A steering angle sensor measurement method, system, apparatus, and storage medium

Abstract

The application discloses a kind of steering angle sensor measurement method, system, device and storage medium, comprising: the first phase angle of first pinion is obtained, the second phase angle of second pinion is obtained, and first filter phase angle and second filter phase angle are obtained by filtering first phase angle and second phase angle using filter respectively;First filter phase angle and second filter phase angle are estimated, and the rough estimated angle of main gear is obtained;First filter phase angle and rough estimated angle are estimated, and first accurate estimated angle is obtained;Second filter phase angle and rough estimated angle are estimated, and second accurate estimated angle is obtained;First accurate estimated angle and second accurate estimated angle are compared and fused, and fusion angle is obtained;Fusion angle and rough estimated angle are compared and verified, and the steering angle of main gear is obtained.The embodiment of the application can improve the measurement accuracy and anti-interference ability, and can be widely applied in the field of sensor technology.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of sensors, in particular to a steering angle sensor measurement method, system, device and storage medium. BACKGROUND

[0002] With the strengthening of the electric and intelligent trend of vehicles and the development of the drive-by-wire of vehicle chassis, the vehicle chassis puts forward higher requirements for the accuracy of sensors. Among them, the steering angle is a key parameter for identifying the driver's control intention and estimating the vehicle's running state, and is also a necessary condition for the normal work of vehicle electronic control systems such as vehicle body electronic stability system, automatic driving auxiliary system and drive-by-wire steering system. The improvement of its accuracy can make the work of drive-by-wire chassis more safe and reliable.

[0003] In the related art, the method for calculating the steering angle of the main gear includes: 1. Permanent magnets are installed on two slave gears, and the angle thereof is measured by a magnetic sensor element (such as a Hall sensor, etc.), and a sensor processing unit indirectly measures the angle of the main gear through the phase angles directly measured by the two slave gears through the meshing relationship; 2. The angle of the main gear is obtained by multiplying the difference between the measured phase angles of the two slave gears by a fixed proportional coefficient. Since the difference value is multiplied by the proportional coefficient, the measurement error is also enlarged by a corresponding multiple. The above steering angle measurement method has the following problems: low measurement accuracy and easy to be disturbed by external environment. SUMMARY

[0004] Therefore, the embodiments of the present application provide a steering angle sensor measurement method, system, device and storage medium, which can improve the measurement accuracy and anti-interference ability.

[0005] In a first aspect, the embodiments of the present application provide a steering angle sensor measurement method, comprising the following steps:

[0006] Initializing the measurement element, wherein the measurement element comprises a first magnetic sensor, a second magnetic sensor, a processor and a communication module;

[0007] Obtaining a first phase angle of a first slave gear through the first magnetic sensor, obtaining a second phase angle of a second slave gear through the second magnetic sensor, and filtering the first phase angle through a first filter to obtain a first filtered phase angle, and filtering the second phase angle through a second filter to obtain a second filtered phase angle;

[0008] Estimating the first filtered phase angle and the second filtered phase angle to obtain a rough estimated angle of the main gear;

[0009] Estimating the first filtered phase angle and the rough estimated angle to obtain a first accurate estimated angle, and estimating the second filtered phase angle and the rough estimated angle to obtain a second accurate estimated angle;

[0010] synchronizing and fusing the first and second precise estimated angles to obtain a fused angle;

[0011] comparing and verifying the fused angle with the rough estimated angle to obtain a steering angle of the main gear.

[0012] Optionally, the first filter and / or the second filter comprises a hysteresis comparison filter, which is as follows:

[0013]

[0014] wherein x[k] is an input angle at k moment, y[k] is an output angle at k moment, B up is an upper limit of a hysteresis interval, B low is a lower limit of a hysteresis interval, and R is a hysteresis interval of the filter.

[0015] Optionally, the hysteresis interval of the filter is (0.1, 1), and a sampling period of the filter is less than or equal to 20 milliseconds.

