Noise measurement method of acceleration sensor

Abstract

The embodiment of the invention discloses a noise measurement method for an acceleration sensor, and the method comprises the steps: obtaining the reference self-noise power spectrum density of a reference acceleration sensor, collecting the current acceleration data of a to-be-measured acceleration sensor, and the current acceleration data of the reference acceleration sensor, and finally, determining the current self-noise power spectral density of the acceleration sensor to be tested according to the current acceleration data of the acceleration sensor to be tested, the current acceleration data of the reference acceleration sensor and the reference self-noise power spectral density. The current self-noise power spectral density of the acceleration sensor to be measured is determined based on the reference self-noise power spectral density according to the current acceleration data of the acceleration sensor to be measured and the current acceleration data of the reference acceleration sensor, so that the noise of the acceleration sensor to be measured can be measured flexibly, efficiently and accurately. The noise of the acceleration sensor to be measured can be measured flexibly, efficiently and accurately.

Description

Technical Field

[0001] The present invention relates to the technical field of acceleration sensors, and in particular to a noise measurement method for an acceleration sensor. Background Art

[0002] Accelerometers play an important role in vehicle safety, mobile equipment, structural health monitoring and other fields due to their high sensitivity and high precision. In practical applications, in order to eliminate the influence of noise and obtain more reliable acceleration data, it is usually necessary to measure the noise of the accelerometer. Summary of the invention

[0003] Based on this, it is necessary to propose a noise measurement method for an acceleration sensor to address the above problems, which can flexibly, efficiently and accurately measure the noise of the acceleration sensor to be tested.

[0004] To achieve the above object, the present invention provides, in a first aspect, a noise measurement method for an acceleration sensor, the method comprising:

[0005] Obtain the reference self-noise power spectral density of the reference acceleration sensor;

[0006] Collecting current acceleration data of the acceleration sensor to be tested and current acceleration data of the reference acceleration sensor;

[0007] The current self-noise power spectrum density of the acceleration sensor to be tested is determined according to the current acceleration data of the acceleration sensor to be tested, the current acceleration data of the reference acceleration sensor, and a reference self-noise power spectrum density.

[0008] Optionally, determining the current self-noise power spectrum density of the acceleration sensor to be tested according to the current acceleration data of the acceleration sensor to be tested, the current acceleration data of the reference acceleration sensor and the reference self-noise power spectrum density includes:

[0009] Determine, according to the current acceleration data of the acceleration sensor to be tested and the current acceleration data of the reference acceleration sensor, the autopower spectral density of the acceleration sensor to be tested, the autopower spectral density of the reference acceleration sensor, the cross-power spectral density between the acceleration sensor to be tested and the reference acceleration sensor, and the cross-power spectral density between the reference acceleration sensor and the acceleration sensor to be tested;

[0010] The current self-noise power spectral density of the acceleration sensor to be tested is determined according to the self-power spectral density of the acceleration sensor to be tested, the self-power spectral density of the reference acceleration sensor, the cross-power spectral density between the acceleration sensor to be tested and the reference acceleration sensor, the cross-power spectral density between the reference acceleration sensor and the acceleration sensor to be tested, and the reference self-noise power spectral density.

[0011] Optionally, the determining, according to the current acceleration data of the acceleration sensor to be tested and the current acceleration data of the reference acceleration sensor, the autopower spectral density of the acceleration sensor to be tested, the autopower spectral density of the reference acceleration sensor, the cross-power spectral density between the acceleration sensor to be tested and the reference acceleration sensor, and the cross-power spectral density between the reference acceleration sensor and the acceleration sensor to be tested comprises:

[0012] Performing Fourier transformation on the current acceleration data of the acceleration sensor to be tested to obtain the current acceleration data of the acceleration sensor to be tested in the frequency domain;

[0013] Performing Fourier transform on the current acceleration data of the reference acceleration sensor to obtain the frequency domain current acceleration data of the reference acceleration sensor;

[0014] The autopower spectral density of the acceleration sensor to be tested, the autopower spectral density of the reference acceleration sensor, the cross-power spectral density between the acceleration sensor to be tested and the reference acceleration sensor, and the cross-power spectral density between the reference acceleration sensor and the acceleration sensor to be tested are determined according to the frequency domain current acceleration data of the acceleration sensor to be tested and the frequency domain current acceleration data of the reference acceleration sensor.

[0015] Optionally, determining the current self-noise power spectral density of the acceleration sensor to be tested according to the self-power spectral density of the acceleration sensor to be tested, the self-power spectral density of the reference acceleration sensor, the cross-power spectral density between the acceleration sensor to be tested and the reference acceleration sensor, the cross-power spectral density between the reference acceleration sensor and the acceleration sensor to be tested, and the reference self-noise power spectral density includes:

[0016] Using the formula N ii =S ii -S ij (S jj -N jj ) -1 S ji Determining the current self-noise power spectral density of the acceleration sensor to be tested;

[0017] Among them, Nii is the current self-noise power spectrum density of the acceleration sensor to be tested, S ii is the auto-power spectrum density of the acceleration sensor to be tested, S ij is the cross power spectrum density between the acceleration sensor to be tested and the reference acceleration sensor, S jj is the autopower spectral density of the reference acceleration sensor, N jj is the reference self-noise power spectral density, S ji is the cross power spectral density between the reference acceleration sensor and the acceleration sensor to be tested, -1 To take the inverse sign.

