CN110501520A - A kind of the axle acceleration acquisition methods and device of 3-axis acceleration sensor - Google Patents

A kind of the axle acceleration acquisition methods and device of 3-axis acceleration sensor Download PDF

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Publication number
CN110501520A
CN110501520A CN201910805903.XA CN201910805903A CN110501520A CN 110501520 A CN110501520 A CN 110501520A CN 201910805903 A CN201910805903 A CN 201910805903A CN 110501520 A CN110501520 A CN 110501520A
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axis
acceleration sensor
axle table
axis acceleration
modulus
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CN110501520B (en
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吴连奎
王长欣
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Beijing Lu Lu Technology Co Ltd
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Beijing Lu Lu Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P1/00—Details of instruments
    • G01P1/12—Recording devices
    • G01P1/127—Recording devices for acceleration values
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
    • G01P15/08—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Gyroscopes (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

This application involves the axle acceleration acquisition methods and device of a kind of 3-axis acceleration sensor, which comprises obtains the positive g modulus AD conversion value and negative one g modulus AD conversion value of each axis of 3-axis acceleration sensor；The zero g modulus AD conversion value of each axis of 3-axis acceleration sensor is obtained using the positive g modulus AD conversion value and negative one g modulus AD conversion value of each axis of the 3-axis acceleration sensor；The acceleration value of each axis of 3-axis acceleration sensor is determined using the positive g modulus AD conversion value, negative one g modulus AD conversion value and zero g modulus AD conversion value of each axis of the 3-axis acceleration sensor.Technical solution provided by the invention reduces the error of the acceleration value of each axis of 3-axis acceleration sensor of acquisition.

Description

A kind of the axle acceleration acquisition methods and device of 3-axis acceleration sensor
Technical field
This application involves sensor technical fields, and in particular to a kind of axle acceleration acquisition side of 3-axis acceleration sensor Method and device.
Background technique
3-axis acceleration sensor has the characteristics that small in size and light-weight, can measure steric acceleration, can be comprehensively quasi- The really kinetic property of reflection object, is widely used in fields such as aerospace, robot, automobile and medicine.
In the related technology, the error of the calculation formula of the axle acceleration of current 3-axis acceleration sensor is larger.
Summary of the invention
To overcome the error for the calculation formula that there is axle acceleration in the related technology is biggish to ask at least to a certain extent Topic, the application provide the axle acceleration acquisition methods and device of a kind of 3-axis acceleration sensor.
According to the embodiment of the present application in a first aspect, providing a kind of axle acceleration acquisition side of 3-axis acceleration sensor Method, which comprises
Obtain the positive g modulus AD conversion value and negative one g modulus AD conversion value of each axis of 3-axis acceleration sensor；
Turned using the positive g modulus AD conversion value and negative one g modulus AD of each axis of the 3-axis acceleration sensor Change the zero g modulus AD conversion value that value obtains each axis of 3-axis acceleration sensor；
Utilize positive g modulus AD conversion value, the negative one g modulus AD conversion of each axis of the 3-axis acceleration sensor Value and zero g modulus AD conversion value determine the acceleration value of each axis of 3-axis acceleration sensor.
Preferably, the positive g modulus AD conversion value and negative one g mould for obtaining each axis of 3-axis acceleration sensor Number AD conversion value, comprising:
Obtain the analog voltage of a positive g for each axis of the 3-axis acceleration sensor and the simulation electricity of negative one g Pressure value；
Using modulus converter respectively by the analog voltage of a positive g for each axis of the 3-axis acceleration sensor With the analog voltage of negative one g be converted into each axis of the 3-axis acceleration sensor positive g modulus AD conversion value and Negative one g modulus AD conversion value.
Further, the analog voltage of the positive g for obtaining each axis of 3-axis acceleration sensor and negative The analog voltage of one g, comprising:
A. three-axle table is placed on the indoor levelling bench of weakening；
B. being face-up placed in the 3-axis acceleration sensor on the three-axle table enables three axis accelerate X-axis and the y-axis for spending sensor are parallel with the x-axis of the three-axle table and y-axis to just respectively；
When obtaining the analog voltage of a positive g of the 3-axis acceleration sensor x-axis, the three-axle table is enabled Perpendicular to the ground, the three-axle table quickly rotates the first output valve until the 3-axis acceleration sensor x-axis along y-axis to z-axis In first threshold range, the three-axle table stops rotating up to the first output valve of the 3-axis acceleration sensor x-axis Stablize；The three-axle table is slowly rotated clockwise along y-axis or is rotated counterclockwise, when the 3-axis acceleration sensor x-axis The three-axle table stops rotating when second output valve is the maximum output value of the 3-axis acceleration sensor x-axis；Described three Axis turntable is slowly rotated clockwise along x-axis or is rotated counterclockwise, when the third output valve of the 3-axis acceleration sensor x-axis is The three-axle table stops rotating when the maximum output value of the 3-axis acceleration sensor x-axis, the 3-axis acceleration sensing The third output valve of device x-axis is the analog voltage of a positive g for the 3-axis acceleration sensor x-axis；
When obtaining the analog voltage of a positive g of the 3-axis acceleration sensor y-axis, the three-axle table is enabled Perpendicular to the ground, the three-axle table quickly rotates the first output valve until the 3-axis acceleration sensor y-axis along x-axis to z-axis In first threshold range, the three-axle table stops rotating up to the first output valve of the 3-axis acceleration sensor y-axis Stablize；The three-axle table is slowly rotated clockwise along x-axis or is rotated counterclockwise, when the 3-axis acceleration sensor y-axis The three-axle table stops rotating when second output valve is the maximum output value of the 3-axis acceleration sensor y-axis；Described three Axis turntable is slowly rotated clockwise along y-axis or is rotated counterclockwise, when the third output valve of the 3-axis acceleration sensor y-axis is The three-axle table stops rotating when the maximum output value of the 3-axis acceleration sensor y-axis, the 3-axis acceleration sensing The third output valve of device y-axis is the analog voltage of a positive g for the 3-axis acceleration sensor y-axis；
When obtaining the analog voltage of a positive g of the 3-axis acceleration sensor z-axis, the three-axle table is enabled Perpendicular to the ground, the three-axle table is slowly rotated clockwise along x-axis or is rotated counterclockwise z-axis, when the 3-axis acceleration senses The three-axle table stops rotating when first output valve of device z-axis is the maximum output value of the 3-axis acceleration sensor z-axis； The three-axle table is slowly rotated clockwise along y-axis or is rotated counterclockwise, and second when the 3-axis acceleration sensor z-axis is defeated The three-axle table stops rotating when value is the maximum output value of the 3-axis acceleration sensor z-axis out, and three axis accelerates The second output valve of sensor z-axis is spent for the analog voltage of a positive g for the 3-axis acceleration sensor z-axis；
Wherein, the first threshold range is [G+S-t, G+S+t], and G is that zero g of 3-axis acceleration sensor is deviated, and S is The sensitivity of 3-axis acceleration sensor, t are deviation；
C. the reverse side of the 3-axis acceleration sensor is placed in upward on the three-axle table, three axis is enabled to accelerate X-axis and the y-axis for spending sensor are parallel with the x-axis of the three-axle table and y-axis to just respectively；
When obtaining the analog voltage of negative one g of the 3-axis acceleration sensor x-axis, the three-axle table is enabled Perpendicular to the ground, the three-axle table quickly rotates the 4th output valve until the 3-axis acceleration sensor x-axis along y-axis to z-axis Within the scope of second threshold, the three-axle table stops rotating up to the 4th output valve of the 3-axis acceleration sensor x-axis Stablize；The three-axle table is slowly rotated clockwise along y-axis or is rotated counterclockwise, when the 3-axis acceleration sensor x-axis The three-axle table stops rotating when 5th output valve is the maximum output value of the 3-axis acceleration sensor x-axis；Described three Axis turntable is slowly rotated clockwise along x-axis or is rotated counterclockwise, when the 6th output valve of the 3-axis acceleration sensor x-axis is The three-axle table stops rotating when the maximum output value of the 3-axis acceleration sensor x-axis, the 3-axis acceleration sensing 6th output valve of device x-axis is the analog voltage of the negative one g of the 3-axis acceleration sensor x-axis；
When obtaining the analog voltage of negative one g of the 3-axis acceleration sensor y-axis, the three-axle table is enabled Perpendicular to the ground, the three-axle table quickly rotates the 4th output valve until the 3-axis acceleration sensor y-axis along x-axis to z-axis Within the scope of second threshold, three-axle table stops rotating until the 4th output valve of the 3-axis acceleration sensor y-axis is stablized； The three-axle table is slowly rotated clockwise along x-axis or is rotated counterclockwise, and the 5th when the 3-axis acceleration sensor y-axis is defeated The three-axle table stops rotating when value is the maximum output value of the 3-axis acceleration sensor y-axis out；The three-axle table It slowly rotates clockwise along y-axis or rotates counterclockwise, when the 6th output valve of the 3-axis acceleration sensor y-axis is described three The three-axle table stops rotating when the maximum output value of axle acceleration sensor y-axis, the 3-axis acceleration sensor y-axis 6th output valve is the negative one g modulus AD conversion value of the 3-axis acceleration sensor y-axis；
When obtaining the analog voltage of negative one g of the 3-axis acceleration sensor z-axis, the three-axle table is enabled Perpendicular to the ground, the three-axle table is slowly rotated clockwise along x-axis or is rotated counterclockwise z-axis, when the 3-axis acceleration senses The three-axle table stops rotating when the third output valve of device z-axis is the maximum output value of the 3-axis acceleration sensor z-axis； The three-axle table is slowly rotated clockwise along y-axis or is rotated counterclockwise, and the 4th when the 3-axis acceleration sensor z-axis is defeated The three-axle table stops rotating when value is the maximum output value of the 3-axis acceleration sensor z-axis out, and three axis accelerates The 4th output valve of sensor z-axis is spent for the analog voltage of the negative one g of the 3-axis acceleration sensor z-axis；
Wherein, the second threshold range is [G-S-t, G-S+t], and G is that zero g of 3-axis acceleration sensor is deviated, and S is The sensitivity of 3-axis acceleration sensor, t are deviation.
