A method and device for calibrating an inertial navigation sensor module of a domain controller, and a storage medium

Abstract

The application provides a kind of inertial navigation sensing module calibration method, device and storage medium of domain controller;The calibration method comprises: fixing domain controller on turntable containing outer shaft and inner shaft, so that the domain controller rotates three weeks around defined X axis, Y axis and Z axis respectively;Corresponding acceleration data and angular rate data and calibration results are obtained;Then take out the domain controller, and the calibration is completed.The application ingeniously uses the cooperation of outer shaft and inner shaft to achieve the calibration of three axes by installing the domain controller only once, improve the calibration accuracy and automation degree, and only use two rotating shafts for calibration, with high utilization and low cost, and the time for collecting angular rate data can also be significantly reduced, with high calibration efficiency.

Description

Technical Field

[0001] This invention relates to the field of intelligent driving, and in particular to a method, apparatus and storage medium for calibrating the inertial navigation sensor module of a domain controller. Background Technology

[0002] With the development of automotive intelligence, vehicle domain controllers are also developing towards intelligence and integration. The systems of individual domain controllers are becoming more and more complex, with increasingly powerful functions and a wider variety of sensor types, including IMU inertial navigation sensor modules.

[0003] The IMU (Inertial Measurement Unit) sensor module mainly consists of an accelerometer and a gyroscope. The accelerometer collects three-axis acceleration data, and the gyroscope collects rotational angular rate data for each axis. The vehicle domain controller uses this data to synthesize vehicle attitude information. An uncalibrated IMU sensor module will produce discrepancies between measured and true values, primarily due to deterministic errors, including bias error, scale error, and misalignment. Therefore, domain controller manufacturers typically calibrate the IMU sensor module to improve the accuracy of measurement data and prevent misjudgments by the vehicle.

[0004] Traditional calibration methods, such as the hexahedral tooling calibration method, require repeated disassembly and reassembly of the hexahedral tooling, with each of the three orthogonal axes requiring reassembly. This approach is characterized by low automation, high time and labor consumption, and the repeated manual disassembly and reassembly process tests the repeatability accuracy of installation and positioning. Poor management can affect calibration accuracy. While the three-axis rate turntable calibration method improves automation and calibration accuracy, the three-axis rate turntable used is expensive, requiring a three-axis platform capable of high-precision rotation. Another example is the laboratory two-axis angle turntable calibration method, which is more cost-effective than the three-axis rate turntable and offers improved automation compared to the hexahedral tooling calibration method. However, its drawback lies in the fact that when calibrating gyroscopes, the Earth's rotational angular velocity is used as the input excitation. Since the influence of the Earth's rotational angular velocity is minimal, the data acquisition time is crucial, typically requiring more than 20 minutes of data acquisition per axis. This results in extremely low calibration efficiency for manufacturing industries. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a calibration method, apparatus, and storage medium for the inertial navigation sensor module of a domain controller. The calibration method includes fixing the domain controller on a turntable containing an outer and inner axis, causing the domain controller to rotate uniformly three and a half revolutions around defined X, Y, and Z axes respectively, thereby obtaining corresponding acceleration and angular rate data, as well as calibration results. This invention offers high calibration accuracy, high automation, low calibration cost, and high calibration efficiency.

[0006] Specifically, this invention provides a calibration method for the inertial navigation sensor module of a domain controller, comprising the following steps:

[0007] S10: Initialize the calibration device and fix the domain controller on the turntable of the calibration device; the turntable includes at least an outer shaft and an inner shaft.

[0008] Preferably, the outer shaft is an outer rotational shaft with feedback that can move at a precise angular rate, which can drive the entire inner shaft structure to rotate; the inner shaft is an inner rotational shaft with feedback that can move at a precise angular rate, orthogonal to the outer shaft, which can directly drive the controller to be calibrated to rotate.

[0009] S20: Start the turntable and control the turntable to drive the domain controller to perform calibration work according to the preset actions.

[0010] S30: Display the data and calibration results collected through the calibration process, retrieve the domain controller, and complete the calibration process.