[0018] Optionally, the determining, according to the frequency domain current acceleration data of the acceleration sensor to be tested and the frequency domain current acceleration data of the reference acceleration sensor, the autopower spectral density of the acceleration sensor to be tested, the autopower spectral density of the reference acceleration sensor, the cross-power spectral density between the acceleration sensor to be tested and the reference acceleration sensor, and the cross-power spectral density between the reference acceleration sensor and the acceleration sensor to be tested, comprises:

[0019] Using the formula Determine the autopower spectral density of the acceleration sensor to be tested, the autopower spectral density of the reference acceleration sensor, the cross-power spectral density between the acceleration sensor to be tested and the reference acceleration sensor, and the cross-power spectral density between the reference acceleration sensor and the acceleration sensor to be tested;

[0020] Among them, S ii is the autopower spectral density of the acceleration sensor to be tested, E is the preset expectation, X i is the current acceleration data in the frequency domain of the acceleration sensor to be tested, * To obtain the conjugate sign, S jj is the autopower spectral density of the reference acceleration sensor, X j is the frequency domain current acceleration data of the reference acceleration sensor, S ij is the cross power spectrum density between the acceleration sensor to be tested and the reference acceleration sensor, S ji is the cross power spectral density between the reference acceleration sensor and the acceleration sensor to be tested.

[0021] Optionally, obtaining a reference self-noise power spectrum density of a reference acceleration sensor includes:

[0022] Collecting historical acceleration data of the acceleration sensor to be tested, historical acceleration data of the first reference acceleration sensor, and historical acceleration data of the second reference acceleration sensor;

[0023] Determine the historical self-noise power spectrum density of the first reference acceleration sensor according to the historical acceleration data of the acceleration sensor to be tested, the historical acceleration data of the first reference acceleration sensor, and the historical acceleration data of the second reference acceleration sensor, and use the historical self-noise power spectrum density of the first reference acceleration sensor as the reference self-noise power spectrum density; or,

[0024] The historical self-noise power spectral density of the second reference acceleration sensor is determined according to the historical acceleration data of the acceleration sensor to be tested, the historical acceleration data of the first reference acceleration sensor and the historical acceleration data of the second reference acceleration sensor, and the historical self-noise power spectral density of the second reference acceleration sensor is used as the reference self-noise power spectral density.

[0025] Optionally, the collecting current acceleration data of the acceleration sensor to be tested and the current acceleration data of the reference acceleration sensor includes:

[0026] Place the acceleration sensor to be tested and the reference acceleration sensor in any direction, and set a preset sampling frequency and a preset sampling time of a preset data acquisition instrument;

[0027] Inputting the preset three-dimensional motion data into the acceleration sensor to be tested and the reference acceleration sensor respectively, and using the preset data acquisition instrument to respectively acquire the current acceleration data of the acceleration sensor to be tested and the current acceleration data of the reference acceleration sensor;

[0028] Collecting historical acceleration data of the acceleration sensor to be tested, historical acceleration data of the first reference acceleration sensor, and historical acceleration data of the second reference acceleration sensor, including:

[0029] The acceleration sensor to be tested, the first reference acceleration sensor and the second acceleration sensor are placed in parallel and side by side, and a preset sampling frequency and a preset sampling time of the preset data acquisition instrument are set;

[0030] The preset three-dimensional motion data are respectively input into the acceleration sensor to be tested, the first reference acceleration sensor and the second acceleration sensor, and the historical acceleration data of the acceleration sensor to be tested, the historical acceleration data of the first reference acceleration sensor and the historical acceleration data of the second acceleration sensor are respectively collected using the preset data acquisition instrument.

[0031] Optionally, the determining of the historical self-noise power spectral density of the first reference acceleration sensor according to the historical acceleration data of the acceleration sensor to be tested, the historical acceleration data of the first reference acceleration sensor, and the historical acceleration data of the second reference acceleration sensor, and using the historical self-noise power spectral density of the first reference acceleration sensor as the reference self-noise power spectral density; or, determining the historical self-noise power spectral density of the second reference acceleration sensor according to the historical acceleration data of the acceleration sensor to be tested, the historical acceleration data of the first reference acceleration sensor, and the historical acceleration data of the second reference acceleration sensor, and using the historical self-noise power spectral density of the second reference acceleration sensor as the reference self-noise power spectral density, includes:

[0032] Based on the noise measurement method of three acceleration sensors, data processing is performed on the historical acceleration data of the acceleration sensor to be tested, the historical acceleration data of the first reference acceleration sensor, and the historical acceleration data of the second reference acceleration sensor to obtain the historical self-noise power spectrum density of the first reference acceleration sensor, and the historical self-noise power spectrum density of the first reference acceleration sensor is used as the reference self-noise power spectrum density; or,

[0033] Based on the noise measurement method of three acceleration sensors, data processing is performed on the historical acceleration data of the acceleration sensor to be tested, the historical acceleration data of the first reference acceleration sensor, and the historical acceleration data of the second reference acceleration sensor to obtain the historical self-noise power spectral density of the second reference acceleration sensor, and the historical self-noise power spectral density of the second reference acceleration sensor is used as the reference self-noise power spectral density.

[0034] To achieve the above object, the present invention provides, in a second aspect, a noise measurement device for an acceleration sensor, the device comprising:

[0035] An acquisition module, used for acquiring a reference self-noise power spectrum density of a reference acceleration sensor;

[0036] An acquisition module, used to acquire current acceleration data of the acceleration sensor to be tested and current acceleration data of the reference acceleration sensor;

[0037] The determination module is used to determine the current self-noise power spectrum density of the acceleration sensor to be tested according to the current acceleration data of the acceleration sensor to be tested, the current acceleration data of the reference acceleration sensor, and the reference self-noise power spectrum density.

[0038] To achieve the above-mentioned object, the present invention provides in a third aspect a computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the processor executes the method as described in any one of the first aspects.

