A self-calibration method and device for directional sensor and directional sensor

Abstract

The invention discloses a self-calibration method, a device and an directional sensor for an orientation sensor, and belongs to the technical field related to the orientation sensor. When the directional sensor meets any one of the following conditions: the vibration magnitude ShockA is less than 1mg, the total gravity A_Gtotal is greater than 990mg, and the absolute value of any accelerometer on three axes is greater than 900mg, the current accelerometer calibration measurement data is recorded and stored; when the stored accelerometer calibration measurement data simultaneously contains test data in which the absolute values ​​of the positive and negative values ​​of the accelerometers on the X-axis, Y-axis and Z-axis are all greater than 900mg, the total gravity in the corresponding state is calculated; the accelerometer dynamic compensation coefficient of the directional sensor is determined according to the calculated total gravity in the corresponding state; the three-axis accelerometer measurement data of the directional sensor is updated in real time according to the accelerometer dynamic compensation coefficient, and the directional sensor system error existing in the actual dynamic use process is automatically corrected, so that the directional sensor maintains high precision and high stability during long-term use.

Description

Technical Field

[0001] The present invention relates to the technical field related to directional sensors, and in particular to a self-calibration method and device for directional sensors and a directional sensor. Background Art

[0002] High-temperature directional sensors are widely used in measurement while drilling systems for oil exploration. The stability of their accelerometers has an important influence on attitude angle measurement. Increased measurement errors in attitude angles can cause drilling to miss the target. In severe cases, adjacent oil wells may be penetrated, causing major oil well accidents. Therefore, high-precision and high-reliability directional sensors play a vital role in measurement while drilling.

[0003] Due to the extremely high maintenance costs at the drilling site, if the drilling is stopped due to instrument failure, it will bring huge economic losses and waste manpower and material resources. In order to ensure the long-term stability of the directional sensor, the directional sensor will be calibrated at full temperature before leaving the factory to compensate for the error of the accelerometer caused by temperature changes in different environments. However, there is still a big difference between the calibration environment before leaving the factory and the use environment of the directional sensor, resulting in large measurement errors in the actual use of the directional sensor after calibration due to changes in the actual use environment. Summary of the invention

[0004] The present invention provides a self-calibration method, device and directional sensor for an orientation sensor, which can realize automatic calibration and correction of system errors existing in actual use, realize online automatic calibration of the directional sensor during use, make the data of the directional sensor more accurate after automatic calibration, and increase the stability of the directional sensor during long-term use.

[0005] The specific technical solutions provided by the present invention are as follows:

[0006] On the one hand, the present invention provides a self-calibration method for an orientation sensor, wherein an accelerometer is arranged inside the orientation sensor along the X-axis, the Y-axis and the Z-axis, respectively Ax, Ay and Az, and the self-calibration method comprises:

[0007] In a static state, the three-axis accelerometers are calibrated in the temperature range of 0℃~175℃ to generate corresponding temperature compensation coefficients. The measured values ​​of the directional sensor are corrected at different temperatures. The measured data after acceleration calibration after temperature compensation are recorded as Ax_cali, Ay_cali and Az_cali;

[0008] When the directional sensor meets any of the following conditions: the vibration level ShockA is less than 1mg, the total gravity A_Gtotal is greater than 990mg, and the absolute value of any accelerometer on the three axes is greater than 900mg, the current accelerometer calibration measurement data is recorded and stored;

[0009] When the stored accelerometer calibration measurement data contains test data in which the absolute values ​​of the positive and negative values ​​of the X-axis, Y-axis and Z-axis accelerometers are all greater than 900 mg, read the test data in which the absolute values ​​of the positive and negative values ​​of the X-axis, Y-axis and Z-axis accelerometers are all greater than 900 mg and calculate the total gravity in the corresponding state;

[0010] Determine the accelerometer dynamic compensation coefficient of the orientation sensor according to the calculated total gravity under the corresponding state;

[0011] The three-axis accelerometer measurement data of the orientation sensor is updated in real time according to the accelerometer dynamic compensation coefficient.

