CN115687881B - Error compensation measuring and calculating method for optimizing accuracy of ranging sensor and application thereof - Google Patents
Error compensation measuring and calculating method for optimizing accuracy of ranging sensor and application thereof Download PDFInfo
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Abstract
The application provides an error compensation measuring and calculating method for optimizing the precision of a ranging sensor and application thereof, and the method comprises the following steps: s00, acquiring initial data of the optical sensor; s10, selecting data of the time with the nearest received light intensity in adjacent channels; s20, taking a point with equal optical signal intensity, and taking the difference between the distance values of the two channels of light sources corresponding to the point to obtain the compensation coefficient value difference of the two channels; the trend is the same, data of a gentle section at the high event number are taken, the average value is taken according to the distance value of the light source in the data, and then the average value is taken as the difference to obtain the compensation coefficient value difference of the two channels; s30, circulating the steps S10 to S20 until compensation coefficient value differences among all channels are obtained through calculation; and S40, compensating the initial data of the light sensor according to the compensation coefficient value differences among all channels. The method and the device can eliminate the interference of the light source signal intensity difference, and rapidly and stably calculate the compensation coefficient of the signal receiving difference between the sensor channels.
Description
Technical Field
The application relates to the field of electrical data processing, in particular to an error compensation measuring and calculating method for optimizing the accuracy of a ranging sensor and application thereof.
Background
Time of Flight (ToF) technology is a 3D imaging technology that emits probe light from a transmitter and reflects the probe light back to a receiver through a target object, thereby enabling acquisition of the spatial distance of the object to the sensor from the propagation Time of the probe light in this propagation path.
As applied in projectors, the algorithmic processing unit of the present sensor is off-chip, employing a separate MCU for algorithmic processing of the sensor data. In the prior art, a plurality of channels (e.g., M channels of N data in fig. 1) of data (total m×n) are all output to an algorithm processing unit, and in order to compensate for the difference of data distance, a set of compensation coefficients is first set to compensate for the X value (the distance corresponding to each channel, e.g., X 0 、X 1 、...、X m-1 ) Error in multi-channel data fusion, substituting D coefficient into channel data fusion to represent light source distance, and finally solving D regression to obtain inter-channel difference D 0 、D 1 、D 2 、...、D m-1 . However, the D coefficient calculated in this way is greatly affected by the signal strength difference between channels, resulting in an undesirable final compensation effect and a larger overall error.
Therefore, there is a need for an error compensation measuring and calculating method for rapidly and stably calculating the signal receiving difference between the sensor channels by eliminating the interference of the light source signal intensity difference and the application thereof.
Disclosure of Invention
The embodiment of the application provides an error compensation measuring and calculating method for optimizing the accuracy of a ranging sensor and application thereof, and aims at solving the problem that the prior art is greatly influenced by the signal intensity difference between channels.
The core technology of the invention mainly selects the data with the same light source signal intensity to perform D value calculation, and D regression solution is not needed to be performed on all the data.
In a first aspect, the present application provides an error compensation measurement method for ranging sensor accuracy optimization, the method comprising the steps of:
s00, acquiring initial data of the optical sensor;
the initial data comprises the light source distance corresponding to each channel and the light signal intensity corresponding to each channel;
s10, selecting data of the time with the nearest received light intensity in adjacent channels;
s20, taking a point with equal optical signal intensity for the situation that the trend of the optical signal intensities of adjacent channels is different, and taking the difference between the distance values of the two channels of light sources corresponding to the point to obtain the compensation coefficient value difference of the two channels;
for the condition that the trend of the optical signal intensity of the adjacent channels is the same, taking the data of the gentle section at the high event number, taking the average value by the distance value of the light source in the data, and taking the average value as the difference to obtain the compensation coefficient value difference of the two channels;
s30, circulating the steps S10 to S20 until compensation coefficient value differences among all channels are obtained through calculation;
and S40, compensating the initial data of the light sensor according to the compensation coefficient value differences among all channels.
