CN111324172B - Remote rod calibration method and device, electronic equipment and storage medium - Google Patents

Remote rod calibration method and device, electronic equipment and storage medium Download PDF

Info

Publication number
CN111324172B
CN111324172B CN201811526509.4A CN201811526509A CN111324172B CN 111324172 B CN111324172 B CN 111324172B CN 201811526509 A CN201811526509 A CN 201811526509A CN 111324172 B CN111324172 B CN 111324172B
Authority
CN
China
Prior art keywords
coordinate
coordinate axis
target
orthogonalization
axis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201811526509.4A
Other languages
Chinese (zh)
Other versions
CN111324172A (en
Inventor
董九柱
钱问发
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Xiaomi Pinecone Electronic Co Ltd
Original Assignee
Beijing Xiaomi Pinecone Electronic Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Xiaomi Pinecone Electronic Co Ltd filed Critical Beijing Xiaomi Pinecone Electronic Co Ltd
Priority to CN201811526509.4A priority Critical patent/CN111324172B/en
Publication of CN111324172A publication Critical patent/CN111324172A/en
Application granted granted Critical
Publication of CN111324172B publication Critical patent/CN111324172B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G23/00—Means for ensuring the correct positioning of parts of control mechanisms, e.g. for taking-up play

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Position Input By Displaying (AREA)

Abstract

The disclosure relates to a method and a device for calibrating a remote rod, electronic equipment and a storage medium, relating to the technical field of measurement and control, wherein the method comprises the following steps: acquiring M original data acquired at M preset positions, wherein the original data corresponding to any preset position comprises three coordinate values of a sensing amount acquired when an environment sensor on a remote rod is at any preset position and corresponds to a sensing coordinate system, the sensing coordinate system is a coordinate system formed by a first coordinate axis, a second coordinate axis and a third coordinate axis, the M preset positions meet a preset position relationship, determining an orthogonalization coefficient set of a target coordinate system according to the M original data and the position relationship and a preset conversion algorithm, the target coordinate system is a coordinate system formed by a fourth coordinate axis and a fifth coordinate axis, and calibrating the target coordinate system according to the orthogonalization coefficient set. The remote rod can be effectively and quickly calibrated, so that the accuracy of remote rod control is improved.

