CN108828470B - Calibration method and device for magnetometer sensor - Google Patents
Calibration method and device for magnetometer sensor Download PDFInfo
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- CN108828470B CN108828470B CN201810236336.6A CN201810236336A CN108828470B CN 108828470 B CN108828470 B CN 108828470B CN 201810236336 A CN201810236336 A CN 201810236336A CN 108828470 B CN108828470 B CN 108828470B
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Abstract
The invention provides a calibration method and a device of a magnetometer sensor, wherein the method comprises the following steps: the magnetic field intensity in the movement space of the product to be calibrated is adjusted through a Helmholtz coil, so that the magnetic field in the movement space is relatively stable and uniform; fixing a product to be calibrated, and rotating the product to be calibrated for 360 degrees along the X axis, the Y axis or the Z axis of a motion space according to a preset rotation ratio while rotating the product to be calibrated for one turn along the vertical plane direction of the motion space for 360 degrees so as to respectively obtain calibration data distributed on the X axis, the Y axis and the Z axis of the motion space; and determining the calibration value of the magnetometer sensor of the product to be calibrated according to the acquired calibration data. The invention can dynamically calibrate the magnetometer sensors, is not influenced by the difference of the magnetic field environment of a factory, can meet the requirement of simultaneous operation of multiple devices, and is suitable for calibrating and detecting the magnetometer sensors in large batch.
Description
Technical Field
The present invention relates to the field of magnetometer calibration technologies, and in particular, to a method and an apparatus for calibrating a magnetometer sensor.
Background
The three-axis magnetic sensor is widely applied to electronic products such as 3-degree-of-freedom and 6-degree-of-freedom game handles and head-wearing products and is used for obtaining the motion direction of a user. Under the ideal condition, the space surface of the triaxial magnetic field is a regular sphere, but the magnetometer sensor can cause the reading deviation of the magnetometer sensor due to various reasons, so that the magnetic field is deviated more, the reading of the magnetometer sensor is limited in an effective measurement range in a calibration mode, the measured scale deviation is calculated, the reading is in accordance with the output of the magnetic field direction and strength, and the stability and the accuracy of the overall output data of the magnetometer sensor are improved.
The calibration of magnetometer sensor has higher requirement to environmental magnetic field intensity, and the environmental magnetic field intensity during its calibration is generally equivalent to the intensity of geomagnetic field, but because the environment in the factory building is complicated, equipment produces the interference each other on every side to cause the magnetic field intensity in each region to differ, this brings very big degree of difficulty to the integrality and the accuracy of magnetometer sensor calibration, and putting of many especially equipment causes certain puzzlement to producing line overall arrangement and product circulation.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a method and an apparatus for calibrating a magnetometer sensor, so as to solve the problem of inaccurate calibration of the magnetometer sensor caused by environmental differences.
The invention provides a calibration method of a magnetometer sensor, which comprises the following steps:
the magnetic field intensity in the movement space of the product to be calibrated is adjusted through a Helmholtz coil, so that the magnetic field in the movement space is relatively stable and uniform; fixing a product to be calibrated, and rotating the product to be calibrated for 360 degrees along the X axis, the Y axis or the Z axis of a motion space according to a preset rotation ratio while rotating the product to be calibrated for one turn along the vertical plane direction of the motion space for 360 degrees so as to respectively obtain calibration data distributed on the X axis, the Y axis and the Z axis of the motion space; the preset rotation ratio is the ratio of the speed of the product to be calibrated rotating 360 degrees along the vertical plane direction of the motion space to the speed of the magnetometer sensor of the product to be calibrated rotating 360 degrees along the X axis, the Y axis or the Z axis of the motion space; and determining the calibration value of the magnetometer sensor of the product to be calibrated according to the acquired calibration data.
Further, a preferred embodiment is: and a program-controlled power supply is adopted to provide current for the Helmholtz coil so as to adjust the magnetic field intensity in the motion space of the product to be calibrated.
Further, a preferred embodiment is: fixing the product to be calibrated by using a fixing device, and rotating the magnetometer sensor of the product to be calibrated by 90 degrees by using the fixing device.