[0039] To achieve the above-mentioned purpose, the present invention provides a computer device in a fourth aspect, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the method as described in any one of the first aspects.

[0040] The embodiment of the present invention has the following beneficial effects: the method obtains the reference self-noise power spectrum density of the reference acceleration sensor, then collects the current acceleration data of the acceleration sensor to be tested and the current acceleration data of the reference acceleration sensor, and finally determines the current self-noise power spectrum density of the acceleration sensor to be tested according to the current acceleration data of the acceleration sensor to be tested, the current acceleration data of the reference acceleration sensor and the reference self-noise power spectrum density; that is, based on the reference self-noise power spectrum density, the current self-noise power spectrum density of the acceleration sensor to be tested is determined according to the current acceleration data of the acceleration sensor to be tested and the current acceleration data of the reference acceleration sensor, so that the noise of the acceleration sensor to be tested can be measured flexibly, efficiently and accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0042] in:

[0043] Figure 1 A schematic diagram of a noise measurement method for an acceleration sensor in an embodiment of the present application;

[0044] Figure 2 A schematic diagram of a noise measurement device for an acceleration sensor in an embodiment of the present application;

[0045] Figure 3 1 is a diagram of the internal structure of a computer device in some embodiments. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] Accelerometers play an important role in vehicle safety, mobile equipment, structural health monitoring and other fields due to their high sensitivity and high precision. In practical applications, in order to eliminate the influence of noise and obtain more reliable acceleration data, it is usually necessary to measure the noise of the accelerometer.

[0048] However, most of the current methods for measuring the noise of accelerometers are three-accelerometer noise measurement methods, that is, using two reference accelerometers to measure the noise of the accelerometer to be measured. This method has the following problems: first, it is expensive and the measurement process is relatively complicated; second, the arrangement of the accelerometers is limited, and the three accelerometers must be arranged in parallel, which is prone to certain errors.

[0049] In response to the above problems, the present application proposes a noise measurement method for an acceleration sensor, which can flexibly, efficiently and accurately measure the noise of the acceleration sensor to be tested, and solve the problems of high cost, limited layout, and easy large errors in the existing three acceleration sensor noise measurement. The specific implementation principle will be described in detail in the following embodiments.

[0050] In a first aspect, the present application provides a noise measurement method for an acceleration sensor.

[0051] See also Figure 1 , is a schematic diagram of a noise measurement method for an acceleration sensor in an embodiment of the present application, the method comprising:

[0052] Step 110: Obtain a reference self-noise power spectrum density of a reference acceleration sensor.

[0053] The reference self-noise power spectrum density is the self-noise power spectrum density obtained in advance by an operator.

[0054] In some embodiments, the reference self-noise power spectrum density may be obtained by an operator based on a large amount of experience, experiments or statistics; of course, in other embodiments, it may also be set by an operator according to actual needs, which is not limited here.

[0055] In some embodiments, the reference self-noise power spectral density can be obtained by measuring the noise of three acceleration sensors using an existing noise measurement method. Of course, in other embodiments, the reference self-noise power spectral density is not limited to the noise measurement method of three acceleration sensors, and other noise measurement methods that can measure acceleration sensors can also be used, which is not limited here.

[0056] It can be understood that when the noise measurement method of three acceleration sensors is used to obtain the reference self-noise power spectrum density, since the noise measurement method of three acceleration sensors has two reference acceleration sensors and one acceleration sensor to be measured, the reference self-noise power spectrum density is the self-noise power spectrum density measured by any one of the two reference acceleration sensors.

[0057] Step 120: Collect current acceleration data of the acceleration sensor to be tested and current acceleration data of the reference acceleration sensor.

[0058] It should be noted that the acceleration sensor to be tested refers to an acceleration sensor that needs to perform noise measurement.

[0059] Furthermore, it should be noted that the present application only needs to collect the current acceleration data of the acceleration sensor to be tested and the current acceleration data of the reference acceleration sensor to perform noise measurement of the acceleration sensor to be tested, and there is no need to limit the arrangement of the two acceleration sensors, the acceleration sensor to be tested and the reference acceleration sensor, during the process of measuring noise.

[0060] That is to say, the present application adopts a noise measurement method of two acceleration sensors, that is, using a reference acceleration sensor to measure the noise of the acceleration sensor to be measured, which can effectively reduce costs and does not limit the arrangement of the two acceleration sensors, that is, they can be arranged in any arrangement, which can effectively solve the problem of limited arrangement and large errors.

[0061] In some embodiments, motion data can be input into the acceleration sensor to be tested and the reference acceleration sensor, and then a data acquisition instrument is used to collect data from the acceleration sensor to be tested and the reference acceleration sensor, respectively, to obtain current acceleration data of the acceleration sensor to be tested and current acceleration data of the reference acceleration sensor.

[0062] Step 130: Determine the current self-noise power spectrum density of the acceleration sensor to be tested according to the current acceleration data of the acceleration sensor to be tested, the current acceleration data of the reference acceleration sensor, and the reference self-noise power spectrum density.

[0063] It should be noted that since the self-noise power spectral density of the reference acceleration sensor is the reference self-noise power spectral density, which is the self-noise power spectral density obtained in advance by the operator, in some embodiments, the current self-noise power spectral density of the acceleration sensor to be tested can be determined based on the reference self-noise power spectral density according to the current acceleration data of the acceleration sensor to be tested and the current acceleration data of the reference acceleration sensor.

