CN103823084A - Method for calibrating three-axis acceleration sensor - Google Patents
Method for calibrating three-axis acceleration sensor Download PDFInfo
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- CN103823084A CN103823084A CN201410108757.2A CN201410108757A CN103823084A CN 103823084 A CN103823084 A CN 103823084A CN 201410108757 A CN201410108757 A CN 201410108757A CN 103823084 A CN103823084 A CN 103823084A
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Abstract
The invention relates to a method for calibrating a three-axis acceleration sensor. The method for calibrating the three-axis acceleration sensor comprises the following steps: A, reading a three-axis output value of the three-axis acceleration sensor; B, data screening, namely comparing the three-axis output value with N three-axis output values before, wherein the three-axis output value read at this time is taken as a possible resting point if the difference value is within a first preset threshold; C, calculating the quadratic sum of the three-axis output value of the possible resting point, and then comparing the quadratic sum with a measured gravity value of the three-axis acceleration sensor in a quiescent state, wherein correcting is not needed if the difference value is within a second preset threshold, otherwise, calibrating is performed according to an error value obtained by mathematical calculation; and D, returning to the step A, wherein N is a natural number greater than or equal to 2. By the method disclosed by the invention, the problem of drift after calibration of the acceleration sensor can be solved.
Description
Technical field
The present invention relates to a kind of sensor field, relate in particular to a kind of calibration steps of 3-axis acceleration sensor.
Background technology
Be subject to the impact of technique and physical characteristics, the natural error that has zero migration (offset) of acceleration transducer based on MEMS, these errors can change along with the change of temperature, humidity and encapsulation stress.In mobile electronic device, if these errors are not calibrated, can affect the accuracy of acceleration analysis, and then affect direction identification, meter step, the experience of a lot of application of somatic sensation television game etc.
Traditional calibration steps is that degree of will speed up sensor is placed in the plane of abswolute level, allow some axles in direction vertically upward, measure the output of this axle, degree of will speed up sensor upset again, make this axle in direction vertically downward, the output of again measuring this axle, thus can calculate the zero migration error of this axle, complete the calibration to this axle, and the other diaxon of calibration that uses the same method.Because the error of each acceleration transducer self is different, in the process that this method need to be produced at acceleration transducer, each axle of each sensor is carried out to independent calibration, this can increase the production cost of acceleration transducer.And, because the error of acceleration transducer can be along with temperature, the change of humidity and stress and drifting about, especially in the time that acceleration transducer is welded on product P CB plate through high temperature reflux, because the change of the sensor base plate stress that high temperature causes, can bring very large drift to the zero migration of acceleration transducer, traditional calibration steps can not solve the problem of these drifts.
The present invention proposes a kind of method of in use acceleration transducer in mobile electronic device being calibrated, the drifting problem of the zero migration that problem, the especially Reflow Soldering of the drift after can reducing the production cost of acceleration transducer and improving acceleration transducer calibration causes.
Summary of the invention
For solving the problems of the technologies described above, the object of this invention is to provide the calibration steps of the 3-axis acceleration sensor of the drifting problem of the zero migration that a kind of problem, especially Reflow Soldering that improves the drift after acceleration transducer calibration cause.
The calibration steps of 3-axis acceleration sensor of the present invention, comprises step,
A: the three axle output valves that read 3-axis acceleration sensor;
B: data screening---by the three axle output valve comparisons of N time in front of this three axles output valve, if in the default first threshold of difference range, the three axle output valves that this is read are as possible rest point;
C: calculate the quadratic sum of three axle output valves of possibility rest point, then with 3-axis acceleration sensor measurement gravity value comparison under static state, if difference range is in default Second Threshold, without correction; Otherwise, obtain error amount according to mathematical computations, calibrate according to error amount;
D: return to steps A;
Described N is more than or equal to 2 natural number.
Further, in described step B, possible rest point has M; In described step C, the quadratic sum of three axle output valves of M possibility rest point is respectively with the comparison of described measurement gravity value, if difference range is all in default Second Threshold, without correction; Otherwise error of calculation value, calibrates according to error amount;
Described M is more than or equal to 2 natural number.