Further, in step S00, the initial data is plotted on the abscissa with the distance between the light sources and the ordinate with the intensity of the light signal, so as to establish a graph of the light intensity of each channel.
Further, in step S10, the data of the time when the received light intensity is the closest is the data when the light spot moves to the junction of the two channels.
Further, in step S20, the trend is different, and the light intensity signal values of the two channels change in opposite directions; the trend is the same for the light intensity signal values of the two channels to change in the same direction.
Further, in step S20, the point with the highest optical signal intensity among the plurality of points with equal optical signal intensities is taken.
Further, in step S20, the data of the flat segment at the high event number is taken as the flat segment with the highest optical signal intensity in all the flat segments.
In a second aspect, the present application provides an error compensation measurement device for ranging sensor accuracy optimization, comprising:
the input module is used for acquiring initial data of the optical sensor; the initial data comprises the light source distance corresponding to each channel and the light signal intensity corresponding to each channel;
the selecting module is used for selecting data of the time when the received light intensities are the closest in the adjacent channels;
the calculation module is used for taking the point with equal optical signal intensity for the situation that the trend of the optical signal intensity of the adjacent channels is different, and taking the difference between the distance values of the two channels of light sources corresponding to the point to obtain the compensation coefficient value difference of the two channels; for the condition that the trend of the optical signal intensity of the adjacent channels is the same, taking the data of the gentle section at the high event number, taking the average value by the distance value of the light source in the data, and taking the average value as the difference to obtain the compensation coefficient value difference of the two channels; the calculation process is circulated until compensation coefficient value differences among all channels are obtained through calculation;
and the compensation module is used for compensating the initial data of the light sensor according to the compensation coefficient value differences among all the channels.
In a third aspect, the present application provides an electronic device comprising a memory in which a computer program is stored and a processor arranged to run the computer program to perform the above described error compensation measurement method for range sensor accuracy optimization.
In a fourth aspect, the present application provides a readable storage medium having stored therein a computer program comprising program code for controlling a process to perform a process comprising an error compensation measurement method for ranging sensor accuracy optimization according to the above.
The main contributions and innovation points of the invention are as follows: 1. compared with the prior art, the compensation coefficient to be calculated in the application is the physical error among channels of the sensor, and the light signal intensity is the error of uneven light intensity distribution of different channels of the light source in the moving process during the test, and is irrelevant to the sensor, so that the compensation coefficient is necessarily eliminated. Therefore, in the step S20 of the present application, the data with the same light source signal intensity (i.e. the same P value) is selected to perform the compensation coefficient D value calculation, and in the existing scheme, it is necessary to perform determinant re-regression on all the data (including the data with large P value difference) to obtain D, so that the interference of the light source signal intensity difference can be eliminated according to the present application, and the data is more accurate;
2. compared with the prior art, the method and the device have the advantages that the data specific gravity of each channel is not required to be acquired in the initial stage, the D coefficient is not required to be substituted into the channel data fusion to represent the light source distance to perform determinant, the D regression is not required to be solved, the difficulty in the calculation process is obviously reduced, and therefore the signal receiving difference among the channels of the sensor is calculated quickly and stably.
The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the other features, objects, and advantages of the application.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
FIG. 1 is a schematic diagram of a prior art channel;
FIG. 2 is a flow chart of an error compensation measurement method for ranging sensor accuracy optimization according to an embodiment of the present application;
FIG. 3 is a schematic diagram of adjacent channel trends being different;
FIG. 4 is a schematic diagram of adjacent channels with the same trend;
FIG. 5 is an example of 4-channel data for an embodiment of the present application;
fig. 6 is a schematic diagram of a hardware structure of an electronic device according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with one or more embodiments of the present specification. Rather, they are merely examples of apparatus and methods consistent with aspects of one or more embodiments of the present description as detailed in the accompanying claims.
It should be noted that: in other embodiments, the steps of the corresponding method are not necessarily performed in the order shown and described in this specification. In some other embodiments, the method may include more or fewer steps than described in this specification. Furthermore, individual steps described in this specification, in other embodiments, may be described as being split into multiple steps; while various steps described in this specification may be combined into a single step in other embodiments.
