CN111830285A - Method for calibrating accelerometer in IMU and related device - Google Patents

Method for calibrating accelerometer in IMU and related device Download PDF

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Publication number
CN111830285A
CN111830285A CN202010714188.1A CN202010714188A CN111830285A CN 111830285 A CN111830285 A CN 111830285A CN 202010714188 A CN202010714188 A CN 202010714188A CN 111830285 A CN111830285 A CN 111830285A
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area
accelerometer
acceleration
deceleration
region
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费再慧
贾双成
朱磊
李倩
李成军
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Mushroom Car Union Information Technology Co Ltd
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Mushroom Car Union Information Technology Co Ltd
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Priority to CN202011461830.6A priority patent/CN112327006B/en
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    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups

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Abstract

The embodiment of the application discloses a calibration method and a related device of an accelerometer in an IMU (inertial measurement Unit), wherein the method comprises the following steps: setting a datum line of the accelerometer; taking the datum line as a reference, and acquiring the area S of an acceleration region above the datum line in the process that the accelerometer completes one-time acceleration and decelerationupAnd a deceleration zone area S located below the datum linedown(ii) a According to the area S of the acceleration regionupAnd the area S of the deceleration regiondownThe calibration parameters of the accelerometer are adjusted, and the calibration parameters comprise scale coefficients k corresponding to the acceleration regionupAnd scale factor k corresponding to deceleration regiondown. According to the technical scheme of the embodiment of the application, the accelerometer can be calibrated by utilizing the size relation of the acceleration area and the deceleration area.

Description

Method for calibrating accelerometer in IMU and related device
Technical Field
The present application relates to the field of electronic technologies, and in particular, to a method and a related apparatus for calibrating an accelerometer in an IMU.
Background
An IMU (Inertial Measurement Unit) is a device consisting of a gyroscope and an accelerometer, and is used to measure the attitude angle (or angular rate) and acceleration of an object. Because of its advantages of small volume, light weight and low cost, it is widely used in the equipments which need to control the movement, such as cars and robots, and also in the occasions which need to use the attitude to calculate the precise displacement, such as the inertial navigation equipments of submarines, airplanes, missiles and spacecrafts.
The accelerometer is one of the core elements of the IMU, and because the accelerometer is easily interfered by various factors, the accuracy of the accelerometer is not high, so that the calibration of the accelerometer is particularly important. At present, the accelerometer is calibrated and corrected by a multi-axis turntable in most cases, but the operation is complex, and the cost is increased due to the introduction of professional equipment. Therefore, it is necessary to find a simple calibration method.
Disclosure of Invention
The embodiment of the application provides a calibration method and a related device of an accelerometer in an IMU (inertial measurement Unit), which can calibrate the accelerometer by using the size relation of acceleration and deceleration areas.
A first aspect of an embodiment of the present application provides a method for calibrating an accelerometer in an IMU, including:
setting a datum line of the accelerometer;
taking the datum line as a reference, and acquiring the area S of an acceleration region above the datum line in the process that the accelerometer completes one-time acceleration and decelerationupAnd a deceleration zone area S located below the reference linedown；
According to the area S of the acceleration regionupAnd the area S of the deceleration zonedownThe calibration parameters of the accelerometer are adjusted, and the calibration parameters comprise scale coefficients k corresponding to the acceleration regionupAnd a scale factor k corresponding to the deceleration zonedown。
As an optional implementation manner, in the first aspect of the embodiments of the present application, the setting the reference line of the accelerometer includes:
when the accelerometer stops working, the position a indicated when the accelerometer is at rest is set0Mapping the reference line to a two-dimensional coordinate system, and obtaining the reference line of the accelerometer after mapping, wherein the abscissa of the two-dimensional coordinate system represents time t, the ordinate of the two-dimensional coordinate system represents acceleration a, and the reference line obtained after mapping is represented by a ═ a0。
As an alternative implementation manner, in the first aspect of the embodiment of the present application, the acquiring of the acceleration region area S located above the reference line is performedupAnd a deceleration zone area S located below the reference linedownThe method comprises the following steps:
acquiring various acceleration values in an acceleration region above the datum line and various acceleration values in a deceleration region below the datum line;
calculating the average value of the acceleration in the acceleration area according to each acceleration value in the acceleration area, and calculating the average value of the acceleration in the deceleration area according to each acceleration value in the deceleration area;
calculating to obtain the area S of the acceleration region according to the average value of the acceleration in the acceleration region and the time length of the acceleration region on the abscissa axisup(ii) a And calculating to obtain the area S of the deceleration area according to the average value of the acceleration in the deceleration area and the time length of the deceleration area on the abscissa axisdown。
As an optional implementation manner, in the first aspect of the embodiments of the present application, the area S is determined according to the acceleration regionupAnd the area S of the deceleration zonedownThe calibration parameters of the accelerometer are adjusted according to the relationship between the accelerometer and the reference parameter, and the method comprises the following steps:
according to the area S of the acceleration regionupAnd the area S of the deceleration zonedownDetermining a reference area S0；
According to the acceleration regionArea SupArea S of the deceleration regiondownAnd the reference area S0Adjusting a calibration parameter of the accelerometer, wherein kup＝S0/Sup，kdown＝S0/Sdown。
As an optional implementation manner, in the first aspect of the embodiments of the present application, the area S is determined according to the acceleration regionupAnd the area S of the deceleration zonedownDetermining a reference area S0The method comprises the following steps:
when the area S of the acceleration regionupIs larger than the area S of the deceleration areadownDetermining the reference area S0Is the area S of the deceleration zonedown；
Or, when the acceleration region area SupLess than or equal to the area S of the deceleration zonedownDetermining the reference area S0Is the area S of the acceleration regionup；
Alternatively, the reference area S is determined0Is the area S of the acceleration regionupAnd the area S of the deceleration zonedownAverage value of (d);
alternatively, the reference area S is determined0Is the area S of the acceleration regionupAnd the area S of the deceleration zonedownOne or any value within the interval.
