CN106199758A - Measurement data calibration steps and electronic equipment - Google Patents
Measurement data calibration steps and electronic equipment Download PDFInfo
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- CN106199758A CN106199758A CN201610509253.0A CN201610509253A CN106199758A CN 106199758 A CN106199758 A CN 106199758A CN 201610509253 A CN201610509253 A CN 201610509253A CN 106199758 A CN106199758 A CN 106199758A
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Abstract
The present invention provides a kind of electronic equipment and measurement data calibration steps, it is possible to calibrate the measurement data obtained from gravity sensor, thus improves the processing accuracy of the measurement data utilizing gravity sensor, improves the experience of user.Described measurement data calibration steps includes: obtain the measurement data of gravity sensor；Based on acquired multiple measurement data, calculate the zero point error of described gravity sensor；Based on the zero point error calculated, the measurement data obtained in a particular state and the gross data of the gravity sensor under this particular state, calculate the range error of described gravity sensor；And based on the zero point error calculated and range error, acquired measurement data is calibrated, thus obtain the measurement data after calibration.
Description
Technical field
The present invention relates to measurement data calibration steps and electronic equipment, be specifically related to the measurement obtained from gravity sensor
Data carry out measurement data calibration steps and the electronic equipment calibrated.
Background technology
In the electronic equipment of such as mobile phone, panel computer, digital camera, navigator, game machine etc., it is built-in with gravity and passes
Sensor.According to the measurement data obtained from gravity sensor, carry out positioning in the electronic equipment be built-in with this gravity sensor,
The process of speed calculation, image rectification etc..Therefore, the error of the measurement data obtained from gravity sensor can be to location, speed
The process of calculating, image rectification etc. produces harmful effect.
About gravity sensor, due to the difference between technique of dispatching from the factory, sensor and the deviation in installation process, thus
The measurement data obtained from gravity sensor is caused to produce error.Thus, cause utilizing the measurement number obtained from gravity sensor
According to the deterioration in accuracy of process (such as location, speed calculation, image rectification etc.), produce harmful effect, thus the use body of user
Test variation.
Summary of the invention
The present invention completes in view of the above problems, its object is to provide a kind of electronic equipment and measurement data calibration side
Method, it is possible to the measurement data obtained from gravity sensor is calibrated, thus improve the measurement data utilizing gravity sensor
Processing accuracy, improve user experience.
According to an aspect of the present invention, it is provided that a kind of electronic equipment being built-in with gravity sensor.Described electronic equipment
Including: acquisition module, configuration obtains the measurement data of gravity sensor；Error calculating module, configuration comes based on acquired
Multiple measurement data, calculate the zero point error of described gravity sensor, based on the zero point error calculated, obtain in a particular state
The measurement data taken and the gross data of the gravity sensor under this particular state, calculate the range of described gravity sensor by mistake
Difference；Calibration module, configures based on the zero point error calculated and range error, calibrates acquired measurement data,
Thus obtain the measurement data after calibration.
According to a further aspect in the invention, it is provided that a kind of measurement data calibration steps.Described measurement data calibration steps bag
Include: obtain the measurement data of gravity sensor；Based on acquired multiple measurement data, calculate the zero point of described gravity sensor
Error；Pass based on the zero point error calculated, the measurement data obtained in a particular state and the gravity under this particular state
The gross data of sensor, calculates the range error of described gravity sensor；And miss based on the zero point error calculated and range
Difference, calibrates acquired measurement data, thus obtains the measurement data after calibration.
Measurement data calibration steps according to the present invention and electronic equipment, based on the measurement data obtained from gravity sensor
Calculate zero point error and the range error of this gravity sensor, and then based on the zero point error calculated and range error to institute
The measurement data of the gravity sensor obtained is calibrated, thus the error of the measurement data of the gravity sensor after calibration subtracts
Little.Thereby, it is possible to improve the processing accuracy of the measurement data utilizing gravity sensor, improve the experience of user.Additionally,
The present invention utilizes from arbitrary multiple measurement data of gravity sensor acquisition to calculate the zero point error of gravity sensor, because of
This is when calculating zero point error without standing gravity sensor, and therefore calibration process is relatively convenient and flexible, and along with gravity
The precision of the range error of the zero point error that the measurement data of sensor increases and calculates is more and more higher.
