。为了提高检测及校准的稳定性及准确性,可以采集多组数据并取多组数据的平均值,以计算所述陀螺仪在三轴上的静态偏差。进一步地,请同时参阅图5,将所述装夹件分别以不同姿态静置,检测所述装夹件内的九轴惯性测量单元在不同姿态下的静态偏差。上述的不同姿态包括:将所述装夹件的x轴呈竖直放置、将所述装夹件的y轴呈竖直放置以及将所述装夹件的z轴呈竖直放置。Step S1091: Calibrate the gyroscope. Specifically, in this embodiment, when calibrating the gyroscope, the static deviation of the gyroscope on its three axes is calibrated: the gyroscopes are respectively placed in different predetermined postures for a predetermined time; the gyroscopes are obtained respectively The data detected under different attitudes are used to calculate the static deviation of the gyroscope under different attitudes, and after saving the static deviation of the gyroscope, the gyroscope is calibrated. In this embodiment, when the gyroscope is at rest, the static deviation of the gyroscope is reflected in the data detected by the gyroscope. In order to improve the stability and accuracy of detection and calibration, multiple sets of data can be collected and the average value of multiple sets of data can be taken to calculate the static deviation of the gyroscope on three axes. Further, please refer to FIG. 5 at the same time, the clamping parts are placed at rest in different postures, and the static deviation of the nine-axis inertial measurement unit in the clamping parts under different postures is detected. The above different postures include: placing the x-axis of the clamping part vertically, placing the y-axis of the clamping part vertically, and placing the z-axis of the clamping part vertically.

具体在本实施方式中,该步骤细化包括:Specifically in this embodiment, the refinement of this step includes:

将所述装夹件以第一预定姿态静置预定时间,所述第一预定姿态为所述装夹件的x轴呈竖直放置的姿态;其中,所述装夹件的x轴可以沿重力加速度的正方向,也可以沿重力加速度的反方向;Resting the clamping part for a predetermined time in a first predetermined posture, the first predetermined posture is a posture in which the x-axis of the clamping part is placed vertically; wherein, the x-axis of the clamping part can be along The positive direction of the acceleration of gravity can also be along the opposite direction of the acceleration of gravity;

获取所述陀螺仪的所检测的数据,计算所述陀螺仪的第一静态偏差;在本实施方式中,当所述陀螺仪静置时,所述陀螺仪的静态偏差即体现在其检测的数据中。为了提高检测及校准的稳定性及准确性,可以采集多组数据并取多组数据的平均值,以较为准确地计算所述陀螺仪的第一静态偏差;Acquire the detected data of the gyroscope, and calculate the first static deviation of the gyroscope; in this embodiment, when the gyroscope is at rest, the static deviation of the gyroscope is reflected in its detected data. In order to improve the stability and accuracy of detection and calibration, multiple sets of data can be collected and the average value of multiple sets of data can be taken to more accurately calculate the first static deviation of the gyroscope;

将所述装夹件以第二预定姿态静置预定时间,所述第二预定姿态为所述装夹件的y轴呈竖直放置的姿态;其中,所述装夹件的y轴可以沿重力加速度的正方向,也可以沿重力加速度的反方向;Resting the clamping part for a predetermined time in a second predetermined posture, the second predetermined posture is a posture in which the y-axis of the clamping part is placed vertically; wherein, the y-axis of the clamping part can be along The positive direction of the acceleration of gravity can also be along the opposite direction of the acceleration of gravity;

获取所述陀螺仪的所检测的数据,计算所述陀螺仪的第二静态偏差;为了提高检测及校准的稳定性及准确性,可以采集多组数据并取多组数据的平均值,以较为准确地计算所述陀螺仪的第二静态偏差;Obtain the detected data of the gyroscope, and calculate the second static deviation of the gyroscope; in order to improve the stability and accuracy of detection and calibration, multiple sets of data can be collected and the average value of multiple sets of data can be taken to compare accurately calculating a second static bias of the gyroscope;

将所述装夹件以第三预定姿态静置预定时间,所述第三预定姿态为所述装夹件的z轴呈竖直放置的姿态;其中,所述装夹件的z轴可以沿重力加速度的正方向,也可以沿重力加速度的反方向;Resting the clamping part for a predetermined time in a third predetermined posture, the third predetermined posture is a posture in which the z-axis of the clamping part is placed vertically; wherein, the z-axis of the clamping part can be along the The positive direction of the acceleration of gravity can also be along the opposite direction of the acceleration of gravity;

获取所述陀螺仪的所检测的数据,计算所述陀螺仪的第三静态偏差;为了提高检测及校准的稳定性及准确性,可以采集多组数据并取多组数据的平均值,以较为准确地计算所述陀螺仪的第三静态偏差;Obtain the detected data of the gyroscope, and calculate the third static deviation of the gyroscope; in order to improve the stability and accuracy of detection and calibration, multiple sets of data can be collected and the average value of multiple sets of data can be taken to compare accurately calculating a third static bias of the gyroscope;

保存所述陀螺仪的第一、第二及第三静态偏差,并校准所述陀螺仪。The first, second and third static biases of the gyroscope are saved, and the gyroscope is calibrated.

在其他的一些实施方式中,为了提高所述陀螺仪的校准精度,可以同时校准所述陀螺仪的静态偏差以及旋转扭曲偏差。校准所述陀螺仪的旋转扭曲偏差时,将所述装夹件放置于所述三轴旋转台中并按照预定方向旋转,所述陀螺仪的旋转扭曲偏差即体现在其所检测的数据中。为了提高检测及校准的稳定性及准确性,可以采集多组数据,以计算所述陀螺仪在三轴上的旋转扭曲偏差。In some other implementation manners, in order to improve the calibration accuracy of the gyroscope, the static deviation and the rotational distortion deviation of the gyroscope may be calibrated at the same time. When calibrating the rotational distortion deviation of the gyroscope, the fixture is placed on the three-axis rotating table and rotated in a predetermined direction, and the rotational distortion deviation of the gyroscope is reflected in the detected data. In order to improve the stability and accuracy of detection and calibration, multiple sets of data can be collected to calculate the rotation distortion deviation of the gyroscope on three axes.

进一步地,请同时参阅图5,与上述校准静态偏差的方法类似,将所述装夹件分别以不同姿态旋转,并检测所述装夹件在不同姿态下的旋转扭曲偏差以获取所述陀螺仪在其三轴上的旋转扭曲偏差,且保存所述陀螺仪的旋转扭曲偏差后,校准所述陀螺仪。上述的不同姿态包括:将所述装夹件的x轴呈竖直放置并绕x周旋转、将所述装夹件的y轴呈竖直放置并绕y周旋转,以及将所述装夹件的z轴呈竖直放置并绕z周旋转。进一步地,旋转所述装夹件时,以匀速旋转。Further, please refer to FIG. 5 at the same time. Similar to the above-mentioned method of calibrating the static deviation, the clamping parts are rotated in different attitudes, and the rotation distortion deviation of the clamping parts in different attitudes is detected to obtain the gyroscope The rotation distortion deviation of the gyroscope on its three axes, and after saving the rotation distortion deviation of the gyroscope, the gyroscope is calibrated. The above different attitudes include: placing the x-axis of the clamping part vertically and rotating around x circles, placing the y-axis of the clamping part vertically and rotating around y circles, and placing the clamping part The z-axis of the part is placed vertically and rotates around the z circle. Further, when the clamping part is rotated, it rotates at a constant speed.