As an optional implementation manner, in the first aspect of this embodiment of the present application, the method further includes:
and adjusting the actual output of the accelerometer according to the adjusted calibration parameters of the accelerometer.
As an optional implementation manner, in the first aspect of the embodiment of the present application, the adjusting the actual output of the accelerometer according to the adjusted calibration parameter of the accelerometer includes:
according to the scale coefficient k corresponding to the acceleration regionupAnd zero axis offset of the accelerometer adjusts the actual output of the accelerometer in the acceleration region, wherein a't_up＝kup*at_up-b0A is the above at_upThe acceleration value actually output by the accelerometer at different time in the acceleration region range, b0Is zero axis bias of the accelerometer, said a't_upOutputting the adjusted acceleration value of the accelerometer in the acceleration region range at different time;
according to the scale coefficient k corresponding to the deceleration areadownAnd zero axis deviation of the accelerometer adjusts the actual output of the accelerometer in the deceleration zone, wherein a't_down＝kdown*at_down-b0A is the above at_downIs the actual output acceleration value of the accelerometer at different time within the range of the deceleration area, a't_downAnd outputting the adjusted acceleration value of the accelerometer in the range of the deceleration area at different time.
As an alternative implementation, in the first aspect of the embodiments of the present application, the accelerometer has a zero axis deviation b0Is that the reference line a ═ a0A distance between 0 and a zero axis a of the two-dimensional coordinate system, and the zero axis deviation b0Is equal to a0。
A second aspect of the embodiments of the present application provides a calibration apparatus for an accelerometer in an IMU, including a unit module configured to perform the method disclosed in the first aspect of the embodiments of the present application and any possible implementation manner thereof.
A third aspect of the embodiment of the present application provides a calibration apparatus for an accelerometer in an IMU, including a processor, a memory, and a communication bus; the memory is used for storing an execution instruction, the processor is connected with the memory through the communication bus, and the processor calls the execution instruction stored in the memory to execute the method disclosed by the first aspect of the embodiment of the present application and any possible implementation manner thereof.
A fourth aspect of embodiments of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program for electronic data exchange, and the computer program specifically includes instructions for executing some or all of the steps described in the method disclosed in the first aspect of embodiments of the present application.
A fifth aspect of embodiments of the present application provides a computer program product, wherein the computer program product comprises a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps as described in the method disclosed in the first aspect of embodiments of the present application. The computer program product may be, for example, a software installation package.
In the embodiment of the application, in order to calibrate the accelerometer in the IMU, a datum line of the accelerometer can be set first, the datum line can be acquired when the accelerometer stops operating, the area of an acceleration region above the datum line and the area of a deceleration region below the datum line can be acquired when the accelerometer completes the acceleration and deceleration processes each time, and then the scale coefficient corresponding to the accelerometer in the acceleration region and the scale coefficient corresponding to the deceleration region are adjusted according to the size relationship between the area of the acceleration region and the area of the deceleration region. The accelerometer control method and the accelerometer control device have the advantages that the reference line is used as the basis, different sensitive parameters of the accelerometer on acceleration and deceleration are dynamically adjusted according to different acceleration and deceleration areas, operation is simple, and third-party equipment is not needed.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic flow chart illustrating a method for calibrating an accelerometer in an IMU according to an embodiment of the present disclosure;
FIG. 2 is a waveform diagram of acceleration versus time of an accelerometer output according to an embodiment of the present disclosure;
FIG. 3 is a schematic flow chart illustrating another method for calibrating an accelerometer in an IMU according to an embodiment of the present application;
FIG. 4 is a schematic structural diagram of a calibration apparatus of an accelerometer in an IMU according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of another calibration apparatus for an accelerometer in an IMU according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "comprises" and "comprising," and any variations thereof, in the embodiments of the present application, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. The following detailed description is made with reference to the accompanying drawings.
The inertial measurement unit IMU typically includes three-axis accelerometers, which are commonly referred to as mutually orthogonal X-axis accelerometers, Y-axis accelerometers, and Z-axis accelerometers. Because the IMU can measure the attitude angle and the acceleration of an object, the IMU is generally applied to devices requiring motion control, such as common automobiles and robots, and high-precision navigation devices such as submarines, airplanes, spacecrafts, missiles and the like. Here, taking an automobile as an example, the IMU may be disposed in an automobile installed in the automobile, or may be disposed outside the automobile, but may perform communication interaction with the automobile.
The embodiment of the application provides a calibration method of an accelerometer in an IMU, and the method can be applied to a vehicle machine. As shown in fig. 1, the method may comprise at least the following steps:
110. and setting a datum line of the accelerometer.
In the embodiment of the application, when the accelerometer is calibrated, the reference line of the accelerometer can be determined firstly. The accelerometer calibrated in the embodiment of the application can be an accelerometer used for measuring acceleration of the automobile in running, namely a Y-axis accelerometer in the same direction as the running direction of the automobile.