[0012] Optionally, reading the test data of the positive and negative absolute values ​​of the X-axis, Y-axis, and Z-axis accelerometers greater than 900 mg and calculating the total gravity under the corresponding state includes:

[0013] Read the test data of the X-axis accelerometer whose positive absolute values ​​are all greater than 900 mg, record them as Ax_cali1, Ay_cali1 and Az_cali1, and calculate the total gravity A_Gtotal1;

[0014] Read the test data of the X-axis accelerometer whose negative absolute values ​​are all greater than 900 mg, record them as Ax_cali2, Ay_cali2 and Az_cali2, and calculate the total gravity A_Gtotal2;

[0015] Read the test data of the Y-axis accelerometer whose positive absolute values ​​are all greater than 900 mg, record them as Ax_cali3, Ay_cali3 and Az_cali3, and calculate the total gravity A_Gtotal3;

[0016] Read the test data of the Y-axis accelerometer whose negative absolute values ​​are all greater than 900 mg, record them as Ax_cali4, Ay_cali4 and Az_cali4, and calculate the total gravity A_Gtotal4;

[0017] Read the test data of the Z-axis accelerometer whose positive absolute values ​​are all greater than 900 mg, record them as Ax_cali5, Ay_cali5 and Az_cali5, and calculate the total gravity A_Gtotal5;

[0018] Read the test data whose absolute values ​​of negative values ​​of the Z-axis accelerometer are all greater than 900 mg, record them as Ax_cali6, Ay_cali6 and Az_cali6, and calculate the total gravity A_Gtotal6.

[0019] Optionally, determining a dynamic compensation coefficient of an accelerometer of the orientation sensor according to the calculated total gravity in a corresponding state includes:

[0020] The accelerometer dynamic compensation coefficients K0_Ax, K0_Ay, K0_Az, K1_Ax, K1_Ay, K1_Az of the orientation sensor are determined according to the calculated total gravity A_Gtotal1, A_Gtotal2, A_Gtotal3, A_Gtotal4, A_Gtotal5, A_Gtotal6 in the corresponding state, where K0_Ax = (A_Gtotal1 - A_Gtotal2) / 2; K1_Ax = (A_Gtotal1 + A_Gtotal2) / 2; K0_Ay = (A_Gtotal3 - A_Gtotal4) / 2; K1_Ay = (A_Gtotal3 +A_Gtotal4) / 2; K0_Az = (A_Gtotal5 - A_Gtotal6) / 2; K1_Az = (A_Gtotal5 +A_Gtotal6) / 2.

[0021] Optionally, updating the three-axis accelerometer measurement data of the orientation sensor in real time according to the accelerometer dynamic compensation coefficient includes:

[0022] The three-axis accelerometer measurement data of the orientation sensor after dynamic compensation is determined according to the accelerometer dynamic compensation coefficients K0_Ax, K0_Ay, K0_Az, K1_Ax, K1_Ay, K1_Az and the acceleration calibration measurement data after temperature compensation are recorded as Ax_cali, Ay_cali and Az_cali.

[0023] Optionally, updating the three-axis accelerometer measurement data of the orientation sensor in real time according to the accelerometer dynamic compensation coefficient includes:

[0024] Determine the X-axis accelerometer measurement data of the directional sensor after dynamic compensation according to the formula Ax_cali_new = K1_Ax * Ax_cali + K0_Ax;

[0025] Determine the Y-axis accelerometer measurement data of the orientation sensor after dynamic compensation according to the formula Ay_cali_new = K1_Ay * Ay_cali + K0_Ay;

[0026] The Z-axis accelerometer measurement data of the orientation sensor after dynamic compensation is determined according to the formula Az_cali_new = K1_Az * Az_cali + K0_Az.

[0027] Optionally, the self-calibration method further includes:

[0028] The total system gravity of the orientation sensor is calculated according to the formula A_Gtotal = sqrt( Ax_cali^2 + Ay_cali^2 + Az_cali^2 ).

[0029] Optionally, the self-calibration method further includes:

[0030] The vibration level of the directional sensor during dynamic use is calculated according to the formula ShockA = std( A_Gtotal1, A_Gtotal2 ... A_Gtotal500 ), where A_Gtotal1, A_Gtotal2 ... A_Gtotal500 represent the system total gravity data of 500 sampling points within a time length of 5 seconds at a data sampling rate of 100 Hz.

