CN109813336B - Calibration method for inertia measurement unit - Google Patents
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Abstract
本发明涉及一种惯性测量单元的标定方法，应用于九轴惯性测量单元，所述九轴惯性测量单元包括三轴陀螺仪、三轴加速度计以及三轴磁力计。所述惯性测量单元的标定方法包括：提供三轴旋转台以及装夹件；将所述九轴惯性测量单元装设于所述装夹件内；将所述装夹件装设于所述三轴旋转台；控制所述三轴旋转台旋转，并记录所九轴惯性测量单元的检测数据，同时对所述陀螺仪、所述加速度计以及所述磁力计进行校准。上述的惯性测量单元的标定方法，标定的成本较低且精度较高。本发明实施例还提供一种控制器的标定方法，应用于包括九轴惯性测量单元的控制器。
The invention relates to a calibration method of an inertial measurement unit, which is applied to a nine-axis inertial measurement unit, and the nine-axis inertial measurement unit includes a three-axis gyroscope, a three-axis accelerometer and a three-axis magnetometer. The calibration method of the inertial measurement unit includes: providing a three-axis rotating table and a clamp; installing the nine-axis inertial measurement unit in the clamp; installing the clamp in the three-axis Axis rotation table; control the rotation of the three-axis rotation table, record the detection data of the nine-axis inertial measurement unit, and calibrate the gyroscope, the accelerometer and the magnetometer at the same time. The above-mentioned calibration method for the inertial measurement unit has low calibration cost and high precision. An embodiment of the present invention also provides a controller calibration method, which is applied to a controller including a nine-axis inertial measurement unit.
Description
Technical Field
The invention relates to the technical field of sensors, in particular to a calibration method of an inertia measurement unit.
Background
Unmanned aerial vehicles, robots, mechanical holders, vehicles and ships, virtual reality/augmented reality, human motion analysis and the like have been developed rapidly in recent years. In these applications, autonomous measurement of three-dimensional attitude and orientation is of great importance. An Inertial Measurement Unit (IMU) is an important part for implementing the above-described technique and apparatus as a sensor for measuring the three-axis attitude angle of an object. Particularly in the development of the virtual reality/augmented reality industry, the virtual reality/augmented reality equipment not only needs to satisfy the watching of the content by the user, but also needs to be capable of navigating the virtual world and the real world through the attitude sensor, so as to operate and control the virtual world through real devices.
A conventional inertial measurement unit includes two sensors: a Gyroscope (Gyroscope) that can estimate the euler angle of the attitude of the device (Yaw, pitch, roll), and an Accelerometer (Accelerometer) that compensates for the drift of the Gyroscope. In order to obtain more accurate attitude data, people develop a nine-axis inertial measurement unit, and on the basis of the traditional inertial measurement unit, another sensor is added to the nine-axis inertial measurement unit: the Magnetometer (Magnetometer) compensates for the Yaw direction of the pose. Due to the deviation of the hardware manufacturing process of the three sensors of the nine-axis inertial measurement unit, when the sensors sense the outside, the data of the sensors have certain deviation, so that the inertial measurement unit needs to be calibrated to meet the requirement of consistency of the sensing data of the sensors. Because the measurement attributes of the three sensors are different, different sensors need to be calibrated in different ways, and currently, people mainly calibrate the nine-axis inertial measurement unit by using the following methods:
1) The manual calibration method comprises the following steps: the method is simple and quick to operate, but special clamps and jigs are needed to be used for carrying out part clamping on the sensors of the nine-axis inertia measurement unit. The manual calibration method has the advantages of high dependence on manual operation, high error probability, low precision, high possibility of misoperation, incapability of volume production and control, high calibration cost and low efficiency.
2) Machine calibration method: the traditional three-axis rotary table is adopted to calibrate the inertia measurement unit, and the three-axis rotary table can improve the calibration speed and precision. However, the method can only calibrate the gyroscope and the accelerometer of the nine-axis inertial measurement unit, and cannot be used for calibrating the magnetometer.
3) 8, a conversion method: the magnetometers are calibrated manually, but the calibration work of a single magnetometer can only be realized, the calibration effect is inconsistent, and the calibration quality cannot define the test.
In summary, the existing calibration method for the nine-axis inertial measurement unit has the problems of complex operation, insufficient precision and low efficiency.
Disclosure of Invention
An embodiment of the present invention provides a nine-axis inertial measurement unit with low cost and high precision, which is used to solve the above technical problems.
A calibration method of an inertial measurement unit is applied to a nine-axis inertial measurement unit, and the nine-axis inertial measurement unit comprises a three-axis gyroscope, a three-axis accelerometer and a three-axis magnetometer. The calibration method of the inertial measurement unit comprises the following steps: providing a three-axis rotating platform and a clamping piece; installing the nine-axis inertia measurement unit in the clamping piece; installing the clamping piece on the three-axis rotating table; and controlling the three-axis rotating platform to rotate, recording detection data of the nine-axis inertia measurement unit, and calibrating the gyroscope, the accelerometer and the magnetometer.
In one embodiment, after the clamping piece is arranged on the three-axis rotating table, a controller is provided, and the controller is wirelessly connected with the nine-axis inertia measurement unit in the clamping piece; the controller is configured to control the rotation of the three axis rotation stage and to calibrate the gyroscope, the accelerometer, and the magnetometer.