Further, suppose that the Z axis of 3-axis acceleration sensor and the angle of vertical direction are θ, the angle that vertical direction is mapped to the component of X/Y plane and the X-axis of acceleration transducer is φ; Described three axle output valves are respectively:
Further, in described step C, the computing method of error amount comprise: the error of supposing three axles of acceleration transducer is respectively offset_x, offset_y, offset_z; Simultaneous equations:
After solving an equation, can obtain respectively the error amount of three axles;
Described static_x (M), static_y (M), static_z (M) be three axle output valves of corresponding each possibility rest point respectively; Described lg is for measuring gravity value.
By such scheme, the present invention at least has the following advantages:
The present invention reads three axle output valves from acceleration chip, filter out possibility rest point, whether misalignment of automatic decision acceleration transducer, if misalignment utilizes mathematical method to calculate its zero drift error, and is write back acceleration transducer to complete the calibration to acceleration transducer.This calibration steps can move automatically on backstage, so the user of mobile electronic device can not notice the carrying out of calibration process, this calibration steps saved the special correcting device in conventional calibration method with by the requirement of device level or vertical placement.The present invention can detect whether misalignment of acceleration transducer in mobile electronic device automatically, if the i.e. background calibration of Acceleration of starting degree sensor voluntarily of misalignment, this calibration steps has saved the problem that needs user to start in conventional calibration method.
Accompanying drawing explanation
Fig. 1 is the basic procedure of calibrating three-axis accelerometer in use;
Fig. 2 is the component of gravity on three axles of acceleration transducer;
Fig. 3 is the workflow of data screening module.
Embodiment
Fig. 1 is the calibration steps of 3-axis acceleration sensor of the present invention, comprises step,
A: the three axle output valves that read 3-axis acceleration sensor;
B: data screening---by the three axle output valve comparisons of N time in front of this three axles output valve, if in the default first threshold of difference range, the three axle output valves that this is read are as possible rest point;
C: calculate the quadratic sum of three axle output valves of possibility rest point, then with 3-axis acceleration sensor measurement gravity value comparison under static state, if difference range is in default Second Threshold, without correction; Otherwise, obtain error amount according to mathematical computations, calibrate according to error amount;
D: return to steps A;
Described N is more than or equal to 2 natural number.
The present invention reads three axle output valves from acceleration chip, filter out possibility rest point, whether misalignment of automatic decision acceleration transducer, if misalignment utilizes mathematical method to calculate its zero drift error, and is write back acceleration transducer to complete the calibration to acceleration transducer.This calibration steps can move automatically on backstage, so the user of mobile electronic device can not notice the carrying out of calibration process, this calibration steps saved the special correcting device in conventional calibration method with by the requirement of device level or vertical placement.The present invention can detect whether misalignment of acceleration transducer in mobile electronic device automatically, if the i.e. background calibration of Acceleration of starting degree sensor voluntarily of misalignment, this calibration steps has saved the problem that needs user to start in conventional calibration method.
With N=10, M=3 is example, in conjunction with the accompanying drawings and embodiments, the specific embodiment of the present invention is described in further detail below.Following examples are used for illustrating the present invention, but are not used for limiting the scope of the invention.
3-axis acceleration sensor can measure the component of gravity value (1g) on its three direction of principal axis in the time of stationary state.As shown in Figure 2, suppose that the Z axis of acceleration transducer and the angle of vertical direction are θ, the angle that vertical direction is mapped to the component of X/Y plane and the X-axis of acceleration transducer is φ, the component of gravity value on three axles of acceleration transducer, namely the output numerical value of measured three axles of acceleration transducer is respectively:
Visible, the quadratic sum of the component of acceleration of three axles is:
Three axle output valves when above-mentioned two computing formula are not only applicable to calculate stationary state and measurement gravity value thereof, can also calculate three axle output valves under any state.
Suppose, due to impacts such as temperature, humidity or stress, three axles of acceleration transducer have been introduced respectively drift error to a certain degree, its size is respectively offset_x, offset_y and offset_z, the real output value acc_x_read of accelerometer now, acc_y_read, acc_z_read is respectively:
Now,
When each acceleration transducer is started working, processor reads the accekeration of three axles continuously from acceleration transducer.Suppose that the 3-axis acceleration value reading for the i time is, Acc_x_read (i), Acc_y_read (i) and Acc_z_read (i).
Data screening module is for filtering out three possible rest points that attitude is different in the 3-axis acceleration data that read.Its workflow as shown in Figure 3.