[0011] It also includes defining the coordinate axes of the domain controller: with the center of the domain controller when it is placed upright and parallel to the turntable as the origin, the direction from back to front is the X-axis, the direction from left to right is the Y-axis, and the direction from bottom to top is the Z-axis.

[0012] In step S10, the initialization of the calibration device includes: initialization of the programmable power supply, initialization of the turntable, initialization of test data, initialization of communication, and initialization of process data.

[0013] After fixing the domain controller to the turntable of the calibration device, step S10 further includes:

[0014] S11: Scan the QR code on the domain controller. If the scan is successful, proceed to S12; otherwise, rescan the QR code until the scan is successful, then proceed to S12.

[0015] Preferably, the QR code is a unique identifier for the domain controller, and the computer program records the domain controller code at the corresponding location for use in subsequent data and result recording.

[0016] S12: Control the domain controller to power on and establish handshake communication, and determine whether the handshake is successful. If successful, proceed to S20; otherwise, re-establish handshake communication and then proceed to S20.

[0017] In step S20, the calibration process specifically includes:

[0018] S21: Make the Y-axis of the domain controller parallel to the outer axis, the X-axis parallel to the inner axis, and the Z-axis perpendicular to the plane containing the outer and inner axes. With the inner axis stationary, control the turntable to drive the domain controller to rotate uniformly around the Y-axis three and a half times. At the initial and stop positions of the uniform rotation, collect the first acceleration data of the X-axis, Y-axis, and Z-axis respectively, and collect the first angular velocity data of the X-axis, Y-axis, and Z-axis respectively during the uniform rotation. The initial position is the positive direction of the X-axis or the positive direction of the Z-axis perpendicular to the ground.

[0019] S22: Make the outer axis stationary, control the turntable to drive the domain controller to rotate at a constant speed around the X-axis for three and a half revolutions, and collect the second acceleration data of the X-axis, Y-axis and Z-axis at the initial position and the stop position of the constant speed rotation, respectively, and collect the second angular velocity data of the X-axis, Y-axis and Z-axis during the constant speed rotation; the initial position is the positive direction of the Y-axis or the negative direction of the Z-axis perpendicular to the ground.

[0020] S23: Make the outer axis stationary, rotate the inner axis by a preset angle, and make the X-axis of the domain controller parallel to the inner axis, the Z-axis parallel to the outer axis, and the Y-axis perpendicular to the plane containing the outer and inner axes. With the inner axis stationary, control the turntable to drive the domain controller to rotate uniformly around the Z-axis three and a half times. At the initial and stop positions of the uniform rotation, collect the third acceleration data of the X-axis, Y-axis, and Z-axis respectively, and collect the third triangular velocity data of the X-axis, Y-axis, and Z-axis respectively during the uniform rotation. The initial position is the negative direction of the X-axis or the negative direction of the Y-axis perpendicular to the ground.

[0021] S24: Calculate the first acceleration data, first angular velocity data, second acceleration data, second angular velocity data, third acceleration data, and third angular velocity data into calibration parameters using the least binary search method, and write the calibration parameters into the domain controller.

[0022] Step S30 specifically involves:

[0023] S31: Determine whether the calibration work is successful. If successful, mark the calibration result as pass and update the interface to display the pass mark; otherwise, mark the calibration result as fail and update the interface to display the fail mark.

[0024] S32: Save and upload the calibration parameters and display them on the interface.

[0025] S33: Remove the domain controller; calibration is complete.

[0026] As another preferred embodiment, the present invention also provides a calibration device for an inertial navigation sensor module of a domain controller, the calibration device comprising at least: a scanner for scanning a QR code on the domain controller; an industrial computer for controlling the domain controller to power on and establish handshake communication with it; the industrial computer comprising at least a DIO board, a CAN card, an HDMI interface, a first network port, a second network port, an RS232 interface, a first USB interface, and a second USB interface; a turntable for driving the domain controller to perform calibration work according to preset actions, acquiring acceleration data of the X-axis, Y-axis, and Z-axis at the initial and stop positions of uniform rotation, and acquiring angular rate data of the X-axis, Y-axis, and Z-axis during uniform rotation; the turntable comprising at least an outer shaft, a first servo motor for driving the outer shaft to rotate, an inner shaft, a second servo motor for driving the inner shaft to rotate, a base for leveling and fixing the outer and inner shafts, and a sensor; and a display for displaying calibration parameters obtained based on the acceleration and angular rate data, as well as pass or fail markers.