As shown in fig. 1, the conventional scheme is to output all data (total m×n) of multiple channels (e.g., M channels of N data, channel number of 8, 7 valid data per channel) to the algorithm processing unit. In data acquisition of m channels of the light sensor:
X 0 、X 1 、...、X m-1 the distance corresponding to each channel;
P 0 、P 1 、...、P m-1 the intensity of the optical signal corresponding to each channel;
A 0 、A 1 、...、A m-1 specific gravity is data for each channel.
To compensate for the differences in data distance between channels, a set of compensation coefficients D is assumed 0 、D 1 、D 2 、...、D m-1 For compensating errors in the multi-channel data fusion of the X values.
Substituting the D coefficient into the channel data to fuse and represent the distance of the light source, wherein the following formula is adopted:
A 00 (X 00 -D 0 )+A 00 (X 00 -D 1 )+...+A 0m (X 0m -D m )＝Z 0
A 10 (X 10 -D 0 )+A 10 (X 10 -D 1 )+...+A 1m (X 1m -D m )＝Z 1
......
A n0 (X n0 -D 0 )+A n0 (X n0 -D 1 )+...+A nm (X nm -D m )＝Z n
wherein Z is i As distance value, X ij Is the distance corresponding to the i-th set of data j channels.
Solving D regression:
diagnal(AX T )-AD＝Z
AD＝diagnal(AX T )-Z
A T AD＝A T B-A T Z,A T a is not singular
D＝(A T A) -1 (A T B-A T Z)
This result is the inter-channel difference D 0 、D 1 、D 2 、...、D m-1 。
Obviously, in the prior art, when calculating the D value, column-type re-regression is required to be carried out on all data (including data with large P value (optical signal intensity) difference) to obtain the D, so that the influence of the signal intensity difference among channels is extremely large.
Based on the above, the present method performs D value calculation based on the data with the same signal intensity (i.e., the same P value) of the selected light source to eliminate the interference of the difference in signal intensity of the light source.
Example 1
The application aims to provide an error compensation measuring and calculating method for optimizing the accuracy of a ranging sensor, which is used for eliminating the interference of the signal intensity difference of a light source and rapidly and stably calculating the signal receiving difference between sensor channels. Specifically, referring to fig. 1, the method comprises the steps of:
s00, acquiring initial data of the optical sensor;
the initial data comprises the light source distance corresponding to each channel and the light signal intensity corresponding to each channel;
i.e. in the data acquisition of the m channels of the light sensor,
X 0 、X 1 、...、X m-1 the distance corresponding to each channel;
P 0 、P 1 、...、P m-1 the intensity of the optical signal corresponding to each channel;
to compensate for the differences in data distance between channels, a set of compensation coefficients D is assumed 0 、D 1 、D 2 、...、D m-1 。
In this embodiment, the initial data is plotted on the abscissa with the light source distance and the light signal intensity on the ordinate, and a light intensity curve of each channel is established, as shown in fig. 3 and 4, as a light intensity curve of two adjacent channels.
S10, selecting data of the time with the nearest received light intensity in adjacent channels;
in this embodiment, the data of the time of receiving the light intensity closest to each other is the data when the light spot moves to the junction of the two channels. In order to eliminate interference of signal intensity differences, the method selects data at the moment when adjacent channels receive light intensity is the closest, namely data when the light spot moves to the junction of the two channels, and at the moment, the P values of the two channels are equivalent and the P value is higher. The two-channel P-value data at the same time when the light intensity is similar are shown in two cases (the horizontal axis of the image is the distance between the light sources, and the vertical axis is the light intensity) in figures 3-4.
