Method, system, electronic device and medium for subtracting temperature interference effect of sensor

Abstract

The present invention discloses a method, system, electronic device, and medium for subtracting sensor temperature interference effects, relating to the field of sensor technology. The method comprises repeatedly processing a sensor temperature data set and measured acceleration using a correlation analysis method to obtain a set of cross-correlation coefficients; determining temperature data corresponding to cross-correlation coefficients greater than a set threshold as target temperature data; calculating the sensor temperature coefficient corresponding to the target temperature data and the sensor acceleration offset caused by temperature changes based on the sensor-measured acceleration, non-conservative force acceleration, target temperature data, and a sensor acceleration output model; obtaining a temperature interference effect value corresponding to the target temperature data based on the target temperature data, the sensor temperature coefficient, and the sensor acceleration offset; and obtaining final sensor-measured acceleration data by subtracting the target temperature interference effect value from the sensor-measured acceleration. The present invention can improve the accuracy of non-conservative force measurement data.

Description

Technical Field

[0001] The present invention relates to the field of sensor technology, and in particular to a method, system, electronic equipment and medium for subtracting temperature interference effect of a sensor. Background Art

[0002] Sensors are one of the key payloads of satellite gravity measurements. Their measurement data are of great significance for research such as global gravity field inversion, geoid estimation, atmospheric density model determination, and satellite precise orbit determination. In satellite gravity measurements, sensors are used to measure the non-conservative forces acting on the satellite, and their measurement errors directly affect the accuracy of the Earth's gravity field recovery.

[0003] Due to the drastic temperature changes in the satellite's environment, the sensor will be disturbed by the satellite's temperature fluctuations, resulting in a certain error introduced by temperature fluctuations in the non-conservative force measured by the sensor. The existence of such errors will affect the accuracy of gravity field inversion. Therefore, it is necessary to provide a method to process the data measured by the sensor to improve the accuracy of the non-conservative force measurement data. Summary of the Invention

[0004] The purpose of the present invention is to provide a method, system, electronic device and medium for subtracting the temperature interference effect of a sensor, which can improve the accuracy of non-conservative force measurement data.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] A method for subtracting sensor temperature interference effects, comprising:

[0007] Build a sensor acceleration output model;

[0008] Obtaining a sensor temperature data set and the acceleration measured by the sensor and the non-conservative force acceleration of the sensor in each degree of freedom;

[0009] At the current iteration number, for any degree of freedom, a correlation analysis method is used to process the sensor temperature data set at the current iteration number and the acceleration measured by the sensor at the degree of freedom to obtain a set of mutual correlation coefficients at the current iteration number; the set of mutual correlation coefficients includes mutual correlation coefficients between the acceleration measured by the sensor at the degree of freedom and each temperature data in the sensor temperature data set at the current iteration number;

[0010] Determine whether the maximum mutual correlation coefficient in the mutual correlation coefficient set under the current number of iterations is greater than the set threshold;

[0011] If not, determining the acceleration finally measured by the sensor under the degree of freedom at the last iteration as the acceleration data finally measured by the sensor under the degree of freedom;

[0012] If so, determining the temperature data corresponding to the largest cross-correlation coefficient in the cross-correlation coefficient set at the current iteration number as the target temperature data under the degree of freedom at the current iteration number, and deleting the target temperature data under the degree of freedom at the current iteration number from the sensor temperature data set at the current iteration number to obtain the sensor temperature data set at the next iteration number;

[0013] Calculating a sensor temperature coefficient and a sensor acceleration offset caused by temperature change at the degree of freedom at the current iteration number according to the acceleration measured by the sensor at the degree of freedom, the non-conservative force acceleration of the sensor at the degree of freedom, the target temperature data at the degree of freedom at the current iteration number, and the sensor acceleration output model;

[0014] Obtaining a temperature interference effect value for the degree of freedom at the current iteration number according to target temperature data for the degree of freedom at the current iteration number, a sensor temperature coefficient for the degree of freedom at the current iteration number, and a sensor acceleration offset caused by temperature change;

[0015] The final acceleration measured by the sensor under the degree of freedom under the previous iteration number is subtracted from the temperature interference effect value under the degree of freedom under the current iteration number to obtain the final acceleration measured by the sensor under the degree of freedom under the current iteration number, and the iteration number is updated to enter the next iteration.