Accompanying drawing explanation
Fig. 1 is the functional block diagram of the electronic equipment representing embodiments of the present invention.
Fig. 2 is the flow chart of the measurement data calibration steps representing embodiments of the present invention.
Detailed description of the invention
Below, it is explained with reference to embodiments of the present invention.Description referring to the drawings is provided, with help to by
The understanding of the example embodiment of the present invention that appended claims and their equivalents are limited.It include help understand various specifically
Details, but they can only be counted as exemplary.Therefore, it would be recognized by those skilled in the art that can be to reality described herein
The mode of executing makes various changes and modifications, without deviating from scope and spirit of the present invention.And, in order to make description clearer
Succinctly, will omit the detailed description that it is well known that function and structure.
The electronic equipment of embodiments of the present invention is described with reference to Fig. 1.Fig. 1 is the electricity representing embodiments of the present invention
The functional block diagram of subset.
As it is shown in figure 1, electronic equipment 1 includes acquisition module 101, error calculating module 102, calibration module 103.Wherein,
Electronic equipment 1 for example, mobile phone, panel computer, digital camera, navigator, game machine etc., but it is not limited to this, as long as built-in
There is the electronic equipment of gravity sensor.
Acquisition module 101 configuration obtains the measurement data of gravity sensor.Here, acquisition module 101 obtain
Measurement data is the measurement data before calibration.Therefore, acquisition module 101 there is zero point error and range in the measurement data obtained
Error.
Specifically, acquisition module 101 measurement data obtained is vector.Such as, acquisition module 101 measurement obtained
Data include the component on orthogonal first direction, second direction and third direction.Such as, acquisition module 101 obtain
Measurement data include X-axis component, Y-axis component and z-component.Wherein, X-axis, Y-axis and Z axis are mutually perpendicular to.Wherein, by obtaining
The measurement data of the vector that module 101 obtains can also be represented, as long as can be according to the plurality of by other components multiple
Other component determines the measurement data of vector uniquely.
Wherein, the measured value of component in particular directions and theoretical value and the zero point error on this specific direction and range
Error is associated.As a example by X-direction, the measured value of component in the X-axis direction and theoretical value are with the zero point in X-direction by mistake
The relation of difference and range error is as shown in Equation 1.
[formula 1]
X ' * d+a=X
Wherein, X ' represents the theoretical value of component in the X-axis direction, and a represents zero point error in the X-axis direction, and d represents
The coefficient of range error in the X-axis direction, X represents the measured value of component in the X-axis direction.As shown in Equation 1, in X-axis
On direction, zero point error is fixed value, and range error is as the absolute value of theoretical value and relatively changes.
Additionally, for the measured value of the component in Y-axis and Z-direction and theoretical value, also meet pass as shown in Equation 1
System.Additionally, the measured value of measurement data (vector) component in particular directions obtained from gravity sensor and theoretical value, also
Meet relation as shown in Equation 1.But, it is different between the zero point error in all directions, and in all directions
It is different between zero point error.
Additionally, acquisition module 101 can be with the measurement data of cycle set in advance acquisition gravity sensor, it is also possible to ring
The measurement data of gravity sensor should be obtained in specific event.
Error calculating module 102 configuration comes based on acquired multiple measurement data, calculates the zero of described gravity sensor
Point tolerance.Specifically, error calculating module 102 can utilize by the multiple measurement data obtained before acquisition module 101, calculates
The zero point error of gravity sensor, this zero point error calculated is used to the measurement number currently obtained by acquisition module 101
According to calibrating.
Such as, acquisition module 101 measurement data obtained includes orthogonal first direction, second direction and the 3rd
In the case of component on direction, error calculating module 101 utilizes by the multiple measurement data obtained before acquisition module 101,
Calculate the zero point error on first direction, the zero point error in second direction, the zero point error on third direction respectively.As above institute
Stating, the measurement data of gravity sensor zero point error in all directions is distinct, therefore by calculating each side respectively
Zero point error upwards such that it is able to more acquired measurement data is calibrated.