[0016] Optionally, the rough estimated angle of the main gear is estimated by the following formula:

[0017]

[0018] wherein a m is the rough angle of the main gear, a s1 is the first filtered phase angle of the first slave gear, a s2 is the second filtered phase angle of the second slave gear, T m is the number of teeth of the main gear, T s1 is the number of teeth of the first slave gear, T s2 is the number of teeth of the second slave gear.

[0019] Optionally, the first and second precise estimated angles are calculated by the following formula:

[0020]

[0021] wherein K1 is a transmission ratio of the first slave gear to the main gear, K2 is a transmission ratio of the second slave gear to the main gear, and a s1 is the first filtered phase angle of the first slave gear, a s2 is the second filtered phase angle of the second slave gear, a M1 is the first precise estimated angle, and a M2 is the second precise estimated angle.

[0022] Optionally, the first accurate estimation angle and the second accurate estimation angle are phase angle synchronized and fused to obtain a fused angle, and the method specifically comprises:

[0023] a first phase deviation is determined according to the initial rough estimation angle of the master gear and the initial first accurate estimation angle of the first slave gear;

[0024] a second phase deviation is determined according to the initial rough estimation angle of the master gear and the initial second accurate estimation angle of the second slave gear;

[0025] the first accurate estimation angle is synchronized according to the first phase deviation, and the second accurate estimation angle is synchronized according to the second phase deviation;

[0026] the synchronized first accurate estimation angle and the synchronized second accurate estimation angle are fused to obtain a fused angle.

[0027] Optionally, the fused angle and the rough estimation angle are compared and verified to obtain a steering angle of the master gear, and the method specifically comprises:

[0028] a difference between the fused angle and the rough estimation angle is calculated;

[0029] if the difference is within a preset range, the fused angle is taken as the steering angle of the master gear;

[0030] otherwise, the rough estimation angle is taken as the steering angle of the master gear.

[0031] In a second aspect, an embodiment of the present application provides a steering angle sensor measurement device, comprising:

[0032] at least one processor;

[0033] at least one memory for storing at least one program;

[0034] when the at least one program is executed by the at least one processor, the at least one processor implements the above method.

[0035] In a third aspect, an embodiment of the present application provides a storage medium, which stores a processor-executable program, and the processor-executable program is used to execute the above method when executed by a processor.

[0036] In a fourth aspect, an embodiment of the present application provides a steering angle sensor measurement system, comprising a master gear, a first slave gear, a second slave gear, a first magnetic sensor, a second magnetic sensor, a processor and a communication module, the first slave gear and the second slave gear are engaged with the master gear respectively; wherein,

[0037] the first magnetic sensor is used to measure a first phase angle of the first slave gear;

[0038] the second magnetic sensor, configured to measure a second phase angle of the second slave gear;

[0039] the processor, configured to implement the method described above;

[0040] the communication module, configured to connect the processor and the data bus.

[0041] The implementation of the embodiment of the present application has the following beneficial effects: the steering angle sensor measurement method in the embodiment first initializes the measurement element, obtains a first phase angle of a first slave gear and a second phase angle of a second slave gear, then filters the first phase angle and the second phase angle, estimates a rough estimation angle of a master gear according to the filtered first phase angle and the second phase angle, then estimates a first accurate estimation angle and a second accurate estimation angle according to the filtered first phase angle and the second phase angle and the rough estimation angle of the master gear, further synchronizes and fuses the first accurate estimation angle and the second accurate estimation angle to obtain a fused angle, and finally compares and verifies the fused angle with the rough estimation angle to obtain the steering angle of the master gear; filtering the obtained phase angles preliminarily reduces external interference, estimates the rough estimation angle of the master gear according to the two filtered phase angles, and performs accurate calculation according to the rough estimation angle, synchronizes and fuses the accurate calculation result, which can effectively reduce errors caused by magnetic field disturbance, temperature fluctuation, gear machining precision and magnetic sensor measurement precision, determines the steering angle of the master gear through comparison and verification, further improves the precision, and thus makes the steering angle sensor work stably in a complex and harsh environment of an automobile chassis, and provides a guarantee for the safety of a by-wire chassis. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 is a structural block diagram of a steering angle sensor measurement system provided by the embodiment of the present application;