In one embodiment, the gyroscope is calibrated by calibrating the static bias of the gyroscope in its three axes.
In one embodiment, when the static deviation of the gyroscope on three axes of the gyroscope is calibrated, the gyroscope is respectively placed in different preset postures in the three-axis rotating platform and is kept still for a preset time; respectively acquiring the detected data of the gyroscope in different postures, respectively calculating the static deviation of the gyroscope in different postures, and calibrating the gyroscope after storing the static deviation of the gyroscope.
In one embodiment, the gyroscope is calibrated while simultaneously calibrating the static bias and the rotational distortion bias of the gyroscope.
In one embodiment, the accelerometer is calibrated by calibrating the offset of each axis of the accelerometer.
In one embodiment, calibrating the offset of each axis of the accelerometer comprises:
placing the clamping pieces in different preset postures in the three-axis rotating table respectively and standing for preset time;
respectively acquiring data detected by the accelerometer under each posture; furthermore, in order to improve the stability and accuracy of detection and calibration, multiple groups of data can be collected, and the average value of all the data detected in each attitude is calculated respectively and used as the data detected by the accelerometer in the attitude;
respectively calculating the central points of positive and negative data of three axes of the accelerometer, thereby obtaining the center of a measuring range, namely the offset of each axis;
after the offset of each axis of the gyroscope is saved, the gyroscope is calibrated.
In one embodiment, the magnetometer is calibrated for bias and scale.
In one embodiment, calibrating the bias and scale of the magnetometer comprises: and rotating the magnetometer to enable the magnetometer to form a spherical shape in space, calculating the deviation of the magnetometer according to the maximum and minimum values of the magnetic strength of the three axes of the rotated magnetometer in three-dimensional coordinates, and calibrating the magnetometer according to the deviation.
In one embodiment, the three-axis rotating table is provided such that the magnetic field strength inside the three-axis rotating table is less than or equal to 0.6Guass.
In one embodiment, the three-axis turret is made of a non-magnetic material.
In one embodiment, a plurality of accommodating cavities are formed in the clamping piece, and the accommodating cavities are used for accommodating the nine-axis inertia measuring unit; and when the nine-axis inertia measurement unit is arranged in the clamping piece, the nine-axis inertia measurement units are simultaneously arranged in the accommodating cavity of the clamping piece.
In one embodiment, the detection parameters of the nine-axis inertia measurement unit are tested, if the test meets the requirements, the test is finished, and if the test does not meet the requirements, the nine-axis inertia measurement unit is continuously calibrated until the test result meets the requirements.
In one embodiment, when testing the detection parameters of the nine-axis inertial measurement unit, the nine-axis inertial measurement unit is tested for static jitter accuracy, rotational positioning accuracy, convergence speed, static drift, dynamic drift, and rotational misalignment.
In one embodiment, testing the detection parameters of the nine-axis inertial measurement unit comprises: and simultaneously testing the static shaking precision, the rotation positioning precision and the static drift of the nine-axis inertia measurement unit.
In one embodiment, the testing parameters of the nine-axis inertial measurement unit further includes testing the dynamic drift and the rotational offset of the nine-axis inertial measurement unit simultaneously.
The embodiment of the invention also provides a calibration method of the control equipment, which is applied to the control equipment comprising the nine-axis inertia measurement unit, wherein the nine-axis inertia measurement unit comprises a three-axis gyroscope, a three-axis accelerometer and three-axis magnetic force. The calibration method of the inertial measurement unit comprises the following steps: providing a three-axis rotating platform and a clamping piece; installing the control equipment in the clamping piece; installing the clamping piece on the three-axis rotating table; and controlling the three-axis rotating table to rotate, recording detection data of the control equipment, and calibrating the gyroscope, the accelerometer and the magnetometer
Compared with the prior art, the calibration method of the inertial measurement unit provided by the embodiment of the invention breaks through the limitation of the calibration of the conventional inertial measurement unit, can adopt the three-axis rotating table and the clamping piece to simultaneously install and calibrate a plurality of inertial measurement units, and simultaneously calibrates the gyroscope, the accelerometer and the magnetometer during the calibration, thereby effectively improving the efficiency and the precision of the calibration of the nine-axis inertial measurement unit.
Drawings
In order to more clearly illustrate the technical solution of the present invention, 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 invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flowchart of a calibration method for an inertial measurement unit according to an embodiment of the present invention;
fig. 2 is a schematic diagram of functional modules of a nine-axis inertial measurement unit according to an embodiment of the present invention.
FIG. 3 is a schematic view of a three-axis rotary table of the method of calibrating the inertial measurement unit of FIG. 1;
FIG. 4 is a schematic view of a mounting fixture in a calibration method of the inertial measurement unit of FIG. 1;
FIG. 5 is a schematic view of one set of poses of the mounting member in the calibration method of the inertial measurement unit of FIG. 1;
FIG. 6 is a schematic view of another set of poses of the mounting member in the calibration method of the inertial measurement unit of FIG. 1;
FIG. 7 is a schematic representation of readings during calibration of the magnetometer of the inertial measurement unit of FIG. 1.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.
Referring to fig. 1, an embodiment of the invention provides a calibration method of an inertial measurement unit, which is applied to the calibration of the nine-axis inertial measurement unit 100 shown in fig. 2.