[0027] The calibration device further includes: a serial port box: providing a UART interface for communication between the industrial computer and the domain controller; a CAN card: providing a CAN interface for communication between the industrial computer and the domain controller; an on-board Ethernet converter: providing an on-board Ethernet interface for communication between the industrial computer and the domain controller; a programmable power supply: for controlling the power supply to the domain controller; a PLC module: for controlling the operation of the turntable and outputting calibration parameters to the industrial computer; indicator lights: for indicating the working status or calibration working status of the device; buttons: for controlling the start, stop, and reset of the device; a DIO board: for providing digital signal output to the indicator lights and the PLC module to control the indicator lights and provide trigger signals to the servo motor controller to the PLC module, and for collecting signals returned by the buttons and the PLC module; the signals returned by the PLC module include at least "device running" and "device stopped"; a first servo motor controller: for controlling the first servo motor to perform precision movements; and a second servo motor controller: for controlling the second servo motor to perform precision movements.

[0028] Preferably, the first servo motor drives the outer shaft to perform precision servo motion; the second servo motor drives the inner shaft to perform precision servo motion. When the indicator light is green, the device or calibration work is in operation; when the indicator light is red, the device or calibration work is in a stopped state.

[0029] One end of the industrial control computer is connected to the display via an HDMI interface, and the other end is connected to the serial port box, the vehicle Ethernet converter, the scanner, and the programmable power supply via an RS232 interface, a second network cable port, a first USB interface, and a second USB interface, respectively. One end of the PLC module is connected to the DIO board and the first network cable port, and the other end is connected to the first servo motor controller, the second servo motor controller, and the sensor, respectively. The first servo motor controller is connected to the first servo motor, and the second servo motor controller is connected to the second servo motor. The domain controller is connected to the UART interface, the vehicle Ethernet interface, the scanner, the programmable power supply, and the CAN interface, respectively. The indicator lights and buttons are connected to the DIO board.

[0030] As another preferred embodiment, the present invention also provides a storage medium, which is a computer-readable storage medium storing a computer program thereon, wherein when the computer program is executed by a processor, it implements the inertial navigation sensor module calibration method of the domain controller as described in any one of claims 1-6.

[0031] In conclusion, this invention provides a calibration method, apparatus, and storage medium for an inertial navigation sensor module of a domain controller. The calibration method includes: fixing the domain controller on a turntable containing an outer axis and an inner axis, causing the domain controller to rotate uniformly three and a half revolutions around defined X, Y, and Z axes respectively; thereby obtaining corresponding acceleration data, angular rate data, and calibration results; then removing the domain controller, completing the calibration. This invention cleverly utilizes the cooperation of the outer and inner axes to achieve three-axis calibration with only one installation of the domain controller, improving calibration accuracy and automation. Furthermore, it uses only two rotating axes for calibration, resulting in high utilization and low cost, and significantly reduces the time for acquiring angular rate data, thus achieving high calibration efficiency. Attached Figure Description

[0032] Figure 1 This is a flowchart of the inertial navigation sensor module calibration method for the domain controller described in this invention.

[0033] Figure 2 This is a flowchart of the QR code scanning and handshake communication establishment method described in this invention.

[0034] Figure 3 for Figure 1 The calibration workflow diagram is described above.

[0035] Figure 4 for Figure 1 The flowchart of the specific method for step S30 is as follows.

[0036] Figure 5 for Figure 1A diagram illustrating the calibration device framework for the inertial navigation sensor module calibration method of the domain controller. Detailed Implementation

[0037] The following describes in further detail, with reference to specific embodiments and accompanying drawings, a method, apparatus, and storage medium for calibrating an inertial navigation sensor module of a domain controller according to the present invention.

[0038] Specifically, such as Figure 1 As shown, the present invention provides a calibration method for the inertial navigation sensor module of a domain controller, comprising the following steps:

[0039] S10: Initialize the calibration device and fix the domain controller on the turntable of the calibration device; the turntable includes at least an outer shaft and an inner shaft.

