Acceleration sensor calibration method and device

Abstract

The invention discloses an acceleration sensor calibration method comprising the steps that terminal data acquired by a terminal local acceleration sensor and transmitted by a terminal are received and a first timestamp corresponding to the terminal data is acquired, and vehicle data are acquired through a vehicle local acceleration sensor and a second timestamp corresponding to the vehicle data are acquired; the terminal data and the vehicle data are matched according to the first timestamp and the second timestamp, and a target rotation matrix is acquired according to the matched data; and the data acquired by the vehicle acceleration sensor are calibrated according to the target rotation matrix. The invention also discloses an acceleration sensor calibration device. Accuracy and convenience of acceleration sensor calibration can be enhanced.

Description

technical field [0001] The invention relates to the technical field of vehicle data acquisition, in particular to an acceleration sensor calibration method and device. Background technique [0002] At present, the On Board Diagnostics (OBD) of the vehicle includes an acceleration sensor. The acceleration sensor of the vehicle is a three-dimensional acceleration detection chip designed according to the inertial pressure model. Generally, the acceleration sensor is used to determine the installation direction of the acceleration sensor chip. , that is, the x-y direction of the plane where the chip is located. In the vehicle, it is generally ensured that the coordinate system x-y-z of the acceleration sensor coincides with the coordinate system x'-y'-z' of the vehicle, and then the data collected by the acceleration sensor is corrected. [0003] The data coordinates output by the acceleration sensor need to undergo a series of space transformations to be converted to the vehic...

AI Technical Summary

Problems solved by technology

[0003] The data coordinates output by the acceleration sensor need to undergo a series of space transformations to be converted to the vehicle coordinate system, usually in the following ways: (1) Use the direct coordinate system space conversion method: convert the data of the acceleration sensor to the vehicle coordinate system, according to the transformation Backward centripetal acceleration (also called lateral acceleration, that is, the vertical direction of the vehicle’s forward direction) is used to detect sharp turns. The acceleration sensor in this method has inherent defects, that is, the inaccurate instantaneous acceleration value causes the calculated error to be too large. The reliability of sensor calibration is not high

(2) When the vehicle leaves the factory, the acceleration sensor chip and the vehicle coordinate system are kept coincident; however, this method is only applicable to the pre-installation market. Due to the different installation posture of the OBD in the after-installation market, the direction of the acceleration sensor's own coordinate system cannot be directly given. Therefore, this method cannot be used for aftermarket applications, that is, this method cannot be calibrated for acceleration sensors installed in any attitude

Images