CN108496059A - A kind of bearing calibration, device, terminal device and the storage medium of inertia sensor - Google Patents
A kind of bearing calibration, device, terminal device and the storage medium of inertia sensor Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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Abstract
The present invention relates to sensor technical fields, propose a kind of bearing calibration, device, terminal device and the computer storage media of inertia sensor.The method includes：The data exported to inertia sensor according to target deviation are corrected, and the initial value of the target deviation is the deviation corrected for the first time after the inertia sensor is installed；When the inertia sensor switches to stationary state from motion state, the target data of the inertia sensor output is acquired；Calculate the deviation between the target data and preset theoretical inertia value；The target deviation is updated with the deviation being calculated.Assuming that inertia sensor is mounted on the vehicle of traveling, then when vehicle stops every time all can real-time update once be used for Data correction deviation, it can effectively solve the problem that deviation caused by leading to the problem of variation due to actual deviation after single static corrects was not allowed in this way, to improve the data accuracy of inertia sensing system.
Description
Technical field
The present invention relates to sensor technical field more particularly to a kind of bearing calibration of inertia sensor, device, terminals to set
Standby and computer storage media.
Background technology
Inertia sensor is widely used in vehicle-mounted security-monitoring field, and the accuracy of data has the posture analysis of vehicle
Important function.Inertia sensor can carry out primary manually static shift correction after installing for the first time, all be subsequently according to correcting for the first time
Obtained deviation carries out Data correction.However, as vehicle jolts, the setting angle and installation site of inertia sensor will appear
It changes, actual data deviation can be caused to generate variation in this way, if at this time still using the deviation corrected for the first time into line number
It is according to correction that the deviation of the data after leading to correction and actual value is larger so that the data accuracy of entire inertia sensing system
Decline.
Invention content
In view of this, an embodiment of the present invention provides a kind of bearing calibration, device, terminal device and the meters of inertia sensor
Calculation machine storage medium, can improve the data accuracy of inertia sensing system.
The first aspect of the embodiment of the present invention provides a kind of bearing calibration of inertia sensor, including：
The data exported to inertia sensor according to target deviation are corrected, and the initial value of the target deviation is described
The deviation corrected for the first time after the installation of inertia sensor；
When the inertia sensor switches to stationary state from motion state, the mesh of the inertia sensor output is acquired
Mark data；
The deviation between the target data and preset theoretical inertia value is calculated, the theory inertia value is described used
The inertia value that quantity sensor should theoretically export when static；
The target deviation is updated using the deviation being calculated.
The second aspect of the embodiment of the present invention provides a kind of means for correcting of inertia sensor, including：
Data correction module, the data for being exported to inertia sensor according to target deviation are corrected, the target
The initial value of deviation is the deviation corrected for the first time after the inertia sensor is installed；
Target data acquisition module, for when the inertia sensor switches to stationary state from motion state, acquiring
The target data of the inertia sensor output；
Deviation computing module, for calculating the deviation between the target data and preset theoretical inertia value, institute
It is the inertia value that the inertia sensor should theoretically export when static to state theoretical inertia value；
Deviation update module, for updating the target deviation using the deviation being calculated.
The third aspect of the embodiment of the present invention provides a kind of terminal device, including memory, processor and is stored in
In the memory and the computer program that can run on the processor, when the processor executes the computer program
The step of realizing the bearing calibration for the inertia sensor that the first aspect such as the embodiment of the present invention provides.
The fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, the computer-readable storage
Media storage has computer program, and the first aspect such as the embodiment of the present invention is realized when the computer program is executed by processor
The step of bearing calibration of the inertia sensor of offer.