[0031] In a second aspect, the present invention provides a self-calibration device for an orientation sensor, wherein an accelerometer is arranged inside the orientation sensor along the X-axis, the Y-axis and the Z-axis, which are Ax, Ay and Az respectively, and the self-calibration device comprises:

[0032] The temperature compensation module is configured to calibrate the three-axis accelerometers in the temperature range of 0°C to 175°C in a static state, generate corresponding temperature compensation coefficients, and correct the measured values ​​of the directional sensor at different temperatures. The measured data after the acceleration calibration after temperature compensation are recorded as Ax_cali, Ay_cali and Az_cali;

[0033] The data storage module is configured to record and store the measured data after the current accelerometer calibration when the directional sensor meets any of the following conditions: the vibration level ShockA is less than 1 mg, the total gravity A_Gtotal is greater than 990 mg, and the absolute value of any accelerometer on the three axes is greater than 900 mg;

[0034] A data reading module is configured to read the test data of the absolute values ​​of the positive and negative values ​​of the X-axis, Y-axis and Z-axis accelerometers greater than 900 mg and calculate the total gravity under the corresponding state when there is test data of the absolute values ​​of the positive and negative values ​​of the X-axis, Y-axis and Z-axis accelerometers greater than 900 mg in the stored calibrated measurement data of the accelerometers;

[0035] A determination module configured to determine a dynamic compensation coefficient of an accelerometer of the orientation sensor according to the calculated total gravity under a corresponding state;

[0036] The calculation module is configured to update the three-axis accelerometer measurement data of the orientation sensor in real time according to the accelerometer dynamic compensation coefficient.

[0037] In a third aspect, the present invention provides an orientation sensor, wherein an accelerometer is disposed along an X-axis, a Y-axis, and a Z-axis, respectively Ax, Ay, and Az, inside the orientation sensor, and the orientation sensor comprises: a processor, and a memory connected to the processor in communication;

[0038] The memory stores computer-executable instructions;

[0039] The processor executes the computer-executable instructions stored in the memory to implement the above method.

[0040] In a fourth aspect, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to implement the above-mentioned method when executed by a processor.

[0041] The present invention has the following beneficial technical effects:

[0042] The invention provides a self-calibration method for an directional sensor. When the directional sensor meets any one of the following conditions: a vibration magnitude ShockA is less than 1 mg, a total gravity A_Gtotal is greater than 990 mg, and an absolute value of any accelerometer on three axes is greater than 900 mg, the method records and stores the current calibrated measurement data of the accelerometer; when the stored calibrated measurement data of the accelerometer simultaneously contains test data in which the absolute values ​​of the positive and negative values ​​of the accelerometers on the X-axis, Y-axis and Z-axis are all greater than 900 mg, the method reads the test data in which the absolute values ​​of the positive and negative values ​​of the accelerometers on the X-axis, Y-axis and Z-axis are all greater than 900 mg, and calculates the total gravity under the corresponding state; determines the accelerometer dynamic compensation coefficient of the directional sensor according to the calculated total gravity under the corresponding state; and updates the three-axis accelerometer measurement data of the directional sensor in real time according to the accelerometer dynamic compensation coefficient, so that the directional sensor system error existing in the actual dynamic use process can be automatically corrected, and the real-time online automatic calibration of the directional sensor in the use process is realized, so that the directional sensor maintains high precision and high stability during long-term use. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of 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 creative work.

[0044] Figure 1 A schematic diagram of a flow chart of a self-calibration method for an directional sensor according to an embodiment of the present invention;

[0045] Figure 2A structural block diagram of a self-calibration device for an orientation sensor according to an embodiment of the present invention;

[0046] Figure 3 The figure is a structural block diagram of a directional sensor according to an embodiment of the present invention. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] In order to realize dynamic online error compensation of the directional sensor, the embodiment of the present invention provides a self-calibration method, device and directional sensor of the directional sensor, which can realize the automatic calibration and correction of the system error existing in the actual use process, realize the online automatic calibration of the directional sensor during use, make the data of the directional sensor after automatic calibration more accurate, and increase the stability of the directional sensor during long-term use. Figure 1~Figure 3 A self-calibration method and device for an directional sensor and a directional sensor according to an embodiment of the present invention are described in detail.