[0064] In an embodiment of the present application, by acquiring a reference self-noise power spectral density of a reference acceleration sensor, then collecting current acceleration data of the acceleration sensor to be tested and the current acceleration data of the reference acceleration sensor, and finally determining the current self-noise power spectral density of the acceleration sensor to be tested according to the current acceleration data of the acceleration sensor to be tested, the current acceleration data of the reference acceleration sensor and the reference self-noise power spectral density; that is, based on the reference self-noise power spectral density, determining the current self-noise power spectral density of the acceleration sensor to be tested according to the current acceleration data of the acceleration sensor to be tested and the current acceleration data of the reference acceleration sensor, the noise of the acceleration sensor to be tested can be measured flexibly, efficiently and accurately, the noise of the acceleration sensor to be tested can be measured flexibly, efficiently and accurately, and the problems of high noise measurement cost, limited arrangement method and easy large error of the existing three acceleration sensors are solved.

[0065] In a feasible implementation, step 130 in the above embodiment determines the current self-noise power spectrum density of the acceleration sensor to be tested according to the current acceleration data of the acceleration sensor to be tested, the current acceleration data of the reference acceleration sensor and the reference self-noise power spectrum density, including: determining the self-power spectrum density of the acceleration sensor to be tested, the self-power spectrum density of the reference acceleration sensor, the mutual power spectrum density between the acceleration sensor to be tested and the reference acceleration sensor, and the mutual power spectrum density between the reference acceleration sensor and the acceleration sensor to be tested according to the current acceleration data of the acceleration sensor to be tested and the current acceleration data of the reference acceleration sensor; determining the current self-noise power spectrum density of the acceleration sensor to be tested according to the self-power spectrum density of the acceleration sensor to be tested, the self-power spectrum density of the reference acceleration sensor, the mutual power spectrum density between the acceleration sensor to be tested and the reference acceleration sensor, the mutual power spectrum density between the reference acceleration sensor and the acceleration sensor to be tested, and the reference self-noise power spectrum density.

[0066] In the embodiment of the present application, by comprehensively using the current acceleration data of the acceleration sensor to be tested and the reference acceleration sensor, as well as the reference self-noise power spectrum density, the current self-noise power spectrum density of the acceleration sensor to be tested is determined, which can further improve the accuracy of noise measurement, enhance the robustness of noise identification, optimize measurement efficiency, etc.

[0067] It can be understood that the accuracy of noise measurement is improved: through the self-power spectral density, the energy distribution of the accelerometer to be tested and the reference accelerometer in the frequency domain can be accurately analyzed, so as to more accurately measure the noise component; the correlation between the accelerometer to be tested and the reference accelerometer is revealed through the cross-power spectral density, which helps to distinguish noise from effective signals and further improve the accuracy of noise measurement; by combining the reference self-noise power spectral density of the reference accelerometer, the current self-noise power spectral density of the accelerometer to be tested can be corrected to reduce the error introduced by the measurement system or the external environment; the robustness of noise identification is enhanced: multi-parameter comprehensive analysis (i.e., self-power spectral density, cross-power spectral density, self-noise power spectral density) improves the robustness of noise identification, so that even in a complex measurement environment, the stability and reliability of the measurement results can be ensured; the measurement efficiency is optimized: this method has a high degree of automation, can quickly process a large amount of data, and output noise measurement results in real time, which can significantly improve the measurement efficiency.

[0068] In a feasible implementation, the above-mentioned embodiment determines the autopower spectral density of the acceleration sensor to be tested, the autopower spectral density of the reference acceleration sensor, the mutual power spectral density between the acceleration sensor to be tested and the reference acceleration sensor, and the mutual power spectral density between the reference acceleration sensor and the acceleration sensor to be tested according to the current acceleration data of the acceleration sensor to be tested and the current acceleration data of the reference acceleration sensor, including: performing Fourier transform on the current acceleration data of the acceleration sensor to be tested to obtain the frequency domain current acceleration data of the acceleration sensor to be tested; performing Fourier transform on the current acceleration data of the reference acceleration sensor to obtain the frequency domain current acceleration data of the reference acceleration sensor; determining the autopower spectral density of the acceleration sensor to be tested, the autopower spectral density of the reference acceleration sensor, the mutual power spectral density between the acceleration sensor to be tested and the reference acceleration sensor, and the mutual power spectral density between the reference acceleration sensor and the acceleration sensor to be tested according to the frequency domain current acceleration data of the acceleration sensor to be tested and the frequency domain current acceleration data of the reference acceleration sensor.

[0069] In an embodiment of the present application, by performing Fourier transform on the current acceleration data of the acceleration sensor to be tested and the reference acceleration sensor to obtain corresponding frequency domain data, and then determining their autopower spectral density, cross-power spectral density and self-noise power spectral density, the accuracy of noise measurement can be further improved.

[0070] It can be understood that the accuracy of noise measurement is improved: by performing Fourier transform on the current acceleration data of the accelerometer to be tested and the reference accelerometer and converting it from the time domain to the frequency domain, its response characteristics at different frequencies can be analyzed more clearly, which is helpful for the sensitivity, stability and noise level in different frequency bands, so as to further improve the accuracy of noise measurement.

[0071] In a feasible implementation, the above embodiment determines the current self-noise power spectrum density of the acceleration sensor to be tested according to the self-power spectrum density of the acceleration sensor to be tested, the self-power spectrum density of the reference acceleration sensor, the cross-power spectrum density between the acceleration sensor to be tested and the reference acceleration sensor, the cross-power spectrum density between the reference acceleration sensor and the acceleration sensor to be tested, and the reference self-noise power spectrum density, including:

[0072] Using the formula N ii =S ii -S ij (S jj -N jj ) -1 S ji Determine the current self-noise power spectral density of the acceleration sensor to be tested;

[0073] Among them, N ii is the current self-noise power spectrum density of the acceleration sensor to be tested, S ii is the auto-power spectrum density of the acceleration sensor to be tested, S ij is the cross power spectrum density between the acceleration sensor to be tested and the reference acceleration sensor, S jj is the auto-power spectral density of the reference acceleration sensor, N jj is the self-noise power spectral density of the reference acceleration sensor, S ji is the cross power spectral density between the reference accelerometer and the accelerometer to be tested, -1 To take the inverse sign.