Further, a preferred embodiment is: rotating the product to be calibrated by 90 degrees relative to the X axis of the motion space before the magnetometer sensor of the product to be calibrated rotates by 360 degrees along the Y axis of the motion space according to a preset rotation ratio; the product to be calibrated is rotated 90 degrees with respect to the Y axis of the motion space before its magnetometer sensors rotate 360 degrees along the Z axis of the motion space according to a preset rotation ratio.
Further, a preferred embodiment is: the product to be calibrated and the magnetometer sensor of the product to be calibrated rotate 360 degrees in a mode that the electric control driving module drives the integral rotating device; wherein, set up fixing device in whole rotary device to when waiting to calibrate the product and carry out 360 degrees rotations circles along the vertical face direction in motion space, the magnetometer sensor of waiting to calibrate the product can carry out 360 degrees rotations along the X axle in motion space, Y axle or Z axle.
Further, a preferred embodiment is: in the process of obtaining the calibration value of the magnetometer sensor of the product to be calibrated according to the obtained calibration data, respectively obtaining the maximum value and the minimum value of the calibration data distributed on the X axis, the Y axis and the Z axis of the motion space, and obtaining the calibration value of the magnetometer sensor of the product to be calibrated according to the maximum value and the minimum value.
In another aspect, the present invention provides a calibration apparatus for a magnetometer sensor, which is calibrated by using the calibration method for a magnetometer sensor described above, and includes a fixing device, an integral rotating device, a helmholtz coil, and a controller; the Helmholtz coils are arranged on two sides of the integral rotating device and used for adjusting the magnetic field intensity in the movement space of the product to be calibrated so that the magnetic field in the movement space is relatively stable and uniform; the product to be calibrated is fixed on the fixing device, the fixing device is arranged in the integral rotating device, so that the product to be calibrated rotates for a circle 360 degrees along the vertical surface direction of the motion space, and simultaneously, the magnetometer sensor of the product to be calibrated rotates for 360 degrees along the X axis, the Y axis or the Z axis of the motion space according to a preset rotation ratio, so as to respectively obtain calibration data distributed on the X axis, the Y axis and the Z axis of the motion space and transmit the calibration data to the controller; the controller determines the calibration value of the magnetometer sensor of the product to be calibrated according to the acquired calibration data.
By utilizing the method and the device for calibrating the magnetometer sensor, the magnetic field intensity in the motion space of the product to be calibrated is adjusted through the Helmholtz coil, the product to be calibrated is fixed after the magnetic field in the motion space is relatively stable and uniform, and then the magnetometer sensor of the product to be calibrated rotates 360 degrees along the X axis, the Y axis or the Z axis of the motion space according to a preset rotation ratio while the product to be calibrated rotates 360 degrees along the vertical plane direction of the motion space, so that calibration data distributed on the X axis, the Y axis and the Z axis of the motion space are respectively acquired; and then determining the calibration value of the magnetometer sensor of the product to be calibrated according to the acquired calibration data. The invention can dynamically calibrate the magnetometer sensors, is not influenced by the difference of the magnetic field environment of a factory, can meet the requirement of simultaneous operation of multiple devices, and is suitable for calibrating and detecting the magnetometer sensors in large batch.
To the accomplishment of the foregoing and related ends, one or more aspects of the invention comprise the features hereinafter fully described. The following description and the annexed drawings set forth in detail certain illustrative aspects of the invention. These aspects are indicative, however, of but a few of the various ways in which the principles of the invention may be employed. Further, the present invention is intended to include all such aspects and their equivalents.
Drawings
Other objects and results of the present invention will become more apparent and more readily appreciated by reference to the following description taken in conjunction with the accompanying drawings, and as the invention is more fully understood. In the drawings:
FIG. 1 is a flow chart of a method of calibrating a magnetometer sensor according to an embodiment of the invention;
fig. 2 is a block diagram of a logic structure of a calibration apparatus for a magnetometer sensor according to an embodiment of the present invention.
The same reference numbers in all figures indicate similar or corresponding features or functions.