[0049] refer to Figure 1 As shown, an embodiment of the present invention provides a self-calibration method for an orientation sensor, wherein an accelerometer is disposed inside the orientation sensor along the X-axis, the Y-axis, and the Z-axis, respectively Ax, Ay, and Az. The self-calibration method of the embodiment of the present invention includes:

[0050] Step 101: In a static state, the three-axis accelerometers are calibrated in the temperature range of 0°C to 175°C to generate corresponding temperature compensation coefficients, and the measurement values ​​of the orientation sensor are corrected at different temperatures. The measured data after the acceleration calibration after temperature compensation are recorded as Ax_cali, Ay_cali and Az_cali.

[0051] An accelerometer is installed on the X-axis, Y-axis and Z-axis of the directional sensor to form a 3-axis accelerometer of the directional sensor, which is recorded as Ax, Ay and Az. Before leaving the factory, the 3-axis accelerometer is calibrated in the temperature range of 0℃~175℃ to generate the corresponding temperature compensation coefficient. Then, the measured value of the directional sensor is temperature compensated at different temperatures to improve the measurement accuracy. The calibrated data of the accelerometer after temperature compensation is recorded as Ax_cali, Ay_cali and Az_cali.

[0052] Among them, the total system gravity of the directional sensor can be obtained through the measurement data of the three-axis accelerometer. The calculation formula of the total system gravity A_Gtotal is as follows: A_Gtotal = sqrt( Ax_cali^2 + Ay_cali^2 + Az_cali^2).

[0053] In actual dynamic use, the standard deviation of the total gravity of the system within a time interval is usually used to calculate the vibration level of the directional sensor system. For example, the data sampling rate of the directional sensor system is 100Hz, and 5s of collected data are selected for vibration level judgment. The total number of sampling points in this time interval is 500, and the vibration level ShockA of the system during use can be obtained. The vibration level ShockA calculation formula is as follows: ShockA = std( A_Gtotal1, A_Gtotal2...... A_Gtotal500 ).

[0054] Step 102: When the orientation sensor meets any of the following conditions: the vibration level ShockA is less than 1 mg, the total gravity A_Gtotal is greater than 990 mg, and the absolute value of any accelerometer on the three axes is greater than 900 mg, the measurement data after the current accelerometer calibration is recorded and stored.

[0055] In order to realize the inventive concept of the present invention, a data storage device is provided inside the directional sensor to record the calibrated data that meets the accelerometer online calibration conditions during long-term use by the user. The accelerometer online calibration conditions that need to be met are as follows:

[0056] 1) The vibration level of the directional sensor system ShockA is less than 1mg (the system is approximately in a static state);

[0057] 2) The total gravity of the directional sensor system A_Gtotal is greater than 990 mg;

[0058] 3) The absolute value of the accelerometer on one axis of the three-axis accelerometer is greater than 900 mg.

[0059] That is, a data storage device is set inside the directional sensor to store the calibrated measurement data of the directional sensor that meets any of the following conditions: vibration level ShockA is less than 1mg, total gravity A_Gtotal is greater than 990mg, and the absolute value of any accelerometer on the three axes is greater than 900mg.

[0060] Step 103: When the stored accelerometer calibrated measurement data contains test data in which the absolute values ​​of the positive and negative values ​​of the X-axis, Y-axis and Z-axis accelerometers are all greater than 900 mg, read the test data in which the absolute values ​​of the positive and negative values ​​of the X-axis, Y-axis and Z-axis accelerometers are all greater than 900 mg and calculate the total gravity under the corresponding state.

[0061] When the internal data storage device of the orientation sensor contains test data in which the absolute values ​​of the positive and negative values ​​of the X-axis, Y-axis and Z-axis accelerometers are all greater than 900 mg, the test data in which the absolute values ​​of the positive and negative values ​​of the X-axis, Y-axis and Z-axis accelerometers are all greater than 900 mg are read, wherein:

[0062] Read the test data of the X-axis accelerometer whose positive absolute values ​​are all greater than 900 mg, record them as Ax_cali1, Ay_cali1 and Az_cali1, and calculate the total gravity A_Gtotal1;

[0063] Read the test data of the X-axis accelerometer whose negative absolute values ​​are all greater than 900 mg, record them as Ax_cali2, Ay_cali2 and Az_cali2, and calculate the total gravity A_Gtotal2;