[0040] Preferably, the outer shaft is an outer rotational shaft with feedback that can move at a precise angular rate, which can drive the entire inner shaft structure to rotate; the inner shaft is an inner rotational shaft with feedback that can move at a precise angular rate, orthogonal to the outer shaft, which can directly drive the controller to be calibrated to rotate.

[0041] In step S10, the initialization of the calibration device includes: initialization of the programmable power supply, initialization of the turntable, initialization of test data, initialization of communication, and initialization of process data.

[0042] like Figure 2 As shown, after fixing the domain controller to the turntable of the calibration device, step S10 further includes:

[0043] S11: Scan the QR code on the domain controller. If the scan is successful, proceed to S12; otherwise, rescan the QR code until the scan is successful, then proceed to S12.

[0044] Preferably, the QR code is a unique identifier for the domain controller, and the computer program records the domain controller code at the corresponding location for use in subsequent data and result recording.

[0045] S12: Control the domain controller to power on and establish handshake communication, and determine whether the handshake is successful. If successful, proceed to S20; otherwise, re-establish handshake communication and then proceed to S20.

[0046] Preferably, subsequent calibration work can only be carried out after the handshake communication is successfully established.

[0047] It also includes defining the coordinate axes of the domain controller: with the center of the domain controller when it is placed upright and parallel to the turntable as the origin, the direction from back to front is the X-axis, the direction from left to right is the Y-axis, and the direction from bottom to top is the Z-axis.

[0048] S20: Start the turntable and control the turntable to drive the domain controller to perform calibration work according to the preset actions.

[0049] like Figure 3 As shown, in step S20, the calibration process specifically involves:

[0050] S21: Make the Y-axis of the domain controller parallel to the outer axis, the X-axis parallel to the inner axis, and the Z-axis perpendicular to the plane containing the outer and inner axes. With the inner axis stationary, control the turntable to drive the domain controller to rotate uniformly around the Y-axis three and a half times. At the initial and stop positions of the uniform rotation, collect the first acceleration data of the X-axis, Y-axis, and Z-axis respectively, and collect the first angular velocity data of the X-axis, Y-axis, and Z-axis respectively during the uniform rotation. The initial position is the positive direction of the X-axis or the positive direction of the Z-axis perpendicular to the ground.

[0051] Preferably, the initial position is the positive direction of the X-axis.

[0052] S22: Make the outer axis stationary, control the turntable to drive the domain controller to rotate at a constant speed around the X-axis for three and a half revolutions, and collect the second acceleration data of the X-axis, Y-axis and Z-axis at the initial position and the stop position of the constant speed rotation, respectively, and collect the second angular velocity data of the X-axis, Y-axis and Z-axis during the constant speed rotation; the initial position is the positive direction of the Y-axis or the negative direction of the Z-axis perpendicular to the ground.

[0053] Preferably, the initial position is in the positive direction of the Y-axis.

[0054] S23: Make the outer axis stationary, rotate the inner axis by a preset angle, and make the X-axis of the domain controller parallel to the inner axis, the Z-axis parallel to the outer axis, and the Y-axis perpendicular to the plane containing the outer and inner axes. With the inner axis stationary, control the turntable to drive the domain controller to rotate uniformly around the Z-axis three and a half times. At the initial and stop positions of the uniform rotation, collect the third acceleration data of the X-axis, Y-axis, and Z-axis respectively, and collect the third triangular velocity data of the X-axis, Y-axis, and Z-axis respectively during the uniform rotation. The initial position is the negative direction of the X-axis or the negative direction of the Y-axis perpendicular to the ground.

[0055] Preferably, the initial position is in the negative direction of the X-axis.

[0056] Preferably, uniform rotation ensures that the collected data is more comprehensive and effective.

[0057] S24: Calculate the first acceleration data, first angular velocity data, second acceleration data, second angular velocity data, third acceleration data, and third angular velocity data into calibration parameters using the least binary search method, and write the calibration parameters into the domain controller.

[0058] Preferably, the least bisection method is used because it is reliable and computationally simple, has low requirements for the function, and the convergence of the function can always be guaranteed. However, other methods can also be used to obtain the calibration parameters according to actual needs, and it is not limited to the least bisection method.