Description

Remote rod calibration method and device, electronic equipment and storage medium
Technical Field
The disclosure relates to the technical field of measurement and control, in particular to a method and a device for calibrating a remote rod, electronic equipment and a storage medium.
Background
With the continuous development of unmanned aerial vehicle technology in recent years, unmanned aerial vehicles are more and more widely applied in life and work scenes such as aerial photography, map exploration, pipeline detection and the like. The unmanned aerial vehicle generally comprises a space end (including an aircraft and the like) and a ground end (including a remote controller, a picture transmission display screen and the like), a user can control the behavior of the aircraft through a remote lever on the remote controller, the accuracy of remote lever control determines the working efficiency of the unmanned aerial vehicle, and therefore the remote lever needs to be calibrated. In the prior art, a remote controller is usually provided with a potentiometer type remote rod, the potentiometer type remote rod has poor heat resistance and resolution, is influenced by temperature drift and a manufacturing process, has low control precision, needs to frequently calibrate the remote rod, and has long calibration process time and low accuracy.
Disclosure of Invention
The invention aims to provide a method and a device for calibrating a remote rod, electronic equipment and a storage medium, which are used for solving the problems of long calibration process time and low accuracy in the prior art.
To achieve the above object, according to a first aspect of embodiments of the present disclosure, there is provided a method of calibrating a joystick, the method including:
acquiring M original data acquired at M preset positions, wherein the original data corresponding to any preset position comprises three coordinate values of a sensing coordinate system corresponding to sensing quantity acquired by an environment sensor on a remote rod at any preset position, the sensing coordinate system is a coordinate system consisting of a first coordinate axis, a second coordinate axis and a third coordinate axis, the first coordinate axis, the second coordinate axis and the third coordinate axis respectively correspond to directions which can be measured by the environment sensor, and the M preset positions meet a preset position relation;
determining an orthogonalization coefficient set of a target coordinate system according to the M original data and the position relation and according to a preset conversion algorithm, wherein the target coordinate system is a coordinate system consisting of a fourth coordinate axis and a fifth coordinate axis, and the fourth coordinate axis and the fifth coordinate axis respectively correspond to two directions in which the remote lever can move;
calibrating the target coordinate system according to the set of orthogonalization coefficients.
Optionally, after the calibrating the target coordinate system according to the orthogonalization coefficient group, the method further includes:
determining target data corresponding to each preset position in the M preset positions according to the orthogonalization coefficient groups, wherein the target data corresponding to each preset position comprise two coordinate values of the original data corresponding to each preset position converted to the target coordinate system;
determining a rotation angle according to first target data corresponding to a first preset position and coordinate characteristics corresponding to the first preset position, wherein the first preset position is any one of M preset positions, and the coordinate characteristics corresponding to the first preset position can indicate the position of the first preset position in the target coordinate system;
and calibrating the target coordinate system according to the rotation angle.
Optionally, the method further includes:
determining a migration factor of the target coordinate system according to the M target data and a preset normalization algorithm;
calibrating the target coordinate system according to the offset factor.
Optionally, the determining, according to the M pieces of original data and the position relationship, an orthogonal coefficient group of the target coordinate system according to a preset conversion algorithm includes:
taking the original data corresponding to each preset position in the M preset positions and N groups of preset orthogonalization parameters as the input of the conversion algorithm to obtain N calibration data corresponding to each preset position output by the conversion algorithm, wherein the calibration data corresponding to each preset position comprises two coordinate values of the original data corresponding to each preset position converted to the target coordinate system;
selecting a target orthogonalization parameter from the N groups of orthogonalization parameters according to the position relation and the M x N calibration data;
and taking the target orthogonalization parameter as the orthogonalization coefficient group.
Optionally, the conversion algorithm includes:
Figure BDA0001904590450000031
Figure BDA0001904590450000032
wherein, aijA coordinate value b on the fourth coordinate axis representing a jth calibration data of the N calibration data corresponding to the ith preset position among the M preset positionsijThe coordinate value, mx, of the jth calibration data in the N calibration data corresponding to the ith preset position in the M preset positions is represented on the fifth coordinate axisi、myi、mziRespectively representing the original data corresponding to the ith preset position in the M preset positionsCoordinate values, Ka, on the first, second and third coordinate axesjA proportional parameter, ORTHax, representing said fourth coordinate axis in the jth set of orthogonalization parameters of the N sets of orthogonalization parametersjAn orthogonality parameter, ORTHay, representing said fourth axis and said first axis of a jth set of orthogonalization parameters of said N sets of orthogonalization parametersjAn orthogonal parameter, Kb, representing said second axis in said fourth axis in said jth set of orthogonalization parameters of said N sets of orthogonalization parametersjA proportional parameter, ORTHbx, representing said fifth coordinate axis in the jth set of orthogonalization parameters of the N sets of orthogonalization parametersjAn orthogonal parameter, ORTHby, of the fifth coordinate axis and the first coordinate axis in the jth set of orthogonalization parameters in the N sets of orthogonalization parametersjAnd F represents an atan2 function, wherein the orthogonal parameter represents the second coordinate axis of the fifth coordinate axis in the jth orthogonal parameter in the N sets of orthogonal parameters.
Optionally, the determining, according to the M pieces of target data and according to a preset normalization algorithm, an offset factor of the target coordinate system includes:
determining the maximum coordinate value and the minimum coordinate value on the fourth coordinate axis and the maximum coordinate value and the minimum coordinate value on the fifth coordinate axis in the M target data;
taking coordinate value ranges of the fourth coordinate axis and the fifth coordinate axis as the input of the normalization algorithm to obtain the offset factor output by the normalization algorithm;
the normalization algorithm comprises:
Figure BDA0001904590450000041
wherein h isrRepresenting the corresponding offset factor, S, of the target coordinate axisrA range of coordinate values representing said target coordinate axis, DrRepresenting a difference between a maximum coordinate value and a minimum coordinate value of the M pieces of target data on the target coordinate axis, where the target coordinate axis is the fourth coordinate axis or the fourth coordinate axisThe fifth coordinate axis.
According to a second aspect of embodiments of the present disclosure, there is provided a calibration device for a telemetry link, the device comprising:
the remote sensing device comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring M original data acquired at M preset positions, the original data corresponding to any preset position comprises three coordinate values of sensing quantity acquired by an environment sensor on a remote lever at any preset position in a sensing coordinate system, the sensing coordinate system is a coordinate system formed by a first coordinate axis, a second coordinate axis and a third coordinate axis, the first coordinate axis, the second coordinate axis and the third coordinate axis respectively correspond to directions which can be measured by the environment sensor, and the M preset positions meet a preset position relation;
the first determining module is used for determining an orthogonalization coefficient group of a target coordinate system according to the M original data and the position relation and a preset conversion algorithm, wherein the target coordinate system is a coordinate system consisting of a fourth coordinate axis and a fifth coordinate axis, and the fourth coordinate axis and the fifth coordinate axis respectively correspond to two directions in which the remote lever can move;
and the calibration module is used for calibrating the target coordinate system according to the orthogonalization coefficient group.
Optionally, the apparatus further comprises:
a second determining module, configured to determine, according to the orthogonalization coefficient group, target data corresponding to each of the M preset positions after the target coordinate system is calibrated according to the orthogonalization coefficient group, where the target data corresponding to each preset position includes two coordinate values converted from the original data corresponding to each preset position to the target coordinate system;
a third determining module, configured to determine a rotation angle according to first target data corresponding to a first preset position and a coordinate feature corresponding to the first preset position, where the first preset position is any one of the M preset positions, and the coordinate feature corresponding to the first preset position may indicate a position of the first preset position in the target coordinate system;
the calibration module is further configured to calibrate the target coordinate system according to the rotation angle.
Optionally, the apparatus further comprises:
a fourth determining module, configured to determine, according to the M pieces of target data and according to a preset normalization algorithm, an offset factor of the target coordinate system;
the calibration module is further configured to calibrate the target coordinate system according to the offset factor.
Optionally, the first determining module includes:
the first obtaining sub-module is configured to use raw data corresponding to each of the M preset positions and N preset sets of orthogonalization parameters as inputs of the conversion algorithm to obtain N calibration data corresponding to each of the preset positions output by the conversion algorithm, where the calibration data corresponding to each of the preset positions includes two coordinate values obtained by converting the raw data corresponding to each of the preset positions onto the target coordinate system;
a selection submodule for selecting a target orthogonalization parameter from the N sets of orthogonalization parameters according to the positional relationship and the M × N calibration data;