Preferably, the positive g modulus AD conversion value and negative one using each axis of the 3-axis acceleration sensor A g modulus AD conversion value obtains the zero g modulus AD conversion value of each axis of 3-axis acceleration sensor, comprising:
The zero g modulus AD conversion value of the 3-axis acceleration sensor k axis is determined as the following formula
In above formula, k=x, y or z, x, y and z are respectively the x-axis, y-axis and z-axis of 3-axis acceleration sensor；It is described The positive g modulus AD conversion value of 3-axis acceleration sensor k axis,For the negative one of the 3-axis acceleration sensor k axis A g modulus AD conversion value.
Preferably, the positive g modulus AD conversion value using each axis of the 3-axis acceleration sensor, negative one G modulus AD conversion value and zero g modulus AD conversion value determine the acceleration value of each axis of 3-axis acceleration sensor, comprising:
The acceleration value a of the 3-axis acceleration sensor k axis is determined as the following formulak:
In above formula, k=x, y or z, x, y and z are respectively the x-axis, y-axis and z-axis of 3-axis acceleration sensor；SkFor three axis The modulus AD conversion value of acceleration transducer k axis；For the zero g modulus AD conversion of the 3-axis acceleration sensor k axis Value,For the positive g modulus AD conversion value of the 3-axis acceleration sensor k axis,For 3-axis acceleration sensing The negative one g modulus AD conversion value of device k axis.
According to the second aspect of the embodiment of the present application, the axle acceleration for providing a kind of 3-axis acceleration sensor obtains dress It sets, described device includes:
First acquisition unit, for obtaining the positive g modulus AD conversion value of each axis of 3-axis acceleration sensor and bearing One g modulus AD conversion value；
Second acquisition unit, for the positive g modulus AD conversion value using each axis of the 3-axis acceleration sensor The zero g modulus AD conversion value of each axis of 3-axis acceleration sensor is obtained with negative one g modulus AD conversion value；
Determination unit, for positive g modulus AD conversion value, the negative one using each axis of the 3-axis acceleration sensor A g modulus AD conversion value and zero g modulus AD conversion value determine the acceleration value of each axis of 3-axis acceleration sensor.
Preferably, the first acquisition unit, comprising:
Module is obtained, for obtaining the analog voltage of a positive g for each axis of the 3-axis acceleration sensor and bearing The analog voltage of one g；
Conversion module, for utilizing modulus converter respectively by positive one of each axis of the 3-axis acceleration sensor The analog voltage of g and the analog voltage of negative one g are converted into a positive g mould for each axis of the 3-axis acceleration sensor Number AD conversion value and negative one g modulus AD conversion value.
Further, the acquisition module, comprising:
Submodule is set, for three-axle table to be placed in the indoor levelling bench of weakening；
First acquisition submodule, for the 3-axis acceleration sensor to be face-up placed in the three-axle table On, enable the x-axis of the 3-axis acceleration sensor and y-axis parallel with the x-axis of the three-axle table and y-axis to just respectively；
When obtaining the analog voltage of a positive g of the 3-axis acceleration sensor x-axis, the three-axle table is enabled Perpendicular to the ground, the three-axle table quickly rotates the first output valve until the 3-axis acceleration sensor x-axis along y-axis to z-axis In first threshold range, the three-axle table stops rotating up to the first output valve of the 3-axis acceleration sensor x-axis Stablize；The three-axle table is slowly rotated clockwise along y-axis or is rotated counterclockwise, when the 3-axis acceleration sensor x-axis The three-axle table stops rotating when second output valve is the maximum output value of the 3-axis acceleration sensor x-axis；Described three Axis turntable is slowly rotated clockwise along x-axis or is rotated counterclockwise, when the third output valve of the 3-axis acceleration sensor x-axis is The three-axle table stops rotating when the maximum output value of the 3-axis acceleration sensor x-axis, the 3-axis acceleration sensing The third output valve of device x-axis is the analog voltage of a positive g for the 3-axis acceleration sensor x-axis；
When obtaining the analog voltage of a positive g of the 3-axis acceleration sensor y-axis, the three-axle table is enabled Perpendicular to the ground, the three-axle table quickly rotates the first output valve until the 3-axis acceleration sensor y-axis along x-axis to z-axis In first threshold range, the three-axle table stops rotating up to the first output valve of the 3-axis acceleration sensor y-axis Stablize；The three-axle table is slowly rotated clockwise along x-axis or is rotated counterclockwise, when the 3-axis acceleration sensor y-axis The three-axle table stops rotating when second output valve is the maximum output value of the 3-axis acceleration sensor y-axis；Described three Axis turntable is slowly rotated clockwise along y-axis or is rotated counterclockwise, when the third output valve of the 3-axis acceleration sensor y-axis is The three-axle table stops rotating when the maximum output value of the 3-axis acceleration sensor y-axis, the 3-axis acceleration sensing The third output valve of device y-axis is the analog voltage of a positive g for the 3-axis acceleration sensor y-axis；
When obtaining the analog voltage of a positive g of the 3-axis acceleration sensor z-axis, the three-axle table is enabled Perpendicular to the ground, the three-axle table is slowly rotated clockwise along x-axis or is rotated counterclockwise z-axis, when the 3-axis acceleration senses The three-axle table stops rotating when first output valve of device z-axis is the maximum output value of the 3-axis acceleration sensor z-axis； The three-axle table is slowly rotated clockwise along y-axis or is rotated counterclockwise, and second when the 3-axis acceleration sensor z-axis is defeated The three-axle table stops rotating when value is the maximum output value of the 3-axis acceleration sensor z-axis out, and three axis accelerates The second output valve of sensor z-axis is spent for the analog voltage of a positive g for the 3-axis acceleration sensor z-axis；
Wherein, the first threshold range is [G+S-t, G+S+t], and G is that zero g of 3-axis acceleration sensor is deviated, and S is The sensitivity of 3-axis acceleration sensor, t are deviation；
Second acquisition submodule, for the reverse side of the 3-axis acceleration sensor to be placed in the three-axle table upward On, enable the x-axis of the 3-axis acceleration sensor and y-axis parallel with the x-axis of the three-axle table and y-axis to just respectively；
When obtaining the analog voltage of negative one g of the 3-axis acceleration sensor x-axis, the three-axle table is enabled Perpendicular to the ground, the three-axle table quickly rotates the 4th output valve until the 3-axis acceleration sensor x-axis along y-axis to z-axis Within the scope of second threshold, the three-axle table stops rotating up to the 4th output valve of the 3-axis acceleration sensor x-axis Stablize；The three-axle table is slowly rotated clockwise along y-axis or is rotated counterclockwise, when the 3-axis acceleration sensor x-axis The three-axle table stops rotating when 5th output valve is the maximum output value of the 3-axis acceleration sensor x-axis；Described three Axis turntable is slowly rotated clockwise along x-axis or is rotated counterclockwise, when the 6th output valve of the 3-axis acceleration sensor x-axis is The three-axle table stops rotating when the maximum output value of the 3-axis acceleration sensor x-axis, the 3-axis acceleration sensing 6th output valve of device x-axis is the analog voltage of the negative one g of the 3-axis acceleration sensor x-axis；
When obtaining the analog voltage of negative one g of the 3-axis acceleration sensor y-axis, the three-axle table is enabled Perpendicular to the ground, the three-axle table quickly rotates the 4th output valve until the 3-axis acceleration sensor y-axis along x-axis to z-axis Within the scope of second threshold, three-axle table stops rotating until the 4th output valve of the 3-axis acceleration sensor y-axis is stablized； The three-axle table is slowly rotated clockwise along x-axis or is rotated counterclockwise, and the 5th when the 3-axis acceleration sensor y-axis is defeated The three-axle table stops rotating when value is the maximum output value of the 3-axis acceleration sensor y-axis out；The three-axle table It slowly rotates clockwise along y-axis or rotates counterclockwise, when the 6th output valve of the 3-axis acceleration sensor y-axis is described three The three-axle table stops rotating when the maximum output value of axle acceleration sensor y-axis, the 3-axis acceleration sensor y-axis 6th output valve is the negative one g modulus AD conversion value of the 3-axis acceleration sensor y-axis；
When obtaining the analog voltage of negative one g of the 3-axis acceleration sensor z-axis, the three-axle table is enabled Perpendicular to the ground, the three-axle table is slowly rotated clockwise along x-axis or is rotated counterclockwise z-axis, when the 3-axis acceleration senses The three-axle table stops rotating when the third output valve of device z-axis is the maximum output value of the 3-axis acceleration sensor z-axis； The three-axle table is slowly rotated clockwise along y-axis or is rotated counterclockwise, and the 4th when the 3-axis acceleration sensor z-axis is defeated The three-axle table stops rotating when value is the maximum output value of the 3-axis acceleration sensor z-axis out, and three axis accelerates The 4th output valve of sensor z-axis is spent for the analog voltage of the negative one g of the 3-axis acceleration sensor z-axis；
Wherein, the second threshold range is [G-S-t, G-S+t], and G is that zero g of 3-axis acceleration sensor is deviated, and S is The sensitivity of 3-axis acceleration sensor, t are deviation.