[0043] Figure 2 is a step flowchart of a steering angle sensor measurement method provided by the embodiment of the present application;

[0044] Figure 3 is a step flowchart of another steering angle sensor measurement method provided by the embodiment of the present application;

[0045] Figure 4 is another structural block diagram of a steering angle sensor measurement system provided by the embodiment of the present application;

[0046] Figure 5 is a structural block diagram of a steering angle sensor measurement device provided by the embodiment of the present application. DETAILED DESCRIPTION

[0047] The application will be further described in detail below with reference to the accompanying drawings and specific embodiments. For the step numbers in the following embodiments, they are only set for the convenience of description, and the order between the steps is not limited in any way, and the execution order of each step in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.

[0048] Referring to Figure 1 In the embodiment, the steering angle sensor measurement includes a main gear, a first slave gear, a second slave gear, a first magnetic sensor, a second magnetic sensor, a sensor processing unit and a communication module. The first slave gear and the second slave gear are respectively engaged with the main gear. The sensor processing unit is connected with a data bus through the communication module. The first magnetic sensor tests the phase angle of the first slave gear and sends the test result to the sensor processing unit. The sensor processing unit calculates the steering angle of the main gear according to the phase angle of the first slave gear and sends the steering angle of the main gear to the data bus through the communication module.

[0049] As shown in Figure 1 and Figure 2 , the embodiment of the application provides a steering angle sensor measurement method, which includes the following steps S100 to S600.

[0050] S100, initializing a measurement element, the measurement element including a first magnetic sensor, a second magnetic sensor, a processor and a communication module.

[0051] Specifically, the purpose of initialization is to make it in a state of preparation work. The initialization includes but is not limited to zeroing the test data, clearing the storage data, etc., such as initializing and zeroing the sensor data, clearing the storage data of the processor, and importing the calculation program, etc.

[0052] S200, obtaining a first phase angle of a first slave gear through a first magnetic sensor, obtaining a second phase angle of a second slave gear through a second magnetic sensor, and filtering the first phase angle through a first filter to obtain a first filtered phase angle, and filtering the second phase angle through a second filter to obtain a second filtered phase angle.

[0053] It should be noted that the specific structure of the first filter and the second filter can be the same or different, and the specific structure of the first filter and the second filter is determined according to actual application, and the embodiment does not make specific limitation. The first filter and the second filter can weaken slight disturbance.

[0054] Optionally, the first filter and / or the second filter includes a hysteresis comparison filter, which is as follows:

[0055]

[0056] wherein x[k] is an input angle at k time, y[k] is an output angle at k time, B up is an upper limit of a hysteresis interval, B low is a lower limit of a hysteresis interval, and R is a hysteresis interval of the filter.

[0057] It should be noted that in the embodiment, x[k] is a phase angle of a magnetic sensor test input at k time, and y[k] is a filtered phase angle output at k time. The upper limit of the hysteresis interval, the lower limit of the hysteresis interval, and the hysteresis interval are determined according to actual application, and the embodiment is not specifically limited.

[0058] Optionally, the hysteresis interval of the filter is (0.1, 1), and the sampling period of the filter is less than or equal to 20 milliseconds.

[0059] Specifically, the hysteresis interval of the filter is (0.1, 1), which can improve the accuracy and stability of the measurement; and the sampling period of the filter is less than or equal to 20 milliseconds, which can improve the real-time performance of the sampling.

[0060] It should be noted that the filter can also use other types of filters to achieve similar purposes, including but not limited to low-pass filters, band-pass filters, moving average filters, and combinations thereof. Taking a first-order low-pass filter as an example:

[0061] y[k] = z x[k] + (1-z) y[k-1]

[0062] wherein z = ΔT ω c is a filter coefficient, and ω c is a cutoff frequency, x[k] is an input angle at k time, and y[k] is an output angle at k time.

