CN109521501A - Calibration method of gravity sensor - Google Patents
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- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
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Abstract
A calibration method for a gravity sensor. The method comprises the following steps. And obtaining an initial gravity coordinate provided by the gravity sensor, wherein the initial gravity coordinate is measured when the electronic device loading the gravity sensor is placed on the test platform. And rotating the initial gravity coordinate by a first angle based on the Z axis to enable the component of the initial gravity coordinate on one of the X axis and the Y axis to be 0 so as to obtain the plane coordinate. And rotating the plane coordinate by a second angle based on the X-axis or the Y-axis with the component of 0 so that the component of the plane coordinate on the other of the X-axis and the Y-axis is 0. And storing the first angle and the second angle so that the gravity sensor can calibrate according to the first angle and the second angle when sensing the gravity coordinate to obtain the calibrated gravity coordinate.
Description
Technical field
The present invention relates to a kind of calibration methods, and in particular to a kind of calibration method of gravity sensor.
Background technique
With the prosperity of Information technology, the function of electronic device constantly increases, and required sensing in electronic device
Element is also continuously increased.Since gravity sensor may determine that the movement and rotation of electronic device, in numerous applications, gravity is passed
Sensor has been indispensable sensing element.However, when gravity sensor is installed on electronic device, the Z axis of gravity sensor with
The Z axis of electronic device might have error, cause sensing result incorrect.Therefore, the Z axis and electricity of gravity sensor how to be eliminated
Error between the Z axis of sub-device is then an important topic for designing electronic device.
Summary of the invention
The present invention provides a kind of calibration method of gravity sensor, and the gravimetric(al) coordinates after can making calibration indicates that electronics fills really
The rotary state and/or displacement state set.
The calibration method of gravity sensor of the invention, includes the following steps.It obtains initial provided by gravity sensor
Gravimetric(al) coordinates, wherein primary gravity coordinate be load gravity sensor electronic device lie against it is measured when test platform.Base
Primary gravity coordinate first angle is rotated in Z axis, makes primary gravity coordinate in the component 0 of one of X-axis and Y-axis, with
Obtain plane coordinates.The X-axis or Y-axis Plane of rotation coordinate second angle for being 0 based on component, so that plane coordinates is in X-axis and Y-axis
Wherein another component be 0.First angle and second angle are stored, when sensing gravimetric(al) coordinates for gravity sensor, according to
It is calibrated according to first angle and second angle, to obtain gravimetric(al) coordinates after calibration.
Based on above-mentioned, the calibration method of the gravity sensor of the embodiment of the present invention, the coordinate of gravity sensor can be first calculated
Differential seat angle between axis and the reference axis of electronic device, and pass through the gravimetric(al) coordinates of above-mentioned differential seat angle rotational gravity sensor,
To obtain the gravimetric(al) coordinates after calibration.As a result, calibrate after gravimetric(al) coordinates can indicate really electronic device rotary state and/or
Displacement state.
To make the foregoing features and advantages of the present invention clearer and more comprehensible, special embodiment below, and it is detailed to cooperate attached drawing to make
Carefully it is described as follows.
Detailed description of the invention
Fig. 1 is the system schematic of the electronic device of an embodiment according to the present invention；
Fig. 2A is the calibration schematic diagram of the primary gravity coordinate of an embodiment according to the present invention；
Fig. 2 B is the calibration schematic diagram of an embodiment gravimetric(al) coordinates according to the present invention；
Fig. 3 A is the calibration schematic diagram of the primary gravity coordinate of another embodiment according to the present invention；
Fig. 3 B is the calibration schematic diagram of another embodiment gravimetric(al) coordinates according to the present invention；
Fig. 4 is the flow chart of the calibration method of the gravity sensor of an embodiment according to the present invention.
