Ground center gravity compensation body weight measurement method, device, equipment and medium

Abstract

The invention relates to the technical field of weight measurement. The method comprises the following steps: extracting a gravity vector component in a vertical direction according to acceleration vector information, calculating to obtain a gravity acceleration measured value of a current measurement position based on the gravity vector component, calculating a geomagnetic declination angle according to magnetic field vector information, and measuring the gravity acceleration measured value of the current measurement position according to the geomagnetic declination angle. A preset geomagnetic-latitude mapping rule is matched based on the geomagnetic declination, geographic latitude parameters corresponding to the current measurement position are derived, the geographic latitude parameters are input into a standard gravitational acceleration calculation model, and a standard gravitational acceleration value corresponding to the current measurement position is generated; and constructing a gravity compensation factor according to a difference value between the standard gravitational acceleration value and the measured gravitational acceleration value, and converting an original voltage value output by the weighing sensor based on the gravity compensation factor to obtain a corrected mass value of the target object. The body weight measuring device has the effect of improving the measurement adaptability of body weight measurement.

Description

Technical Field

[0001] This invention relates to the technical field of weight measurement, and in particular to a gravity-compensated weight measurement method, apparatus, equipment, and medium. Background Technology

[0002] Weight measurement devices are widely used in home health management, medical checkups, and portable travel weighing. Traditional weighing scales typically rely on strain gauge sensors to acquire voltage signals and combine them with factory-preset conversion factors to estimate mass. However, actual measurement results are often affected by differences in gravitational acceleration caused by geographical location variations. Especially at different latitudes, altitudes, and crustal distribution areas, differences in standard gravitational acceleration can lead to systematic errors in the weighing results of the same object at different locations.

[0003] In existing technologies, some weighing scales simplify conversion by using fixed compensation factors or by directly embedding standard gravity values ​​into the program. However, these methods cannot adaptively adjust to the geomagnetic environment of the current measurement location, lacking dynamic adaptability and making it difficult to guarantee accuracy. Furthermore, traditional devices typically lack the ability to jointly measure and analyze attitude using accelerometers and magnetic field sensors, making it difficult to effectively compare and correct the measured gravity value with the theoretical value. Summary of the Invention

[0004] To improve the adaptability of weight measurement, this invention provides a gravity-compensated weight measurement method, device, equipment, and medium.

[0005] The above-mentioned objective of this invention is achieved through the following technical solution: A method for measuring body weight with gravity compensation, the method comprising: Obtain acceleration vector information and magnetic field vector information; Based on the acceleration vector information, the vertical gravity vector component is extracted, and based on the gravity vector component, the measured value of gravity acceleration at the current measurement position is calculated. Based on the magnetic field vector information, the geomagnetic declination is calculated, and based on the geomagnetic declination matching the preset geomagnetic-latitude mapping rule, the geographic latitude parameter corresponding to the current measurement location is derived. The geographical latitude parameter is input into the standard gravity acceleration calculation model to generate the standard gravity acceleration value corresponding to the current measurement location; based on the difference between the standard gravity acceleration value and the measured gravity acceleration value, a gravity compensation factor is constructed to correct the voltage-mass conversion relationship of the weighing sensor. Based on the gravity compensation factor, the original voltage value output by the gravity sensor is converted to obtain the corrected mass value of the target object.

[0006] By adopting the above technical solution, real-time perception and compensation of the Earth's gravity environment at the current measurement location can be achieved during weight measurement, avoiding systematic errors in weighing results caused by differences in gravitational acceleration due to geographical location changes. Specifically, by fusing acceleration vector information and magnetic field vector information, the actual gravity vector component in the current measurement direction is extracted, and the measured value of gravitational acceleration is calculated. Combined with geomagnetic declination and a preset geomagnetic-latitude mapping rule, the geographical latitude parameter is dynamically derived, and the current theoretical gravity value is calculated using a standard gravity acceleration model. Furthermore, a gravity compensation factor is constructed based on the difference between the measured value and the standard value, and applied to the voltage-mass conversion process, thereby achieving location-specific conversion correction and measurement compensation. This solution breaks through the dependence of existing weight measurement equipment on fixed compensation coefficients and preset standard gravity constants, and has the ability to adaptively identify, respond to, and correct changes in geographical factors in the measurement scenario, significantly improving the weighing accuracy and consistency under different regions and different placement conditions.

[0007] Preferred method: Based on the acceleration vector information, extract the vertical gravity vector component, and calculate the measured value of gravitational acceleration at the current measurement location based on the gravity vector component, including: Based on the fusion of acceleration vector information and magnetic field vector information, the spatial correspondence between the measurement reference coordinate system and the direction of gravity at the Earth's center is determined; Construct a rotation transformation matrix from the measurement reference coordinate system to the geographic vertical coordinate system based on spatial correspondence; The acceleration vector information is transformed into coordinates using a rotation transformation matrix to extract the gravity vector component in the geographical vertical direction. The original gravity vector component is then filtered and perturbation is removed within a preset time window to obtain a stable output value, which is then used as the measured value of gravity acceleration at the current measurement location.

[0008] By adopting the above technical solution, the spatial relationship between the placement posture of the weight measuring device and the direction of gravity can be accurately identified during the measurement process. Coordinate system alignment is achieved based on rotational transformation, thereby precisely extracting the gravity vector component of the current measurement location in the geographical vertical direction. Furthermore, by filtering and eliminating disturbances in the gravity vector component within a set time window, transient fluctuations caused by environmental vibrations, electromagnetic interference, or short-term unstable operations can be effectively removed, obtaining a stable and representative acceleration output value. This stable output value, as the measured value of gravitational acceleration at the current measurement location, possesses high reliability and directional consistency, significantly improving the accuracy of subsequent gravity compensation and mass conversion, and overcoming the problems of traditional devices being unable to sense posture or extract effective gravity information.

[0009] Preferred method: Based on the magnetic field vector information, calculate the geomagnetic declination, and based on the geomagnetic declination matching a preset geomagnetic-latitude mapping rule, derive the geographic latitude parameters corresponding to the current measurement location, including: The angle between the magnetic north direction and the geographic reference direction is calculated based on the magnetic field vector information. The angle is used as the geomagnetic declination value of the current measurement location. Substituting the geomagnetic declination value into the geomagnetic-latitude fitting function constructed based on historical geomagnetic observation data, a preliminary estimate of the geographic latitude value is obtained; Based on the current magnetic field strength information, magnetic field disturbance fluctuation rate, and measurement timestamp, the matching disturbance correction parameters are selected from the preset geomagnetic correction factor rule base. The disturbance correction parameter is applied to the initially estimated geographic latitude value, and a multi-factor weighted correction is performed to obtain the geographic latitude parameter corresponding to the current measurement location.

[0010] By adopting the above technical solution, the geomagnetic declination of the current measurement location can be derived solely based on magnetic field vector information without the need for an external positioning module. A preliminary estimation of the geographic latitude is achieved through a preset geomagnetic-latitude fitting function, avoiding the reliance on GPS, map information, or preset geographic parameters found in traditional methods. Furthermore, by combining multi-source information such as the current magnetic field strength, magnetic field disturbance fluctuation rate, and measurement timestamp, matching disturbance correction parameters are extracted from a rule base, and the preliminary estimated geographic latitude value is corrected using multi-factor weighted correction. This enhances the adaptability and dynamic adjustment capability of the latitude identification results in environments with strong interference. The final obtained geographic latitude parameters possess good spatial accuracy and dynamic responsiveness, laying a reliable foundation for the accurate calculation of subsequent standard gravitational acceleration values ​​and significantly improving the scenario adaptability and real-time effectiveness of the geocentric gravity compensation mechanism.