a first determining submodule for taking the target orthogonalization parameter as the orthogonalization coefficient group.
Optionally, the conversion algorithm includes:
Figure BDA0001904590450000061
Figure BDA0001904590450000062
wherein, aijA coordinate value b on the fourth coordinate axis representing a jth calibration data of the N calibration data corresponding to the ith preset position among the M preset positionsijRepresenting the second of M of said preset positionsJ-th calibration data in the N calibration data corresponding to the i preset positions, and a coordinate value, mx, on the fifth coordinate axisi、myi、mziRespectively representing coordinate values of original data corresponding to the ith preset position in the M preset positions on the first coordinate axis, the second coordinate axis and the third coordinate axis, KajA proportional parameter, ORTHax, representing said fourth coordinate axis in the jth set of orthogonalization parameters of the N sets of orthogonalization parametersjAn orthogonality parameter, ORTHay, representing said fourth axis and said first axis of a jth set of orthogonalization parameters of said N sets of orthogonalization parametersjAn orthogonal parameter, Kb, representing said second axis in said fourth axis in said jth set of orthogonalization parameters of said N sets of orthogonalization parametersjA proportional parameter, ORTHbx, representing said fifth coordinate axis in the jth set of orthogonalization parameters of the N sets of orthogonalization parametersjAn orthogonal parameter, ORTHby, of the fifth coordinate axis and the first coordinate axis in the jth set of orthogonalization parameters in the N sets of orthogonalization parametersjAnd F represents an atan2 function, wherein the orthogonal parameter represents the second coordinate axis of the fifth coordinate axis in the jth orthogonal parameter in the N sets of orthogonal parameters.
Optionally, the fourth determining module includes:
a second determining submodule, configured to determine, among the M pieces of target data, a maximum coordinate value and a minimum coordinate value on the fourth coordinate axis, and a maximum coordinate value and a minimum coordinate value on the fifth coordinate axis;
the second obtaining submodule is used for taking the coordinate value range of the fourth coordinate axis and the fifth coordinate axis as the input of the normalization algorithm so as to obtain the offset factor output by the normalization algorithm;
the normalization algorithm comprises:
Figure BDA0001904590450000071
wherein h isrRepresenting the corresponding offset factor, S, of the target coordinate axisrA range of coordinate values representing said target coordinate axis, DrAnd the difference value between the maximum coordinate value and the minimum coordinate value on the target coordinate axis in the M pieces of target data is represented, and the target coordinate axis is the fourth coordinate axis or the fifth coordinate axis.
According to a third aspect of embodiments of the present disclosure, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of calibrating a joystick provided by the first aspect.
According to a fourth aspect of the embodiments of the present disclosure, there is provided an electronic apparatus including:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the method of calibrating a joystick provided by the first aspect.
According to the technical scheme, the method comprises the steps of firstly obtaining M original data collected at M preset positions, wherein the M preset positions meet a preset position relationship, three coordinate values of a sensing quantity collected by an environment sensor on a remote rod at the preset position in the corresponding sensing coordinate system are included in the original data corresponding to each preset position in the M preset positions, the sensing coordinate system comprises three directions which can be measured by the environment sensor, then determining an orthogonalization coefficient group target coordinate system of the target coordinate system according to a preset conversion algorithm and the position relationship and finally calibrating the target coordinate system according to the orthogonalization coefficient group. The remote rod can be effectively and quickly calibrated, so that the accuracy of remote rod control is improved.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a flow chart illustrating a method of calibrating a telemetry link in accordance with an exemplary embodiment;
FIG. 2 is a schematic illustration of preset positions in a method of calibrating a telemetry link shown in FIG. 1;
FIG. 3 is a flow chart illustrating another method of calibrating a telemetry lever in accordance with an exemplary embodiment;
FIG. 4 is a flow chart illustrating another method of calibrating a telemetry lever in accordance with an exemplary embodiment;
FIG. 5 is a flow chart illustrating another method of calibrating a telemetry lever in accordance with an exemplary embodiment;
FIG. 6 is a flow chart illustrating another method of calibrating a telemetry lever in accordance with an exemplary embodiment;
FIG. 7 is a block diagram illustrating a telemetry link calibration apparatus according to an exemplary embodiment;
FIG. 8 is a block diagram illustrating another telemetry rod calibration apparatus in accordance with an exemplary embodiment;
FIG. 9 is a block diagram illustrating another telemetry rod calibration apparatus in accordance with an exemplary embodiment;
FIG. 10 is a block diagram illustrating another telemetry rod calibration apparatus in accordance with an exemplary embodiment;
FIG. 11 is a block diagram illustrating another telemetry rod calibration apparatus in accordance with an exemplary embodiment;
FIG. 12 is a block diagram illustrating an electronic device in accordance with an example embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
Before introducing the method, the device, the electronic device and the storage medium for calibrating the remote lever provided by the present disclosure, an application scenario according to each embodiment of the present disclosure is first introduced, where the application scenario is to calibrate the remote lever on a remote controller, an environment sensor is disposed on the remote lever, and the environment sensor can detect a change in a sensing amount during a moving process of the remote lever, so as to determine a moving position of the remote lever. The environmental sensor may include: magnetic field sensors, illumination sensors, acceleration sensors, etc. The embodiment provided by the disclosure takes the environmental sensor as the hall sensor for example, when the remote lever moves, the hall sensor can detect the variation of the magnetic flux according to the hall effect (namely, the hall sensor acquires the sensing amount), the variation of the magnetic flux has components in three directions in a corresponding sensing coordinate system, namely, the variation of the three-axis magnetic flux, and the variation of the three-axis magnetic flux is converted into a rectangular plane coordinate system, so that the moving position of the remote lever can be determined.
FIG. 1 is a flow chart illustrating a method of calibrating a telemetry link, as shown in FIG. 1, according to an exemplary embodiment, the method comprising:
step 101, acquiring M pieces of original data acquired at M preset positions, wherein the original data corresponding to any preset position comprises three coordinate values of a sensing amount acquired when an environment sensor on a remote rod is at any preset position, the three coordinate values correspond to a sensing coordinate system, the sensing coordinate system is a coordinate system formed by a first coordinate axis, a second coordinate axis and a third coordinate axis, the first coordinate axis, the second coordinate axis and the third coordinate axis respectively correspond to directions which can be measured by the environment sensor, and the M preset positions meet a preset position relation.
For example, before the user uses the joystick on the remote controller, the remote controller may prompt the user through the display interface whether the remote lever needs to be calibrated, and when the user determines that the remote lever needs to be calibrated, the user may click the calibration button to trigger the calibration of the remote lever, where the calibration button may be a virtual button displayed in a preset area on the display interface or an entity button set on the remote controller. Firstly, M original data collected when a rocker moves to M preset positions are obtained, and the M preset positions meet a preset position relation. Wherein each preset positionThe corresponding original data includes three coordinate values of the sensing quantity acquired by the environmental sensor on the remote rod at the preset position in the sensing coordinate system, for example: (mx)i,myi,mzi). The sensing coordinate system includes three coordinate axes (i.e., a first coordinate axis, a second coordinate axis, and a third coordinate axis) corresponding to three directions that the environment sensor can measure. Taking an environment sensor on the remote rod as a hall sensor as an example, the raw data corresponding to each preset position includes the variation of the three-axis magnetic flux.
Taking M as 9, a target coordinate system formed by a fourth coordinate axis and a fifth coordinate axis corresponding to two directions in which the joystick can move is an example, as shown in fig. 2, the 9 preset positions may include: the natural return position D0(a0, b0) of the joystick, four endpoints that the joystick can reach on the fourth and fifth axes: d1(a1, b1), D3(a3, b3), D5(a5, b5), D7(a7, b7), and the vertices D2(a2, b2), D4(a4, b4), D6(a6, b0), D8(a8, b8) of the four quadrants of the target coordinate system, for a total of 9 preset positions. Accordingly, the user can be instructed to perform a preset operation on the display interface, so that the joystick can rotate within the movable range (which may include 9 preset positions) to collect 9 pieces of raw data. For example, the user may be instructed to slightly dial the joystick, naturally centering the joystick, then dial the joystick to the furthest end that can be reached at the upper right, then turn the joystick three turns clockwise and three turns counterclockwise within the maximum range. In the process that the user toggles the remote lever, the environmental sensor collects a plurality of original data, and the original data are screened according to the position relation satisfied between the 9 preset positions, and the 9 original data corresponding to the 9 preset positions are selected. The positional relationship satisfied between the 9 preset positions may include, for example: when D1(a1, b1) is extracted, a1 needs to be larger than a0, and | a1-a0| is maximum and | b1-b0| is minimum; when D2(a2, b2) is extracted, a2 needs to be larger than a0, b2 needs to be larger than b0, and | a2-a0| + | b2-b0| is maximum; when D3(a3, b3) is extracted, b3 needs to be larger than b0, and | b3-b0| is maximum and | a3-a0| is minimum; when D4(a4, b4) is extracted, a4 needs to be smaller than a0, b4 needs to be larger than b0, and | a4-a0| + | b4-b0| is maximum; when D5(a5, b5) is extracted, a5 needs to be smaller than a0, and | a5-a0| is maximum and | b5-b0| is minimum; when D6(a6, b0) is extracted, a6 needs to be smaller than a0, b6 needs to be smaller than b0, and | a6-a0| + | b6-b0| is maximum; when D7(a7, b7) is extracted, b7 needs to be smaller than b0, and | b7-b0| is maximum and | a7-a0| is minimum; when extracting D8(a8, b8), a8 needs to be larger than a0, b8 needs to be smaller than b0, and | a8-a0| + | b8-b0| is largest.