Specific embodiment
Fig. 1 is the system schematic of the electronic device of an embodiment according to the present invention.Fig. 1 is please referred to, in the present embodiment,
Electronic device 100 includes gravity sensor 110, driving circuit 120, memory 130 and carrying platform 140, wherein carrying platform
140 can be the shell of backboard, circuit board or electronic device 100, but the embodiment of the present invention is not limited.
Gravity sensor 110 is installed on carrying platform 140, and to provide gravimetric(al) coordinates Gxyz, wherein gravimetric(al) coordinates Gxyz can
For calculating the rotary state and/or displacement state of electronic device 100.In the ideal situation, gravity sensor 110 horizontal and
The gravimetric(al) coordinates Gxyz sensed in static plane can only have z-component (that is, centrifugal force).However, gravity sensor
110 with carrying platform 140 possibly can not perfect combination, the reference axis of the reference axis of gravity sensor 110 and electronic device 100 it
Between have an error, and generate the component other than Z axis.At this point, driving circuit 120 can receive gravimetric(al) coordinates Gxyz, and first
During beginningization, driving circuit 120 can calculate the angle between the reference axis of gravity sensor 110 and the reference axis of electronic device 100
It is poor to spend.
Then, driving circuit 120 is by the angle between the reference axis of gravity sensor 110 and the reference axis of electronic device 100
Degree difference is stored in memory 130, then according between the reference axis of gravity sensor 110 and the reference axis of electronic device 100
Differential seat angle calibrates gravimetric(al) coordinates Gxyz, to provide the gravimetric(al) coordinates AGxyz after calibration.
According to above-mentioned, the gravimetric(al) coordinates AGxyz after calibration has eliminated the reference axis and electronic device of gravity sensor 110
Error between 100 reference axis, therefore the gravimetric(al) coordinates AGxyz after calibration can indicate the rotation shape of electronic device 100 really
State and/or displacement state.That is, the gravity after calibration is sat when gravity sensor 110 is placed in horizontal and static plane
The component that AGxyz is only left Z axis is marked, the component of X-axis and Y-axis is zero.
Fig. 2A is the calibration schematic diagram of the primary gravity coordinate of an embodiment according to the present invention.Fig. 1 and Fig. 2A is please referred to,
In the present embodiment, during initialization, driving circuit 120 can obtain one group of primary gravity coordinate of the offer of gravity sensor 110
OGxyz, wherein primary gravity coordinate OGxyz is that the electronic device 100 of device gravity sensor 110 lies against test platform (not
Show) it is measured.Preferably, test platform is a horizontal and static plane.Then, one group of gravimetric(al) coordinates is being obtained
After OGxyz, driving circuit 120 can rotate primary gravity coordinate OGxyz first angle θ 11 to YZ plane, to obtain based on Z axis
Plane coordinates MGyz, that is, the component of X-axis is 0.
Furthermore, it is understood that the first spin matrix based on Z axis rotation primary gravity coordinate OGxyz meets following equation
Wherein, θ 11 is first angle, and Gx, Gy and Gz are respectively primary gravity coordinate OGxyz on X-axis, Y-axis and Z axis
Three components, Gy' and Gz' are respectively two components of plane coordinates MGyz.Also, it is based upon first angle θ 11 to run
The first spin matrix (1) can be stored in memory 130.
Then, driving circuit 120 can obtain Z axis based on X-axis by plane coordinates MGyz rotation second angle θ 12 to Z axis
Component be 1 (that is, 1G) and primary gravity coordinate AOGxyz after calibration that the component of X-axis and Y-axis is 0.Furthermore, it is understood that base
Meet following equation in the second spin matrix of X-axis Plane of rotation coordinate MGyz
Wherein, θ 12 is second angle, and Gz " is that the component and value on Z axis are 1G.Also, it is based upon second angle θ 12
The second spin matrix (2) of operation can be stored in memory 130.