[0064] Read the test data of the Y-axis accelerometer whose positive absolute values ​​are all greater than 900 mg, record them as Ax_cali3, Ay_cali3 and Az_cali3, and calculate the total gravity A_Gtotal3;

[0065] Read the test data of the Y-axis accelerometer whose negative absolute values ​​are all greater than 900 mg, record them as Ax_cali4, Ay_cali4 and Az_cali4, and calculate the total gravity A_Gtotal4;

[0066] Read the test data of the Z-axis accelerometer whose positive absolute values ​​are all greater than 900 mg, record them as Ax_cali5, Ay_cali5 and Az_cali5, and calculate the total gravity A_Gtotal5;

[0067] Read the test data whose absolute values ​​of negative values ​​of the Z-axis accelerometer are all greater than 900 mg, record them as Ax_cali6, Ay_cali6 and Az_cali6, and calculate the total gravity A_Gtotal6.

[0068] Step 104: Determine the accelerometer dynamic compensation coefficient of the orientation sensor according to the calculated total gravity in the corresponding state.

[0069] Specifically, the accelerometer dynamic compensation coefficients K0_Ax, K0_Ay, K0_Az, K1_Ax, K1_Ay, K1_Az of the orientation sensor are determined according to the calculated total gravity A_Gtotal1, A_Gtotal2, A_Gtotal3, A_Gtotal4, A_Gtotal5, A_Gtotal6 in the corresponding state, wherein K0_Ax = (A_Gtotal1 - A_Gtotal2) / 2; K1_Ax = (A_Gtotal1 + A_Gtotal2) / 2; K0_Ay = (A_Gtotal3 - A_Gtotal4) / 2; K1_Ay = (A_Gtotal3 +A_Gtotal4) / 2; K0_Az = (A_Gtotal5 - A_Gtotal6) / 2; K1_Az = (A_Gtotal5 +A_Gtotal6) / 2.

[0070] Step 105: updating the three-axis accelerometer measurement data of the orientation sensor in real time according to the accelerometer dynamic compensation coefficient.

[0071] Specifically, the three-axis accelerometer measurement data of the orientation sensor after dynamic compensation is determined according to the accelerometer dynamic compensation coefficients K0_Ax, K0_Ay, K0_Az, K1_Ax, K1_Ay, K1_Az and the acceleration calibration measurement data after temperature compensation are recorded as Ax_cali, Ay_cali and Az_cali. Among them,

[0072] Determine the X-axis accelerometer measurement data of the directional sensor after dynamic compensation according to the formula Ax_cali_new = K1_Ax * Ax_cali + K0_Ax;

[0073] Determine the Y-axis accelerometer measurement data of the orientation sensor after dynamic compensation according to the formula Ay_cali_new = K1_Ay * Ay_cali + K0_Ay;

[0074] The Z-axis accelerometer measurement data of the orientation sensor after dynamic compensation is determined according to the formula Az_cali_new = K1_Az * Az_cali + K0_Az.

[0075] The invention provides a self-calibration method for an directional sensor. When the directional sensor meets any one of the following conditions: a vibration magnitude ShockA is less than 1 mg, a total gravity A_Gtotal is greater than 990 mg, and an absolute value of any accelerometer on three axes is greater than 900 mg, the method records and stores the current calibrated measurement data of the accelerometer; when the stored calibrated measurement data of the accelerometer simultaneously contains test data in which the absolute values ​​of the positive and negative values ​​of the accelerometers on the X-axis, Y-axis and Z-axis are all greater than 900 mg, the method reads the test data in which the absolute values ​​of the positive and negative values ​​of the accelerometers on the X-axis, Y-axis and Z-axis are all greater than 900 mg, and calculates the total gravity under the corresponding state; determines the accelerometer dynamic compensation coefficient of the directional sensor according to the calculated total gravity under the corresponding state; and updates the three-axis accelerometer measurement data of the directional sensor in real time according to the accelerometer dynamic compensation coefficient, so that the directional sensor system error existing in the actual dynamic use process can be automatically corrected, and the real-time online automatic calibration of the directional sensor in the use process is realized, so that the directional sensor maintains high precision and high stability during long-term use.