And 102, determining an orthogonalization coefficient set of a target coordinate system according to the M original data and the position relation and a preset conversion algorithm, wherein the target coordinate system is a coordinate system consisting of a fourth coordinate axis and a fifth coordinate axis, and the fourth coordinate axis and the fifth coordinate axis respectively correspond to two directions in which the remote lever can move.
Step 103, calibrating a target coordinate system according to the orthogonalization coefficient group.
For example, in an ideal case, the fourth coordinate axis and the fifth coordinate axis in the target coordinate system should be orthogonal, that is, correspond to 9 preset positions, and the ideal position relationship should satisfy: the coordinates of D2, D1 and D8 on the fourth coordinate axis are the same, the coordinates of D3, D0 and D7 on the fourth coordinate axis are the same, and the coordinates of D4, D5 and D6 on the fourth coordinate axis are the same; the coordinates of D2, D3 and D4 on the fifth coordinate axis are the same, the coordinates of D1, D0 and D5 on the fifth coordinate axis are the same, and the coordinates of D8, D7 and D6 on the fifth coordinate axis are the same. In a real scene, due to errors caused by machining and installation, the hall sensor, the magnet and the measuring chip are not in a state of three points and one line in the remote rod, so that a target coordinate system needs to be calibrated to achieve the purpose of enabling the fourth coordinate axis and the fifth coordinate axis to be orthogonal. Firstly, three-dimensional original data are converted into two-dimensional calibration data according to a preset conversion algorithm (for example, atan2 function), N sets of orthogonalization parameters can be preset in the conversion algorithm, each original data corresponds to the N sets of orthogonalization parameters, N calibration data can be obtained, then M original data can obtain M × N calibration data according to the conversion algorithm, then M × N calibration data are screened according to the position relation satisfied by M preset positions, and the orthogonalization parameter corresponding to the optimal calibration data is selected as an orthogonalization coefficient set. The position relationship may be, for example, the coordinate difference of the preset positions (e.g., D2, D3, D4) in the same row on the fifth axis is the smallest or closest to zero, or the coordinate difference of the preset positions (e.g., D4, D5, D6) in the same column on the fourth axis is the smallest or closest to zero. After the orthogonalization coefficient set is determined, the target coordinate system is calibrated according to the orthogonalization coefficient set, which can be understood as determining the orthogonalization coefficient set matched with the target coordinate system, and the raw data is converted according to a conversion algorithm determined by the orthogonalization coefficient set, so that the raw data can be converted into the target coordinate system with the fourth coordinate axis and the fifth coordinate axis orthogonal to each other.
It should be noted that the embodiments provided in the present disclosure illustrate a method for calibrating a joystick, which is performed on a remote controller where the joystick is located. The remote controller may be provided with an iOS system, an Android (english: Android) system, and may further include a Windows system or a Linux system, etc., for implementing the steps executed in the calibration method of the remote lever.
In summary, the present disclosure first obtains M pieces of raw data collected at M preset positions, where the M preset positions satisfy a preset positional relationship, the raw data corresponding to each preset position in the M preset positions includes three coordinate values of a sensing quantity collected by an environmental sensor on a remote rod at the preset position in a corresponding sensing coordinate system, the sensing coordinate system includes three directions that the environmental sensor can measure, then determines, according to the M pieces of raw data and the positional relationship, that an orthogonalization coefficient group target coordinate system of the target coordinate system includes two directions in which the remote rod can move according to a preset conversion algorithm, and finally calibrates the target coordinate system according to the orthogonalization coefficient group. The remote rod can be effectively and quickly calibrated, so that the accuracy of remote rod control is improved.
FIG. 3 is a flow chart illustrating another method of calibrating a telemetry link, according to an exemplary embodiment, as shown in FIG. 3, after step 103, the method further comprising:
and step 104, determining target data corresponding to each preset position in the M preset positions according to the orthogonalization coefficient groups, wherein the target data corresponding to each preset position comprises two coordinate values obtained by converting original data corresponding to each preset position into a target coordinate system.
For example, after the orthogonalization coefficient set is determined, the orthogonalization coefficient set is substituted into a conversion algorithm, that is, the raw data corresponding to M preset positions are converted into M target data according to the conversion algorithm determined by the orthogonalization coefficient set, and the target data corresponding to each preset position comprises two coordinate values of the raw data corresponding to each preset position converted into a target coordinate system. The two coordinate axes (i.e., the fourth coordinate axis and the fifth coordinate axis) in the target coordinate system in which the target data is located are orthogonal.
And 105, determining the rotation angle according to the first target data corresponding to the first preset position and the coordinate characteristics corresponding to the first preset position, wherein the first preset position is any one of the M preset positions, and the coordinate characteristics corresponding to the first preset position can indicate the position of the first preset position in the target coordinate system.
And 106, calibrating a target coordinate system according to the rotation angle.
In an example, in an ideal case, the distribution of 9 preset positions in the target coordinate system is as shown in fig. 2, but in a real scene, due to errors caused by machining and installation, a certain deflection angle may exist in the target coordinate system, and the deflection angle may range from 0 to 180 degrees. For example: d3(a3, b3) should ideally be | b3-b0| maximum, and in a real scene, the position of D3 may be deflected to the position corresponding to D4, so that the deflection angle of the target coordinate system can be determined to be 45 degrees. After obtaining M target data corresponding to the M preset positions, selecting one preset position from the M preset positions as a first preset position, then determining a rotation angle of the target coordinate system according to the first target data corresponding to the first preset position and the coordinate characteristics of the first preset position, and finally rotating the target coordinate system according to the rotation angle to calibrate the target coordinate system. It should be noted that the first preset position is any one of the M preset positions except the origin of the target coordinate system (i.e., except the position D0). For example: selection D2*Is the first target data corresponding to the first preset position, when D2*Similar to the coordinate feature of D2, it means that the target coordinate system is not biasedRotating at a rotation angle of 0 when D2*When the coordinate characteristics are similar to those of D1, the rotation angle is 45 degrees counterclockwise when D2*When the coordinate characteristics are similar to those of D3, the rotation angle is 45 degrees clockwise when D2 is adopted*When the coordinate characteristics are similar to those of D8, the rotation angle is 90 degrees counterclockwise when D2*When the coordinate characteristics are similar to those of D4, the rotation angle is 90 degrees clockwise when D2*When the coordinate characteristics are similar to those of D7, the rotation angle is 120 degrees anticlockwise when D2*When the coordinate characteristics are similar to those of D5, the rotation angle is 120 degrees clockwise when D2*Similar to the coordinate feature of D6, the rotation angle is 180 degrees counterclockwise or clockwise.
FIG. 4 is a flow chart illustrating another method of calibrating a telemetry link, as shown in FIG. 4, in accordance with an exemplary embodiment, the method further comprising:
and step 107, determining the offset factor of the target coordinate system according to the M target data and a preset normalization algorithm.
And step 108, calibrating the target coordinate system according to the offset factor.
For example, in the target coordinate system calibrated by the orthogonalization coefficient set and the rotation angle, the fourth coordinate axis and the fifth coordinate axis are orthogonal and have good linearity, but the problem that the original data measured when the joystick is toggled to the same position are converted into coordinate values in the target coordinate system are not uniform may occur in different devices, that is, the coordinate ranges of the target coordinate systems on different devices are different. Therefore, the offset factor can be determined by using a preset normalization algorithm, and then the coordinate values on the target coordinate system are unified to the same range by using the offset factor.
The implementation of step 107 is shown in fig. 5:
step 1071, determine the maximum coordinate value and the minimum coordinate value on the fourth coordinate axis and the maximum coordinate value and the minimum coordinate value on the fifth coordinate axis of the M pieces of target data.
Step 1072, the coordinate value range of the fourth coordinate axis and the fifth coordinate axis is used as the input of the normalization algorithm to obtain the offset factor output by the normalization algorithm.
Wherein, the normalization algorithm comprises:
Figure BDA0001904590450000141
wherein h isrDenotes the offset factor, S, corresponding to the target coordinate axisrCoordinate value range representing target coordinate axis, DrAnd the difference value between the maximum coordinate value and the minimum coordinate value on the target coordinate axis in the M pieces of target data is represented, and the target coordinate axis is a fourth coordinate axis or a fifth coordinate axis.