[0063] S300, estimating the first filtered phase angle and the second filtered phase angle to obtain a rough estimated angle of the main gear.

[0064] Specifically, the rough estimated angle of the main gear represents a main gear phase angle estimated from the slave gear phase angle. The specific estimation method is determined according to actual application, and the embodiment is not specifically limited.

[0065] Optionally, the rough estimated angle of the main gear is estimated by the following formula:

[0066]

[0067] wherein a m is a rough angle of the main gear, a s1 is a first filtered phase angle of a first slave gear, a s2 is a second filtered phase angle of a second slave gear, T m is a number of teeth of the main gear, and Ts1 T is the number of teeth of the first slave gear, s2 T is the number of teeth of the second slave gear.

[0068] Specifically, in a certain application, the number of teeth of the master gear and the two slave gears is known, and the filter phase angles of the two slave gears are calculated according to the calculation formula; the rough estimation angle of the master gear can be estimated according to the above calculation formula.

[0069] S400, estimate the first filter phase angle and the rough estimation angle to obtain a first accurate estimation angle; estimate the second filter phase angle and the rough estimation angle to obtain a second accurate estimation angle.

[0070] Specifically, the accurate estimation angle refers to the phase angle of the master gear estimated according to the rough estimation angle and the filter phase angle, and the accurate estimation angle is estimated according to the filter phase angle and the rough estimation angle of the two slave gears respectively, and two phase angles of the master gear can be obtained. The specific estimation method of the accurate estimation angle is determined according to the actual application, and the embodiment is not limited specifically.

[0071] Optionally, the first accurate estimation angle and the second accurate estimation angle are calculated by the following formula:

[0072]

[0073] Wherein, K1 is the transmission ratio of the first slave gear to the master gear, K2 is the transmission ratio of the second slave gear to the master gear, and α s1 is the first filter phase angle of the first slave gear, α s2 is the second filter phase angle of the second slave gear, α M1 is the first accurate estimation angle, α M2 is the second accurate estimation angle.

[0074] Specifically, the floor function has the function of "rounding down", or "rounding down", that is, taking the maximum integer not greater than x. For example, floor(2.5)=2.

[0075] The transmission ratio is determined according to the ratio of the gear number of the slave gear to the master gear. In a specific application, after the gear number of the slave gear and the master gear is determined, the transmission ratio is known, and the first accurate estimation angle and the second accurate estimation angle can be calculated according to the above formula.

[0076] S500, phase angle synchronization and fusion are performed on the first accurate estimation angle and the second accurate estimation angle to obtain a fusion angle.

[0077] The fusion angle refers to a master gear phase angle determined according to the first and second precise estimation angles in cooperation, and the cooperation mode includes phase angle synchronization and fusion. The specific mode of phase angle synchronization and fusion is determined according to actual application, and the embodiment does not make specific limitation.

[0078] Optionally, the first and second precise estimation angles are subjected to phase angle synchronization and fusion to obtain a fusion angle, and the specific process includes:

[0079] S510, determining a first phase deviation according to the initial rough estimation angle of the master gear and the initial first precise estimation angle of the first slave gear;

[0080] S520, determining a second phase deviation according to the initial rough estimation angle of the master gear and the initial second precise estimation angle of the second slave gear;

[0081] S530, synchronizing the first precise estimation angle according to the first phase deviation, and synchronizing the second precise estimation angle according to the second phase deviation;

[0082] S540, fusing the synchronized first and second precise estimation angles to obtain a fusion angle.

[0083] The initial rough estimation angle refers to a rough estimation angle calculated at first power-on, the initial first precise estimation angle refers to a first precise estimation angle calculated at first power-on, and the initial second precise estimation angle refers to a second precise estimation angle calculated at first power-on.