[0074] In the embodiments of the present application, a rigorous calculation formula for the current self-noise power spectral density of the acceleration sensor to be tested is provided from a mathematical perspective. The accuracy of the calculated current self-noise power spectral density of the acceleration sensor to be tested can be ensured from the rigor of mathematical logic, and the above calculation formula is preferably shown to provide reference, understanding and calculation for technical personnel; in addition, by adopting the above calculation formula to calculate the current self-noise power spectral density of the acceleration sensor to be tested, a relatively accurate current self-noise power spectral density of the acceleration sensor to be tested can be obtained, so as to effectively improve the accuracy of noise measurement.

[0075] In a feasible implementation, the above embodiment determines the auto-power spectrum density of the acceleration sensor to be tested, the auto-power spectrum density of the reference acceleration sensor, the cross-power spectrum density between the acceleration sensor to be tested and the reference acceleration sensor, and the cross-power spectrum density between the reference acceleration sensor and the acceleration sensor to be tested according to the frequency domain current acceleration data of the acceleration sensor to be tested and the frequency domain current acceleration data of the reference acceleration sensor, including:

[0076] Using the formula Determine the autopower spectral density of the acceleration sensor to be tested, the autopower spectral density of the reference acceleration sensor, the cross-power spectral density between the acceleration sensor to be tested and the reference acceleration sensor, and the cross-power spectral density between the reference acceleration sensor and the acceleration sensor to be tested;

[0077] Among them, S ii is the auto-power spectrum density of the acceleration sensor to be tested, E is the preset expectation, X i is the current acceleration data in the frequency domain of the acceleration sensor to be tested, * To obtain the conjugate sign, S jj is the auto-power spectral density of the reference acceleration sensor, X j is the frequency domain current acceleration data of the reference acceleration sensor, S ij is the cross power spectrum density between the acceleration sensor to be tested and the reference acceleration sensor, S ji is the cross power spectral density between the reference accelerometer and the accelerometer to be tested.

[0078] In some embodiments, the preset expectation may be obtained by an operator based on a large amount of experience, experiments or statistics.

[0079] In the embodiments of the present application, rigorous acceleration sensors to be tested and reference acceleration sensors are provided from a mathematical perspective. The calculation formulas for their auto-power spectral density and cross-power spectral density can ensure the accuracy of the calculated auto-power spectral density and cross-power spectral density from the rigor of mathematical logic, and the above-mentioned calculation formulas are preferably shown to provide reference, understanding and calculation for technical personnel; in addition, by adopting the above-mentioned calculation formulas to calculate the auto-power spectral density and the cross-power spectral density, relatively accurate auto-power spectral density and cross-power spectral density can be obtained, so as to effectively improve the accuracy of noise measurement.

[0080] In a feasible implementation, obtaining the reference self-noise power spectral density of the reference acceleration sensor in the above embodiment includes: collecting historical acceleration data of the acceleration sensor to be tested, historical acceleration data of the first reference acceleration sensor, and historical acceleration data of the second reference acceleration sensor; determining the historical self-noise power spectral density of the first reference acceleration sensor according to the historical acceleration data of the acceleration sensor to be tested, the historical acceleration data of the first reference acceleration sensor, and the historical acceleration data of the second reference acceleration sensor, and using the historical self-noise power spectral density of the first reference acceleration sensor as the reference self-noise power spectral density; or, determining the historical self-noise power spectral density of the second reference acceleration sensor according to the historical acceleration data of the acceleration sensor to be tested, the historical acceleration data of the first reference acceleration sensor, and the historical acceleration data of the second reference acceleration sensor, and using the historical self-noise power spectral density of the second reference acceleration sensor as the reference self-noise power spectral density.

[0081] It should be noted that this embodiment is a preset step, the purpose of which is to obtain a reference self-noise power spectrum density.

[0082] In some embodiments, motion data can be input into the acceleration sensor to be tested, the first reference acceleration sensor, and the second reference acceleration sensor, and then a data acquisition instrument is used to collect data from the acceleration sensor to be tested, the first reference acceleration sensor, and the second reference acceleration sensor, respectively, to obtain historical acceleration data of the acceleration sensor to be tested, historical acceleration data of the first reference acceleration sensor, and historical acceleration data of the second reference acceleration sensor; wherein, the acceleration sensor to be tested, the first reference acceleration sensor, and the second reference acceleration sensor must be arranged in parallel and side by side to ensure that their errors approach zero, thereby ensuring the accuracy of the reference self-noise power spectrum density determined in advance.

[0083] In an embodiment of the present application, by preferably collecting and analyzing historical acceleration data of the acceleration sensor to be tested, the first reference acceleration sensor, and the second reference acceleration sensor to determine the reference self-noise power spectral density, the accuracy of the reference self-noise power spectral density can be improved, the flexibility of data processing can be enhanced, etc.

[0084] It can be understood that the accuracy of the reference self-noise power spectral density is improved: by collecting historical acceleration data of the accelerometer to be tested and two reference accelerometers, the reference self-noise power spectral density can be more accurately determined based on these data. Specifically, the noise part generated by the accelerometer itself can be screened out from these data, and external interference factors, such as noise caused by environmental changes and other physical effects, can be eliminated, so as to obtain a purer reference self-noise power spectral density, making the collected data more reliable and reducing errors caused by accidental factors; the flexibility of data processing is enhanced: the historical self-noise power spectral density of the first reference accelerometer can be selected as the reference self-noise power spectral density, or the historical self-noise power spectral density of the second reference accelerometer can be selected. This flexibility allows the most appropriate reference self-noise power spectral density source to be selected according to specific circumstances and needs in practical applications.