[0011] Preferred method: Inputting geographical latitude parameters into the standard gravity acceleration calculation model to generate the standard gravity acceleration value corresponding to the current measurement location, including: Input the geographic latitude parameter into the standard gravity acceleration model based on the shape of the Earth's ellipsoid, and calculate the initial standard gravity value; Based on the geographic latitude parameter, a preset crustal mass distribution map is matched, and the crustal gravitational disturbance correction factor corresponding to the target location is extracted. The initial standard gravity value and the crustal gravitational disturbance correction factor are weighted and fused, and nonlinear correction processing is performed to generate the standard gravitational acceleration value corresponding to the current measurement location.

[0012] By employing the aforementioned technical solution, an initial standard gravity value under theoretical conditions can be calculated based on the Earth's ellipsoidal geometry and latitudinal gravity distribution model, combined with current geographic latitude parameters, thus establishing a fundamental estimation path for standard gravity variations with spatial location. Building upon this, by leveraging the spatial mapping relationship between geographic latitude parameters and a pre-defined crustal mass distribution map, a crustal gravitational disturbance correction factor corresponding to the target location is extracted, quantifying the disturbance impact of crustal structure, topographic relief, and regional gravity anomalies on standard gravity estimation. Subsequently, the initial standard gravity value and the crustal disturbance correction factor are weighted and fused, and a nonlinear correction mechanism is introduced to generate a standard gravitational acceleration value that more closely reflects the actual Earth's gravitational environment. This standard gravitational acceleration value possesses characteristics such as high spatial resolution and strong regional adaptability, significantly improving the accuracy of subsequent gravity compensation factor construction, thereby enhancing the consistency and accuracy of weighing results under complex geographical conditions.

[0013] Preferred: Based on the difference between the standard gravitational acceleration value and the measured gravitational acceleration value, a gravity compensation factor is constructed to correct the voltage-mass conversion relationship of the weighing sensor, including: The difference between the standard gravitational acceleration value and the measured gravitational acceleration value is calculated as the gravity deviation. Estimate the initial compensation coefficient based on the mapping relationship between the gravity deviation and the sensitivity parameters of the weighing sensor; Acquire the settling time, measurement fluctuation amplitude, and deviation fluctuation direction during the measurement process; The initial compensation coefficient is adjusted and corrected based on the stabilization time, the measured fluctuation amplitude, and the direction of the deviation fluctuation to obtain the gravity compensation factor.

[0014] By employing the above technical solution, the difference between the standard gravitational acceleration value and the measured gravitational acceleration value can be calculated in real time during the measurement period. This difference is used as the gravity deviation to quantify the actual degree of deviation of the gravitational environment at the current measurement location. Combined with the sensitivity parameters of the weighing sensor, a mapping relationship between the gravity deviation and the compensation adjustment amplitude is constructed to quickly estimate the initial compensation coefficient, forming a conversion correction benchmark that matches the device's response characteristics. Simultaneously, behavioral characteristics such as the stabilization time, measurement fluctuation amplitude, and deviation fluctuation direction of continuously sampled data during the measurement process are acquired to characterize the dynamic stability and fluctuation trend of the measurement state. Based on this, the initial compensation coefficient is adjusted and corrected using multiple factors, generating a gravity compensation factor that adapts to the disturbance characteristics of the current measurement environment. This compensation factor possesses time-domain adaptive and disturbance-sensitive adjustment capabilities, dynamically adjusting the conversion ratio to maintain high-precision weight measurement output under different postures, geographical environments, and complex interference conditions.

[0015] Preferred: Following the gravity compensation factor, it also includes: Determine whether the difference between the standard gravitational acceleration value and the measured gravitational acceleration value is within the preset deviation tolerance range; When the difference is within the deviation tolerance range, the gravity compensation factor is not enabled, and the default conversion ratio is used for voltage-mass conversion. When the difference exceeds the tolerance range, the gravity compensation factor is activated to convert the original voltage value. By adopting the above technical solution, real-time deviation judgment can be performed based on the difference between the standard gravitational acceleration value and the measured gravitational acceleration value before weighing conversion. The gravity compensation mechanism can be flexibly activated depending on whether it is within the preset tolerance range. When the difference is within the tolerance range, it is automatically determined that the current geocentric gravity environment is basically consistent with the standard conversion conditions. The gravity compensation path can be skipped, and the voltage-mass conversion can be performed directly using the default conversion ratio, thereby reducing unnecessary compensation calculations and improving measurement efficiency. When the difference exceeds the tolerance range, the gravity compensation factor is immediately activated to perform a correction conversion on the original voltage value, ensuring accurate mass estimation results can still be obtained even in scenarios with significant gravity mismatch. This branch control strategy achieves adaptive scheduling of the calculation path while ensuring conversion accuracy, possessing good dynamic adaptability, computational resource control capabilities, and cross-regional measurement consistency.

[0016] Preferred method: Based on the gravity compensation factor, the original voltage value output by the gravity sensor is converted to obtain the corrected target object mass value, including: Obtain the rated sensitivity parameters of the weighing sensor; Based on the original voltage value and the rated sensitivity parameters of the weighing sensor, the initial mass estimate under the uncompensated state is calculated; the initial mass estimate is coupled with the gravity compensation factor and a one-time correction calculation is performed to generate the basic corrected mass value. Based on the basic correction quality value, and combined with the voltage drift trend and temperature change amplitude during the voltage response process, the dynamic correction amount of the compensation coefficient is determined. The base correction mass value is adjusted based on the dynamic correction amount to obtain the corrected target object mass value at the current measurement position.

[0017] By adopting the above technical solution, the initial mass estimate under uncompensated conditions can be quickly calculated based on the rated sensitivity parameters and original voltage value of the weighing sensor during the weighing process. Then, a gravity compensation factor is introduced for conversion coupling to generate a basic corrected mass value that considers the influence of gravitational changes, significantly improving the accuracy adaptability in cross-regional measurement scenarios. Furthermore, by combining the voltage drift trend and temperature change amplitude during the voltage response process, a dynamic disturbance correction is calculated and superimposed on the basic correction path, achieving fine-grained compensation and adjustment for environmental disturbances such as electrical drift and thermal fluctuations. The final corrected target object mass value combines static compensation accuracy with dynamic environmental robustness, significantly improving the measurement accuracy, stability, and long-term consistency of the weight measurement device in complex application environments.

[0018] The second objective of this invention is achieved through the following technical solution: A gravity-compensated weight measuring device, the gravity-compensated weight measuring device comprising: The information acquisition module is used to acquire acceleration vector information and magnetic field vector information; The measured value calculation module for gravity acceleration is used to extract the vertical gravity vector component based on the acceleration vector information, and calculate the measured value of gravity acceleration at the current measurement position based on the gravity vector component. The geographic latitude parameter derivation module is used to calculate the geomagnetic declination based on the magnetic field vector information, and derive the geographic latitude parameter corresponding to the current measurement location based on the geomagnetic declination matching the preset geomagnetic-latitude mapping rule. The standard gravity acceleration value generation module is used to input geographical latitude parameters into the standard gravity acceleration calculation model and generate the standard gravity acceleration value corresponding to the current measurement location. The gravity compensation factor construction module is used to construct a gravity compensation factor for correcting the voltage-mass conversion relationship of the weighing sensor based on the difference between the standard gravity acceleration value and the measured gravity acceleration value. The target mass value conversion module is used to convert the original voltage value output by the gravity sensor based on the gravity compensation factor to obtain the corrected target object mass value.