S20, taking the point with equal optical signal intensity (the point with highest optical signal intensity in the points with equal optical signal intensity) under the condition that the trend of the optical signal intensity of the adjacent channels is different (the change directions of the optical intensity signal values of the two channels are opposite), and taking the difference of the distance values of the two channels of light sources corresponding to the point to obtain the compensation coefficient value difference of the two channels;
in the present embodiment, the point of equal P value (point of higher P value when multiple points are equal) is marked as X by the two X-channel values corresponding to the distance a And X b D is then a -D b ＝X a -X b ；
For the condition that the trend of the light signal intensity of the adjacent channels is the same (the change directions of the light intensity signal values of the two channels are the same), taking the data of the gentle segment at the high event number (the gentle segment with the highest light signal intensity in all the gentle segments), taking an average value by the light source distance value in the data, and taking the average value as the difference to obtain the compensation coefficient value difference of the two channels;
in this embodiment, the data of the flat segment at the high event number is taken, and the average value X is taken by the two-channel X value of the whole segment amean And X bmean， The average value of X of the two channels is differenced to obtain the D value difference D of the two channels a -D b ＝X amean -X bmean ；
S30, circulating the steps S10 to S20 until compensation coefficient value differences among all channels are obtained through calculation;
in this embodiment, with a channel as a base point, there are:
where n=1, 2,..m (number of channels); j is the number of channels between n and x channels +1; d, d i D is the D value of the ith channel from the x channel to the n channel 0 ＝D x 、d j ＝D n ，d i And d i -1 is the D value of two adjacent channels.
To obtain the difference between the relative channels which is convenient to calculate, let D x ＝0,
And S40, compensating the initial data of the light sensor according to the compensation coefficient value differences among all channels.
Therefore, the method and the device are suitable for the analysis of differences among the light sensor channels in any channel number and any arrangement mode.
In practical operation, as shown by the 4-channel data in fig. 5, it is assumed that the light intensity data between two channels is the trend profile in fig. 3.
The method comprises the following steps:
a. b and c respectively correspond to 3 irradiation positions (corresponding positions of the irradiation center of the light source on the channel chart) with the maximum and equal P value;
corresponding X a1 、X a0 … … is the peak value of the channel corresponding to the corresponding distance point;
corresponding D 0 、D 1 、D 2 、D 3 Is the difference in peak position values for the corresponding channels.
Taking a 0 channel as a base point, letting D 0 =0, then there is:
D 0 ＝0
D 1 ＝X a1 -X a0
D 2 ＝X b2 -X b1 +X a1 -X a0
D 3 ＝X c3 -X c2 +X b2 -X b1 +X a1 -X a0
the D value difference between all adjacent channels can be calculated rapidly, so that compensation can be performed.
Example two
Based on the same conception, the application also provides an error compensation measuring and calculating device for optimizing the accuracy of a ranging sensor, which comprises the following components:
the input module is used for acquiring initial data of the optical sensor; the initial data comprises the light source distance corresponding to each channel and the light signal intensity corresponding to each channel;
the selecting module is used for selecting data of the time when the received light intensities are the closest in the adjacent channels;
the calculation module is used for taking the point with equal optical signal intensity for the situation that the trend of the optical signal intensity of the adjacent channels is different, and taking the difference between the distance values of the two channels of light sources corresponding to the point to obtain the compensation coefficient value difference of the two channels; for the condition that the trend of the optical signal intensity of the adjacent channels is the same, taking the data of the gentle section at the high event number, taking the average value by the distance value of the light source in the data, and taking the average value as the difference to obtain the compensation coefficient value difference of the two channels; the calculation process is circulated until compensation coefficient value differences among all channels are obtained through calculation;
and the compensation module is used for compensating the initial data of the light sensor according to the compensation coefficient value differences among all the channels.
Example III
This embodiment also provides an electronic device, referring to fig. 6, comprising a memory 404 and a processor 402, the memory 404 having stored therein a computer program, the processor 402 being arranged to run the computer program to perform the steps of any of the method embodiments described above.
In particular, the processor 402 may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or may be configured to implement one or more integrated circuits of embodiments of the present application.