[0016] Optionally, the sensor acceleration output model is: a i，out =a i，cal +b i，T +s i，T T acc +a i，n , where a i，out represents the acceleration measured by the sensor in the i-th degree of freedom, a i，cal represents the non-conservative force acceleration of the sensor under the i-th degree of freedom, b i，T represents the sensor acceleration offset caused by temperature change in the i-th degree of freedom, s i，T represents the sensor temperature coefficient in the i-th degree of freedom, T acc Indicates the target temperature data, a i，n represents the sensor noise in the i-th degree of freedom.

[0017] Optionally, the calculating, based on the acceleration measured by the sensor in the degree of freedom, the non-conservative force acceleration of the sensor in the degree of freedom, the target temperature data in the degree of freedom in the current iteration number, and the sensor acceleration output model, the sensor temperature coefficient in the degree of freedom at the current iteration number and the sensor acceleration offset caused by the temperature change, specifically includes:

[0018] For any temperature data in the target temperature data set under the degree of freedom, the acceleration measured by the sensor under the degree of freedom, the non-conservative force acceleration of the sensor under the degree of freedom, and the target temperature data under the degree of freedom at the current iteration number are brought into the sensor acceleration output model to obtain a sensor acceleration output equation;

[0019] The sensor acceleration output equation is solved by using the least square method to obtain the sensor temperature coefficient under the degree of freedom at the current iteration number and the sensor acceleration offset caused by temperature change.

[0020] Optionally, obtaining the temperature interference effect value for the degree of freedom at the current iteration number according to the target temperature data for the degree of freedom at the current iteration number, the sensor temperature coefficient for the degree of freedom at the current iteration number, and the sensor acceleration offset caused by the temperature change is specifically:

[0021] According to formula a i，T =b i，T +s i，T T acc Calculate the temperature interference effect value under the degree of freedom at the current iteration number, where a i，T represents the temperature interference effect value under the i-th degree of freedom.

[0022] A system for subtracting temperature interference effects of a sensor, comprising:

[0023] Model building module, used to build sensor acceleration output model;

[0024] An acquisition module is used to acquire a sensor temperature data set and an acceleration measured by the sensor and a non-conservative force acceleration of the sensor in each degree of freedom;

[0025] a cross-correlation module, configured to process, for any degree of freedom at a current iteration number, a sensor temperature data set at the current iteration number and an acceleration measured by the sensor at the degree of freedom using a correlation analysis method to obtain a cross-correlation coefficient set at the current iteration number; the cross-correlation coefficient set including the cross-correlation coefficients between the acceleration measured by the sensor at the degree of freedom and each temperature data in the sensor temperature data set at the current iteration number;

[0026] A judgment module is used to judge whether the maximum mutual correlation coefficient in the mutual correlation coefficient set under the current number of iterations is greater than a set threshold;

[0027] a stop module, configured to, if not, determine that the acceleration finally measured by the sensor under the degree of freedom at the last iteration number is the acceleration data finally measured by the sensor under the degree of freedom;

[0028] a correlation temperature determination module, configured to, if yes, determine the temperature data corresponding to the maximum cross-correlation coefficient in the cross-correlation coefficient set at the current iteration number as the target temperature data for the degree of freedom at the current iteration number, and delete the target temperature data for the degree of freedom at the current iteration number from the sensor temperature data set at the current iteration number to obtain the sensor temperature data set at the next iteration number;

[0029] a temperature parameter calculation module, configured to calculate a sensor temperature coefficient under the degree of freedom at a current iteration number and a sensor acceleration offset caused by temperature change based on the acceleration measured by the sensor under the degree of freedom, the non-conservative force acceleration of the sensor under the degree of freedom, the target temperature data under the degree of freedom at a current iteration number, and the sensor acceleration output model;

[0030] a temperature interference effect value calculation module, configured to obtain a temperature interference effect value under the degree of freedom at the current iteration number based on target temperature data under the degree of freedom at the current iteration number, a sensor temperature coefficient under the degree of freedom at the current iteration number, and a sensor acceleration offset caused by temperature change;

[0031] The interference effect subtraction module is used to obtain the final acceleration measured by the sensor under the degree of freedom under the previous iteration number by subtracting the temperature interference effect value under the degree of freedom under the current iteration number, and update the iteration number to enter the next iteration.