The nine-axis inertial measurement unit 100 includes a gyroscope 10, an accelerometer 30, and a magnetometer 50. The gyroscope 10 is a three-axis gyroscope for detecting three-axis angular velocities. The accelerometer 30 is a three-axis accelerometer for detecting three-axis acceleration. The magnetometer 50 is a three axis magnetometer for detecting three axis magnetic field strength.
The nine-axis inertial measurement unit 100 may be applied to a device that needs to detect a moving or static gesture, such as an intelligent mobile terminal (e.g., a mobile phone, a tablet computer, a smart watch, and the like), a remote control handle, a game handle, a motion sensing device, an unmanned aerial vehicle, and the like. Due to the manufacturing process, the nine-axis inertial measurement unit 100 may have a measurement deviation problem when being shipped from the factory or when being assembled in the above-mentioned apparatus, and in order to improve the stability and accuracy of the output data of the nine-axis inertial measurement unit 100 and to verify whether the performance of the nine-axis inertial measurement unit 100 meets the application standard, calibration and calibration of the nine-axis inertial measurement unit 100 or the apparatus equipped with the nine-axis inertial measurement unit 100 are required.
In the research process created by the present invention, the inventor finds that when the nine-axis inertial measurement unit 100 is calibrated by using the traditional manual calibration method, the six-axis inertial measurement unit calibration method or the 8-letter-conversion method, the problems of complicated operation, insufficient precision and low efficiency generally exist, so the inventor aims to improve the calibration precision and the calibration efficiency of the nine-axis inertial measurement unit 100. In the course of the above studies, the inventors' studies included:
1) The gyroscope 10 is used for measuring angular velocity, and before calibration, the relationship between the zero-point reading and the linear scale of the reading is inconsistent, so that the zero-point center and the reading scale of the gyroscope need to be calibrated.
2) The accelerometer 30 is used to measure the acceleration of an object, primarily in the form of a force. Before the calibration is not carried out, the measuring center point of the accelerometer can have inconsistent offset, and the axis of the accelerometer can have a certain angle deviation with the front of the axis, so that the center and the dimension of the accelerometer need to be calibrated.
3) The magnetometer 50 is used to measure the intensity of a magnetic field, and calculates the north direction of the earth magnetism by measuring the intensity of the earth magnetic field. The inventor finds that, when the magnetometer 50 is placed on a cloth or a patch, the magnetometer is influenced by the electronic device and an electromagnetic field, so that a fixed magnetic influence is formed inside the electronic product, and other magnetic field influences, such as a transformer, a motor, a magnetized iron article and the like, may occur outside the electronic product. Therefore, the internal and external magnetic fields need to be calibrated, the influence of various magnetic fields on the measurement of the magnetometer is eliminated, and the central point and the scale of the magnetometer are influenced by the internal and external magnetic fields and need to be calibrated.
In view of the above problems, an embodiment of the present invention provides the above method for calibrating an inertial measurement unit, which is used to improve the calibration accuracy and the calibration efficiency of the nine-axis inertial measurement unit 100.
Referring again to fig. 1, in the embodiment shown in fig. 1, the method for calibrating the inertial measurement unit includes the steps of:
step S101: a three-axis rotary stage is provided.
Referring to fig. 3, in some embodiments, a three-axis turntable 200 as shown in fig. 3 is provided. The three-axis rotary stage 200 includes a base frame 210, a first rotating mechanism 230, a second rotating mechanism 250, and a third rotating mechanism 270.
The first rotating mechanism 230 includes a first driving member (not shown) connected to the base frame 210, a first rotating disc 231 connected to the first driving member, and a supporting frame 233 connected to the first rotating disc 231, wherein the first driving member is used for driving the first rotating disc 231 and the supporting frame 233 to rotate around a first axis Z relative to the base frame 210. In the present embodiment, the first axis Z is a vertical axis. In some embodiments, the first drive member may be an electric motor.
The second rotating mechanism 250 includes a second driving element (not shown) connected to the supporting frame 233 and a second rotating disc 251 connected to the second driving element, and the second driving element is used for driving the second rotating disc 251 to rotate around a second axis Y relative to the supporting frame 233, wherein the second axis Y is perpendicular to the first axis Z. In the present embodiment, the second axis Y is a horizontal axis. In some embodiments, the second drive member may be an electric motor.
The third rotating mechanism 270 includes a third driving element 271 connected to the second turntable 251, where the third driving element 271 is configured to drive the nine-axis inertia measurement unit 100 to be detected to rotate around a third axis X relative to the second turntable 251, and the third axis X is perpendicular to the first axis Z and the second axis Y at the same time, that is, the first axis Z, the second axis Y, and the third axis X are in a pairwise orthogonal state. In this embodiment, the third axis X is a horizontal axis. In some embodiments, the third driver 271 can be a rotary cylinder.
In order to avoid magnetic interference to the nine-axis inertial measurement unit 100, the three-axis rotating table 200 is made of a non-magnetic material, such as aluminum material, alloy material, or the like. Further, when the first driving member and the second driving member are both motors, the first driving member should be a first preset distance away from the second driving member, in other words, the first preset distance is between the first driving member and the second driving member, and the first preset distance is greater than or equal to 50cm.