Preferably, the second acquisition unit, specifically for determining the zero of the 3-axis acceleration sensor k axis as the following formula A g modulus AD conversion value
In above formula, k=x, y or z, x, y and z are respectively the x-axis, y-axis and z-axis of 3-axis acceleration sensor；For institute The positive g modulus AD conversion value of 3-axis acceleration sensor k axis is stated,For the negative of the 3-axis acceleration sensor k axis One g modulus AD conversion value.
Preferably, the determination unit, specifically for determining the acceleration of the 3-axis acceleration sensor k axis as the following formula Value ak:
In above formula, k=x, y or z, x, y and z are respectively the x-axis, y-axis and z-axis of 3-axis acceleration sensor；SkFor three axis The modulus AD conversion value of acceleration transducer k axis；For the zero g modulus AD conversion of the 3-axis acceleration sensor k axis Value,For the positive g modulus AD conversion value of the 3-axis acceleration sensor k axis,For 3-axis acceleration sensing The negative one g modulus AD conversion value of device k axis.
The technical solution that embodiments herein provides can include the following benefits: technical solution provided by the present application By obtaining the positive g modulus AD conversion value and negative one g modulus AD conversion value of each axis of 3-axis acceleration sensor, utilize The positive g modulus AD conversion value and negative one g modulus AD conversion value of each axis of 3-axis acceleration sensor obtain three axis The zero g modulus AD conversion value of each axis of acceleration transducer, utilizes a positive g for each axis of the 3-axis acceleration sensor Modulus AD conversion value, negative one g modulus AD conversion value and zero g modulus AD conversion value determine each axis of 3-axis acceleration sensor Acceleration value, reduce the error of the acceleration value of each axis of 3-axis acceleration sensor of acquisition.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not The application can be limited.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the application Example, and together with specification it is used to explain the principle of the application.
Fig. 1 is a kind of axle acceleration acquisition methods of 3-axis acceleration sensor shown according to an exemplary embodiment Flow chart；
Fig. 2 is a kind of axle acceleration acquisition device of 3-axis acceleration sensor shown according to an exemplary embodiment Block diagram.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment Described in embodiment do not represent all embodiments consistent with the application.On the contrary, they be only with it is such as appended The example of the consistent device and method of some aspects be described in detail in claims, the application.
Fig. 1 is a kind of axle acceleration acquisition methods of 3-axis acceleration sensor shown according to an exemplary embodiment Flow chart, as shown in Figure 1, a kind of axle acceleration acquisition methods of 3-axis acceleration sensor are used in terminal, including following step It is rapid:
101. the positive g modulus AD conversion value and negative one g modulus AD that obtain each axis of 3-axis acceleration sensor turn Change value；
102. utilizing the positive g modulus AD conversion value and negative one g modulus of each axis of the 3-axis acceleration sensor The zero g modulus AD conversion value of the AD conversion value acquisition each axis of 3-axis acceleration sensor；
103. utilizing the positive g modulus AD conversion value of each axis of the 3-axis acceleration sensor, negative one g modulus AD Conversion value and zero g modulus AD conversion value determine the acceleration value of each axis of 3-axis acceleration sensor.
Further, the step 101, comprising:
Obtain the analog voltage of a positive g for each axis of the 3-axis acceleration sensor and the simulation electricity of negative one g Pressure value；
Using modulus converter respectively by the analog voltage of a positive g for each axis of the 3-axis acceleration sensor With the analog voltage of negative one g be converted into each axis of the 3-axis acceleration sensor positive g modulus AD conversion value and Negative one g modulus AD conversion value.
Specifically, the analog voltage and negative one of the positive g for obtaining each axis of 3-axis acceleration sensor The analog voltage of a g, comprising:
A. three-axle table is placed on the indoor levelling bench of weakening；
B. being face-up placed in the 3-axis acceleration sensor on the three-axle table enables three axis accelerate X-axis and the y-axis for spending sensor are parallel with the x-axis of the three-axle table and y-axis to just respectively；
When obtaining the analog voltage of a positive g of the 3-axis acceleration sensor x-axis, the three-axle table is enabled Perpendicular to the ground, the three-axle table quickly rotates the first output valve until the 3-axis acceleration sensor x-axis along y-axis to z-axis In first threshold range, the three-axle table stops rotating up to the first output valve of the 3-axis acceleration sensor x-axis Stablize；The three-axle table is slowly rotated clockwise along y-axis or is rotated counterclockwise, when the 3-axis acceleration sensor x-axis The three-axle table stops rotating when second output valve is the maximum output value of the 3-axis acceleration sensor x-axis；Described three Axis turntable is slowly rotated clockwise along x-axis or is rotated counterclockwise, when the third output valve of the 3-axis acceleration sensor x-axis is The three-axle table stops rotating when the maximum output value of the 3-axis acceleration sensor x-axis, the 3-axis acceleration sensing The third output valve of device x-axis is the analog voltage of a positive g for the 3-axis acceleration sensor x-axis；
When obtaining the analog voltage of a positive g of the 3-axis acceleration sensor y-axis, the three-axle table is enabled Perpendicular to the ground, the three-axle table quickly rotates the first output valve until the 3-axis acceleration sensor y-axis along x-axis to z-axis In first threshold range, the three-axle table stops rotating up to the first output valve of the 3-axis acceleration sensor y-axis Stablize；The three-axle table is slowly rotated clockwise along x-axis or is rotated counterclockwise, when the 3-axis acceleration sensor y-axis The three-axle table stops rotating when second output valve is the maximum output value of the 3-axis acceleration sensor y-axis；Described three Axis turntable is slowly rotated clockwise along y-axis or is rotated counterclockwise, when the third output valve of the 3-axis acceleration sensor y-axis is The three-axle table stops rotating when the maximum output value of the 3-axis acceleration sensor y-axis, the 3-axis acceleration sensing The third output valve of device y-axis is the analog voltage of a positive g for the 3-axis acceleration sensor y-axis；
When obtaining the analog voltage of a positive g of the 3-axis acceleration sensor z-axis, the three-axle table is enabled Perpendicular to the ground, the three-axle table is slowly rotated clockwise along x-axis or is rotated counterclockwise z-axis, when the 3-axis acceleration senses The three-axle table stops rotating when first output valve of device z-axis is the maximum output value of the 3-axis acceleration sensor z-axis； The three-axle table is slowly rotated clockwise along y-axis or is rotated counterclockwise, and second when the 3-axis acceleration sensor z-axis is defeated The three-axle table stops rotating when value is the maximum output value of the 3-axis acceleration sensor z-axis out, and three axis accelerates The second output valve of sensor z-axis is spent for the analog voltage of a positive g for the 3-axis acceleration sensor z-axis；
Wherein, the first threshold range is [G+S-t, G+S+t], and G is that zero g of 3-axis acceleration sensor is deviated, and S is The sensitivity of 3-axis acceleration sensor, t are deviation；
C. the reverse side of the 3-axis acceleration sensor is placed in upward on the three-axle table, three axis is enabled to accelerate X-axis and the y-axis for spending sensor are parallel with the x-axis of the three-axle table and y-axis to just respectively；
When obtaining the analog voltage of negative one g of the 3-axis acceleration sensor x-axis, the three-axle table is enabled Perpendicular to the ground, the three-axle table quickly rotates the 4th output valve until the 3-axis acceleration sensor x-axis along y-axis to z-axis Within the scope of second threshold, the three-axle table stops rotating up to the 4th output valve of the 3-axis acceleration sensor x-axis Stablize；The three-axle table is slowly rotated clockwise along y-axis or is rotated counterclockwise, when the 3-axis acceleration sensor x-axis The three-axle table stops rotating when 5th output valve is the maximum output value of the 3-axis acceleration sensor x-axis；Described three Axis turntable is slowly rotated clockwise along x-axis or is rotated counterclockwise, when the 6th output valve of the 3-axis acceleration sensor x-axis is The three-axle table stops rotating when the maximum output value of the 3-axis acceleration sensor x-axis, the 3-axis acceleration sensing 6th output valve of device x-axis is the analog voltage of the negative one g of the 3-axis acceleration sensor x-axis；
When obtaining the analog voltage of negative one g of the 3-axis acceleration sensor y-axis, the three-axle table is enabled Perpendicular to the ground, the three-axle table quickly rotates the 4th output valve until the 3-axis acceleration sensor y-axis along x-axis to z-axis Within the scope of second threshold, three-axle table stops rotating until the 4th output valve of the 3-axis acceleration sensor y-axis is stablized； The three-axle table is slowly rotated clockwise along x-axis or is rotated counterclockwise, and the 5th when the 3-axis acceleration sensor y-axis is defeated The three-axle table stops rotating when value is the maximum output value of the 3-axis acceleration sensor y-axis out；The three-axle table It slowly rotates clockwise along y-axis or rotates counterclockwise, when the 6th output valve of the 3-axis acceleration sensor y-axis is described three The three-axle table stops rotating when the maximum output value of axle acceleration sensor y-axis, the 3-axis acceleration sensor y-axis 6th output valve is the negative one g modulus AD conversion value of the 3-axis acceleration sensor y-axis；
When obtaining the analog voltage of negative one g of the 3-axis acceleration sensor z-axis, the three-axle table is enabled Perpendicular to the ground, the three-axle table is slowly rotated clockwise along x-axis or is rotated counterclockwise z-axis, when the 3-axis acceleration senses The three-axle table stops rotating when the third output valve of device z-axis is the maximum output value of the 3-axis acceleration sensor z-axis； The three-axle table is slowly rotated clockwise along y-axis or is rotated counterclockwise, and the 4th when the 3-axis acceleration sensor z-axis is defeated The three-axle table stops rotating when value is the maximum output value of the 3-axis acceleration sensor z-axis out, and three axis accelerates The 4th output valve of sensor z-axis is spent for the analog voltage of the negative one g of the 3-axis acceleration sensor z-axis；
Wherein, the second threshold range is [G-S-t, G-S+t], and G is that zero g of 3-axis acceleration sensor is deviated, and S is The sensitivity of 3-axis acceleration sensor, t are deviation.