[0032] Optionally, the sensor acceleration output model is: a i，out =a i，cal +b i，T +s i，T T acc +a i，n , where a i，out represents the acceleration measured by the sensor in the i-th degree of freedom, a i，cal represents the non-conservative force acceleration of the sensor under the i-th degree of freedom, b i，T represents the sensor acceleration offset caused by temperature change in the i-th degree of freedom, s i，T represents the sensor temperature coefficient in the i-th degree of freedom, T acc Indicates the target temperature data, a i，n represents the sensor noise in the i-th degree of freedom.

[0033] Optionally, the temperature parameter calculation module specifically includes:

[0034] a sensor acceleration output equation determination unit, configured to, for any temperature data in the target temperature data set under the degree of freedom, bring the acceleration measured by the sensor under the degree of freedom, the non-conservative force acceleration of the sensor under the degree of freedom, and the target temperature data under the degree of freedom at the current iteration number into the sensor acceleration output model to obtain a sensor acceleration output equation;

[0035] The sensor acceleration output equation solving unit is used to solve the sensor acceleration output equation using the least square method to obtain the sensor temperature coefficient under the degree of freedom at the current iteration number and the sensor acceleration offset caused by temperature change.

[0036] Optionally, the temperature interference effect value calculation module specifically includes:

[0037] Temperature interference effect value calculation unit, used to calculate the temperature interference effect value according to formula a i，T =b i，T +s i，T T acc Calculate the temperature interference effect value under the degree of freedom at the current iteration number, where a i，T represents the temperature interference effect value under the i-th degree of freedom.

[0038] An electronic device, comprising:

[0039] A memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to perform the above-mentioned method for subtracting the sensor temperature interference effect.

[0040] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the above-mentioned method for subtracting the sensor temperature interference effect.

[0041] According to the specific embodiment provided by the present invention, the present invention discloses the following technical effects: the present invention eliminates the temperature interference effect through cross-correlation analysis and model data estimation steps, obtains accurate sensor monitoring output data, and improves the accuracy of measurement data. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0043] Figure 1This is a flow chart of a method for subtracting sensor temperature interference effects provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0044] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0045] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0046] like Figure 1 As shown, an embodiment of the present invention provides a method for subtracting the temperature interference effect of a sensor, including:

[0047] Step 101: Construct a sensor acceleration output model.

[0048] Step 102: Obtain a sensor temperature data set and the acceleration measured by the sensor in each degree of freedom and the non-conservative force acceleration of the sensor. The sensor temperature data set includes the temperature of the sensor's internal circuit and the temperature of the external mounting structure and heat sink.

[0049] Step 103: At the current iteration number, for any degree of freedom, a correlation analysis method is used to process the sensor temperature data set at the current iteration number and the acceleration measured by the sensor at the degree of freedom to obtain a set of mutual correlation coefficients at the current iteration number; the set of mutual correlation coefficients includes the mutual correlation coefficients between the acceleration measured by the sensor at the degree of freedom and each temperature data in the sensor temperature data set at the current iteration number.

[0050] Step 104: Determine whether the maximum mutual correlation coefficient in the mutual correlation coefficient set at the current iteration number is greater than a set threshold.

[0051] Step 105: If not, determine the acceleration finally measured by the sensor in the degree of freedom at the last iteration as the acceleration data finally measured by the sensor in the degree of freedom.

[0052] Step 106: If yes, the temperature data corresponding to the largest mutual correlation coefficient in the mutual correlation coefficient set at the current iteration number is determined as the target temperature data under the degree of freedom at the current iteration number, and the target temperature data under the degree of freedom at the current iteration number is deleted from the sensor temperature data set at the current iteration number to obtain the sensor temperature data set at the next iteration number.