In an alternative embodiment, the specific implementation of the step 110 of setting the reference line of the accelerometer may include the following steps:
11) when the accelerometer stops working, the position a indicated when the accelerometer is at rest is set0Mapping the reference line to a two-dimensional coordinate system, and obtaining the reference line of the accelerometer after mapping, wherein the abscissa of the two-dimensional coordinate system represents time t, the ordinate of the two-dimensional coordinate system represents acceleration a, and the reference line obtained after mapping is represented as a ═ a0。
The accelerometer stops working, and the automobile can be considered to stop running or be in constant speed motion. However, since the absolute uniform motion of the vehicle is not well known, it is preferable to consider the stop of the accelerometer as the state when the vehicle stops running. When the automobile stops running, the speed of the automobile is 0, theoretically, the acceleration output by the accelerometer should also be 0 at this time, but the accelerometer generates an error due to the influence of various factors (such as uneven installation position of the IMU or mechanical characteristics of the IMU itself), and when the accelerometer is at rest, the acceleration is not 0, but a certain deviation occurs. Therefore, the acceleration value output by the accelerometer when the automobile runs is not the real acceleration of the automobile, so the parameter of the accelerometer needs to be calibrated and corrected, so that the corrected acceleration is the accurate acceleration.
Specifically, the acceleration output by the accelerometer may be mapped onto a two-dimensional coordinate system, where the abscissa of the two-dimensional coordinate system is expressed as time (or timestamp) and the ordinate is expressed as acceleration. Position a indicated when the accelerometer is stationary0Is mapped to a two-dimensional coordinate system and expressed asa＝a0When a is equal to a0I.e. the reference line of the accelerometer, as shown in figure 2. Wherein, a0Either positive or negative. When a is0When the reference line a is positive, the reference line a is a0The zero axis a of the two-dimensional coordinate system is 0; when a is0When the reference line is negative, the reference line a is a0Is positioned below the zero axis a of the two-dimensional coordinate system which is equal to 0.
120. Taking a datum line as a reference, and acquiring an acceleration area S above the datum line in the process of completing one-time acceleration and deceleration of the accelerometerupAnd a deceleration zone area S located below the datum linedown。
In the embodiment of the application, the vehicle can accelerate from the speed 0 in the process of starting to stopping every time, and the speed returns to 0 through deceleration after a period of time. As shown in fig. 2, the accelerations output by the accelerometers are all mapped onto a two-dimensional coordinate system based on a reference line. An acceleration above the reference line may then indicate that the vehicle is in an acceleration process to form an acceleration zone; the acceleration below the reference line may then indicate that the vehicle is in a deceleration process to form a deceleration zone. Theoretically, when the precision of the accelerometer is accurate and has no zero axis deviation (i.e. the datum line coincides with the zero axis), the part above the zero axis is an acceleration region, the part below the zero axis is a deceleration region, and the area of the acceleration region and the area of the deceleration region should be equal. However, since the accelerometer has a deviation, the areas of the acceleration region and the deceleration region are calculated first because the areas of the acceleration region and the deceleration region are not equal to each other due to the actually measured values. Specifically, the area of the acceleration region may be obtained by integrating the acceleration in the acceleration region over a time interval, and the area of the deceleration region may be obtained by integrating the acceleration in the deceleration region over a time interval; alternatively, the product of the average acceleration value within the acceleration region and the time interval length may be regarded as the acceleration region area, and the product of the average acceleration value within the deceleration region and the time interval length may be regarded as the deceleration region area.
In an alternative embodiment, step 120 acquires an acceleration region plane located above the reference lineProduct SupAnd a deceleration zone area S located below the datum linedownMay comprise the following steps:
12) acquiring various acceleration values in an acceleration region above the datum line and various acceleration values in a deceleration region below the datum line;
13) calculating the average value of the acceleration in the acceleration area according to each acceleration value in the acceleration area, and calculating the average value of the acceleration in the deceleration area according to each acceleration value in the deceleration area;
14) calculating to obtain the area S of the acceleration region according to the average value of the acceleration in the acceleration region and the time length of the acceleration region on the abscissa axisup(ii) a And calculating to obtain the area S of the deceleration region according to the average value of the acceleration in the deceleration region and the time length of the deceleration region on the abscissa axisdown。
Specifically, the average value of the acceleration in the acceleration region is calculated through each acceleration value output by the accelerometer in the acceleration region
Figure BDA0002596788070000071
And calculating the average value of the acceleration in the deceleration area through each acceleration value output by the accelerometer in the deceleration area
Figure BDA0002596788070000072
Assume that the time interval of the acceleration region on the abscissa axis is (t1, t2), and the time interval of the deceleration region on the abscissa axis is (t3, t4), where t2 is less than or equal to t 3. Area of acceleration region
Figure BDA0002596788070000073
Area of deceleration zone
Figure BDA0002596788070000074
Figure BDA0002596788070000075
130. According to the area S of the acceleration regionupAnd the area S of the deceleration regiondownThe calibration parameters of the accelerometer are adjusted, and the calibration parameters comprise scale coefficients k corresponding to the acceleration regionupAnd scale factor k corresponding to deceleration regiondown。
In the embodiment of the application, after the area sizes of the acceleration region and the deceleration region are determined based on the reference line, calibration parameters corresponding to the acceleration and deceleration of the accelerometer can be adjusted according to the size relationship between the two areas. By kupCorrecting the acceleration output by the accelerometer in the acceleration region, and using kdownThe acceleration output by the accelerometer in the deceleration region is corrected so that the area of the acceleration region and the area of the deceleration region can be equal.