The memory 404 may include, among other things, mass storage 404 for data or instructions. By way of example, and not limitation, memory 404 may comprise a Hard Disk Drive (HDD), floppy disk drive, solid State Drive (SSD), flash memory, optical disk, magneto-optical disk, tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Memory 404 may include removable or non-removable (or fixed) media, where appropriate. Memory 404 may be internal or external to the data processing apparatus, where appropriate. In a particular embodiment, the memory 404 is a Non-Volatile (Non-Volatile) memory. In particular embodiments, memory 404 includes Read-only memory (ROM) and Random Access Memory (RAM). Where appropriate, the ROM may be a mask-programmed ROM, a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), an electrically rewritable ROM (EAROM) or FLASH memory (FLASH) or a combination of two or more of these. The RAM may be Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM) where appropriate, and the DRAM may be fast page mode dynamic random access memory 404 (FPMDRAM), extended Data Output Dynamic Random Access Memory (EDODRAM), synchronous Dynamic Random Access Memory (SDRAM), or the like.
Optionally, the electronic apparatus may further include a transmission device 406 and an input/output device 408, where the transmission device 406 is connected to the processor 402 and the input/output device 408 is connected to the processor 402.
The transmission device 406 may be used to receive or transmit data via a network. Specific examples of the network described above may include a wired or wireless network provided by a communication provider of the electronic device. In one example, the transmission device includes a network adapter (Network Interface Controller, simply referred to as NIC) that can connect to other network devices through the base station to communicate with the internet. In one example, the transmission device 406 may be a Radio Frequency (RF) module, which is configured to communicate with the internet wirelessly.
The input-output device 408 is used to input or output information. In this embodiment, the input information may be initial data or the like, and the output information may be a D value or the like.
Example IV
The present embodiment also provides a readable storage medium having stored therein a computer program including program code for controlling a process to execute the process including the error compensation measurement method for ranging sensor accuracy optimization according to the first embodiment.
It should be noted that, specific examples in this embodiment may refer to examples described in the foregoing embodiments and alternative implementations, and this embodiment is not repeated herein.
In general, the various embodiments may be implemented in hardware or special purpose circuits, software, logic or any combination thereof. Some aspects of the invention may be implemented in hardware, while other aspects may be implemented in firmware or software which may be executed by a controller, microprocessor or other computing device, although the invention is not limited thereto. While various aspects of the invention may be illustrated and described as block diagrams, flow charts, or using some other pictorial representation, it is well understood that these blocks, apparatus, systems, techniques or methods described herein may be implemented in, as non-limiting examples, hardware, software, firmware, special purpose circuits or logic, general purpose hardware or controller or other computing devices, or some combination thereof.
Embodiments of the invention may be implemented by computer software executable by a data processor of a mobile device, such as in a processor entity, or by hardware, or by a combination of software and hardware. Computer software or programs (also referred to as program products) including software routines, applets, and/or macros can be stored in any apparatus-readable data storage medium and they include program instructions for performing particular tasks. The computer program product may include one or more computer-executable components configured to perform embodiments when the program is run. The one or more computer-executable components may be at least one software code or a portion thereof. In addition, in this regard, it should be noted that any blocks of the logic flows as illustrated may represent program steps, or interconnected logic circuits, blocks and functions, or a combination of program steps and logic circuits, blocks and functions. The software may be stored on a physical medium such as a memory chip or memory block implemented within a processor, a magnetic medium such as a hard disk or floppy disk, and an optical medium such as, for example, a DVD and its data variants, a CD, etc. The physical medium is a non-transitory medium.
It should be understood by those skilled in the art that the technical features of the above embodiments may be combined in any manner, and for brevity, all of the possible combinations of the technical features of the above embodiments are not described, however, they should be considered as being within the scope of the description provided herein, as long as there is no contradiction between the combinations of the technical features.
The foregoing examples merely represent several embodiments of the present application, the description of which is more specific and detailed and which should not be construed as limiting the scope of the present application in any way. It should be noted that variations and modifications can be made by those skilled in the art without departing from the spirit of the present application, which falls within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.