In embodiments of the present invention, the data exported to inertia sensor according to target deviation are corrected, the target
The initial value of deviation is the deviation corrected for the first time after the inertia sensor is installed；When the inertia sensor is from movement
When state switches to stationary state, the target data of the inertia sensor output is acquired；It calculates the target data and presets
Theoretical inertia value between deviation, the theory inertia value is the inertia sensor should theoretically export when static
Inertia value；The target deviation is updated with the deviation being calculated.Assuming that inertia sensor to be mounted on to the vehicle of traveling
On, then in each docking process of the vehicle, it is able to detect that inertia sensor switches to stationary state from motion state, this
When acquisition inertia sensor output target data, then calculate the deviation between target data and theoretical inertia value, use tricks
Target deviation of the obtained deviation update for Data correction.It obviously, all can real-time update one when vehicle stops every time
The secondary deviation for Data correction changes after can effectively solve the problem that traditional single static correction in this way since actual deviation generates
The inaccurate problem of caused deviation, the deviation to ensure data and actual value after correction is smaller, improves inertia sensor system
The data accuracy of system.
Description of the drawings
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description be only the present invention some
Embodiment for those of ordinary skill in the art without having to pay creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is a kind of flow of one embodiment of the bearing calibration of inertia sensor provided in an embodiment of the present invention
Figure；
Fig. 2 is a kind of flow of second embodiment of the bearing calibration of inertia sensor provided in an embodiment of the present invention
Figure；
Fig. 3 is a kind of structure chart of one embodiment of the means for correcting of inertia sensor provided in an embodiment of the present invention；
Fig. 4 is a kind of schematic diagram of terminal device provided in an embodiment of the present invention.
Specific implementation mode
In being described below, for illustration and not for limitation, it is proposed that such as tool of particular system structure, technology etc
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention can also be realized in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
An embodiment of the present invention provides the storages of a kind of bearing calibration of inertia sensor, device, terminal device and computer
Medium can improve the data accuracy of inertia sensing system.
Referring to Fig. 1, a kind of one embodiment of the bearing calibration of inertia sensor includes in the embodiment of the present invention：
101, the data exported to inertia sensor according to target deviation are corrected；
In embodiments of the present invention, inertia sensor may be mounted on arbitrary motion object (such as vehicle, steamer), use
In the inertia data for detecting the moving object.Inertia sensor acquires and the data exported are corrected according to target deviation, this
In target deviation be a variable, initial value is the deviation corrected for the first time after inertia sensor installation, mesh
Mark deviation is updated by following steps 102 to 104.After inertia sensor installs, until entire data acquired
The end of journey is all made of the data that the target deviation exports inertia sensor and is corrected.Specifically, being sensed with three axis inertia
For device, if the data of sensor output are x, y, z, target deviation is △ x, △ y, △ z, then the data after correcting are x- △ x,
Y- △ y, z- △ z.
102, when the inertia sensor switches to stationary state from motion state, the inertia sensor output is acquired
Target data；
When the inertia sensor switches to stationary state from motion state, the mesh of the inertia sensor output is acquired
Mark data.The sound state of inertia sensor is equal to the sound state for the object that it is installed, therefore inertia sensor is from movement
State switches to stationary state and is equal to the vehicle that the object that it is installed is switched to from motion state in stationary state, such as traveling
Parking after.When judging that inertia sensor remains static, the target data of the inertia sensor output is acquired, here
Target data be current time collected original inertia data, i.e., uncorrected data.
Specifically, the inertia sensor is installed on vehicle, whether the inertia sensor remains static can be with
Judged by following 3 kinds of modes.
Mode 1：Obtain the satellite navigation and positioning information of the vehicle；According to satellite navigation and positioning information determination
The speed of vehicle；If the speed of the vehicle remains 0 in the second duration, judge that the inertia sensor is in static shape
State.
For example, obtaining the real time GPS location information of the vehicle, the speed of the vehicle can be determined according to the location information,
If it is determined that the speed of the vehicle remains 0 in the second duration (such as 5 seconds), then it can be determined that the inertia sensor is in quiet
Only state.
Mode 2：The speed of the vehicle is obtained from the transmission system of the vehicle；If the speed of the vehicle is 0, sentence
The fixed inertia sensor remains static.