Detailed Description
Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Aiming at the problem that the calibration of the magnetometer sensor is inaccurate due to environmental differences at present, the magnetic field intensity in the motion space of a product to be calibrated is adjusted through a Helmholtz coil, the product to be calibrated is fixed after the magnetic field in the motion space is relatively stable and uniform, and then the magnetometer sensor of the product to be calibrated rotates 360 degrees along the X axis, the Y axis or the Z axis of the motion space according to a preset rotation ratio while the product to be calibrated rotates 360 degrees along the vertical plane direction of the motion space, so that calibration data distributed on the X axis, the Y axis and the Z axis of the motion space are respectively obtained; and then determining the calibration value of the magnetometer sensor of the product to be calibrated according to the acquired calibration data. The invention can dynamically calibrate the magnetometer sensors, is not influenced by the difference of the magnetic field environment of a factory, can meet the requirement of simultaneous operation of multiple devices, and is suitable for calibrating and detecting the magnetometer sensors in large batch.
To illustrate the calibration method of the magnetometer sensor provided by the present invention, fig. 1 shows a flow of the calibration method of the magnetometer sensor according to the embodiment of the present invention.
As shown in fig. 1, the calibration method of the magnetometer sensor provided by the present invention includes:
s110: the magnetic field intensity in the movement space of the product to be calibrated is adjusted through the Helmholtz coil, so that the magnetic field in the movement space is relatively stable and uniform.
Because the complicated environment in the production plant easily causes the magnetic field intensity of each area to be different, thereby causing the inaccurate problem of the calibration of the magnetometer sensor, in the invention, the Helmholtz coil is provided with stable current by adopting the program control power supply so as to adjust the magnetic field intensity in the movement space of the product to be calibrated. It should be noted that the current provided by the programmable power supply is between 0A and 2.5A, but because the magnetic field intensity of each area in the production plant is different, the current provided by the programmable power supply for the helmholtz coil has no fixed standard, as long as the magnetic field intensity in the movement space of the product to be calibrated can be in a stable and uniform state.
S120: fixing a product to be calibrated, and rotating the product to be calibrated for 360 degrees along the X axis, the Y axis or the Z axis of a motion space according to a preset rotation ratio while rotating the product to be calibrated for one turn along the vertical plane direction of the motion space for 360 degrees so as to respectively obtain calibration data distributed on the X axis, the Y axis and the Z axis of the motion space; the preset rotation ratio is the ratio of the speed of the product to be calibrated rotating 360 degrees along the vertical plane direction of the motion space to the speed of the magnetometer sensor of the product to be calibrated rotating 360 degrees along the X axis, the Y axis or the Z axis of the motion space.
The product to be calibrated is fixed by the fixing device, and the magnetometer sensor of the product to be calibrated rotates by 90 degrees through the fixing device. Rotating the product to be calibrated by 90 degrees relative to the X axis of the motion space before the magnetometer sensor of the product to be calibrated rotates by 360 degrees along the Y axis of the motion space according to a preset rotation ratio; the product to be calibrated is rotated 90 degrees with respect to the Y axis of the motion space before its magnetometer sensors rotate 360 degrees along the Z axis of the motion space according to a preset rotation ratio. The product to be calibrated and the magnetometer sensor of the product to be calibrated rotate 360 degrees in a mode that the electric control driving module drives the integral rotating device; wherein, set up fixing device in whole rotary device to when waiting to calibrate the product and carry out 360 degrees rotations circles along the vertical face direction in motion space, the magnetometer sensor of waiting to calibrate the product can carry out 360 degrees rotations along the X axle in motion space, Y axle or Z axle.