Specifically, acquisition module 101 measurement data obtained includes X-axis component, Y-axis component and the situation of z-component
Under, error calculating module 102 utilizes acquired multiple measurement data, calculates in the zero point error in X-direction, Y direction
Zero point error and Z-direction on zero point error.
Due to the zero point error in all directions it is believed that met normal distribution characteristic, therefore each side near 0 o'clock
Zero point error upwards such as can the computational methods of application error feedback, method of least square etc. calculate.
Below, illustrating by method of least square, the multiple measurement data acquired in utilization calculate in X-direction
Zero point error in zero point error, Y direction and the zero point error in Z-direction.
Formula below 2 is met in each measurement data obtained by acquisition module 101.
[formula 2]
(Xi-a)2+(Yi-b)2+(Zi-c)2=g2
Wherein, i represents the sequence number of measurement data, XiComponent in the X-direction of the measurement data of expression serial number i, YiTable
Show serial number i measurement data Y direction on component, ZiDividing in the Z-direction of the measurement data of expression serial number i
Measuring, a, b, c represent the zero point error in X-direction, Y direction, Z-direction respectively, and g represents acceleration of gravity.
Additionally, in the same manner as formula 2, the measurement data about serial number i+1 also meets formula below 3.
[formula 3]
(Xi+1-a)2+(Yi+1-b)2+(Zi+1-c)2=g2
Wherein, i+1 represents the sequence number of measurement data, Xi+1Dividing in the X-direction of the measurement data of expression serial number i+1
Amount, Yi+1Component in the Y direction of the measurement data of expression serial number i+1, Zi+1Represent the Z of the measurement data of serial number i+1
Component on direction of principal axis, a, b, c represent the zero point error in X-direction, Y direction, Z-direction respectively.
Here, for the measurement data of different sequence numbers, the zero point error in X-direction, Y direction, Z-direction
It is all identical.
Disappear unit to formula 2 and formula 3, then can obtain ternary linear function as shown in Equation 4.
[formula 4]
(Xi+1-Xi)a+(Yi+1-Yi)b+(Zi+1-Zi) c=Vi
Wherein, for specific sequence number i, ViValue can be according to Xi、Yi、ZiValue and Xi+1、Yi+1、Zi+1's
Value and calculate.
Both sides in formula 4 are deducted Vi, then carry out square, thus obtain an equation.For each sequence number, to obtaining
To equation be added such that it is able to obtain formula 5.
[formula 5]
Wherein, j represents the sequence number of measurement data.
It is as noted previously, as zero point error a in X-direction, Y direction and Z-direction, b, c just meeting near 0 o'clock
State distribution character, therefore makes the value of a, b, c of the value minimum of M may be considered approximate solution.
Therefore, the M in formula 5 is carried out local derviation calculating about a, b, c such that it is able to obtain formula 6.
[formula 6]
By the equation group shown in formula 6 is calculated such that it is able to obtain X-direction, Y direction and Z-direction
On zero point error a, b, c.
Additionally, in formula 2 to formula 6, such as range error is omitted, therefore shown in formula 2 to formula 6
The both sides of equation are regarded as approximating.
As it has been described above, in embodiments of the present invention, by method of least square, the multiple measurement data acquired in utilization
Calculate the zero point error in the zero point error in X-direction, the zero point error in Y direction and Z-direction.Therefore, along with
Increasing of acquired measurement data, the zero point error in the zero point error in X-direction calculated, Y direction and Z axis side
The precision of zero point error upwards increasingly improves.
Additionally, in embodiments of the present invention, it is also possible to utilize other the variable meeting normal distribution for calculating
Computational methods, calculate zero point error, the zero point error in Y direction and the zero point error in Z-direction in X-direction.
Further, in the case of the measurement data at vector is represented by other components multiple, it is possible to use above-mentioned calculating zero
The method of point tolerance.
As it has been described above, in the electronic equipment of embodiments of the present invention, utilize by acquisition module 101 from gravity sensor
The arbitrary multiple measurement data obtained calculate the zero point error of gravity sensor, therefore when calculating zero point error without quiet
Putting gravity sensor, the process therefore calculating zero point error is the most convenient.Along with increasing of acquired measurement data, calculate
The precision of zero point error more and more higher.
