Data processing method, apparatus, and sensor assembly

Abstract

The application provides a data processing method, device and sensor assembly. The data processing method comprises: taking one or more ports of an IFFT transform as pilot ports, mapping pilot signals to the pilot ports of the IFFT transform, and performing IFFT transform on the pilot signals mapped to the pilot ports to obtain time-domain pilot signals; sending the time-domain pilot signals to a MEMS sensor; receiving output signals from the MEMS sensor; performing FFT transform on the output signals of the MEMS sensor; extracting signals in the pilot ports in the output signals after the FFT transform to obtain pilot signals; performing pilot response estimation according to the extracted pilot signals; and performing IFFT transform on signals in other ports except the pilot ports in the output signals after the FFT transform to obtain effective sensing signals. Thus, complex narrow-band filter design is avoided and pilot filtering is cleaner.

Description

[0001] The present application relates to the field of sensor data processing, and in particular to a data processing method, device and sensor assembly.

[0002] In the field of MEMS (Micro-Electro-Mechanical System) gyroscopes, pilot technology can be used to estimate quadrature bias, and the more pilots, the more accurate the estimation. The prior art is that the sending end in the data processing device sends one or more single-carrier pilots to the MEMS gyroscope, the MEMS gyroscope measures according to the single-carrier pilot to generate an output signal including the pilot and the effective angular velocity sensing signal, and the receiving end in the data processing device receives the output signal including the pilot and the effective angular velocity sensing signal output by the MEMS gyroscope, and then extracts the pilot from the output signal and estimates the pilot response.

[0003] However, the single-carrier pilot has the following disadvantages. First, the single-carrier pilot requires the receiving end in the data processing device to use a narrow-band filter to filter out the pilot, and an ideal narrow-band filter requires a lot of hardware resources; second, the pilot cannot affect the normal data link, so the narrow-band band-stop filter is required to filter out the pilot signal for the data link, and the ideal narrow-band band-stop filter has a high implementation cost; and finally, a single pilot is easily disturbed, and if multiple pilots are used, multiple sets of band-pass filters and band-stop filters are required, and the implementation is twice as difficult.

[0004] Therefore, there is an urgent need to propose a new technical solution to solve the above problems.

[0005] One of the purposes of the present application is to provide a data processing method, data processing device and sensor assembly, which can realize the transmission, extraction and pilot response estimation of the pilot through IFFT and FFT transformation, avoid complex narrow-band filter design, and make the pilot filtering cleaner, without negative impact on the normal data link.

[0006] ​​​According to an aspect of the present application, the present application provides a data processing method, comprising: preparing one or more pilot signals; mapping the one or more pilot signals to one or more ports of N-point IFFT transform, wherein the one or more ports are pilot ports; performing N-point IFFT transform on the pilot signals mapped to the pilot ports to obtain time-domain pilot signals; sending the time-domain pilot signals to a MEMS sensor; receiving an output signal from the MEMS sensor, wherein the output signal is generated by the MEMS sensor based on the received time-domain pilot signals and comprises pilot signals and valid sensor signals; performing FFT transform on the output signal of the MEMS sensor corresponding to the N-point IFFT transform; extracting the pilot signals from the pilot ports of the FFT-transformed output signal; performing pilot response estimation based on the extracted pilot signals; and performing IFFT transform on the signals of the ports other than the pilot ports of the FFT-transformed output signal to obtain the valid sensor signals.

[0007] In a further embodiment, the data processing method further comprises: estimating parameters of the MEMS sensor based on the estimated pilot response; and processing the obtained valid sensor signals based on the estimated parameters of the MEMS sensor.

[0008] In a further embodiment, the parameters of the MEMS sensor comprise one or more of offset, quadrature leakage, and sensitivity deviation.

[0009] In a further embodiment, the performing IFFT transform on the signals of the ports other than the pilot ports of the FFT-transformed output signal to obtain the valid sensor signals comprises: setting the pilot ports of the FFT-transformed output signal to zero and then performing IFFT transform to obtain the valid sensor signals.

[0010] In a further embodiment, when performing N-point IFFT transform on the pilot signals mapped to the pilot ports to obtain time-domain pilot signals, the pilot ports are set to 1 and the other ports are set to 0.

[0011] In a further embodiment, the MEMS sensor is one of a MEMS gyroscope and a MEMS accelerometer, and the valid sensor signals are one of angular velocity sensing signals and acceleration sensing signals. The number of prepared pilot signals is less than N.

[0012] In a further embodiment, the MEMS accelerometer is configured to generate an output signal comprising the pilot signal and an acceleration sensing signal based on the received time-domain pilot signal, or the MEMS gyroscope is configured to generate an output signal comprising the pilot signal and an angular velocity sensing signal based on the received time-domain pilot signal.