In an alternative embodiment, step 130 is based on the acceleration region area SupAnd the area S of the deceleration regiondownThe specific implementation of adjusting the calibration parameters of the accelerometer may include the following steps:
15) according to the area S of the acceleration regionupAnd the area S of the deceleration regiondownDetermining a reference area S0；
16) According to the area S of the acceleration regionupArea S of the deceleration regiondownAnd a reference area S0Adjusting calibration parameters of an accelerometer, wherein kup＝S0/Sup，kdown＝S0/Sdown。
Wherein step 15) is based on the area S of the acceleration regionupAnd the area S of the deceleration regiondownDetermining a reference area S0May comprise the following steps:
when the area S of the acceleration regionupGreater than the area S of the deceleration zonedownWhile determining the reference area S0Is the area S of the deceleration regiondown；
Or, when the area S of the acceleration regionupLess than or equal to the area S of the deceleration zonedownWhile determining the reference area S0Is the area S of the acceleration regionup；
Alternatively, the reference area S is determined0To addArea S of velocity regionupAnd the area S of the deceleration regiondownAverage value of (d);
alternatively, the reference area S is determined0Is the area S of the acceleration regionupAnd the area S of the deceleration regiondownOne or any value within the interval.
Specifically, the acceleration region area S can be determinedupAnd the area S of the deceleration regiondownA reference area S is set according to the size relation between the two0. Optionally, the reference area S0Can be set to the area S of the acceleration regionupAnd the area S of the deceleration regiondownThe smaller one among them. For example, when the acceleration region area SupGreater than the area S of the deceleration zonedownTime, reference area S0＝SdownAt this time, the scale factor k corresponding to the acceleration regionup＝Sdown/SupScale factor k corresponding to deceleration regiondown＝Sdown/Sdown1. By kupAnd correcting the acceleration output by the accelerometer in the acceleration region so as to enable the area of the acceleration region to be equal to the area of the deceleration region. As another example, when the acceleration region area SupLess than or equal to the area S of the deceleration zonedownTime, reference area S0＝SupAt this time, the scale factor k corresponding to the acceleration regionup＝Sup/Sup1, the scale factor k corresponding to the deceleration regiondown＝Sup/Sdown. By kdownAnd correcting the acceleration output by the accelerometer in the deceleration region so as to enable the area of the acceleration region to be equal to that of the deceleration region. Optionally, the reference area S0Can be set to the area S of the acceleration regionupAnd the area S of the deceleration regiondownThe average of both. At this time, the reference area S0＝(Sup+Sdown) /2, scale factor k corresponding to acceleration regionup＝(Sup+Sdown)/2SupScale factor k corresponding to deceleration regiondown＝(Sup+Sdown)/2Sdown. By kupCorrecting the acceleration output by the accelerometer in the acceleration regionAnd using kdownAnd correcting the acceleration output by the accelerometer in the deceleration region so as to enable the area of the acceleration region to be equal to that of the deceleration region. Optionally, the reference area S0Can be set to the area S of the acceleration regionupAnd the area S of the deceleration regiondownOne or any value within the interval. For example, the acceleration region area Sup15, area S of deceleration regiondown12, then the area S is referenced0And may be 12, 12.5, 12.8, 13, 13.5, 13.6, 14, 14.5, 14.8, 15, or other values, etc.
To sum up, in order to calibrate the accelerometer in the IMU, the reference line of the accelerometer may be set first, and the reference line may be obtained when the accelerometer stops operating, and when the accelerometer completes each acceleration and deceleration process, the area of the acceleration region located above the reference line and the area of the deceleration region located below the reference line may be obtained, and then the scale coefficient corresponding to the acceleration region and the scale coefficient corresponding to the deceleration region of the accelerometer are adjusted according to the size relationship between the area of the acceleration region and the area of the deceleration region. The accelerometer control method and the accelerometer control device have the advantages that the reference line is used as the basis, different sensitive parameters of the accelerometer on acceleration and deceleration are dynamically adjusted according to different acceleration and deceleration areas, operation is simple, and third-party equipment is not needed.
The embodiment of the application also provides another calibration method of the accelerometer in the IMU, and the method can be applied to a vehicle machine. As shown in fig. 3, the method may comprise at least the following steps:
310. when the accelerometer stops working, the position a indicated when the accelerometer is at rest is set0And mapping the reference line of the accelerometer to a two-dimensional coordinate system to obtain the reference line of the accelerometer.
Specifically, the detailed implementation of step 310 may refer to all or part of the content described in step 11) in the foregoing embodiment, and will not be described herein again.
320. Taking a datum line as a reference, and acquiring an acceleration area S above the datum line in the process of completing one-time acceleration and deceleration of the accelerometerupAnd is located at the baseArea S of deceleration zone under directrixdown。
330. According to the area S of the acceleration regionupAnd the area S of the deceleration regiondownThe calibration parameters of the accelerometer are adjusted, and the calibration parameters comprise scale coefficients k corresponding to the acceleration regionupAnd scale factor k corresponding to deceleration regiondown。
The detailed implementation of step 320 and step 330 may refer to all or part of the content described in step 120 and step 130 in the foregoing embodiments, and will not be described herein again.