步骤S1093:校准所述加速度计。具体在本实施方式中,校准所述加速度计时,校准所述加速度计的各轴的偏移。具体而言,该步骤包括:Step S1093: Calibrate the accelerometer. Specifically, in this embodiment, the accelerometer is calibrated, and the offset of each axis of the accelerometer is calibrated. Specifically, this step includes:

将所述装夹件分别以不同的预定姿态静置预定时间;其中,请同时参阅图6,不同的预定姿态包括将所述装夹件的x轴沿重力加速度的正方向放置、将所述装夹件的y轴沿重力加速度的正方向放置、将所述装夹件的z轴沿重力加速度的正方向放置、x轴沿重力加速度的反方向放置、将所述装夹件的y轴沿重力加速度的反方向放置、将所述装夹件的z轴沿重力加速度的反方向放置;进一步地,在放置所述装夹件计时,将所述装夹件严格按照预定姿态放置,从而使所述加速度计的硬件的每个方向能够得到水平放置,以避免重力加速度对所述加速度计造成不良影响,进而提高校准精度。The clamping parts are respectively placed in different predetermined postures for a predetermined time; wherein, please also refer to FIG. The y-axis of the clamp is placed along the positive direction of the acceleration of gravity, the z-axis of the clamp is placed along the positive direction of the acceleration of gravity, the x-axis is placed along the opposite direction of the acceleration of gravity, and the y-axis of the clamp is placed Place along the opposite direction of gravitational acceleration, place the z-axis of the clamping part along the opposite direction of gravitational acceleration; further, when placing the clamping part, place the clamping part strictly according to the predetermined posture, so that Each direction of the hardware of the accelerometer can be placed horizontally, so as to avoid the adverse effect of the acceleration of gravity on the accelerometer, thereby improving the calibration accuracy.

分别获取每个姿态下所述加速度计所检测的数据;进一步地,为了提高检测及校准的稳定性及准确性,可以采集多组数据,并分别计算每个姿态下所检测的所有数据的平均值,作为该姿态下所述加速度计所检测的数据;Acquire the data detected by the accelerometer under each attitude; further, in order to improve the stability and accuracy of detection and calibration, multiple sets of data can be collected, and the average of all the data detected under each attitude can be calculated separately. Value, as the data detected by the accelerometer under this posture;

分别计算所述加速度计三个轴的正负向数据的中心点,从而获取测量范围的中心,即为每个轴的偏移;Calculate the center points of the positive and negative data of the three axes of the accelerometer respectively, so as to obtain the center of the measurement range, which is the offset of each axis;

保存所述陀螺仪的每个轴的偏移后,校准所述陀螺仪。After saving the offsets for each axis of the gyroscope, the gyroscope is calibrated.

具体在本实施方式中,上述的步骤细化包括:Specifically in this embodiment, the refinement of the above steps includes:

步骤SZ101:将所述装夹件以第一正预定姿态静置预定时间,所述第一正预定姿态为所述装夹件的x轴呈竖直放置的姿态;其中,所述装夹件的x轴沿重力加速度的正方向设置;Step SZ101: Stand still the clamping part for a predetermined time in a first positive predetermined posture, the first positive predetermined posture is a posture in which the x-axis of the clamping part is placed vertically; wherein, the clamping part The x-axis of is set along the positive direction of the acceleration of gravity;

步骤SZ102:获取所述加速度计所检测的数据;进一步地,为了提高检测及校准的稳定性及准确性,可以采集多组数据,并计算所检测的所有数据的平均值,作为第一正预定姿态下所述加速度计所检测的数据;Step SZ102: Obtain the data detected by the accelerometer; further, in order to improve the stability and accuracy of the detection and calibration, multiple sets of data can be collected, and the average value of all the detected data can be calculated as the first positive reservation The data detected by the accelerometer under attitude;

步骤SZ103:将所述装夹件以第一负预定姿态静置预定时间,所述第一负预定姿态为所述装夹件的x轴呈竖直放置的姿态;其中,所述装夹件的x轴沿重力加速度的反方向设置;Step SZ103: Stand still the clamping part for a predetermined time in a first negative predetermined posture, the first negative predetermined posture is a posture in which the x-axis of the clamping part is placed vertically; wherein, the clamping part The x-axis of is set along the opposite direction of the acceleration of gravity;

步骤SZ104:获取所述加速度计所检测的数据;进一步地,为了提高检测及校准的稳定性及准确性,可以采集多组数据,并计算所检测的所有数据的平均值,作为第一负预定姿态下所述加速度计所检测的数据;Step SZ104: Obtain the data detected by the accelerometer; further, in order to improve the stability and accuracy of detection and calibration, multiple sets of data can be collected, and the average value of all the detected data can be calculated as the first negative predetermined The data detected by the accelerometer under attitude;

步骤SZ105:计算第一正预定姿态下所述加速度计所检测的数据及第一负预定姿态下所述加速度计所检测的数据的中心点,作为x轴的偏移;Step SZ105: Calculate the center point of the data detected by the accelerometer in the first positive predetermined posture and the data detected by the accelerometer in the first negative predetermined posture as the offset of the x-axis;

步骤SZ106:保存所述陀螺仪的x轴的偏移,校准所述陀螺仪;Step SZ106: saving the offset of the x-axis of the gyroscope, and calibrating the gyroscope;

步骤SZ107:将所述装夹件以第二正预定姿态静置预定时间,所述第二正预定姿态为所述装夹件的y轴呈竖直放置的姿态;其中,所述装夹件的y轴沿重力加速度的正方向设置;Step SZ107: Stand still the clamping part for a predetermined time in a second positive predetermined posture, the second positive predetermined posture is a posture in which the y-axis of the clamping part is placed vertically; wherein, the clamping part The y-axis of is set along the positive direction of the acceleration of gravity;

步骤SZ108:获取所述加速度计所检测的数据;进一步地,为了提高检测及校准的稳定性及准确性,可以采集多组数据,并计算所检测的所有数据的平均值,作为第二正预定姿态下所述加速度计所检测的数据;Step SZ108: Obtain the data detected by the accelerometer; further, in order to improve the stability and accuracy of the detection and calibration, multiple sets of data can be collected, and the average value of all the detected data can be calculated as the second regular schedule The data detected by the accelerometer under attitude;

步骤SZ109:将所述装夹件以第二负预定姿态并静置预定时间,所述第二负预定姿态为所述装夹件的y轴呈竖直放置的姿态;其中,所述装夹件的y轴沿重力加速度的反方向设置;Step SZ109: Put the clamping part in a second negative predetermined posture and stand still for a predetermined time, the second negative predetermined posture is a posture in which the y-axis of the clamping part is placed vertically; wherein, the clamping The y-axis of the part is set along the opposite direction of the acceleration of gravity;

步骤SZ110:获取所述加速度计所检测的数据;进一步地,为了提高检测及校准的稳定性及准确性,可以采集多组数据,并计算所检测的所有数据的平均值,作为第二负预定姿态下所述加速度计所检测的数据;Step SZ110: Acquire the data detected by the accelerometer; further, in order to improve the stability and accuracy of detection and calibration, multiple sets of data can be collected, and the average value of all the detected data can be calculated as the second negative predetermined The data detected by the accelerometer under attitude;

步骤SZ111:计算第二正预定姿态下所述加速度计所检测的数据及第二负预定姿态下所述加速度计所检测的数据的中心点,作为y轴的偏移;Step SZ111: Calculate the center point of the data detected by the accelerometer in the second positive predetermined posture and the data detected by the accelerometer in the second negative predetermined posture as the offset of the y-axis;

步骤SZ112:保存所述陀螺仪的y轴的偏移,校准所述陀螺仪;Step SZ112: saving the offset of the y-axis of the gyroscope, and calibrating the gyroscope;