[0013] According to another aspect of the present application, there is provided a sensor assembly comprising: a MEMS sensor, a data processing device configured to perform the data processing method as described above.

[0014] According to another aspect of the present application, there is provided a data processing device comprising a processing unit and a storage unit having stored therein program instructions for execution by the processing unit to implement the data processing method as described above.

[0015] According to another aspect of the present application, there is provided a data processing device comprising: a pilot signal generating module configured to prepare one or more pilot signals; an IFFT transforming module configured to map the pilot signal(s) onto one or more ports of N-point IFFT transform as pilot port(s), perform N-point IFFT transform on the pilot signal(s) mapped onto the pilot port(s) to obtain time-domain pilot signal(s), wherein N is an integer greater than or equal to 2; a transmitting module configured to transmit the time-domain pilot signal(s) to a MEMS sensor; a receiving module configured to receive an output signal from the MEMS sensor, the output signal being generated by the MEMS sensor based on the received time-domain pilot signal(s) and comprising the pilot signal(s) and valid sensing signal(s); an FFT transforming module configured to perform FFT transform corresponding to the N-point IFFT transform on the output signal of the MEMS sensor; a pilot signal extracting module configured to extract the signal in the pilot port(s) from the FFT-transformed output signal to obtain the pilot signal(s); a pilot response estimating module configured to estimate the pilot response based on the pilot signal(s) extracted from the FFT-transformed output signal; and a sensing signal extracting module configured to perform IFFT transform on the signal in the port(s) other than the pilot port(s) of the FFT-transformed output signal to obtain the valid sensing signal(s).

[0016] In a further embodiment, the data processing device further comprises: a parameter estimating module configured to estimate the parameters of the MEMS sensor based on the estimated pilot response; and a data processing module configured to process the obtained valid sensing signal(s) based on the estimated parameters of the MEMS sensor.

[0017] Compared with existing technologies, this invention provides a method for transmitting, extracting, and estimating pilot signals using IFFT and FFT transforms. This avoids complex narrowband filter designs, achieves cleaner pilot filtering, and has no negative impact on normal data links. Furthermore, the extracted pilot signal amplitude is larger, resulting in more accurate pilot estimation. [Attached Image Description]

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0019] Figure 1 This is a flowchart illustrating the data processing method of the present invention in one embodiment;

[0020] Figure 2 This is a schematic diagram of the sensor assembly in one embodiment of the present invention.

Detailed Implementation Methods

[0021] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] The term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the invention. The phrase "in one embodiment" appearing in different places throughout this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that excludes other embodiments. Unless otherwise specified, the terms "connected," "linked," and "connected" used herein to indicate electrical connection refer to direct or indirect electrical connection.

[0023] In this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," "coupled," etc., should be interpreted broadly; for example, they can refer to direct connection or indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0024] This invention provides a method for transmitting, extracting, and estimating pilot signals using IFFT (Inverse Fast Fourier Transform) and FFT (Fast Fourier Transform), avoiding complex narrowband filter design and achieving cleaner pilot filtering without negatively impacting the normal data link.

[0025] Figure 1 This is a flowchart of one embodiment of the data processing method 100 in this invention; Figure 2 This is a schematic flowchart of the sensor assembly 200 in one embodiment of the present invention. Figure 2 As shown, the sensor assembly 200 includes a MEMS sensor 230 and a data processing device 210. The data processing device 210 can be used to execute the data processing method 100.

[0026] like Figure 1 As shown, the data processing method 100 includes the following steps.

[0027] Step 111: Prepare one or more pilot signals. In one embodiment, the pilot signal can be one or more, and the number of pilot signals can be selected as needed.

[0028] Step 112: Take one or more of the N ports of the N-point IFFT transform as pilot ports and map the pilot signal onto the pilot ports of the N-point IFFT transform.

[0029] Step 113: Perform an N-point IFFT transform on the pilot signal mapped to the pilot port to obtain the time-domain pilot signal. Specifically, set the pilot port to 1 and the other ports to 0, then perform an N-point IFFT transform on the pilot signal mapped to the pilot port. The transformed data is the time-domain pilot signal.

[0030] In one example, N is 16. Assuming the bandwidth of the IFFT transform is 25kHz, for a 16-point IFFT transform, its 16 ports correspond to (0~15)*25 / 16kHz respectively. If two pilot signals need to be transmitted, at 4.6875kHz and 7.8125kHz respectively, then ports 3 and 5 can be used as pilot ports. Ports 3 and 5 can be set to 1, and the other ports to 0. Then, the pilot signals mapped to these pilot ports are subjected to a 16-point IFFT transform, and the transformed data is the time-domain pilot signal. In other examples, N can also be other values, such as 8, 32, etc., and the frequency of the transmitted pilot signal can also be other frequency values; these can all be preset.