340. And adjusting the actual output of the accelerometer according to the adjusted calibration parameters of the accelerometer.
In an alternative embodiment, the specific implementation of the step 340 of adjusting the actual output of the accelerometer according to the adjusted calibration parameter of the accelerometer may include the following steps:
31) according to the scale coefficient k corresponding to the acceleration regionupAnd zero axis offset of the accelerometer adjusts the actual output of the accelerometer in the acceleration region, wherein a't_up＝kup*at_up-b0，at_upFor the acceleration value actually output by the accelerometer at different times within the acceleration region, b0Is zero axis offset of accelerometer, a't_upOutputting the adjusted acceleration value of the accelerometer in the acceleration area range at different time;
32) according to the scale coefficient k corresponding to the deceleration areadownAnd adjusting the actual output of the accelerometer in a deceleration region by zero axis deviation of the accelerometer, wherein a't_down＝kdown*at_down-b0，at_downIs the actual output acceleration value a 'of the accelerometer at different times in the range of the deceleration region't_downAnd outputting the acceleration value of the adjusted accelerometer in different time within the range of the deceleration area.
Wherein the zero axis deviation b of the accelerometer0Is a reference line a ═ a0Distance between zero axis a of two-dimensional coordinate system and 0, and zero axis deviation b0Is equal to a0。
In particular, zero axis offset b of the accelerometer0Is the reference line a of the accelerometer0Error from the true zero axis a being 0, i.e. zero axis deviation b0＝a0-0＝a0. Due to a0Can be positive or negative, so that there is zero axis deviation b0Either positive or negative. When the scale coefficient k corresponding to the acceleration region is calculatedupScale factor k corresponding to deceleration regiondownThen, k can be utilizedupTo correct the acceleration output by the accelerometer in the acceleration region and then subtract the zero axis deviation b0To obtain the compensated and calibrated acceleration; and by kdownTo correct the acceleration output by the accelerometer in the deceleration area and then subtract the zero axis deviation b0To obtain the compensated calibrated acceleration. Therefore, under the condition that the accuracy of the accelerometer is not high, the output accuracy of the accelerometer can be improved through compensation calibration.
Therefore, in order to calibrate the accelerometer in the IMU, the reference line of the accelerometer may be set first, and the reference line may be obtained when the accelerometer stops operating, and when the accelerometer completes each acceleration and deceleration process, the area of the acceleration region located above the reference line and the area of the deceleration region located below the reference line may be obtained, and then the scale coefficient corresponding to the acceleration region and the scale coefficient corresponding to the deceleration region of the accelerometer are adjusted according to the size relationship between the area of the acceleration region and the area of the deceleration region, and the actual output of the accelerometer may be adjusted according to the adjusted calibration parameters of the accelerometer. The method and the device have the advantages that the reference line is used as the basis, different sensitive parameters of the accelerometer for acceleration and deceleration are dynamically adjusted by utilizing different acceleration and deceleration areas, the operation is simple, and third-party equipment is not needed; in addition, when the accelerometer accuracy is not high, the output accuracy of the accelerometer can be improved by performing correction compensation on the output of the accelerometer.
The embodiment of the application provides a calibration device of an accelerometer in an IMU, which can be used for executing the calibration method of the accelerometer in the IMU provided by the embodiment. When the IMU is mounted on a vehicle, the device may be a vehicle mounted unit. As shown in fig. 4, the apparatus may include:
and a setting unit 41 for setting a reference line of the accelerometer.
An acquiring unit 42, configured to acquire an acceleration region area S located above the reference line during one acceleration and deceleration of the accelerometer with the reference line as a referenceupAnd a deceleration zone area S located below the datum linedown。
An adjusting unit 43 for adjusting the acceleration region area SupAnd the area S of the deceleration regiondownThe calibration parameters of the accelerometer are adjusted, and the calibration parameters can comprise a scale coefficient k corresponding to an acceleration regionupAnd scale factor k corresponding to deceleration regiondown。
Optionally, the setting unit 41 may be specifically configured to set the position a indicated when the accelerometer is stationary when the accelerometer stops working0Mapping the reference line to a two-dimensional coordinate system, and obtaining the reference line of the accelerometer after mapping, wherein the abscissa of the two-dimensional coordinate system represents time t, the ordinate of the two-dimensional coordinate system represents acceleration a, and the reference line obtained after mapping is represented as a ═ a0。
Optionally, the obtaining unit 42 may be specifically configured to obtain each acceleration value in an acceleration region located above the reference line, and each acceleration value in a deceleration region located below the reference line; calculating the average value of the acceleration in the acceleration area according to each acceleration value in the acceleration area, and calculating the average value of the acceleration in the deceleration area according to each acceleration value in the deceleration area; calculating to obtain the area S of the acceleration region according to the average value of the acceleration in the acceleration region and the time length of the acceleration region on the abscissa axisup(ii) a And calculating to obtain the area S of the deceleration region according to the average value of the acceleration in the deceleration region and the time length of the deceleration region on the abscissa axisdown。
Optionally, the adjusting unit 43 may be specifically configured to adjust the acceleration region area S according to the acceleration region area SupAnd the area S of the deceleration regiondownDetermining a reference area S0And according to accelerationArea S of the regionupArea S of the deceleration regiondownAnd a reference area S0Adjusting calibration parameters of an accelerometer, wherein kup＝S0/Sup，kdown＝S0/Sdown。
Optionally, the adjusting unit 43 is based on the area S of the acceleration regionupAnd the area S of the deceleration regiondownDetermining a reference area S0The specific implementation manner of (2) can be as follows:
when the area S of the acceleration regionupGreater than the area S of the deceleration zonedownThe adjusting unit 43 then determines the reference area S0Is the area S of the deceleration regiondown；
Or, when the area S of the acceleration regionupLess than or equal to the area S of the deceleration zonedownThe adjusting unit 43 then determines the reference area S0Is the area S of the acceleration regionup；
Alternatively, the adjusting unit 43 determines the reference area S0Is the area S of the acceleration regionupAnd the area S of the deceleration regiondownAverage value of (d);
alternatively, the adjusting unit 43 determines the reference area S0Is the area S of the acceleration regionupAnd the area S of the deceleration regiondownOne or any value within the interval.