After having calculated zero point error, error calculating module 102 is based on the zero point error calculated, in particular state
The measurement data of lower acquisition and the gross data of the gravity sensor under this particular state, calculate the range of gravity sensor by mistake
Difference.
Specifically, acquisition module 101 measurement data obtained includes orthogonal first direction, second direction and
In the case of tripartite's component upwards, error calculating module 102 is based on the zero point error calculated, obtain in a particular state
Measurement data and the gross data of the gravity sensor under this particular state, calculate range error in a first direction, the
Range error on two directions and the range error on third direction.
Such as, acquisition module 101 in the case of the measurement data obtained includes X-axis component, Y-axis component and z-component,
Error calculating module 102 is based on zero point error a calculated, b, c, the measurement data obtained in a particular state and specific at this
The gross data of the gravity sensor under state, calculates the range error in range error in the X-axis direction, Y direction and Z
Range error on direction of principal axis.
Such as, the measurement data obtained in a particular state is (X0、Y0、Z0), and the gravity biography under this particular state
The gross data of sensor is (X0’、Y0’、Z0') in the case of, can obtain according to formula 1 range error d in X-direction,
Range error e in Y direction, range error e in Z-direction.
[formula 7]
D=(X0-a)/X0’
E=(Y0-b)/Y0’
F=(Z0-c)/Y0’
Wherein, range error d in X-direction that calculated by formula 7, range error e in Y direction, Z axis side
Range error e upwards represents the coefficient of range error.
Additionally, calculated range error d in X-direction, range error e in Y direction, Z axis side by formula 7
During range error e upwards, need to calculate the gross data (X of the gravity sensor under this particular state0’、Y0’、Z0’).This
Outward, at X0' be 0 in the case of, when using it to calculate range error d in X-direction, cause being difficult to calculate range error d,
Equally, at Y0' be 0 in the case of, when using it to calculate range error e in Y direction, cause being difficult to calculate range error
E, at Z0' be 0 in the case of, when using it to calculate range error f in Z-direction, cause being difficult to calculate range error f.
Therefore, be preferably in embodiments of the present invention, error calculating module 102 based on the zero point error calculated,
The measurement data obtained under the first particular state that acceleration of gravity direction is consistent with first direction, calculates in a first direction
Range error, based on the zero point error calculated, second particular state consistent with second direction in acceleration of gravity direction
The measurement data of lower acquisition, calculates range error in a second direction, based on the zero point error calculated, at acceleration of gravity
The measurement data obtained under the 3rd particular state that direction is consistent with third direction, calculates the range error on third direction.
Specifically, acquisition module 101 measurement data obtained includes X-axis component, Y-axis component and the situation of z-component
Under, error calculating module 102 is based on the zero point error calculated, first spy consistent with X-direction in acceleration of gravity direction
Determine the measurement data (X obtained under state0、Y0、Z0), calculate range error d in the X-axis direction.Now, first specific at this
Gross data under state is (g, 0,0).By formula 7, it is possible to calculating range error d in X-direction is (X0-a)/g。
Equally, error calculating module 102 is based on the zero point error calculated, in acceleration of gravity direction and Y direction one
Measurement data (the X obtained under the second particular state caused0、Y0、Z0), calculate range error d in the Y-axis direction.Now, exist
Gross data under this second particular state is (0, g, 0).By formula 7, it is possible to calculate range error e in Y direction
For (Y0-b)/g。
Equally, error calculating module 102 is based on the zero point error calculated, in acceleration of gravity direction and Z-direction one
Measurement data (the X obtained under the 3rd particular state caused0、Y0、Z0), calculate range error e in the Z-axis direction.Now, exist
Gross data under 3rd particular state is (0,0, g).By formula 7, it is possible to calculate range error f in Z-direction
For (Z0-c)/g。
Thus, in embodiments of the present invention without calculating the gross data of gravity sensor under particular state, and
The computational accuracy of range error can be improved.
Additionally, in embodiments of the present invention, the range of gravity sensor is calculated according to the zero point error calculated
The process of error can be carried out in the moment set in advance, it is also possible to enters when the change of the zero point error calculated is more than threshold value
OK, it is also possible to carry out in response to specific event.
Calibration module 103 configuration is based on the zero point error calculated and range error, to the current measurement data obtained
Calibrate, thus obtain the measurement data after calibration.