[0053] Step 107: Calculate the sensor temperature coefficient and the sensor acceleration offset caused by the temperature change in the degree of freedom at the current iteration number based on the acceleration measured by the sensor in the degree of freedom, the non-conservative force acceleration of the sensor in the degree of freedom, the target temperature data in the degree of freedom at the current iteration number, and the sensor acceleration output model.

[0054] Step 108: Obtain a temperature interference effect value for the degree of freedom at the current iteration number based on the target temperature data for the degree of freedom at the current iteration number, the sensor temperature coefficient for the degree of freedom at the current iteration number, and the sensor acceleration offset caused by temperature change.

[0055] Step 109: The acceleration finally measured by the sensor at the degree of freedom at the previous iteration is subtracted from the temperature interference effect value at the degree of freedom at the current iteration to obtain the acceleration finally measured by the sensor at the degree of freedom at the current iteration, and the iteration number is updated to enter the next iteration.

[0056] In practical applications, the sensor acceleration output model is: a i，out =a i，cal +b i，T +s i，T T acc +a i，n , where a i，out represents the acceleration measured by the sensor in the i-th degree of freedom, a i，cal represents the non-conservative force acceleration of the sensor under the i-th degree of freedom, b i，T represents the sensor acceleration offset caused by temperature change in the i-th degree of freedom, s i，T represents the sensor temperature coefficient in the i-th degree of freedom, T acc Indicates the target temperature data, a i，n represents the sensor noise in the i-th degree of freedom.

[0057] In practical applications, the calculation of the sensor temperature coefficient and the sensor acceleration offset caused by the temperature change at the degree of freedom at the current iteration number based on the acceleration measured by the sensor at the degree of freedom, the non-conservative force acceleration of the sensor at the degree of freedom, the target temperature data at the degree of freedom at the current iteration number, and the sensor acceleration output model specifically includes:

[0058] For any temperature data in the target temperature data set under the degree of freedom, the acceleration measured by the sensor under the degree of freedom, the non-conservative force acceleration of the sensor under the degree of freedom, and the target temperature data under the degree of freedom at the current iteration number are substituted into the sensor acceleration output model to obtain the sensor acceleration output equation.

[0059] The sensor acceleration output equation is solved by using the least square method to obtain the sensor temperature coefficient under the degree of freedom at the current iteration number and the sensor acceleration offset caused by temperature change.

[0060] In practical applications, the temperature interference effect value under the degree of freedom at the current iteration number is obtained according to the target temperature data under the degree of freedom at the current iteration number, the sensor temperature coefficient under the degree of freedom at the current iteration number, and the sensor acceleration offset caused by temperature change, specifically:

[0061] According to formula a i，T =b i，T +s i，T T acc Calculate the temperature interference effect value under the degree of freedom at the current iteration number, where a i，T represents the temperature interference effect value under the i-th degree of freedom.

[0062] The embodiment of the present invention provides a more specific method for subtracting the sensor temperature interference effect. The specific steps are as follows:

[0063] Step 1: Establish the sensor acceleration output model.

[0064] The specific steps are:

[0065] As shown in the following formula, the sensor measurement signal (acceleration measured by the sensor) a i，out It can be regarded as the non-conservative force acceleration a exerted on the satellite in orbit i，ng , temperature interference effect a i，T and sensor noise a i，n Composition, that is, a i，out =a i，ng +a i，T +a i，n , which is the sensor acceleration output model, where i represents the degree of freedom (the translational degree of freedom along the three rectangular coordinate axes x, y, and z and the rotational degree of freedom around these three coordinate axes).

[0066] The temperature change caused by the satellite at the sensor position during the space operation can be considered as a uniform change. There is no temperature gradient change for the sensor. Therefore, the sensor temperature interference comes from the uniform temperature change without the influence of temperature gradient. It can be considered that it is mainly related to the sensor temperature T acc Related, then a i，T It can be expressed as: i，T =b i，T +s i，T T acc , where b i，Tis the sensor acceleration offset caused by temperature change in the i-th degree of freedom, s i，T is the temperature coefficient of the sensor acceleration output under the i-th degree of freedom, that is, the sensor temperature coefficient.

[0067] In summary, the sensor acceleration output model can be expressed as: a i，out =a i，cal +b i，T +s i，T T acc +a i，n .