步骤SZ113:将所述装夹件以第三正预定姿态并静置预定时间,所述第三正预定姿态为所述装夹件的z轴呈竖直放置的姿态;其中,所述装夹件的z轴沿重力加速度的正方向设置;Step SZ113: Put the clamping part in a third positive predetermined posture and stand still for a predetermined time, the third positive predetermined posture is a posture in which the z-axis of the clamping part is placed vertically; wherein, the clamping The z-axis of the part is set along the positive direction of the acceleration of gravity;

步骤SZ114:获取所述加速度计所检测的数据;进一步地,为了提高检测及校准的稳定性及准确性,可以采集多组数据,并计算所检测的所有数据的平均值,作为第三正预定姿态下所述加速度计所检测的数据;Step SZ114: Acquire the data detected by the accelerometer; further, in order to improve the stability and accuracy of the detection and calibration, multiple sets of data can be collected, and the average value of all the detected data can be calculated as the third positive predetermined The data detected by the accelerometer under attitude;

步骤SZ115:将所述装夹件以第三负预定姿态并静置预定时间,所述第三负预定姿态为所述装夹件的z轴呈竖直放置的姿态;其中,所述装夹件的z轴沿重力加速度的反方向设置;Step SZ115: Put the clamping part in a third negative predetermined posture and stand still for a predetermined time, the third negative predetermined posture is a posture in which the z-axis of the clamping part is placed vertically; wherein, the clamping The z-axis of the part is set along the opposite direction of the acceleration of gravity;

步骤SZ116:获取所述加速度计所检测的数据;进一步地,为了提高检测及校准的稳定性及准确性,可以采集多组数据,并计算所检测的所有数据的平均值,作为第三负预定姿态下所述加速度计所检测的数据;Step SZ116: Obtain the data detected by the accelerometer; further, in order to improve the stability and accuracy of detection and calibration, multiple sets of data can be collected, and the average value of all the detected data can be calculated as the third negative predetermined The data detected by the accelerometer under attitude;

步骤SZ117:计算第三正预定姿态下所述加速度计所检测的数据及第三负预定姿态下所述加速度计所检测的数据的中心点,作为z轴的偏移;Step SZ117: Calculate the center point of the data detected by the accelerometer in the third positive predetermined posture and the data detected by the accelerometer in the third negative predetermined posture as the offset of the z-axis;

步骤SZ118:保存所述陀螺仪的z轴的偏移,校准所述陀螺仪。Step SZ118: Save the offset of the z-axis of the gyroscope, and calibrate the gyroscope.

在其他的一些实施方式中,为了提高所述加速度计的校准精度,可以同时校准所述加速度计的各轴偏移以及尺度偏差。进一步地,具体在一些实施方式中,在校准加速度计时,通过六方向转动保存所检测的参数后,以offset和scale计算公式进行计算,尺度偏差即为各轴的扭曲偏折参数。In some other implementation manners, in order to improve the calibration accuracy of the accelerometer, each axis offset and scale deviation of the accelerometer may be calibrated at the same time. Furthermore, specifically in some implementations, after calibrating the accelerometer and saving the detected parameters through six-direction rotation, the calculation is performed with offset and scale calculation formulas, and the scale deviation is the twist deflection parameter of each axis.

步骤S1095:校准所述磁力计。具体在本实施方式中,校准所述磁力计时,校准所述磁力计的偏差及尺度。具体而言,该步骤包括:Step S1095: Calibrate the magnetometer. Specifically, in this embodiment, the magnetometer is calibrated, and the deviation and scale of the magnetometer are calibrated. Specifically, this step includes:

旋转所述磁力计,使所述磁力计的读数在三维坐标空间中大致形成球状,如图7示出的效果;Rotate the magnetometer so that the readings of the magnetometer roughly form a spherical shape in the three-dimensional coordinate space, as shown in Figure 7;

根据旋转所得的磁力计的三轴在三维坐标中的磁力强度的最大最小值,计算出磁力计的偏差;其中,上述磁力强度的最大值是磁场最强的方向,磁力强度的最小值是磁场反向。因为地磁场强度只有50~60mGauss,而磁力计的量程远大于地磁场强度,所以在只存在地磁场的情况下,磁力计的磁力强度读数会有最大及最小值。Calculate the deviation of the magnetometer according to the maximum and minimum values of the magnetic force intensity of the three axes of the magnetometer obtained by rotation in the three-dimensional coordinates; wherein, the maximum value of the above-mentioned magnetic force intensity is the direction of the strongest magnetic field, and the minimum value of the magnetic force intensity is the magnetic field reverse. Because the strength of the earth's magnetic field is only 50-60mGauss, and the measuring range of the magnetometer is much larger than the strength of the earth's magnetic field, so in the case of only the earth's magnetic field, the magnetic strength reading of the magnetometer will have maximum and minimum values.

根据所述偏差校准所述磁力计。The magnetometer is calibrated according to the offset.

在其他的一些实施例中,采用椭圆拟合法校准所述磁力计。In some other embodiments, an ellipse fitting method is used to calibrate the magnetometer.

步骤S111:控制转台旋转到测试位置,测试所述九轴惯性测量单元的检测参数,若测试满足要求,则结束,若检测未满足要求,则执行步骤S109,直至所述九轴惯性测量单元测试结果满足要求。具体而言,该步骤包括:Step S111: Control the turntable to rotate to the test position, test the detection parameters of the nine-axis inertial measurement unit, if the test meets the requirements, then end, if the detection does not meet the requirements, execute step S109 until the nine-axis inertial measurement unit is tested The result meets the requirements. Specifically, this step includes:

步骤S1111:测试所述九轴惯性测量单元的静态抖动精度,进一步地,分别测试所述九轴惯性测量单元在图6所示的六个预定姿态下的静态抖动,当抖动小于或等于0.05度时,所述九轴惯性测量单元的静态抖动精度测试通过。Step S1111: Test the static jitter accuracy of the nine-axis IMU, and further test the static jitter of the nine-axis IMU in the six predetermined postures shown in Figure 6, when the jitter is less than or equal to 0.05 degrees , the static jitter accuracy test of the nine-axis inertial measurement unit passed.

具体而言,抖动精度是描述惯性测量单元细微操作的稳定性,由于所述陀螺仪本身有自己的精度,对所述陀螺仪的补偿不应当超过本身的微小操作精度。由于抖动数据主要描述惯性测量单元细微操作的稳定性,抖动越小,越能够看出细微的旋转运动。静态抖动的数据分析则通过不同点,采集多个该点数据平均值,计算各个点的标准差,来描述其抖动的情况。静态抖动数据的获取,通过旋转角度定位,每隔N度(例如,在一些实施方式中,每4度一个点,共45个点),对每个定位点,计算50个静态点的数据的标准差。对所有的n个数据,计算其平均的抖动距离为:Specifically, the jitter accuracy describes the stability of the micro-operation of the inertial measurement unit. Since the gyroscope itself has its own precision, the compensation for the gyroscope should not exceed its own micro-operation accuracy. Since the jitter data mainly describes the stability of the IMU's subtle operation, the smaller the jitter, the more subtle rotational motion can be seen. Static jitter data analysis uses different points, collects the average value of data at multiple points, and calculates the standard deviation of each point to describe the jitter situation. Acquisition of static jitter data, positioning by rotation angle, every N degrees (for example, in some implementations, every 4 degrees, a total of 45 points), for each positioning point, calculate the data of 50 static points standard deviation. For all n data, the average jitter distance is calculated as:

Figure BDA0001478199950000131
Figure BDA0001478199950000131

其中,di为当前帧的度数,其平均偏差越大,说明抖动越大。Among them, d i is the degree of the current frame, and the greater the average deviation, the greater the jitter.