Further, the positive g modulus AD conversion value and negative one g modulus of each axis of 3-axis acceleration sensor are obtained After AD conversion value, the step 102, comprising:
The zero g modulus AD conversion value of the 3-axis acceleration sensor k axis is determined as the following formula
In above formula, k=x, y or z, x, y and z are respectively the x-axis, y-axis and z-axis of 3-axis acceleration sensor；It is described The positive g modulus AD conversion value of 3-axis acceleration sensor k axis,For the negative one of the 3-axis acceleration sensor k axis A g modulus AD conversion value.
Further, after the zero g modulus AD conversion value for obtaining each axis of 3-axis acceleration sensor, the step 103, comprising:
The acceleration value a of the 3-axis acceleration sensor k axis is determined as the following formulak:
In above formula, k=x, y or z, x, y and z are respectively the x-axis, y-axis and z-axis of 3-axis acceleration sensor；SkFor three axis The modulus AD conversion value of acceleration transducer k axis；For the zero g modulus AD conversion of the 3-axis acceleration sensor k axis Value,For the positive g modulus AD conversion value of the 3-axis acceleration sensor k axis,For 3-axis acceleration sensing The negative one g modulus AD conversion value of device k axis.
For example, three axis constituted with single-chip microcontroller STM32F103C8T6 and three-axis acceleration transducer chip KXR94-2050 For acceleration transducer E, single-chip microcontroller STM32F103C8T6 includes 12 bit A/D converters in 6 channels, and conversion time is 1us/ times；Three-axis acceleration transducer chip KXR94-2050 zero G offset and sensitivity be respectively 1.65V ± 0.05V and 660mV/g±13mV/g；But in the related technology only using 1.65V and 0.66V as three-axis acceleration transducer chip The zero G deviant and Sensitirity va1ue of KXR94-2050 calculates the meter that the acceleration value of the 3-axis acceleration sensor axis uses Calculate formula are as follows: certain axle acceleration value=5* (certain Axle mould number AD conversion value -2048)/4096, but do not consider that 3-axis acceleration passes Sensor chip KXR94-2050 zero G offset and sensitivity practical value be respectively 1.65V ± 0.05V and 660mV/g ± 13mV/g so then inevitably increases the error that most multipotency reaches 5%；And the technical solution of the application by 1.65V ± Zero G offset and sensitivity of the 0.05V and 660mV/g ± 13mV/g respectively as three-axis acceleration transducer chip KXR94-2050 Practical value, and a kind of axle acceleration acquisition methods of 3-axis acceleration sensor using offer of the invention then can be with Error is reduced to less than 1%, it is specific as follows shown in:
The instruction of 3-axis acceleration sensor E includes: setting output frequency instruction, setup module address instruction, inquiry mould Block address instruction, factory reset instruction, X-axis AD calibration value setting instruction, Y-axis AD calibration value setting instruction, Z axis AD calibration Value setting instructs, the reading of X-axis AD calibration value instructs, Y-axis AD calibration value reads instruction, the reading of Z axis AD calibration value instructs, preservation is set It sets instruction and reads the instruction of acceleration evaluation；
Further, the calibration process of 3-axis acceleration sensor E includes:
S1. make 3-axis acceleration sensor E work in response mode and its communication using factory reset instruction Baud rate is 115200bps；
S2. the analog voltage and negative one of a positive g for each axis of 3-axis acceleration sensor E are obtained using three-axle table The analog voltage of a g, and using the converter in single-chip microcontroller STM32F103C8T6 in 3-axis acceleration sensor E by three The analog voltage of a positive g and the analog voltage of negative one g of each axis of axle acceleration sensor E are converted into the acceleration of three axis Spend the modulus AD conversion value of a positive g for each axis of sensor E and the modulus AD conversion value of negative one g；S3. it is utilized respectively described X-axis AD calibration value setting instruction, Y-axis AD calibration value setting instruction and the setting instruction of Z axis AD calibration value will obtain in step S2 The positive g modulus AD conversion value and negative one g modulus AD conversion value of each axis of 3-axis acceleration sensor E are transmitted to the acceleration of three axis Spend sensor E；
S4. it is utilized respectively the X-axis AD calibration value and reads instruction, Y-axis AD calibration value reading instruction and the reading of Z axis AD calibration value Instruction fetch reads the positive g modulus AD conversion value and negative one g modulus AD conversion value of each axis of 3-axis acceleration sensor E, Judge read each axis of 3-axis acceleration sensor E positive g modulus AD conversion value and negative one g modulus AD conversion value with The positive g modulus AD conversion value and negative one g modulus AD of each axis of 3-axis acceleration sensor E obtained in step S2 Whether conversion value is transmitted to 3-axis acceleration sensor E consistent, if unanimously, thening follow the steps S5；If inconsistent, return step S3；
S5. the preservation setting instruction is executed, the setting that the step S1-S4 parameter setting instruction executed is related to is joined Number is stored in the nonvolatile FLASH memory of power down in 3-axis acceleration sensor E.