Optionally, the adjusting unit 43 may be further configured to adjust the actual output of the accelerometer according to the adjusted calibration parameter of the accelerometer.
Optionally, the specific implementation manner of the adjusting unit 43 adjusting the actual output of the accelerometer according to the adjusted calibration parameter of the accelerometer may be:
the adjusting unit 43 adjusts the scale factor k according to the acceleration regionupAnd zero axis offset of the accelerometer adjusts the actual output of the accelerometer in the acceleration region, wherein a't_up＝kup*at_up-b0，at_upFor the acceleration value actually output by the accelerometer at different times within the acceleration region, b0Is zero axis offset of accelerometer, a't_upFor the adjusted accelerometer isOutputting acceleration values within the acceleration region range at different time; and the scale coefficient k corresponding to the deceleration areadownAnd adjusting the actual output of the accelerometer in a deceleration region by zero axis deviation of the accelerometer, wherein a't_down＝kdown*at_down-b0，at_downIs the actual output acceleration value a 'of the accelerometer at different times in the range of the deceleration region't_downAnd outputting the acceleration value of the adjusted accelerometer in different time within the range of the deceleration area.
Optionally, zero axis offset b of accelerometer0Is a reference line a ═ a0Distance between zero axis a of two-dimensional coordinate system and 0, and zero axis deviation b0Is equal to a0。
It can be seen that, in the apparatus shown in fig. 4, a reference line of the accelerometer may be set first, and the reference line may be obtained when the accelerometer stops operating, and when the accelerometer completes each acceleration and deceleration process, an acceleration region area located above the reference line and a deceleration region area located below the reference line may be obtained, and then a scale coefficient corresponding to the accelerometer in the acceleration region and a scale coefficient corresponding to the deceleration region may be adjusted according to a size relationship between the acceleration region area and the deceleration region area. The method and the device have the advantages that the reference line is used as the basis, different sensitive parameters of the accelerometer for acceleration and deceleration are dynamically adjusted by utilizing the difference of the acceleration and deceleration areas, the operation is simple, and third-party equipment is not needed.
The embodiment of the application also provides a calibration device of the accelerometer in the IMU, and the device can be used for executing the calibration method of the accelerometer in the IMU provided by the embodiment of the application. When the IMU is mounted on a vehicle, the device may be a vehicle mounted unit. As shown in fig. 5, the apparatus may include: at least one processor 501, such as a Central Processing Unit (CPU), a memory 502, at least one communication interface 503, and the like. Wherein the components are communicatively coupled via one or more communication buses 504. Those skilled in the art will appreciate that the configuration of the apparatus shown in fig. 5 is not intended to limit embodiments of the present application, and may be a bus or star configuration, and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components. Wherein:
in the embodiment of the present application, the memory 502 may be a high-speed RAM memory, or may be a non-volatile memory (non-volatile memory), such as at least one disk memory. The memory 502 may optionally be at least one storage device located remotely from the processor 501. As shown in fig. 5, the memory 502 may include one or more execution instructions (programs), data, and the like, and the embodiments of the present application are not limited thereto.
In this embodiment, the communication interface 503 may include a wired communication interface, a wireless communication interface, and the like, and may be used for performing communication interaction with other devices, such as receiving signals sent by other devices, and/or sending signals to other devices, and the like.
