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Three-axis acceleration sensor mounting error correcting method

An acceleration sensor, installation error technology, applied in the direction of speed/acceleration/shock measurement, speed/acceleration/shock measurement equipment testing/calibration, instruments, etc. problems, to achieve the effect of low requirements for measurement conditions, elimination of coordinate axis errors, and simple calculation methods

Active Publication Date: 2016-07-27
TONGJI UNIV
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Problems solved by technology

The existing methods for solving the error correction matrix, such as the Euler method and the quaternion method, are difficult to calibrate in practical applications, and the accuracy of error correction is greatly affected by the test conditions

Method used

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  • Three-axis acceleration sensor mounting error correcting method
  • Three-axis acceleration sensor mounting error correcting method
  • Three-axis acceleration sensor mounting error correcting method

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Experimental program
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Embodiment

[0025] figure 1 Shown is the installation error relationship of the three-axis acceleration sensor coordinate system (hereinafter referred to as A system) relative to the vehicle coordinate system (hereinafter referred to as B system). Ideally, the vehicle is on a horizontal road. The X-axis of the coordinate system is the forward direction of the car when driving in a straight line at a constant speed. The Y-axis is the horizontal direction perpendicular to the forward direction. direction. Due to the existence of installation errors, the theoretical value of the measured parameters of the three-axis acceleration sensor in the vehicle coordinate system is The measured value of the three-axis acceleration sensor in its own measurement coordinate system is Then there are measured values and theoretical value relational expression

[0026] A b → = K A ...

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Abstract

The invention relates to a three-axis acceleration sensor mounting error correcting method, and is used for correcting angle error between an acceleration sensor coordinate system and a vehicle coordinate system, so that a theoretical value of an acceleration sensor is obtained, the method is characterized in that, the method comprises the steps: the acceleration sensor is arranged on the vehicle, a measured value vector A0 of the acceleration sensor when the vehicle is static on a horizontal ground and a measured value vector A1 of the acceleration sensor when the vehicle acceleratedly moves on the horizontal ground are read, an error correction coefficient matrix K is calculated, wherein the K and other formulas are shown in the description, a theoretical value formula which is shown in the description of the acceleration sensor in the vehicle coordinate system is obtained, wherein vector Aa is a measured value of the acceleration sensor in a general condition. Compared with the technology in the prior art, the method considers vehicle pitch angle influence, the requirements of the measurement condition are low, the calculation method is simple, and the sensor coordinate axis error can be effectively eliminated.

Description

technical field [0001] The invention relates to a sensor installation error correction method, in particular to a three-axis acceleration sensor installation error correction method. Background technique [0002] In recent years, the research on intelligent automobile technology has developed rapidly, and the application of acceleration sensors in the field of intelligent automobiles has become increasingly widespread. In practical applications, it is usually necessary to measure acceleration data based on the vehicle coordinate system. This requires that the directions of the sensing axes of the acceleration sensor be consistent with the vehicle coordinate system. However, in the actual sensor installation process, due to unavoidable installation errors, the actual direction of the sensing axis of the sensor deviates from the ideal direction. This installation error has a great influence on the measurement of the data, and it is necessary to correct it. For the correctio...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01P21/00
CPCG01P21/00
Inventor 沈勇王明阳徐振敏李帅帅鲍晨
Owner TONGJI UNIV
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