Specifically, the positive g for obtaining each axis of 3-axis acceleration sensor E using three-axle table in the step S2 Analog voltage and the analog voltage of negative one g include:
A. three-axle table is placed on the indoor levelling bench of weakening；
B. being face-up placed in the 3-axis acceleration sensor E on the three-axle table enables three axis add The x-axis and y-axis of velocity sensor E is parallel with the x-axis of the three-axle table and y-axis to just respectively；
When obtaining the analog voltage of a positive g for x-axis of the 3-axis acceleration sensor E, three axis is enabled to turn The z-axis of platform perpendicular to the ground, the three-axle table quickly rotated along y-axis until the 3-axis acceleration sensor E x-axis first Output valve in first threshold range, the three-axle table stop rotating until the x-axis of the 3-axis acceleration sensor E the One output valve is stablized；The three-axle table is slowly rotated clockwise along y-axis with the speed less than 2 degrees seconds or is rotated counterclockwise, when Second output valve of the x-axis of the 3-axis acceleration sensor E is the maximum output of the x-axis of the 3-axis acceleration sensor E The three-axle table stops rotating when value；The three-axle table slowly rotated clockwise along x-axis with the speed less than 2 degrees seconds or Counterclockwise rotation, when the 3-axis acceleration sensor E x-axis third output valve be the 3-axis acceleration sensor E x The three-axle table stops rotating when the maximum output value of axis, and the third output valve of the x-axis of the 3-axis acceleration sensor E is The analog voltage of a positive g for the x-axis of the 3-axis acceleration sensor E；
When obtaining the analog voltage of a positive g for y-axis of the 3-axis acceleration sensor E, three axis is enabled to turn The z-axis of platform perpendicular to the ground, the three-axle table quickly rotated along x-axis until the 3-axis acceleration sensor E y-axis first Output valve in first threshold range, the three-axle table stop rotating until the y-axis of the 3-axis acceleration sensor E the One output valve is stablized；The three-axle table is slowly rotated clockwise along x-axis with the speed less than 2 degrees seconds or is rotated counterclockwise, when Second output valve of the y-axis of the 3-axis acceleration sensor E is the maximum output of the y-axis of the 3-axis acceleration sensor E The three-axle table stops rotating when value；The three-axle table slowly rotated clockwise along y-axis with the speed less than 2 degrees seconds or Counterclockwise rotation, when the 3-axis acceleration sensor E y-axis third output valve be the 3-axis acceleration sensor E y The three-axle table stops rotating when the maximum output value of axis, and the third output valve of the y-axis of the 3-axis acceleration sensor E is The analog voltage of a positive g for the y-axis of the 3-axis acceleration sensor E；
When obtaining the analog voltage of a positive g for z-axis of the 3-axis acceleration sensor E, three axis is enabled to turn Perpendicular to the ground, the three-axle table is slowly rotated clockwise along x-axis with the speed less than 2 degrees seconds or is revolved counterclockwise the z-axis of platform Turn, when the maximum for the z-axis that the first output valve of the z-axis of the 3-axis acceleration sensor E is the 3-axis acceleration sensor E The three-axle table stops rotating when output valve；The three-axle table is slowly revolved along y-axis clockwise with the speed less than 2 degrees seconds Turn or rotate counterclockwise, when the second output valve of the z-axis of the 3-axis acceleration sensor E is the 3-axis acceleration sensor The three-axle table stops rotating when the maximum output value of the z-axis of E, the second output of the z-axis of the 3-axis acceleration sensor E Value is the analog voltage of a positive g for the z-axis of the 3-axis acceleration sensor E；
Wherein, the first threshold range is [G+S-t, G+S+t], and zero g that G is 3-axis acceleration sensor E is deviated, S For the sensitivity of 3-axis acceleration sensor E, t is deviation；Zero G of 3-axis acceleration sensor E is deviated and sensitivity is respectively 1.65V and 660mV/g, it is assumed that deviation 0.11, then the first threshold range of 3-axis acceleration sensor E be [2.2, 2.41], deviation t can according to the actual situation depending on；
The of first output valve of the x-axis of the 3-axis acceleration sensor E, the x-axis of the 3-axis acceleration sensor E Two output valves, the third output valve of the x-axis of the 3-axis acceleration sensor E, the y-axis of the 3-axis acceleration sensor E First output valve, the second output valve of the y-axis of the 3-axis acceleration sensor E, the y-axis of the 3-axis acceleration sensor E Third output valve, the first output valve of the z-axis of the 3-axis acceleration sensor E and the z of the 3-axis acceleration sensor E Second output valve of axis can be measured by high-precision milivoltmeter；
C. the reverse side of the 3-axis acceleration sensor E is placed in upward on the three-axle table, enables three axis The x-axis and y-axis of acceleration transducer E is parallel with the x-axis of the three-axle table and y-axis to just respectively；
When obtaining the analog voltage of the negative one g of x-axis of the 3-axis acceleration sensor E, three axis is enabled to turn The z-axis of platform perpendicular to the ground, the three-axle table quickly rotated along y-axis until the 3-axis acceleration sensor E x-axis the 4th Output valve within the scope of second threshold, the three-axle table stop rotating until the x-axis of the 3-axis acceleration sensor E the Four output valves are stablized；The three-axle table is slowly rotated clockwise along y-axis with the speed less than 2 degrees seconds or is rotated counterclockwise, when 5th output valve of the x-axis of the 3-axis acceleration sensor E is the maximum output of the x-axis of the 3-axis acceleration sensor E The three-axle table stops rotating when value；The three-axle table slowly rotated clockwise along x-axis with the speed less than 2 degrees seconds or Counterclockwise rotation, when the 3-axis acceleration sensor E x-axis the 6th output valve be the 3-axis acceleration sensor E x The three-axle table stops rotating when the maximum output value of axis, and the 6th output valve of the x-axis of the 3-axis acceleration sensor E is The analog voltage of the negative one g of the x-axis of the 3-axis acceleration sensor E；
When obtaining the analog voltage of the negative one g of y-axis of the 3-axis acceleration sensor E, three axis is enabled to turn The z-axis of platform perpendicular to the ground, the three-axle table quickly rotated along x-axis until the 3-axis acceleration sensor E y-axis the 4th Output valve within the scope of second threshold, three-axle table stop rotating until the y-axis of the 3-axis acceleration sensor E it is the 4th defeated Value is stablized out；The three-axle table is slowly rotated clockwise along x-axis with the speed less than 2 degrees seconds or is rotated counterclockwise, when described When 5th output valve of the y-axis of 3-axis acceleration sensor E is the maximum output value of the y-axis of the 3-axis acceleration sensor E The three-axle table stops rotating；The three-axle table is slowly rotated clockwise along y-axis with the speed less than 2 degrees seconds or the inverse time Needle rotation, when the 6th output valve of the y-axis of the 3-axis acceleration sensor E be the 3-axis acceleration sensor E y-axis The three-axle table stops rotating when maximum output value, and the 6th output valve of the y-axis of the 3-axis acceleration sensor E is described The negative one g modulus AD conversion value of the y-axis of 3-axis acceleration sensor E；
When obtaining the analog voltage of the negative one g of z-axis of the 3-axis acceleration sensor E, three axis is enabled to turn Perpendicular to the ground, the three-axle table is slowly rotated clockwise along x-axis with the speed less than 2 degrees seconds or is revolved counterclockwise the z-axis of platform Turn, when the maximum for the z-axis that the third output valve of the z-axis of the 3-axis acceleration sensor E is the 3-axis acceleration sensor E The three-axle table stops rotating when output valve；The three-axle table is slowly revolved along y-axis clockwise with the speed less than 2 degrees seconds Turn or rotate counterclockwise, when the 4th output valve of the z-axis of the 3-axis acceleration sensor E is the 3-axis acceleration sensor The three-axle table stops rotating when the maximum output value of the z-axis of E, the 4th output of the z-axis of the 3-axis acceleration sensor E Value is the analog voltage of the negative one g of the z-axis of the 3-axis acceleration sensor E；
Wherein, the second threshold range is [G-S-t, G-S+t], and zero g that G is 3-axis acceleration sensor E is deviated, S For the sensitivity of 3-axis acceleration sensor E, t is deviation；Zero G of 3-axis acceleration sensor E is deviated and sensitivity is respectively 1.65V and 660mV/g, it is assumed that deviation 0.11, then the second threshold range of 3-axis acceleration sensor E be [0.88, 1.1], deviation t can according to the actual situation depending on；
The of 4th output valve of the x-axis of the 3-axis acceleration sensor E, the x-axis of the 3-axis acceleration sensor E Five output valves, the 6th output valve of the x-axis of the 3-axis acceleration sensor E, the y-axis of the 3-axis acceleration sensor E 4th output valve, the 5th output valve of the y-axis of the 3-axis acceleration sensor E, the y-axis of the 3-axis acceleration sensor E The 6th output valve, the third output valve of the z-axis of the 3-axis acceleration sensor E and the z of the 3-axis acceleration sensor E 4th output valve of axis can be measured by high-precision milivoltmeter.
Fig. 2 is a kind of axle acceleration acquisition device frame of 3-axis acceleration sensor shown according to an exemplary embodiment Figure.Referring to Fig. 2, which includes:
First acquisition unit, for obtaining the positive g modulus AD conversion value of each axis of 3-axis acceleration sensor and bearing One g modulus AD conversion value；
Second acquisition unit, for the positive g modulus AD conversion value using each axis of the 3-axis acceleration sensor The zero g modulus AD conversion value of each axis of 3-axis acceleration sensor is obtained with negative one g modulus AD conversion value；
Determination unit, for positive g modulus AD conversion value, the negative one using each axis of the 3-axis acceleration sensor A g modulus AD conversion value and zero g modulus AD conversion value determine the acceleration value of each axis of 3-axis acceleration sensor.
Further, the first acquisition unit, comprising:
Module is obtained, for obtaining the analog voltage of a positive g for each axis of the 3-axis acceleration sensor and bearing The analog voltage of one g；
Conversion module, for utilizing modulus converter respectively by positive one of each axis of the 3-axis acceleration sensor The analog voltage of g and the analog voltage of negative one g are converted into a positive g mould for each axis of the 3-axis acceleration sensor Number AD conversion value and negative one g modulus AD conversion value.