For example, the coordinate range of the target coordinate system may be unified to 0 to 1000, that is, the coordinate value ranges corresponding to the fourth coordinate axis and the fifth coordinate axis are both [0,1000 ]]S of the fourth and fifth axesrIn 1000, firstly, the position D0(a0, b0) in the natural return of the joystick is taken as the origin of the target coordinate system, then D0(a0, b0) needs to be converted into (500 ) so that when the joystick on each device is in the natural return, all the output signals are (500 ), meanwhile, a1 in D1(a1, b1) is the maximum coordinate value in the positive direction on the fourth coordinate axis, a5 in D5(a5, b5) is the maximum coordinate value in the negative direction on the fourth coordinate axis (i.e. the minimum coordinate value on the fourth coordinate axis), b3 in D3(a3, b3) is the maximum coordinate value in the positive direction on the fifth coordinate axis, b7 in D7(a7, b7) is the maximum coordinate value in the direction on the fifth coordinate axis (i.e. the minimum coordinate value on the fifth coordinate axis), and then D7 in the fourth coordinate axis is the maximum coordinate axisrA1-a5, D of the fifth coordinate axisrB3-b7, the offset factor for the fourth axis may be determined as: h isr1000/(a1-a5), the offset factor for the fifth axis is: h isr＝|1000/(b3-b7)|。
The target coordinate system can be divided into four quadrants, and the offset factors corresponding to the four quadrants are respectively solved. For example, two offset factors are set in the positive and negative directions of the fourth coordinate axis: pa and na, setting two offset factors in the positive and negative directions of the fifth coordinate axis: pb and nb, then pa ═ l (1000-500)/(a 1-a 0) |; na ═ l (0-500)/(a 0-a 5) |; pb ═ l (1000-500)/(b 3-b 0) |; nb ═ l (0-500)/(b 0-b 7). After pa, na, pb and nb have been determined,when the remote lever moves to a certain position, firstly, original data corresponding to the position is converted into a target coordinate system which is calibrated by an orthogonalization coefficient group and a rotation angle to obtain coordinate values (a, b), and the coordinate value calibrated according to the offset factor is (a)*,b*) When (a, b) is in the first quadrant of the target coordinate system, a*＝(a-a0)*pa+a0，b*(b-b0) pb + b0, a, when (a, b) is in the second quadrant of the target coordinate system*＝(a-a0)*na+a0，b*(b-b0) pb + b0, and when (a, b) is in the third quadrant of the target coordinate system, a-a0) na + a0, b*(b-b0) nb + b0, a, b, when (a, b) is in the fourth quadrant of the target coordinate system*＝(a-a0)*pa+a0，b*＝(b-b0)*nb+b0。
It should be noted that the coordinate value range may be preset in the development stage, or may be set according to the specific requirements of the user. For example, the coordinate value range may be 0-10, or 0-1000, wherein the lower limit 0 (which may be understood as a reference point) of the coordinate value range is constant, and the upper limit of the coordinate value range may be adjusted accordingly (for example, the upper limit may be 10 to 1000). The larger the upper limit, the smaller the unit of measurement, the higher the accuracy of the joystick control, and the smaller the upper limit, the larger the unit of measurement, the lower the accuracy of the joystick control. Further, the larger the upper limit, the smaller the measurement unit, and the larger the calculation amount brought by executing step 1072, the more data jam or delay is easily caused, so the upper limit of the coordinate value range can be adjusted according to the specific requirements of the user.
FIG. 6 is a flow chart illustrating another method of calibrating a telemetry link, according to an exemplary embodiment, as shown in FIG. 6, step 102 may be implemented by:
and 1021, taking the original data corresponding to each preset position in the M preset positions and the preset N sets of orthogonalization parameters as input of a conversion algorithm to obtain N calibration data corresponding to each preset position output by the conversion algorithm, wherein the calibration data corresponding to each preset position comprises two coordinate values of the original data corresponding to each preset position converted to a target coordinate system.
Step 1022, selecting a target orthogonalization parameter from the N sets of orthogonalization parameters according to the positional relationship and the M × N calibration data.
In step 1023, the target orthogonalization parameter is used as an orthogonalization coefficient group.
For example, first, the original data corresponding to each preset position in the M preset positions is converted into calibration data according to a preset conversion algorithm, N sets of orthogonalization parameters may be preset in the conversion algorithm, each original data corresponds to the N sets of orthogonalization parameters, each original data may obtain N calibration data, then the M original data may obtain M × N calibration data according to the conversion algorithm, then the M × N calibration data are screened according to a positional relationship satisfied by the M preset positions, and a target orthogonalization parameter corresponding to the optimal calibration data is selected as an orthogonalization coefficient set. For example, each set of orthogonalization parameters may include 6 types of parameters: the values of the 6 parameters can be exhausted to obtain N sets of orthogonalization parameters. For example: the value ranges of the proportional parameters of the fourth coordinate axis and the proportional parameters of the fifth coordinate axis are both 0-2, so that the values of the proportional parameters of 8 fourth coordinate axes and the proportional parameters of 8 fifth coordinate axes can be exhaustively obtained at intervals of 0.25. The value ranges of the orthogonal parameters of the fourth coordinate axis and the first coordinate axis, the orthogonal parameters of the second coordinate axis of the fourth coordinate axis, the orthogonal parameters of the fifth coordinate axis and the first coordinate axis and the orthogonal parameters of the second coordinate axis of the fifth coordinate axis are all-50-50, and the 20 orthogonal parameters of the fourth coordinate axis and the first coordinate axis, the 20 orthogonal parameters of the second coordinate axis of the fourth coordinate axis, the 20 orthogonal parameters of the fifth coordinate axis and the first coordinate axis and the 20 orthogonal parameters of the second coordinate axis of the fifth coordinate axis can be exhaustively obtained according to 5 intervals. And then, the 6 types of parameters are respectively combined arbitrarily according to a fourth coordinate axis and a fifth coordinate axis, that is, orthogonal parameters (a proportional parameter of the fourth coordinate axis, an orthogonal parameter of the fourth coordinate axis and the first coordinate axis, and an orthogonal parameter of the fourth coordinate axis and the second coordinate axis) of the fourth coordinate axis or orthogonal parameters (a proportional parameter of the fifth coordinate axis, an orthogonal parameter of the fifth coordinate axis and the first coordinate axis, and an orthogonal parameter of the fifth coordinate axis and the second coordinate axis) corresponding to the fifth coordinate axis are respectively combined arbitrarily, so that N ═ 8 × 20 ═ 3200 sets of orthogonalization parameters corresponding to the fourth coordinate axis and N ═ 8 ═ 20 ═ 3200 sets of orthogonalization parameters corresponding to the fifth coordinate axis can be obtained. And screening out a target orthogonalization parameter corresponding to the optimal calibration data according to the position relation to serve as an orthogonalization coefficient group. For example, after M × N pieces of calibration data are acquired, the coordinate values on the fifth coordinate axis are closest to the standard among the calibration data corresponding to the same row (e.g., D2, D3, D4), or the coordinate values on the fourth coordinate axis are closest to the standard among the calibration data corresponding to the same column (e.g., D4, D5, D6), and the optimum calibration data is screened out.
Wherein, the conversion algorithm comprises:
Figure BDA0001904590450000171
Figure BDA0001904590450000172
wherein, aijIndicating the coordinate value b on the fourth coordinate axis of the jth calibration data in the N calibration data corresponding to the ith preset position in the M preset positionsijIndicating the coordinate value on the fifth coordinate axis, mx, of the jth calibration data in the N calibration data corresponding to the ith preset position in the M preset positionsi、myi、mziRespectively representing coordinate values of the original data corresponding to the ith preset position in the M preset positions on the first coordinate axis, the second coordinate axis and the third coordinate axis, KajA proportional parameter, ORTHax, representing the fourth axis of the jth set of orthogonalization parameters of the N sets of orthogonalization parametersjAn orthogonality parameter, ORTHay, representing a fourth coordinate axis and a first coordinate axis of a jth set of orthogonalization parameters of the N sets of orthogonalization parametersjRepresents N groupsAn orthogonal parameter Kb of a second coordinate axis of a fourth coordinate axis of a jth group of orthogonal parameters in the orthogonal parametersjA proportional parameter, ORTHbx, representing a fifth coordinate axis of a jth set of orthogonalization parameters of the N sets of orthogonalization parametersjAn orthogonal parameter, ORTHby, of a fifth coordinate axis and a first coordinate axis in a jth set of orthogonal parameters in the N sets of orthogonal parametersjF represents the function atan2, and F represents the orthogonal parameter of the second coordinate axis of the fifth coordinate axis of the jth orthogonal parameter in the N sets of orthogonal parameters.
In summary, the present disclosure first obtains M pieces of raw data collected at M preset positions, where the M preset positions satisfy a preset positional relationship, the raw data corresponding to each preset position in the M preset positions includes three coordinate values of a sensing quantity collected by an environmental sensor on a remote rod at the preset position in a corresponding sensing coordinate system, the sensing coordinate system includes three directions that the environmental sensor can measure, then determines, according to the M pieces of raw data and the positional relationship, that an orthogonalization coefficient group target coordinate system of the target coordinate system includes two directions in which the remote rod can move according to a preset conversion algorithm, and finally calibrates the target coordinate system according to the orthogonalization coefficient group. The remote rod can be effectively and quickly calibrated, so that the accuracy of remote rod control is improved.
FIG. 7 is a block diagram illustrating a telemetry link calibration apparatus according to an exemplary embodiment, such as the apparatus 200 shown in FIG. 7, including:
the acquisition module 201 is configured to acquire M pieces of raw data acquired at M preset positions, where the raw data corresponding to any preset position includes three coordinate values of sensing quantities acquired by an environmental sensor on a remote rod at any preset position in a sensing coordinate system, the sensing coordinate system is a coordinate system formed by a first coordinate axis, a second coordinate axis and a third coordinate axis, the first coordinate axis, the second coordinate axis and the third coordinate axis respectively correspond to directions that can be measured by the environmental sensor, and the M preset positions satisfy a preset position relationship.