In some embodiments, in order to avoid magnetic interference to the nine-axis inertial measurement unit 100, the three-axis rotating table 200 is provided such that the magnetic field strength inside the three-axis rotating table 200 is less than or equal to 0.6Guass.
Step S103: and providing a clamping piece, and installing the device with the nine-axis inertia measurement unit in the clamping piece.
In this embodiment, a holder 400 as shown in fig. 4 is provided. A plurality of receiving cavities 410 are formed in the clamping member 400, and can simultaneously receive a plurality of devices having the nine-axis inertia measurement unit. It will be appreciated that in other embodiments, when calibrating a device configured with the nine-axis inertial measurement unit, the clamp may include one or more pockets adapted to the device.
In some embodiments, the clamping member is a polyhedral box, preferably a hexahedral box (e.g., rectangular parallelepiped, square) as shown in fig. 4, so that the device having the nine-axis inertia measuring unit can be installed in the clamping member with a definite installation direction at the time of calibration. Further, in order to enable the fixture to conveniently record the posture of the fixture in the subsequent calibration process, a three-dimensional cartesian coordinate system may be established for the fixture, as shown in fig. 4, the coordinate system on the fixture includes an x axis, a y axis and a z axis which are orthogonal to each other two by two.
Step S105: and installing the clamping piece on the three-axis rotating table. Specifically, the clamping piece is connected to a third driving piece of the three-axis rotating table, so that the third driving piece can drive the clamping piece to rotate around the third axis X.
Step S107: and providing a controller, and wirelessly connecting the controller with the nine-axis inertia measurement unit in the clamping piece. The controller is in wireless connection with the nine-axis inertia measurement unit and is in communication with the nine-axis inertia measurement unit, and the controller can acquire detection data of the nine-axis inertia measurement unit in real time.
Step S109: and controlling the three-axis rotating table to rotate, and recording detection data of the nine-axis inertia measurement unit so as to calibrate the nine-axis inertia measurement unit.
In particular, in some embodiments, the gyroscope, the accelerometer, and the magnetometer are calibrated simultaneously when the nine-axis inertial measurement unit is calibrated. Step S109 includes:
step S1091: calibrating the gyroscope. Specifically, in this embodiment, when calibrating the gyroscope, the static offset of the gyroscope in its three axes is calibrated: standing the gyroscopes at different preset postures for preset time respectively; respectively acquiring data detected by the gyroscope in different postures, respectively calculating static deviation of the gyroscope in different postures, and calibrating the gyroscope after storing the static deviation of the gyroscope. In the present embodiment, when the gyroscope is left standing, the static deviation of the gyroscope is reflected in the detected data. In order to improve the stability and accuracy of detection and calibration, multiple sets of data may be collected and averaged to calculate the static deviation of the gyroscope in three axes. Further, referring to fig. 5, the clamping member is respectively placed still at different postures, and the static deviation of the nine-axis inertia measurement unit in the clamping member at different postures is detected. The different postures include: vertically placing the x axis of the clamping piece, vertically placing the y axis of the clamping piece and vertically placing the z axis of the clamping piece.
Specifically, in the present embodiment, the step of refining includes:
standing the clamping piece for a preset time at a first preset posture, wherein the first preset posture is a posture that an x axis of the clamping piece is vertically placed; the x axis of the clamping piece can be along the positive direction of the gravity acceleration and can also be along the negative direction of the gravity acceleration;
acquiring the detected data of the gyroscope, and calculating a first static deviation of the gyroscope; in the present embodiment, when the gyroscope is left standing, the static deviation of the gyroscope is reflected in the detected data. In order to improve the stability and accuracy of detection and calibration, multiple groups of data can be collected and the average value of the multiple groups of data can be taken so as to accurately calculate the first static deviation of the gyroscope;
standing the clamping piece for a preset time at a second preset posture, wherein the second preset posture is a posture that the y axis of the clamping piece is vertically placed; the y axis of the clamping piece can be along the positive direction of the gravity acceleration and can also be along the negative direction of the gravity acceleration;
acquiring the detected data of the gyroscope, and calculating a second static deviation of the gyroscope; in order to improve the stability and accuracy of detection and calibration, multiple groups of data can be collected and the average value of the multiple groups of data can be taken so as to accurately calculate the second static deviation of the gyroscope;
standing the clamping piece for a preset time at a third preset posture, wherein the third preset posture is a posture that the z axis of the clamping piece is vertically placed; the z axis of the clamping piece can be along the positive direction of the gravitational acceleration and can also be along the negative direction of the gravitational acceleration;
acquiring the detected data of the gyroscope, and calculating a third static deviation of the gyroscope; in order to improve the stability and accuracy of detection and calibration, multiple groups of data can be collected and the average value of the multiple groups of data can be taken, so that the third static deviation of the gyroscope can be calculated more accurately;
saving the first, second and third static biases of the gyroscope and calibrating the gyroscope.
In some other embodiments, in order to improve the calibration accuracy of the gyroscope, the static bias and the rotational distortion bias of the gyroscope may be calibrated at the same time. And when the rotation distortion deviation of the gyroscope is calibrated, the clamping piece is placed in the three-axis rotating platform and rotates according to a preset direction, and the rotation distortion deviation of the gyroscope is reflected in the detected data. In order to improve the stability and accuracy of detection and calibration, multiple sets of data may be collected to calculate the rotational distortion deviation of the gyroscope in three axes.