Transmission system itself due to vehicle can export the real-time speed parameter of the vehicle, can be directly from vehicle
Transmission system obtain the speed of the vehicle；If the car speed got is 0, judge that the inertia sensor is in quiet
Only state.
Mode 3：If it is default to detect that fluctuation range of the data of the inertia sensor output in third duration is less than
Threshold value, then judge that the inertia sensor remains static.
When vehicle movement (the non-movement that remains a constant speed), inertia value changes greatly, i.e. the data of inertia sensor output
Fluctuation range it is larger.When stationary vehicle or when being continuously in uniform motion, inertia value is theoretically constant, and actual change
Change amplitude very little, if therefore detect the data of inertia sensor output in third duration (such as 5 seconds) fluctuation model
It encloses and is less than preset threshold value, then can be determined that the inertia sensor remains static (very based on vehicle in practical situations
Difficulty is in absolute uniform speed motion state).
Further, in order to improve the accuracy for judging whether inertia sensor remains static, above 3 kinds of modes
It can be used in combination, for example employing mode 2+ modes 3 are judged or employing mode 1+ modes 3 are judged.
103, the deviation between the target data and preset theoretical inertia value is calculated；
After collecting the target data, the deviation between the target data and preset theoretical inertia value is calculated
Value.Here theoretical inertia value is the inertia value that the inertia sensor should theoretically export when static, such as quiet
The stable three axis inertia sensor of state, theoretical inertia value is X=0, Y=0, Z=-1.Assuming that the target data is x, y, z,
Corresponding theory inertia value is X, Y, Z, then the deviation being calculated is x-X, y-Y, z-Z.
104, the target deviation is updated using the deviation being calculated.
After the deviation being calculated between the target data and preset theoretical inertia value, using the deviation
The target deviation is updated, i.e., the former deviation of the target deviation is substituted for the deviation being calculated at current time
Value.After target deviation update, the data exported to inertia sensor according to updated target deviation are corrected.Obviously,
When inertia sensor switches to stationary state from motion state every time, primary new deviation can be all calculated, is used in combination and calculates
To deviation target deviation is updated.Assuming that inertia sensor is installed on the vehicle of traveling, then it is every in the vehicle
A target deviation can be all updated when secondary parking, be equivalent to and repeatedly target deviation is adjusted in the driving conditions of vehicle,
To improve the accuracy of target deviation and corrected data.
In embodiments of the present invention, the data exported to inertia sensor according to target deviation are corrected, the target
The initial value of deviation is the deviation corrected for the first time after the inertia sensor is installed；When the inertia sensor is from movement
When state switches to stationary state, the target data of the inertia sensor output is acquired；It calculates the target data and presets
Theoretical inertia value between deviation, the theory inertia value is the inertia sensor should theoretically export when static
Inertia value；The target deviation is updated with the deviation being calculated.Assuming that inertia sensor to be mounted on to the vehicle of traveling
On, then in each docking process of the vehicle, it is able to detect that inertia sensor switches to stationary state from motion state, this
When acquisition inertia sensor output target data, then calculate the deviation between target data and theoretical inertia value, use tricks
Target deviation of the obtained deviation update for Data correction.It obviously, all can real-time update one when vehicle stops every time
The secondary deviation for Data correction changes after can effectively solve the problem that traditional single static correction in this way since actual deviation generates
The inaccurate problem of caused deviation, the deviation to ensure data and actual value after correction is smaller, improves inertia sensor system
The data accuracy of system.
Referring to Fig. 2, a kind of second embodiment of the bearing calibration of inertia sensor includes in the embodiment of the present invention：
201, the data exported to inertia sensor according to target deviation are corrected；
Step 201 is identical as step 101, specifically can refer to the related description of step 101.