[0068] Step 2: The sensor measures and outputs acceleration data a i，out , combined with the trajectory and attitude related parameters, the non-conservative force acceleration a of the sensor is obtained by simulation using STK software i，cal .

[0069] Step 3: a i，out Perform correlation analysis on each temperature data in the sensor temperature data set to determine the temperature data a i，out Sensor temperature data T with major correlation acc :

[0070] The cross-correlation function reflects the degree of correlation between two random signals x and y. The cross-correlation analysis formula is as follows:

[0071] Among them, E{x} represents the expectation of signal x, n represents time, and m represents time shift. According to R xy The position of the peak value of (m) deviating from the origin reflects the time delay between the sensor output data and the temperature data. The mutual correlation coefficient is defined as:

[0072]

[0073] The result can be interpreted as the correlation estimation between two data, and can also be interpreted as the deterministic correlation between two deterministic signals, and the sensor output data a can be obtained. i，out The correlation and time delay relationship between the temperature data of each sensor is used to determine the temperature data T with the strongest correlation with the sensor output data based on the above coefficients. acc , and then respectively measure the acceleration data a i，out , simulate sensor input non-conservative force acceleration data a i，cal And temperature sensor data T acc Substitute the established sensor acceleration output model a i，out =a i，cal +b i，T +s i，T T acc +ai，n middle.

[0074] Step 4: Based on the sensor acceleration output equation with the above data, use the least squares method to calculate the sensor temperature coefficient s when the temperature data is most correlated with the sensor output data. i，T and the sensor acceleration offset b caused by temperature changes i，T .

[0075] The least squares method finds the best function matching the data by minimizing the sum of squared errors. The least squares method can be used to easily find the unknown parameters in the model and minimize the sum of squared errors between these parameters and the actual data.

[0076] For function a i，out In terms of least squares method, it is to find a set of solutions so that the equation a after the parameters are obtained i，out，j The sum of squares of the residuals between the original actual data yj is the smallest, that is, The minimum value is the sensor temperature coefficient si, T and the sensor acceleration offset b caused by temperature change. i，T。

[0077] Step 5: Substitute the obtained result into the temperature interference effect formula a i，T =b i，T +s i，T T acc In the equation, we get the temperature interference effect a i，T The specific value of the temperature interference effect value is added to the sensor acceleration output model a i，out =a i，cal +b i，T +s i，T T acc +a i，n The sensor output acceleration measurement data after deducting the main temperature interference effect is as follows:

[0078] a i，out =a i，cal +b i，T +s i，T T acc +a i，n -(b i，T +s i，T T acc ) That is, use a i，out Subtract a i，T .

[0079] The temperature interference effect data and the non-conservative force input data are synchronized by interpolation (linear interpolation, spline interpolation, etc.) and filtering (FIR filter, IIR filter, etc.) operations, and the corresponding temperature interference effect a is directly deducted from the linear acceleration temperature model. i，T =b i，T +s i，T T acc , and obtain the sensor output acceleration measurement data after deducting the main temperature interference effect.

[0080] Step 6: Remove T from the sensor temperature data set acc Repeat steps 3 to 5 for the other temperature data except the one with the strongest correlation to further deduct the temperature interference effect of the sensor with the strongest correlation.

[0081] Step 7: When the correlation coefficient with the strongest correlation is less than the set value, the process ends and the final sensor output observation data with the temperature interference effect deducted is obtained.

[0082] In response to the above method, an embodiment of the present invention provides a system for subtracting the temperature interference effect of a sensor, comprising:

[0083] Model building module, used to build the sensor acceleration output model.

[0084] The acquisition module is used to obtain the sensor temperature data set and the acceleration measured by the sensor and the non-conservative force acceleration of the sensor in each degree of freedom; the sensor temperature data set includes the sensor internal circuit temperature and the external mounting structure and heat sink temperature.

[0085] The cross-correlation module is used to process the sensor temperature data set at the current iteration number and the acceleration measured by the sensor at the degree of freedom using a correlation analysis method at the current iteration number for any degree of freedom, so as to obtain a cross-correlation coefficient set at the current iteration number; the cross-correlation coefficient set includes the cross-correlation coefficients between the acceleration measured by the sensor at the degree of freedom and each temperature data in the sensor temperature data set at the current iteration number.