[0019] By adopting the above technical solution, real-time perception and compensation of the Earth's gravity environment at the current measurement location can be achieved during weight measurement, avoiding systematic errors in weighing results caused by differences in gravitational acceleration due to geographical location changes. Specifically, by fusing acceleration vector information and magnetic field vector information, the actual gravity vector component in the current measurement direction is extracted, and the measured value of gravitational acceleration is calculated. Combined with geomagnetic declination and a preset geomagnetic-latitude mapping rule, the geographical latitude parameter is dynamically derived, and the current theoretical gravity value is calculated using a standard gravity acceleration model. Furthermore, a gravity compensation factor is constructed based on the difference between the measured value and the standard value, and applied to the voltage-mass conversion process, thereby achieving location-specific conversion correction and measurement compensation. This solution breaks through the dependence of existing weight measurement equipment on fixed compensation coefficients and preset standard gravity constants, and has the ability to adaptively identify, respond to, and correct changes in geographical factors in the measurement scenario, significantly improving the weighing accuracy and consistency under different regions and different placement conditions.

[0020] In summary, the present invention has at least one of the following beneficial technical effects: 1. By adopting the above technical solution, real-time perception and compensation of the Earth's gravity environment at the current measurement location can be achieved during weight measurement, avoiding systematic errors in weighing results caused by differences in gravitational acceleration due to geographical location changes. Specifically, by fusing acceleration vector information and magnetic field vector information, the actual gravity vector component in the current measurement direction is extracted, and the measured value of gravitational acceleration is calculated. Combined with geomagnetic declination and a preset geomagnetic-latitude mapping rule, the geographical latitude parameter is dynamically derived, and the current theoretical gravity value is calculated using a standard gravity acceleration model. Furthermore, a gravity compensation factor is constructed based on the difference between the measured value and the standard value, and applied to the voltage-mass conversion process, thereby achieving location-specific conversion correction and measurement compensation. This solution breaks through the dependence of existing weight measurement equipment on fixed compensation coefficients and preset standard gravity constants, and has the ability to adaptively identify, respond to, and correct changes in geographical factors in the measurement scenario, significantly improving weighing accuracy and consistency under different regions and different placement conditions. Attached Figure Description

[0021] Figure 1 This is a flowchart of a gravity-compensated weight measurement method according to an embodiment of the present invention.

[0022] Figure 2 This is a flowchart illustrating the implementation of step S20 in a gravity-compensated body weight measurement method according to an embodiment of the present invention. Figure 3 This is a flowchart illustrating the implementation of step S30 in a gravity-compensated body weight measurement method according to an embodiment of the present invention. Figure 4This is a flowchart illustrating the implementation of step S40 in a gravity-compensated body weight measurement method according to an embodiment of the present invention. Figure 5 This is a flowchart illustrating the implementation of step S50 in a gravity-compensated body weight measurement method according to an embodiment of the present invention. Figure 6 This is a flowchart illustrating the implementation of step S504 in a gravity-compensated body weight measurement method according to an embodiment of the present invention. Figure 7 This is a flowchart illustrating the implementation of step S60 in a gravity-compensated body weight measurement method according to an embodiment of the present invention. Figure 8 This is a flowchart of a gravity-compensated weight measurement device according to an embodiment of the present invention. Detailed Implementation

[0023] The present invention will be further described in detail below with reference to the accompanying drawings.

[0024] In one embodiment, such as Figure 1 As shown, this invention discloses a method for measuring body weight with gravity compensation, which specifically includes the following steps: S10: Obtain acceleration vector information and magnetic field vector information.

[0025] Specifically, during the preparation process for weight measurement, the simultaneous acquisition of acceleration vector information and magnetic field vector information is performed. Acceleration vector information refers to vector data composed of spatial three-dimensional linear acceleration components collected by a triaxial accelerometer, used to reflect instantaneous acceleration changes along each axis in the measurement reference coordinate system. Magnetic field vector information refers to vector data composed of magnetic flux density components of the Earth's magnetic field along each axis in the reference coordinate system, collected by a triaxial magnetic field sensor, used to reflect the geomagnetic direction characteristics at the current geographical location. The X-axis, Y-axis, and Z-axis are three mutually orthogonal spatial coordinate axes in the measurement reference coordinate system, representing left-right, front-back, and up-down directions respectively, used to calibrate the directional components of the three-dimensional vector in space. A triaxial accelerometer is an inertial sensing device used to simultaneously acquire linear acceleration values ​​along the X, Y, and Z axes. The triaxial accelerometer is installed inside the weight measurement device and is axially aligned with the measurement reference coordinate system. A triaxial magnetic field sensor is a magnetoresistive or Hall effect sensing unit used to simultaneously acquire the components of the Earth's magnetic field in the three orthogonal directions. The triaxial magnetic field sensor is used to assist in establishing geographical orientation awareness. The synchronous acquisition of acceleration vector information and magnetic field vector information refers to the process by which the signal processing unit schedules the triaxial accelerometer and triaxial magnetic field sensor to complete data acquisition within a unified time window.

[0026] S20: Based on the acceleration vector information, extract the vertical gravity vector component, and calculate the measured value of gravity acceleration at the current measurement position based on the gravity vector component.

[0027] Specifically, by fusing acceleration vector information and magnetic field vector information, a spatial correspondence between the measurement reference coordinate system and the geographic vertical direction is established, and a rotation transformation matrix is ​​constructed to achieve the transformation between coordinate systems. The acceleration vector information is input into the rotation transformation matrix to complete the coordinate transformation from the measurement reference coordinate system to the geographic vertical coordinate system, and the acceleration components along the geographic vertical direction are extracted, denoted as the three-axis gravity components ax, ay, and az. Within a fixed time window, the acceleration components of each axis are statistically processed, and the mean and standard deviation of the three-axis acceleration components are calculated respectively. The mean is denoted as μa, and the standard deviation is denoted as σa. The mean refers to the arithmetic mean of the acceleration modulus at multiple consecutive sampling points within the time window, reflecting the central trend of acceleration. The standard deviation refers to the dispersion of the acceleration modulus, reflecting the measurement stability or degree of disturbance. After completing gravity direction alignment and filtering, the measured value of gravity acceleration g at the current measurement location is calculated using the following disturbance adaptive correction formula: is the magnitude of the gravity vector in the geographic vertical coordinate system, used to characterize the acceleration amplitude in the uncorrected state; β is the disturbance sensitivity adjustment parameter (dimensionless), used to control the correction intensity; ∈ is a small-value constant used to prevent the denominator from being zero.

[0028] S30: Calculate the geomagnetic declination based on the magnetic field vector information, and derive the geographic latitude parameter corresponding to the current measurement location based on the geomagnetic declination matching the preset geomagnetic-latitude mapping rule.

[0029] Specifically, based on the magnetic field vector information, the geomagnetic declination is calculated, and based on the geomagnetic declination matching a preset geomagnetic-latitude mapping rule, the geographic latitude parameter corresponding to the current measurement location is derived. Specifically, the magnetic field vector information is represented as a three-dimensional vector. Where Bx, By, and Bz are the vector components of the magnetic field along the X, Y, and Z axes, respectively. The geomagnetic declination is calculated using the projection information of the magnetic field onto the horizontal plane. The geomagnetic declination is the angle between magnetic north and geographic north, reflecting the degree of geomagnetic direction shift at the current geographical location. First, the projection vector of the magnetic field onto the horizontal plane is calculated. The calculation formula is: The angle between the projection of the horizontal magnetic field and the X-axis is denoted as the geomagnetic azimuth angle φ. m The calculation formula is: φ m =arctan2(B y B x ), where the function arctan2(By B x The vector (Bx, By) is the arctangent value in four quadrants between the two-dimensional vector (Bx, By) and the X-axis. It is used to accurately calculate the absolute orientation of the geomagnetic direction, with an output range of -π to π radians. The geomagnetic azimuth is used as the geomagnetic declination value of the current measurement location. This value is input into a preset geomagnetic-latitude mapping function for location matching. The geomagnetic-latitude mapping function is a nonlinear fitting curve or interpolation function constructed based on long-term geomagnetic observation data, used to represent the correspondence between geomagnetic declination and geographic latitude. The geomagnetic-latitude mapping function is evaluated to obtain the geographic latitude parameter corresponding to the current measurement location.