202, when the inertia sensor switches to stationary state from motion state, the multi collect institute in the first duration
The data for stating the output of inertia sensor, obtain multigroup inertia data；
Compared with acquiring a data in step 102, step 202 acquires multiple data.When detecting inertia sensor
When switching to stationary state from motion state, the data that inertia sensor described in multi collect exports in the first duration obtain
Multigroup inertia data.For example, acquiring the data of 100 inertia sensors output in 1 second, 100 groups of inertia datas are obtained, for
Every group of inertia data can be expressed as { x, y, z } for three axis inertia sensors.
203, the average value of multigroup inertia data or maximum value are determined as target data；
After obtaining multigroup inertia data, the average value of this multigroup inertia data or maximum value are determined as number of targets
According to.The definition and effect of goal data are identical as the target data in step 102, pass through averaged or maximum value
Mode can obtain the original inertia data being more nearly with actual value, be conducive to subsequently calculate more accurately for updating
The deviation of target deviation.
204, it is poor to make the target data and theoretical inertia value, obtains the first deviation；
After obtaining target data, it is poor to make the target data and theoretical inertia value, obtains the first deviation, this
In theoretical inertia value defined with the theoretical inertia value in step 103 it is identical.
205, the history deviation of the target deviation is obtained；
Obtain the history deviation of the target deviation, the history deviation include the target deviation initial value and
Each updated deviation.For example, if target deviation has updated once before current time, history deviation includes just
The deviation that initial value (deviation that corrects for the first time after the installation of inertia sensor) and this time obtain after updating totally 2 deviations
Value；If target deviation has updated 10 times before current time, history deviation includes initial value and 10 newer deviations
It is worth totally 11 deviations.When target deviation updates every time, newer deviation is recorded and stored, forms the history deviation
Value.
Further, step 205 can specifically include：
(1) judge whether the quantity of the history deviation is less than or equal to preset first quantity, if so then execute step
Suddenly (2), it is no to then follow the steps (3)；
(2) all history deviations of the target deviation are obtained；
(3) obtain corresponding renewal time in the history deviation of the target deviation apart from current time it is nearest first
The history deviation of quantity.
For above-mentioned steps (1) to (3), it is pre- to first determine whether the quantity of the history deviation recorded is less than or equal to
If the first quantity (such as 20), if less than or equal to all history deviations for obtaining the target deviation if first quantity
Value；Corresponding renewal time is then obtained in the history deviation of the target deviation if more than first quantity apart from current time
The history deviation of the first nearest quantity.Assuming that the first quantity is 20, if the target deviation has updated 10 times, i.e., history is inclined
The quantity of difference is 11, then all obtains this 11 history deviations；If the target deviation has updated 30 times, i.e., history is inclined
The quantity of difference is 31, then obtains 20 history deviations of the renewal time apart from current time recently in this 31 history deviations
Value, i.e., the deviation that the 11st to 30 time update obtains.It is arranged in this way, when the quantity of history deviation is excessive, can neglects
Slightly renewal time history deviation earlier, to reduce the calculation amount of subsequent step.In addition, also can be by renewal time earlier
History deviation is deleted, to reduce the memory space occupied.
206, by the average value of first deviation and the history deviation got be determined as the target data with
Deviation between the theory inertia value；
After the history deviation for obtaining the target deviation, by first deviation and the history deviation got
The average value of value is determined as the deviation between the target data and the theoretical inertia value.Step 205 and 206 carry out be
The process of one deviation statistics can be truer by way of counting the deviation and averaged that repeatedly update uses
Ground reflects the actual deviation situation of inertia sensor, to obtain the more accurately deviation for updating target deviation.
Optionally, in step 206, it is averaged again or data statistics after removal maximin can also being used
With other data processing methods in analysis.
207, the target deviation is updated using the deviation between the target data and the theoretical inertia value.
After obtaining the deviation between the target data and the theoretical inertia value, institute is updated using the deviation
State target deviation.After target deviation update, school is carried out to the data that inertia sensor exports according to updated target deviation
Just.