Specifically, the acquisition module, comprising:
Submodule is set, for three-axle table to be placed in the indoor levelling bench of weakening；
First acquisition submodule, for the 3-axis acceleration sensor to be face-up placed in the three-axle table On, enable the x-axis of the 3-axis acceleration sensor and y-axis parallel with the x-axis of the three-axle table and y-axis to just respectively；
When obtaining the analog voltage of a positive g of the 3-axis acceleration sensor x-axis, the three-axle table is enabled Perpendicular to the ground, the three-axle table quickly rotates the first output valve until the 3-axis acceleration sensor x-axis along y-axis to z-axis In first threshold range, the three-axle table stops rotating up to the first output valve of the 3-axis acceleration sensor x-axis Stablize；The three-axle table is slowly rotated clockwise along y-axis or is rotated counterclockwise, when the 3-axis acceleration sensor x-axis The three-axle table stops rotating when second output valve is the maximum output value of the 3-axis acceleration sensor x-axis；Described three Axis turntable is slowly rotated clockwise along x-axis or is rotated counterclockwise, when the third output valve of the 3-axis acceleration sensor x-axis is The three-axle table stops rotating when the maximum output value of the 3-axis acceleration sensor x-axis, the 3-axis acceleration sensing The third output valve of device x-axis is the analog voltage of a positive g for the 3-axis acceleration sensor x-axis；
When obtaining the analog voltage of a positive g of the 3-axis acceleration sensor y-axis, the three-axle table is enabled Perpendicular to the ground, the three-axle table quickly rotates the first output valve until the 3-axis acceleration sensor y-axis along x-axis to z-axis In first threshold range, the three-axle table stops rotating up to the first output valve of the 3-axis acceleration sensor y-axis Stablize；The three-axle table is slowly rotated clockwise along x-axis or is rotated counterclockwise, when the 3-axis acceleration sensor y-axis The three-axle table stops rotating when second output valve is the maximum output value of the 3-axis acceleration sensor y-axis；Described three Axis turntable is slowly rotated clockwise along y-axis or is rotated counterclockwise, when the third output valve of the 3-axis acceleration sensor y-axis is The three-axle table stops rotating when the maximum output value of the 3-axis acceleration sensor y-axis, the 3-axis acceleration sensing The third output valve of device y-axis is the analog voltage of a positive g for the 3-axis acceleration sensor y-axis；
When obtaining the analog voltage of a positive g of the 3-axis acceleration sensor z-axis, the three-axle table is enabled Perpendicular to the ground, the three-axle table is slowly rotated clockwise along x-axis or is rotated counterclockwise z-axis, when the 3-axis acceleration senses The three-axle table stops rotating when first output valve of device z-axis is the maximum output value of the 3-axis acceleration sensor z-axis； The three-axle table is slowly rotated clockwise along y-axis or is rotated counterclockwise, and second when the 3-axis acceleration sensor z-axis is defeated The three-axle table stops rotating when value is the maximum output value of the 3-axis acceleration sensor z-axis out, and three axis accelerates The second output valve of sensor z-axis is spent for the analog voltage of a positive g for the 3-axis acceleration sensor z-axis；
Wherein, the first threshold range is [G+S-t, G+S+t], and G is that zero g of 3-axis acceleration sensor is deviated, and S is The sensitivity of 3-axis acceleration sensor, t are deviation；
Second acquisition submodule, for the reverse side of the 3-axis acceleration sensor to be placed in the three-axle table upward On, enable the x-axis of the 3-axis acceleration sensor and y-axis parallel with the x-axis of the three-axle table and y-axis to just respectively；
When obtaining the analog voltage of negative one g of the 3-axis acceleration sensor x-axis, the three-axle table is enabled Perpendicular to the ground, the three-axle table quickly rotates the 4th output valve until the 3-axis acceleration sensor x-axis along y-axis to z-axis Within the scope of second threshold, the three-axle table stops rotating up to the 4th output valve of the 3-axis acceleration sensor x-axis Stablize；The three-axle table is slowly rotated clockwise along y-axis or is rotated counterclockwise, when the 3-axis acceleration sensor x-axis The three-axle table stops rotating when 5th output valve is the maximum output value of the 3-axis acceleration sensor x-axis；Described three Axis turntable is slowly rotated clockwise along x-axis or is rotated counterclockwise, when the 6th output valve of the 3-axis acceleration sensor x-axis is The three-axle table stops rotating when the maximum output value of the 3-axis acceleration sensor x-axis, the 3-axis acceleration sensing 6th output valve of device x-axis is the analog voltage of the negative one g of the 3-axis acceleration sensor x-axis；
When obtaining the analog voltage of negative one g of the 3-axis acceleration sensor y-axis, the three-axle table is enabled Perpendicular to the ground, the three-axle table quickly rotates the 4th output valve until the 3-axis acceleration sensor y-axis along x-axis to z-axis Within the scope of second threshold, three-axle table stops rotating until the 4th output valve of the 3-axis acceleration sensor y-axis is stablized； The three-axle table is slowly rotated clockwise along x-axis or is rotated counterclockwise, and the 5th when the 3-axis acceleration sensor y-axis is defeated The three-axle table stops rotating when value is the maximum output value of y-axis out；The three-axle table slowly rotated clockwise along y-axis or Counterclockwise rotation, when the 3-axis acceleration sensor y-axis the 6th output valve be the 3-axis acceleration sensor y-axis most The three-axle table stops rotating when big output valve, and the 6th output valve of the 3-axis acceleration sensor y-axis is three axis The negative one g modulus AD conversion value of acceleration transducer y-axis；
When obtaining the analog voltage of negative one g of the 3-axis acceleration sensor z-axis, the three-axle table is enabled Perpendicular to the ground, the three-axle table is slowly rotated clockwise along x-axis or is rotated counterclockwise z-axis, when the 3-axis acceleration senses The three-axle table stops rotating when the third output valve of device z-axis is the maximum output value of the 3-axis acceleration sensor z-axis； The three-axle table is slowly rotated clockwise along y-axis or is rotated counterclockwise, and the 4th when the 3-axis acceleration sensor z-axis is defeated The three-axle table stops rotating when value is the maximum output value of the 3-axis acceleration sensor z-axis out, and three axis accelerates The 4th output valve of sensor z-axis is spent for the analog voltage of the negative one g of the 3-axis acceleration sensor z-axis；
Wherein, the second threshold range is [G-S-t, G-S+t], and G is that zero g of 3-axis acceleration sensor is deviated, and S is The sensitivity of 3-axis acceleration sensor, t are deviation.
Further, the second acquisition unit, specifically for determining the 3-axis acceleration sensor k axis as the following formula Zero g modulus AD conversion value
In above formula, k=x, y or z, x, y and z are respectively the x-axis, y-axis and z-axis of 3-axis acceleration sensor；It is described The positive g modulus AD conversion value of 3-axis acceleration sensor k axis,For the negative one of the 3-axis acceleration sensor k axis G modulus AD conversion value.
Further, the determination unit, specifically for determining the acceleration of the 3-axis acceleration sensor k axis as the following formula Angle value ak:
In above formula, k=x, y or z, x, y and z are respectively the x-axis, y-axis and z-axis of 3-axis acceleration sensor；SkFor three axis The modulus AD conversion value of acceleration transducer k axis；For the zero g modulus AD conversion of the 3-axis acceleration sensor k axis Value,For the positive g modulus AD conversion value of the 3-axis acceleration sensor k axis,For 3-axis acceleration sensing The negative one g modulus AD conversion value of device k axis.
About the device in above-described embodiment, wherein modules execute the concrete mode of operation in related this method Embodiment in be described in detail, no detailed explanation will be given here.
It is understood that same or similar part can mutually refer in the various embodiments described above, in some embodiments Unspecified content may refer to the same or similar content in other embodiments.
It should be noted that term " first ", " second " etc. are used for description purposes only in the description of the present application, without It can be interpreted as indication or suggestion relative importance.In addition, in the description of the present application, unless otherwise indicated, the meaning of " multiple " Refer at least two.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion Point, and the range of the preferred embodiment of the application includes other realization, wherein can not press shown or discussed suitable Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be by the application Embodiment person of ordinary skill in the field understood.
It should be appreciated that each section of the application can be realized with hardware, software, firmware or their combination.Above-mentioned In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene Programmable gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, can integrate in a processing module in each functional unit in each embodiment of the application It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example Point is contained at least one embodiment or example of the application.In the present specification, schematic expression of the above terms are not Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any One or more embodiment or examples in can be combined in any suitable manner.
Although embodiments herein has been shown and described above, it is to be understood that above-described embodiment is example Property, it should not be understood as the limitation to the application, those skilled in the art within the scope of application can be to above-mentioned Embodiment is changed, modifies, replacement and variant.