[0084] In a specific embodiment, the phase deviation of α M1 , α M2 is synchronized, which can consider taking α m as a reference to calculate α m , and then synchronizing the phase deviation of α M1 , α M2 .

[0085]

[0086] Wherein, Δα1 and Δα2 are phase deviations required to be compensated for synchronization, α m ' is a master gear rough angle calculated at first power-on, α M1 , α M2 ' are master gear precise angles estimated according to the slave gears 1 and 2 calculated at first power-on.

[0087] It should be noted that, in addition to selecting α m as a reference, α M1 , α M2 may also be selected, which includes but is not limited to.Other angles are used as synchronization references.

[0088] Specifically, the fusion algorithms include, but are not limited to, Kalman filtering (including, but not limited to, extended Kalman filtering, unscented Kalman filtering, etc.), weighted averaging, Bayesian estimation, etc.

[0089] In one specific embodiment, Kalman filtering can be selected to fuse the angles, and the discrete model of the system is as follows:

[0090] x k =Ax k-1 +Bu k-1 +Q

[0091] z k =Hx k +R

[0092] The Kalman filter process is as follows:

[0093] 1) Calculate the prior estimates of state variables

[0094]

[0095] 2) Calculate the prior estimate of the covariance matrix

[0096]

[0097] 3) Calculate the Kalman gain K k

[0098]

[0099] 4) Calculate state variables based on observations posterior estimation

[0100]

[0101] 5) Update the posterior estimate P of the covariance matrix. k

[0102]

[0103] Where, x k Let A be the state variable at step k, B be the state transition matrix, Q be the input matrix, H be the covariance matrix of the process noise, and R be the observation matrix.

[0104] Selecting state variables:

[0105]

[0106] State transition matrix:

[0107]

[0108] Observation matrix:

[0109]

[0110] The above determined variables are substituted into the calculation formula above to perform phase angle fusion calculation.

[0111] S600, comparing the fusion angle with the rough estimated angle to obtain the steering angle of the main gear.

[0112] Specifically, the steering angle of the main gear is determined according to the error between the fusion angle and the rough estimated angle, so that the finally determined steering angle of the main gear is more accurate.

[0113] Optionally, the fusion angle and the rough estimated angle are compared to obtain the steering angle of the main gear, and specifically comprising:

[0114] S610, calculating the difference between the fusion angle and the rough estimated angle.

[0115] S620, if the difference is within a preset range, the fusion angle is taken as the steering angle of the main gear.

[0116] S630, otherwise, the rough estimated angle is taken as the steering angle of the main gear.

[0117] Specifically, if the difference between the fusion angle and the rough estimated angle is within a preset range, the fusion angle is taken as the steering angle of the main gear; if the difference between the fusion angle and the rough estimated angle is outside the preset range, the rough estimated angle is taken as the steering angle of the main gear. The preset range is determined according to actual application, which is not specifically limited in the embodiment.

[0118] In a specific embodiment, the fused angle is compared with the rough estimated main gear angle a m The angle output by the verification module e is the allowed error range.

[0119] The embodiment of the present application has the following advantages: the steering angle sensor measurement method in the embodiment first initializes the measurement element, obtains a first phase angle of a first slave gear and a second phase angle of a second slave gear, then filters the first phase angle and the second phase angle, estimates a rough estimation angle of a master gear according to the filtered first phase angle and the filtered second phase angle, then estimates a first accurate estimation angle and a second accurate estimation angle according to the filtered first phase angle and the filtered second phase angle and the rough estimation angle of the master gear, further synchronizes and fuses the first accurate estimation angle and the second accurate estimation angle to obtain a fusion angle, and finally compares and verifies the fusion angle with the rough estimation angle to obtain the steering angle of the master gear; filtering the obtained phase angles can preliminarily reduce external interference, the rough estimation angle of the master gear is estimated according to the two filtered phase angles, the accurate estimation result is calculated according to the rough estimation angle, the accurate estimation result is synchronized and fused, errors caused by magnetic field disturbance, temperature fluctuation, gear machining precision and magnetic sensor measurement precision can be effectively reduced, the steering angle of the master gear is determined through comparison and verification, the precision is further improved, and thus the steering angle sensor can work stably in a complex and harsh environment of an automobile chassis, and the safety of a by-wire chassis is ensured.