In the apparatus shown in fig. 5, the processor 501 may be configured to invoke one or more execution instructions stored in the memory 502 to perform the following operations:
setting a datum line of the accelerometer;
taking a datum line as a reference, and acquiring an acceleration area S above the datum line in the process of completing one-time acceleration and deceleration of the accelerometerupAnd a deceleration zone area S located below the datum linedown；
According to the area S of the acceleration regionupAnd the area S of the deceleration regiondownThe calibration parameters of the accelerometer are adjusted, and the calibration parameters can comprise a scale coefficient k corresponding to an acceleration regionupAnd scale factor k corresponding to deceleration regiondown。
Optionally, the specific implementation of the processor 501 setting the reference line of the accelerometer may be:
when the accelerometer stops working, the position a indicated when the accelerometer is at rest is set0Mapping the reference line of the accelerometer to a two-dimensional coordinate system, wherein the abscissa of the two-dimensional coordinate system represents time t, the ordinate of the two-dimensional coordinate system represents acceleration a, and the reference line obtained after mappingLine is denoted as a ═ a0。
Optionally, the processor 501 obtains an acceleration region area S above the reference lineupAnd a deceleration zone area S located below the datum linedownThe specific implementation manner of (2) can be as follows:
acquiring various acceleration values in an acceleration region above the datum line and various acceleration values in a deceleration region below the datum line;
calculating the average value of the acceleration in the acceleration area according to each acceleration value in the acceleration area, and calculating the average value of the acceleration in the deceleration area according to each acceleration value in the deceleration area;
calculating to obtain the area S of the acceleration region according to the average value of the acceleration in the acceleration region and the time length of the acceleration region on the abscissa axisup(ii) a And calculating to obtain the area S of the deceleration region according to the average value of the acceleration in the deceleration region and the time length of the deceleration region on the abscissa axisdown。
Alternatively, the processor 501 may be based on the acceleration region area SupAnd the area S of the deceleration regiondownThe specific implementation of adjusting the calibration parameters of the accelerometer may be as follows:
according to the area S of the acceleration regionupAnd the area S of the deceleration regiondownDetermining a reference area S0；
According to the area S of the acceleration regionupArea S of the deceleration regiondownAnd a reference area S0Adjusting calibration parameters of an accelerometer, wherein kup＝S0/Sup，kdown＝S0/Sdown。
Alternatively, the processor 501 may be based on the acceleration region area SupAnd the area S of the deceleration regiondownDetermining a reference area S0The specific implementation manner of (2) can be as follows:
when the area S of the acceleration regionupGreater than the area S of the deceleration zonedownWhile determining the reference area S0Is the area S of the deceleration regiondown；
Or, when the area S of the acceleration regionupLess than or equal to the area S of the deceleration zonedownWhile determining the reference area S0Is the area S of the acceleration regionup；
Alternatively, the reference area S is determined0Is the area S of the acceleration regionupAnd the area S of the deceleration regiondownAverage value of (d);
alternatively, the reference area S is determined0Is the area S of the acceleration regionupAnd the area S of the deceleration regiondownOne or any value within the interval.
Optionally, the processor 501 may be further configured to call one or more execution instructions stored in the memory 502 to perform the following operations:
and adjusting the actual output of the accelerometer according to the adjusted calibration parameters of the accelerometer.
Optionally, the specific implementation of the processor 501 adjusting the actual output of the accelerometer according to the adjusted calibration parameter of the accelerometer may be:
according to the scale coefficient k corresponding to the acceleration regionupAnd zero axis offset of the accelerometer adjusts the actual output of the accelerometer in the acceleration region, wherein a't_up＝kup*at_up-b0，at_upFor the acceleration value actually output by the accelerometer at different times within the acceleration region, b0Is zero axis offset of accelerometer, a't_upOutputting the adjusted acceleration value of the accelerometer in the acceleration area range at different time;
according to the scale coefficient k corresponding to the deceleration areadownAnd adjusting the actual output of the accelerometer in a deceleration region by zero axis deviation of the accelerometer, wherein a't_down＝kdown*at_down-b0，at_downIs the actual output acceleration value a 'of the accelerometer at different times in the range of the deceleration region't_downAnd outputting the acceleration value of the adjusted accelerometer in different time within the range of the deceleration area.
Optionally, zero axis offset b of accelerometer0Is a reference line a ═ a0To twoDistance between zero axis a and 0 and zero axis deviation b of dimensional coordinate system0Is equal to a0。
Specifically, the apparatus described in this embodiment of the present application may implement part or all of the processes in the embodiment of the method for calibrating an accelerometer in an IMU described in this application in conjunction with fig. 1 or fig. 3.
The modules or sub-modules in all embodiments of the present Application may be implemented by a general-purpose Integrated Circuit, such as a CPU, or by an ASIC (Application Specific Integrated Circuit).
Embodiments of the present application also provide a computer-readable storage medium, where the computer-readable storage medium stores a computer program for electronic data exchange, and the computer program specifically includes instructions that may be used to perform some or all of the steps described in the calibration method of an accelerometer in an IMU according to the embodiments of the present application. The computer readable storage medium may be located in the calibration arrangement for the accelerometer in the IMU provided in the previous embodiments.
Embodiments of the present application also provide a computer program product, where the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform some or all of the steps of the method for calibrating an accelerometer in an IMU as provided by the embodiments of the present application. For example, the computer program product may be a software installation package, and the computer may be the calibration apparatus of the accelerometer in the IMU provided in the foregoing embodiments.
It should be noted that, for simplicity of description, the above-mentioned embodiments of the method are described as a series of acts or combinations, but those skilled in the art should understand that the present application is not limited by the order of acts described, as some steps may be performed in other orders or simultaneously according to the present application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
The steps in the method of the embodiment of the application can be sequentially adjusted, combined and deleted according to actual needs.
The unit modules in the device of the embodiment of the application can be combined, divided and deleted according to actual needs.
It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by instructions associated with a program, which may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), compact disc-Read-Only Memory (CD-ROM), or other Memory, magnetic disk, magnetic tape, or magnetic tape, Or any other medium which can be used to carry or store data and which can be read by a computer.