Claims (10)

1. a kind of axle acceleration acquisition methods of 3-axis acceleration sensor, which is characterized in that the described method includes:
Obtain the positive g modulus AD conversion value and negative one g modulus AD conversion value of each axis of 3-axis acceleration sensor；
Utilize the positive g modulus AD conversion value and negative one g modulus AD conversion value of each axis of the 3-axis acceleration sensor Obtain the zero g modulus AD conversion value of each axis of 3-axis acceleration sensor；
Using the positive g modulus AD conversion value of each axis of the 3-axis acceleration sensor, negative one g modulus AD conversion value and Zero g modulus AD conversion value determines the acceleration value of each axis of 3-axis acceleration sensor.
2. the method according to claim 1, wherein described obtain positive the one of each axis of 3-axis acceleration sensor A g modulus AD conversion value and negative one g modulus AD conversion value, comprising:
Obtain the analog voltage of a positive g for each axis of the 3-axis acceleration sensor and the analog voltage of negative one g；
It by the analog voltage of a positive g for each axis of the 3-axis acceleration sensor and is born respectively using modulus converter The analog voltage of one g is converted into the positive g modulus AD conversion value and negative one of each axis of the 3-axis acceleration sensor A g modulus AD conversion value.
3. according to the method described in claim 2, it is characterized in that, described obtain each axis of 3-axis acceleration sensor The analog voltage of a positive g and the analog voltage of negative one g, comprising:
A. three-axle table is placed on the indoor levelling bench of weakening；
B. being face-up placed in the 3-axis acceleration sensor on the three-axle table enables the 3-axis acceleration pass The x-axis and y-axis of sensor are parallel with the x-axis of the three-axle table and y-axis to just respectively；
When obtaining the analog voltage of a positive g of the 3-axis acceleration sensor x-axis, the z-axis of the three-axle table is enabled Perpendicular to the ground, the three-axle table is quickly rotated along y-axis until the first output valve of the 3-axis acceleration sensor x-axis is the In one threshold range, the three-axle table stops rotating until the first output valve of the 3-axis acceleration sensor x-axis is stablized； The three-axle table is slowly rotated clockwise along y-axis or is rotated counterclockwise, and second when the 3-axis acceleration sensor x-axis is defeated The three-axle table stops rotating when value is the maximum output value of x-axis out；The three-axle table slowly rotated clockwise along x-axis or Counterclockwise rotation, when the 3-axis acceleration sensor x-axis third output valve be the 3-axis acceleration sensor x-axis most The three-axle table stops rotating when big output valve, and the third output valve of the 3-axis acceleration sensor x-axis is three axis The analog voltage of a positive g for acceleration transducer x-axis；
When obtaining the analog voltage of a positive g of the 3-axis acceleration sensor y-axis, the z-axis of the three-axle table is enabled Perpendicular to the ground, the three-axle table is quickly rotated along x-axis until the first output valve of the 3-axis acceleration sensor y-axis is the In one threshold range, the three-axle table stops rotating until the first output valve of the 3-axis acceleration sensor y-axis is stablized； The three-axle table is slowly rotated clockwise along x-axis or is rotated counterclockwise, and second when the 3-axis acceleration sensor y-axis is defeated The three-axle table stops rotating when value is the maximum output value of the 3-axis acceleration sensor y-axis out；The three-axle table It slowly rotates clockwise along y-axis or rotates counterclockwise, when the third output valve of the 3-axis acceleration sensor y-axis is described three The three-axle table stops rotating when the maximum output value of axle acceleration sensor y-axis, the 3-axis acceleration sensor y-axis Third output valve is the analog voltage of a positive g for the 3-axis acceleration sensor y-axis；
When obtaining the analog voltage of a positive g of the 3-axis acceleration sensor z-axis, the z-axis of the three-axle table is enabled Perpendicular to the ground, the three-axle table is slowly rotated clockwise along x-axis or is rotated counterclockwise, as the 3-axis acceleration sensor z The three-axle table stops rotating when first output valve of axis is the maximum output value of the 3-axis acceleration sensor z-axis；Institute It states three-axle table slowly to rotate clockwise along y-axis or rotate counterclockwise, when the second output of the 3-axis acceleration sensor z-axis The three-axle table stops rotating when value is the maximum output value of the 3-axis acceleration sensor z-axis, the 3-axis acceleration Second output valve of sensor z-axis is the analog voltage of a positive g for the 3-axis acceleration sensor z-axis；
Wherein, the first threshold range is [G+S-t, G+S+t], and G is that zero g of 3-axis acceleration sensor is deviated, and S is three axis The sensitivity of acceleration transducer, t are deviation；
C. the reverse side of the 3-axis acceleration sensor is placed in upward on the three-axle table, the 3-axis acceleration is enabled to pass The x-axis and y-axis of sensor are parallel with the x-axis of the three-axle table and y-axis to just respectively；
When obtaining the analog voltage of negative one g of the 3-axis acceleration sensor x-axis, the z-axis of the three-axle table is enabled Perpendicular to the ground, the three-axle table is quickly rotated along y-axis until the 4th output valve of the 3-axis acceleration sensor x-axis is the In two threshold ranges, the three-axle table stops rotating until the 4th output valve of the 3-axis acceleration sensor x-axis is stablized； The three-axle table is slowly rotated clockwise along y-axis or is rotated counterclockwise, and the 5th when the 3-axis acceleration sensor x-axis is defeated The three-axle table stops rotating when value is the maximum output value of the 3-axis acceleration sensor x-axis out；The three-axle table It slowly rotates clockwise along x-axis or rotates counterclockwise, when the 6th output valve of the 3-axis acceleration sensor x-axis is described three The three-axle table stops rotating when the maximum output value of axle acceleration sensor x-axis, the 3-axis acceleration sensor x-axis 6th output valve is the analog voltage of the negative one g of the 3-axis acceleration sensor x-axis；
When obtaining the analog voltage of negative one g of the 3-axis acceleration sensor y-axis, the z-axis of the three-axle table is enabled Perpendicular to the ground, the three-axle table is quickly rotated along x-axis until the 4th output valve of the 3-axis acceleration sensor y-axis is the In two threshold ranges, three-axle table stops rotating until the 4th output valve of the 3-axis acceleration sensor y-axis is stablized；It is described Three-axle table is slowly rotated clockwise along x-axis or is rotated counterclockwise, when the 5th output valve of the 3-axis acceleration sensor y-axis For the 3-axis acceleration sensor y-axis maximum output value when the three-axle table stop rotating；The three-axle table is slow It rotates clockwise along y-axis or rotates counterclockwise, when the 6th output valve of the 3-axis acceleration sensor y-axis is that three axis adds The three-axle table stops rotating when the maximum output value of velocity sensor y-axis, and the 6th of the 3-axis acceleration sensor y-axis the Output valve is the negative one g modulus AD conversion value of the 3-axis acceleration sensor y-axis；
When obtaining the analog voltage of negative one g of the 3-axis acceleration sensor z-axis, the z-axis of the three-axle table is enabled Perpendicular to the ground, the three-axle table is slowly rotated clockwise along x-axis or is rotated counterclockwise, as the 3-axis acceleration sensor z The three-axle table stops rotating when the third output valve of axis is the maximum output value of the 3-axis acceleration sensor z-axis；Institute It states three-axle table slowly to rotate clockwise along y-axis or rotate counterclockwise, when the 4th output of the 3-axis acceleration sensor z-axis The three-axle table stops rotating when value is the maximum output value of the 3-axis acceleration sensor z-axis, the 3-axis acceleration 4th output valve of sensor z-axis is the analog voltage of the negative one g of the 3-axis acceleration sensor z-axis；
Wherein, the second threshold range is [G-S-t, G-S+t], and G is that zero g of 3-axis acceleration sensor is deviated, and S is three axis The sensitivity of acceleration transducer, t are deviation.
4. the method according to claim 1, wherein described using each axis of the 3-axis acceleration sensor Positive g modulus AD conversion value and negative one g modulus AD conversion value obtain the zero g modulus of each axis of 3-axis acceleration sensor AD conversion value, comprising:
The zero g modulus AD conversion value of the 3-axis acceleration sensor k axis is determined as the following formula
In above formula, k=x, y or z, x, y and z are respectively the x-axis, y-axis and z-axis of 3-axis acceleration sensor；For three axis The positive g modulus AD conversion value of acceleration transducer k axis,For the negative one g mould of the 3-axis acceleration sensor k axis Number AD conversion value.
5. the method according to claim 1, wherein described using each axis of the 3-axis acceleration sensor Positive g modulus AD conversion value, negative one g modulus AD conversion value and zero g modulus AD conversion value determine that 3-axis acceleration senses The acceleration value of each axis of device, comprising:
The acceleration value a of the 3-axis acceleration sensor k axis is determined as the following formulak:
In above formula, k=x, y or z, x, y and z are respectively the x-axis, y-axis and z-axis of 3-axis acceleration sensor；SkFor 3-axis acceleration The modulus AD conversion value of sensor k axis；For the zero g modulus AD conversion value of the 3-axis acceleration sensor k axis,For The positive g modulus AD conversion value of the 3-axis acceleration sensor k axis,For the negative of the 3-axis acceleration sensor k axis One g modulus AD conversion value.