Claims (7)
1. The error compensation measuring and calculating method for optimizing the accuracy of the ranging sensor is characterized by comprising the following steps of:
s00, acquiring initial data of the optical sensor;
the initial data comprises the light source distance corresponding to each channel and the light signal intensity corresponding to each channel;
s10, selecting data of the time with the nearest received light intensity in adjacent channels;
s20, taking a point with equal optical signal intensity for the situation that the trend of the optical signal intensities of adjacent channels is different, and taking the difference between the distance values of the two channels of light sources corresponding to the point to obtain the compensation coefficient value difference of the two channels;
for the condition that the trend of the optical signal intensity of the adjacent channels is the same, taking the data of the gentle section at the high event number, taking the average value by the distance value of the light source in the data, and taking the average value as the difference to obtain the compensation coefficient value difference of the two channels;
s30, circulating the steps S10-S20 until compensation coefficient value differences among all channels are obtained through calculation;
s40, compensating initial data of the optical sensor according to compensation coefficient value differences among all channels;
wherein, the trend is different, namely the change directions of the light intensity signal values of the two channels are opposite; the trend is the same, namely the change directions of the light intensity signal values of the two channels are the same; and taking the data of the flat sections at the high event number as the flat section with the highest optical signal intensity in all the flat sections.
2. The error compensation measurement method for optimizing accuracy of a ranging sensor of claim 1, wherein in step S00, a graph of light intensity for each channel is established using the initial data with light source distance as an abscissa and light signal intensity as an ordinate.
3. The method for error compensation measurement and calculation for ranging sensor accuracy optimization of claim 1, wherein in step S10, the data of the time of closest received light intensity is the data of the spot moving to the junction of two channels.
4. The method for measuring and calculating error for optimizing accuracy of a distance measuring sensor according to claim 1, wherein in step S20, a point having the highest optical signal intensity among a plurality of points having equal optical signal intensities is taken.
5. Error compensation measuring and calculating device for optimizing the accuracy of a distance measuring sensor, which is characterized by comprising:
the input module is used for acquiring initial data of the optical sensor; the initial data comprises the light source distance corresponding to each channel and the light signal intensity corresponding to each channel;
the selecting module is used for selecting data of the time when the received light intensities are the closest in the adjacent channels;
the calculation module is used for taking the point with equal optical signal intensity for the situation that the trend of the optical signal intensity of the adjacent channels is different, and taking the difference between the distance values of the two channels of light sources corresponding to the point to obtain the compensation coefficient value difference of the two channels; for the condition that the trend of the optical signal intensity of the adjacent channels is the same, taking the data of the gentle section at the high event number, taking the average value by the distance value of the light source in the data, and taking the average value as the difference to obtain the compensation coefficient value difference of the two channels; circularly selecting data of the closest time of the received light intensity in the adjacent channels and the situation that the trend of the light signal intensity of the adjacent channels is different, taking a point with equal light signal intensity, and taking the difference between the distance values of the two channels of light sources corresponding to the point to obtain the compensation coefficient value difference of the two channels; taking data of a gentle section at a high event number under the condition that the trend of the optical signal intensity of the adjacent channels is the same, taking an average value by using a light source distance value in the data, and taking the average value as a difference to obtain compensation coefficient value differences of the two channels until the compensation coefficient value differences among all the channels are obtained by calculation;
wherein, the trend is different, namely the change directions of the light intensity signal values of the two channels are opposite; the trend is the same, namely the change directions of the light intensity signal values of the two channels are the same; taking the data of the gentle segment at the high event number as the gentle segment with the highest optical signal intensity in all the gentle segments;
and the compensation module is used for compensating the initial data of the light sensor according to the compensation coefficient value differences among all the channels.
6. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to run the computer program to perform the error compensation measurement method for range sensor accuracy optimization of any of claims 1 to 4.
7. A readable storage medium, characterized in that the readable storage medium has stored therein a computer program comprising program code for controlling a process to execute a process comprising the error compensation measurement method for ranging sensor accuracy optimization according to any one of claims 1 to 4.
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