Further, referring to fig. 5, similar to the above method for calibrating static bias, the clamping members are rotated in different postures, and the rotational distortion deviations of the clamping members in different postures are detected to obtain the rotational distortion deviations of the gyroscope in three axes thereof, and the gyroscope is calibrated after the rotational distortion deviations of the gyroscope are stored. The different postures include: the x-axis of the clamping piece is vertically placed and rotates around x circles, the y-axis of the clamping piece is vertically placed and rotates around y circles, and the z-axis of the clamping piece is vertically placed and rotates around z circles. Further, when the clamping piece is rotated, the clamping piece is rotated at a constant speed.
Step S1093: the accelerometer is calibrated. Specifically, in the present embodiment, the accelerometer is calibrated, and the offset of each axis of the accelerometer is calibrated. Specifically, the step includes:
standing the clamping pieces for preset time at different preset postures respectively; referring to fig. 6, the different predetermined postures include placing the x-axis of the clamping member along the positive direction of the gravitational acceleration, placing the y-axis of the clamping member along the positive direction of the gravitational acceleration, placing the z-axis of the clamping member along the positive direction of the gravitational acceleration, placing the x-axis along the negative direction of the gravitational acceleration, placing the y-axis of the clamping member along the negative direction of the gravitational acceleration, and placing the z-axis of the clamping member along the negative direction of the gravitational acceleration; further, when the clamping piece is placed for timing, the clamping piece is placed according to a preset posture strictly, so that each direction of hardware of the accelerometer can be placed horizontally, adverse effects on the accelerometer due to gravity acceleration are avoided, and calibration accuracy is improved.
Respectively acquiring data detected by the accelerometer under each posture; furthermore, in order to improve the stability and accuracy of detection and calibration, multiple groups of data can be collected, and the average value of all the data detected in each attitude is calculated respectively and used as the data detected by the accelerometer in the attitude;
respectively calculating the central points of positive and negative data of three axes of the accelerometer, thereby obtaining the center of a measuring range, namely the offset of each axis;
after the offset of each axis of the gyroscope is saved, the gyroscope is calibrated.
Specifically, in the present embodiment, the step refinement described above includes:
step SZ101: standing the clamping piece for a preset time in a first positive preset posture, wherein the first positive preset posture is a posture that an x axis of the clamping piece is vertically placed; the x axis of the clamping piece is arranged along the positive direction of the gravity acceleration;
step SZ102: acquiring data detected by the accelerometer; furthermore, in order to improve the stability and accuracy of detection and calibration, multiple sets of data may be collected, and an average value of all detected data may be calculated as the data detected by the accelerometer in the first positive predetermined attitude;
step SZ103: standing the clamping piece for a preset time at a first negative preset posture, wherein the first negative preset posture is a posture that an x axis of the clamping piece is vertically placed; the x axis of the clamping piece is arranged along the direction opposite to the gravity acceleration;
step SZ104: acquiring data detected by the accelerometer; furthermore, in order to improve the stability and accuracy of detection and calibration, multiple sets of data can be collected, and the average value of all detected data is calculated to be used as the data detected by the accelerometer under the first negative preset posture;
step SZ105: calculating the central point of the data detected by the accelerometer under the first positive preset posture and the central point of the data detected by the accelerometer under the first negative preset posture as the deviation of the x axis;
step SZ106: saving the offset of the x axis of the gyroscope, and calibrating the gyroscope;
step SZ107: standing the clamping piece for a preset time at a second positive preset posture, wherein the second positive preset posture is a posture that the y axis of the clamping piece is vertically placed; the y axis of the clamping piece is arranged along the positive direction of the gravity acceleration;
step SZ108: acquiring data detected by the accelerometer; furthermore, in order to improve the stability and accuracy of detection and calibration, multiple sets of data may be collected, and an average value of all detected data may be calculated as the data detected by the accelerometer in the second positive predetermined attitude;
step SZ109: standing the clamping piece for a preset time in a second negative preset posture, wherein the second negative preset posture is a posture that the y axis of the clamping piece is vertically placed; the y-axis of the clamping piece is arranged along the direction opposite to the gravity acceleration;
step SZ110: acquiring data detected by the accelerometer; furthermore, in order to improve the stability and accuracy of detection and calibration, multiple sets of data can be collected, and the average value of all detected data is calculated to be used as the data detected by the accelerometer under the second negative preset posture;
step SZ111: calculating the central point of the data detected by the accelerometer in the second positive preset posture and the central point of the data detected by the accelerometer in the second negative preset posture as the deviation of the y axis;
step SZ112: saving the offset of the y axis of the gyroscope, and calibrating the gyroscope;
step SZ113: standing the clamping piece for a preset time in a third positive preset posture, wherein the third positive preset posture is a posture that the z axis of the clamping piece is vertically placed; the z-axis of the clamping piece is arranged along the positive direction of the gravity acceleration;
step SZ114: acquiring data detected by the accelerometer; furthermore, in order to improve the stability and accuracy of detection and calibration, multiple sets of data can be collected, and the average value of all detected data is calculated to be used as the data detected by the accelerometer in the third positive preset posture;
step SZ115: standing the clamping piece for a preset time at a third negative preset posture, wherein the third negative preset posture is a posture that the z axis of the clamping piece is vertically placed; the z-axis of the clamping piece is arranged along the direction opposite to the gravity acceleration;
step SZ116: acquiring data detected by the accelerometer; furthermore, in order to improve the stability and accuracy of detection and calibration, multiple sets of data can be collected, and the average value of all detected data is calculated to be used as the data detected by the accelerometer under the third negative preset posture;
step SZ117: calculating the central point of the data detected by the accelerometer under the third positive preset posture and the central point of the data detected by the accelerometer under the third negative preset posture as the offset of the z axis;
step SZ118: and saving the offset of the z axis of the gyroscope, and calibrating the gyroscope.