[0031] Step 114: Send the time-domain pilot signal to the MEMS sensor 230.

[0032] Steps 111-114 are all executed at the sending end of the data processing device 210.

[0033] Step 130: The MEMS sensor 230 generates a signal including the pilot signal and the effective sensing signal based on the received time-domain pilot signal.

[0034] In one embodiment, the MEMS sensor 230 is one of a MEMS gyroscope and a MEMS accelerometer, and the effective sensing signal is one of an angular velocity sensing signal and an acceleration sensing signal. The MEMS accelerometer performs measurements based on the received time-domain pilot signal to generate an output signal including the pilot signal and the acceleration sensing signal. The MEMS gyroscope performs measurements based on the received time-domain pilot signal to generate an output signal including the pilot signal and the angular velocity sensing signal. As described in the background art, how the MEMS sensor performs measurements based on the received time-domain pilot signal to generate a signal including the pilot signal and the effective sensing signal can be referred to in the prior art, and will not be described in detail here.

[0035] Step 115: Receive the output signal from the MEMS sensor 230. The output signal is a signal generated by the MEMS sensor based on the received time-domain pilot signal, including the pilot signal and the effective sensing signal.

[0036] Step 116: Perform an FFT transformation on the output signal of the MEMS sensor corresponding to the N-point IFFT transformation.

[0037] Step 117: Extract the pilot signal from the pilot port of the output signal after FFT transformation.

[0038] Step 118: Estimate the pilot response based on the pilot signal extracted from the output signal after FFT transformation.

[0039] Step 120: Perform an IFFT transformation on the signals of all ports except the pilot port in the output signal after the FFT transformation to obtain the effective sensing signal. Specifically, after setting the pilot port in the output signal after the FFT transformation to zero (keeping the signals of other ports), perform an IFFT transformation to obtain the effective sensing signal.

[0040] Taking the example above as an example, in step 117, the signals in pilot ports 3 and 5 can be extracted, which are the pilot signals of 4.6875kHz and 7.8125kHz. In step 120, pilot ports 3 and 5 can be set to zero, while the signals of other ports are retained. Then, an IFFT transformation is performed, and the effective sensing signal can be obtained.

[0041] In a preferred embodiment, the data processing method 100 includes the steps of:

[0042] Step 119: Estimate the parameters of the MEMS sensor based on the estimated pilot response. The parameters of the MEMS sensor include one or more of offset, quadrature leakage, and sensitivity deviation.

[0043] Step 121: Process the obtained effective sensing signal according to the estimated parameters of the MEMS sensor.

[0044] Steps 115-121 are all executed at the sending end of the data processing device 210.

[0045] This invention utilizes IFFT and FFT transforms to achieve pilot signal transmission, extraction, and pilot response estimation, resulting in better pilot signal filtering and extraction performance while avoiding the introduction of narrowband filters. Furthermore, the number of pilot signals is flexible; for N-point IFFT and FFT, up to N-1 pilot signals can be supported.

[0046] like Figure 2 As shown, the data processing device 210 includes:

[0047] Pilot generation module 211, which is configured to prepare one or more pilot signals;

[0048] The IFFT transform module 213 is configured to use one or more of the N ports of the N-point IFFT transform as pilot ports, map the pilot signal onto the pilot port of the N-point IFFT transform, and perform an N-point IFFT transform on the pilot signal mapped onto the pilot port to obtain a time-domain pilot signal, where N is an integer greater than or equal to 2.

[0049] The transmitting module 214 is configured to send a time-domain pilot signal to the MEMS sensor 230;

[0050] The receiving module 215 is configured to receive the output signal from the MEMS sensor, the output signal being a signal including the pilot signal and the effective sensing signal generated by the MEMS sensor based on the received time-domain pilot signal.

[0051] FFT transformation module 216 is configured to perform an FFT transformation on the output signal of the MEMS sensor corresponding to an N-point IFFT transformation.

[0052] Pilot extraction module 217 is configured to extract the signal in the pilot port of the output signal after FFT transformation to obtain the pilot signal;

[0053] Pilot response estimation module 218 is configured to estimate the pilot response based on the pilot signal extracted from the output signal after FFT transformation;

[0054] The sensor signal extraction module 220 is configured to perform IFFT transformation on the signals of ports other than the pilot port in the output signal after FFT transformation to obtain the effective sensor signal.

[0055] like Figure 2 As shown, the data processing device 210 further includes:

[0056] The parameter estimation module 219 is configured to estimate the parameters of the MEMS sensor based on the estimated pilot response.