After completing 3-axis acceleration data at every turn and reading, processor is the sensor output value of ten times relatively before, if the difference of these ten sensor readings remains on (static_th in a very little scope, can arrange as required), think and found a sensor to keep static point, we are called may rest point.Suppose:
, the acceleration transducer data that read for the i time are a possible rest point, are designated as static(j):
Relatively this possibility rest point and before fixed possibility rest point, suppose, for the 0th to j-1 possibility rest point, all to meet (diff_th can arrange as required):
This may be defined as to a new possible rest point by rest point, otherwise this may be given up by rest point, continue to find new possible rest point.This process that circulates, in the time obtaining the different possible rest point of 3 attitudes, data screening process finishes.
The judgement of sensor misalignment.Three possibility rest points that obtain in upper step are calculated respectively to the quadratic sum of three axis values, if the error of three axle quadratic sums of these three points and 1g is all less than a certain setting value (accu_th), think that sensor accuracy is good, without calibration, calibration process finishes, otherwise enters mathematical computations module.
The mathematical computations module of the error of calculation.The error of supposing three axles of acceleration transducer is respectively offset_x, offset_y, and offset_z, can simultaneous equations as follows:
Separate this equation, can obtain the error amount of three axles of acceleration transducer.
By the error of these three axles, offset_x, offset_y, offset_z writes back the nonvolatile memory in accelerometer chip, has completed the calibration to 3-axis acceleration sensor.
Below be only the preferred embodiment of the present invention; be not limited to the present invention; should be understood that; for those skilled in the art; do not departing under the prerequisite of the technology of the present invention principle; can also make some improvement and modification, these improve and modification also should be considered as protection scope of the present invention.
Claims (4)
1. a calibration steps for 3-axis acceleration sensor, comprises step,
A: the three axle output valves that read 3-axis acceleration sensor;
B: data screening---by the three axle output valve comparisons of N time in front of this three axles output valve, if in the default first threshold of difference range, the three axle output valves that this is read are as possible rest point;
C: calculate the quadratic sum of three axle output valves of possibility rest point, then with 3-axis acceleration sensor measurement gravity value comparison under static state, if difference range is in default Second Threshold, without correction; Otherwise, obtain error amount according to mathematical computations, calibrate according to error amount;
D: return to steps A;
Described N is more than or equal to 2 natural number.
2. the calibration steps of a kind of 3-axis acceleration sensor as claimed in claim 1, is characterized in that, in described step B, possible rest point has M; In described step C, the quadratic sum of three axle output valves of M possibility rest point is respectively with the comparison of described measurement gravity value, if difference range is all in default Second Threshold, without correction; Otherwise error of calculation value, calibrates according to error amount;
Described M is more than or equal to 2 natural number.
3. the calibration steps of a kind of 3-axis acceleration sensor as claimed in claim 1, it is characterized in that, suppose that the Z axis of 3-axis acceleration sensor and the angle of vertical direction are θ, the angle that vertical direction is mapped to the component of X/Y plane and the X-axis of acceleration transducer is φ; Described three axle output valves are respectively:
4. the calibration steps of a kind of 3-axis acceleration sensor as claimed in claim 1, is characterized in that, in described step C, the computing method of error amount comprise: the error of supposing three axles of acceleration transducer is respectively offset_x, offset_y, offset_z; Simultaneous equations:
After solving an equation, can obtain respectively the error amount of three axles;
Described static_x (M), static_y (M), static_z (M) be three axle output valves of corresponding each possibility rest point respectively; Described lg is for measuring gravity value.