步骤S1112:测试所述九轴惯性测量单元的旋转定位精度,进一步地,分别测试所述九轴惯性测量单元绕其三个轴以45度步进旋转时的旋转误差,当旋转误差小于或等于1度时,所述九轴惯性测量单元的旋转定位精度测试通过。Step S1112: Test the rotational positioning accuracy of the nine-axis inertial measurement unit, and further test the rotation error when the nine-axis inertial measurement unit rotates around its three axes in steps of 45 degrees, when the rotation error is less than or equal to At 1 degree, the rotation positioning accuracy test of the nine-axis inertial measurement unit passes.

具体而言,旋转定位精度是所述九轴惯性测量单元在不同方向的旋转时,在以东北上为正方向为基准的位置,所述九轴惯性测量单元的各个位置的精准程度,该参数描述所述九轴惯性测量单元的方向的准确还原程度。旋转定位精度通过所述三轴旋转台来获取旋转位置,再通过所述九轴惯性测量单元解算数据,通过比较后得到所述九轴惯性测量单元与三轴旋转台转动的偏差程度,通过平均偏差,来计算所述九轴惯性测量单元的旋转定位精度的大小。Specifically, the rotational positioning accuracy refers to the degree of accuracy of each position of the nine-axis inertial measurement unit at a position based on the northeast direction when the nine-axis inertial measurement unit rotates in different directions. Describes the degree of accurate restoration of the orientation of the nine-axis inertial measurement unit. Rotational positioning accuracy obtains the rotational position through the three-axis rotary table, and then calculates the data through the nine-axis inertial measurement unit, and obtains the degree of deviation between the nine-axis inertial measurement unit and the three-axis rotary table after comparison, through The average deviation is used to calculate the magnitude of the rotational positioning accuracy of the nine-axis inertial measurement unit.

例如,在一些具体的实施方式中,旋转定位精度的数据获取,包括步骤:将三个轴切分成固定角度的旋转位置,每隔N度(例如,每45度一个点,共8个点),通过旋转台旋转旋转定位到M个点,得到惯性测量单元旋转到该点的角度,然后再通过旋转原点对准进行数据校准,使得每惯性测量单元的角度与旋转台的角度一致,计算惯性测量单元角度与实际旋转台角度的旋转定位偏差为:For example, in some specific implementations, the data acquisition of rotational positioning accuracy includes the step of: dividing the three axes into rotational positions with fixed angles, every N degrees (for example, one point every 45 degrees, 8 points in total) , through the rotation and rotation of the turntable to locate M points, get the angle at which the inertial measurement unit rotates to this point, and then perform data calibration by aligning the origin of the rotation, so that the angle of each inertial measurement unit is consistent with the angle of the turntable, and calculate the inertia The rotation positioning deviation between the measurement unit angle and the actual rotation table angle is:

Figure BDA0001478199950000141
Figure BDA0001478199950000141

其中,

Figure BDA0001478199950000142
为第i个旋转台的角度,/>
Figure BDA0001478199950000143
为第i个惯性测量单元的角度。惯性测量单元旋转定位偏差越大,说明还原原始角度的精准度越差。步骤S1113:测试所述九轴惯性测量单元的收敛速度,进一步地,分别测试所述九轴惯性测量单元绕其三个轴以不同的度步进角度和旋转速度旋转后,停止旋转时所述九轴惯性测量单元收敛的角度和时间,当收敛角度小于或等于1度,且收敛时间小于或等于200ms时,所述九轴惯性测量单元的收敛测试通过。in,
Figure BDA0001478199950000142
is the angle of the i-th turntable, />
Figure BDA0001478199950000143
is the angle of the i-th inertial measurement unit. The greater the rotation positioning deviation of the inertial measurement unit, the worse the accuracy of restoring the original angle. Step S1113: Test the convergence speed of the nine-axis inertial measurement unit, further, respectively test the nine-axis inertial measurement unit rotating around its three axes at different degree step angles and rotation speeds, and then stop the rotation. The convergence angle and time of the nine-axis inertial measurement unit. When the convergence angle is less than or equal to 1 degree and the convergence time is less than or equal to 200ms, the convergence test of the nine-axis inertial measurement unit passes.

具体而言,收敛精度是描述惯性测量单元的数据获取速度、传输效率以及融合算法解算速度的一个综合性参数。惯性测量单元定位速度的快慢,取决于该速度的大小。在同一旋转台同幅度移动的情况下,速度越大,说明收敛速度越快,收敛速度越快,虚拟位置越快回到手柄的位置,减少延时,提高反应速度。但是由于有些解决有抖动的问题,在回正过程中,尾部会带有一定的回转的过程,但收敛速度越快,该回转过程就越难察觉。Specifically, the convergence accuracy is a comprehensive parameter describing the data acquisition speed, transmission efficiency and fusion algorithm solution speed of the inertial measurement unit. The speed at which the inertial measurement unit is positioned depends on the magnitude of this speed. In the case of the same rotary table moving at the same amplitude, the greater the speed, the faster the convergence speed, the faster the convergence speed, the faster the virtual position will return to the position of the handle, reducing the delay and improving the reaction speed. However, due to the problem of jitter in some solutions, in the process of returning to alignment, there will be a certain turning process at the tail, but the faster the convergence speed, the harder it is to detect the turning process.

收敛数据主要分析惯性测量单元在解算回正速度,数据的获取通过连续记录惯性测量单元的旋转台运动过程中数据的变化,通过计算数据变化的速率,计算惯性测量单元解算的收敛速度,数据的快慢,一方面取决于传感器的数据产生速度,另一方面取决于算法解算的快慢,该收敛速度测量二者结合产生数据的收敛速度快慢。Convergence data mainly analyzes the return speed of the inertial measurement unit. The data is obtained by continuously recording the data changes during the motion of the rotary table of the inertial measurement unit, and by calculating the rate of data change, the convergence speed of the inertial measurement unit is calculated. The speed of data depends on the data generation speed of the sensor on the one hand, and the speed of algorithm calculation on the other hand. The convergence speed measures the convergence speed of the data generated by the combination of the two.

在三个轴上测试不同的速度,在相同的步进的情况下,系统的运动时间与停止时间的比例,计算系统在运动过程中所占的时间比例,从而估算出系统的收敛时间。按运动和静止的时间相同的同向运动,用旋转台绕三个轴运动三个方向,存储系统在运动过程中的各个数据,通过数据,判断系统在运动加静态的时间段内,运动所占的比例,其收敛时间为(N%-50%)*time/2,以该时间为收敛时间。Test different speeds on the three axes. In the case of the same step, the ratio of the system's motion time to the stop time is calculated to calculate the time ratio of the system during the motion process, thereby estimating the convergence time of the system. Move in the same direction at the same time as the movement and stillness, use the rotating table to move around the three axes in three directions, store the various data of the system during the movement process, and judge the movement of the system during the time period of movement plus static through the data. Its convergence time is (N%-50%)*time/2, and this time is taken as the convergence time.

在另一实施例中,通过计算系统运动到静止的时间,并将该时间定义为收敛时间,但该时间包括了系统运算时间和数据传输时间,最终计算的收敛时间需要剔除系统运算时间和数据传输时间。In another embodiment, by calculating the time when the system moves to a standstill, and defining this time as the convergence time, but this time includes the system operation time and data transmission time, the final calculated convergence time needs to exclude the system operation time and data transmission time. transmission time.

步骤S1114:测试所述九轴惯性测量单元的静态漂移,进一步地,分别测试所述九轴惯性测量单元在图6所示的六个预定姿态下的静止时的数据漂移,当数据漂移小于或等于1度/分钟时,所述九轴惯性测量单元的静态漂移测试通过。Step S1114: Test the static drift of the nine-axis inertial measurement unit, further, respectively test the data drift of the nine-axis inertial measurement unit at rest under the six predetermined attitudes shown in Figure 6, when the data drift is less than or When equal to 1 degree/minute, the static drift test of the nine-axis inertial measurement unit passes.

