Gravitational acceleration filtering method based on stationary point detection

A technology of gravitational acceleration and static point, which is applied in the direction of acceleration measurement and multi-dimensional acceleration measurement using inertial force, can solve problems such as deviation, and achieve the effect of high precision and strong applicability of equipment

Inactive Publication Date: 2018-05-01
CHANGZHOU COLLEGE OF INFORMATION TECH
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Problems solved by technology

[0003] According to the above description, the main problem of existing methods for filtering gravitational acceleration is the accuracy of the results, and there is a relatively obvious deviation between the obtained linear acceleration and the real acceleration of the object.

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  • Gravitational acceleration filtering method based on stationary point detection
  • Gravitational acceleration filtering method based on stationary point detection
  • Gravitational acceleration filtering method based on stationary point detection

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Embodiment Construction

[0019] The present invention will be described in detail below in conjunction with the embodiments shown in the drawings. However, these embodiments do not limit the present invention, and the structural or functional changes made by those skilled in the art based on these embodiments are all included in the protection scope of the present invention.

[0020] An acceleration detection device includes a six-axis sensor, a data signal input module, a storage module, an arithmetic module, and an output module. The six-axis sensor includes a three-axis acceleration sensor and a three-axis gyroscope fixedly arranged in the same sensor coordinate system. The data ports of the axis acceleration sensor and the three-axis gyroscope are respectively connected with the data signal input module, the data signal input module is connected with the computing module, and the computing module is also connected with the storage module and the output module respectively.

[0021] The data signal inpu...

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Abstract

The invention provides a gravitational acceleration filtering method based on stationary point detection. The method comprises steps of fixing a six-axis sensor on a to-be-detected target; acquiring and inputting tri-axial acceleration data and tri-axial angular speed data; carrying out error processing; based on moving stationary points, segmenting movement; projecting beginning and end stationary points of data of each section of the movement, and filtering gravitational acceleration of each section of the movement so as to obtain two sections of different tri-axial linear acceleration; according to distribution characteristics of accuracy of the two sections of different linear acceleration, distributing weight and carrying out fitting so as to obtain the final tri-axial linear acceleration; and outputting the tri-axial linear acceleration after the filtering of the gravitational acceleration. According to the invention, an acceleration detection method based on the gravitational acceleration filtering method based on stationary point detection is adopted. The precision of detection results is high and the method and the device are highly applicable and can be widely applied inresearch of object movement by use of an acceleration sensor.

Description

Technical field [0001] The invention relates to an acceleration detection method, in particular to a three-axis sensor for discontinuous motion based on static point detection from a six-axis sensor composed of a three-axis acceleration sensor in the same sensor coordinate system and a three-axis gyroscope The method of filtering out the gravitational acceleration from the acceleration sensor data to obtain the three-axis linear acceleration. Background technique [0002] The acceleration sensor is affected by the earth's gravitational field because of its working principle. The measured acceleration is the result of the linear acceleration of the object's own motion and the gravitational acceleration of the object. Therefore, the process of filtering out the gravitational acceleration from the three-axis acceleration data measured by the acceleration sensor to obtain the three-axis linear acceleration is an important method for using the acceleration sensor to study the spatial...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01P15/18
CPCG01P15/18
Inventor 胡丽英楼桦李兴
Owner CHANGZHOU COLLEGE OF INFORMATION TECH
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