The calibration schematic diagram of gravimetric(al) coordinates during Fig. 2 B is an embodiment one operation according to the present invention.Wherein, during operation
Refer to that electronic device 100 is in a use or a mode of operation.Fig. 1, Fig. 2A and Fig. 2 B are please referred to, in the present embodiment,
During operation, gravity sensor 110 can sense gravimetric(al) coordinates PG1xyz, and driving circuit 120 can sequentially utilize the first rotation
Matrix (1) and the second spin matrix (2) calibrate gravimetric(al) coordinates PG1xyz.Furthermore, it is understood that after obtaining gravimetric(al) coordinates PG1xyz,
It can be rotated first with first angle θ 11, to obtain intermediate gravimetric(al) coordinates MG1xyz.Then, recycle second angle θ 12 into
Row rotation, to obtain gravimetric(al) coordinates APG1xyz after calibration.That is, gravimetric(al) coordinates APG1xyz can be by rotational gravity after calibration
Coordinate PG1xyz carries out matrix multiple with the first spin matrix (1) and the second spin matrix (2) and is shown that operation method can join
According to following equation
Wherein, PG1x, PG1y and PG1z are respectively three components of the gravimetric(al) coordinates PG1xyz on X-axis, Y-axis and Z axis,
AG1x, AG1y and PG1z are respectively three components of the gravimetric(al) coordinates APG1xyz on X-axis, Y-axis and Z axis after calibrating.
According to above-mentioned, when electronic device 100 lies against horizontal and static plane, the gravity of gravity sensor 110 is sat
Only Z axis has the component Gz for 1G on mark Gxyz, therefore driving circuit 120 can be according to primary gravity coordinate during initialization
OGxyz calculates the first angle θ 11 and second between the reference axis of gravity sensor 110 and the reference axis of electronic device 100
Angle, θ 12, and then import the first spin matrix (1) and the second spin matrix (2).Then, also with the first spin matrix (1)
And second spin matrix (2) to gravimetric(al) coordinates PG1xyz carry out matrix multiple and obtain calibration after gravimetric(al) coordinates APG1xyz.Cause
This, the error being present between the reference axis of gravity sensor 110 and the reference axis of electronic device 100 can pass through the first rotation
Matrix (1) and the second spin matrix (2) are eliminated.
Fig. 3 A is the calibration schematic diagram of the primary gravity coordinate of another embodiment according to the present invention.Fig. 1 and Fig. 3 A is please referred to,
In the present embodiment, during initialization, one group of primary gravity that driving circuit 120 can obtain the offer of gravity sensor 110 is sat
OGxyz is marked, wherein the electronic device 100 of device gravity sensor 110 lies against test platform and (is not shown, is horizontal and static
Plane).Then, after measuring one group of gravimetric(al) coordinates OGxyz, driving circuit 120 can be sat based on Z axis rotation primary gravity
OGxyz first angle θ 21 is marked to XZ plane, to obtain plane coordinates MGxz, that is, the component of Y-axis is 0.
Furthermore, it is understood that the first spin matrix based on Z axis rotation primary gravity coordinate OGxyz meets following equation
Wherein, θ 21 is first angle, and Gx, Gy and Gz are respectively primary gravity coordinate OGxyz on X-axis, Y-axis and Z axis
Three components, Gx' and Gz' are respectively two components of plane coordinates MGxz.Also, it is based upon first angle θ 21 to run
The first spin matrix (3) can be stored in memory 130.
Then, driving circuit 120 can obtain Z axis based on Y-axis by plane coordinates MGxz rotation second angle θ 22 to Z axis
Component be 1 (that is, 1G) and primary gravity coordinate AOGxyz after calibration that the component of X-axis and Y-axis is 0.Furthermore, it is understood that base
Meet following equation in the second spin matrix of Y-axis Plane of rotation coordinate MGyz
Wherein, θ 22 is second angle, and Gz " is that the component and value on Z axis are 1G.Also, it is based upon second angle θ 22
The second spin matrix (4) of operation can be stored in memory 130.