The first determining module 202 is configured to determine, according to the M pieces of original data and the position relationship, an orthogonalization coefficient set of a target coordinate system according to a preset conversion algorithm, where the target coordinate system is a coordinate system formed by a fourth coordinate axis and a fifth coordinate axis, and the fourth coordinate axis and the fifth coordinate axis respectively correspond to two directions in which the joystick can move.
And the calibration module 203 is used for calibrating the target coordinate system according to the orthogonalization coefficient group.
FIG. 8 is a block diagram illustrating another telemetry rod calibration apparatus in accordance with an exemplary embodiment, such as the apparatus 200 shown in FIG. 8, further comprising:
a second determining module 204, configured to determine, according to the orthogonalization coefficient group, target data corresponding to each of the M preset positions after calibrating the target coordinate system according to the orthogonalization coefficient group, where the target data corresponding to each preset position includes two coordinate values obtained by converting original data corresponding to each preset position into the target coordinate system.
The third determining module 205 is configured to determine the rotation angle according to the first target data corresponding to the first preset position and the coordinate feature corresponding to the first preset position, where the first preset position is any one of the M preset positions, and the coordinate feature corresponding to the first preset position can indicate a position of the first preset position in the target coordinate system.
The calibration module 203 is further configured to calibrate the target coordinate system according to the rotation angle.
FIG. 9 is a block diagram illustrating another telemetry rod calibration apparatus in accordance with an exemplary embodiment, as shown in FIG. 9, the apparatus 200 further comprising:
a fourth determining module 206, configured to determine, according to the M target data, an offset factor of the target coordinate system according to a preset normalization algorithm.
The calibration module 203 is further configured to calibrate the target coordinate system according to the offset factor.
FIG. 10 is a block diagram illustrating another telemetry rod calibration apparatus in accordance with an exemplary embodiment, as shown in FIG. 10, the first determination module 202 includes:
the first obtaining sub-module 2021 is configured to use the raw data corresponding to each of the M preset positions and the preset N sets of orthogonalization parameters as inputs of a conversion algorithm to obtain N calibration data corresponding to each preset position output by the conversion algorithm, where the calibration data corresponding to each preset position includes two coordinate values obtained by converting the raw data corresponding to each preset position to a target coordinate system.
The selecting sub-module 2022 is configured to select a target orthogonalization parameter from the N sets of orthogonalization parameters according to the position relationship and the M × N calibration data.
A first determining submodule 2023, configured to use the target orthogonalization parameter as the orthogonalization coefficient group.
Optionally, the conversion algorithm includes:
Figure BDA0001904590450000191
Figure BDA0001904590450000192
wherein, aijIndicating the coordinate value b on the fourth coordinate axis of the jth calibration data in the N calibration data corresponding to the ith preset position in the M preset positionsijIndicating the coordinate value on the fifth coordinate axis, mx, of the jth calibration data in the N calibration data corresponding to the ith preset position in the M preset positionsi、myi、mziRespectively representing coordinate values of the original data corresponding to the ith preset position in the M preset positions on the first coordinate axis, the second coordinate axis and the third coordinate axis, KajA proportional parameter, ORTHax, representing the fourth axis of the jth set of orthogonalization parameters of the N sets of orthogonalization parametersjAn orthogonality parameter, ORTHay, representing a fourth coordinate axis and a first coordinate axis of a jth set of orthogonalization parameters of the N sets of orthogonalization parametersjAn orthogonal parameter, Kb, representing a second axis of a fourth axis of a jth set of orthogonal parameters of the N sets of orthogonal parametersjA proportional parameter, ORTHbx, representing a fifth coordinate axis of a jth set of orthogonalization parameters of the N sets of orthogonalization parametersjAn orthogonal parameter, ORTHby, of a fifth coordinate axis and a first coordinate axis in a jth set of orthogonal parameters in the N sets of orthogonal parametersjRepresenting j-th of N sets of orthogonalization parametersThe orthogonal parameter of the second coordinate axis of the fifth coordinate axis in the set of orthogonal parameters, F, represents the atan2 function.
FIG. 11 is a block diagram illustrating another example telemetry lever calibration apparatus, according to an example embodiment, and as shown in FIG. 11, the fourth determination module 206 includes:
the second determining submodule 2061 is configured to determine the maximum coordinate value and the minimum coordinate value on the fourth coordinate axis and the maximum coordinate value and the minimum coordinate value on the fifth coordinate axis among the M pieces of target data.
The second obtaining sub-module 2062 is configured to use the coordinate value ranges of the fourth coordinate axis and the fifth coordinate axis as the input of the normalization algorithm, so as to obtain the offset factor output by the normalization algorithm.
The normalization algorithm comprises the following steps:
Figure BDA0001904590450000201
wherein h isrDenotes the offset factor, S, corresponding to the target coordinate axisrCoordinate value range representing target coordinate axis, DrAnd the difference value between the maximum coordinate value and the minimum coordinate value on the target coordinate axis in the M pieces of target data is represented, and the target coordinate axis is a fourth coordinate axis or a fifth coordinate axis.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
In summary, the present disclosure first obtains M pieces of raw data collected at M preset positions, where the M preset positions satisfy a preset positional relationship, the raw data corresponding to each preset position in the M preset positions includes three coordinate values of a sensing quantity collected by an environmental sensor on a remote rod at the preset position in a corresponding sensing coordinate system, the sensing coordinate system includes three directions that the environmental sensor can measure, then determines, according to the M pieces of raw data and the positional relationship, that an orthogonalization coefficient group target coordinate system of the target coordinate system includes two directions in which the remote rod can move according to a preset conversion algorithm, and finally calibrates the target coordinate system according to the orthogonalization coefficient group. The remote rod can be effectively and quickly calibrated, so that the accuracy of remote rod control is improved.
Fig. 12 is a block diagram illustrating an electronic device 300 in accordance with an example embodiment. As shown in fig. 12, the electronic device 300 may include: a processor 301 and a memory 302. The electronic device 300 may also include one or more of a multimedia component 303, an input/output (I/O) interface 304, and a communication component 305.
The processor 301 is configured to control the overall operation of the electronic device 300, so as to complete all or part of the steps in the above-mentioned method for calibrating a joystick. The memory 302 is used to store various types of data to support operation at the electronic device 300, such as instructions for any application or method operating on the electronic device 300 and application-related data, such as contact data, transmitted and received messages, pictures, audio, video, and the like. The Memory 302 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk or optical disk. The multimedia components 303 may include a screen and an audio component. Wherein the screen may be, for example, a touch screen and the audio component is used for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may further be stored in the memory 302 or transmitted through the communication component 305. The audio assembly also includes at least one speaker for outputting audio signals. The I/O interface 304 provides an interface between the processor 301 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 305 is used for wired or wireless communication between the electronic device 300 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, Near Field Communication (NFC), 2G, 3G or 4G, or a combination of one or more of them, so that the corresponding Communication component 305 may include: Wi-Fi module, bluetooth module, NFC module.
In an exemplary embodiment, the electronic Device 300 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the above-described calibration method of the joystick.
In another exemplary embodiment, a computer readable storage medium comprising program instructions that when executed by a processor implement the steps of the method of calibrating a telemetry stick described above is also provided. For example, the computer readable storage medium may be the memory 302 described above including program instructions executable by the processor 301 of the electronic device 300 to perform the telemetry stem calibration method described above.
In summary, the present disclosure first obtains M pieces of raw data collected at M preset positions, where the M preset positions satisfy a preset positional relationship, the raw data corresponding to each preset position in the M preset positions includes three coordinate values of a sensing quantity collected by an environmental sensor on a remote rod at the preset position in a corresponding sensing coordinate system, the sensing coordinate system includes three directions that the environmental sensor can measure, then determines, according to the M pieces of raw data and the positional relationship, that an orthogonalization coefficient group target coordinate system of the target coordinate system includes two directions in which the remote rod can move according to a preset conversion algorithm, and finally calibrates the target coordinate system according to the orthogonalization coefficient group. The remote rod can be effectively and quickly calibrated, so that the accuracy of remote rod control is improved.
Preferred embodiments of the present disclosure are described in detail above with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and other embodiments of the present disclosure may be easily conceived by those skilled in the art within the technical spirit of the present disclosure after considering the description and practicing the present disclosure, and all fall within the protection scope of the present disclosure.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. Meanwhile, any combination can be made between various different embodiments of the disclosure, and the disclosure should be regarded as the disclosure of the disclosure as long as the combination does not depart from the idea of the disclosure. The present disclosure is not limited to the precise structures that have been described above, and the scope of the present disclosure is limited only by the appended claims.