In embodiments of the present invention, the data exported to inertia sensor according to target deviation are corrected；When described used
When quantity sensor switches to stationary state from motion state, the number of inertia sensor output described in multi collect in the first duration
According to obtaining multigroup inertia data；The average value of multigroup inertia data or maximum value are determined as target data；By the mesh
It marks data and theoretical inertia value work is poor, obtain the first deviation；Obtain the history deviation of the target deviation；By described first
The average value of deviation and the history deviation got is determined as inclined between the target data and the theoretical inertia value
Difference；The target deviation is updated using the deviation between the target data and the theoretical inertia value.With the present invention's
One embodiment is compared, and the present embodiment determines mesh by the way of the multigroup inertia data of acquisition and averaged or maximum value
Data are marked, the original inertia data being more nearly with actual value can be obtained；And by way of deviation statistics, it can obtain
The deviation more accurately for updating target deviation is taken, that is, obtains more accurate target deviation, it is used to further improve
The data accuracy of quantity sensor system.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-mentioned each embodiment, respectively
The execution sequence of process should be determined by its function and internal logic, and the implementation process without coping with the embodiment of the present invention constitutes any
It limits.
A kind of bearing calibration of inertia sensor is essentially described above, a kind of correction of inertia sensor will be filled below
It sets and is described.
Referring to Fig. 3, a kind of one embodiment of the means for correcting of inertia sensor includes in the embodiment of the present invention：
Data correction module 301, the data for being exported to inertia sensor according to target deviation are corrected, the mesh
The initial value of mark deviation is the deviation corrected for the first time after the inertia sensor is installed；
Target data acquisition module 302, for when the inertia sensor switches to stationary state from motion state, adopting
Collect the target data of the inertia sensor output；
Deviation computing module 303, for calculating the deviation between the target data and preset theoretical inertia value,
The theory inertia value is the inertia value that the inertia sensor should theoretically export when static；
Deviation update module 304, for updating the target deviation using the deviation being calculated.
Further, the target data acquisition module 302 may include：
Data acquisition unit obtains more for the data of inertia sensor output described in the multi collect in the first duration
Group inertia data；
Data determination unit, for the average value of multigroup inertia data or maximum value to be determined as the number of targets
According to.
Further, the deviation computing module 303 may include：
Make poor unit, it is poor for making the target data and the theoretical inertia value, obtain the first deviation；
History deviation acquiring unit, the history deviation for obtaining the target deviation, the history deviation packet
Include the initial value of the target deviation and each updated deviation；
Deviation determination unit, for the average value of first deviation and the history deviation got to be determined as
Deviation between the initial data and theoretical inertia value.
The embodiment of the present invention also provides a kind of terminal device, including memory, processor and is stored in the memory
In and the computer program that can run on the processor, the processor realize such as Fig. 1 when executing the computer program
Or Fig. 2 indicate any one inertia sensor bearing calibration the step of.
The embodiment of the present invention also provides a kind of computer readable storage medium, and the computer-readable recording medium storage has
Computer program realizes any one the inertia sensor indicated such as Fig. 1 or Fig. 2 when the computer program is executed by processor
Bearing calibration the step of.
Fig. 4 is the schematic diagram for the terminal device that one embodiment of the invention provides.As shown in figure 4, the terminal of the embodiment is set
Standby 4 include：Processor 40, memory 41 and it is stored in the meter that can be run in the memory 41 and on the processor 40
Calculation machine program 42.The processor 40 realizes the bearing calibration of above-mentioned each inertia sensor when executing the computer program 42
Embodiment in step, such as step 101 shown in FIG. 1 is to 104.Alternatively, the processor 40 executes the computer journey
The function of each module/unit in above-mentioned each device embodiment, such as the function of module 301 to 304 shown in Fig. 3 are realized when sequence 42.
The computer program 42 can be divided into one or more module/units, and one or more of modules/
Unit is stored in the memory 41, and is executed by the processor 40, to complete the present invention.One or more of moulds
Block/unit can be the series of computation machine program instruction section that can complete specific function, the instruction segment by describe it is described based on
Implementation procedure of the calculation machine program 42 in the terminal device 4.