In other embodiments, to improve the calibration accuracy of the accelerometer, the axis offset and the scale deviation of the accelerometer may be calibrated simultaneously. Further, specifically, in some embodiments, after the accelerometer is calibrated, the detected parameters are saved through six-direction rotation, and then the calculation is performed according to the offset and scale calculation formula, and the scale deviation is the distortion and deflection parameters of each axis.
Step S1095: calibrating the magnetometer. Specifically, in this embodiment, the magnetometer is calibrated by calibrating the magnetometer and the scale and the offset of the magnetometer. Specifically, the step includes:
rotating the magnetometer so that the magnetometer's readings roughly form a sphere in three-dimensional coordinate space, as shown in the effect of FIG. 7;
calculating the deviation of the magnetometer according to the maximum and minimum values of the magnetic strength of the three axes of the magnetometer in the three-dimensional coordinate obtained by rotation; wherein, the maximum value of the magnetic strength is the direction of the strongest magnetic field, and the minimum value of the magnetic strength is the magnetic field reversal. Because the geomagnetic field strength is only 50-60 mGauss, and the range of the magnetometer is much larger than the geomagnetic field strength, the magnetic strength reading of the magnetometer has the maximum value and the minimum value under the condition that only the geomagnetic field exists.
Calibrating the magnetometer as a function of the offset.
In other embodiments, the magnetometer is calibrated using ellipse fitting.
Step S111: and controlling the rotary table to rotate to a test position, testing the detection parameters of the nine-axis inertia measurement unit, finishing the test if the test meets the requirements, and executing the step S109 if the detection does not meet the requirements until the test result of the nine-axis inertia measurement unit meets the requirements. Specifically, the step includes:
step S1111: and testing the static shaking accuracy of the nine-axis inertia measurement unit, further testing the static shaking of the nine-axis inertia measurement unit under six preset postures shown in fig. 6 respectively, and when the shaking is less than or equal to 0.05 degrees, the static shaking accuracy test of the nine-axis inertia measurement unit passes.
In particular, the jitter accuracy is a stability describing a fine operation of the inertial measurement unit, since the gyroscope itself has its own accuracy, the compensation for the gyroscope should not exceed its own fine operation accuracy. Since the jitter data mainly describes the stability of the fine operation of the inertial measurement unit, the smaller the jitter, the more visible is the fine rotational movement. The data analysis of the static jitter describes the jitter condition by collecting a plurality of average values of the point data at different points and calculating the standard deviation of each point. The static jitter data is obtained by rotating the angle location, and calculating the standard deviation of the data of 50 static points for each location point every N degrees (for example, in some embodiments, every 4 degrees, and 45 points in total). For all n data, the average jitter distance is calculated as:
wherein d is i The larger the average deviation of the current frame, the larger the jitter.
Step S1112: and testing the rotational positioning accuracy of the nine-axis inertia measurement unit, further testing the rotational errors of the nine-axis inertia measurement unit when the nine-axis inertia measurement unit rotates around three axes thereof in 45-degree stepping manner respectively, and when the rotational errors are smaller than or equal to 1 degree, the rotational positioning accuracy of the nine-axis inertia measurement unit passes the test.
Specifically, the rotational positioning accuracy is the degree of accuracy of each position of the nine-axis inertial measurement unit at a position based on the positive direction in the north-east direction when the nine-axis inertial measurement unit rotates in different directions, and this parameter describes the degree of accurate reduction of the direction of the nine-axis inertial measurement unit. The rotational positioning precision obtains the rotational position through the three-axis rotating table, then the data is resolved through the nine-axis inertia measuring unit, the rotating deviation degree of the nine-axis inertia measuring unit and the three-axis rotating table is obtained through comparison, and the rotational positioning precision of the nine-axis inertia measuring unit is calculated through average deviation.
For example, in some embodiments, the rotational positioning accuracy data acquisition comprises the steps of: dividing three axes into rotation positions with fixed angles, positioning to M points at intervals of N degrees (for example, one point at every 45 degrees and 8 points in total) by rotating and rotating the rotating platform, obtaining the angle of the inertial measurement unit rotating to the point, then performing data calibration by aligning the rotation origin, so that the angle of each inertial measurement unit is consistent with the angle of the rotating platform, and calculating the rotation positioning deviation of the angle of the inertial measurement unit and the actual angle of the rotating platform as follows:
wherein,
is the angle of the ith rotation stage>
Is the angle of the ith inertial measurement unit. The larger the rotation positioning deviation of the inertia measurement unit is, the poorer the accuracy of restoring the original angle is. Step S1113: testing the convergence rate of the nine-axis inertia measurement unit, and furtherAnd after the nine-axis inertia measurement unit rotates around the three axes at different degrees of stepping angles and rotation speeds, respectively testing the convergence angle and time of the nine-axis inertia measurement unit when the rotation is stopped, wherein when the convergence angle is less than or equal to 1 degree and the convergence time is less than or equal to 200ms, the convergence test of the nine-axis inertia measurement unit passes.