具体而言,在一些实施方式中,静态漂移测试惯性测量单元在静止一段时间以后,其偏离起始位置的度数,该测试方法以一个点的起始点,例如原点,将惯性测量单元静止平放在台上,放置一定的时间,例如,1分钟,5分钟,10分钟,30分钟,60分钟。放置后,读取惯性测量单元的读数,与起始位置进行比较,得到静态漂移的偏差。Specifically, in some implementations, the static drift tests the degree to which the inertial measurement unit deviates from the initial position after it has been stationary for a period of time. This test method uses a starting point, such as the origin, to place the inertial measurement unit still and flat Place on the table for a certain time, for example, 1 minute, 5 minutes, 10 minutes, 30 minutes, 60 minutes. After placement, take a reading from the IMU and compare it to the starting position to get the deviation from the static drift.

步骤S1115:测试所述九轴惯性测量单元的动态漂移,进一步地,分别测试所述九轴惯性测量单元绕其三个轴以不同的度步进角度和旋转速度旋转后,停止旋转时所述九轴惯性测量单元继续运动的速度和时间,当运动速度小于或等于0.1度/秒钟,且运动时间小于或等于200ms时,所述九轴惯性测量单元的动态漂移测试通过。Step S1115: Test the dynamic drift of the nine-axis inertial measurement unit, further, respectively test the nine-axis inertial measurement unit rotating around its three axes at different degree step angles and rotation speeds, and when the rotation stops, the The speed and time at which the nine-axis inertial measurement unit continues to move. When the movement speed is less than or equal to 0.1 degrees/second, and the movement time is less than or equal to 200ms, the dynamic drift test of the nine-axis inertial measurement unit passes.

具体而言,静态漂移测试惯性测量单元在长时间运动后,其偏离起始位置的度数,该测试方法以一个点的起始点,例如原点,通过旋转台绕三个轴不断地旋转,以时间为基准,测试不同时间旋转后,惯性测量单元回来起始点位置时,其读数偏离原来起始点读数的偏差,作为静态漂移的精度。Specifically, static drift tests the degree of deviation from the initial position of the inertial measurement unit after a long period of movement. As a reference, after testing the rotation at different times, when the inertial measurement unit returns to the starting point position, the deviation of its reading from the original starting point reading is regarded as the accuracy of the static drift.

步骤S1116:测试所述九轴惯性测量单元的转动轴偏,进一步地,分别测试所述九轴惯性测量单元绕其三个轴以不同速的速度转动时产生的轴偏大小,当轴偏小于或等于1度时,所述九轴惯性测量单元的转动轴偏测试通过。Step S1116: Test the rotation axis deviation of the nine-axis inertial measurement unit, and further test the axis deviation generated when the nine-axis inertial measurement unit rotates around its three axes at different speeds, when the axis is too small When it is equal to or equal to 1 degree, the rotation axis deflection test of the nine-axis inertial measurement unit passes.

具体而言,转动轴偏计算惯性测量单元在旋转过程中,其轴与轴之间的偏转大小,理想情况下,惯性测量单元绕某一轴旋转时,该轴的读数应该是稳定的,但由于器件和解算算法的问题,可能导致其轴并不平行,这就会出现轴偏的情况,轴偏太大会影响用户的体验。Specifically, the rotation axis deflection calculates the deflection between the axis and the axis of the inertial measurement unit during the rotation process. Ideally, when the inertial measurement unit rotates around a certain axis, the reading of the axis should be stable, but Due to the problems of the device and the calculation algorithm, the axes may not be parallel, which will cause the axis deviation. If the axis deviation is too large, it will affect the user experience.

转动轴偏的测试,通过旋转台绕三个轴不断地旋转,得到该轴在旋转过程中的读数,计算其标准差及最大偏差,即为该轴平均偏差的大小以及最大偏差。For the test of the rotation axis deviation, the rotating table rotates continuously around the three axes to obtain the readings of the axis during the rotation process, and calculate its standard deviation and maximum deviation, which is the average deviation and maximum deviation of the axis.

在本发明提供的一些实施方式中,在执行上述的测试步骤S111时,其步骤S1111~S1116的测试过程,其中的一个或多个步骤可以并行测试,也可以每个步骤逐个测试,测试步骤的先后顺序并不局限于上文所描述的编号限制。例如,在本发明的另一实施方式中,在执行上述的测试步骤S111时,将静态抖动精度测试、旋转定位精度测试、静态漂移测试集成一个测试步骤S115;将动态漂移测试和转动轴偏测试集成一个测试步骤S117,从而形成一个具备两步测试步骤的产线测试方案,以降低测试时间、提高生产效率。在一些实施方式中,具体的测试步骤执行如下:In some embodiments provided by the present invention, when performing the above-mentioned test step S111, in the test process of steps S1111 to S1116, one or more steps can be tested in parallel, or each step can be tested one by one, and the test steps The sequence is not limited to the numbering restrictions described above. For example, in another embodiment of the present invention, when performing the above-mentioned test step S111, the static jitter accuracy test, the rotation positioning accuracy test, and the static drift test are integrated into one test step S115; the dynamic drift test and the rotation axis deviation test A test step S117 is integrated to form a production line test plan with two test steps to reduce test time and improve production efficiency. In some embodiments, specific test steps are performed as follows:

步骤S115:同时测试所述九轴惯性测量单元的静态抖动精度、旋转定位精度、静态漂移。具体地,在三轴方向上,以每45度为测试角度,将三轴划分成8+8+4,共20个测试点的测试过程。每个定点,存储5秒的数据,求其均值及标准差。将20个样本位置的标准差(抖动精度)平均,作为系统的静态抖动精度。将20个点的角度,与旋转台的角度做差,计算系统位置与旋转平台的总偏移,然后对每个点加总偏移,得到每个位置点的偏移,最后计算20个样本点的平均偏移,作旋转定位精度。同时,计算每个点的最大偏差,作为静态漂移的大小,计算20个样本点平均偏移,作为静态偏移精度。Step S115: Simultaneously test the static jitter accuracy, rotational positioning accuracy, and static drift of the nine-axis inertial measurement unit. Specifically, in the three-axis direction, with every 45 degrees as the test angle, the three-axis is divided into 8+8+4, a test process of 20 test points in total. For each fixed point, store 5 seconds of data, and find its mean and standard deviation. The standard deviation (jitter accuracy) of 20 sample positions is averaged as the static jitter accuracy of the system. Make the difference between the angle of 20 points and the angle of the rotating platform, calculate the total offset between the system position and the rotating platform, and then add up the offset for each point to obtain the offset of each position point, and finally calculate 20 samples The average offset of points, for rotational positioning accuracy. At the same time, the maximum deviation of each point is calculated as the size of the static drift, and the average deviation of 20 sample points is calculated as the static drift accuracy.

步骤S117:同时测试所述九轴惯性测量单元的动态漂移及转动轴偏。具体地,分别绕三轴旋转,每个轴旋转20秒;记录三个轴的起始位置,通过旋转20秒以后,停止到起始位置;存储20秒的欧拉角数据,计算转轴的标准差,作为转动轴偏精度;计算每个轴的最大偏差,最为动态漂移的大小。Step S117: Simultaneously test the dynamic drift and rotation axis deviation of the nine-axis inertial measurement unit. Specifically, rotate around three axes, each axis rotates for 20 seconds; record the starting position of the three axes, and stop to the starting position after rotating for 20 seconds; store Euler angle data for 20 seconds, and calculate the standard of the rotating axis The difference is used as the deviation accuracy of the rotation axis; the maximum deviation of each axis is calculated, which is the size of the most dynamic drift.