[0059] S30: Display the data and calibration results collected through the calibration process, retrieve the domain controller, and complete the calibration process.

[0060] like Figure 4 As shown, step S30 specifically includes:

[0061] S31: Determine whether the calibration work is successful. If successful, mark the calibration result as pass and update the interface to display the pass mark; otherwise, mark the calibration result as fail and update the interface to display the fail mark.

[0062] S32: Save and upload the calibration parameters and display them on the interface.

[0063] S33: Remove the domain controller; calibration is complete.

[0064] Preferably, if the calibration is successful, the display screen will show a "pass" mark and calibration parameters calculated based on the first acceleration data, the first angular velocity data, the second acceleration data, the second angular velocity data, the third acceleration data, and the third angular velocity data. These calibration parameters will also be saved and uploaded to the industrial control computer.

[0065] As another preferred option, such as Figure 5 As shown, the present invention also provides a calibration device for an inertial navigation sensor module of a domain controller. The calibration device includes at least: a scanner for scanning a QR code on the domain controller; an industrial computer for controlling the domain controller to power on and establish handshake communication with it; the industrial computer includes at least a DIO board, a CAN card, an HDMI interface, a first network port, a second network port, an RS232 interface, a first USB interface, and a second USB interface; a turntable for driving the domain controller to perform calibration work according to preset actions, acquiring acceleration data of the X-axis, Y-axis, and Z-axis at the initial and stop positions of uniform rotation, and acquiring angular rate data of the X-axis, Y-axis, and Z-axis during uniform rotation; the turntable includes at least an outer shaft, a first servo motor for driving the outer shaft to rotate, an inner shaft, a second servo motor for driving the inner shaft to rotate, a base for leveling and fixing the outer and inner shafts, and a sensor; and a display for displaying calibration parameters obtained based on the acceleration and angular rate data, as well as pass or fail markers.

[0066] The calibration device further includes: a serial port box: providing a UART interface for communication between the industrial computer and the domain controller; a CAN card: providing a CAN interface for communication between the industrial computer and the domain controller; an on-board Ethernet converter: providing an on-board Ethernet interface for communication between the industrial computer and the domain controller; a programmable power supply: for controlling the power supply to the domain controller; a PLC module: for controlling the operation of the turntable and outputting calibration parameters to the industrial computer; indicator lights: for indicating the working status or calibration working status of the device; buttons: for controlling the start, stop, and reset of the device; a DIO board: for providing digital signal output to the indicator lights and the PLC module to control the indicator lights and provide trigger signals to the servo motor controller to the PLC module, and for collecting signals returned by the buttons and the PLC module; the signals returned by the PLC module include at least "device running" and "device stopped"; a first servo motor controller: for controlling the first servo motor to perform precision movements; and a second servo motor controller: for controlling the second servo motor to perform precision movements.

[0067] Preferably, the first servo motor drives the outer shaft to perform precision servo motion; the second servo motor drives the inner shaft to perform precision servo motion. When the indicator light is green, the device or calibration work is in operation; when the indicator light is red, the device or calibration work is in a stopped state.

[0068] One end of the industrial control computer is connected to the display via an HDMI interface, and the other end is connected to the serial port box, the vehicle Ethernet converter, the scanner, and the programmable power supply via an RS232 interface, a second network cable port, a first USB interface, and a second USB interface, respectively. One end of the PLC module is connected to the DIO board and the first network cable port, and the other end is connected to the first servo motor controller, the second servo motor controller, and the sensor, respectively. The first servo motor controller is connected to the first servo motor, and the second servo motor controller is connected to the second servo motor. The domain controller is connected to the UART interface, the vehicle Ethernet interface, the scanner, the programmable power supply, and the CAN interface, respectively. The indicator lights and buttons are connected to the DIO board.

[0069] As another preferred embodiment, the present invention also provides a storage medium, which is a computer-readable storage medium storing a computer program thereon, wherein when the computer program is executed by a processor, it implements the inertial navigation sensor module calibration method of the domain controller as described in any one of claims 1-6.