Specifically, acquisition module 101 measurement data obtained includes orthogonal first direction, second direction and
In the case of tripartite's component upwards, calibration module 103 based on the zero point error on the first direction calculated and range error,
Component on the first direction of measurement data is calibrated, misses based on the zero point error in the second direction calculated and range
Difference, calibrates the component in the second direction of measurement data, based on the zero point error on the third direction calculated and amount
Journey error, calibrates the component on the third direction of measurement data.
Such as, acquisition module 101 in the case of the measurement data obtained includes X-axis component, Y-axis component and z-component,
The X-axis component X of measurement data, based on zero point error a in the X-direction calculated and range error d, is entered by calibration module 103
Row calibration.According to formula 1, the X-axis component after calibration is (X-a)/d.Calibration module 103 is based in the Y direction calculated
Zero point error b and range error e, calibrate the Y-axis component Y of measurement data, and the Y-axis component after calibration is (Y-b)/e, and
And calibration module 103 is based on zero point error c in the Z-direction calculated and range error f, the z-component Z to measurement data
Calibrating, the z-component after calibration is (Z-c)/f.
Electronic equipment 1 according to the embodiment of the present invention, calculates based on the measurement data obtained from gravity sensor
The zero point error of this gravity sensor and range error, and then based on the zero point error calculated and range error to acquired
The measurement data of gravity sensor is calibrated, thus the error of the measurement data of the gravity sensor after calibration reduces.Thus,
The processing accuracy of the measurement data utilizing gravity sensor can be improved, improve the experience of user.
Below, the measurement data calibration steps of embodiments of the present invention is described with reference to Fig. 2.Fig. 2 is to represent the present invention
The flow chart of measurement data calibration steps of embodiment.Measurement data calibration steps shown in Fig. 2 can be applied to Fig. 1 institute
The electronic equipment 1 shown.As it is shown in figure 1, electronic equipment 1 includes acquisition module 101, error calculating module 102, calibration module 103.
Wherein, electronic equipment 1 for example, mobile phone, panel computer, digital camera, navigator, game machine etc., but it is not limited to this, as long as
It it is the electronic equipment being built-in with gravity sensor.
In step S210, obtain the measurement data of gravity sensor.
Specifically, the measurement data obtained in step S210 is the measurement data before calibration, there is zero point error and amount
Journey error.Wherein, the measurement data obtained in step S210 is vector.Such as, the measurement data of acquisition includes being mutually perpendicular to
First direction, second direction and third direction on component.Specifically, the measurement data of acquisition includes that X-axis component, Y-axis are divided
Amount and z-component.Wherein, X-axis, Y-axis and Z axis are mutually perpendicular to.Wherein, the measurement data of the vector of acquisition can also be by multiple
Other component represents, as long as the measurement data of vector can be determined uniquely i.e. according to other component the plurality of
Can.
Wherein, the measured value of component in particular directions and theoretical value and the zero point error on this specific direction and range
Error is associated.As a example by X-direction, the measured value of component in the X-axis direction and theoretical value are with the zero point in X-direction by mistake
The relation of difference and range error is as shown in Equation 1.Additionally, for the measured value of the component in Y-axis and Z-direction and theoretical value,
Also relation as shown in Equation 1 is met.Additionally, from gravity sensor obtain measurement data (vector) in particular directions point
The measured value of amount and theoretical value, also meet relation as shown in Equation 1.But, it is not between the zero point error in all directions
With, and be different between the zero point error in all directions.
In step S220, based on acquired multiple measurement data, calculate the zero point error of described gravity sensor.
Specifically, in the case of the electronic equipment 1 being applied to shown in Fig. 1, error calculating module 102 can utilize by obtaining
The multiple measurement data obtained before delivery block 101, calculate the zero point error of gravity sensor, the zero point error quilt that this calculates
It is used for the measurement data currently obtained by acquisition module 101 is calibrated.
Preferably, the measurement data obtained in step S210 includes orthogonal first direction, second direction and the
In the case of tripartite's component upwards, in step S220, the multiple measurement data obtained before utilization, calculate first party respectively
Zero point error in zero point error upwards, second direction, the zero point error on third direction.Specifically, it is being applied to Fig. 1 institute
During the electronic equipment 1 shown, acquisition module 101 measurement data obtained includes X-axis component, Y-axis component and the situation of z-component
Under, error calculating module 102 utilizes acquired multiple measurement data, calculates in the zero point error in X-direction, Y direction
Zero point error and Z-direction on zero point error.