在本发明提供的另一些实施方式中,在执行上述的测试步骤S111时,其步骤S1111~S1116的测试过程,其中的一个或多个步骤可以进行简化测试,测试步骤的先后顺序并不局限于上文所描述的编号限制。例如,在本发明的另一实施方式中,在执行上述的测试步骤S111时,具体的测试步骤执行如下:In other embodiments provided by the present invention, when performing the above-mentioned test step S111, one or more steps of the test process of steps S1111 to S1116 can be simplified tests, and the order of the test steps is not limited to The numbering restrictions described above. For example, in another embodiment of the present invention, when performing the above-mentioned test step S111, the specific test steps are performed as follows:

步骤S1191:测试所述九轴惯性测量单元的静态抖动精度,进一步地,可以将手柄旋转在平面上,查看其抖动情况,当判断抖动的幅度大于预设值时,测试不通过。进一步地,当抖动小于或等于0.05度时,所述九轴惯性测量单元的静态抖动精度测试通过。Step S1191: Test the static vibration accuracy of the nine-axis inertial measurement unit. Further, the handle can be rotated on the plane to check its vibration. If the vibration amplitude is judged to be greater than the preset value, the test fails. Further, when the jitter is less than or equal to 0.05 degrees, the static jitter accuracy test of the nine-axis inertial measurement unit passes.

步骤S1192:测试所述九轴惯性测量单元的旋转定位精度,进一步地,可以手动旋转90度,看数据90度的偏差有多大,当判断偏差大于预设值时,测试不通过。进一步地,当旋转误差小于或等于1度时,所述九轴惯性测量单元的旋转定位精度测试通过。Step S1192: Test the rotational positioning accuracy of the nine-axis inertial measurement unit. Further, you can manually rotate it by 90 degrees to see how big the deviation of the data is by 90 degrees. If the deviation is judged to be greater than the preset value, the test fails. Further, when the rotation error is less than or equal to 1 degree, the rotation positioning accuracy test of the nine-axis inertial measurement unit passes.

步骤S1193:测试所述九轴惯性测量单元的静态漂移,进一步地,可以直接放置台面上,记录初始位置欧拉角,放置一段时间后,再次读数据,可以得到其静态漂移的大小。进一步地,当数据漂移小于或等于1度时,所述九轴惯性测量单元的静态漂移测试通过。Step S1193: Test the static drift of the nine-axis inertial measurement unit. Further, it can be directly placed on the table, and the Euler angle of the initial position can be recorded. After a period of time, read the data again to obtain the magnitude of the static drift. Further, when the data drift is less than or equal to 1 degree, the static drift test of the nine-axis inertial measurement unit passes.

步骤S1194:试所述九轴惯性测量单元的动态漂移,进一步地,通过运动急停的方式,可以来回往复地运动,然后急停,然后观察各轴在运动静止后,是否出现漂移,数据增加减少的情况,漂移太大,则认为不通过。进一步地,当数据漂移小于或等于15度时,所述九轴惯性测量单元的动态漂移测试通过。Step S1194: Test the dynamic drift of the nine-axis inertial measurement unit. Further, through the emergency stop of the movement, it can move back and forth, and then stop suddenly, and then observe whether the axes drift after the motion stops, and the data increases In the case of reduction, if the drift is too large, it is considered not to pass. Further, when the data drift is less than or equal to 15 degrees, the dynamic drift test of the nine-axis inertial measurement unit passes.

步骤S1195:测试所述九轴惯性测量单元的转动轴偏,进一步地,将手柄绕三个轴旋转,看三轴方向,在旋转时,是否出现轴心较偏的情况,如果旋转方向和旋转轴偏得比较大,则认为不通过。进一步地,当轴偏小于或等于1度时,所述九轴惯性测量单元的转动轴偏测试通过。Step S1195: Test the deviation of the rotation axis of the nine-axis inertial measurement unit. Further, rotate the handle around the three axes to check the direction of the three axes. If the axis deviation is relatively large, it is considered not to pass. Further, when the axis deviation is less than or equal to 1 degree, the rotation axis deviation test of the nine-axis inertial measurement unit passes.

上述对测试步骤的简化,能够达到快速验证的效果,可以允许研发人员进行测试后,能够了解测试参数与实际应用场景中物理量的对应关系,并通过一些特定的现象,较为方便地判断所述九轴惯性测量单元的性能是否合格,提高了九轴惯性测量单元的检测效率。The above-mentioned simplification of the test steps can achieve the effect of rapid verification, and can allow the R&D personnel to understand the correspondence between the test parameters and the physical quantities in the actual application scene after the test, and through some specific phenomena, it is more convenient to judge the above nine Whether the performance of the nine-axis inertial measurement unit is qualified or not improves the detection efficiency of the nine-axis inertial measurement unit.

本发明实施例还提供一种控制设备,所述控制设备包括上述的九轴惯性测量单元,所述控制设备能够发光以允许机器视觉装置识别。同时,本发明还提供一种对于配置有九轴惯性测量单元的控制设备的标定方法,该标定方法用于校准并测试所述控制设备的九轴惯性测量单元。所述配置有九轴惯性测量单元的控制设备的标定方法与上述惯性测量单元的标定方法大致相同,其不同在于:An embodiment of the present invention also provides a control device, the control device includes the above-mentioned nine-axis inertial measurement unit, and the control device can emit light to allow a machine vision device to identify it. At the same time, the present invention also provides a calibration method for a control device equipped with a nine-axis inertial measurement unit, the calibration method is used for calibrating and testing the nine-axis inertial measurement unit of the control device. The calibration method of the control device configured with the nine-axis inertial measurement unit is roughly the same as the calibration method of the above-mentioned inertial measurement unit, the difference lies in:

在标定所述控制设备时,将配置有九轴惯性测量单元的控制设备整体装设于相适配的装夹件中,对所述控制设备中的所述九轴惯性测量单元进行校准及测试。When calibrating the control equipment, the control equipment equipped with a nine-axis inertial measurement unit is installed in a matching fixture as a whole, and the nine-axis inertial measurement unit in the control equipment is calibrated and tested .

本发明实施例提供的惯性测量单元的标定方法,突破了惯常惯性测量单元标定的局限,能够采用所述三轴旋转台以及所述装夹件将多个惯性测量单元同时装设并标定,且在标定时同时标定陀螺仪、加速度计以及磁力计,较为有效地提高了九轴惯性测量单元标定的效率以及精度。The calibration method of the inertial measurement unit provided by the embodiment of the present invention breaks through the limitations of conventional inertial measurement unit calibration, and can simultaneously install and calibrate multiple inertial measurement units by using the three-axis rotating table and the clamping parts, and Calibrating the gyroscope, accelerometer and magnetometer at the same time during calibration can effectively improve the efficiency and accuracy of the calibration of the nine-axis inertial measurement unit.

在本说明书的描述中,参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中,对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且,描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外,在不相互矛盾的情况下,本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structure, material or characteristic is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.

此外,术语“第一”、“第二”仅用于描述目的,而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此,限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本发明的描述中,“多个”的含义是至少两个,例如两个,三个等,除非另有明确具体的限定。In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为,表示包括一个或更多个用于实现特定逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分,并且本发明的优选实施方式的范围包括另外的实现,其中可以不按所示出或讨论的顺序,包括根据所涉及的功能按基本同时的方式或按相反的顺序,来执行功能,这应被本发明的实施例所属技术领域的技术人员所理解。Any process or method descriptions described in flowcharts or otherwise herein may be understood as representing a module, segment or portion of code comprising one or more executable instructions for implementing specific logical functions or steps of the process , and the scope of preferred embodiments of the invention includes alternative implementations in which functions may be performed out of the order shown or discussed, including in substantially simultaneous fashion or in reverse order depending on the functions involved, which shall It is understood by those skilled in the art to which the embodiments of the present invention pertain.

