Fast and low-power sensor fusion system and method

A fusion method and sensor technology, applied in the direction of navigation calculation tools, etc., can solve the problems of high power consumption, high cost, large hardware area, etc., and achieve the effect of reducing power consumption and increasing data cache.

Active Publication Date: 2019-12-20
时瑞科技(深圳)有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The existing method of using slave chips has the following disadvantages: high cost, excessive power consumption, large hardware area, and real-time problems

Method used

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  • Fast and low-power sensor fusion system and method
  • Fast and low-power sensor fusion system and method
  • Fast and low-power sensor fusion system and method

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Experimental program
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Effect test

Embodiment 1

[0048] This method provides a single-chip fast and simple way to convert physical sensors (acceleration, gyroscope, magnetism and air pressure) into physical spatially correlated position signals. Such as figure 1 shown.

[0049] The program of the main chip converts the sensor data obtained at different times (asynchronously) into a 4-element space coordinate after fusion, and robot control and other navigation functions can be achieved according to the space coordinate.

[0050] Transformation coordinate transformation in space is as follows figure 2 shown;

[0051] The 4-element coordinates from point A to point B can be represented as image 3 shown;

[0052] image 3 Shown is a visual representation of the data, but the data taken from the electronic sensors are geomagnetic, gyroscope, acceleration and air pressure values. These data are distributed in different coordinate systems. The fusion algorithm is the process of integrating the data of different coordinate...

Embodiment 2

[0068] S101, regularly sample the sensor data, and cache the data;

[0069] The invention utilizes a configurable data cache structure to collect sensor data, and waits until the cache reaches a certain amount before waking up the microcontroller MCU to perform calculations. The time of this cache can be adjusted according to the sensitivity required by the product. For example, for products used for human movement, the change of posture cannot be greater than 5 times per second, then the cache can be set to wake up the MCU 5 times per second, but the data collected can be used per second. The frequency of 50 times takes into account both data collection and accuracy.

[0070] There are two different ways of implementing the cached data:

[0071] The microcontroller MCU has a direct memory access DMA unit, which can implement data caching in the form of software.

[0072] The microcontroller MCU does not have a direct memory access DMA unit, and an 8-bit microcontroller can ...

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Abstract

The invention discloses a rapid low-power-consumption fusion system and method for a sensor. The method is characterized by including the steps: sampling data of the sensor at regular time and caching the data; taking the maximum value and the minimum value in gyroscope movement and abstracting movement tracks to form regular waveforms; awakening a microcontroller of a main chip from deep sleep when detecting that a cache region pointer reaches a set threshold value; performing self-learning three-order smooth calibration for the acquired data; calculating the data by the aid of the waveform abstract theory and a fixed-point table look-up mode; adjusting posture and compensating an inclination angle by an air pressure sensor. The calculating process is reduced in a simple table look-up and waveform abstracting mode, fusion algorithm can be realized by a simple eight-bit chip, and power consumption and calculating time can be greatly reduced.

Description

technical field [0001] The invention relates to the technical field of computer fusion algorithms, in particular to a fast and low-power fusion system and method for sensors. Background technique [0002] MESM sensors are currently widely used in wearable products, and it is not intuitive to obtain the position of an object represented by it in a 3-degree space. Instead, the spatial position must be obtained after a series of mathematical operations. The most commonly used method is the 4-element coordinate system of inertial navigation. The law of this calculation is called "sensor fusion (SENSOR FUSION). General fusion algorithms require a large number of matrix and floating-point operations. The transplantation on wearable chips is very complicated, error-prone and power-consuming. But if indoor navigation is required, sports Positioning, inertial navigation and other robot or motion state applications must use this algorithm. The current practice on the market is to us...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 黄剑敏周子勋
Owner 时瑞科技(深圳)有限公司
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