Specifically, the convergence accuracy is a comprehensive parameter describing the data acquisition speed, the transmission efficiency and the fusion algorithm resolving speed of the inertial measurement unit. The speed of the inertial measurement unit positioning speed depends on the speed. Under the condition that the same rotating platform moves in the same amplitude, the higher the speed is, the higher the convergence speed is, and the faster the virtual position returns to the position of the handle, so that the time delay is reduced, and the reaction speed is improved. However, because some solutions have jitter, the tail part will have a certain rotation process in the return-to-normal process, but the faster the convergence speed is, the more difficult the rotation process is to be perceived.
The convergence data mainly analyze the convergence speed of the inertia measurement unit in resolving, the data acquisition continuously records the data change in the moving process of the rotating table of the inertia measurement unit, and the convergence speed resolved by the inertia measurement unit is calculated by calculating the data change rate, wherein the data speed depends on the data generation speed of the sensor on one hand and the algorithm resolving speed on the other hand, and the convergence speed measures the convergence speed of the data generated by combining the data generation speed and the algorithm resolving speed.
Different speeds are tested on the three axes, under the condition of the same step, the proportion of the moving time and the stopping time of the system is calculated, and the time proportion occupied by the system in the moving process is calculated, so that the convergence time of the system is estimated. According to the same direction movement with the same movement and static time, the rotating platform is used for moving in three directions around three axes, each data of the system in the movement process is stored, the proportion of the movement of the system in the movement plus static time period is judged through the data, the convergence time is (N% -50%) time/2, and the time is taken as the convergence time.
In another embodiment, the time for the system to move to rest is calculated and defined as the convergence time, but the time includes the system operation time and the data transmission time, and the final calculated convergence time needs to be eliminated.
Step S1114: and testing the static drift of the nine-axis inertial measurement unit, further, respectively testing the data drift of the nine-axis inertial measurement unit when the nine-axis inertial measurement unit is at rest under six preset postures shown in fig. 6, and when the data drift is less than or equal to 1 degree/minute, the static drift test of the nine-axis inertial measurement unit is passed.
Specifically, in some embodiments, the static drift test inertial measurement unit is offset from the starting position by a number of degrees after being stationary for a period of time, and the test method rests the inertial measurement unit on a table at a starting point of a point, such as the origin, for a period of time, such as 1 minute, 5 minutes, 10 minutes, 30 minutes, 60 minutes. After the placement, reading of the inertial measurement unit is read and compared with the initial position to obtain the deviation of the static drift.
Step S1115: and testing the dynamic drift of the nine-axis inertia measurement unit, further testing the speed and time of the nine-axis inertia measurement unit when the nine-axis inertia measurement unit stops rotating after rotating around three axes of the nine-axis inertia measurement unit at different degrees of stepping angles and rotating speeds, and when the moving speed is less than or equal to 0.1 degree/second and the moving time is less than or equal to 200ms, the dynamic drift test of the nine-axis inertia measurement unit is passed.
Specifically, after the inertial measurement unit is moved for a long time, the inertial measurement unit deviates from the initial position by degrees, the test method uses the initial point of one point, such as the original point, to continuously rotate around three axes through the rotating platform, and uses time as a reference to test the deviation of the reading of the inertial measurement unit from the original initial point reading when the inertial measurement unit returns to the initial position after rotating at different times, so as to obtain the accuracy of the static drift.
Step S1116: and testing the rotating shaft deviation of the nine-shaft inertia measuring unit, further testing the shaft deviation generated when the nine-shaft inertia measuring unit rotates around three shafts of the nine-shaft inertia measuring unit at different speeds, and when the shaft deviation is less than or equal to 1 degree, the rotating shaft deviation of the nine-shaft inertia measuring unit passes the test.
Specifically, the rotation axis offset calculates the offset between the axes of the inertial measurement unit during the rotation process, and ideally, when the inertial measurement unit rotates around a certain axis, the reading of the axis should be stable, but due to the problems of the device and the calculation algorithm, the axes may not be parallel, so that the axis offset condition occurs, and the axis offset is too large, which affects the user experience.
And (3) testing the rotating shaft deviation, namely continuously rotating the rotating table around three shafts to obtain the reading of the shaft in the rotating process, and calculating the standard deviation and the maximum deviation of the shaft, namely the average deviation and the maximum deviation of the shaft.