[0086] The judgment module is used to judge whether the maximum mutual correlation coefficient in the mutual correlation coefficient set under the current iteration number is greater than a set threshold.

[0087] The stopping module is used to determine, if not, that the acceleration finally measured by the sensor under the degree of freedom at the last iteration number is the acceleration data finally measured by the sensor under the degree of freedom.

[0088] The correlation temperature determination module is used to determine, if so, the temperature data corresponding to the largest mutual correlation coefficient in the mutual correlation coefficient set at the current iteration number as the target temperature data under the degree of freedom at the current iteration number, and delete the target temperature data under the degree of freedom at the current iteration number from the sensor temperature data set at the current iteration number to obtain the sensor temperature data set at the next iteration number.

[0089] A temperature parameter calculation module is used to calculate the sensor temperature coefficient under the degree of freedom at the current iteration number and the sensor acceleration offset caused by temperature change based on the acceleration measured by the sensor under the degree of freedom, the non-conservative force acceleration of the sensor under the degree of freedom, the target temperature data under the degree of freedom at the current iteration number and the sensor acceleration output model.

[0090] The temperature interference effect value calculation module is used to obtain the temperature interference effect value under the degree of freedom at the current iteration number based on the target temperature data under the degree of freedom at the current iteration number, the sensor temperature coefficient under the degree of freedom at the current iteration number, and the sensor acceleration offset caused by temperature change.

[0091] The interference effect subtraction module is used to obtain the final acceleration measured by the sensor under the degree of freedom under the previous iteration number by subtracting the temperature interference effect value under the degree of freedom under the current iteration number, and update the iteration number to enter the next iteration.

[0092] In practical applications, the sensor acceleration output model is: a i，out =a i，cai +b i，T +s i，T T acc +a i，n , where a i，out represents the acceleration measured by the sensor in the i-th degree of freedom, a i，cal represents the non-conservative force acceleration of the sensor under the i-th degree of freedom, b i，T represents the sensor acceleration offset caused by temperature change in the i-th degree of freedom, s i，T represents the sensor temperature coefficient in the i-th degree of freedom, T acc Indicates the target temperature data, a i，n represents the sensor noise in the i-th degree of freedom.

[0093] In practical applications, the temperature parameter calculation module specifically includes:

[0094] The sensor acceleration output equation determination unit is used to, for any temperature data in the target temperature data set under the degree of freedom, bring the acceleration measured by the sensor under the degree of freedom, the non-conservative force acceleration of the sensor under the degree of freedom, and the target temperature data under the degree of freedom at the current iteration number into the sensor acceleration output model to obtain the sensor acceleration output equation.

[0095] The sensor acceleration output equation solving unit is used to solve the sensor acceleration output equation using the least square method to obtain the sensor temperature coefficient under the degree of freedom at the current iteration number and the sensor acceleration offset caused by temperature change.

[0096] In practical applications, the temperature interference effect value calculation module specifically includes:

[0097] Temperature interference effect value calculation unit, used to calculate the temperature interference effect value according to formula a i，T =b i，T +s i，T T acc Calculate the temperature interference effect value under the degree of freedom at the current iteration number, where a i，T represents the temperature interference effect value under the i-th degree of freedom.

[0098] An embodiment of the present invention further provides an electronic device, including:

[0099] A memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to perform the method for subtracting the sensor temperature interference effect according to the above embodiment.

[0100] An embodiment of the present invention further provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the method for subtracting the sensor temperature interference effect described in the above embodiment is implemented.

[0101] The present invention eliminates the interference error introduced by temperature change in the sensor observation data, namely the temperature interference effect, through cross-correlation analysis and model data estimation steps, thereby improving the accuracy of non-conservative force measurement data, obtaining accurate sensor monitoring output data, and greatly improving the accuracy of the sensor output observation data.

[0102] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.