The calibration schematic diagram of gravimetric(al) coordinates during Fig. 3 B is another operation of embodiment one according to the present invention.Wherein, the phase is operated
Between refer to electronic device 100 be in one use or a mode of operation.Fig. 1, Fig. 3 A and Fig. 3 B are please referred to, in the present embodiment,
During operation, gravity sensor 110 can sense gravimetric(al) coordinates PG2xyz, and driving circuit 120 can sequentially utilize first jiao
It spends θ 21 and second angle θ 22 and calibrates gravimetric(al) coordinates PG2xyz.Furthermore, it is understood that after obtaining gravimetric(al) coordinates PG2xyz, it can be first sharp
It is rotated with first angle θ 21, to obtain intermediate gravimetric(al) coordinates MG2xyz.Then, second angle θ 22 is recycled to be revolved
Turn, to obtain gravimetric(al) coordinates APG2xyz after calibration, operation method can refer to following equation
Wherein, PG2x, PG2y and PG2z are respectively three components of the gravimetric(al) coordinates PG2xyz on X-axis, Y-axis and Z axis,
AG2x, AG2y and PG2z are respectively three components of the gravimetric(al) coordinates APG2xyz on X-axis, Y-axis and Z axis after calibrating.
According to above-mentioned, when electronic device 100 lies against horizontal and static plane, the gravity of gravity sensor 110 is sat
Only Z axis has the component Gz for 1G on mark Gxyz, therefore driving circuit 120 can be according to primary gravity coordinate during initialization
OGxyz calculates the first angle θ 21 and second between the reference axis of gravity sensor 110 and the reference axis of electronic device 100
Angle, θ 22, and then import the first spin matrix (3) and the second spin matrix (4).Then, also with the first spin matrix (3)
And second spin matrix (4) to gravimetric(al) coordinates PG2xyz carry out matrix multiple and obtain calibration after gravimetric(al) coordinates APG2xyz.Cause
This, the error being present between the reference axis of gravity sensor 110 and the reference axis of electronic device 100 can pass through the rotation of coordinate
Transfer elimination.
Fig. 4 is the flow chart of the calibration method of the gravity sensor of an embodiment according to the present invention.Referring to figure 4., at this
In embodiment, the calibration method of gravity sensor includes the following steps.In step S410, during initialization, gravity is obtained
The primary gravity coordinate that sensor provides, wherein primary gravity coordinate is that the electronic device of loading gravity sensor lies against test
Measured by platform.In the step s 420, primary gravity coordinate first angle is rotated based on Z axis, make primary gravity coordinate in X-axis and
The component of one of Y-axis is 0, to obtain plane coordinates.In step S430, first angle is stored.In step S440,
The X-axis or Y-axis Plane of rotation coordinate second angle for being 0 based on component, so that plane coordinates is in the wherein another of X-axis and Y-axis
Component is 0.In step S450, second angle is stored.In step S460, for gravity sensor sense gravimetric(al) coordinates when according to
It is calibrated according to first angle and second angle, to obtain gravimetric(al) coordinates after calibration.Wherein, step S410, S420, S430,
The sequence of S440, S450 and S460 are to illustrate, the embodiment of the present invention is not limited.Also, step S410, S420,
The details of S430, S440, S450 and S460 can refer to Fig. 1, Fig. 2A, Fig. 2 B, Fig. 3 A and Fig. 3 B illustrated embodiment, this then no longer
It repeats.
In conclusion the calibration method of the gravity sensor of the embodiment of the present invention, can first calculate the coordinate of gravity sensor
Differential seat angle between axis and the reference axis of electronic device, and pass through the gravimetric(al) coordinates of above-mentioned differential seat angle rotational gravity sensor,
To obtain the gravimetric(al) coordinates after being calibrated to.Therefore, the gravimetric(al) coordinates after calibration can indicate really electronic device rotary state and/
Or displacement state.