[0057] The data processing module 221 is configured to process the obtained effective sensing signal based on the estimated parameters of the MEMS sensor.

[0058] According to another aspect of the present invention, the present invention also provides a data processing apparatus, which includes a processing unit and a storage unit, wherein the storage unit stores program instructions which are executed by the processing unit to implement the data processing method 100 described above.

[0059] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0060] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications and variations to the above embodiments within the scope of the present invention.

Claims

1. A data processing method, characterized in that, It includes: Prepare one or more pilot signals; One or more of the N ports of the N-point IFFT transform are used as pilot ports. The pilot signal is mapped onto the pilot port of the N-point IFFT transform. The pilot signal mapped onto the pilot port is then subjected to an N-point IFFT transform to obtain the time-domain pilot signal, where N is an integer greater than or equal to 2. Send the pilot signal in the time domain to the MEMS sensor; The output signal is received from the MEMS sensor, which is a signal including the pilot signal and the effective sensing signal generated by the MEMS sensor based on the received time-domain pilot signal. Perform an FFT transformation on the output signal of the MEMS sensor, corresponding to the N-point IFFT transformation; The pilot signal is obtained by extracting the signal from the pilot port in the output signal after FFT transformation. Pilot response estimation is performed based on the pilot signal extracted from the output signal after FFT transformation; The effective sensing signal is obtained by performing an IFFT transformation on the signals of the output signal other than the pilot port after the FFT transformation.

2. The data processing method according to claim 1, characterized in that, It also includes: The parameters of the MEMS sensor are estimated based on the estimated pilot response; The obtained effective sensing signal is processed based on the estimated parameters of the MEMS sensor.

3. The data processing method according to claim 2, characterized in that, The parameters of the MEMS sensor include one or more of the following: offset, quadrature leakage, and sensitivity deviation.

4. The data processing method according to claim 1, characterized in that, The step of performing an IFFT transformation on the signals of ports other than the pilot port in the output signal after the FFT transformation to obtain an effective sensing signal includes: After setting the pilot port in the output signal after FFT transformation to zero, perform IFFT transformation to obtain the effective sensing signal.

5. The data processing method according to claim 1, characterized in that, When performing an N-point IFFT transform on the pilot signal mapped to the pilot port to obtain the time-domain pilot signal, the pilot port is set to 1, and the other ports are set to 0.

6. The data processing method according to claim 1, characterized in that, The MEMS sensor is one of a MEMS gyroscope and a MEMS accelerometer, and the effective sensing signal is one of an angular velocity sensing signal and an acceleration sensing signal. The number of prepared pilot signals is less than N.

7. The data processing method according to claim 6, characterized in that, The MEMS accelerometer generates an output signal that includes both the pilot signal and the acceleration sensing signal based on the received time-domain pilot signal, or... The MEMS gyroscope generates an output signal that includes both the pilot signal and the angular velocity sensing signal based on the received time-domain pilot signal.

8. A sensor assembly, characterized in that, It includes: MEMS sensors, A data processing apparatus for performing the data processing method as described in any one of claims 1-7.

9. A data processing apparatus comprising a processing unit and a storage unit, wherein the storage unit stores program instructions which are executed by the processing unit to implement the data processing method as described in any one of claims 1-7.

10. A data processing apparatus, comprising: Pilot generation module, which is configured to prepare one or more pilot signals; The IFFT transform module is configured to use one or more of the N ports of the N-point IFFT transform as pilot ports, map the pilot signal onto the pilot port of the N-point IFFT transform, and perform an N-point IFFT transform on the pilot signal mapped onto the pilot port to obtain the time-domain pilot signal, where N is an integer greater than or equal to 2. The transmitting module is configured to send time-domain pilot signals to the MEMS sensor; The receiving module is configured to receive the output signal from the MEMS sensor, the output signal being a signal including the pilot signal and the effective sensing signal generated by the MEMS sensor based on the received time-domain pilot signal. The FFT transformation module is configured to perform an FFT transformation on the output signal of the MEMS sensor corresponding to an N-point IFFT transformation. The pilot extraction module is configured to extract the signal from the pilot port in the output signal after FFT transformation to obtain the pilot signal; The pilot response estimation module is configured to estimate the pilot response based on the pilot signal extracted from the output signal after the FFT transformation. The sensor signal extraction module is configured to perform IFFT transformation on the signals of ports other than the pilot port in the output signal after FFT transformation to obtain the effective sensor signal.

11. The data processing apparatus according to claim 10, characterized in that, It also includes: A parameter estimation module is configured to estimate the parameters of the MEMS sensor based on the estimated pilot response. A data processing module is configured to process the obtained effective sensing signal based on the estimated parameters of the MEMS sensor.

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