That is, while the product to be calibrated rotates 360 degrees in the vertical plane direction of the motion space for one turn, the magnetometer sensor of the product to be calibrated rotates 360 degrees along the X axis of the motion space according to the preset rotation ratio to obtain calibration data distributed on the X axis of the motion space; then, rotating the product to be calibrated by 90 degrees relative to the X axis of the motion space through a fixing device, then rotating the product to be calibrated by 360 degrees along the vertical plane direction of the motion space through an integral rotating device for one circle, and simultaneously rotating a magnetometer sensor of the product to be calibrated by 360 degrees along the Y axis of the motion space according to a preset rotation ratio so as to acquire calibration data distributed on the Y axis of the motion space; then the product to be calibrated is rotated 90 degrees relative to the Y axis of the motion space through the fixing device, then the product to be calibrated is rotated 360 degrees along the vertical surface direction of the motion space through the integral rotating device, and simultaneously, the magnetometer sensor of the product to be calibrated is rotated 360 degrees along the Z axis of the motion space according to the preset rotation ratio so as to acquire calibration data distributed on the Z axis of the motion space.
Wherein the preset rotation ratio may be typically 1: 18. 1: 24 or 1: 36, etc. Namely: for example, the preset rotation ratio is 1: when 18, the following points are: while the product to be calibrated makes a 360 degree rotation in the direction of the vertical plane of the movement space, the magnetometer sensor of the product to be calibrated makes a rotation of 18 turns along the X-axis of the movement space. Of course, the smaller the ratio of the preset rotation ratio, the more accurate the acquired calibration data, and in view of calibration efficiency, in the present invention, the preset rotation ratio is set to 1: when the calibration time is 18 hours, not only can an ideal calibration result be achieved, but also the requirement on calibration efficiency can be met.
S130: and determining the calibration value of the magnetometer sensor of the product to be calibrated according to the acquired calibration data.
In the process of obtaining the calibration value of the magnetometer sensor of the product to be calibrated according to the obtained calibration data, respectively obtaining the maximum value and the minimum value of the calibration data distributed on the X axis, the Y axis and the Z axis of the motion space, and obtaining the calibration value of the magnetometer sensor of the product to be calibrated according to the obtained maximum value and the obtained minimum value of the calibration data on each axis.
Specifically, the calibration value of the magnetometer sensor of the product to be calibrated can be calculated by the following formula:
MAGN_X_OFFSET((MAGN_X_MIN+MAGN_X_MAX)/2.0f)；
MAGN_Y_OFFSET((MAGN_Y_MIN+MAGN_Y_MAX)/2.0f)；
MAGN_Z_OFFSET((MAGN_Z_MIN+MAGN_Z_MAX)/2.0f)；
MAGN_X_SCALE(100.0f/(MAGN_X_MAX‐MAGN_X_OFFSET))；
MAGN_Y_SCALE(100.0f/(MAGN_Y_MAX‐MAGN_Y_OFFSET))；
MAGN_Z_SCALE(100.0f/(MAGN_Z_MAX‐MAGN_Z_OFFSET))；
wherein MAGN _ X _ MIN is a minimum value of calibration data distributed on an X-axis of the motion space, MAGN _ X _ MAX is a maximum value of calibration data distributed on the X-axis of the motion space, and MAGN _ X _ OFFSET is a central value of the X-axis of the motion space; MAGN _ Y _ MIN is the minimum value of the calibration data distributed on the Y axis of the motion space, MAGN _ Y _ MAX is the maximum value of the calibration data distributed on the Y axis of the motion space, MAGN _ Y _ OFFSET is the central value of the Y axis of the motion space; MAGN _ Z _ MIN is the minimum value of the calibration data distributed on the Z-axis of the motion space, MAGN _ Z _ MAX is the maximum value of the calibration data distributed on the Z-axis of the motion space, and MAGN _ Z _ OFFSET is the central value of the Z-axis of the motion space; MAGN _ X _ SCALE is the axial radius proportion of the X axis of the motion space; MAGN _ Y _ SCALE is the axial radius proportion of the Y axis of the motion space; MAGN _ Z _ SCALE is the axial radius proportion of the Z axis of the motion space; namely, the above MAGN _ X _ SCALE, MAGN _ Y _ SCALE and MAGN _ Z _ SCALE are calibration values of the magnetometer sensors of the product to be calibrated.
Corresponding to the method, the invention provides a calibration device of a magnetometer sensor, which is calibrated by using the calibration method of the magnetometer sensor; therein, fig. 2 shows a logical structure of a calibration arrangement of magnetometer sensors according to an embodiment of the invention.