[0085] In a feasible implementation, step 120 in the above embodiment, collecting current acceleration data of the acceleration sensor to be tested and the current acceleration data of the reference acceleration sensor, includes: placing the acceleration sensor to be tested and the reference acceleration sensor in any direction, and setting a preset sampling frequency and a preset sampling time of a preset data acquisition instrument; inputting preset three-dimensional motion data into the acceleration sensor to be tested and the reference acceleration sensor, respectively, and using the preset data acquisition instrument to collect the current acceleration data of the acceleration sensor to be tested and the current acceleration data of the reference acceleration sensor, respectively.

[0086] The above-mentioned embodiment collects historical acceleration data of the acceleration sensor to be tested, the historical acceleration data of the first reference acceleration sensor, and the historical acceleration data of the second reference acceleration sensor, including: placing the acceleration sensor to be tested, the first reference acceleration sensor, and the second acceleration sensor in parallel and side by side, and setting a preset sampling frequency and a preset sampling time of a preset data acquisition instrument; inputting preset three-dimensional motion data into the acceleration sensor to be tested, the first reference acceleration sensor, and the second acceleration sensor, respectively, and using the preset data acquisition instrument to collect the historical acceleration data of the acceleration sensor to be tested, the historical acceleration data of the first reference acceleration sensor, and the historical acceleration data of the second acceleration sensor, respectively.

[0087] Among them, the preset three-dimensional motion data, preset sampling frequency, preset sampling time and preset data acquisition instrument can all be set in advance by the operator, and this application does not limit them.

[0088] In some embodiments, the preset three-dimensional motion data, preset sampling frequency, preset sampling time and preset data acquisition device can be obtained by the operator based on a large amount of experience, experiments or statistics; of course, in other embodiments, they can also be set by the operator according to actual needs.

[0089] It should be noted that, since the acceleration sensors appearing in this application are all three-axis acceleration sensors, this application uses three-dimensional motion data as input to collect acceleration data.

[0090] In the embodiment of the present application, by setting up as required and collecting acceleration data, more accurate acceleration data can be obtained.

[0091] In addition, through the comparison of these two acquisition methods, it can also be reflected that the noise measurement method of the two acceleration sensors of the present application is superior to the existing noise measurement method of the three acceleration sensors, that is, the noise measurement method of the two acceleration sensors of the present application can effectively solve the problems of the existing three acceleration sensors, such as high noise measurement cost, limited layout method, and easy large errors.

[0092] In a feasible implementation, the above embodiment determines the historical self-noise power spectrum density of the first reference acceleration sensor according to the historical acceleration data of the acceleration sensor to be tested, the historical acceleration data of the first reference acceleration sensor and the historical acceleration data of the second reference acceleration sensor, and uses the historical self-noise power spectrum density of the first reference acceleration sensor as the reference self-noise power spectrum density; or determines the historical self-noise power spectrum density of the second reference acceleration sensor according to the historical acceleration data of the acceleration sensor to be tested, the historical acceleration data of the first reference acceleration sensor and the historical acceleration data of the second reference acceleration sensor, and uses the historical self-noise power spectrum density of the second reference acceleration sensor as the reference self-noise power spectrum density, including: based on the noise of the three acceleration sensors; A measurement method, wherein historical acceleration data of the acceleration sensor to be tested, historical acceleration data of a first reference acceleration sensor, and historical acceleration data of a second reference acceleration sensor are processed to obtain a historical self-noise power spectrum density of the first reference acceleration sensor, and the historical self-noise power spectrum density of the first reference acceleration sensor is used as a reference self-noise power spectrum density; or, based on a noise measurement method of three acceleration sensors, historical acceleration data of the acceleration sensor to be tested, historical acceleration data of the first reference acceleration sensor, and historical acceleration data of the second reference acceleration sensor are processed to obtain a historical self-noise power spectrum density of the second reference acceleration sensor, and the historical self-noise power spectrum density of the second reference acceleration sensor is used as a reference self-noise power spectrum density.

[0093] In the embodiment of the present application, the reference self-noise power spectrum density of the reference acceleration sensor is measured by preferably adopting the noise measurement method of three acceleration sensors, thereby ensuring the accuracy of the preset data.

[0094] In the present application, it should be particularly noted that, since the acceleration sensors of the present application are all three-axis acceleration sensors, each item in each calculation formula in the above embodiments is a 3X3 matrix.

[0095] In addition, the above calculation formulas can also be conventionally transformed by those skilled in the art according to actual needs. The formulas after conventional transformation can also be used to calculate the current self-noise power spectrum density, which should also fall within the protection scope of this application.

[0096] In a second aspect, the present application provides a noise measurement device for an acceleration sensor.

[0097] See also Figure 2 , is a schematic diagram of a noise measurement device for an acceleration sensor in an embodiment of the present application, the device 210 includes:

[0098] An acquisition module 211 is used to acquire a reference self-noise power spectrum density of a reference acceleration sensor;

[0099] The acquisition module 212 is used to acquire the current acceleration data of the acceleration sensor to be tested and the current acceleration data of the reference acceleration sensor;

[0100] The determination module 213 is used to determine the current self-noise power spectrum density of the acceleration sensor to be tested according to the current acceleration data of the acceleration sensor to be tested, the current acceleration data of the reference acceleration sensor and the reference self-noise power spectrum density.