[0076] Figure 2 This is a schematic diagram of the structure of a self-calibration device for an directional sensor provided by an exemplary embodiment of the present application. The self-calibration device for an directional sensor provided by an embodiment of the present application can execute the processing flow provided by an embodiment of a self-calibration method for an directional sensor, and both belong to the same inventive concept. Figure 2 As shown, the present application provides a self-calibration device 20 for an orientation sensor, comprising:

[0077] The temperature compensation module 201 is configured to calibrate the three-axis accelerometers in the temperature range of 0°C to 175°C in a static state, generate corresponding temperature compensation coefficients, and correct the measurement values ​​of the orientation sensor at different temperatures. The measured data after the acceleration calibration after temperature compensation are recorded as Ax_cali, Ay_cali and Az_cali;

[0078] The data storage module 202 is configured to record and store the current calibrated measurement data of the accelerometer when the orientation sensor meets any of the following conditions: the vibration level ShockA is less than 1 mg, the total gravity A_Gtotal is greater than 990 mg, and the absolute value of any accelerometer on the three axes is greater than 900 mg;

[0079] The data reading module 203 is configured to read the test data of the positive and negative absolute values ​​of the X-axis, Y-axis and Z-axis accelerometers greater than 900 mg and calculate the total gravity under the corresponding state when there is test data of the positive and negative absolute values ​​of the X-axis, Y-axis and Z-axis accelerometers greater than 900 mg in the stored calibrated accelerometer measurement data;

[0080] A determination module 204 is configured to determine a dynamic compensation coefficient of an accelerometer of the orientation sensor according to the calculated total gravity under the corresponding state;

[0081] The calculation module 205 is configured to update the three-axis accelerometer measurement data of the orientation sensor in real time according to the accelerometer dynamic compensation coefficient.

[0082] The device provided in the embodiment of the present application can be specifically used to perform the above Figure 1 The solutions, specific functions and technical effects that can be achieved by the corresponding method embodiments are not described in detail here.

[0083] Figure 3 This is a schematic diagram of the structure of a directional sensor provided in an exemplary embodiment of the present application. Figure 3 As shown, the orientation sensor 30 has an accelerometer disposed along the X-axis, Y-axis and Z-axis, which are Ax, Ay and Az respectively. The orientation sensor 30 includes: a processor 301, and a memory 302 communicatively connected to the processor 301, and the memory 302 stores computer execution instructions.

[0084] The processor executes the computer-executable instructions stored in the memory to implement the solution provided by any of the above method embodiments, and the specific functions and technical effects that can be achieved are not described in detail here. The electronic device can be the server mentioned above.

[0085] An embodiment of the present application also provides a computer-readable storage medium, in which computer execution instructions are stored. When the computer execution instructions are executed by a processor, they are used to implement the solution provided by any of the above method embodiments. The specific functions and technical effects that can be achieved are not repeated here.

[0086] An embodiment of the present application also provides a computer program product, which includes: a computer program, which is stored in a readable storage medium. At least one processor of an electronic device can read the computer program from the readable storage medium, and at least one processor executes the computer program so that the electronic device executes the solution provided by any of the above method embodiments. The specific functions and technical effects that can be achieved are not repeated here.

[0087] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary technical means in the art that are not disclosed in the present application.