[0103] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A method for subtracting the temperature interference effect of a sensor, characterized in that: include: Build a sensor acceleration output model; Obtaining a sensor temperature data set and the acceleration measured by the sensor and the non-conservative force acceleration of the sensor in each degree of freedom; At the current iteration number, for any degree of freedom, a correlation analysis method is used to process the sensor temperature data set at the current iteration number and the acceleration measured by the sensor at the degree of freedom to obtain a set of mutual correlation coefficients at the current iteration number; the set of mutual correlation coefficients includes mutual correlation coefficients between the acceleration measured by the sensor at the degree of freedom and each temperature data in the sensor temperature data set at the current iteration number; Determine whether the maximum mutual correlation coefficient in the mutual correlation coefficient set under the current number of iterations is greater than the set threshold; If not, determining the acceleration finally measured by the sensor under the degree of freedom at the last iteration as the acceleration data finally measured by the sensor under the degree of freedom; If so, determining the temperature data corresponding to the largest cross-correlation coefficient in the cross-correlation coefficient set at the current iteration number as the target temperature data under the degree of freedom at the current iteration number, and deleting the target temperature data under the degree of freedom at the current iteration number from the sensor temperature data set at the current iteration number to obtain the sensor temperature data set at the next iteration number; Calculating a sensor temperature coefficient and a sensor acceleration offset caused by temperature change at the degree of freedom at the current iteration number according to the acceleration measured by the sensor at the degree of freedom, the non-conservative force acceleration of the sensor at the degree of freedom, the target temperature data at the degree of freedom at the current iteration number, and the sensor acceleration output model; Obtaining a temperature interference effect value for the degree of freedom at the current iteration number according to target temperature data for the degree of freedom at the current iteration number, a sensor temperature coefficient for the degree of freedom at the current iteration number, and a sensor acceleration offset caused by temperature change; The final acceleration measured by the sensor under the degree of freedom under the previous iteration number is subtracted from the temperature interference effect value under the degree of freedom under the current iteration number to obtain the final acceleration measured by the sensor under the degree of freedom under the current iteration number, and the iteration number is updated to enter the next iteration.

2. The method for subtracting the sensor temperature interference effect according to claim 1, characterized in that: The sensor acceleration output model is: a i，out =a i，cal +b i，T +s i，T T acc +a i，n , where a i，out represents the acceleration measured by the sensor in the i-th degree of freedom, a i，cal represents the non-conservative force acceleration of the sensor in the i-th degree of freedom, b i，T represents the sensor acceleration offset caused by temperature change in the i-th degree of freedom, s i，T represents the sensor temperature coefficient in the i-th degree of freedom, T acc Indicates the target temperature data, a i，n represents the sensor noise in the i-th degree of freedom.

3. The method for subtracting the sensor temperature interference effect according to claim 2, characterized in that: The calculating, based on the acceleration measured by the sensor under the degree of freedom, the non-conservative force acceleration of the sensor under the degree of freedom, the target temperature data under the degree of freedom under the current iteration number, and the sensor acceleration output model, the sensor temperature coefficient under the degree of freedom under the current iteration number and the sensor acceleration offset caused by the temperature change, specifically includes: For any temperature data in the target temperature data set under the degree of freedom, the acceleration measured by the sensor under the degree of freedom, the non-conservative force acceleration of the sensor under the degree of freedom, and the target temperature data under the degree of freedom at the current iteration number are brought into the sensor acceleration output model to obtain a sensor acceleration output equation; The sensor acceleration output equation is solved by using the least square method to obtain the sensor temperature coefficient under the degree of freedom at the current iteration number and the sensor acceleration offset caused by temperature change.

4. The method for subtracting the sensor temperature interference effect according to claim 2, characterized in that: The temperature interference effect value under the degree of freedom at the current iteration number is obtained according to the target temperature data under the degree of freedom at the current iteration number, the sensor temperature coefficient under the degree of freedom at the current iteration number, and the sensor acceleration offset caused by temperature change, specifically: According to formula a i，T =b i，T +s i，T T acc Calculate the temperature interference effect value under the degree of freedom at the current iteration number, where a i，T represents the temperature interference effect value under the i-th degree of freedom.