The foregoing describes in detail a calibration method and related apparatus for an accelerometer in an IMU according to an embodiment of the present application, and a specific example is applied to explain the principle and implementation of the present application, and the description of the foregoing embodiment is only used to help understand the method and core ideas of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims (10)

1. A method for calibrating an accelerometer in an IMU (inertial measurement Unit) is characterized by comprising the following steps:
setting a datum line of the accelerometer;
taking the datum line as a reference, and acquiring the area S of an acceleration region above the datum line in the process that the accelerometer completes one-time acceleration and decelerationupAnd a deceleration zone area S located below the reference linedown；
According to the area S of the acceleration regionupAnd the area S of the deceleration zonedownThe calibration parameters of the accelerometer are adjusted, and the calibration parameters comprise scale coefficients k corresponding to the acceleration regionupAnd a scale factor k corresponding to the deceleration zonedown。
2. The method of claim 1, wherein the setting the reference line of the accelerometer comprises:
when the accelerometer stops working, the position a indicated when the accelerometer is at rest is set0Mapping the reference line to a two-dimensional coordinate system, and obtaining the reference line of the accelerometer after mapping, wherein the abscissa of the two-dimensional coordinate system represents time t, the ordinate of the two-dimensional coordinate system represents acceleration a, and the reference line obtained after mapping is represented by a ═ a0。
3. The method of claim 2, wherein said obtaining an acceleration region area S above said reference line is characterized byupAnd a deceleration zone area S located below the reference linedownThe method comprises the following steps:
acquiring various acceleration values in an acceleration region above the datum line and various acceleration values in a deceleration region below the datum line;
calculating the average value of the acceleration in the acceleration area according to each acceleration value in the acceleration area, and calculating the average value of the acceleration in the deceleration area according to each acceleration value in the deceleration area;
according to the average value of the acceleration in the acceleration region and the acceleration regionCalculating the time length on the abscissa axis to obtain the area S of the acceleration regionup(ii) a And calculating to obtain the area S of the deceleration area according to the average value of the acceleration in the deceleration area and the time length of the deceleration area on the abscissa axisdown。
4. A method for calibrating an accelerometer in an IMU according to any of claims 1-3, wherein said method is based on said acceleration region area SupAnd the area S of the deceleration zonedownThe calibration parameters of the accelerometer are adjusted according to the relationship between the accelerometer and the reference parameter, and the method comprises the following steps:
according to the area S of the acceleration regionupAnd the area S of the deceleration zonedownDetermining a reference area S0；
According to the area S of the acceleration regionupArea S of the deceleration regiondownAnd the reference area S0Adjusting a calibration parameter of the accelerometer, wherein kup＝S0/Sup，kdown＝S0/Sdown。
5. Method for calibrating an accelerometer in an IMU according to claim 4, wherein the acceleration region is determined by the area S of the acceleration regionupAnd the area S of the deceleration zonedownDetermining a reference area S0The method comprises the following steps:
when the area S of the acceleration regionupIs larger than the area S of the deceleration areadownDetermining the reference area S0Is the area S of the deceleration zonedown；
Or, when the acceleration region area SupLess than or equal to the area S of the deceleration zonedownDetermining the reference area S0Is the area S of the acceleration regionup；
Alternatively, the reference area S is determined0Is the area S of the acceleration regionupAnd the area S of the deceleration zonedownAverage value of (d);
alternatively, the reference area S is determined0Is the area S of the acceleration regionupAnd the area S of the deceleration zonedownOne or any value within the interval.
6. A method for calibration of an accelerometer in an IMU according to claim 2 or 3, further comprising:
and adjusting the actual output of the accelerometer according to the adjusted calibration parameters of the accelerometer.
7. The method of claim 6, wherein the adjusting the actual output of the accelerometer according to the adjusted calibration parameter of the accelerometer comprises:
according to the scale coefficient k corresponding to the acceleration regionupAnd zero axis offset of the accelerometer adjusts the actual output of the accelerometer in the acceleration region, wherein a't_up＝kup*at_up-b0A is the above at_upThe acceleration value actually output by the accelerometer at different time in the acceleration region range, b0Is zero axis bias of the accelerometer, said a't_upOutputting the adjusted acceleration value of the accelerometer in the acceleration region range at different time;
according to the scale coefficient k corresponding to the deceleration areadownAnd zero axis deviation of the accelerometer adjusts the actual output of the accelerometer in the deceleration zone, wherein a't_down＝kdown*at_down-b0A is the above at_downIs the actual output acceleration value of the accelerometer at different time within the range of the deceleration area, a't_downAnd outputting the adjusted acceleration value of the accelerometer in the range of the deceleration area at different time.
8. The method of claim 7, wherein the accelerometer is calibrated by a method comprising the step of calibrating the accelerometer to the IMUZero axis deviation b of0Is that the reference line a ═ a0A distance between 0 and a zero axis a of the two-dimensional coordinate system, and the zero axis deviation b0Is equal to a0。
9. A calibration device for an accelerometer in an IMU (inertial measurement Unit), comprising:
the setting unit is used for setting a datum line of the accelerometer;
an acquiring unit, configured to acquire an acceleration region area S located above the reference line in a process of completing one acceleration and deceleration of the accelerometer by using the reference line as a referenceupAnd a deceleration zone area S located below the reference linedown；
An adjusting unit for adjusting the acceleration region according to the area S of the acceleration regionupAnd the area S of the deceleration zonedownThe calibration parameters of the accelerometer are adjusted, and the calibration parameters comprise scale coefficients k corresponding to the acceleration regionupAnd a scale factor k corresponding to the deceleration zonedown。
10. The device for calibrating the accelerometer in the IMU is characterized by comprising a processor, a memory and a communication bus; wherein the memory is used for storing execution instructions, the processor is connected with the memory through the communication bus, and the processor calls the execution instructions stored by the memory for executing the method according to any one of claims 1-8.
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