Claims (12)

1. A method of calibrating a telemetry link, the method comprising:
acquiring M original data acquired at M preset positions, wherein the original data corresponding to any preset position comprises three coordinate values of a sensing coordinate system corresponding to sensing quantity acquired by an environment sensor on a remote rod at any preset position, the sensing coordinate system is a coordinate system consisting of a first coordinate axis, a second coordinate axis and a third coordinate axis, the first coordinate axis, the second coordinate axis and the third coordinate axis respectively correspond to directions which can be measured by the environment sensor, and the M preset positions meet a preset position relation;
determining an orthogonalization coefficient set of a target coordinate system according to the M original data and the position relation and according to a preset conversion algorithm, wherein the target coordinate system is a coordinate system consisting of a fourth coordinate axis and a fifth coordinate axis, and the fourth coordinate axis and the fifth coordinate axis respectively correspond to two directions in which the remote lever can move;
calibrating the target coordinate system according to the orthogonalization coefficient set;
after the calibrating the target coordinate system according to the set of orthogonalization coefficients, the method further comprises:
determining target data corresponding to each preset position in the M preset positions according to the orthogonalization coefficient groups, wherein the target data corresponding to each preset position comprise two coordinate values of the original data corresponding to each preset position converted to the target coordinate system;
determining a rotation angle according to first target data corresponding to a first preset position and coordinate characteristics corresponding to the first preset position, wherein the first preset position is any one of M preset positions, and the coordinate characteristics corresponding to the first preset position can indicate the position of the first preset position in the target coordinate system;
and calibrating the target coordinate system according to the rotation angle.
2. The method of claim 1, further comprising:
determining a migration factor of the target coordinate system according to the M target data and a preset normalization algorithm;
calibrating the target coordinate system according to the offset factor.
3. The method according to claim 1, wherein the determining the set of orthogonalization coefficients of the target coordinate system according to the preset conversion algorithm according to the M original data and the position relation comprises:
taking the original data corresponding to each preset position in the M preset positions and N groups of preset orthogonalization parameters as the input of the conversion algorithm to obtain N calibration data corresponding to each preset position output by the conversion algorithm, wherein the calibration data corresponding to each preset position comprises two coordinate values of the original data corresponding to each preset position converted to the target coordinate system;
selecting a target orthogonalization parameter from the N groups of orthogonalization parameters according to the position relation and the M x N calibration data;
and taking the target orthogonalization parameter as the orthogonalization coefficient group.
4. The method of claim 3, wherein the conversion algorithm comprises:
Figure FDA0003315529530000021
Figure FDA0003315529530000022
wherein, aijA coordinate value b on the fourth coordinate axis representing a jth calibration data of the N calibration data corresponding to the ith preset position among the M preset positionsijThe coordinate value, mx, of the jth calibration data in the N calibration data corresponding to the ith preset position in the M preset positions is represented on the fifth coordinate axisi、myi、mziRespectively representing coordinate values of original data corresponding to the ith preset position in the M preset positions on the first coordinate axis, the second coordinate axis and the third coordinate axis, KajA proportional parameter, ORTHax, representing said fourth coordinate axis in the jth set of orthogonalization parameters of the N sets of orthogonalization parametersjAn orthogonality parameter, ORTHay, representing said fourth axis and said first axis of a jth set of orthogonalization parameters of said N sets of orthogonalization parametersjAn orthogonal parameter, Kb, representing said second axis in said fourth axis in said jth set of orthogonalization parameters of said N sets of orthogonalization parametersjA proportional parameter, ORTHbx, representing said fifth coordinate axis in the jth set of orthogonalization parameters of the N sets of orthogonalization parametersjAn orthogonal parameter, ORTHby, of the fifth coordinate axis and the first coordinate axis in the jth set of orthogonalization parameters in the N sets of orthogonalization parametersjRepresenting the second of N sets of said orthogonalization parametersThe fifth coordinate axis of the j sets of orthogonalization parameters is an orthogonal parameter of the second coordinate axis, and F represents an atan2 function.
5. The method according to claim 2, wherein the determining the offset factor of the target coordinate system according to a preset normalization algorithm based on the M target data comprises:
determining the maximum coordinate value and the minimum coordinate value on the fourth coordinate axis and the maximum coordinate value and the minimum coordinate value on the fifth coordinate axis in the M target data;
taking coordinate value ranges of the fourth coordinate axis and the fifth coordinate axis as the input of the normalization algorithm to obtain the offset factor output by the normalization algorithm;
the normalization algorithm comprises:
Figure FDA0003315529530000031
wherein h isrRepresenting the corresponding offset factor, S, of the target coordinate axisrA range of coordinate values representing said target coordinate axis, DrAnd the difference value between the maximum coordinate value and the minimum coordinate value on the target coordinate axis in the M pieces of target data is represented, and the target coordinate axis is the fourth coordinate axis or the fifth coordinate axis.
6. A device for calibrating a telemetry link, the device comprising:
the remote sensing device comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring M original data acquired at M preset positions, the original data corresponding to any preset position comprises three coordinate values of sensing quantity acquired by an environment sensor on a remote lever at any preset position in a sensing coordinate system, the sensing coordinate system is a coordinate system formed by a first coordinate axis, a second coordinate axis and a third coordinate axis, the first coordinate axis, the second coordinate axis and the third coordinate axis respectively correspond to directions which can be measured by the environment sensor, and the M preset positions meet a preset position relation;
the first determining module is used for determining an orthogonalization coefficient group of a target coordinate system according to the M original data and the position relation and a preset conversion algorithm, wherein the target coordinate system is a coordinate system consisting of a fourth coordinate axis and a fifth coordinate axis, and the fourth coordinate axis and the fifth coordinate axis respectively correspond to two directions in which the remote lever can move;
a calibration module for calibrating the target coordinate system according to the set of orthogonalization coefficients;
the device further comprises:
a second determining module, configured to determine, according to the orthogonalization coefficient group, target data corresponding to each of the M preset positions after the target coordinate system is calibrated according to the orthogonalization coefficient group, where the target data corresponding to each preset position includes two coordinate values converted from the original data corresponding to each preset position to the target coordinate system;
a third determining module, configured to determine a rotation angle according to first target data corresponding to a first preset position and a coordinate feature corresponding to the first preset position, where the first preset position is any one of the M preset positions, and the coordinate feature corresponding to the first preset position may indicate a position of the first preset position in the target coordinate system;
the calibration module is further configured to calibrate the target coordinate system according to the rotation angle.
7. The apparatus of claim 6, further comprising:
a fourth determining module, configured to determine, according to the M pieces of target data and according to a preset normalization algorithm, an offset factor of the target coordinate system;
the calibration module is further configured to calibrate the target coordinate system according to the offset factor.
8. The apparatus of claim 6, wherein the first determining module comprises:
the first obtaining sub-module is configured to use raw data corresponding to each of the M preset positions and N preset sets of orthogonalization parameters as inputs of the conversion algorithm to obtain N calibration data corresponding to each of the preset positions output by the conversion algorithm, where the calibration data corresponding to each of the preset positions includes two coordinate values obtained by converting the raw data corresponding to each of the preset positions onto the target coordinate system;
a selection submodule for selecting a target orthogonalization parameter from the N sets of orthogonalization parameters according to the positional relationship and the M × N calibration data;
a first determining submodule for taking the target orthogonalization parameter as the orthogonalization coefficient group.
9. The apparatus of claim 8, wherein the conversion algorithm comprises:
Figure FDA0003315529530000051
Figure FDA0003315529530000052
wherein, aijA coordinate value b on the fourth coordinate axis representing a jth calibration data of the N calibration data corresponding to the ith preset position among the M preset positionsijThe coordinate value, mx, of the jth calibration data in the N calibration data corresponding to the ith preset position in the M preset positions is represented on the fifth coordinate axisi、myi、mziRespectively representing coordinate values of original data corresponding to the ith preset position in the M preset positions on the first coordinate axis, the second coordinate axis and the third coordinate axis, KajTo representA proportional parameter, ORTHax, of said fourth coordinate axis of a jth set of orthogonalization parameters of said N sets of orthogonalization parametersjAn orthogonality parameter, ORTHay, representing said fourth axis and said first axis of a jth set of orthogonalization parameters of said N sets of orthogonalization parametersjAn orthogonal parameter, Kb, representing said second axis in said fourth axis in said jth set of orthogonalization parameters of said N sets of orthogonalization parametersjA proportional parameter, ORTHbx, representing said fifth coordinate axis in the jth set of orthogonalization parameters of the N sets of orthogonalization parametersjAn orthogonal parameter, ORTHby, of the fifth coordinate axis and the first coordinate axis in the jth set of orthogonalization parameters in the N sets of orthogonalization parametersjAnd F represents an atan2 function, wherein the orthogonal parameter represents the second coordinate axis of the fifth coordinate axis in the jth orthogonal parameter in the N sets of orthogonal parameters.
10. The apparatus of claim 7, wherein the fourth determining module comprises:
a second determining submodule, configured to determine, among the M pieces of target data, a maximum coordinate value and a minimum coordinate value on the fourth coordinate axis, and a maximum coordinate value and a minimum coordinate value on the fifth coordinate axis;
the second obtaining submodule is used for taking the coordinate value range of the fourth coordinate axis and the fifth coordinate axis as the input of the normalization algorithm so as to obtain the offset factor output by the normalization algorithm;
the normalization algorithm comprises:
Figure FDA0003315529530000061
wherein h isrRepresenting the corresponding offset factor, S, of the target coordinate axisrA range of coordinate values representing said target coordinate axis, DrAnd the difference value between the maximum coordinate value and the minimum coordinate value on the target coordinate axis in the M pieces of target data is represented, and the target coordinate axis is the fourth coordinate axis or the fifth coordinate axis.
11. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
12. An electronic device, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 5.
CN201811526509.4A 2018-12-13 2018-12-13 Remote rod calibration method and device, electronic equipment and storage medium Active CN111324172B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811526509.4A CN111324172B (en) 2018-12-13 2018-12-13 Remote rod calibration method and device, electronic equipment and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811526509.4A CN111324172B (en) 2018-12-13 2018-12-13 Remote rod calibration method and device, electronic equipment and storage medium