5. A system for subtracting temperature interference effects of sensors, characterized in that: include: Model building module, used to build sensor acceleration output model; An acquisition module is used to acquire a sensor temperature data set and an acceleration measured by the sensor and a non-conservative force acceleration of the sensor in each degree of freedom; a cross-correlation module, configured to process, for any degree of freedom at a current iteration number, a sensor temperature data set at the current iteration number and an acceleration measured by the sensor at the degree of freedom using a correlation analysis method to obtain a cross-correlation coefficient set at the current iteration number; the cross-correlation coefficient set including the cross-correlation coefficients between the acceleration measured by the sensor at the degree of freedom and each temperature data in the sensor temperature data set at the current iteration number; A judgment module is used to judge whether the maximum mutual correlation coefficient in the mutual correlation coefficient set under the current number of iterations is greater than a set threshold; a stop module, configured to, if not, determine that the acceleration finally measured by the sensor under the degree of freedom at the last iteration number is the acceleration data finally measured by the sensor under the degree of freedom; a correlation temperature determination module, configured to, if yes, determine the temperature data corresponding to the maximum cross-correlation coefficient in the cross-correlation coefficient set at the current iteration number as the target temperature data for the degree of freedom at the current iteration number, and delete the target temperature data for the degree of freedom at the current iteration number from the sensor temperature data set at the current iteration number to obtain the sensor temperature data set at the next iteration number; a temperature parameter calculation module, configured to calculate a sensor temperature coefficient under the degree of freedom at a current iteration number and a sensor acceleration offset caused by temperature change based on the acceleration measured by the sensor under the degree of freedom, the non-conservative force acceleration of the sensor under the degree of freedom, the target temperature data under the degree of freedom at a current iteration number, and the sensor acceleration output model; a temperature interference effect value calculation module, configured to obtain a temperature interference effect value under the degree of freedom at the current iteration number based on target temperature data under the degree of freedom at the current iteration number, a sensor temperature coefficient under the degree of freedom at the current iteration number, and a sensor acceleration offset caused by temperature change; The interference effect subtraction module is used to obtain the final acceleration measured by the sensor under the degree of freedom under the previous iteration number by subtracting the temperature interference effect value under the degree of freedom under the current iteration number, and update the iteration number to enter the next iteration.

6. The sensor temperature interference effect subtraction system according to claim 5, characterized in that: The sensor acceleration output model is: a i，out =a i，cal +b i，T +s i，T T acc +a i，n , where a i，out represents the acceleration measured by the sensor in the i-th degree of freedom, a i，cal represents the non-conservative force acceleration of the sensor in the i-th degree of freedom, b i，T represents the sensor acceleration offset caused by temperature change in the i-th degree of freedom, s i，T represents the sensor temperature coefficient in the i-th degree of freedom, T acc Indicates the target temperature data, a i，n represents the sensor noise in the i-th degree of freedom.

7. The sensor temperature interference effect subtraction system according to claim 6, characterized in that: The temperature parameter calculation module specifically includes: a sensor acceleration output equation determination unit, configured to, for any temperature data in the target temperature data set under the degree of freedom, bring the acceleration measured by the sensor under the degree of freedom, the non-conservative force acceleration of the sensor under the degree of freedom, and the target temperature data under the degree of freedom at the current iteration number into the sensor acceleration output model to obtain a sensor acceleration output equation; The sensor acceleration output equation solving unit is used to solve the sensor acceleration output equation using the least square method to obtain the sensor temperature coefficient under the degree of freedom at the current iteration number and the sensor acceleration offset caused by temperature change.

8. The sensor temperature interference effect subtraction system according to claim 6, characterized in that: The temperature interference effect value calculation module specifically includes: Temperature interference effect value calculation unit, used to calculate the temperature interference effect value according to formula a i，T =b i，T +s i，T T acc Calculate the temperature interference effect value under the degree of freedom at the current iteration number, where a i，T represents the temperature interference effect value under the i-th degree of freedom.

9. An electronic device, characterized in that: include: A memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to perform the method for subtracting the sensor temperature interference effect according to any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that The device stores a computer program, which, when executed by a processor, implements the method for subtracting the sensor temperature interference effect according to any one of claims 1 to 4.

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