[0030] S40: Input the geographic latitude parameter into the standard gravity acceleration calculation model to generate the standard gravity acceleration value corresponding to the current measurement location.

[0031] Specifically, the geographical latitude parameter is denoted as φ. lat The unit is radians or degrees, used to characterize the latitude angle of the current measurement location relative to the Earth's equator. The standard gravitational acceleration calculation model is a mathematical estimation model built upon the geometry of the Earth's ellipsoid and the influence of its rotational inertia. It is used to estimate the standard gravitational acceleration value at the Earth's surface based on geographic latitude parameters. Based on the standard gravitational acceleration calculation model, the basic standard gravitational acceleration value g0 is first calculated based on the current geographic latitude parameters: g0 = g e ·(1+k·sin 2 (φ lat In this context, ge is the standard gravity constant at the equator, and k is the latitude correction factor. To improve the adaptability of the standard gravity acceleration calculation model to geologically heterogeneous regions, a disturbance correction factor corresponding to the current measurement location is extracted from a preset crustal mass distribution map, denoted as Δg. local The dynamic correction factor refers to the gravity compensation increment extracted based on local crustal thickness, topographic relief, or gravity anomaly conditions. The preset crustal mass distribution map is a geospatial mapping map pre-constructed based on geological surveys, gravity anomaly data, and crustal structure modeling results, used to represent the correspondence between crustal density, thickness, and gravity disturbance trends at different geographical locations. Finally, the standard gravitational acceleration value g corresponding to the current measurement location is generated. std The calculation formula is: g std =g0+κ·tanh(Δg local )).

[0032] S50: Based on the difference between the standard gravitational acceleration value and the measured gravitational acceleration value, a gravity compensation factor is constructed to correct the voltage-mass conversion relationship of the weighing sensor.

[0033] Specifically, the standard gravitational acceleration value is denoted as gstd, and the measured gravitational acceleration value is denoted as g, both in m / s². 2Calculate the difference between the two to obtain the gravity deviation Δg: Δg = g std -g, the gravity deviation, refers to the difference in acceleration between the standard gravity and the measured gravity at the measurement location, reflecting the degree to which local gravitational conditions affect the accuracy of weighing. To enhance the adaptability of weighing measurements to different gravitational fields, a gravity compensation factor γ is constructed to dynamically adjust the voltage-mass conversion relationship.

[0034] S60: Based on the gravity compensation factor, the original voltage value output by the gravity sensor is converted to obtain the corrected mass value of the target object.

[0035] Specifically, the original voltage value is denoted as Vraw, with units of V, and represents the instantaneous voltage output sensed by the weighing sensor during measurement. The gravity compensation factor is denoted as γ, a dimensionless proportional parameter used to correct for gravity deviations in the voltage-mass conversion process. First, based on the standard conversion relationship, the initial mass estimate m0 is calculated, which is the mass of the target object estimated based on the original voltage value without gravity compensation. The conversion formula is: Where K is a preset voltage-mass conversion constant, in units of V / kg, and is a scaling factor obtained under factory calibration conditions. After obtaining the initial mass estimate, a one-time linear correction is performed using the gravity compensation factor γ to obtain the basic corrected mass value m1: To further improve measurement stability and environmental robustness, the temperature variation and voltage drift trend in the measurement environment are considered in addition to the basic corrected mass value. Finally, the corrected mass value *m* of the target object at the current measurement location is obtained.

[0036] In one embodiment, such as Figure 2 As shown, in step S20, the vertical gravity vector component is extracted based on the acceleration vector information, and the measured value of gravity acceleration at the current measurement position is calculated based on the gravity vector component, including: S201: Based on the fusion of acceleration vector information and magnetic field vector information, the spatial correspondence between the measurement reference coordinate system and the direction of gravity at the Earth's center is determined.

[0037] Specifically, the acceleration vector information is represented as a three-dimensional vector. Magnetic field vector information is represented as a three-dimensional vector. Both vectors are expressed in the measurement reference coordinate system. The measurement reference coordinate system is a body coordinate system fixed to the weight measuring device and used to describe the distribution direction of acceleration and magnetic field data. Its X, Y, and Z axes correspond to the directions defined by the triaxial sensors inside the device. The direction of gravity at the Earth's center refers to the local perpendicular vector direction along the Earth's center at the current measurement position. It is usually considered the ideal gravity direction and is denoted as the unit vector. This is expressed in a geographic vertical coordinate system. The geographic vertical coordinate system is a spatial reference system established with the local normal direction of the Earth's surface as the Z-axis, used to express geographic spatial vectors such as the direction of Earth's gravity and magnetic declination. To establish the spatial correspondence between the two coordinate systems, a direction cosine matrix is ​​constructed based on the acceleration vector information and magnetic field vector information collected by sensors. The direction cosine matrix is ​​a 3×3 orthogonal matrix used to describe the rotational relationship between two orthogonal coordinate systems, with elements being the cosine values ​​between the axes of the two coordinate systems. The construction method is as follows: The normalized result of the calculated acceleration vector is used as a rough estimate of the direction of Earth's gravity, and a unit vector is defined: Based on magnetic field vector and The cross product is used to calculate the eastward unit vector: Taking the cross product again yields the northward unit vector: Finally, the unit vector Composition of the directional cosine matrix Rm→g: Direction cosine matrix R m→g It is a rotation transformation matrix used to represent the rotational relationship between the measurement reference coordinate system and the geographic vertical coordinate system. Through this matrix, the conversion of acceleration and magnetic field data between the two coordinate systems can be realized, so that the subsequent gravity vector projection and vertical component extraction have geographic significance.

[0038] S202: Construct a rotation transformation matrix from the measurement reference coordinate system to the geographic vertical coordinate system based on the spatial correspondence.

[0039] Specifically, spatial correspondence refers to the directional consistency between the measurement reference coordinate system and the geographic vertical coordinate system determined by fusing acceleration vector information and magnetic field vector information. This directional consistency is expressed in rotational form and can be modeled using a rotation transformation matrix. To construct the rotation transformation matrix from the measurement reference coordinate system to the geographic vertical coordinate system, three orthogonal unit vectors are used: This represents a unit vector pointing geographically eastward. This represents a unit vector pointing north. This represents a unit vector pointing in the geographic vertical direction (i.e., the direction of gravity). Arranging the three unit vectors column-wise forms the direction cosine matrix R. m→g The direction cosine matrix is ​​the rotation transformation matrix, defined as follows: Each element, such as xmx, represents a unit vector. When measuring the components along the X-axis in the reference coordinate system, the entire matrix is ​​an orthogonal matrix that satisfies R. T R = I, where I is a 3×3 identity matrix.

[0040] S203: The acceleration vector information is transformed into coordinates using a rotation transformation matrix to extract the gravity vector component in the geographic vertical direction.

[0041] Specifically, acceleration vector information is represented as a three-dimensional vector in the measurement reference coordinate system. Its direction is affected by the device's attitude and cannot directly reflect the direction of gravity. Therefore, the acceleration vector information is input into a rotation transformation matrix for coordinate transformation. The transformation result is the acceleration vector represented in the geographic vertical coordinate system. During the coordinate transformation, the rotation transformation matrix maps the acceleration vector in the measurement reference coordinate system to a reference system with the geographic vertical direction as the principal axis, thereby reconstructing the spatial distribution of the gravity vector in the geographic coordinate system. After the coordinate transformation is completed, the vector component in the geographic vertical direction (i.e., the Z-axis direction in the geographic vertical coordinate system) is extracted from the transformed acceleration vector. This vector component is the gravity vector component used to calculate the measured value of gravitational acceleration.

[0042] S204: Filter and remove disturbances from the original gravity vector components within a preset time window to obtain a stable output value, and use the stable output value as the measured value of gravity acceleration at the current measurement position.

[0043] Specifically, the original gravity vector component refers to the single-axis vector value extracted in the geographical vertical direction after rotating and transforming the acceleration vector information. It reflects the instantaneous acceleration response of the measurement reference point in the direction of gravity at the Earth's center. Because this component may be affected by environmental vibrations, electromagnetic interference, or changes in user actions, it exhibits transient disturbances and unstable fluctuations. To suppress the influence of interference factors and extract stable and effective measurement data, a preset time window is introduced during data processing. The preset time window is a fixed time length parameter, measured in seconds or milliseconds, used to collect continuous original gravity vector component sequences within a unit measurement cycle, ensuring temporal consistency between filtering and stability determination. Within the preset time window, filtering is performed on the original gravity vector components. Filtering involves applying digital signal processing algorithms such as moving average, exponential weighting, or median filtering to suppress fluctuations and extract trends from the original numerical sequence. Based on the filtering results, a disturbance removal operation is performed on abnormal data points that significantly deviate from the statistical mean or exhibit short-term abrupt changes. Disturbance removal is the process of marking and removing high-frequency fluctuations or spike error points in continuous samples based on a set threshold. After filtering and disturbance removal, the obtained output value is taken as the stable output result and is denoted as the stationary output value. The stationary output value refers to the quantitative value of the gravity vector after eliminating transient fluctuations and abnormal disturbances within a specific time window. This value is used as the measured value of gravitational acceleration at the current measurement location and is representative of the long-term stable state of geomagnetism.

[0044] In one embodiment, such as Figure 3As shown, in step S30, the geomagnetic declination is calculated based on the magnetic field vector information, and the geographic latitude parameter corresponding to the current measurement location is derived based on the geomagnetic declination matching the preset geomagnetic-latitude mapping rule, including: S301: Calculate the angle between the magnetic north direction and the geographic reference direction based on the magnetic field vector information. The angle is used as the geomagnetic declination value of the current measurement location.

[0045] Specifically, the magnetic field vector information is represented as a three-dimensional vector. The magnetic flux density components of the geomagnetic field in each axis direction are recorded in the measurement reference coordinate system. To calculate the geomagnetic declination value, the magnetic north direction is first extracted based on the magnetic field vector information. The magnetic north direction refers to the projection direction of the geomagnetic field on the horizontal plane (XY plane) at the current measurement location, used to indicate the local direction of the geomagnetic meridian. The geographic reference direction refers to the reference axis direction in the measurement reference coordinate system that coincides with the geographic north direction. Usually, the X-axis or Y-axis is taken as the reference direction, depending on the system design. If the X-axis direction is selected as the geographic reference direction, the geomagnetic declination value represents the angle between the magnetic north direction and the X-axis in the XY plane. Projecting the magnetic field vector into the XY plane, the plane vector of the magnetic north direction is obtained as [Bx, By]. Based on this, the geomagnetic declination value δ is calculated. mag It can be calculated using the arctangent function, as shown in the following formula: δ mag =atan2(B y B x The calculation result is the geomagnetic declination value corresponding to the current measurement location.

[0046] S302: Substitute the geomagnetic declination value into the geomagnetic-latitude fitting function constructed based on historical geomagnetic observation data to obtain a preliminary estimated geographic latitude value.

[0047] Specifically, the geomagnetic declination value represents the angle between the magnetic north direction and the geographic reference direction at the current measurement location. The geomagnetic declination value is used as an input parameter and fed into a geomagnetic-latitude fitting function constructed based on historical geomagnetic observation data. The function is then evaluated to obtain a preliminary estimated geographic latitude value. The geomagnetic-latitude fitting function uses a polynomial fit between the geomagnetic declination values ​​of regional sample points and the actual geographic latitude values. One expression of the fitting function is as follows: Where: φ lat This is a preliminary estimate of the geographical latitude, expressed in degrees or radians, δ. mag The values ​​are geomagnetic declination values ​​in degrees. b0, b1, b2, and b3 are coefficients obtained by fitting long-term geomagnetic observation data of the region and can be dynamically configured according to the measurement area.

[0048] S303: Based on the current magnetic field strength information, magnetic field disturbance fluctuation rate, and measurement timestamp, select matching disturbance correction parameters from the preset geomagnetic correction factor rule base.

[0049] Specifically, magnetic field strength information refers to the magnetic field magnitude value acquired by a triaxial magnetic field sensor, reflecting the absolute strength of the geomagnetic environment at the current measurement location. Magnetic field disturbance fluctuation rate refers to the rate of change or standard deviation of the magnetic field strength information within the measurement time window, used to quantify the stability of the current magnetic field. The measurement timestamp is the time marker for the current measurement operation, used to assist in judging the geomagnetic activity cycle or the impact of diurnal disturbances. The magnetic field strength information, magnetic field disturbance fluctuation rate, and measurement timestamp are used as joint matching conditions and input into a preset geomagnetic correction factor rule base to execute the disturbance condition matching process. The preset geomagnetic correction factor rule base is a multi-dimensional rule table structure constructed based on historical geomagnetic disturbance observation data, geographical regional distribution characteristics, and time-period statistical characteristics, used to support the dynamic selection of disturbance correction parameters. The disturbance correction parameter item closest to the current joint condition is retrieved from the preset geomagnetic correction factor rules. The matching logic can be executed based on strategies such as threshold judgment, fuzzy distance measurement, or weighted scoring to select the most suitable disturbance correction parameter for the current measurement location. The selected disturbance correction parameter will serve as the factor input for subsequent correction and adjustment of the initially estimated geographical latitude value.

[0050] S304: Apply the disturbance correction parameter to the initially estimated geographic latitude value, perform multi-factor weighted correction, and obtain the geographic latitude parameter corresponding to the current measurement location.

[0051] Specifically, the disturbance correction parameter refers to a numerical factor selected from a pre-defined geomagnetic correction factor rule base to reflect the impact of geomagnetic environmental disturbances at the current measurement location. It includes correction components for the disturbance direction, amplitude, and period, along with their corresponding weights. The initially estimated geographic latitude value is the uncorrected estimate obtained through a geomagnetic-latitude fitting function. Let each disturbance factor in the disturbance correction parameter be denoted as △1, △2, and △3, with corresponding weights w1, w2, and w3, respectively. The weighted correction expression for the geographic latitude parameter is as follows: in: This refers to the corrected geographic latitude parameter corresponding to the current measurement location.

[0052] In one embodiment, such as Figure 4 As shown, in step S40, the geographical latitude parameter is input into the standard gravity acceleration calculation model to generate the standard gravity acceleration value corresponding to the current measurement location, including: S401: Input the geographic latitude parameter into the standard gravity acceleration model based on the shape of the Earth's ellipsoid to calculate the initial standard gravity value.

[0053] Specifically, the geographic latitude parameter refers to the latitude angle value of the current measurement location in the geographic coordinate system, determined after geomagnetic declination matching and perturbation correction. It reflects the latitude of this location relative to the Earth's equator. The standard gravity acceleration model is a mathematical model established based on the geometry of the Earth's ellipsoid and the influence of centrifugal force caused by the Earth's rotation. It is used to estimate the theoretical gravitational acceleration values ​​at different latitudes. Based on the geographic latitude parameter, the initial standard gravity value is calculated by performing an evaluation operation in the standard gravity acceleration model. The standard gravity acceleration model is expressed as follows: g0 = g e ·(1+k·sin 2 (φ lat )).

[0054] S402: Based on the geographic latitude parameter, match the preset crustal mass distribution map and extract the crustal gravitational disturbance correction factor corresponding to the target location.

[0055] Specifically, the geographic latitude parameter is used to characterize the latitudinal position of the current measurement location in geographic space. The preset crustal mass distribution map is a two-dimensional geographic information layer structure constructed based on geological exploration data, gravity anomaly measurement results, and regional crustal structure modeling information. It is used to represent the crustal density distribution, thickness variation, and gravitational anomaly information under different geographic coordinates. The crustal mass distribution map contains multiple coordinate partitions and corresponding crustal gravitational perturbation correction factors, used to correct the insufficient adaptability of the standard Earth gravity model in specific regions. The geographic latitude parameter is matched with the latitude index dimension in the preset crustal mass distribution map, and the crustal gravitational perturbation correction factor corresponding to the current measurement location is extracted from the successfully matched partitions. The crustal gravitational perturbation correction factor is used to characterize the gravity deviation caused by crustal thickness variations, lithological differences, or gravity anomaly distribution at the target location, with units of m / s. 2 This value can be positive or negative, and the specific value is set based on historical measured data of the survey area. This crustal gravitational disturbance correction factor is used as an incremental term for subsequent nonlinear correction of the standard gravitational acceleration value.

[0056] S403: The initial standard gravity value is weighted and fused with the crustal gravitational disturbance correction factor, and nonlinear correction processing is performed to generate the standard gravitational acceleration value corresponding to the current measurement location.

[0057] Specifically, the initial standard gravity value refers to the ideal gravity acceleration value calculated using a standard gravity acceleration model based on geographic latitude parameters, without considering the influence of regional crustal mass anomalies. The crustal gravitational disturbance correction factor refers to the gravity increment value extracted from a preset crustal mass distribution map to correct for local gravity anomalies, thereby enhancing the spatial resolution of the standard gravity acceleration calculation. The initial standard gravity value and the crustal gravitational disturbance correction factor are fused together, and a nonlinear weighting function is used to adjust and correct the disturbance factor to generate the standard gravity acceleration value corresponding to the current measurement location. The calculation expression of the standard gravity acceleration value is as follows: g std =g0+κ·tanh(Δg local In this context, gstd is the standard gravitational acceleration value, g0 is the initial standard gravity value, Δglocal is the crustal gravitational disturbance correction factor, k is the nonlinear correction coefficient used to adjust the weight influence of the disturbance correction factor under different regional crustal backgrounds, and tanh(·) is the hyperbolic tangent function used to achieve nonlinear convergence control of the disturbance correction factor and suppress local outliers.

[0058] In one embodiment, such as Figure 5 As shown, in step S50, a gravity compensation factor for correcting the voltage-mass conversion relationship of the weighing sensor is constructed based on the difference between the standard gravity acceleration value and the measured gravity acceleration value. This includes: S501: Calculating the difference between the standard gravity acceleration value and the measured gravity acceleration value as the gravity deviation.

[0059] Specifically, the standard gravitational acceleration value refers to the output result of the standard gravity model determined by the geographic latitude parameter and the crustal disturbance correction factor at the current measurement location, denoted as gstd. The measured gravitational acceleration value refers to the true gravity response value at the current measurement location extracted based on the gravity vector components after rotation transformation and filtering, denoted as g. The difference between the standard gravitational acceleration value and the measured gravitational acceleration value is calculated to obtain the gravity deviation, denoted as Δg, and its calculation formula is as follows: Δg=g std -g.

[0060] S502: Estimate the initial compensation coefficient based on the mapping relationship between the gravity deviation and the sensitivity parameters of the weighing sensor.

[0061] Specifically, gravity deviation refers to the difference between the standard gravitational acceleration value and the measured gravitational acceleration value at the current measurement location, reflecting the degree of error caused by the local gravity environment to the measurement results. The load cell sensitivity parameter, denoted as S, refers to the rate of change of voltage response per unit mass change, used to describe the sensitivity response characteristics of the load cell under factory calibration conditions. To estimate the initial correction magnitude for gravity compensation, a mapping relationship between gravity deviation and the load cell sensitivity parameter is constructed, forming an initial compensation coefficient, denoted as Γ0, used to adjust the voltage-mass conversion relationship. The estimation formula for this initial compensation coefficient is as follows:

[0062] S503: Obtain the settling time, measurement fluctuation amplitude, and deviation fluctuation direction during the measurement process. Specifically, stabilization time refers to the length of the continuous time interval during which the fluctuation amplitude of the original voltage value or gravity vector component remains below a set threshold within the measurement period, measured in seconds or milliseconds. It reflects whether the measurement process has entered a steady-state region. Measurement fluctuation amplitude refers to the statistical dispersion of the measured values ​​collected within a preset time window, typically described using range, standard deviation, or moving average offset, with units consistent with the measured values. Deviation fluctuation direction refers to the sign trend of the gravity deviation within the continuous measurement period, used to determine whether the compensation direction exhibits repeated jumps, sustained large or small deviations. Based on the original voltage value sequence or filtered gravity vector component sequence collected by the weighing sensor, the above three indicators are extracted within each fixed sampling window. Stabilization time describes the time delay required for the measurement signal to enter a stable state; measurement fluctuation amplitude assesses the stability and anti-interference capability of the measurement data; and deviation fluctuation direction determines whether the gravity compensation trend is stable. These three indicators serve as input variables for subsequent adjustment of the initial compensation coefficient, enhancing the adaptability of the compensation mechanism to the dynamic environment of actual measurements.

[0063] S504: The initial compensation coefficient is adjusted and corrected based on the stabilization time, the measured fluctuation amplitude, and the deviation fluctuation direction to obtain the gravity compensation factor.

[0064] Specifically, stabilization time, measurement fluctuation amplitude, and deviation fluctuation direction are dynamic behavioral parameters extracted from data collected within the measurement period. These parameters reflect the steady-state state of the current measurement environment, the intensity of interference, and the trend of gravity deviation changes. The initial compensation coefficient is a voltage-mass conversion correction benchmark calculated based on the mapping relationship between gravity deviation and the sensitivity parameters of the weighing sensor. To enhance the adaptability of the gravity compensation factor to fluctuations in the actual measurement environment, a dynamic adjustment correction mechanism is introduced. The initial compensation coefficient is adjusted according to the above three parameters to generate the final gravity compensation factor used for conversion correction. The adjustment and correction of the gravity compensation factor is expressed as follows: Where γ is the gravity compensation factor, Γ0 is the initial compensation coefficient, Ts is the stabilization time, As is the normalized index for measuring the fluctuation amplitude, and Ds is the deviation fluctuation direction index, with a value range of {-1, 0, +1}, representing negative trend, no significant change, and positive trend, respectively. ξ1, ξ2, and ξ3 are the stability weight coefficient, amplitude weight coefficient, and direction weight coefficient, respectively, used to adjust the degree of participation of each factor in the compensation adjustment.

[0065] In one embodiment, such as Figure 6 As shown, after step S504, i.e. after the gravity compensation factor, the following is also included: S5041: Determine whether the difference between the standard gravitational acceleration value and the measured gravitational acceleration value is within the preset deviation tolerance range.

[0066] Specifically, the standard gravitational acceleration value refers to the theoretical gravity value at the current measurement location, calculated by fusing geographical latitude parameters with crustal gravitational disturbance correction factors, denoted as gstd. The measured gravitational acceleration value refers to the actual gravity response value at the current measurement location, extracted after rotation transformation and filtering, denoted as g. The difference between the two is taken as the gravity deviation, denoted as Δg = g std The `-g` option is used to determine if there are any abnormal deviations outside the tolerable range. The deviation tolerance range refers to a preset gravity difference threshold range, used to identify whether there is a significant gravitational mismatch during the measurement process. This range consists of upper and lower bounds, denoted as Δg. min With Δg max The judgment logic is based on the actual measurement accuracy requirements, weighing resolution, and target error tolerance, which are preset in advance. The judgment logic is as follows: if the gravity deviation satisfies Δg... min ≤Δg≤Δg max If the current measurement state is within the tolerance range, the subsequent compensation adjustment process will focus on maintaining the current compensation intensity. If the above range is not met, a dynamic enhancement or convergence control mechanism will be triggered to correct and re-evaluate the compensation parameters.

[0067] S5042: When the difference is within the deviation tolerance range, the gravity compensation factor is not enabled, and the default conversion ratio is used for voltage-mass conversion.

[0068] Specifically, when the difference between the standard gravitational acceleration value and the measured gravitational acceleration value is within the preset deviation tolerance range, it indicates that the gravitational environment at the current measurement location is basically consistent with the standard modeling conditions, and no gravity compensation mechanism is needed within the allowable measurement error range. Therefore, the gravity compensation factor is not enabled during the conversion process, meaning no additional adjustment is made to the voltage-mass conversion relationship. Voltage-mass conversion refers to converting the output voltage value of the weighing sensor into an estimated mass value of the target object using a calibrated scaling factor. The default conversion ratio refers to the voltage-mass linear scaling factor established under factory calibration conditions, denoted as K, with units of V / kg. When the gravity deviation is within the tolerance range, the default conversion ratio is directly used for conversion, and the conversion formula is as follows: Where: m is the mass of the target object, Vraw is the raw voltage value output by the weighing sensor in V, and K is the default conversion ratio in V / kg.

[0069] S5043: When the difference exceeds the deviation tolerance range, the gravity compensation factor is activated to convert the original voltage value.

[0070] Specifically, when the difference between the standard gravitational acceleration value and the measured gravitational acceleration value does not meet the preset deviation tolerance range, i.e., Δg < Δg min Or Δg > Δg max If the reading is negative, it indicates a significant gravity deviation at the current measurement location, which may substantially affect the accuracy of the mass conversion. To improve measurement accuracy, a gravity compensation factor is enabled, and a weighted correction conversion process is performed on the raw voltage value output by the gravity sensor. The raw voltage value is denoted as Vraw (in V), and the gravity compensation factor is denoted as γ (in V / kg), used to dynamically correct the conversion proportional constant and form a voltage-mass mapping relationship under non-standard gravity conditions. The conversion formula based on the gravity compensation factor is as follows: Where: m is the corrected target object mass value, Vraw is the original voltage value, and γ is the gravity compensation factor.

[0071] In one embodiment, such as Figure 7 As shown, in step S60, based on the gravity compensation factor, the original voltage value output by the gravity sensor is converted to obtain the corrected target object mass value, including: S601: Obtain the rated sensitivity parameters of the load cell. Specifically, the rated sensitivity parameter of a load cell refers to the change in voltage output caused by a unit change in mass under standard gravity conditions. It is typically provided by the equipment manufacturer during factory calibration and serves as the basic proportionality coefficient for voltage-mass conversion. The rated sensitivity parameter describes the load cell's response to different mass loads and is a core calibration factor in the conversion process. Before initiating a weight measurement task, the rated sensitivity parameter corresponding to the current load cell is obtained by reading calibration data from the load cell's internal memory or by accessing the sensor initialization configuration interface through the measurement equipment control unit. The obtained rated sensitivity parameter serves as one of the main input variables for subsequent calculations of the initial mass estimate, the basic corrected mass value, and the gravity compensation factor, and remains unchanged throughout the conversion process, reflecting the conversion benchmark of the equipment under standard operating conditions.

[0072] S602: Calculate the initial mass estimate under uncompensated conditions based on the original voltage value and the rated sensitivity parameters of the weighing sensor.

[0073] Specifically, the raw voltage value refers to the voltage signal output by the load cell in the current measurement cycle, denoted as Vraw, which reflects the instantaneous voltage change caused by the force sensor's response to the target mass. The rated sensitivity parameter refers to the rate of voltage change caused by the load cell per unit mass under standard operating conditions, denoted as S.

[0074] Based on the linear conversion relationship between the original voltage value and the rated sensitivity parameter, the initial mass estimate under uncompensated conditions is calculated, denoted as m0. The calculation expression is as follows:

[0075] S603: The initial mass estimate is coupled with the gravity compensation factor through conversion, and a one-time correction calculation is performed to generate the basic corrected mass value.

[0076] Specifically, the initial mass estimate, denoted as m0, is the mass result calculated based on the conversion relationship between the original voltage value output by the weighing sensor and the rated sensitivity parameter, without gravity compensation processing. The gravity compensation factor, denoted as γ, is a dimensionless parameter derived from the standard gravitational acceleration value, the measured gravitational acceleration value, and the weighing sensor sensitivity parameter. It is used to perform a first-order amplitude correction on the mass conversion result. The initial mass estimate and the gravity compensation factor are multiplied and coupled together to perform a one-time correction calculation, yielding the basic corrected mass value, denoted as m1, in kg. The calculation expression is as follows: m1 = m0·γ.

[0077] S604: Based on the basic correction quality value, and combined with the voltage drift trend and temperature change amplitude during the voltage response process, determine the dynamic correction amount of the compensation coefficient.

[0078] Specifically, the basic corrected mass value refers to the intermediate mass result obtained after converting and coupling the initial mass estimate with the gravity compensation factor, denoted as m1, and the unit is kg. Voltage drift trend refers to the average direction and rate of change of the load cell output voltage value relative to time over a continuous measurement period, denoted as δ. V The value, denoted by V / s, characterizes the impact of the electrical environment on measurement stability. Temperature variation amplitude, denoted by ΔT, refers to the maximum fluctuation range of the ambient temperature within the measurement period, and is used to reflect the degree to which thermal disturbances affect the sensitivity of the weighing sensor. To adapt to the dynamic changes in the electrical and thermal environment in actual measurement scenarios, a disturbance influence function is constructed. Combining the voltage drift trend and temperature variation amplitude, the dynamic correction amount of the compensation coefficient is calculated, denoted by Δγ, and the calculation expression is as follows: Δγ=μ1·δ V +μ2·ΔT, where μ1 refers to the voltage drift correction weighting coefficient and μ2 refers to the temperature change correction weighting coefficient.

[0079] S605: Adjust the base correction mass value according to the dynamic correction amount to obtain the corrected target object mass value at the current measurement position.

[0080] Specifically, the basic corrected mass value refers to the mass result obtained after the initial mass estimate is corrected once by the gravity compensation factor, denoted as m1. The dynamic correction amount refers to the disturbance adjustment coefficient obtained by combining the voltage drift trend and temperature change amplitude on the basis of basic compensation, denoted as Δγ, which is used to reflect the further influence of environmental disturbances on the mass conversion result. To improve the adaptability of the measurement results to interference factors under complex environmental conditions, the dynamic correction amount is applied to the basic corrected mass value to calculate the final corrected target object mass value at the current measurement position, denoted as m, in kg. The calculation formula is as follows: m=m1·(1+Δγ).

[0081] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0082] In one embodiment, a gravity-compensated weight measuring device is provided, which corresponds one-to-one with the gravity-compensated weight measuring method described in the above embodiments. For example... Figure 8As shown, this gravity-compensated body weight measurement device includes an information acquisition module, a gravity acceleration measurement value calculation module, a geographic latitude parameter derivation module, a standard gravity acceleration value generation module, a gravity compensation factor construction module, and a target mass value conversion module. Detailed descriptions of each functional module are as follows: The information acquisition module is used to acquire acceleration vector information and magnetic field vector information. The measured gravitational acceleration calculation module is used to extract the vertical gravity vector component based on the acceleration vector information, and calculate the measured gravitational acceleration value at the current measurement location based on the gravity vector component. The geographic latitude parameter derivation module is used to calculate the geomagnetic declination based on the magnetic field vector information, and derive the geographic latitude parameter corresponding to the current measurement location based on the geomagnetic declination and a preset geomagnetic-latitude mapping rule. The standard gravity acceleration value generation module is used to input geographical latitude parameters into the standard gravity acceleration calculation model and generate the standard gravity acceleration value corresponding to the current measurement location. The gravity compensation factor construction module is used to construct a gravity compensation factor for correcting the voltage-mass conversion relationship of weighing sensors, based on the difference between the standard gravitational acceleration value and the measured gravitational acceleration value. The target mass value conversion module is used to convert the original voltage value output by the gravity sensor based on the gravity compensation factor to obtain the corrected target object mass value.

[0083] Specific limitations regarding a gravity-compensated weight measurement device can be found in the above description of a gravity-compensated weight measurement method, and will not be repeated here. Each module in the aforementioned gravity-compensated weight measurement device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0084] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for measuring body weight with gravity compensation, characterized in that, The method for measuring body weight using gravity compensation includes: Obtain acceleration vector information and magnetic field vector information; Based on the acceleration vector information, the vertical gravity vector component is extracted, and based on the gravity vector component, the measured value of gravity acceleration at the current measurement position is calculated. Based on the magnetic field vector information, the geomagnetic declination is calculated, and based on the geomagnetic declination matching the preset geomagnetic-latitude mapping rule, the geographic latitude parameter corresponding to the current measurement location is derived. Input the geographic latitude parameter into the standard gravity acceleration calculation model to generate the standard gravity acceleration value corresponding to the current measurement location; Based on the difference between the standard gravitational acceleration value and the measured gravitational acceleration value, a gravity compensation factor is constructed to correct the voltage-mass conversion relationship of the weighing sensor. Based on the gravity compensation factor, the original voltage value output by the gravity sensor is converted to obtain the corrected mass value of the target object.

2. The method for measuring body weight with gravity compensation according to claim 1, characterized in that, Based on the acceleration vector information, the vertical gravity vector component is extracted. Based on this gravity vector component, the measured value of gravitational acceleration at the current measurement location is calculated, including: Based on the fusion of acceleration vector information and magnetic field vector information, the spatial correspondence between the measurement reference coordinate system and the direction of gravity at the Earth's center is determined; Construct a rotation transformation matrix from the measurement reference coordinate system to the geographic vertical coordinate system based on spatial correspondence; The acceleration vector information is transformed into coordinates using a rotation transformation matrix to extract the gravity vector component in the geographic vertical direction; The original gravity vector components are filtered and perturbation removed within a preset time window to obtain a stable output value, which is then used as the measured value of gravity acceleration at the current measurement location.

3. The method for measuring body weight with gravity compensation according to claim 3, characterized in that, Based on the magnetic field vector information, the geomagnetic declination is calculated, and based on the geomagnetic declination matching the preset geomagnetic-latitude mapping rule, the geographic latitude parameters corresponding to the current measurement location are derived, including: The angle between the magnetic north direction and the geographic reference direction is calculated based on the magnetic field vector information. The angle is used as the geomagnetic declination value of the current measurement location. Substituting the geomagnetic declination value into the geomagnetic-latitude fitting function constructed based on historical geomagnetic observation data, a preliminary estimate of the geographic latitude value is obtained; Based on the current magnetic field strength information, magnetic field disturbance fluctuation rate, and measurement timestamp, the matching disturbance correction parameters are selected from the preset geomagnetic correction factor rule base. The disturbance correction parameter is applied to the initially estimated geographic latitude value, and a multi-factor weighted correction is performed to obtain the geographic latitude parameter corresponding to the current measurement location.

4. The method for measuring body weight with gravity compensation according to claim 1, characterized in that, Input the geographic latitude parameter into the standard gravity acceleration calculation model to generate the standard gravity acceleration value corresponding to the current measurement location, including: Input the geographic latitude parameter into the standard gravity acceleration model based on the shape of the Earth's ellipsoid, and calculate the initial standard gravity value; Based on the geographic latitude parameter, a preset crustal mass distribution map is matched, and the crustal gravitational disturbance correction factor corresponding to the target location is extracted. The initial standard gravity value is weighted and fused with the crustal gravitational disturbance correction factor, and nonlinear correction processing is performed to generate the standard gravitational acceleration value corresponding to the current measurement location.

5. The method for measuring body weight with gravity compensation according to claim 1, characterized in that, Based on the difference between the standard gravitational acceleration value and the measured gravitational acceleration value, a gravity compensation factor is constructed to correct the voltage-mass conversion relationship of the weighing sensor, including: The difference between the standard gravitational acceleration value and the measured gravitational acceleration value is calculated as the gravity deviation. Estimate the initial compensation coefficient based on the mapping relationship between the gravity deviation and the sensitivity parameters of the weighing sensor; Acquire the settling time, measurement fluctuation amplitude, and deviation fluctuation direction during the measurement process; The initial compensation coefficient is adjusted and corrected based on the stabilization time, the measured fluctuation amplitude, and the direction of the deviation fluctuation to obtain the gravity compensation factor.

6. The method for measuring body weight with gravity compensation according to claim 5, characterized in that, Following the gravity compensation factor, it also includes: Determine whether the difference between the standard gravitational acceleration value and the measured gravitational acceleration value is within the preset deviation tolerance range; When the difference is within the deviation tolerance range, the gravity compensation factor is not enabled, and the default conversion ratio is used for voltage-mass conversion. When the difference exceeds the deviation tolerance range, the gravity compensation factor is activated to convert the original voltage value.

7. The method for measuring body weight with gravity compensation according to claim 1, characterized in that, Based on the gravity compensation factor, the original voltage value output by the gravity sensor is converted to obtain the corrected mass value of the target object, including: Obtain the rated sensitivity parameters of the weighing sensor; Based on the original voltage value and the rated sensitivity parameters of the weighing sensor, the initial mass estimate under uncompensated conditions is calculated. The initial mass estimate is coupled with the gravity compensation factor and a one-time correction calculation is performed to generate the basic corrected mass value. Based on the basic correction quality value, and combined with the voltage drift trend and temperature change amplitude during the voltage response process, the dynamic correction amount of the compensation coefficient is determined. The base correction mass value is adjusted based on the dynamic correction amount to obtain the corrected target object mass value at the current measurement position.

8. A gravity-compensated body weight measuring device, characterized in that, The gravity-compensated body weight measuring device includes: The information acquisition module is used to acquire acceleration vector information and magnetic field vector information; The measured value calculation module for gravity acceleration is used to extract the vertical gravity vector component based on the acceleration vector information, and calculate the measured value of gravity acceleration at the current measurement position based on the gravity vector component. The geographic latitude parameter derivation module is used to calculate the geomagnetic declination based on the magnetic field vector information, and derive the geographic latitude parameter corresponding to the current measurement location based on the geomagnetic declination matching the preset geomagnetic-latitude mapping rule. The standard gravity acceleration value generation module is used to input geographical latitude parameters into the standard gravity acceleration calculation model and generate the standard gravity acceleration value corresponding to the current measurement location. The gravity compensation factor construction module is used to construct a gravity compensation factor for correcting the voltage-mass conversion relationship of the weighing sensor based on the difference between the standard gravity acceleration value and the measured gravity acceleration value. The target mass value conversion module is used to convert the original voltage value output by the gravity sensor based on the gravity compensation factor to obtain the corrected target object mass value.

9. A weight measuring device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the gravity-compensated weight measurement method as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the gravity-compensated weight measurement method as described in any one of claims 1 to 7.

Images