[0070] In conclusion, this invention provides a calibration method, apparatus, and storage medium for the inertial navigation sensor module of a domain controller. The calibration method includes: fixing the domain controller on a turntable containing an outer and inner axis, causing the domain controller to rotate uniformly three and a half revolutions around defined X, Y, and Z axes respectively; thereby obtaining corresponding acceleration and angular rate data and calibration results; then removing the domain controller, completing the calibration. This invention offers high calibration accuracy, high automation, low calibration cost, and high calibration efficiency.

[0071] Although exemplary embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above exemplary embodiments are merely illustrative and are not intended to limit the scope of the invention. Various changes and modifications can be made therein by those skilled in the art without departing from the scope and spirit of the invention. All such changes and modifications are intended to be included within the scope of the invention as claimed in the appended claims.

[0072] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0073] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed.

[0074] The various component embodiments of the present invention can be implemented in hardware, or as software modules running on one or more processors, or a combination thereof. Those skilled in the art will understand that microprocessors or digital signal processors (DSPs) can be used in practice to implement some or all of the functions of some modules according to embodiments of the present invention. The present invention can also be implemented as an apparatus program (e.g., a computer program and computer program product) for performing some or all of the methods described herein. Such programs implementing the present invention can be stored on a computer-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.

[0075] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0076] Although the invention has been described in conjunction with the specific embodiments described above, it will be apparent to those skilled in the art that many substitutions, modifications, and variations can be made based on the foregoing. Therefore, all such substitutions, modifications, and variations are included within the spirit and scope of the appended claims.

Claims

1. A method for calibrating the inertial navigation sensor module of a domain controller, characterized in that, Includes the following steps: S10: Initialize the calibration device and fix the domain controller on the turntable of the calibration device; the turntable includes at least an outer shaft and an inner shaft; S20: Start the turntable and control the turntable to drive the domain controller to perform calibration work according to preset actions; The calibration work specifically includes: S21: Make the Y-axis of the domain controller parallel to the outer axis, the X-axis parallel to the inner axis, and the Z-axis perpendicular to the plane containing the outer and inner axes. With the inner axis stationary, control the turntable to drive the domain controller to rotate uniformly around the Y-axis three and a half times. At the initial and stop positions of the uniform rotation, collect the first acceleration data of the X-axis, Y-axis, and Z-axis respectively, and collect the first angular velocity data of the X-axis, Y-axis, and Z-axis respectively during the uniform rotation. The initial position is the positive direction of the X-axis or the positive direction of the Z-axis perpendicular to the ground. S22: Make the outer axis stationary, control the turntable to drive the domain controller to rotate uniformly around the X-axis three and a half times, and collect the second acceleration data of the X-axis, Y-axis and Z-axis at the initial position and the stop position of the uniform rotation, respectively, and collect the second angular velocity data of the X-axis, Y-axis and Z-axis during the uniform rotation; the initial position is the positive direction of the Y-axis or the negative direction of the Z-axis perpendicular to the ground; S23: Make the outer axis stationary, rotate the inner axis by a preset angle, and make the X-axis of the domain controller parallel to the inner axis, the Z-axis parallel to the outer axis, and the Y-axis perpendicular to the plane containing the outer and inner axes. With the inner axis stationary, control the turntable to drive the domain controller to rotate uniformly around the Z-axis three and a half times. At the initial and final positions of the uniform rotation, collect the third acceleration data for the X-axis, Y-axis, and Z-axis respectively, and collect the third triangular velocity data for the X-axis, Y-axis, and Z-axis respectively during the uniform rotation. The initial position is either the negative direction of the X-axis or the negative direction of the Y-axis perpendicular to the ground. S24: Calculate the first acceleration data, first angular velocity data, second acceleration data, second angular velocity data, third acceleration data, and third angular velocity data into calibration parameters using the least binary search method, and write the calibration parameters into the domain controller; S30: Display the data and calibration results collected through the calibration process, retrieve the domain controller, and complete the calibration process.

2. The inertial navigation sensor module calibration method for a domain controller according to claim 1, characterized in that, It also includes defining the coordinate axes of the domain controller: with the center of the domain controller when it is placed upright and parallel to the turntable as the origin, the direction from back to front is the X-axis, the direction from left to right is the Y-axis, and the direction from bottom to top is the Z-axis.

3. The inertial navigation sensor module calibration method for a domain controller according to claim 1, characterized in that, In step S10, the initialization of the calibration device includes: initialization of the programmable power supply, initialization of the turntable, initialization of test data, initialization of communication, and initialization of process data.

4. The inertial navigation sensor module calibration method for a domain controller according to claim 1, characterized in that, After fixing the domain controller to the turntable of the calibration device, step S10 further includes: S11: Scan the QR code on the domain controller. If the scan is successful, proceed to S12; otherwise, rescan the QR code until the scan is successful, then proceed to S12. S12: Control the domain controller to power on and establish handshake communication, and determine whether the handshake is successful. If successful, proceed to S20; otherwise, re-establish handshake communication and then proceed to S20.

5. The inertial navigation sensor module calibration method for a domain controller according to claim 1, characterized in that, Step S30 specifically involves: S31: Determine whether the calibration work is successful. If successful, mark the calibration result as pass and update the interface to display the pass mark; otherwise, mark the calibration result as fail and update the interface to display the fail mark. S32: Save and upload the calibration parameters and display them on the interface; S33: Remove the domain controller; calibration is complete.

6. A calibration apparatus employing the domain controller calibration method as described in any one of claims 1-5, characterized in that, The calibration device includes at least: Scanner: Used to scan QR codes on the domain controller; Industrial control computer: used to control the domain controller to complete the power-on and establish handshake communication with it; The industrial control computer includes at least a DIO board, a CAN card, an HDMI interface, a first network cable port, a second network cable port, an RS232 interface, a first USB interface, and a second USB interface. Turntable: Used to drive the domain controller to perform calibration work according to preset actions, and to collect acceleration data of the X-axis, Y-axis and Z-axis at the initial position and the stop position of uniform rotation, respectively, and to collect angular rate data of the X-axis, Y-axis and Z-axis during uniform rotation. The turntable includes at least an outer shaft, a first servo motor for driving the outer shaft to rotate, an inner shaft, a second servo motor for driving the inner shaft to rotate, a base for leveling and fixing the outer and inner shafts, and a sensor. Display: Used to display calibration parameters obtained based on the acceleration and angular rate data, as well as pass or fail flags.

7. The calibration device according to claim 6, characterized in that, The calibration device further includes: Serial port box: Provides a UART interface for communication between the industrial computer and the domain controller; CAN card: Provides a CAN interface for communication between the industrial computer and the domain controller; Onboard Ethernet Converter: Provides an onboard Ethernet interface for communication between the industrial computer and the domain controller; Programmable power supply: used to control the power supply to the domain controller; PLC module: used to control the operation of the turntable and output calibration parameters to the industrial computer; Indicator lights: Used to indicate the working status of the device or to calibrate its working status; Buttons: Used to control the start, stop, and reset of the device; DIO board: Used to provide digital signal output to the indicator lights and the PLC module to control the indicator lights and provide trigger signals to the servo motor controller to the PLC module, as well as to collect the signals returned by the buttons and the PLC module; the signals returned by the PLC module include at least the signals of device running and device stopped; First servo motor controller: used to control the first servo motor to perform precision movements; Second servo motor controller: used to control the second servo motor to perform precision movements.

8. The calibration device according to claim 7, characterized in that, One end of the industrial control computer is connected to the display via an HDMI interface, and the other end is connected to the serial port box, the vehicle Ethernet converter, the scanner, and the programmable power supply via an RS232 interface, a second network cable port, a first USB interface, and a second USB interface, respectively. One end of the PLC module is connected to the DIO board and the first network cable port, and the other end is connected to the first servo motor controller, the second servo motor controller, and the sensor, respectively. The first servo motor controller is connected to the first servo motor, and the second servo motor controller is connected to the second servo motor. The domain controller is connected to the UART interface, the vehicle Ethernet interface, the scanner, the programmable power supply, and the CAN interface, respectively. The indicator lights and buttons are connected to the DIO board.

9. A storage medium, one of the computer-readable storage media, characterized in that, It stores a computer program, which, when executed by a processor, implements the inertial navigation sensor module calibration method for a domain controller as described in any one of claims 1-5.

Images