The terminal device 4 can be various types of mobile phones, desktop PC, notebook, palm PC and high in the clouds
The computing devices such as server.The terminal device may include, but be not limited only to, processor 40, memory 41.People in the art
Member is appreciated that Fig. 4 is only the example of terminal device 4, does not constitute the restriction to terminal device 4, may include than diagram
More or fewer components either combine certain components or different components, such as the terminal device 4 can also include
Input-output equipment, network access equipment, bus etc..
Alleged processor 40 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), application-specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor can also be any conventional processor
Deng.
The memory 41 can be the internal storage unit of the terminal device 4, such as the hard disk of terminal device 4 or interior
It deposits.The memory 41 can also be to be equipped on the External memory equipment of the terminal device 4, such as the terminal device 4
Plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card dodge
Deposit card (Flash Card) etc..Further, the memory 41 can also both include the storage inside list of the terminal device 4
Member also includes External memory equipment.The memory 41 is for storing needed for the computer program and the terminal device
Other programs and data.The memory 41 can be also used for temporarily storing the data that has exported or will export.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each work(
Can unit, module division progress for example, in practical application, can be as needed and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device are divided into different functional units or module, more than completion
The all or part of function of description.Each functional unit, module in embodiment can be integrated in a processing unit, also may be used
It, can also be above-mentioned integrated during two or more units are integrated in one unit to be that each unit physically exists alone
The form that hardware had both may be used in unit is realized, can also be realized in the form of SFU software functional unit.In addition, each function list
Member, the specific name of module are also only to facilitate mutually distinguish, the protection domain being not intended to limit this application.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may realize that lists described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, depends on the specific application and design constraint of technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed device and method can pass through others
Mode is realized.For example, system embodiment described above is only schematical, for example, the division of the module or unit,
Only a kind of division of logic function, formula that in actual implementation, there may be another division manner, such as multiple units or component can be with
In conjunction with or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling or direct-coupling or communication connection can be by some interfaces, the INDIRECT COUPLING of device or unit or
Communication connection can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, you can be located at a place, or may be distributed over multiple
In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.Above-mentioned integrated list
The form that hardware had both may be used in member is realized, can also be realized in the form of SFU software functional unit.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can be stored in a computer read/write memory medium.Based on this understanding, the present invention realizes above-described embodiment side
All or part of flow in method can also instruct relevant hardware to complete, the computer by computer program
Program can be stored in a computer readable storage medium, and the computer program is when being executed by processor, it can be achieved that above-mentioned each
The step of a embodiment of the method.Wherein, the computer program includes computer program code, and the computer program code can
Think source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium can be with
Including：Any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic disc, light of the computer program code can be carried
Disk, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random
Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that the computer
The content that readable medium includes can carry out increase and decrease appropriate according to legislation in jurisdiction and the requirement of patent practice, such as
In certain jurisdictions, according to legislation and patent practice, computer-readable medium is including being electric carrier signal and telecommunications letter
Number.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although with reference to aforementioned reality
Applying example, invention is explained in detail, it will be understood by those of ordinary skill in the art that：It still can be to aforementioned each
Technical solution recorded in embodiment is modified or equivalent replacement of some of the technical features；And these are changed
Or replace, the spirit and scope for various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (10)
1. a kind of bearing calibration of inertia sensor, which is characterized in that including：
The data exported to inertia sensor according to target deviation are corrected, and the initial value of the target deviation is the inertia
The deviation corrected for the first time after sensor installation；
When the inertia sensor switches to stationary state from motion state, the number of targets of the inertia sensor output is acquired
According to；
The deviation between the target data and preset theoretical inertia value is calculated, the theory inertia value passes for the inertia
The inertia value that sensor should theoretically export when static；
The target deviation is updated using the deviation being calculated.