As shown in fig. 2, the calibration device of the magnetometer sensor provided by the present invention comprises a fixing device 1, a whole rotating device 2, a helmholtz coil 3 and a controller 4; the Helmholtz coils are arranged on two sides of the integral rotating device and used for adjusting the magnetic field intensity in the movement space of the product to be calibrated so that the magnetic field in the movement space is relatively stable and uniform; the product to be calibrated is fixed on the fixing device, the fixing device is arranged in the integral rotating device, so that the product to be calibrated rotates for a circle 360 degrees along the vertical surface direction of the motion space, and simultaneously, the magnetometer sensor of the product to be calibrated rotates for 360 degrees along the X axis, the Y axis or the Z axis of the motion space according to a preset rotation ratio, so as to respectively obtain calibration data distributed on the X axis, the Y axis and the Z axis of the motion space and transmit the calibration data to the controller; the controller determines the calibration value of the magnetometer sensor of the product to be calibrated according to the acquired calibration data.
Further, the calibration device for magnetometer sensors provided by the present invention further comprises a programmable power supply 5, wherein the programmable power supply 5 is connected to the helmholtz coil 3, and is configured to provide current to the helmholtz coil to adjust the magnetic field strength in the movement space of the product to be calibrated.
In addition, the calibration device for the magnetometer sensor provided by the invention further comprises an electronic control driving module 6, wherein the electronic control driving module 6 is respectively connected with the integral rotating device 2 and the controller 4 and is used for driving the integral rotating device to rotate according to a control command sent by the controller, so that the magnetometer sensor of the product to be calibrated can rotate 360 degrees along the X axis, the Y axis or the Z axis of the motion space while the product to be calibrated rotates 360 degrees along the vertical plane direction of the motion space.
Before the magnetometer sensor of the product to be calibrated rotates 360 degrees along the Y axis of the motion space according to a preset rotation ratio, the product to be calibrated is rotated 90 degrees relative to the X axis of the motion space through a fixing device; the product to be calibrated is rotated by 90 degrees with respect to the Y axis of the movement space by means of the fixing means before the magnetometer sensors of the product to be calibrated perform a 360 degree rotation along the Z axis of the movement space according to a preset rotation ratio.
Therefore, the calibration method and device for the magnetometer sensors provided by the invention can solve the problem of inaccurate calibration of the magnetometer sensors caused by environmental differences at present, can meet the requirement of simultaneous operation of multiple devices, and are suitable for calibrating and detecting large-batch magnetometer sensors.
The method and apparatus for calibration of a magnetometer sensor according to the present invention is described above by way of example with reference to the accompanying drawings. However, it will be appreciated by those skilled in the art that various modifications may be made to the method and apparatus for calibrating a magnetometer sensor as set forth above without departing from the scope of the present invention. Therefore, the scope of the present invention should be determined by the contents of the appended claims.
Claims (10)
1. A method of calibrating a magnetometer sensor, comprising: adjusting the magnetic field intensity in the movement space of the product to be calibrated through a Helmholtz coil to ensure that the magnetic field in the movement space is relatively stable and uniform; characterized in that the calibration method of the magnetometer sensor further comprises:
fixing the product to be calibrated, and rotating the magnetometer sensor of the product to be calibrated for 360 degrees along the X axis, the Y axis or the Z axis of the motion space according to a preset rotation ratio while rotating the product to be calibrated for one turn for 360 degrees along the vertical plane direction of the motion space so as to respectively acquire calibration data distributed on the X axis, the Y axis and the Z axis of the motion space; wherein,
the preset rotation ratio is the ratio of the speed of the product to be calibrated rotating 360 degrees along the vertical plane direction of the motion space to the speed of the magnetometer sensor of the product to be calibrated rotating 360 degrees along the X axis, the Y axis or the Z axis of the motion space;
and determining the calibration value of the magnetometer sensor of the product to be calibrated according to the acquired calibration data.
2. The method of calibrating a magnetometer sensor according to claim 1 wherein,
and providing current for the Helmholtz coil by adopting a programmable power supply so as to adjust the magnetic field intensity in the motion space of the product to be calibrated.