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Cited By (12)
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| CN104090127A (en) * | 2014-07-14 | 2014-10-08 | 上海移为通信技术有限公司 | Three-axis self-calibrating method for vehicle-mounted acceleration sensor |
| CN105759078A (en) * | 2016-04-12 | 2016-07-13 | 北京荣之联科技股份有限公司 | Triaxial self calibration method and device for vehicle-mounted acceleration sensor |
| CN106706018A (en) * | 2016-12-28 | 2017-05-24 | 北京奇艺世纪科技有限公司 | VR equipment nine-shaft sensor performance testing method, device and testing rotary table |
| CN107607899A (en) * | 2017-09-28 | 2018-01-19 | 歌尔科技有限公司 | Magnetometer calibration method and apparatus |
| CN108152535A (en) * | 2017-11-14 | 2018-06-12 | 歌尔科技有限公司 | A kind of accelerometer calibration method and device |
| CN108303568A (en) * | 2017-12-22 | 2018-07-20 | 歌尔股份有限公司 | A kind of test method of accelerometer |
| CN108646054A (en) * | 2018-07-05 | 2018-10-12 | 合肥移顺信息技术有限公司 | A kind of three axis method for self-calibrating of vehicle-mounted acceleration sensor |
| CN111913007A (en) * | 2020-07-13 | 2020-11-10 | 杭州士兰微电子股份有限公司 | Accelerometer calibration method and calibration device |
| CN112073577A (en) * | 2020-08-19 | 2020-12-11 | 深圳移航通信技术有限公司 | Terminal control method and device, terminal equipment and storage medium |
| CN114280332A (en) * | 2021-12-31 | 2022-04-05 | 成都路行通信息技术有限公司 | Three-axis acceleration sensor correction method |
| CN114487484A (en) * | 2022-03-04 | 2022-05-13 | 南昌龙旗信息技术有限公司 | Acceleration sensor self-calibration method, device, equipment and storage medium |
| CN117630414A (en) * | 2024-01-25 | 2024-03-01 | 荣耀终端有限公司 | Acceleration sensor calibration method, folding electronic device and storage medium |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104090127B (en) * | 2014-07-14 | 2016-08-24 | 上海移为通信技术股份有限公司 | A kind of three axle method for self-calibrating of vehicle-mounted acceleration sensor |
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| CN105759078B (en) * | 2016-04-12 | 2019-01-04 | 北京荣之联科技股份有限公司 | The three axis method for self-calibrating and device of vehicle-mounted acceleration sensor |
| CN105759078A (en) * | 2016-04-12 | 2016-07-13 | 北京荣之联科技股份有限公司 | Triaxial self calibration method and device for vehicle-mounted acceleration sensor |
| CN106706018A (en) * | 2016-12-28 | 2017-05-24 | 北京奇艺世纪科技有限公司 | VR equipment nine-shaft sensor performance testing method, device and testing rotary table |
| CN106706018B (en) * | 2016-12-28 | 2019-06-14 | 重庆爱奇艺智能科技有限公司 | Test method, device and the test table of nine axle sensor performances in VR equipment |
| CN107607899A (en) * | 2017-09-28 | 2018-01-19 | 歌尔科技有限公司 | Magnetometer calibration method and apparatus |
| CN107607899B (en) * | 2017-09-28 | 2019-11-19 | 歌尔科技有限公司 | Magnetometer calibration method and apparatus |
| CN108152535A (en) * | 2017-11-14 | 2018-06-12 | 歌尔科技有限公司 | A kind of accelerometer calibration method and device |
| CN108303568A (en) * | 2017-12-22 | 2018-07-20 | 歌尔股份有限公司 | A kind of test method of accelerometer |
| CN108303568B (en) * | 2017-12-22 | 2020-11-24 | 歌尔股份有限公司 | Test method of accelerometer |
| CN108646054A (en) * | 2018-07-05 | 2018-10-12 | 合肥移顺信息技术有限公司 | A kind of three axis method for self-calibrating of vehicle-mounted acceleration sensor |
| CN111913007A (en) * | 2020-07-13 | 2020-11-10 | 杭州士兰微电子股份有限公司 | Accelerometer calibration method and calibration device |
| CN112073577A (en) * | 2020-08-19 | 2020-12-11 | 深圳移航通信技术有限公司 | Terminal control method and device, terminal equipment and storage medium |
| CN114280332A (en) * | 2021-12-31 | 2022-04-05 | 成都路行通信息技术有限公司 | Three-axis acceleration sensor correction method |
| CN114280332B (en) * | 2021-12-31 | 2024-04-23 | 成都路行通信息技术有限公司 | Triaxial acceleration sensor correction method |
| CN114487484A (en) * | 2022-03-04 | 2022-05-13 | 南昌龙旗信息技术有限公司 | Acceleration sensor self-calibration method, device, equipment and storage medium |
| CN117630414A (en) * | 2024-01-25 | 2024-03-01 | 荣耀终端有限公司 | Acceleration sensor calibration method, folding electronic device and storage medium |
| CN117630414B (en) * | 2024-01-25 | 2024-05-24 | 荣耀终端有限公司 | Acceleration sensor calibration method, folding electronic device and storage medium |
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Application publication date: 20140528 |