2. the bearing calibration of inertia sensor as described in claim 1, which is characterized in that the acquisition inertia sensor
The target data of output includes：
The data that inertia sensor described in multi collect exports in the first duration, obtain multigroup inertia data；
The average value of multigroup inertia data or maximum value are determined as the target data.
3. the bearing calibration of inertia sensor as described in claim 1, which is characterized in that it is described calculate the target data with
Deviation between preset theory inertia value includes：
It is poor that the target data and the theoretical inertia value are made, and obtains the first deviation；
Obtain the history deviation of the target deviation, the history deviation includes the initial value and every time of the target deviation
Updated deviation；
The average value of first deviation and the history deviation got is determined as the target data and preset reason
By the deviation between inertia value.
4. the bearing calibration of inertia sensor as claimed in claim 3, which is characterized in that the acquisition target deviation
History deviation includes：
If the quantity of the history deviation is less than or equal to preset first quantity, obtains all of the target deviation and go through
History deviation；
If the quantity of the history deviation is more than first quantity, it is right in the history deviation of the target deviation to obtain
The history deviation of the renewal time answered first quantity nearest apart from current time.
5. the bearing calibration of inertia sensor according to any one of claims 1 to 4, which is characterized in that the inertia passes
Sensor is installed on vehicle, and whether the inertia sensor remains static is judged by following steps：
Obtain the satellite navigation and positioning information of the vehicle；
The speed of the vehicle is determined according to the satellite navigation and positioning information；
If the speed of the vehicle remains 0 in the second duration, judge that the inertia sensor remains static；
Or
The speed of the vehicle is obtained from the transmission system of the vehicle；
If the speed of the vehicle is 0, judge that the inertia sensor remains static；
Or
If detecting, fluctuation range of the data of the inertia sensor output in third duration is less than preset threshold value, sentences
The fixed inertia sensor remains static.
6. a kind of means for correcting of inertia sensor, which is characterized in that including：
Data correction module, the data for being exported to inertia sensor according to target deviation are corrected, the target deviation
Initial value be the deviation that corrects for the first time after inertia sensor installation；
Target data acquisition module, for when the inertia sensor switches to stationary state from motion state, described in acquisition
The target data of inertia sensor output；
Deviation computing module, for calculating the deviation between the target data and preset theoretical inertia value, the reason
It is the inertia value that the inertia sensor should theoretically export when static by inertia value；
Deviation update module, for updating the target deviation using the deviation being calculated.
7. the means for correcting of inertia sensor as claimed in claim 6, which is characterized in that the target data acquisition module packet
It includes：
Data acquisition unit obtains multigroup used for the data of inertia sensor output described in the multi collect in the first duration
Measure data；
Data determination unit, for the average value of multigroup inertia data or maximum value to be determined as the target data.
8. the means for correcting of inertia sensor as claimed in claims 6 or 7, which is characterized in that the deviation computing module
Including：
Make poor unit, it is poor for making the target data and the theoretical inertia value, obtain the first deviation；
History deviation acquiring unit, the history deviation for obtaining the target deviation, the history deviation include institute
State the initial value of target deviation and each updated deviation；
Deviation determination unit, it is described for the average value of first deviation and the history deviation got to be determined as
Deviation between initial data and theoretical inertia value.
9. a kind of terminal device, including memory, processor and it is stored in the memory and can be on the processor
The computer program of operation, which is characterized in that the processor realizes such as claim 1 to 5 when executing the computer program
Any one of described in inertia sensor bearing calibration the step of.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, feature to exist
In the school of inertia sensor of the realization as described in any one of claim 1 to 5 when the computer program is executed by processor
The step of correction method.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/080472 WO2019183750A1 (en) | 2018-03-26 | 2018-03-26 | Inertia sensor correction method and apparatus, terminal device and storage medium |
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| CN108496059A true CN108496059A (en) | 2018-09-04 |
| CN108496059B CN108496059B (en) | 2019-12-27 |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2019183750A1 (en) | 2019-10-03 |
| CN108496059B (en) | 2019-12-27 |
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