在流程图中表示或在此以其他方式描述的逻辑和/或步骤,例如,可以被认为是用于实现逻辑功能的可执行指令的定序列表,可以具体实现在任何计算机可读介质中,以供指令执行系统、装置或设备(如基于计算机的系统、包括处理器的系统或其他可以从指令执行系统、装置或设备取指令并执行指令的系统)使用,或结合这些指令执行系统、装置或设备而使用。就本说明书而言,"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行系统、装置或设备或结合这些指令执行系统、装置或设备而使用的装置。The logic and/or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium, For use with instruction execution systems, devices, or devices (such as computer-based systems, systems including processors, or other systems that can fetch instructions from instruction execution systems, devices, or devices and execute instructions), or in conjunction with these instruction execution systems, devices or equipment for use. For the purposes of this specification, a "computer-readable medium" may be any device that can contain, store, communicate, propagate or transmit a program for use in or in conjunction with an instruction execution system, device or device.

计算机可读介质的更具体的示例(非穷尽性列表)包括以下:具有一个或多个布线的电连接部(移动终端),便携式计算机盘盒(磁装置),随机存取存储器(RAM),只读存储器(ROM),可擦除可编辑只读存储器(EPROM或闪速存储器),光纤装置,以及便携式光盘只读存储器(CDROM)。另外,计算机可读介质甚至可以是可在其上打印所述程序的纸或其他合适的介质,因为可以例如通过对纸或其他介质进行光学扫描,接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序,然后将其存储在计算机存储器中。More specific examples (non-exhaustive list) of computer readable media include the following: electrical connection with one or more wires (mobile terminal), portable computer disk case (magnetic device), random access memory (RAM), Read Only Memory (ROM), Erasable and Editable Read Only Memory (EPROM or Flash Memory), Fiber Optic Devices, and Portable Compact Disc Read Only Memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program can be printed, since the program can be read, for example, by optically scanning the paper or other medium, followed by editing, interpretation or other suitable processing if necessary. The program is processed electronically and stored in computer memory.

应当理解,本发明的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实施方式中,多个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或固件来实现。例如,如果用硬件来实现,和在另一实施方式中一样,可用本领域公知的下列技术中的任一项或他们的组合来实现:具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路,具有合适的组合逻辑门电路的专用集成电路,可编程门阵列(PGA),现场可编程门阵列(FPGA)等。It should be understood that various parts of the present invention can be realized by hardware, software, firmware or their combination. In the embodiments described above, various steps or methods may be implemented by software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or combination of the following techniques known in the art: Discrete logic circuits, ASICs with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

本技术领域的普通技术人员可以理解实现上述实施例方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成,所述的程序可以存储于一种计算机可读存储介质中,该程序在执行时,包括方法实施例的步骤之一或其组合。此外,在本发明各个实施例中的各功能单元可以集成在一个处理模块中,也可以是各个单元单独物理存在,也可以两个或两个以上单元集成在一个模块中。上述集成的模块既可以采用硬件的形式实现,也可以采用软件功能模块的形式实现。所述集成的模块如果以软件功能模块的形式实现并作为独立的产品销售或使用时,也可以存储在一个计算机可读取存储介质中。Those of ordinary skill in the art can understand that all or part of the steps carried by the methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. During execution, one or a combination of the steps of the method embodiments is included. In addition, each functional unit in each embodiment of the present invention may be integrated into one processing module, each unit may exist separately physically, or two or more units may be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software function modules. If the integrated modules are realized in the form of software function modules and sold or used as independent products, they can also be stored in a computer-readable storage medium.

上述提到的存储介质可以是只读存储器,磁盘或光盘等。尽管上面已经示出和描述了本发明的实施例,可以理解的是,上述实施例是示例性的,不能理解为对本发明的限制,本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, and the like. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention, those skilled in the art can make the above-mentioned The embodiments are subject to changes, modifications, substitutions and variations.

最后应说明的是:以上实施例仅用以说明本发明的技术方案,而非对其限制;尽管参照前述实施例对本发明进行了详细的说明,本领域的普通技术人员当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分技术特征进行等同替换;而这些修改或者替换,并不驱使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not drive the essence of the corresponding technical solutions away from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims (9)