Due to the zero point error in all directions it is believed that met normal distribution characteristic, therefore each side near 0 o'clock
Zero point error upwards such as can the computational methods of application error feedback, method of least square etc. calculate.
Such as, in the case of the measurement data of acquisition includes X-axis component, Y-axis component and z-component, as it has been described above, according to
Acquired multiple measurement data are calculated by method of least square, thus obtain X-direction, Y-axis by formula 2 to formula 6
Zero point error a on direction and Z-direction, b, c.
Additionally, in embodiments of the present invention, it is also possible to utilize other the variable meeting normal distribution for calculating
Computational methods, calculate zero point error, the zero point error in Y direction and the zero point error in Z-direction in X-direction.
Further, in the case of the measurement data at vector is represented by other components multiple, it is possible to use above-mentioned calculating zero
The method of point tolerance.
As it has been described above, in the measurement data calibration steps of embodiments of the present invention, utilize and obtain from gravity sensor
Arbitrary multiple measurement data calculate the zero point error of gravity sensor, therefore when calculating zero point error without standing weight
Force transducer, the process therefore calculating zero point error is the most convenient.Along with increasing of acquired measurement data, zero calculated
The precision of point tolerance is more and more higher.
In step S230, based on the zero point error calculated, the measurement data obtained in a particular state and this spy
Determine the gross data of gravity sensor under state, calculate the range error of gravity sensor.
Specifically, the measurement data obtained in step S210 includes orthogonal first direction, second direction and the
In the case of tripartite's component upwards, in step S230, based on the zero point error calculated, the survey obtained in a particular state
Amount data and the gross data of the gravity sensor under this particular state, calculate range error in a first direction, second
Range error on direction and the range error on third direction.
Such as, when being applied to the electronic equipment 1 shown in Fig. 1, acquisition module 101 measurement data obtained includes X-axis
In the case of component, Y-axis component and z-component, error calculating module 102 based on zero point error a calculated, b, c, specific
The measurement data obtained under state and the gross data of the gravity sensor under this particular state, calculate in the X-axis direction
Range error in range error, Y direction and the range error in Z-direction.
Such as, the measurement data obtained in a particular state is (X0、Y0、Z0), and the gravity biography under this particular state
The gross data of sensor is (X0’、Y0’、Z0') in the case of, can be obtained by formula 7 range error d in X-direction,
Range error e in Y direction, range error e in Z-direction.
Additionally, calculated range error d in X-direction, range error e in Y direction, Z axis side by formula 7
During range error e upwards, need to calculate the gross data (X of the gravity sensor under this particular state0’、Y0’、Z0’).This
Outward, at X0' be 0 in the case of, when using it to calculate range error d in X-direction, cause being difficult to calculate range error d,
Equally, at Y0' be 0 in the case of, when using it to calculate range error e in Y direction, cause being difficult to calculate range error
E, at Z0' be 0 in the case of, when using it to calculate range error f in Z-direction, cause being difficult to calculate range error f.
Therefore, being preferably in embodiments of the present invention, step S230 includes: based on the zero point error calculated,
The measurement data obtained under the first particular state that acceleration of gravity direction is consistent with first direction, calculates in a first direction
Range error, based on the zero point error calculated, under the second particular state that acceleration of gravity direction is consistent with second direction
The measurement data obtained, calculates range error in a second direction, based on the zero point error calculated, in acceleration of gravity side
The measurement data obtained under the 3rd particular state consistent with third direction, calculates the range error on third direction.