[0088] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A self-calibration method for an directional sensor, characterized in that: An accelerometer is arranged inside the orientation sensor along the X-axis, Y-axis and Z-axis, which are Ax, Ay and Az respectively. The self-calibration method includes: In a static state, the three-axis accelerometers are calibrated in the temperature range of 0℃~175℃ to generate corresponding temperature compensation coefficients. The measured values ​​of the directional sensor are corrected at different temperatures. The measured data after acceleration calibration after temperature compensation are recorded as Ax_cali, Ay_cali and Az_cali; When the directional sensor meets any of the following conditions: the vibration level ShockA is less than 1mg, the total gravity A_Gtotal is greater than 990mg, and the absolute value of any accelerometer on the three axes is greater than 900mg, the current accelerometer calibration measurement data is recorded and stored; When the stored accelerometer calibration measurement data contains test data in which the absolute values ​​of the positive and negative values ​​of the X-axis, Y-axis and Z-axis accelerometers are all greater than 900 mg, read the test data in which the absolute values ​​of the positive and negative values ​​of the X-axis, Y-axis and Z-axis accelerometers are all greater than 900 mg and calculate the total gravity in the corresponding state; Determine the accelerometer dynamic compensation coefficient of the orientation sensor according to the calculated total gravity under the corresponding state; updating the three-axis accelerometer measurement data of the orientation sensor in real time according to the accelerometer dynamic compensation coefficient; Among them, reading the test data of the positive and negative absolute values ​​of the X-axis, Y-axis and Z-axis accelerometers that are greater than 900 mg and calculating the total gravity under the corresponding state includes: Read the test data of the X-axis accelerometer whose positive absolute values ​​are all greater than 900 mg, record them as Ax_cali1, Ay_cali1 and Az_cali1, and calculate the total gravity A_Gtotal1; Read the test data of the X-axis accelerometer whose negative absolute values ​​are all greater than 900 mg, record them as Ax_cali2, Ay_cali2 and Az_cali2, and calculate the total gravity A_Gtotal2; Read the test data of the Y-axis accelerometer whose positive absolute values ​​are all greater than 900 mg, record them as Ax_cali3, Ay_cali3 and Az_cali3, and calculate the total gravity A_Gtotal3; Read the test data of the Y-axis accelerometer whose negative absolute values ​​are all greater than 900 mg, record them as Ax_cali4, Ay_cali4 and Az_cali4, and calculate the total gravity A_Gtotal4; Read the test data of the Z-axis accelerometer whose positive absolute values ​​are all greater than 900 mg, record them as Ax_cali5, Ay_cali5 and Az_cali5, and calculate the total gravity A_Gtotal5; Read the test data of the Z-axis accelerometer whose negative absolute values ​​are all greater than 900 mg, record them as Ax_cali6, Ay_cali6 and Az_cali6, and calculate the total gravity A_Gtotal6; The accelerometer dynamic compensation coefficient of the orientation sensor is determined according to the calculated total gravity under the corresponding state, including: According to the calculated total gravity A_Gtotal1, A_Gtotal2, A_Gtotal3, A_Gtotal4, A_Gtotal5, A_Gtotal6 in the corresponding state, the accelerometer dynamic compensation coefficients K0_Ax, K0_Ay, K0_Az, K1_Ax, K1_Ay, K1_Az of the orientation sensor are determined, wherein K0_Ax = (A_Gtotal1 - A_Gtotal2) / 2; K1_Ax = (A_Gtotal1 + A_Gtotal2) / 2; K0_Ay = (A_Gtotal3 - A_Gtotal4) / 2; K1_Ay = (A_Gtotal3 + A_Gtotal4) / 2; K0_Az = (A_Gtotal5 - A_Gtotal6) / 2; K1_Az = (A_Gtotal5 + A_Gtotal6) / 2; Wherein, updating the three-axis accelerometer measurement data of the directional sensor in real time according to the accelerometer dynamic compensation coefficient includes: Determine the X-axis accelerometer measurement data of the directional sensor after dynamic compensation according to the formula Ax_cali_new = K1_Ax * Ax_cali + K0_Ax; Determine the Y-axis accelerometer measurement data of the orientation sensor after dynamic compensation according to the formula Ay_cali_new = K1_Ay * Ay_cali + K0_Ay; The Z-axis accelerometer measurement data of the orientation sensor after dynamic compensation is determined according to the formula Az_cali_new = K1_Az * Az_cali + K0_Az.

2. The self-calibration method according to claim 1, characterized in that: The self-calibration method further comprises: The total system gravity of the orientation sensor is calculated according to the formula A_Gtotal = sqrt( Ax_cali^2 + Ay_cali^2 + Az_cali^2 ).

3. The self-calibration method according to claim 2, characterized in that: The self-calibration method further comprises: The vibration level of the directional sensor during dynamic use is calculated according to the formula ShockA = std( A_Gtotal1, A_Gtotal2 ... A_Gtotal500 ), where A_Gtotal1, A_Gtotal2 ... A_Gtotal500 represent the system total gravity data of 500 sampling points within a time length of 5 seconds at a data sampling rate of 100 Hz.