[0120] As shown in Figure 4 The embodiment of the present application provides a steering angle sensor measurement system, which comprises the following steps:

[0121] A first module is used for initializing a measurement element, and the measurement element comprises a first magnetic sensor, a second magnetic sensor, a processor and a communication module.

[0122] A second module is used for obtaining a first phase angle of a first slave gear through the first magnetic sensor, obtaining a second phase angle of a second slave gear through the second magnetic sensor, filtering the first phase angle by using a first filter to obtain a first filtered phase angle, and filtering the second phase angle by using a second filter to obtain a second filtered phase angle.

[0123] A third module is used for estimating the first filtered phase angle and the second filtered phase angle to obtain a rough estimation angle of a master gear.

[0124] A fourth module is used for estimating the first filtered phase angle and the rough estimation angle to obtain a first accurate estimation angle, and estimating the second filtered phase angle and the rough estimation angle to obtain a second accurate estimation angle.

[0125] A fifth module is used for synchronizing and fusing the first accurate estimation angle and the second accurate estimation angle to obtain a fusion angle.

[0126] A sixth module configured to compare the fusion angle with the rough estimation angle to obtain a steering angle of the main gear.

[0127] It can be seen that the contents in the method embodiments are applicable to the system embodiments, the system embodiments specifically realize the same functions as the method embodiments, and achieve the same beneficial effects as the method embodiments.

[0128] As shown in Figure 5 The embodiment of the present application provides a steering angle sensor measurement device, which comprises:

[0129] at least one processor;

[0130] at least one memory configured to store at least one program;

[0131] When the at least one program is executed by the at least one processor, the at least one processor implements the method described above.

[0132] It can be seen that the contents in the method embodiments are applicable to the device embodiments, the device embodiments specifically realize the same functions as the method embodiments, and achieve the same beneficial effects as the method embodiments.

[0133] In addition, the embodiment of the present application further discloses a computer program product or a computer program, which is stored in a computer readable storage medium. The processor of the computer device can read the computer program from the computer readable storage medium, and the processor executes the computer program, so that the computer device executes the method described above. Similarly, the contents in the method embodiments are applicable to the storage medium embodiments, the storage medium embodiments specifically realize the same functions as the method embodiments, and achieve the same beneficial effects as the method embodiments.

[0134] As shown in Figure 1 The embodiment of the present application provides a steering angle sensor measurement system, which comprises a main gear, a first slave gear, a second slave gear, a first magnetic sensor, a second magnetic sensor, a processor and a communication module, and the first slave gear and the second slave gear are engaged with the main gear respectively; wherein,

[0135] The first magnetic sensor is configured to measure a first phase angle of the first slave gear.

[0136] The second magnetic sensor is configured to measure a second phase angle of the second slave gear.

[0137] The processor is configured to implement the method described above.

[0138] The communication module is configured to connect the processor and the data bus.

[0139] Specifically, the processor includes but is not limited to a computer chip with computing function, a smart terminal, a computer device or a cloud computing device, etc., and the communication module can adopt wired communication or wireless communication transmission.

[0140] It can be seen that the content in the method embodiments is applicable to the system embodiments, the system embodiments specifically implement the same functions as the method embodiments, and achieve the same beneficial effects as the method embodiments.

[0141] The above is a specific description of the preferred implementation of the application, but the application is not limited to the embodiments described above. Those skilled in the art can make various equivalent modifications or replacements without departing from the spirit of the application. These equivalent modifications or replacements are all included in the scope defined by the claims of the present application.