3. The method of calibrating a magnetometer sensor according to claim 1 wherein,
and fixing the product to be calibrated by adopting a fixing device, and rotating the magnetometer sensor of the product to be calibrated by 90 degrees through the fixing device.
4. The method of calibrating a magnetometer sensor according to claim 3 wherein,
rotating the product to be calibrated by 90 degrees with respect to the X axis of the motion space before the magnetometer sensors of the product to be calibrated perform a 360 degree rotation along the Y axis of the motion space according to a preset rotation ratio;
rotating the product to be calibrated by 90 degrees with respect to the Y axis of the motion space before the magnetometer sensors of the product to be calibrated make a 360 degree rotation along the Z axis of the motion space according to a preset rotation ratio.
5. The method of calibrating a magnetometer sensor according to claim 3 wherein,
the product to be calibrated and the magnetometer sensor of the product to be calibrated rotate 360 degrees in a mode that an electric control driving module drives an integral rotating device; wherein,
and arranging the fixing device in the integral rotating device, so that when the product to be calibrated rotates for a circle 360 degrees along the vertical surface direction of the motion space, the magnetometer sensor of the product to be calibrated can rotate for 360 degrees along the X axis, the Y axis or the Z axis of the motion space.
6. Method for calibrating magnetometer sensors according to claim 1, wherein, during the acquisition of calibration values for the magnetometer sensors of the product to be calibrated according to the acquired calibration data,
respectively obtaining the maximum value and the minimum value of calibration data distributed on the X axis, the Y axis and the Z axis of the motion space, and obtaining the calibration value of the magnetometer sensor of the product to be calibrated according to the maximum value and the minimum value.
7. A calibration device for magnetometer sensors, which is calibrated by using the calibration method for magnetometer sensors according to any one of claims 1 to 6, wherein the calibration device comprises an integral rotating device and Helmholtz coils, and the Helmholtz coils are arranged on two sides of the integral rotating device and are used for adjusting the magnetic field intensity in the movement space of a product to be calibrated so that the magnetic field in the movement space is relatively stable and uniform; it is characterized in that the preparation method is characterized in that,
the calibration device further comprises a fixing device and a controller; wherein,
the product to be calibrated is fixed on the fixing device, the fixing device is arranged in the integral rotating device, so that when the product to be calibrated rotates for a circle 360 degrees along the vertical surface direction of the motion space, the magnetometer sensor of the product to be calibrated rotates for 360 degrees along the X axis, the Y axis or the Z axis of the motion space according to a preset rotation ratio, so as to respectively acquire calibration data distributed on the X axis, the Y axis and the Z axis of the motion space and transmit the calibration data to the controller;
the controller determines the calibration value of the magnetometer sensor of the product to be calibrated according to the acquired calibration data.
8. Calibration arrangement for magnetometer sensors according to claim 7, further comprising a programmable power supply connected to the Helmholtz coil for supplying current to the Helmholtz coil for adjusting the magnetic field strength in the space in which the product to be calibrated is moving.
9. The device for calibrating magnetometer sensors according to claim 7, further comprising an electrically controlled driving module, wherein the electrically controlled driving module is respectively connected to the overall rotating device and the controller, and is configured to drive the overall rotating device to rotate according to a control command sent by the controller, so that the magnetometer sensor of the product to be calibrated can rotate 360 degrees along the X axis, the Y axis, or the Z axis of the motion space while the product to be calibrated rotates 360 degrees along the vertical plane of the motion space.
10. Calibration arrangement for a magnetometer sensor according to claim 7 wherein,
rotating the product to be calibrated by 90 degrees with respect to the X axis of the movement space by means of the fixing means before the magnetometer sensors of the product to be calibrated perform a 360 degree rotation along the Y axis of the movement space according to a preset rotation ratio;
rotating the product to be calibrated by 90 degrees with respect to the Y axis of the movement space by means of the fixing means before the magnetometer sensors of the product to be calibrated perform a 360 degree rotation along the Z axis of the movement space according to a preset rotation ratio.
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