Specifically, when being applied to the electronic equipment 1 shown in Fig. 1, acquisition module 101 measurement data obtained includes X
In the case of axle component, Y-axis component and z-component, error calculating module 102 is based on the zero point error calculated, add at gravity
Measurement data (the X obtained under the first particular state that velocity attitude is consistent with X-direction0、Y0、Z0), calculate in the X-axis direction
Range error d.Now, the gross data under this first particular state is (g, 0,0).By formula 7, it is possible to calculate X
Range error d on direction of principal axis is (X0-a)/g.Equally, error calculating module 102 is based on the zero point error calculated, at gravity
Measurement data (the X obtained under the second particular state that acceleration direction is consistent with Y direction0、Y0、Z0), calculate in Y direction
On range error d.Now, the gross data under this second particular state is (0, g, 0).By formula 7, it is possible to calculate
Range error e in Y direction is (Y0-b)/g.Equally, error calculating module 102 is based on the zero point error calculated, at weight
Measurement data (the X obtained under the 3rd particular state that power acceleration direction is consistent with Z-direction0、Y0、Z0), calculate in Z axis side
Range error e upwards.Now, the gross data under the 3rd particular state is (0,0, g).By formula 7, it is possible to calculate
Going out range error f in Z-direction is (Z0-c)/g.Thus, in embodiments of the present invention without calculating under particular state
The gross data of gravity sensor, and the computational accuracy of range error can be improved.
In step S240, based on the zero point error calculated and range error, acquired measurement data is carried out school
Standard, thus obtain the measurement data after calibration.
Specifically, acquired measurement data includes on orthogonal first direction, second direction and third direction
In the case of component, in step S240, based on the zero point error on the first direction calculated and range error, to measuring number
According to first direction on component calibrate, based on the zero point error in the second direction calculated and range error, to survey
Component in the second direction of amount data is calibrated, based on the zero point error on the third direction calculated and range error,
Component on the third direction of measurement data is calibrated.
Such as, when being applied to the electronic equipment 1 shown in Fig. 1, acquisition module 101 measurement data obtained includes X-axis
In the case of component, Y-axis component and z-component, calibration module 103 is based on zero point error a in the X-direction calculated and amount
Journey error d, calibrates the X-axis component X of measurement data.According to formula 1, the X-axis component after calibration is (X-a)/d.Calibration
Module 103, based on zero point error b in the Y direction calculated and range error e, carries out school to the Y-axis component Y of measurement data
Standard, the Y-axis component after calibration is (Y-b)/e, and calibration module 103 based on zero point error c in the Z-direction calculated and
Range error f, calibrates the z-component Z of measurement data, and the z-component after calibration is (Z-c)/f.
Measurement data calibration steps according to the embodiment of the present invention, based on the measurement data obtained from gravity sensor
Calculate zero point error and the range error of this gravity sensor, and then based on the zero point error calculated and range error to institute
The measurement data of the gravity sensor obtained is calibrated, thus the error of the measurement data of the gravity sensor after calibration subtracts
Little.Thereby, it is possible to improve the processing accuracy of the measurement data utilizing gravity sensor, improve the experience of user.
Those of ordinary skill in the art are it is to be appreciated that be combined in modules and the step that embodiments of the present invention describe
Suddenly, it is possible to electronic hardware, computer software or the two be implemented in combination in.And software can be placed in any form of meter
In calculation machine storage medium.In order to clearly demonstrate the interchangeability of hardware and software, the most according to function one
As property describe composition and the step of each example.These functions perform with hardware or software mode actually, depend on skill
The application-specific of art scheme and design constraint.Those skilled in the art can use not Tongfang to each specifically should being used for
Method realizes described function, but this realization is it is not considered that beyond the scope of this invention.
Each embodiment of the present invention described in detail above.But, it should be appreciated by those skilled in the art that not
In the case of departing from principle and the spirit of the present invention, these embodiments can be carried out various amendment, combine or sub-portfolio, and
Such amendment should fall within the scope of the present invention.
Claims (10)
1. a measurement data calibration steps, described measurement data calibration steps includes:
Obtain the measurement data of gravity sensor；
Based on acquired multiple measurement data, calculate the zero point error of described gravity sensor；
Based on the zero point error calculated, the measurement data obtained in a particular state and the gravity sensitive under this particular state
The gross data of device, calculates the range error of described gravity sensor；And
Based on the zero point error calculated and range error, acquired measurement data is calibrated, thus after obtaining calibration
Measurement data.
2. measurement data calibration steps as claimed in claim 1, wherein,
Described measurement data includes the component on orthogonal first direction, second direction and third direction,
Based on acquired multiple measurement data, in the step of the zero point error calculating described gravity sensor,
Based on acquired multiple measurement data, calculate the zero point error in zero point error in a first direction, second direction
With the zero point error on third direction.