[0101] In the embodiment of the present application, the relevant contents of the acquisition module 211, the acquisition module 212 and the determination module 213 can be found in Figure 1 The contents in the illustrated embodiment will not be described in detail here.

[0102] It should be noted that the device 210 of the present application also includes some other modules. It can be understood that the method of the present application and the device 210 have a one-to-one correspondence. Therefore, some other modules of the device 210 of the present application are the contents corresponding to the method of the present application in the above-mentioned embodiment.

[0103] In an embodiment of the present application, by acquiring a reference self-noise power spectral density of a reference acceleration sensor, then collecting current acceleration data of the acceleration sensor to be tested and the current acceleration data of the reference acceleration sensor, and finally determining the current self-noise power spectral density of the acceleration sensor to be tested according to the current acceleration data of the acceleration sensor to be tested, the current acceleration data of the reference acceleration sensor and the reference self-noise power spectral density; that is, based on the reference self-noise power spectral density, determining the current self-noise power spectral density of the acceleration sensor to be tested according to the current acceleration data of the acceleration sensor to be tested and the current acceleration data of the reference acceleration sensor, the noise of the acceleration sensor to be tested can be measured flexibly, efficiently and accurately, the noise of the acceleration sensor to be tested can be measured flexibly, efficiently and accurately, and the problems of high noise measurement cost, limited arrangement method and easy large error of the existing three acceleration sensors are solved.

[0104] In a third aspect, the present application further provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the processor executes a noise measurement method for an acceleration sensor in the above method embodiment.

[0105] In a fourth aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes a noise measurement method for an acceleration sensor in the above method embodiment.

[0106] Figure 3 The internal structure diagram of a computer device in some embodiments is shown. The computer device may be a terminal, a server, or a gateway. Figure 3 As shown, the computer device includes a processor, a memory and a network interface connected through a system bus.

[0107] The memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program. When the computer program is executed by the processor, the processor can implement each step in the above method embodiment. The internal memory may also store a computer program. When the computer program is executed by the processor, the processor can implement each step in the above method embodiment. Those skilled in the art can understand that Figure 3 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0108] A person skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing related hardware through a computer program. The program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods.

[0109] Among them, any reference to memory, storage, database or other media used in the embodiments provided in the present application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0110] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0111] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A noise measurement method for an acceleration sensor, characterized in that: The method comprises: Obtain the reference self-noise power spectral density of the reference acceleration sensor; Collecting current acceleration data of the acceleration sensor to be tested and current acceleration data of the reference acceleration sensor; The current self-noise power spectrum density of the acceleration sensor to be tested is determined according to the current acceleration data of the acceleration sensor to be tested, the current acceleration data of the reference acceleration sensor, and the reference self-noise power spectrum density.

2. The method according to claim 1, characterized in that The determining the current self-noise power spectrum density of the acceleration sensor to be tested according to the current acceleration data of the acceleration sensor to be tested, the current acceleration data of the reference acceleration sensor and the reference self-noise power spectrum density comprises: Determine, according to the current acceleration data of the acceleration sensor to be tested and the current acceleration data of the reference acceleration sensor, the autopower spectral density of the acceleration sensor to be tested, the autopower spectral density of the reference acceleration sensor, the cross-power spectral density between the acceleration sensor to be tested and the reference acceleration sensor, and the cross-power spectral density between the reference acceleration sensor and the acceleration sensor to be tested; The current self-noise power spectral density of the acceleration sensor to be tested is determined according to the self-power spectral density of the acceleration sensor to be tested, the self-power spectral density of the reference acceleration sensor, the cross-power spectral density between the acceleration sensor to be tested and the reference acceleration sensor, the cross-power spectral density between the reference acceleration sensor and the acceleration sensor to be tested, and the reference self-noise power spectral density.

3. The method according to claim 2, characterized in that The method of determining the autopower spectral density of the acceleration sensor to be tested, the autopower spectral density of the reference acceleration sensor, the cross-power spectral density between the acceleration sensor to be tested and the reference acceleration sensor, and the cross-power spectral density between the reference acceleration sensor and the acceleration sensor to be tested according to the current acceleration data of the acceleration sensor to be tested and the current acceleration data of the reference acceleration sensor comprises: Performing Fourier transformation on the current acceleration data of the acceleration sensor to be tested to obtain the frequency domain current acceleration data of the acceleration sensor to be tested; Performing Fourier transform on the current acceleration data of the reference acceleration sensor to obtain the frequency domain current acceleration data of the reference acceleration sensor; The autopower spectral density of the acceleration sensor to be tested, the autopower spectral density of the reference acceleration sensor, the cross-power spectral density between the acceleration sensor to be tested and the reference acceleration sensor, and the cross-power spectral density between the reference acceleration sensor and the acceleration sensor to be tested are determined according to the frequency domain current acceleration data of the acceleration sensor to be tested and the frequency domain current acceleration data of the reference acceleration sensor.

4. The method according to claim 2, characterized in that: The determining of the current self-noise power spectrum density of the acceleration sensor to be tested according to the self-power spectrum density of the acceleration sensor to be tested, the self-power spectrum density of the reference acceleration sensor, the mutual power spectrum density between the acceleration sensor to be tested and the reference acceleration sensor, the mutual power spectrum density between the reference acceleration sensor and the acceleration sensor to be tested, and the reference self-noise power spectrum density comprises: Using the formula N ii =S ii -S ij (S jj -N jj ) -1 S ji Determining the current self-noise power spectral density of the acceleration sensor to be tested; Among them, N ii is the current self-noise power spectrum density of the acceleration sensor to be tested, S ii is the auto-power spectrum density of the acceleration sensor to be tested, S ij is the cross power spectrum density between the acceleration sensor to be tested and the reference acceleration sensor, S jj is the autopower spectral density of the reference acceleration sensor, N jj is the reference self-noise power spectral density, S ji is the cross power spectral density between the reference acceleration sensor and the acceleration sensor to be tested, -1 To take the inverse sign.