1.一种惯性测量单元的标定方法,其特征在于,应用于九轴惯性测量单元,所述九轴惯性测量单元包括三轴陀螺仪、三轴加速度计以及三轴磁力计;所述惯性测量单元的标定方法包括:1. A calibration method for an inertial measurement unit, characterized in that it is applied to a nine-axis inertial measurement unit, and the nine-axis inertial measurement unit includes a three-axis gyroscope, a three-axis accelerometer and a three-axis magnetometer; the inertial measurement unit Calibration methods for the unit include: 提供三轴旋转台以及装夹件;Provide three-axis rotary table and clamping parts; 将所述九轴惯性测量单元装设于所述装夹件内;installing the nine-axis inertial measurement unit in the clamp; 将所述装夹件装设于所述三轴旋转台;以及installing the clamping member on the three-axis rotating table; and 控制所述三轴旋转台旋转,并记录所述九轴惯性测量单元的检测数据,同时对所述陀螺仪、所述加速度计以及所述磁力计进行校准;controlling the rotation of the three-axis turntable, recording the detection data of the nine-axis inertial measurement unit, and simultaneously calibrating the gyroscope, the accelerometer, and the magnetometer; 控制所述三轴旋转台旋转到测试位置,测试所述九轴惯性测量单元的检测参数;其中,所述测试所述九轴惯性测量单元的检测参数,包括:Controlling the rotation of the three-axis rotary table to a test position, and testing the detection parameters of the nine-axis inertial measurement unit; wherein, the testing of the detection parameters of the nine-axis inertial measurement unit includes: 同时测试所述九轴惯性测量单元的静态抖动精度、旋转定位精度、静态漂移;Simultaneously test the static jitter accuracy, rotational positioning accuracy, and static drift of the nine-axis inertial measurement unit; 同时测试所述九轴惯性测量单元的动态漂移及转动轴偏:记录所述三轴旋转台在三个轴的起始位置,控制所述三轴旋转台分别绕三个轴旋转,旋转后停止到起始位置;存储旋转过程中的欧拉角数据,计算每个轴的标准差作为转动轴偏精度;计算每个轴的最大偏差座位动态漂移的大小。Simultaneously test the dynamic drift and rotation axis deviation of the nine-axis inertial measurement unit: record the starting position of the three-axis turntable on the three axes, control the three-axis turntable to rotate around the three axes respectively, and stop after rotating to the starting position; store the Euler angle data during the rotation process, calculate the standard deviation of each axis as the rotation axis deviation accuracy; calculate the maximum deviation of each axis and the size of the dynamic drift of the seat. 2.如权利要求1所述的惯性测量单元的标定方法,其特征在于,将所述装夹件装设于所述三轴旋转台后,提供控制器,将所述控制器与所述装夹件内的所述九轴惯性测量单元无线连接;所述控制器用于控制所述三轴旋转台旋转,并用于校准所述陀螺仪、所述加速度计以及所述磁力计。2. The calibration method of the inertial measurement unit as claimed in claim 1, characterized in that, after the clamping part is installed on the three-axis rotating table, a controller is provided, and the controller is connected to the device The nine-axis inertial measurement unit in the clip is wirelessly connected; the controller is used to control the rotation of the three-axis turntable and to calibrate the gyroscope, the accelerometer and the magnetometer. 3.如权利要求2所述的惯性测量单元的标定方法,其特征在于,校准所述陀螺仪时,校准所述陀螺仪在其三轴上的静态偏差;3. the calibration method of inertial measurement unit as claimed in claim 2 is characterized in that, when calibrating described gyroscope, calibrate the static deviation of described gyroscope on its three axes; 校准所述陀螺仪在其三轴上的静态偏差时,将所述陀螺仪分别以不同的预定姿态放置于所述三轴旋转台中并静置预定时间;分别获取所述陀螺仪在不同姿态下的所检测的数据,并分别计算所述陀螺仪在不同姿态下的静态偏差,且保存所述陀螺仪的静态偏差后,校准所述陀螺仪。When calibrating the static deviation of the gyroscope on its three axes, the gyroscopes are placed in the three-axis rotating table with different predetermined attitudes and left for a predetermined time; The detected data, and respectively calculate the static deviation of the gyroscope under different attitudes, and after saving the static deviation of the gyroscope, calibrate the gyroscope. 4.如权利要求2所述的惯性测量单元的标定方法,其特征在于,校准所述陀螺仪时,同时校准所述陀螺仪的静态偏差以及旋转扭曲偏差;4. the calibration method of inertial measurement unit as claimed in claim 2, is characterized in that, when calibrating described gyroscope, simultaneously calibrate the static deviation of described gyroscope and rotational distortion deviation; 校准所述加速度计时,校准所述加速度计的各轴的偏移;calibrating the accelerometer, calibrating the offset of each axis of the accelerometer; 校准所述加速度计的各轴的偏移,包括:calibrating the offset of each axis of the accelerometer, comprising: 将所述装夹件分别以不同的预定姿态放置于所述三轴旋转台中并静置预定时间;placing the clamping parts in the three-axis rotary table in different predetermined postures and standing still for a predetermined time; 分别获取每个姿态下所述加速度计所检测的数据;进一步地,为了提高检测及校准的稳定性及准确性,采集多组数据,并分别计算每个姿态下所检测的所有数据的平均值,作为该姿态下所述加速度计所检测的数据;Obtain the data detected by the accelerometer under each attitude respectively; further, in order to improve the stability and accuracy of detection and calibration, collect multiple sets of data, and calculate the average value of all the data detected under each attitude , as the data detected by the accelerometer under the posture; 分别计算所述加速度计三个轴的正负向数据的中心点,从而获取测量范围的中心,即为每个轴的偏移;Calculate the center points of the positive and negative data of the three axes of the accelerometer respectively, so as to obtain the center of the measurement range, which is the offset of each axis; 保存所述陀螺仪的每个轴的偏移后,校准所述陀螺仪。After saving the offsets for each axis of the gyroscope, the gyroscope is calibrated. 5.如权利要求2所述的惯性测量单元的标定方法,其特征在于,校准所述磁力计时,校准所述磁力计的偏差及尺度;5. the calibration method of inertial measurement unit as claimed in claim 2, is characterized in that, calibrate described magnetometer, calibrate the deviation and scale of described magnetometer; 校准所述磁力计的偏差及尺度,包括:旋转所述磁力计,使所述磁力计在空间中形成球状,根据旋转所得的磁力计的三轴在三维坐标中的磁力强度的最大最小值,计算出磁力计的偏差,并根据所述偏差校准所述磁力计。Calibrating the deviation and scale of the magnetometer includes: rotating the magnetometer so that the magnetometer forms a spherical shape in space, and according to the maximum and minimum values of the magnetic force intensity of the three axes of the magnetometer obtained from the rotation in three-dimensional coordinates, The offset of the magnetometer is calculated and the magnetometer is calibrated according to the offset. 6.如权利要求1所述的惯性测量单元的标定方法,其特征在于,提供所述三轴旋转台时,令所述三轴旋转台内部的磁场强度小于或等于0.6Guass;所述三轴旋转台由非导磁材料制成。6. the calibration method of inertial measurement unit as claimed in claim 1, is characterized in that, when providing described three-axis turntable, make the magnetic field strength inside described three-axis turntable less than or equal to 0.6Guass; The turntable is made of non-magnetic material. 7.如权利要求1所述的惯性测量单元的标定方法,其特征在于,所述装夹件内设有多个收容腔,所述收容腔用于收容所述九轴惯性测量单元;将所述九轴惯性测量单元装设于所述装夹件内时,将多个所述九轴惯性测量单元同时装设于所述装夹件的所述收容腔内。7. The calibration method of the inertial measurement unit according to claim 1, wherein a plurality of accommodation cavities are arranged in the clamping part, and the accommodation cavities are used to accommodate the nine-axis inertial measurement unit; When the nine-axis inertial measurement unit is installed in the clamping part, multiple nine-axis inertial measurement units are simultaneously installed in the accommodation cavity of the clamping part. 8.如权利要求1所述的惯性测量单元的标定方法,其特征在于,测试所述九轴惯性测量单元的检测参数之后,若测试满足要求,则结束,若测试未满足要求,则继续校准所述九轴惯性测量单元,直至测试结果满足要求。8. The calibration method of the inertial measurement unit according to claim 1, wherein after testing the detection parameters of the nine-axis inertial measurement unit, if the test meets the requirements, then end, if the test does not meet the requirements, then continue to calibrate The nine-axis inertial measurement unit until the test results meet the requirements. 9.一种控制设备的标定方法,其特征在于,应用于包括九轴惯性测量单元的控制设备,所述九轴惯性测量单元包括三轴陀螺仪、三轴加速度计以及三轴磁力计;所述惯性测量单元的标定方法包括:9. A calibration method for a control device, characterized in that it is applied to a control device comprising a nine-axis inertial measurement unit, the nine-axis inertial measurement unit comprising a three-axis gyroscope, a three-axis accelerometer and a three-axis magnetometer; The calibration methods of the inertial measurement unit include: 提供三轴旋转台以及装夹件;Provide three-axis rotary table and clamping parts; 将所述控制设备装设于所述装夹件内;installing the control device in the clamp; 将所述装夹件装设于所述三轴旋转台;以及installing the clamping member on the three-axis rotating table; and 控制所述三轴旋转台旋转,并记录所述控制设备的检测数据,同时对所述陀螺仪、所述加速度计以及所述磁力计进行校准;controlling the rotation of the three-axis turntable, recording the detection data of the control device, and simultaneously calibrating the gyroscope, the accelerometer, and the magnetometer; 控制所述三轴旋转台旋转到测试位置,测试所述九轴惯性测量单元的检测参数;其中,所述测试所述九轴惯性测量单元的检测参数,包括:Controlling the rotation of the three-axis rotary table to a test position, and testing the detection parameters of the nine-axis inertial measurement unit; wherein, the testing of the detection parameters of the nine-axis inertial measurement unit includes: 同时测试所述九轴惯性测量单元的静态抖动精度、旋转定位精度、静态漂移;Simultaneously test the static jitter accuracy, rotational positioning accuracy, and static drift of the nine-axis inertial measurement unit; 同时测试所述九轴惯性测量单元的动态漂移及转动轴偏:记录所述三轴旋转台在三个轴的起始位置,控制所述三轴旋转台分别绕三个轴旋转,旋转后停止到起始位置;存储旋转过程中的欧拉角数据,计算每个轴的标准差作为转动轴偏精度;计算每个轴的最大偏差座位动态漂移的大小。Simultaneously test the dynamic drift and rotation axis deviation of the nine-axis inertial measurement unit: record the starting position of the three-axis turntable on the three axes, control the three-axis turntable to rotate around the three axes respectively, and stop after rotating to the starting position; store the Euler angle data during the rotation process, calculate the standard deviation of each axis as the rotation axis deviation accuracy; calculate the maximum deviation of each axis and the size of the dynamic drift of the seat.
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