Publications (2)

Publication Number Publication Date
CN111324172A CN111324172A (en) 2020-06-23
CN111324172B true CN111324172B (en) 2021-11-23

Family

ID=71166555

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201811526509.4A Active CN111324172B (en) 2018-12-13 2018-12-13 Remote rod calibration method and device, electronic equipment and storage medium

Country Status (1)

Country Link
CN (1) CN111324172B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112346510A (en) * 2020-10-23 2021-02-09 深圳市谷粒科技有限公司 Calibration method and device of analog-to-digital rocker
CN113805600A (en) * 2021-08-30 2021-12-17 武汉海昌信息技术有限公司 Unmanned aerial vehicle rocker control system, equipment and medium based on 5G transmission

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1645283A (en) * 2003-09-30 2005-07-27 三星电子株式会社 Method and device for estimating position of unmanned mobile body by use of sensor fusing
CN1737580A (en) * 2004-08-17 2006-02-22 皇家飞利浦电子股份有限公司 Correction method and apparatus
CN102954804A (en) * 2012-11-22 2013-03-06 斯伦贝谢金地伟业油田技术(山东)有限公司 Sensor orthogonal calibration method for oil drilling measurement
JP2016114569A (en) * 2014-12-18 2016-06-23 カシオ計算機株式会社 Electronic apparatus, sensor calibration method, and sensor calibration program
CN106441301A (en) * 2016-09-19 2017-02-22 北京机械设备研究所 Air vehicle launching initial parameter acquiring method and system
CN106444804A (en) * 2016-09-16 2017-02-22 杭州电子科技大学 Complementary filtering algorithm and cascade PID based four-rotor aircraft design method
CN106767805A (en) * 2017-01-08 2017-05-31 上海拓攻机器人有限公司 High accuracy inertia measuring method and measuring system based on MEMS sensor array
CN107609183A (en) * 2017-09-29 2018-01-19 浙江科澜信息技术有限公司 Original coordinates data are converted to the method, apparatus and equipment of spherical coordinate data

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1645283A (en) * 2003-09-30 2005-07-27 三星电子株式会社 Method and device for estimating position of unmanned mobile body by use of sensor fusing
CN1737580A (en) * 2004-08-17 2006-02-22 皇家飞利浦电子股份有限公司 Correction method and apparatus
CN102954804A (en) * 2012-11-22 2013-03-06 斯伦贝谢金地伟业油田技术(山东)有限公司 Sensor orthogonal calibration method for oil drilling measurement
JP2016114569A (en) * 2014-12-18 2016-06-23 カシオ計算機株式会社 Electronic apparatus, sensor calibration method, and sensor calibration program
CN106444804A (en) * 2016-09-16 2017-02-22 杭州电子科技大学 Complementary filtering algorithm and cascade PID based four-rotor aircraft design method
CN106441301A (en) * 2016-09-19 2017-02-22 北京机械设备研究所 Air vehicle launching initial parameter acquiring method and system
CN106767805A (en) * 2017-01-08 2017-05-31 上海拓攻机器人有限公司 High accuracy inertia measuring method and measuring system based on MEMS sensor array
CN107609183A (en) * 2017-09-29 2018-01-19 浙江科澜信息技术有限公司 Original coordinates data are converted to the method, apparatus and equipment of spherical coordinate data

Also Published As

Publication number Publication date
CN111324172A (en) 2020-06-23

Similar Documents

Publication Publication Date Title
RU2651239C2 (en) Automated calibration of reference frame of augmented reality
KR101690965B1 (en) Machine vision system calibration using inaccurate calibration targets
CN108426571B (en) Local real-time calibration method and device for electronic compass
CN100414253C (en) Digital sun sensor calibration method and device
CN109544630B (en) Pose information determination method and device and visual point cloud construction method and device
CN111324172B (en) Remote rod calibration method and device, electronic equipment and storage medium
CN109079787B (en) Non-rigid robot automatic hand-eye calibration method based on neural network
CN107492126B (en) Calibration method, device, system, medium and the equipment of camera central axis
CN112388635B (en) Method, system and device for fusing sensing and space positioning of multiple sensors of robot
CN104391603A (en) Method, device and system for calibrating touch screen
CN109952176B (en) Robot calibration method and system, robot and storage medium
CN109901123A (en) Transducer calibration method, device, computer equipment and storage medium
CN111080682A (en) Point cloud data registration method and device
CN113566848B (en) Automatic star calibration method and system for optical measurement equipment based on Loongson platform
CN103278095A (en) One-dimensional retractable target device and feature point calibrating method thereof
CN109506617B (en) Sensor data processing method, storage medium, and electronic device
CN105628052B (en) Optical satellite sensor in-orbit geometric calibration method and system based on control straight line
CN106959704B (en) Control method and system of three-dimensional topography measuring instrument
CN110567486B (en) Mathematical model construction method for calibrating 3D rotation difference, calibration method and device thereof
CN105758422B (en) A kind of test method of integration type closed-loop fiber optic gyroscope
CN107515012B (en) Single-axis rotating mechanism-based dynamic vision measurement system calibration device and method
KR100735494B1 (en) Azimuth measurement device and azimuth measurement method
WO2020208974A1 (en) Reference position setting method and operation detection device
CN114894116A (en) Measurement data fusion method and non-contact measurement equipment
CN110940352B (en) Automatic calibration system of micro-electro-mechanical system inertia measurement unit and calibration verification method thereof

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
CB02 Change of applicant information
CB02 Change of applicant information

Address after: 100085 unit C, building C, lin66, Zhufang Road, Qinghe, Haidian District, Beijing

Applicant after: Beijing Xiaomi pinecone Electronic Co., Ltd

Address before: 100085 Beijing city Haidian District Qinghe Shun Yip things Park Building 3 unit A

Applicant before: BEIJING PINECONE ELECTRONICS Co.,Ltd.

SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant