A method and system for compensating and calibrating parameters of an inertial measurement unit product

Abstract

The present invention relates to the technical field of temperature compensation, and discloses a method and system for correcting temperature compensation parameters of an inertial measurement unit (IMU) product, including: obtaining initial parameters and N initial temperatures of the IMU product to be corrected, and obtaining initial temperature compensation parameters corresponding to the IMU product to be corrected based on the initial parameters and the N initial temperatures, where N is a positive integer; calculating the temperature compensation parameters to be corrected by linear fitting according to the initial temperature compensation parameters, and calculating a temperature compensation difference based on the initial temperature compensation parameters and the temperature compensation parameters to be corrected; obtaining the compensation temperature of the IMU product to be corrected, comparing the compensation temperature with the N initial temperatures in terms of magnitude, and correcting the temperature compensation parameters using the temperature compensation difference according to the result of the magnitude comparison to obtain the corrected temperature compensation parameters; the present invention solves the problem of poor accuracy existing in the existing temperature compensation parameter correction method.

Description

Technical Field

[0001] The present invention relates to the technical field of temperature compensation, and particularly relates to a method and system for correcting temperature compensation parameters of an inertial measurement unit (IMU) product. Background Art

[0002] A temperature-compensated IMU refers to an IMU product that uses a temperature-compensated accelerometer as a key device. Before the temperature-compensated IMU is put into use, a temperature compensation test is often required to calculate the model parameters between the product output and temperature, that is, the temperature compensation parameters. During use, the temperature compensation parameters are called to ensure reliable output accuracy of the product in an environment with temperature changes. With the use of the IMU and various environmental test assessments, the performance of the components of the IMU product will change, resulting in errors in the temperature compensation parameters. Generally, the output error is corrected by re-performing the temperature compensation test and calculating new temperature compensation parameters. However, the temperature compensation test requires external temperature chamber equipment, which consumes a lot of manpower and material resources and has poor accuracy. It can be seen that the existing temperature compensation parameter correction method has the problem of poor accuracy. Summary of the Invention

[0003] The present invention provides a method and system for correcting temperature compensation parameters of an IMU product to solve the problem of poor accuracy in the existing temperature compensation parameter correction method.

[0004] To achieve the above object, the present invention is implemented through the following technical solutions:

[0005] In a first aspect, the present invention provides a method for correcting temperature compensation parameters of an IMU product, including:

[0006] Obtain the initial parameters and N initial temperatures of the IMU product to be corrected, and obtain the corresponding initial temperature compensation parameters of the IMU product to be corrected based on the initial parameters and the N initial temperatures, where N is a positive integer;

[0007] Calculate the temperature compensation parameters to be corrected by linear fitting according to the initial temperature compensation parameters, and calculate the temperature compensation difference based on the initial temperature compensation parameters and the temperature compensation parameters to be corrected;

[0008] Obtain the compensation temperature of the IMU product to be corrected, compare the compensation temperature with the N initial temperatures, and correct the temperature compensation parameters using the temperature compensation difference according to the result of the size comparison to obtain the corrected temperature compensation parameters.

[0009] Optionally, the obtaining the corresponding initial temperature compensation parameters of the IMU product to be corrected based on the initial parameters and the N initial temperatures includes:

[0010] Perform self-calibration on the IMU product to be corrected to obtain the corresponding initial temperature compensation parameters of the IMU product to be corrected at the N initial temperatures.

[0011] Optionally, the obtaining the temperature compensation parameter to be corrected by linear fitting calculation according to the initial temperature compensation parameter includes:

[0012] Acquire a first compensation temperature and a second compensation temperature, so that the first compensation temperature is less than or equal to the initial temperature, and the second compensation temperature is greater than or equal to the initial temperature;

[0013] The first compensation temperature, the second compensation temperature, the initial temperature and the initial parameters are calculated by linear fitting to obtain the temperature compensation parameters to be corrected.

[0014] Optionally, the calculating the temperature compensation difference based on the initial temperature compensation parameter and the temperature compensation parameter to be corrected includes:

[0015] The initial temperature compensation parameter and the temperature compensation parameter to be corrected are subjected to difference calculation to obtain a difference result, and the absolute value of the difference result is taken to obtain a temperature compensation difference.

[0016] Optionally, comparing the compensation temperature with the N initial temperatures, and correcting the temperature compensation parameters using the temperature compensation difference according to the comparison result, includes:

[0017] Comparing the compensation temperature with the N initial temperatures;

[0018] When the compensation temperature is less than all the initial temperatures, the compensation temperature is parameterized by a correction calculation formula, and the calculation formula is as follows:

[0019]

[0020] Where K represents the temperature compensation parameter after correction, K T represents the initial temperature compensation parameter corresponding to the compensation temperature T, T 控i Indicates the temperature of the ith point of temperature control, K 控i Indicates that self-calibration is performed to obtain T 控i The temperature compensation parameter to be corrected at the temperature point, ΔK i represents the difference between the newly obtained temperature compensation parameter to be corrected and the initial temperature compensation parameter at the i-th temperature point;

[0021] When the compensation temperature is between all the initial temperatures, the compensation temperature is parameterized by a correction calculation formula, and the calculation formula is as follows:

[0022]

[0023] Where K represents the temperature compensation parameter after correction, K T represents the initial temperature compensation parameter corresponding to the compensation temperature T, T 控i Indicates the temperature of the ith point of temperature control, K控i Indicates that self-calibration is performed to obtain T 控i The temperature compensation parameter to be corrected corresponding to the temperature point, ΔK i Indicates the difference between the newly obtained temperature compensation parameter to be corrected and the initial temperature compensation parameter at the i-th temperature point;

[0024] When the compensated temperature is greater than all the initial temperatures, parameter calculation is performed on the compensated temperature through a correction calculation formula, and the calculation formula is as follows:

[0025]

[0026] Among them, K represents the temperature compensation parameter after correction, K T Indicates the initial temperature compensation parameter corresponding to the compensated temperature T, T 控i Indicates the temperature of the i-th point of temperature control, K 控i Indicates that self-calibration is performed to obtain T 控i The temperature compensation parameter to be corrected corresponding to the temperature point, ΔK i Indicates the difference between the newly obtained temperature compensation parameter to be corrected and the initial temperature compensation parameter at the i-th temperature point.

[0027] In a second aspect, an inertial assembly product temperature compensation parameter correction system provided by an embodiment of the present application includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the steps of any of the methods in the first aspect described above are implemented.

[0028] Beneficial effects:

[0029] The inertial assembly product temperature compensation parameter correction method provided by the present invention obtains the initial temperature compensation parameter of the inertial assembly product to be corrected by acquiring the initial parameters and initial temperatures of the inertial assembly product to be corrected, calculates the temperature compensation parameter to be corrected through linear fitting, calculates the difference between the temperature compensation parameter to be corrected and the initial temperature compensation parameter to obtain a temperature compensation difference, and then can use the temperature compensation difference to correct and compensate the temperature compensation parameter of the inertial assembly product to be corrected, so as to obtain the temperature compensation parameter after correction, realize calibration at multiple temperature points, thereby perform validity determination and correction on the temperature compensation parameter, and improve the correction accuracy of the temperature compensation parameter. Brief description of the drawings

[0030] Figure 1 It is a flowchart of the inertial assembly product temperature compensation parameter correction method of a preferred embodiment of the present invention. Detailed implementation manners

[0031] The technical solution of the present invention will be described clearly and completely below. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0032] Unless otherwise defined, the technical terms or scientific terms used in the present invention shall have the ordinary meanings understood by those of ordinary skill in the field to which the present invention pertains. The "first", "second" and similar terms used in the present invention do not denote any order, quantity or importance, but are only used to distinguish different components. Similarly, terms such as "a" or "one" do not denote a quantity limitation, but mean that there is at least one. The terms "connected" or "coupled" and the like are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The terms "upper", "lower", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship also changes accordingly.

[0033] Please refer to Figure 1 , the embodiment of the present application provides a method for correcting the temperature compensation parameters of an inertial measurement unit (IMU) product, including:

[0034] Obtain the initial parameters and N initial temperatures of the IMU product to be corrected, and obtain the corresponding initial temperature compensation parameters of the IMU product to be corrected based on the initial parameters and the N initial temperatures, where N is a positive integer;

[0035] Calculate the temperature compensation parameters to be corrected by linear fitting according to the initial temperature compensation parameters, and calculate the temperature compensation difference based on the initial temperature compensation parameters and the temperature compensation parameters to be corrected;

[0036] Obtain the compensation temperature of the IMU product to be corrected, compare the compensation temperature with the N initial temperatures, and correct the temperature compensation parameters by using the temperature compensation difference according to the result of the comparison, so as to obtain the corrected temperature compensation parameters.

[0037] In the above embodiment, the initial temperature compensation parameters of the IMU product to be corrected are obtained by obtaining the initial parameters and initial temperatures of the IMU product to be corrected, the temperature compensation parameters to be corrected are calculated by linear fitting of the initial temperature compensation parameters, the temperature compensation difference is calculated by calculating the difference between the temperature compensation parameters to be corrected and the initial temperature compensation parameters, and then the temperature compensation difference can be used to correct and compensate the temperature compensation parameters of the IMU product to be corrected, so as to obtain the corrected temperature compensation parameters, realize calibration at multiple temperature points, thereby judge and correct the effectiveness of the temperature compensation parameters, and improve the calibration accuracy of the temperature compensation parameters.

[0038] Optionally, obtaining the initial temperature compensation parameters corresponding to the inertial measurement unit product to be calibrated based on the initial parameters and the N initial temperatures includes:

[0039] Performing self-calibration on the inertial measurement unit product to be calibrated to obtain the initial temperature compensation parameters corresponding to the inertial measurement unit product to be corrected at the N initial temperatures.

[0040] In the above embodiment, before using the temperature control function to correct the temperature compensation parameters, it is necessary to ensure that the product is in a state without temperature compensation, and download the initial temperature compensation parameters in advance, that is, the parameters before the first temperature compensation test. The coefficients in this parameter change as constants with temperature, and the true performance of the product output with temperature change is shown, and it is in a state without temperature compensation.

[0041] Optionally, calculating the temperature compensation parameters to be corrected by linear fitting based on the initial temperature compensation parameters includes:

[0042] Obtaining a first compensation temperature and a second compensation temperature, such that the first compensation temperature is less than or equal to the initial temperature, and the second compensation temperature is greater than or equal to the initial temperature;

[0043] Performing calculations on the first compensation temperature, the second compensation temperature, the initial temperature, and the initial parameters by linear fitting to obtain the temperature compensation parameters to be corrected.

[0044] In the above embodiment, the temperature control temperature points are generally set according to the accuracy requirements of the product. If the product requires higher accuracy, the interval between the temperature control temperature points can be reduced, and the number of temperature control temperature points can be increased. In this embodiment, taking 4 temperature points T 控1 , T 控2 , T 控3 , T 控4 as an example for illustration, the product temperature is stabilized at the corresponding temperature points respectively through the instructions of the temperature control board, and self-calibration is performed to obtain the corresponding parameters K 控1 , K 控2 , K 控3 , K 控4 . It should be noted that the first temperature point cannot be below 0 °C like the temperature compensation in the incubator. The first temperature point T1 for temperature compensation using the temperature control function is generally near room temperature.

[0045] Optionally, calculating the temperature compensation difference based on the initial temperature compensation parameters and the temperature compensation parameters to be corrected includes:

[0046] Performing a difference calculation on the initial temperature compensation parameters and the temperature compensation parameters to be corrected to obtain a difference result, and taking the absolute value of the difference result to obtain the temperature compensation difference.

[0047] In the above embodiments, after obtaining the parameters at 4 temperature points, the previous temperature compensation parameters can be corrected. The previous temperature compensation parameters were obtained by self-calibrating the inertial measurement unit product at different ambient temperatures in the temperature chamber to obtain the corresponding parameters at each temperature point, which were respectively defined as T 补1 , T 补2 , T 补3 , T 补4 , T 补5 , T 补6 ...... The corresponding temperature compensation parameters are K 补1 , K 补2 , K 补3 , K 补4 , K 补5 ...... Among them, T 控1 is not equal to T 补1 , but a number x1 can always be found such that T 补x1 ≤ T 控1 ≤ T 补x1+1 . Similarly, x2, x3, and x4 can be found such that T 补x2 ≤ T 控2 ≤ T 补x2+1 , T 补x3 ≤ T 控3 ≤ T 补x3+1 , T 补x4 ≤ T 控4 ≤ T 补x4+1 . Through linear fitting, the temperature compensation parameters corresponding to the 4 temperature points T 控1 , T 控2 , T 控3 , T 控4 in the original temperature compensation parameters can be obtained, denoted as The differences ΔK1, ΔK2, ΔK3, ΔK4 between the original temperature compensation parameters and the initial temperature compensation parameters at the 4 temperature points T 控1 , T 控2 , T 控3 , T 控4 can be obtained

[0048] Optionally, before comparing the compensation temperature with the N initial temperatures, the method further includes:

[0049] Performing temperature compensation calculation on the compensation temperature based on the initial parameters to obtain the original temperature compensation parameters.

[0050] Optionally, comparing the compensation temperature with the N initial temperatures and correcting the temperature compensation parameters using the temperature compensation difference according to the result of the comparison includes:

[0051] Comparing the compensation temperature with the N initial temperatures;

[0052] When the compensation temperature is less than all the initial temperatures, parameter calculation is performed on the compensation temperature through a correction calculation formula, and the calculation formula is as follows:

[0053]

[0054] where K represents the corrected temperature compensation parameter, K T represents the initial temperature compensation parameter corresponding to the compensation temperature T, T 控i represents the temperature of the i-th point of temperature control, K 控i represents the temperature point T obtained by self-calibration 控i corresponding to the temperature compensation parameter to be corrected, ΔK i represents the difference between the newly obtained temperature compensation parameter to be corrected and the initial temperature compensation parameter at the i-th temperature point;

[0055] When the compensation temperature is between all the initial temperatures, parameter calculation is performed on the compensation temperature through a correction calculation formula, and the calculation formula is as follows:

[0056]

[0057] where K represents the corrected temperature compensation parameter, K T represents the initial temperature compensation parameter corresponding to the compensation temperature T, T 控i represents the temperature of the i-th point of temperature control, K 控i represents the temperature point T obtained by self-calibration 控i corresponding to the temperature compensation parameter to be corrected, ΔK i represents the difference between the newly obtained temperature compensation parameter to be corrected and the initial temperature compensation parameter at the i-th temperature point;

[0058] When the compensation temperature is greater than all the initial temperatures, parameter calculation is performed on the compensation temperature through a correction calculation formula, and the calculation formula is as follows:

[0059]

[0060] where K represents the corrected temperature compensation parameter, K T represents the initial temperature compensation parameter corresponding to the compensation temperature T, T 控i represents the temperature of the i-th point of temperature control, K 控i represents the temperature point T obtained by self-calibration 控i corresponding to the temperature compensation parameter to be corrected, ΔK i represents the difference between the newly obtained temperature compensation parameter to be corrected and the initial temperature compensation parameter at the i-th temperature point.

[0061] In the above embodiments, there are three cases for the correction of temperature parameters according to the comparison results:

[0062] a) When the compensation temperature T ≤ T 控1 , the calculation formula for the corresponding corrected temperature compensation parameter K is as follows:

[0063]

[0064] In the above formula, K represents the corrected temperature compensation parameter, and K T represents the initial temperature compensation parameter corresponding to the compensation temperature T, T 控i represents the temperature at the i-th point of temperature control, and K 控i represents the temperature compensation parameter to be corrected corresponding to the temperature point obtained by self-calibration at T 控i , and ΔK i represents the difference between the newly obtained temperature compensation parameter to be corrected and the initial temperature compensation parameter at the i-th temperature point.

[0065] b) When the compensation temperature T 控i <T<T 控i+1 , i = 1, 2, 3, 4, the calculation formula for the corresponding corrected temperature compensation parameter K is as follows:

[0066]

[0067] In the above formula, K represents the corrected temperature compensation parameter, and K T represents the initial temperature compensation parameter corresponding to the compensation temperature T, T 控i represents the temperature at the i-th point of temperature control, and K 控i represents the temperature compensation parameter to be corrected corresponding to the temperature point obtained by self-calibration at T 控i , and ΔK i represents the difference between the newly obtained temperature compensation parameter to be corrected and the initial temperature compensation parameter at the i-th temperature point.

[0068] c) When the compensation temperature T ≤ T 控1 , the calculation formula for the corresponding corrected temperature compensation parameter K is as follows:

[0069]

[0070] In the above formula, K represents the corrected temperature compensation parameter, and K T represents the initial temperature compensation parameter corresponding to the compensation temperature T, T 控i represents the temperature at the i-th point of temperature control, and K 控i represents the temperature compensation parameter to be corrected corresponding to the temperature point obtained by self-calibration at T 控i , and ΔK i represents the difference between the newly obtained temperature compensation parameter to be corrected and the initial temperature compensation parameter at the i-th temperature point.

[0071] Thus, the corrected temperature compensation parameter can be obtained.

[0072] The embodiment of the present application further provides a temperature compensation parameter correction system for an inertial measurement unit (IMU) product, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the steps of any one of the above-mentioned temperature compensation parameter correction methods for the IMU product are implemented.

[0073] The preferred specific embodiments of the present invention have been described in detail above. It should be understood that those of ordinary skill in the art can make many modifications and variations based on the concept of the present invention without creative efforts. Therefore, all technical solutions that can be obtained by those skilled in the art in the technical field of the present application based on the concept of the present invention through logical analysis, reasoning, or limited experiments on the basis of the prior art should fall within the protection scope determined by the claims.

Claims

1. A calibration method for temperature compensation parameters of an inertial measurement unit product, characterized in that, Including: Obtain the initial parameters and N initial temperatures of the inertial measurement unit (IMU) product to be calibrated, and based on the initial parameters and the N initial temperatures, obtain the initial temperature compensation parameters corresponding to the IMU product to be calibrated, where N is a positive integer; Calculate the temperature compensation parameters to be calibrated by linear fitting according to the initial temperature compensation parameters, and calculate the temperature compensation difference based on the initial temperature compensation parameters and the temperature compensation parameters to be calibrated; Obtain the compensation temperature of the IMU product to be calibrated, compare the size of the compensation temperature with the N initial temperatures, and correct the temperature compensation parameters using the temperature compensation difference according to the result of the size comparison to obtain the corrected temperature compensation parameters; The comparing the size of the compensation temperature with the N initial temperatures and correcting the temperature compensation parameters using the temperature compensation difference according to the result of the size comparison includes: Compare the size of the compensation temperature with the N initial temperatures; When the compensation temperature is less than all the initial temperatures, perform parameter calculation on the compensation temperature through a correction calculation formula, and the calculation formula is as follows: ； Among them, K represents the temperature compensation parameter after calibration, and K T represents the initial temperature compensation parameter corresponding to the compensation temperature T, and T 控i represents the temperature at the i-th point of temperature control, and K 控i represents the temperature T obtained through self-calibration 控i The corresponding temperature compensation parameter to be calibrated at the temperature point, represents the difference between the newly obtained temperature compensation parameter to be calibrated and the initial temperature compensation parameter at the i-th temperature point; When the compensation temperature is between all the initial temperatures, perform parameter calculation on the compensation temperature through a correction calculation formula, and the calculation formula is as follows: ； Among them, K represents the temperature compensation parameter after calibration, and K T represents the initial temperature compensation parameter corresponding to the compensation temperature T, and T 控i represents the temperature of the i-th point of temperature control, and K 控i represents the T obtained through self-calibration 控i The temperature compensation parameter to be corrected corresponding to the temperature point, represents the difference between the newly obtained temperature compensation parameter to be corrected and the initial temperature compensation parameter at the i-th temperature point; When the compensation temperature is greater than all the initial temperatures, perform parameter calculation on the compensation temperature through a correction calculation formula, and the calculation formula is as follows: ； Among them, K represents the temperature compensation parameter after calibration, and K T represents the initial temperature compensation parameter corresponding to the compensation temperature T, and T 控i represents the temperature of the i-th point of temperature control, and K 控i represents the temperature T obtained by self-calibration 控i and the temperature compensation parameter to be calibrated corresponding to the temperature point represents the difference between the newly obtained temperature compensation parameter to be calibrated and the initial temperature compensation parameter at the i-th temperature point.

2. The temperature compensation parameter calibration method for the inertial measurement unit product according to claim 1, characterized in that The obtaining the initial temperature compensation parameters corresponding to the IMU product to be calibrated based on the initial parameters and the N initial temperatures includes: Through self-calibration of the IMU product to be calibrated, obtain the initial temperature compensation parameters corresponding to the IMU product to be calibrated at the N initial temperatures.

3. The temperature compensation parameter calibration method for the inertial measurement unit product according to claim 1, wherein, The calculating the temperature compensation parameters to be calibrated by linear fitting according to the initial temperature compensation parameters includes: Obtain a first compensation temperature and a second compensation temperature, such that the first compensation temperature is less than or equal to the initial temperature, and the second compensation temperature is greater than or equal to the initial temperature; Use linear fitting to calculate the first compensation temperature, the second compensation temperature, the initial temperature, and the initial parameters to obtain the temperature compensation parameters to be calibrated.

4. The warm-up parameter correction method for the inertial measurement unit product according to claim 1, wherein The calculating the temperature compensation difference based on the initial temperature compensation parameters and the temperature compensation parameters to be calibrated includes: Perform a difference calculation on the initial temperature compensation parameters and the temperature compensation parameters to be calibrated to obtain a difference result, and take the absolute value of the difference result to obtain the temperature compensation difference.

5. A temperature compensation parameter correction system for an inertial measurement unit product, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of any one of the methods described in claims 1-4 above.

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