3. measurement data calibration steps as claimed in claim 2, wherein,
Based on acquired multiple measurement data, calculate the zero point in zero point error in a first direction, second direction by mistake
In the step of the zero point error in difference and third direction,
By method of least square, acquired multiple measurement data are calculated, thus calculate zero point in a first direction
Zero point error in error, second direction and the zero point error on third direction.
4. measurement data calibration steps as claimed in claim 2, wherein,
Passing based on the zero point error calculated, the measurement data obtained in a particular state and the gravity under this particular state
The gross data of sensor, in the step of the range error calculating described gravity sensor,
Based on the zero point error calculated, the measurement data obtained in a particular state and the gravity sensitive under this particular state
The gross data of device, calculates the range error in range error in a first direction, second direction and the amount on third direction
Journey error,
Based on the zero point error calculated and range error, acquired measurement data is calibrated, thus obtains calibration
After measurement data step in,
Based on the zero point error on the first direction calculated and range error, the component on the first direction of measurement data is entered
Row calibration, based on the zero point error in the second direction calculated and range error, to dividing in the second direction of measurement data
Amount is calibrated, based on the zero point error on the third direction calculated and range error, on the third direction of measurement data
Component calibrate.
5. measurement data calibration steps as claimed in claim 4, wherein,
Passing based on the zero point error calculated, the measurement data obtained in a particular state and the gravity under this particular state
The gross data of sensor, calculates on the range error in range error in a first direction, second direction and third direction
The step of range error includes:
Based on the zero point error calculated, obtain under the first particular state that acceleration of gravity direction is consistent with first direction
Measurement data, calculates range error in a first direction；
Based on the zero point error calculated, obtain under the second particular state that acceleration of gravity direction is consistent with second direction
Measurement data, calculates range error in a second direction；
Based on the zero point error calculated, obtain under the 3rd particular state that acceleration of gravity direction is consistent with third direction
Measurement data, calculates the range error on third direction.
6. an electronic equipment, is built-in with gravity sensor, and described electronic equipment includes:
Acquisition module, configuration obtains the measurement data of gravity sensor；
Error calculating module, configuration comes based on acquired multiple measurement data, calculates the zero point error of described gravity sensor,
Based on the zero point error calculated, the measurement data obtained in a particular state and the gravity sensor under this particular state
Gross data, calculates the range error of described gravity sensor；
Calibration module, configures based on the zero point error calculated and range error, calibrates acquired measurement data,
Thus obtain the measurement data after calibration.
7. electronic equipment as claimed in claim 6, wherein,
Described measurement data includes the component on orthogonal first direction, second direction and third direction,
Described error calculating module based on acquired multiple measurement data, calculate zero point error in a first direction, second
Zero point error on direction and the zero point error on third direction.
8. electronic equipment as claimed in claim 7, wherein,
Acquired multiple measurement data are calculated by described error calculating module by method of least square, thus calculate
Zero point error on zero point error on first direction, the zero point error in second direction and third direction.
9. electronic equipment as claimed in claim 7, wherein,
Described error calculating module is based on the zero point error calculated, the measurement data obtained in a particular state and specific at this
The gross data of the gravity sensor under state, calculates the range error in range error in a first direction, second direction
With the range error on third direction,
Described calibration module is based on the zero point error on the first direction calculated and range error, first to measurement data
Component on direction is calibrated, based on the zero point error in the second direction calculated and range error, to measurement data
Component in second direction is calibrated, based on the zero point error on the third direction calculated and range error, to measuring number
According to third direction on component calibrate.
10. electronic equipment as claimed in claim 9, wherein,
Described error calculating module is based on the zero point error calculated, in acceleration of gravity direction consistent with first direction first
The measurement data obtained under particular state, calculates range error in a first direction, based on the zero point error calculated, at weight
The measurement data obtained under the second particular state that power acceleration direction is consistent with second direction, calculates amount in a second direction
Journey error, based on the zero point error calculated, obtains under the 3rd particular state that acceleration of gravity direction is consistent with third direction
The measurement data taken, calculates the range error on third direction.
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