4. A self-calibration device for an directional sensor, characterized in that: An accelerometer is arranged inside the orientation sensor along the X-axis, Y-axis and Z-axis, which are Ax, Ay and Az respectively. The self-calibration device includes: The temperature compensation module is configured to calibrate the three-axis accelerometers in the temperature range of 0°C to 175°C in a static state, generate corresponding temperature compensation coefficients, and correct the measured values ​​of the directional sensor at different temperatures. The measured data after the acceleration calibration after temperature compensation are recorded as Ax_cali, Ay_cali and Az_cali; The data storage module is configured to record and store the measured data after the current accelerometer calibration when the directional sensor meets any of the following conditions: the vibration level ShockA is less than 1 mg, the total gravity A_Gtotal is greater than 990 mg, and the absolute value of any accelerometer on the three axes is greater than 900 mg; A data reading module is configured to read the test data of the absolute values ​​of the positive and negative values ​​of the X-axis, Y-axis and Z-axis accelerometers greater than 900 mg and calculate the total gravity under the corresponding state when there is test data of the absolute values ​​of the positive and negative values ​​of the X-axis, Y-axis and Z-axis accelerometers greater than 900 mg in the stored calibrated measurement data of the accelerometers; a determination module configured to determine a dynamic compensation coefficient of an accelerometer of the orientation sensor according to the calculated total gravity under the corresponding state; A calculation module configured to update the three-axis accelerometer measurement data of the orientation sensor in real time according to the accelerometer dynamic compensation coefficient; The data reading module is also configured as: Read the test data of the X-axis accelerometer whose positive absolute values ​​are all greater than 900 mg, record them as Ax_cali1, Ay_cali1 and Az_cali1, and calculate the total gravity A_Gtotal1; Read the test data of the X-axis accelerometer whose negative absolute values ​​are all greater than 900 mg, record them as Ax_cali2, Ay_cali2 and Az_cali2, and calculate the total gravity A_Gtotal2; Read the test data of the Y-axis accelerometer whose positive absolute values ​​are all greater than 900 mg, record them as Ax_cali3, Ay_cali3 and Az_cali3, and calculate the total gravity A_Gtotal3; Read the test data of the Y-axis accelerometer whose negative absolute values ​​are all greater than 900 mg, record them as Ax_cali4, Ay_cali4 and Az_cali4, and calculate the total gravity A_Gtotal4; Read the test data of the Z-axis accelerometer whose positive absolute values ​​are all greater than 900 mg, record them as Ax_cali5, Ay_cali5 and Az_cali5, and calculate the total gravity A_Gtotal5; Read the test data of the Z-axis accelerometer whose negative absolute values ​​are all greater than 900 mg, record them as Ax_cali6, Ay_cali6 and Az_cali6, and calculate the total gravity A_Gtotal6; Wherein, the determination module is further configured as: According to the calculated total gravity A_Gtotal1, A_Gtotal2, A_Gtotal3, A_Gtotal4, A_Gtotal5, A_Gtotal6 in the corresponding state, the accelerometer dynamic compensation coefficients K0_Ax, K0_Ay, K0_Az, K1_Ax, K1_Ay, K1_Az of the orientation sensor are determined, wherein K0_Ax = (A_Gtotal1 - A_Gtotal2) / 2; K1_Ax = (A_Gtotal1 + A_Gtotal2) / 2; K0_Ay = (A_Gtotal3 - A_Gtotal4) / 2; K1_Ay = (A_Gtotal3 + A_Gtotal4) / 2; K0_Az = (A_Gtotal5 - A_Gtotal6) / 2; K1_Az = (A_Gtotal5 + A_Gtotal6) / 2; Wherein, the calculation module is further configured as: Determine the X-axis accelerometer measurement data of the directional sensor after dynamic compensation according to the formula Ax_cali_new = K1_Ax * Ax_cali + K0_Ax; Determine the Y-axis accelerometer measurement data of the orientation sensor after dynamic compensation according to the formula Ay_cali_new = K1_Ay * Ay_cali + K0_Ay; The Z-axis accelerometer measurement data of the orientation sensor after dynamic compensation is determined according to the formula Az_cali_new = K1_Az * Az_cali + K0_Az.

5. A directional sensor, characterized in that: The orientation sensor has an accelerometer disposed along the X-axis, the Y-axis and the Z-axis, which are Ax, Ay and Az respectively. The orientation sensor includes: a processor, and a memory connected to the processor in communication; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 3.

6. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 3 when executed by a processor.

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