Although the present invention is disclosed as above with embodiment, however, it is not to limit the invention, any technical field
Middle technical staff, without departing from the spirit and scope of the invention, when can make a little variation and retouching, therefore protection of the invention
Range is subject to view as defined in claim.
Claims (12)
1. a kind of calibration method of gravity sensor characterized by comprising
Primary gravity coordinate provided by gravity sensor is obtained, wherein the primary gravity coordinate is to load the gravity sensitive
The electronic device of device lies against measured when test platform；
Rotate the primary gravity coordinate first angle based on Z axis, make the primary gravity be marked in X-axis and Y-axis wherein it
One component is zero, to obtain plane coordinates；
Based on component be zero the X-axis or the Y-axis rotate the plane coordinates second angle so that the plane coordinates in
Wherein another component of the X-axis and the Y-axis is zero；And
The first angle and the second angle are stored, when sensing gravimetric(al) coordinates for the gravity sensor, according to institute
It states first angle and the second angle is calibrated, to obtain gravimetric(al) coordinates after calibration.
2. the calibration method of gravity sensor according to claim 1, which is characterized in that the primary gravity coordinate is based on
The Z axis is rotated to YZ plane, so that the primary gravity coordinate is zero in the component of the X-axis.
3. the calibration method of gravity sensor according to claim 2, which is characterized in that based on described in Z axis rotation
First spin matrix of primary gravity coordinate meets
Wherein, θ 11 is the first angle, Gx, Gy and Gz be respectively the primary gravity coordinate the X-axis, the Y-axis with
And the component on the Z axis, Gy' and Gz' are respectively component of the plane coordinates in the Y-axis and the Z axis.
4. the calibration method of gravity sensor according to claim 3, which is characterized in that the plane coordinates is based on described
X-axis is rotated to the Z axis, so that the component of the Y-axis is 0.
5. the calibration method of gravity sensor according to claim 4, which is characterized in that based on described in X-axis rotation
Second spin matrix of plane coordinates meets
Wherein, θ 12 is the second angle, and Gz " is the component of the Z axis.
6. the calibration method of gravity sensor according to claim 5, which is characterized in that gravimetric(al) coordinates is after the calibration
The gravimetric(al) coordinates carries out matrix multiple with first spin matrix and second spin matrix and is obtained.
7. the calibration method of gravity sensor according to claim 1, which is characterized in that the primary gravity coordinate is based on
The Z axis is rotated to XZ plane, so that the component of the Y-axis is zero.
8. the calibration method of gravity sensor according to claim 7, which is characterized in that based on described in Z axis rotation
First spin matrix of primary gravity coordinate meets
Wherein, θ 21 is the first angle, Gx, Gy and Gz be respectively the primary gravity coordinate the X-axis, the Y-axis with
And the component on the Z axis, Gx' and Gz' are respectively component of the plane coordinates in the X-axis and the Y-axis.
9. the calibration method of gravity sensor according to claim 8, which is characterized in that the plane coordinates is based on described
Y-axis is rotated to the Z axis, so that the component of the X-axis is zero.
10. the calibration method of gravity sensor according to claim 9, which is characterized in that based on described in Y-axis rotation
Second spin matrix of plane coordinates meets
Wherein, θ 22 is the second angle, and Gx' and Gz' constitute the plane coordinates, and Gz " is the component of the Z axis.
11. the calibration method of gravity sensor according to claim 10, which is characterized in that gravimetric(al) coordinates after the calibration
Matrix multiple is carried out with first spin matrix and second spin matrix by the gravimetric(al) coordinates to obtain.
12. the calibration method of gravity sensor according to claim 1, which is characterized in that the test platform is level
And static plane.
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| TW106132166A TWI639810B (en) | 2017-09-20 | 2017-09-20 | Calibration method of gravity sensor |
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| TW201915435A (en) | 2019-04-16 |
| TWI639810B (en) | 2018-11-01 |
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