In some embodiments provided by the present invention, when the testing step S111 is executed, one or more of the steps in the testing process of steps S1111-S1116 may be tested in parallel, or each step may be tested one by one, and the sequence of the testing steps is not limited to the number limitation described above. For example, in another embodiment of the present invention, when the above-mentioned testing step S111 is executed, the static jitter accuracy test, the rotational positioning accuracy test, and the static drift test are integrated into one testing step S115; the dynamic drift test and the rotating shaft offset test are integrated into a test step S117, so that a production line test scheme with two test steps is formed, the test time is shortened, and the production efficiency is improved. In some embodiments, specific testing steps are performed as follows:
step S115: and simultaneously testing the static shaking precision, the rotation positioning precision and the static drift of the nine-axis inertia measurement unit. Specifically, in the triaxial direction, with every 45 degrees as a test angle, the triaxial is divided into a test process of 8+4, and 20 test points in total. At each fixed point, 5 seconds of data are stored, and the mean and standard deviation are calculated. The standard deviation (jitter accuracy) of the 20 sample positions is averaged as the static jitter accuracy of the system. And (3) subtracting the angle of the 20 points from the angle of the rotating platform, calculating the total offset of the system position and the rotating platform, then adding the offset to each point to obtain the offset of each position point, and finally calculating the average offset of the 20 sample points to obtain the rotating positioning precision. Meanwhile, the maximum deviation of each point is calculated as the size of the static drift, and the average deviation of 20 sample points is calculated as the precision of the static deviation.
Step S117: and simultaneously testing the dynamic drift and the rotating shaft deflection of the nine-axis inertia measurement unit. Specifically, the rotation is respectively about three axes, each axis rotating for 20 seconds; recording the initial positions of the three shafts, and stopping to the initial positions after rotating for 20 seconds; storing Euler angle data of 20 seconds, and calculating the standard deviation of the rotating shaft as the rotating shaft deflection accuracy; the maximum deviation for each axis is calculated, most likely the magnitude of the dynamic drift.
In other embodiments provided by the present invention, when the testing step S111 is executed, the testing process of steps S1111 to S1116 may be performed in a simplified manner, and the sequence of the testing steps is not limited to the above-described number limitation. For example, in another embodiment of the present invention, when the test step S111 is executed, the specific test steps are executed as follows:
step S1191: and testing the static shaking precision of the nine-axis inertia measurement unit, further rotating the handle on a plane to check the shaking condition of the nine-axis inertia measurement unit, and when the shaking amplitude is judged to be larger than a preset value, the test is not passed. Further, the static jitter accuracy test of the nine-axis inertial measurement unit passes when the jitter is less than or equal to 0.05 degrees.
Step S1192: and testing the rotation positioning accuracy of the nine-axis inertia measurement unit, further manually rotating the nine-axis inertia measurement unit by 90 degrees, and judging the deviation of the data by 90 degrees, wherein when the deviation is judged to be larger than a preset value, the test is failed. Further, when the rotation error is less than or equal to 1 degree, the rotation positioning accuracy test of the nine-axis inertial measurement unit passes.
Step S1193: and testing the static drift of the nine-axis inertia measurement unit, further directly placing the nine-axis inertia measurement unit on a table board, recording the Euler angle of the initial position, and reading data again after placing for a period of time to obtain the size of the static drift. Further, the static drift test of the nine-axis inertial measurement unit passes when the data drift is less than or equal to 1 degree.
Step S1194: and (3) testing the dynamic drift of the nine-axis inertia measurement unit, further, moving back and forth in a reciprocating manner in a motion scram mode, then scram, and observing whether the drift occurs after each axis moves and is static, the data increase and decrease condition, and if the drift is too large, the axis is considered not to pass. Further, the dynamic drift test of the nine-axis inertial measurement unit passes when the data drift is less than or equal to 15 degrees.
Step S1195: and (3) testing the rotating shaft deviation of the nine-shaft inertia measuring unit, further rotating the handle around three shafts, and judging whether the shaft center is deviated or not when the handle rotates in the three-shaft direction, wherein if the rotating direction and the rotating shaft are deviated to be larger, the handle is not passed. Further, when the shaft offset is less than or equal to 1 degree, the rotating shaft offset test of the nine-shaft inertia measurement unit passes.
The simplification of the test steps can achieve the effect of quick verification, research personnel can be allowed to know the corresponding relation between the test parameters and the physical quantity in the practical application scene after testing, whether the performance of the nine-axis inertia measurement unit is qualified or not can be conveniently judged through certain specific phenomena, and the detection efficiency of the nine-axis inertia measurement unit is improved.
Embodiments of the present invention also provide a control apparatus comprising the nine-axis inertial measurement unit described above, the control apparatus being capable of emitting light to allow machine vision device recognition. Meanwhile, the invention also provides a calibration method for the control equipment provided with the nine-axis inertia measurement unit, and the calibration method is used for calibrating and testing the nine-axis inertia measurement unit of the control equipment. The calibration method of the control device equipped with the nine-axis inertia measurement unit is substantially the same as the calibration method of the inertia measurement unit, and is different in that:
when the control equipment is calibrated, the control equipment provided with the nine-axis inertia measurement unit is integrally arranged in the matched clamping piece, and the nine-axis inertia measurement unit in the control equipment is calibrated and tested.
The calibration method of the inertial measurement unit breaks through the limitation of the calibration of the conventional inertial measurement unit, can adopt the three-axis rotating platform and the clamping piece to simultaneously install and calibrate a plurality of inertial measurement units, and simultaneously calibrates the gyroscope, the accelerometer and the magnetometer during calibration, thereby effectively improving the efficiency and the precision of the calibration of the nine-axis inertial measurement unit.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps in the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (mobile terminal) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following technologies, which are well known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried out in the method of implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and the program, when executed, includes one or a combination of the steps of the method embodiments. In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not necessarily depart from the spirit and scope of the corresponding technical solutions.
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