6. a kind of axle acceleration acquisition device of 3-axis acceleration sensor, which is characterized in that described device includes:
First acquisition unit, for obtaining the positive g modulus AD conversion value and negative one g of each axis of 3-axis acceleration sensor Modulus AD conversion value；
Second acquisition unit for the positive g modulus AD conversion value using each axis of the 3-axis acceleration sensor and is born One g modulus AD conversion value obtains the zero g modulus AD conversion value of each axis of 3-axis acceleration sensor；
Determination unit, for the positive g modulus AD conversion value using each axis of the 3-axis acceleration sensor, negative one g Modulus AD conversion value and zero g modulus AD conversion value determine the acceleration value of each axis of 3-axis acceleration sensor.
7. device according to claim 6, which is characterized in that the first acquisition unit, comprising:
Obtain module, the analog voltage and negative one g of the positive g for obtaining each axis of the 3-axis acceleration sensor Analog voltage；
Conversion module, for utilizing modulus converter respectively by a positive g's for each axis of the 3-axis acceleration sensor The analog voltage of analog voltage and negative one g are converted into a positive g modulus for each axis of 3-axis acceleration sensor AD conversion value and negative one g modulus AD conversion value.
8. device according to claim 7, which is characterized in that the acquisition module, comprising:
Submodule is set, for three-axle table to be placed in the indoor levelling bench of weakening；
First acquisition submodule, for the 3-axis acceleration sensor to be face-up placed in the three-axle table, Enable x-axis and the y-axis of the 3-axis acceleration sensor parallel with the x-axis of the three-axle table and y-axis to just respectively；
When obtaining the analog voltage of a positive g of the 3-axis acceleration sensor x-axis, the z-axis of the three-axle table is enabled Perpendicular to the ground, the three-axle table is quickly rotated along y-axis until the first output valve of the 3-axis acceleration sensor x-axis is the In one threshold range, the three-axle table stops rotating until the first output valve of the 3-axis acceleration sensor x-axis is stablized； The three-axle table is slowly rotated clockwise along y-axis or is rotated counterclockwise, and second when the 3-axis acceleration sensor x-axis is defeated The three-axle table stops rotating when value is the maximum output value of the 3-axis acceleration sensor x-axis out；The three-axle table It slowly rotates clockwise along x-axis or rotates counterclockwise, when the third output valve of the 3-axis acceleration sensor x-axis is described three The three-axle table stops rotating when the maximum output value of axle acceleration sensor x-axis, the 3-axis acceleration sensor x-axis Third output valve is the analog voltage of a positive g for the 3-axis acceleration sensor x-axis；
When obtaining the analog voltage of a positive g of the 3-axis acceleration sensor y-axis, the z-axis of the three-axle table is enabled Perpendicular to the ground, the three-axle table is quickly rotated along x-axis until the first output valve of the 3-axis acceleration sensor y-axis is the In one threshold range, the three-axle table stops rotating until the first output valve of the 3-axis acceleration sensor y-axis is stablized； The three-axle table is slowly rotated clockwise along x-axis or is rotated counterclockwise, and second when the 3-axis acceleration sensor y-axis is defeated The three-axle table stops rotating when value is the maximum output value of the 3-axis acceleration sensor y-axis out；The three-axle table It slowly rotates clockwise along y-axis or rotates counterclockwise, when the third output valve of the 3-axis acceleration sensor y-axis is described three The three-axle table stops rotating when the maximum output value of axle acceleration sensor y-axis, the 3-axis acceleration sensor y-axis Third output valve is the analog voltage of a positive g for the 3-axis acceleration sensor y-axis；
When obtaining the analog voltage of a positive g of the 3-axis acceleration sensor z-axis, the z-axis of the three-axle table is enabled Perpendicular to the ground, the three-axle table is slowly rotated clockwise along x-axis or is rotated counterclockwise, as the 3-axis acceleration sensor z The three-axle table stops rotating when first output valve of axis is the maximum output value of the 3-axis acceleration sensor z-axis；Institute It states three-axle table slowly to rotate clockwise along y-axis or rotate counterclockwise, when the second output of the 3-axis acceleration sensor z-axis The three-axle table stops rotating when value is the maximum output value of the 3-axis acceleration sensor z-axis, the 3-axis acceleration Second output valve of sensor z-axis is the analog voltage of a positive g for the 3-axis acceleration sensor z-axis；
Wherein, the first threshold range is [G+S-t, G+S+t], and G is that zero g of 3-axis acceleration sensor is deviated, and S is three axis The sensitivity of acceleration transducer, t are deviation；
Second acquisition submodule, for the reverse side of the 3-axis acceleration sensor to be placed in the three-axle table upward, Enable x-axis and the y-axis of the 3-axis acceleration sensor parallel with the x-axis of the three-axle table and y-axis to just respectively；
When obtaining the analog voltage of negative one g of the 3-axis acceleration sensor x-axis, the z-axis of the three-axle table is enabled Perpendicular to the ground, the three-axle table is quickly rotated along y-axis until the 4th output valve of the 3-axis acceleration sensor x-axis is the In two threshold ranges, the three-axle table stops rotating until the 4th output valve of the 3-axis acceleration sensor x-axis is stablized； The three-axle table is slowly rotated clockwise along y-axis or is rotated counterclockwise, and the 5th when the 3-axis acceleration sensor x-axis is defeated The three-axle table stops rotating when value is the maximum output value of the 3-axis acceleration sensor x-axis out；The three-axle table It slowly rotates clockwise along x-axis or rotates counterclockwise, when the 6th output valve of the 3-axis acceleration sensor x-axis is described three The three-axle table stops rotating when the maximum output value of axle acceleration sensor x-axis, the 3-axis acceleration sensor x-axis 6th output valve is the analog voltage of the negative one g of the 3-axis acceleration sensor x-axis；
When obtaining the analog voltage of negative one g of the 3-axis acceleration sensor y-axis, the z-axis of the three-axle table is enabled Perpendicular to the ground, the three-axle table is quickly rotated along x-axis until the 4th output valve of the 3-axis acceleration sensor y-axis is the In two threshold ranges, three-axle table stops rotating until the 4th output valve of the 3-axis acceleration sensor y-axis is stablized；It is described Three-axle table is slowly rotated clockwise along x-axis or is rotated counterclockwise, when the 5th output valve of the 3-axis acceleration sensor y-axis For the 3-axis acceleration sensor y-axis maximum output value when the three-axle table stop rotating；The three-axle table is slow It rotates clockwise along y-axis or rotates counterclockwise, when the 6th output valve of the 3-axis acceleration sensor y-axis is that three axis adds The three-axle table stops rotating when the maximum output value of velocity sensor y-axis, and the 6th of the 3-axis acceleration sensor y-axis the Output valve is the negative one g modulus AD conversion value of the 3-axis acceleration sensor y-axis；
When obtaining the analog voltage of negative one g of the 3-axis acceleration sensor z-axis, the z-axis of the three-axle table is enabled Perpendicular to the ground, the three-axle table is slowly rotated clockwise along x-axis or is rotated counterclockwise, as the 3-axis acceleration sensor z The three-axle table stops rotating when the third output valve of axis is the maximum output value of the 3-axis acceleration sensor z-axis；Institute It states three-axle table slowly to rotate clockwise along y-axis or rotate counterclockwise, when the 4th output of the 3-axis acceleration sensor z-axis The three-axle table stops rotating when value is the maximum output value of the 3-axis acceleration sensor z-axis, the 3-axis acceleration 4th output valve of sensor z-axis is the analog voltage of the negative one g of the 3-axis acceleration sensor z-axis；
Wherein, the second threshold range is [G-S-t, G-S+t], and G is that zero g of 3-axis acceleration sensor is deviated, and S is three axis The sensitivity of acceleration transducer, t are deviation.
9. device according to claim 6, which is characterized in that the second acquisition unit, specifically for determining as the following formula The zero g modulus AD conversion value of the 3-axis acceleration sensor k axis
In above formula, k=x, y or z, x, y and z are respectively the x-axis, y-axis and z-axis of 3-axis acceleration sensor；For three axis The positive g modulus AD conversion value of acceleration transducer k axis,For the negative one g mould of the 3-axis acceleration sensor k axis Number AD conversion value.
10. device according to claim 6, which is characterized in that the determination unit, described in determining as the following formula The acceleration value a of 3-axis acceleration sensor k axisk:
In above formula, k=x, y or z, x, y and z are respectively the x-axis, y-axis and z-axis of 3-axis acceleration sensor；SkFor 3-axis acceleration The modulus AD conversion value of sensor k axis；For the zero g modulus AD conversion value of the 3-axis acceleration sensor k axis,For The positive g modulus AD conversion value of the 3-axis acceleration sensor k axis,For the negative of the 3-axis acceleration sensor k axis One g modulus AD conversion value.
CN201910805903.XA 2019-08-29 2019-08-29 Method and device for acquiring axial acceleration of triaxial acceleration sensor Active CN110501520B (en)

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