5. The method according to claim 3, characterized in that: The method of determining the autopower spectral density of the acceleration sensor to be tested, the autopower spectral density of the reference acceleration sensor, the cross-power spectral density between the acceleration sensor to be tested and the reference acceleration sensor, and the cross-power spectral density between the reference acceleration sensor and the acceleration sensor to be tested according to the frequency domain current acceleration data of the acceleration sensor to be tested and the frequency domain current acceleration data of the reference acceleration sensor comprises: Using the formula Determine the autopower spectral density of the acceleration sensor to be tested, the autopower spectral density of the reference acceleration sensor, the cross-power spectral density between the acceleration sensor to be tested and the reference acceleration sensor, and the cross-power spectral density between the reference acceleration sensor and the acceleration sensor to be tested; Among them, S ii is the autopower spectral density of the acceleration sensor to be tested, E is the preset expectation, X i is the current acceleration data in the frequency domain of the acceleration sensor to be tested, * To obtain the conjugate sign, S jj is the autopower spectral density of the reference acceleration sensor, X j is the frequency domain current acceleration data of the reference acceleration sensor, S ij is the cross power spectrum density between the acceleration sensor to be tested and the reference acceleration sensor, S ji is the cross power spectral density between the reference acceleration sensor and the acceleration sensor to be tested.

6. The method according to claim 1, characterized in that The reference self-noise power spectrum density of the reference acceleration sensor includes: Collecting historical acceleration data of the acceleration sensor to be tested, historical acceleration data of the first reference acceleration sensor, and historical acceleration data of the second reference acceleration sensor; Determine the historical self-noise power spectrum density of the first reference acceleration sensor according to the historical acceleration data of the acceleration sensor to be tested, the historical acceleration data of the first reference acceleration sensor, and the historical acceleration data of the second reference acceleration sensor, and use the historical self-noise power spectrum density of the first reference acceleration sensor as the reference self-noise power spectrum density; or, The historical self-noise power spectral density of the second reference acceleration sensor is determined according to the historical acceleration data of the acceleration sensor to be tested, the historical acceleration data of the first reference acceleration sensor and the historical acceleration data of the second reference acceleration sensor, and the historical self-noise power spectral density of the second reference acceleration sensor is used as the reference self-noise power spectral density.

7. The method according to claim 1 or 6, characterized in that: The collecting of the current acceleration data of the acceleration sensor to be tested and the current acceleration data of the reference acceleration sensor includes: Place the acceleration sensor to be tested and the reference acceleration sensor in any direction, and set a preset sampling frequency and a preset sampling time of a preset data acquisition instrument; Inputting the preset three-dimensional motion data into the acceleration sensor to be tested and the reference acceleration sensor respectively, and using the preset data acquisition instrument to respectively acquire the current acceleration data of the acceleration sensor to be tested and the current acceleration data of the reference acceleration sensor; Collecting historical acceleration data of the acceleration sensor to be tested, historical acceleration data of the first reference acceleration sensor, and historical acceleration data of the second reference acceleration sensor, including: The acceleration sensor to be tested, the first reference acceleration sensor and the second acceleration sensor are placed in parallel and side by side, and a preset sampling frequency and a preset sampling time of the preset data acquisition instrument are set; The preset three-dimensional motion data are respectively input into the acceleration sensor to be tested, the first reference acceleration sensor and the second acceleration sensor, and the historical acceleration data of the acceleration sensor to be tested, the historical acceleration data of the first reference acceleration sensor and the historical acceleration data of the second acceleration sensor are respectively collected using the preset data acquisition instrument.

8. The method according to claim 6, characterized in that The method of determining the historical self-noise power spectral density of the first reference acceleration sensor according to the historical acceleration data of the acceleration sensor to be tested, the historical acceleration data of the first reference acceleration sensor, and the historical acceleration data of the second reference acceleration sensor, and using the historical self-noise power spectral density of the first reference acceleration sensor as the reference self-noise power spectral density; or determining the historical self-noise power spectral density of the second reference acceleration sensor according to the historical acceleration data of the acceleration sensor to be tested, the historical acceleration data of the first reference acceleration sensor, and the historical acceleration data of the second reference acceleration sensor, and using the historical self-noise power spectral density of the second reference acceleration sensor as the reference self-noise power spectral density, includes: Based on the noise measurement method of three acceleration sensors, data processing is performed on the historical acceleration data of the acceleration sensor to be tested, the historical acceleration data of the first reference acceleration sensor, and the historical acceleration data of the second reference acceleration sensor to obtain the historical self-noise power spectrum density of the first reference acceleration sensor, and the historical self-noise power spectrum density of the first reference acceleration sensor is used as the reference self-noise power spectrum density; or, Based on the noise measurement method of three acceleration sensors, data processing is performed on the historical acceleration data of the acceleration sensor to be tested, the historical acceleration data of the first reference acceleration sensor, and the historical acceleration data of the second reference acceleration sensor to obtain the historical self-noise power spectral density of the second reference acceleration sensor, and the historical self-noise power spectral density of the second reference acceleration sensor is used as the reference self-noise power spectral density.

9. A computer-readable storage medium, characterized in that: A computer program is stored, and when the computer program is executed by a processor, the processor is caused to perform the method according to any one of claims 1 to 8.

10. A computer device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the method according to any one of claims 1 to 8.

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