Claims

1. A method of measuring a steering angle sensor, characterized by, The method comprises: initializing a measurement element, the measurement element comprising a first magnetic sensor, a second magnetic sensor, a processor and a communication module; obtaining a first phase angle of a first slave gear through the first magnetic sensor, obtaining a second phase angle of a second slave gear through the second magnetic sensor, and filtering the first phase angle through a first filter to obtain a first filtered phase angle, and filtering the second phase angle through a second filter to obtain a second filtered phase angle; estimating the first filtered phase angle and the second filtered phase angle to obtain a coarse estimation angle of a master gear; estimating the first filtered phase angle and the coarse estimation angle to obtain a first accurate estimation angle; estimating the second filtered phase angle and the coarse estimation angle to obtain a second accurate estimation angle; synchronizing and fusing the first accurate estimation angle and the second accurate estimation angle to obtain a fused angle; comparing and verifying the fused angle and the coarse estimation angle to obtain a turning angle of the master gear; the coarse estimation angle of the master gear is estimated by the following formula: wherein α m is a coarse angle of the master gear, α s1 is a first filtered phase angle of the first slave gear, α s2 is a second filtered phase angle of the second slave gear, T m is a number of teeth of the master gear, T s1 is a number of teeth of the first slave gear, T s2 is a number of teeth of the second slave gear; the first accurate estimation angle and the second accurate estimation angle are calculated by the following formula; wherein K1 is a transmission ratio of the first slave gear to the master gear, K2 is a transmission ratio of the second slave gear to the master gear, and α s1 is a first filter phase angle of the first slave gear, α s2 is a second filter phase angle of the second slave gear, α M1 is a first exact estimation angle, α M2 is a second exact estimation angle.

2. The method of claim 1, wherein, the first filter and / or the second filter comprises a hysteresis comparison filter, and the hysteresis comparison filter is as follows: Wherein, x[k] is the input angle at k moment, y[k] is the output angle at k moment, B up is the upper limit of the hysteresis interval, B low is the lower limit of the hysteresis interval, and R is the hysteresis interval of the filter.

3. The method of claim 2, wherein, the hysteresis interval of the filter is (0.1, 1), and the sampling period of the filter is less than or equal to 20 milliseconds.

4. The method of claim 1, wherein, synchronizing and fusing the first accurate estimation angle and the second accurate estimation angle to obtain a fused angle, specifically comprising: determining a first phase deviation according to the initial coarse estimation angle of the master gear and the initial first accurate estimation angle of the first slave gear; determining a second phase deviation according to the initial coarse estimation angle of the master gear and the initial second accurate estimation angle of the second slave gear; synchronizing the first accurate estimation angle according to the first phase deviation, and synchronizing the second accurate estimation angle according to the second phase deviation; fusing the synchronized first accurate estimation angle and the synchronized second accurate estimation angle to obtain a fused angle.

5. The method of claim 1, wherein, comparing and verifying the fused angle and the coarse estimation angle to obtain a turning angle of the master gear, specifically comprising: calculating the difference between the fused angle and the coarse estimation angle; if the difference is within a preset range, taking the fused angle as the turning angle of the master gear; otherwise, taking the coarse estimation angle as the turning angle of the master gear.

6. A steering angle sensor measuring device, characterized by, The method comprises: at least one processor; at least one memory for storing at least one program; when the at least one program is executed by the at least one processor, the at least one processor implements the method of any one of claims 1-5.

7. A storage medium having stored therein a program that is executable by a processor, characterized by The program executable by the processor, when executed by the processor, is used to execute the method of any one of claims 1-5.

8. A steering angle sensor measurement system characterized by, The method comprises a master gear, a first slave gear, a second slave gear, a first magnetic sensor, a second magnetic sensor, a processor and a communication module, and the first slave gear and the second slave gear are engaged with the master gear respectively; wherein, the first magnetic sensor is used to measure a first phase angle of the first slave gear; The second magnetic sensor is configured to measure a second phase angle of the second slave gear. The processor is configured to implement the method according to any one of claims 1-5. The communication module is configured to connect the processor with a data bus.

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